diff --git a/.github/workflows/gh-build.yml b/.github/workflows/gh-build.yml index b45df8954..a838bf55c 100644 --- a/.github/workflows/gh-build.yml +++ b/.github/workflows/gh-build.yml @@ -2,7 +2,7 @@ name: gh-build on: push: - branches: ["main"] + branches: ["main", "ac_replayer"] pull_request: branches: ["main"] diff --git a/.gitignore b/.gitignore index a6c672e68..55df555fd 100644 --- a/.gitignore +++ b/.gitignore @@ -6,6 +6,10 @@ assets/tslam/*.map scanned_map +## other assets +py/expirment +assets/replayer_example/TTool_dataset + ## >>>>>>>>> vscode >>>>>>>>> # VScode config @@ -351,4 +355,15 @@ examples/example_sdl2_sdlrenderer/example_sdl2_sdlrenderer config.ini # do not version the imgui.ini -imgui.ini \ No newline at end of file +imgui.ini + +############################################################### +# Automatically downloaded deps +############################################################### + +deps/*-download +deps/eventpp +deps/freetype +deps/imgui +deps/pugixml +deps/spdlog diff --git a/.gitmodules b/.gitmodules index aa475088f..83845d230 100644 --- a/.gitmodules +++ b/.gitmodules @@ -10,7 +10,3 @@ branch = main path = deps/TTool url = git@github.com:ibois-epfl/TTool.git -[submodule "deps/eventpp"] - branch = main - path = deps/eventpp - url = git@github.com:ibois-epfl/eventpp.git \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt index 3ddd77327..ae589b8d6 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -70,7 +70,7 @@ set(OpenGL_GL_PREFERENCE LEGACY) # <-- temp fix: or GLVIND? find_package(OpenGL REQUIRED) set(BUILD_V4_API ON) -add_external_package(TSlam) +add_external_package(TSlam IGNORE_SYSTEM) add_external_package(TTool IGNORE_SYSTEM) find_package(glfw3 3.3 REQUIRED) diff --git a/README.md b/README.md index 74f22c160..521c790e2 100644 --- a/README.md +++ b/README.md @@ -9,6 +9,7 @@

+ # Augmented Carpentry ``` diff --git a/assets/replayer_example/TTool_dataset/.gitkeep b/assets/replayer_example/TTool_dataset/.gitkeep new file mode 100644 index 000000000..e69de29bb diff --git a/assets/replayer_example/example_replayer.gh b/assets/replayer_example/example_replayer.gh new file mode 100644 index 000000000..9fa4a6325 Binary files /dev/null and b/assets/replayer_example/example_replayer.gh differ diff --git a/assets/replayer_example/logs/AC01_2024-07-16-11-00-59/AC_info_model.acim b/assets/replayer_example/logs/AC01_2024-07-16-11-00-59/AC_info_model.acim new file mode 100644 index 000000000..5aba746d5 --- /dev/null +++ b/assets/replayer_example/logs/AC01_2024-07-16-11-00-59/AC_info_model.acim @@ -0,0 +1,483 @@ + + + + NotDone + Cut#1 + + -0.0010000071183086092 9.999701976793887e-05 9.999940395678522e-05 + 1.3775079975128173 9.999701976793887e-05 9.999940395678522e-05 + 1.3775079975128173 0.19990000298023225 9.999940395678522e-05 + -0.0010000071183086092 0.19990000298023225 9.999940395678522e-05 + -0.0010000071183086092 9.999701976793887e-05 0.1399000040728111 + 1.3775079975128173 9.999701976793887e-05 0.1399000040728111 + 1.3775079975128173 0.19990000298023225 0.1399000040728111 + -0.0010000071183086092 0.19990000298023225 0.1399000040728111 + + + NotDone +
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b/assets/replayer_example/logs/AC01_2024-07-16-11-00-59/log.txt new file mode 100644 index 000000000..17e02176c --- /dev/null +++ b/assets/replayer_example/logs/AC01_2024-07-16-11-00-59/log.txt @@ -0,0 +1,211613 @@ +[Header] +Created Time: 1721120460077 +AC Info Model path: /home/localuser/augmented-carpentry/AC_acims/AC01.acim +Scanned Model path: ./scanned_map/map-2024-07-16-10-53-34.ply +TTool Zenodo Version: https://zenodo.org/records/12578820 + +[Legend] +SLAM // SLAM Camera Pose +TTool-head // TTool Head Changed +TTool-pose // TTool Pose +ACIM-activate-component // ACIM Activated Component +ACIM-component-status // ACIM Component Status +ACIM-transform // ACIM Transformation +Pause // Paused by user + +[Init] +ACIM-activate-component Cut#1 +ACIM-component-status Cut#1 NotDone +ACIM-component-status Cut#2 NotDone +ACIM-component-status Cut#3 NotDone +ACIM-transform -32.1777 7.39985 10.8345 0.912917 -0.0180022 0.0162704 0.407424 +TTool-head circular_saw_blade_mafel_225 +TTool-pose None 0.15598 -11.3926 9.87596 -0.250546 -0.161575 -0.704091 0.644491 + +[Content] +#0 1721120460106 +SLAM -4.1912 10.3834 16.8291 0.434474 0.66657 0.00337715 0.605727 +TTool-pose None 0.19189 -11.4231 9.91308 -0.250725 -0.164094 -0.702993 0.644985 +#1 1721120460142 +SLAM -4.22276 10.3652 16.797 0.433325 0.665833 0.0043464 0.607353 +TTool-pose None 0.198993 -11.4172 9.87343 -0.250202 -0.161905 -0.703138 0.645582 +#2 1721120460174 +SLAM -4.23014 10.3581 16.7735 0.43347 0.665662 0.00458004 0.607435 +TTool-pose None 0.179085 -11.3982 9.86724 -0.250226 -0.161717 -0.703342 0.645398 +#3 1721120460210 +SLAM -4.19976 10.3855 16.8013 0.433743 0.665485 0.00376636 0.607439 +TTool-pose None 0.196601 -11.4335 9.88005 -0.250969 -0.161972 -0.702959 0.645463 +#4 1721120460246 +SLAM -4.27353 10.3428 16.7629 0.432039 0.665876 0.00550583 0.608211 +TTool-pose None 0.19509 -11.394 9.8503 -0.248957 -0.160571 -0.703326 0.646191 +#5 1721120460279 +SLAM -4.2566 10.3415 16.7909 0.433204 0.665949 0.00550863 0.607302 +TTool-pose None 0.186558 -11.3963 9.86847 -0.249334 -0.161574 -0.703795 0.645285 +#6 1721120460310 +SLAM -4.28171 10.3377 16.75 0.430925 0.666277 0.00535195 0.608564 +TTool-pose None 0.212629 -11.3932 9.83444 -0.248362 -0.160279 -0.702776 0.647091 +#7 1721120460340 +SLAM -4.28968 10.3329 16.7471 0.431083 0.665846 0.00585647 0.608919 +TTool-pose None 0.205863 -11.3921 9.82859 -0.248399 -0.15967 -0.703155 0.646815 +#8 1721120460371 +SLAM -4.23908 10.3424 16.826 0.43318 0.667214 0.00474089 0.605936 +TTool-pose None 0.209073 -11.4036 9.88948 -0.248928 -0.163468 -0.703292 0.645514 +#9 1721120460402 +SLAM -4.24583 10.3406 16.8238 0.431695 0.668005 0.00417375 0.606129 +TTool-pose None 0.245155 -11.4085 9.87978 -0.248187 -0.163535 -0.702333 0.646824 +#10 1721120460432 +SLAM -4.28062 10.333 16.7832 0.431163 0.667004 0.00511295 0.6076 +TTool-pose None 0.229375 -11.394 9.85667 -0.248093 -0.161496 -0.702713 0.64696 +#11 1721120460464 +SLAM -4.34011 10.2987 16.7065 0.429546 0.666427 0.00669676 0.609361 +TTool-pose None 0.207669 -11.3532 9.8036 -0.246886 -0.158956 -0.703035 0.647701 +#12 1721120460495 +SLAM -4.31433 10.3074 16.7431 0.430554 0.666759 0.00621787 0.608291 +TTool-pose None 0.209858 -11.3654 9.82844 -0.247334 -0.160331 -0.703144 0.647072 +#13 1721120460526 +SLAM -4.31962 10.309 16.7304 0.430447 0.666507 0.00630864 0.608642 +TTool-pose None 0.204048 -11.3621 9.8238 -0.247413 -0.159889 -0.703161 0.647133 +#14 1721120460556 +SLAM -4.27191 10.3283 16.7996 0.430748 0.667956 0.00465314 0.606852 +TTool-pose None 0.248973 -11.3968 9.86057 -0.247566 -0.162572 -0.702246 0.647399 +#15 1721120460588 +SLAM -4.25883 10.3327 16.8146 0.432359 0.66762 0.00484455 0.606074 +TTool-pose None 0.21883 -11.3922 9.88331 -0.248274 -0.163324 -0.703017 0.646101 +#16 1721120460619 +SLAM -4.283 10.3267 16.7836 0.431885 0.666457 0.00590313 0.607681 +TTool-pose None 0.207355 -11.392 9.85258 -0.248239 -0.161078 -0.703494 0.646158 +#17 1721120460651 +SLAM -4.24567 10.3414 16.8292 0.43206 0.667951 0.00419407 0.605927 +TTool-pose None 0.24046 -11.4063 9.88826 -0.248346 -0.163743 -0.702494 0.646536 +#18 1721120460684 +SLAM -4.31596 10.3125 16.7319 0.431211 0.666049 0.00653854 0.608599 +TTool-pose None 0.186678 -11.3611 9.83038 -0.247869 -0.159808 -0.703617 0.646482 +#19 1721120460719 +SLAM -4.27542 10.3298 16.7939 0.433356 0.665771 0.00637468 0.60738 +TTool-pose None 0.177679 -11.3904 9.86675 -0.248962 -0.161171 -0.704386 0.644884 +#20 1721120460755 +SLAM -4.293 10.3306 16.769 0.431451 0.666182 0.00596914 0.608289 +TTool-pose None 0.208152 -11.3922 9.84565 -0.248229 -0.160358 -0.703365 0.646482 +#21 1721120460787 +SLAM -4.30513 10.3135 16.7505 0.431044 0.666761 0.00596544 0.607943 +TTool-pose None 0.204926 -11.3663 9.84008 -0.247675 -0.160801 -0.703188 0.646777 +#22 1721120460817 +SLAM -4.30779 10.3133 16.7462 0.429453 0.667661 0.00515946 0.608089 +TTool-pose None 0.243741 -11.3712 9.83001 -0.246969 -0.16101 -0.702038 0.648242 +#23 1721120460848 +SLAM -4.31458 10.3107 16.7377 0.430317 0.666878 0.0058541 0.608331 +TTool-pose None 0.215599 -11.3627 9.83078 -0.247394 -0.160425 -0.702825 0.647372 +#24 1721120460883 +SLAM -4.29931 10.3085 16.7793 0.431931 0.666418 0.0068008 0.607681 +TTool-pose None 0.195641 -11.3805 9.84248 -0.24771 -0.160764 -0.70406 0.645824 +#25 1721120460916 +SLAM -4.36203 10.293 16.6845 0.430424 0.665134 0.00801663 0.610137 +TTool-pose None 0.166317 -11.3396 9.79706 -0.247272 -0.157512 -0.704215 0.646623 +#26 1721120460949 +SLAM -4.32595 10.3016 16.7386 0.430806 0.666412 0.00678661 0.608486 +TTool-pose None 0.197785 -11.3591 9.82662 -0.247307 -0.159885 -0.703598 0.646699 +#27 1721120460982 +SLAM -4.33225 10.3019 16.7406 0.431828 0.665237 0.00796471 0.609033 +TTool-pose None 0.168123 -11.3655 9.82299 -0.247754 -0.158754 -0.704748 0.645554 +#28 1721120461022 +SLAM -4.32523 10.2991 16.7539 0.431648 0.665708 0.00775221 0.608648 +TTool-pose None 0.181009 -11.3708 9.82403 -0.247494 -0.1593 -0.704538 0.645748 +#29 1721120461056 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1721120461250 +SLAM -4.37571 10.2757 16.6907 0.430316 0.665454 0.00860967 0.609856 +TTool-pose None 0.166919 -11.331 9.79354 -0.246629 -0.157649 -0.704525 0.646497 +#36 1721120461284 +SLAM -4.36964 10.2815 16.6962 0.429892 0.665868 0.00802898 0.609711 +TTool-pose None 0.183715 -11.3369 9.79738 -0.246554 -0.158053 -0.703994 0.647006 +#37 1721120461325 +SLAM -4.38309 10.2802 16.6728 0.429195 0.665692 0.00806365 0.610394 +TTool-pose None 0.186203 -11.3305 9.78474 -0.246395 -0.157271 -0.703737 0.647537 +#38 1721120461359 +SLAM -4.37176 10.2724 16.7065 0.431726 0.664896 0.00938107 0.609458 +TTool-pose None 0.138867 -11.3301 9.8044 -0.247049 -0.157761 -0.705572 0.645167 +#39 1721120461393 +SLAM -4.37853 10.271 16.6937 0.430044 0.665745 0.00860465 0.609731 +TTool-pose None 0.174249 -11.33 9.79191 -0.246328 -0.157819 -0.704407 0.646699 +#40 1721120461424 +SLAM -4.38026 10.2741 16.69 0.430326 0.665411 0.00875695 0.609895 +TTool-pose None 0.165021 -11.3292 9.79379 -0.246569 -0.157552 -0.70462 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None 31.3542 -11.4998 13.5508 -0.45772 -0.0525365 -0.721813 0.51644 +#1841 1721120526782 +SLAM -22.3661 -1.87868 38.1231 0.580861 0.450856 -0.0355764 0.676804 +TTool-pose None 31.3078 -11.4654 13.5642 -0.459818 -0.0482919 -0.722176 0.51448 +#1842 1721120526817 +SLAM -22.5476 -1.80144 37.9927 0.583661 0.447337 -0.0356916 0.676724 +TTool-pose None 31.2833 -11.4321 13.6235 -0.462729 -0.0471481 -0.722662 0.511283 +#1843 1721120526849 +SLAM -22.6731 -1.65509 37.9525 0.585939 0.444915 -0.0374047 0.676259 +TTool-pose None 31.299 -11.3815 13.7249 -0.465846 -0.0472916 -0.722086 0.509248 +#1844 1721120526880 +SLAM -23.2066 -1.43922 37.4552 0.588108 0.436599 -0.0348724 0.679922 +TTool-pose None 31.1865 -11.2872 13.7719 -0.469534 -0.0397319 -0.723388 0.504639 +#1845 1721120526912 +SLAM -23.6016 -1.27411 37.1327 0.587652 0.430849 -0.0327999 0.684075 +TTool-pose None 31.1694 -11.2595 13.7456 -0.471235 -0.0327258 -0.723774 0.503001 +#1846 1721120526947 +SLAM -24.0601 -0.941644 36.726 0.590255 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None 29.8371 -9.91177 14.8071 -0.540453 0.0862329 -0.724127 0.419648 +#1882 1721120528183 +SLAM -30.1478 4.0014 28.5031 0.621156 0.281637 -0.00912836 0.731274 +TTool-pose None 29.8257 -9.89911 14.8509 -0.54163 0.0855311 -0.724312 0.417951 +#1883 1721120528214 +SLAM -30.0833 3.98757 28.6287 0.619985 0.283295 -0.00992737 0.731617 +TTool-pose None 29.85 -9.94245 14.8229 -0.540995 0.0848476 -0.723756 0.419873 +#1884 1721120528247 +SLAM -30.1623 4.06894 28.4574 0.620876 0.280739 -0.00940431 0.731854 +TTool-pose None 29.8198 -9.89902 14.8529 -0.542126 0.0864461 -0.723851 0.417921 +#1885 1721120528279 +SLAM -30.2586 4.12869 28.271 0.620786 0.278056 -0.00831691 0.732967 +TTool-pose None 29.802 -9.88618 14.8435 -0.542637 0.0891925 -0.723912 0.416572 +#1886 1721120528315 +SLAM -30.4924 4.56784 27.7365 0.62396 0.268184 -0.00811827 0.733952 +TTool-pose None 29.7157 -9.7917 14.9746 -0.548022 0.0948808 -0.723018 0.40976 +#1887 1721120528353 +SLAM -30.6799 4.70822 27.3138 0.623978 0.262858 -0.00606436 0.735881 +TTool-pose None 29.6626 -9.71144 14.9895 -0.54913 0.100053 -0.723108 0.406877 +#1888 1721120528385 +SLAM -30.7657 4.85501 27.0976 0.623686 0.259581 -0.00566504 0.737293 +TTool-pose None 29.6373 -9.68727 15.0024 -0.550252 0.103185 -0.722517 0.405628 +#1889 1721120528417 +SLAM -30.8715 4.90338 26.8238 0.623553 0.256308 -0.00365722 0.738562 +TTool-pose None 29.5852 -9.66063 14.9959 -0.5504 0.106718 -0.722964 0.403712 +#1890 1721120528460 +SLAM -30.9216 5.04585 26.7166 0.624273 0.253817 -0.00430381 0.738811 +TTool-pose None 29.5881 -9.63548 15.0302 -0.552152 0.107943 -0.722262 0.402249 +#1891 1721120528494 +SLAM -30.9619 5.12605 26.6142 0.623619 0.25248 -0.0042735 0.73982 +TTool-pose None 29.583 -9.62064 15.0346 -0.552514 0.109626 -0.721742 0.40223 +#1892 1721120528525 +SLAM -30.9994 5.20059 26.5194 0.624463 0.25091 -0.00428893 0.739643 +TTool-pose None 29.5683 -9.58513 15.0743 -0.553493 0.110191 -0.721677 0.400843 +#1893 1721120528558 +SLAM -30.9896 5.12054 26.542 0.623592 0.251761 -0.00360296 0.740092 +TTool-pose None 29.5691 -9.61027 15.029 -0.5524 0.110475 -0.721979 0.401728 +#1894 1721120528594 +SLAM -31.0198 5.18606 26.4796 0.624366 0.250712 -0.00388497 0.739794 +TTool-pose None 29.5658 -9.57035 15.0709 -0.553294 0.110578 -0.721844 0.40071 +#1895 1721120528625 +SLAM -30.9978 5.20676 26.5446 0.623985 0.251411 -0.00461507 0.739875 +TTool-pose None 29.5841 -9.58308 15.0752 -0.553323 0.110079 -0.721419 0.401572 +#1896 1721120528658 +SLAM -31.027 5.1274 26.4623 0.622256 0.251665 -0.00307499 0.741251 +TTool-pose None 29.5685 -9.58894 15.0192 -0.551672 0.111887 -0.721801 0.402657 +#1897 1721120528690 +SLAM -31.0175 5.14551 26.4833 0.622169 0.251754 -0.00340439 0.741292 +TTool-pose None 29.5732 -9.59658 15.0213 -0.551813 0.111775 -0.721588 0.402876 +#1898 1721120528725 +SLAM -31.0032 5.20591 26.5108 0.623845 0.251006 -0.00417184 0.740133 +TTool-pose None 29.5685 -9.5936 15.0673 -0.553177 0.110686 -0.721549 0.401374 +#1899 1721120528762 +SLAM -30.9573 5.15474 26.6168 0.623522 0.252298 -0.0044604 0.739963 +TTool-pose None 29.5808 -9.63146 15.04 -0.552682 0.109797 -0.721551 0.402296 +#1900 1721120528796 +SLAM -30.9984 5.059 26.5271 0.623595 0.252043 -0.00288622 0.739997 +TTool-pose None 29.563 -9.60468 15.0146 -0.551821 0.110485 -0.722484 0.401614 +#1901 1721120528829 +SLAM -30.929 5.15525 26.6923 0.623652 0.25292 -0.00513312 0.739638 +TTool-pose None 29.5973 -9.64554 15.0392 -0.552873 0.108938 -0.721326 0.402668 +#1902 1721120528862 +SLAM -31.0298 5.18717 26.4572 0.62473 0.250347 -0.00372223 0.739611 +TTool-pose None 29.5611 -9.56227 15.0771 -0.553471 0.11062 -0.721991 0.400189 +#1903 1721120528899 +SLAM -30.9713 5.1026 26.5938 0.624428 0.252249 -0.00388202 0.739219 +TTool-pose None 29.5717 -9.60492 15.0486 -0.552631 0.109254 -0.722219 0.401313 +#1904 1721120528942 +SLAM -31.0487 5.1288 26.4168 0.624549 0.250519 -0.00287945 0.73971 +TTool-pose None 29.5525 -9.54636 15.0632 -0.552802 0.110923 -0.722482 0.400144 +#1905 1721120528976 +SLAM -31.047 5.16771 26.4161 0.624131 0.250275 -0.0031562 0.740144 +TTool-pose None 29.5558 -9.56092 15.0615 -0.55295 0.111391 -0.722107 0.400487 +#1906 1721120529007 +SLAM -31.0046 5.1808 26.5096 0.624607 0.250861 -0.00398199 0.73954 +TTool-pose None 29.564 -9.58466 15.0713 -0.553368 0.110213 -0.721905 0.400599 +#1907 1721120529042 +SLAM -30.9884 5.07672 26.5482 0.6231 0.252378 -0.00324543 0.740298 +TTool-pose None 29.5698 -9.60979 15.0132 -0.551739 0.110511 -0.722162 0.402297 +#1908 1721120529073 +SLAM -30.9742 5.18617 26.5944 0.624474 0.25174 -0.0047579 0.739349 +TTool-pose None 29.5836 -9.59882 15.0739 -0.553426 0.109334 -0.721583 0.40134 +#1909 1721120529103 +SLAM -31.0179 5.17399 26.4921 0.624534 0.25087 -0.00384437 0.739599 +TTool-pose None 29.5674 -9.57107 15.0737 -0.553253 0.110316 -0.721966 0.40062 +#1910 1721120529135 +SLAM -31.0417 5.1623 26.4343 0.623784 0.250704 -0.00329009 0.74029 +TTool-pose None 29.5623 -9.56098 15.0583 -0.552732 0.11129 -0.721999 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0.110686 -0.721803 0.402207 +#1917 1721120529364 +SLAM -30.9907 5.13172 26.5436 0.62338 0.251886 -0.00372616 0.740228 +TTool-pose None 29.5721 -9.6071 15.0344 -0.552353 0.110512 -0.721856 0.402003 +#1918 1721120529402 +SLAM -30.9701 5.14033 26.5964 0.622951 0.252501 -0.00426112 0.740376 +TTool-pose None 29.586 -9.62006 15.0292 -0.55228 0.11019 -0.721515 0.402805 +#1919 1721120529440 +SLAM -31.0132 5.17096 26.4995 0.623966 0.251116 -0.00383909 0.739995 +TTool-pose None 29.57 -9.58178 15.0606 -0.552956 0.110605 -0.721821 0.40121 +#1920 1721120529473 +SLAM -31.0443 5.15955 26.4281 0.623382 0.250791 -0.00320763 0.7406 +TTool-pose None 29.5638 -9.5637 15.0498 -0.55251 0.111593 -0.721925 0.401365 +#1921 1721120529503 +SLAM -31.0247 5.18116 26.4788 0.623317 0.251188 -0.00378434 0.740518 +TTool-pose None 29.5737 -9.57619 15.0578 -0.552679 0.111124 -0.721638 0.401778 +#1922 1721120529544 +SLAM -31.0406 5.04525 26.427 0.620008 0.252651 -0.00182073 0.742802 +TTool-pose None 29.5637 -9.6073 14.9612 -0.549705 0.113433 -0.721983 0.404584 +#1923 1721120529575 +SLAM -31.0583 5.18471 26.3986 0.621672 0.25097 -0.00309832 0.741976 +TTool-pose None 29.5704 -9.57564 15.031 -0.551804 0.112956 -0.721417 0.402865 +#1924 1721120529607 +SLAM -30.9963 5.17794 26.532 0.620595 0.252553 -0.00391388 0.742336 +TTool-pose None 29.5873 -9.63135 15.0064 -0.551267 0.112293 -0.720891 0.404724 +#1925 1721120529638 +SLAM -31.0303 5.19147 26.4525 0.620074 0.251844 -0.00342929 0.743014 +TTool-pose None 29.5817 -9.61796 14.9983 -0.551104 0.113492 -0.720838 0.404706 +#1926 1721120529670 +SLAM -31.1237 5.14832 26.2296 0.619048 0.250489 -0.00132587 0.744334 +TTool-pose None 29.5526 -9.56367 14.9741 -0.550033 0.116209 -0.721444 0.404311 +#1927 1721120529703 +SLAM -31.1559 5.15183 26.1606 0.620007 0.249528 -0.000886006 0.743859 +TTool-pose None 29.5414 -9.53258 14.9948 -0.550494 0.11633 -0.72184 0.40294 +#1928 1721120529735 +SLAM -31.118 5.19044 26.2479 0.620874 0.249769 -0.00196595 0.743053 +TTool-pose None 29.5516 -9.54777 15.0171 -0.551357 0.11502 -0.721548 0.40266 +#1929 1721120529775 +SLAM -31.0529 5.21127 26.4 0.621855 0.250604 -0.00330256 0.741945 +TTool-pose None 29.5675 -9.58561 15.0344 -0.552155 0.11303 -0.721274 0.402618 +#1930 1721120529808 +SLAM -31.0554 5.14389 26.3828 0.621511 0.25083 -0.00249065 0.74216 +TTool-pose None 29.5582 -9.59373 14.9999 -0.551428 0.113418 -0.7217 0.402744 +#1931 1721120529840 +SLAM -30.9493 5.21147 26.6209 0.622427 0.252189 -0.00509879 0.740918 +TTool-pose None 29.5928 -9.64779 15.0224 -0.552777 0.110612 -0.720741 0.403392 +#1932 1721120529874 +SLAM -31.0137 5.13145 26.4824 0.623175 0.25113 -0.00326946 0.740659 +TTool-pose None 29.5661 -9.60422 15.0155 -0.552332 0.111471 -0.72189 0.401707 +#1933 1721120529906 +SLAM -30.9356 5.17082 26.6679 0.623685 0.252419 -0.00503226 0.739781 +TTool-pose None 29.5917 -9.65052 15.0363 -0.553042 0.109359 -0.721286 0.402394 +#1934 1721120529940 +SLAM -31.0076 5.13323 26.5023 0.622502 0.251622 -0.00344367 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1721120530810 +SLAM -30.9565 5.17683 26.6144 0.624024 0.251745 -0.00471852 0.739727 +TTool-pose None 29.5823 -9.6332 15.0417 -0.553253 0.109732 -0.721447 0.401714 +#1959 1721120530854 +SLAM -31.0407 5.19228 26.42 0.624472 0.249777 -0.00344133 0.740024 +TTool-pose None 29.5561 -9.57089 15.0587 -0.553461 0.111411 -0.72194 0.400075 +#1960 1721120530893 +SLAM -30.9873 5.21479 26.5461 0.624977 0.250613 -0.00461359 0.739308 +TTool-pose None 29.5721 -9.60075 15.0735 -0.553997 0.109881 -0.721594 0.400381 +#1961 1721120530928 +SLAM -30.9559 5.2414 26.6154 0.62502 0.25106 -0.00537582 0.739114 +TTool-pose None 29.5816 -9.62095 15.0811 -0.554296 0.109212 -0.721244 0.400782 +#1962 1721120530962 +SLAM -30.9576 5.13247 26.6061 0.624127 0.251939 -0.00420404 0.739578 +TTool-pose None 29.5732 -9.6311 15.0322 -0.552875 0.10966 -0.721843 0.401543 +#1963 1721120530998 +SLAM -30.9638 5.21136 26.5917 0.625499 0.25074 -0.00484102 0.738822 +TTool-pose None 29.5697 -9.62006 15.0764 -0.554254 0.109246 -0.72167 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-0.00222301 0.740121 +TTool-pose None 29.5384 -9.53614 15.0503 -0.553007 0.11222 -0.722594 0.399297 +#1994 1721120532115 +SLAM -30.9522 5.23383 26.6274 0.625513 0.251047 -0.00540735 0.738701 +TTool-pose None 29.5808 -9.61877 15.0883 -0.554481 0.108785 -0.721398 0.400364 +#1995 1721120532149 +SLAM -31.0884 5.11871 26.3125 0.624698 0.249266 -0.00200311 0.74001 +TTool-pose None 29.5372 -9.53091 15.0458 -0.55285 0.112129 -0.722785 0.399193 +#1996 1721120532186 +SLAM -30.9291 5.17114 26.6762 0.623985 0.252344 -0.00508557 0.739554 +TTool-pose None 29.5885 -9.65381 15.039 -0.553207 0.109144 -0.721344 0.402122 +#1997 1721120532219 +SLAM -30.9565 5.16992 26.6159 0.624313 0.251713 -0.00467602 0.739494 +TTool-pose None 29.5807 -9.62983 15.0456 -0.553334 0.109523 -0.721569 0.401439 +#1998 1721120532253 +SLAM -31.0196 5.19609 26.4709 0.624872 0.250081 -0.00387418 0.739581 +TTool-pose None 29.5615 -9.5805 15.0668 -0.553731 0.110665 -0.721888 0.400003 +#1999 1721120532288 +SLAM -30.9908 5.14893 26.5322 0.623727 0.251284 -0.00379813 0.74014 +TTool-pose None 29.5687 -9.61455 15.0302 -0.552778 0.110686 -0.721799 0.401473 +#2000 1721120532323 +SLAM -31.007 5.14242 26.4838 0.624112 0.250729 -0.00321502 0.740006 +TTool-pose None 29.5502 -9.6083 15.0383 -0.55278 0.111012 -0.722168 0.400717 +#2001 1721120532358 +SLAM -31.0057 5.25222 26.4981 0.625716 0.249689 -0.00463353 0.738995 +TTool-pose None 29.5629 -9.58029 15.0975 -0.554659 0.109998 -0.721635 0.399358 +#2002 1721120532392 +SLAM -31.0376 5.12773 26.4188 0.623426 0.250509 -0.00265638 0.740661 +TTool-pose None 29.5493 -9.58969 15.0231 -0.5523 0.111977 -0.722214 0.401027 +#2003 1721120532431 +SLAM -31.0348 5.1864 26.4343 0.624796 0.249795 -0.00346989 0.739744 +TTool-pose None 29.5552 -9.5747 15.0618 -0.553577 0.111106 -0.722043 0.399815 +#2004 1721120532474 +SLAM -30.9854 5.16095 26.5426 0.623614 0.251295 -0.00400781 0.74023 +TTool-pose None 29.5723 -9.61993 15.028 -0.552869 0.110702 -0.721633 0.401642 +#2005 1721120532510 +SLAM -31.0529 5.18639 26.3896 0.624635 0.24947 -0.00315832 0.73999 +TTool-pose None 29.5501 -9.56161 15.0596 -0.553471 0.11162 -0.722102 0.399711 +#2006 1721120532545 +SLAM -31.0228 5.19407 26.4609 0.624818 0.250005 -0.00376598 0.739652 +TTool-pose None 29.5591 -9.57996 15.0644 -0.553679 0.110811 -0.721918 0.399982 +#2007 1721120532580 +SLAM -30.9284 5.18862 26.6853 0.624497 0.252124 -0.00539813 0.739194 +TTool-pose None 29.5932 -9.64771 15.0516 -0.553669 0.108776 -0.721286 0.401691 +#2008 1721120532616 +SLAM -31.0054 5.13396 26.4964 0.623036 0.251256 -0.00341478 0.740733 +TTool-pose None 29.5681 -9.61066 15.0103 -0.552323 0.111437 -0.721779 0.401927 +#2009 1721120532650 +SLAM -30.9451 5.251 26.6444 0.62524 0.251192 -0.00574729 0.738881 +TTool-pose None 29.5882 -9.62315 15.0867 -0.554543 0.108785 -0.721124 0.40077 +#2010 1721120532683 +SLAM -31.0238 5.21028 26.4516 0.625157 0.249687 -0.00380891 0.739473 +TTool-pose None 29.5532 -9.57815 15.0751 -0.553956 0.110766 -0.72194 0.399569 +#2011 1721120532717 +SLAM -31.0485 5.17297 26.4005 0.624777 0.249536 -0.00305651 0.739848 +TTool-pose None 29.5486 -9.56906 15.0565 -0.553423 0.111477 -0.722231 0.399585 +#2012 1721120532753 +SLAM -30.9948 5.22228 26.5287 0.625704 0.250116 -0.00456326 0.738861 +TTool-pose None 29.5663 -9.59086 15.0872 -0.554421 0.10968 -0.721771 0.399529 +#2013 1721120532790 +SLAM -31.0218 5.2015 26.4636 0.62487 0.249971 -0.00386467 0.739619 +TTool-pose None 29.5601 -9.57956 15.0677 -0.553773 0.110761 -0.721868 0.399954 +#2014 1721120532826 +SLAM -30.999 5.14243 26.5173 0.623566 0.251241 -0.00366839 0.740291 +TTool-pose None 29.5704 -9.60904 15.0245 -0.552662 0.110905 -0.721811 0.40155 +#2015 1721120532863 +SLAM -30.9635 5.18362 26.5942 0.624258 0.251417 -0.00461543 0.739642 +TTool-pose None 29.5769 -9.62794 15.047 -0.553409 0.109837 -0.721519 0.401341 +#2016 1721120532898 +SLAM -31.032 5.19038 26.4401 0.624729 0.24986 -0.00356742 0.739778 +TTool-pose None 29.5568 -9.57561 15.0617 -0.553588 0.111077 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-31.0059 5.17278 26.5114 0.623732 0.251066 -0.00394981 0.740209 +TTool-pose None 29.5745 -9.5974 15.0436 -0.552973 0.11081 -0.721658 0.401424 +#2059 1721120534445 +SLAM -30.9572 5.17737 26.6133 0.623873 0.251881 -0.00470296 0.739808 +TTool-pose None 29.5818 -9.63052 15.0446 -0.553134 0.109755 -0.721433 0.401897 +#2060 1721120534481 +SLAM -30.9773 5.16573 26.5665 0.623276 0.25173 -0.00424262 0.740366 +TTool-pose None 29.5788 -9.62269 15.0301 -0.552715 0.110554 -0.721466 0.402193 +#2061 1721120534516 +SLAM -30.9797 5.15139 26.5622 0.623249 0.251791 -0.00406386 0.740368 +TTool-pose None 29.5772 -9.62185 15.0261 -0.552566 0.110587 -0.721581 0.402184 +#2062 1721120534556 +SLAM -30.9977 5.15283 26.5155 0.623065 0.251426 -0.00371693 0.740649 +TTool-pose None 29.5702 -9.61142 15.0235 -0.552449 0.111168 -0.721644 0.402073 +#2063 1721120534592 +SLAM -31.0008 5.15189 26.5109 0.623375 0.251292 -0.00367636 0.740434 +TTool-pose None 29.5684 -9.60662 15.0299 -0.552583 0.111025 -0.721749 0.401737 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-0.721708 0.401655 +#2070 1721120534835 +SLAM -30.8664 5.25917 26.8145 0.62311 0.253493 -0.00712414 0.739881 +TTool-pose None 29.6222 -9.68648 15.0476 -0.553702 0.108244 -0.72004 0.404017 +#2071 1721120534870 +SLAM -30.9871 5.14522 26.5462 0.623057 0.25179 -0.00389181 0.740531 +TTool-pose None 29.576 -9.61684 15.023 -0.552395 0.110813 -0.721617 0.402292 +#2072 1721120534908 +SLAM -30.9662 5.16434 26.5931 0.623027 0.252111 -0.00442802 0.740444 +TTool-pose None 29.5835 -9.63019 15.0272 -0.552583 0.11039 -0.72135 0.402628 +#2073 1721120534943 +SLAM -30.9643 5.17287 26.5955 0.623191 0.252026 -0.00450184 0.740335 +TTool-pose None 29.5818 -9.63094 15.0334 -0.55272 0.110293 -0.721345 0.402477 +#2074 1721120534975 +SLAM -30.9987 5.22666 26.5136 0.624075 0.250693 -0.00445515 0.740043 +TTool-pose None 29.5701 -9.59575 15.0675 -0.553569 0.110649 -0.721386 0.401135 +#2075 1721120535007 +SLAM -31.0509 5.20319 26.4012 0.623982 0.249879 -0.00340798 0.740402 +TTool-pose None 29.5578 -9.56156 15.0628 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None 36.3345 13.3765 16.2787 0.628537 0.665894 -0.192912 0.352483 +#2826 1721120560052 +SLAM 10.1889 -25.2587 40.3809 -0.600744 0.0838278 0.624329 0.492233 +TTool-pose None 36.3859 13.2311 16.3848 0.624049 0.670354 -0.189984 0.353592 +#2827 1721120560082 +SLAM 9.44651 -25.9683 40.1681 -0.599945 0.0793224 0.618216 0.50158 +TTool-pose None 36.4287 13.2026 16.3575 0.615027 0.676707 -0.188287 0.358178 +#2828 1721120560117 +SLAM 9.0839 -26.3091 40.2695 -0.60029 0.07854 0.615084 0.505129 +TTool-pose None 36.6145 13.1984 16.3881 0.611787 0.678489 -0.187051 0.360994 +#2829 1721120560148 +SLAM 8.78402 -26.5281 40.3571 -0.599693 0.0835885 0.613421 0.507046 +TTool-pose None 36.799 12.9994 16.4228 0.61137 0.67586 -0.188757 0.365715 +#2830 1721120560185 +SLAM 8.90119 -26.766 40.3109 -0.60069 0.0785645 0.614794 0.505002 +TTool-pose None 36.9145 12.8689 16.6168 0.611898 0.678426 -0.186586 0.361164 +#2831 1721120560217 +SLAM 8.81363 -26.9606 40.2879 -0.599126 0.0795406 0.615269 0.506128 +TTool-pose None 37.053 12.7501 16.588 0.611182 0.678193 -0.18857 0.361784 +#2832 1721120560248 +SLAM 8.75396 -27.0235 40.3656 -0.599637 0.0785738 0.615636 0.505227 +TTool-pose None 37.1773 12.6608 16.5842 0.611715 0.678504 -0.187847 0.360673 +#2833 1721120560287 +SLAM 8.73873 -27.1349 40.3468 -0.598256 0.0787744 0.616747 0.505478 +TTool-pose None 37.2878 12.5692 16.5283 0.611557 0.678465 -0.189554 0.36012 +#2834 1721120560320 +SLAM 8.73289 -27.0697 40.5481 -0.600007 0.0785774 0.617037 0.503073 +TTool-pose None 37.421 12.5139 16.5609 0.613564 0.677731 -0.187764 0.359025 +#2835 1721120560351 +SLAM 8.37767 -27.014 40.838 -0.60651 0.0748336 0.613002 0.500774 +TTool-pose None 37.4698 12.4681 16.7304 0.614531 0.67932 -0.179141 0.358773 +#2836 1721120560384 +SLAM 8.17317 -27.3064 40.7268 -0.60129 0.0824907 0.612316 0.506671 +TTool-pose None 37.5863 12.4088 16.6038 0.611412 0.676441 -0.186571 0.365693 +#2837 1721120560418 +SLAM 8.10809 -27.7097 40.4025 -0.599243 0.0806792 0.612444 0.509226 +TTool-pose None 37.5701 12.2372 16.7132 0.60878 0.678544 -0.188172 0.365368 +#2838 1721120560453 +SLAM 8.46547 -27.4179 40.7502 -0.601914 0.0826015 0.615292 0.502287 +TTool-pose None 37.7319 12.1558 16.8706 0.615209 0.674804 -0.186594 0.36232 +#2839 1721120560488 +SLAM 8.81576 -27.5687 40.563 -0.59701 0.0857672 0.619707 0.502183 +TTool-pose None 37.8261 12.03 16.8523 0.616087 0.672694 -0.19345 0.361153 +#2840 1721120560519 +SLAM 9.97302 -27.13 40.7419 -0.591902 0.0931819 0.630945 0.492826 +TTool-pose None 38.0866 11.956 16.8309 0.62571 0.664362 -0.203016 0.354723 +#2841 1721120560550 +SLAM 10.0975 -27.1199 40.6027 -0.59012 0.0934799 0.633175 0.492047 +TTool-pose None 38.0625 11.8539 16.766 0.626398 0.663858 -0.205357 0.3531 +#2842 1721120560582 +SLAM 10.826 -27.0101 40.4693 -0.58475 0.0966312 0.640402 0.488482 +TTool-pose None 38.1566 11.8237 16.7209 0.629948 0.660362 -0.213087 0.348729 +#2843 1721120560615 +SLAM 11.5403 -26.6554 40.5828 -0.584069 0.09786 0.646566 0.480873 +TTool-pose None 38.2579 11.7879 16.7976 0.636433 0.656648 -0.215212 0.342606 +#2844 1721120560648 +SLAM 11.9036 -26.6312 40.4479 -0.583084 0.094248 0.650343 0.477686 +TTool-pose None 38.2674 11.7281 16.8328 0.638128 0.657791 -0.215874 0.336791 +#2845 1721120560681 +SLAM 12.3506 -26.5791 40.2679 -0.579452 0.0952553 0.655141 0.475345 +TTool-pose None 38.2906 11.6616 16.7968 0.640079 0.656128 -0.220688 0.333193 +#2846 1721120560714 +SLAM 13.051 -26.1748 40.2981 -0.577503 0.0977231 0.661838 0.46788 +TTool-pose None 38.3656 11.5803 16.7905 0.646484 0.651513 -0.224412 0.327339 +#2847 1721120560755 +SLAM 13.6694 -25.9941 40.1469 -0.573563 0.0989366 0.668052 0.46362 +TTool-pose None 38.4172 11.5337 16.7443 0.649866 0.648885 -0.229728 0.32213 +#2848 1721120560791 +SLAM 14.1942 -25.8045 39.9989 -0.569897 0.100786 0.67344 0.459933 +TTool-pose None 38.4434 11.4843 16.6829 0.652904 0.64604 -0.23477 0.31804 +#2849 1721120560821 +SLAM 14.5166 -25.6812 39.8506 -0.567262 0.102055 0.676875 0.457864 +TTool-pose None 38.4205 11.4465 16.6301 0.654593 0.644254 -0.238297 0.315559 +#2850 1721120560852 +SLAM 14.8201 -25.663 39.5712 -0.563275 0.103436 0.68039 0.457266 +TTool-pose None 38.3591 11.3973 16.5632 0.655043 0.642917 -0.243251 0.313564 +#2851 1721120560884 +SLAM 15.0812 -25.4469 39.5133 -0.5626 0.103989 0.682798 0.454373 +TTool-pose None 38.3078 11.386 16.5477 0.657324 0.641337 -0.244391 0.311128 +#2852 1721120560918 +SLAM 15.0996 -25.6606 39.1907 -0.562123 0.0972952 0.683298 0.455692 +TTool-pose None 38.1637 11.3721 16.6048 0.654707 0.64628 -0.243158 0.307357 +#2853 1721120560950 +SLAM 15.5744 -25.5092 38.8474 -0.55484 0.105456 0.688386 0.455144 +TTool-pose None 38.089 11.3394 16.455 0.656347 0.640285 -0.253487 0.308064 +#2854 1721120560985 +SLAM 15.8231 -25.2069 38.8446 -0.555257 0.106001 0.690458 0.451354 +TTool-pose None 38.0199 11.334 16.4585 0.659383 0.638385 -0.253431 0.305555 +#2855 1721120561016 +SLAM 15.654 -25.4738 38.6217 -0.55749 0.0953618 0.689082 0.453076 +TTool-pose None 37.878 11.3403 16.5569 0.655801 0.646246 -0.248122 0.301061 +#2856 1721120561051 +SLAM 16.4608 -24.6523 38.6865 -0.554768 0.104104 0.69684 0.442502 +TTool-pose None 37.8996 11.2427 16.4533 0.665521 0.635929 -0.254097 0.296681 +#2857 1721120561085 +SLAM 16.0064 -24.6543 38.6736 -0.559416 0.0978428 0.693815 0.442833 +TTool-pose None 37.7021 11.1292 16.4399 0.664276 0.640462 -0.247277 0.295477 +#2858 1721120561117 +SLAM 29.9099 -11.2953 36.8335 -0.430443 0.423031 0.737138 0.30396 +TTool-pose None 41.0379 11.6983 12.8903 0.766726 0.325915 -0.420621 0.359089 +#2859 1721120561152 +SLAM 16.0816 -25.0233 37.8928 -0.548786 0.100807 0.697706 0.449308 +TTool-pose None 37.5057 11.0222 16.1215 0.659021 0.640601 -0.259536 0.296433 +#2860 1721120561183 +SLAM 15.8017 -24.7405 38.3305 -0.557936 0.0944117 0.694228 0.444793 +TTool-pose None 37.4861 11.0061 16.2669 0.661842 0.64346 -0.247947 0.293859 +#2861 1721120561216 +SLAM 15.4962 -24.7481 38.4038 -0.559775 0.0959407 0.691647 0.446175 +TTool-pose None 37.422 10.9552 16.252 0.66136 0.643129 -0.246173 0.297145 +#2862 1721120561251 +SLAM 15.7616 -24.5454 38.479 -0.559287 0.0980285 0.693771 0.443025 +TTool-pose None 37.4829 10.9584 16.2648 0.664164 0.640413 -0.247458 0.295683 +#2863 1721120561284 +SLAM 15.4255 -24.722 38.4689 -0.560553 0.0965668 0.690942 0.446156 +TTool-pose None 37.4266 10.9497 16.2514 0.6616 0.64275 -0.245454 0.298027 +#2864 1721120561323 +SLAM 15.3603 -24.7773 38.4263 -0.559454 0.0985713 0.690561 0.447684 +TTool-pose None 37.4132 10.9441 16.2113 0.660824 0.642005 -0.247101 0.299985 +#2865 1721120561360 +SLAM 15.0705 -24.8202 38.5303 -0.562687 0.0958662 0.687656 0.44869 +TTool-pose None 37.3671 10.9531 16.2477 0.659728 0.644371 -0.242683 0.300932 +#2866 1721120561393 +SLAM 15.1845 -24.739 38.5719 -0.562312 0.0971903 0.688546 0.447508 +TTool-pose None 37.4031 10.96 16.2489 0.660899 0.642991 -0.243527 0.300632 +#2867 1721120561425 +SLAM 14.8585 -24.842 38.6171 -0.564422 0.0956025 0.685608 0.4497 +TTool-pose None 37.3496 10.9572 16.2492 0.659058 0.645047 -0.240571 0.302643 +#2868 1721120561459 +SLAM 14.9898 -24.809 38.5539 -0.562529 0.0980361 0.687026 0.449384 +TTool-pose None 37.3577 10.9396 16.219 0.659706 0.64322 -0.243363 0.302888 +#2869 1721120561492 +SLAM 14.9771 -24.9022 38.5135 -0.561665 0.0978178 0.68683 0.450809 +TTool-pose None 37.37 10.9786 16.207 0.658499 0.643909 -0.244185 0.303391 +#2870 1721120561526 +SLAM 14.9357 -24.8151 38.5804 -0.563911 0.0957031 0.686505 0.44895 +TTool-pose None 37.3477 10.9316 16.247 0.659603 0.644646 -0.241233 0.301781 +#2871 1721120561559 +SLAM 14.8593 -24.8837 38.5788 -0.563762 0.0956826 0.685678 0.450403 +TTool-pose None 37.3475 10.9689 16.2342 0.658487 0.645252 -0.241291 0.302877 +#2872 1721120561592 +SLAM 14.8762 -24.7936 38.6296 -0.565321 0.0941322 0.685953 0.448352 +TTool-pose None 37.3422 10.9188 16.2662 0.659803 0.645502 -0.239269 0.301078 +#2873 1721120561629 +SLAM 14.9491 -24.7543 38.6374 -0.564988 0.0946201 0.68659 0.447694 +TTool-pose None 37.3589 10.9208 16.2647 0.660387 0.644892 -0.239821 0.300663 +#2874 1721120561669 +SLAM 14.8673 -24.8697 38.5783 -0.563749 0.0957741 0.685847 0.450143 +TTool-pose None 37.3475 10.9566 16.2301 0.658705 0.645084 -0.241348 0.302716 +#2875 1721120561706 +SLAM 14.6816 -24.9724 38.6172 -0.566366 0.0910927 0.683938 0.450734 +TTool-pose None 37.3276 10.9623 16.2918 0.657356 0.64853 -0.237122 0.301619 +#2876 1721120561742 +SLAM 14.6016 -24.8514 38.7036 -0.567396 0.0931065 0.683345 0.449924 +TTool-pose None 37.3071 10.9249 16.2698 0.658545 0.646922 -0.236524 0.302947 +#2877 1721120561774 +SLAM 14.6408 -24.7254 38.8191 -0.568879 0.0929755 0.683307 0.448134 +TTool-pose None 37.325 10.9385 16.3017 0.659992 0.646338 -0.234928 0.302286 +#2878 1721120561807 +SLAM 14.4599 -24.8381 38.7734 -0.568801 0.0931785 0.681911 0.450311 +TTool-pose None 37.288 10.9243 16.2767 0.658386 0.647097 -0.234907 0.304177 +#2879 1721120561840 +SLAM 14.4599 -24.834 38.7829 -0.568756 0.0934569 0.681884 0.450352 +TTool-pose None 37.2933 10.9288 16.2737 0.658419 0.646928 -0.235026 0.304372 +#2880 1721120561872 +SLAM 14.3508 -24.9695 38.7054 -0.568366 0.0925903 0.681045 0.452288 +TTool-pose None 37.2663 10.9278 16.2675 0.656706 0.648275 -0.235102 0.305148 +#2881 1721120561908 +SLAM 14.3908 -24.8346 38.8241 -0.570017 0.0921251 0.681094 0.450227 +TTool-pose None 37.2842 10.9322 16.2985 0.658294 0.647808 -0.233249 0.304137 +#2882 1721120561942 +SLAM 14.2598 -24.8677 38.8064 -0.570151 0.0928726 0.680081 0.451434 +TTool-pose None 37.2452 10.9166 16.2746 0.657567 0.647818 -0.233194 0.305727 +#2883 1721120561976 +SLAM 14.3888 -24.8907 38.7801 -0.568867 0.0931993 0.681183 0.451324 +TTool-pose None 37.29 10.9414 16.2732 0.657627 0.647502 -0.234758 0.30507 +#2884 1721120562007 +SLAM 14.1564 -24.8198 38.85 -0.573029 0.0894772 0.679338 0.44959 +TTool-pose None 37.2032 10.8332 16.3335 0.658368 0.649413 -0.229154 0.303665 +#2885 1721120562041 +SLAM 14.2939 -24.8664 38.7969 -0.569516 0.0937934 0.680416 0.45154 +TTool-pose None 37.256 10.9195 16.2637 0.657658 0.647228 -0.234151 0.306051 +#2886 1721120562073 +SLAM 14.4425 -24.8304 38.7937 -0.568603 0.0943627 0.681713 0.450614 +TTool-pose None 37.2954 10.9299 16.2652 0.658425 0.646433 -0.235413 0.305111 +#2887 1721120562108 +SLAM 14.5245 -24.7861 38.8143 -0.568643 0.0941284 0.68237 0.449618 +TTool-pose None 37.3164 10.9337 16.2775 0.659128 0.64618 -0.235383 0.304152 +#2888 1721120562144 +SLAM 14.2594 -24.8085 38.8831 -0.571184 0.092426 0.679856 0.450557 +TTool-pose None 37.2611 10.9287 16.2912 0.658208 0.647797 -0.231962 0.305332 +#2889 1721120562181 +SLAM 14.1738 -25.0276 38.7529 -0.570411 0.0899944 0.679248 0.45294 +TTool-pose None 37.2447 10.9332 16.3014 0.655742 0.650336 -0.232036 0.305182 +#2890 1721120562215 +SLAM 14.3497 -24.8143 38.8563 -0.570522 0.0922783 0.680708 0.45014 +TTool-pose None 37.2813 10.928 16.2971 0.658437 0.647694 -0.232716 0.30448 +#2891 1721120562250 +SLAM 14.2522 -24.9825 38.7302 -0.567572 0.0956085 0.680081 0.454105 +TTool-pose None 37.2631 10.9649 16.2121 0.655981 0.646997 -0.236637 0.308222 +#2892 1721120562283 +SLAM 14.4567 -24.7817 38.8358 -0.569108 0.0943312 0.681731 0.449956 +TTool-pose None 37.3024 10.9349 16.2719 0.658958 0.646206 -0.234877 0.304855 +#2893 1721120562315 +SLAM 14.2961 -24.8484 38.8244 -0.569799 0.0936948 0.680384 0.451252 +TTool-pose None 37.2662 10.9231 16.2667 0.657876 0.647187 -0.233823 0.30592 +#2894 1721120562348 +SLAM 14.4535 -24.7619 38.842 -0.569081 0.0949104 0.681743 0.449851 +TTool-pose None 37.2988 10.9271 16.2656 0.659174 0.64578 -0.235064 0.305145 +#2895 1721120562386 +SLAM 14.4077 -24.7419 38.8678 -0.569425 0.0954088 0.681311 0.449964 +TTool-pose None 37.2903 10.9263 16.258 0.659236 0.645514 -0.234787 0.305789 +#2896 1721120562419 +SLAM 14.3852 -24.8166 38.8145 -0.568882 0.0950213 0.681215 0.450879 +TTool-pose None 37.2839 10.9256 16.2541 0.658405 0.646121 -0.235242 0.30595 +#2897 1721120562459 +SLAM 14.2694 -24.8482 38.8349 -0.570161 0.0933878 0.680119 0.451257 +TTool-pose None 37.2611 10.9216 16.2714 0.657827 0.647407 -0.233329 0.305937 +#2898 1721120562495 +SLAM 14.2231 -24.8919 38.8104 -0.570186 0.0929242 0.679788 0.45182 +TTool-pose None 37.2492 10.9139 16.2708 0.657289 0.647944 -0.233137 0.306104 +#2899 1721120562528 +SLAM 14.3658 -24.7676 38.8748 -0.570186 0.0938457 0.680877 0.449985 +TTool-pose None 37.2841 10.9275 16.2773 0.658906 0.646585 -0.233515 0.305211 +#2900 1721120562561 +SLAM 14.2166 -24.8562 38.8575 -0.571006 0.0923071 0.679529 0.451299 +TTool-pose None 37.2523 10.9278 16.2865 0.657601 0.648171 -0.232078 0.305757 +#2901 1721120562594 +SLAM 14.2675 -24.7602 38.914 -0.571441 0.0930152 0.679877 0.450079 +TTool-pose None 37.2616 10.9266 16.2906 0.658733 0.647224 -0.231855 0.305495 +#2902 1721120562626 +SLAM 14.3986 -24.7973 38.8494 -0.569843 0.0933929 0.681166 0.450077 +TTool-pose None 37.2919 10.9317 16.2847 0.6587 0.646906 -0.233786 0.304768 +#2903 1721120562659 +SLAM 14.261 -24.8344 38.8375 -0.570076 0.093907 0.680115 0.451263 +TTool-pose None 37.2575 10.9151 16.2605 0.657941 0.647064 -0.233559 0.306243 +#2904 1721120562691 +SLAM 14.2363 -24.8914 38.8234 -0.570989 0.0911605 0.679778 0.45118 +TTool-pose None 37.2512 10.9145 16.3035 0.657413 0.648875 -0.231813 0.304868 +#2905 1721120562723 +SLAM 14.2591 -24.9008 38.8041 -0.570306 0.0919099 0.680076 0.451442 +TTool-pose None 37.2583 10.9152 16.2874 0.657341 0.648461 -0.232769 0.305175 +#2906 1721120562756 +SLAM 14.3124 -24.918 38.7846 -0.569312 0.0928132 0.680497 0.451878 +TTool-pose None 37.276 10.9402 16.2731 0.657149 0.648002 -0.234107 0.30554 +#2907 1721120562790 +SLAM 14.2422 -24.8525 38.8471 -0.571032 0.0918749 0.679817 0.450921 +TTool-pose None 37.253 10.9161 16.2943 0.657786 0.648301 -0.231967 0.305166 +#2908 1721120562822 +SLAM 14.2234 -24.7695 38.8715 -0.57236 0.0911197 0.679863 0.44932 +TTool-pose None 37.2228 10.8525 16.3152 0.658922 0.648197 -0.23037 0.304143 +#2909 1721120562855 +SLAM 14.2362 -24.8711 38.8202 -0.570305 0.0928994 0.679888 0.451524 +TTool-pose None 37.2498 10.9146 16.2717 0.657517 0.647844 -0.233017 0.305915 +#2910 1721120562888 +SLAM 14.3683 -24.8167 38.8388 -0.570077 0.0927862 0.68095 0.450232 +TTool-pose None 37.282 10.9239 16.2882 0.658454 0.647379 -0.233349 0.304628 +#2911 1721120562922 +SLAM 14.4319 -24.8247 38.8123 -0.569299 0.0932238 0.681574 0.450183 +TTool-pose None 37.2959 10.9255 16.283 0.658535 0.647036 -0.234358 0.304406 +#2912 1721120562963 +SLAM 14.3837 -24.8211 38.8248 -0.569313 0.0940027 0.68112 0.450691 +TTool-pose None 37.2865 10.9338 16.2671 0.658338 0.646733 -0.234502 0.305366 +#2913 1721120563001 +SLAM 14.294 -24.8125 38.8626 -0.570607 0.0929017 0.680281 0.45055 +TTool-pose None 37.2686 10.9221 16.2814 0.658283 0.647456 -0.232748 0.305294 +#2914 1721120563038 +SLAM 14.225 -24.8846 38.8197 -0.570785 0.0917704 0.679773 0.451322 +TTool-pose None 37.247 10.908 16.2891 0.657436 0.648524 -0.232193 0.305275 +#2915 1721120563073 +SLAM 14.2513 -24.7737 38.9103 -0.571612 0.0925521 0.679741 0.450162 +TTool-pose None 37.2582 10.9245 16.2949 0.658572 0.64757 -0.231533 0.305354 +#2916 1721120563105 +SLAM 14.4641 -24.7963 38.8213 -0.569303 0.0934486 0.681814 0.449768 +TTool-pose None 37.2987 10.9265 16.2869 0.658904 0.646718 -0.234442 0.304219 +#2917 1721120563138 +SLAM 14.3074 -24.8341 38.8454 -0.570487 0.0924417 0.680432 0.450568 +TTool-pose None 37.272 10.9187 16.2879 0.658149 0.647761 -0.232765 0.304923 +#2918 1721120563171 +SLAM 14.5177 -24.7592 38.8205 -0.568813 0.0944024 0.682338 0.449394 +TTool-pose None 37.3055 10.9254 16.2747 0.659377 0.645915 -0.235275 0.304257 +#2919 1721120563204 +SLAM 14.2577 -24.7845 38.9081 -0.57181 0.0916883 0.679816 0.449974 +TTool-pose None 37.2628 10.9223 16.3034 0.658522 0.648068 -0.231098 0.304733 +#2920 1721120563237 +SLAM 14.2366 -24.8102 38.8859 -0.571424 0.0920899 0.679745 0.450489 +TTool-pose None 37.2584 10.9168 16.2896 0.658197 0.647999 -0.231605 0.305195 +#2921 1721120563270 +SLAM 14.1588 -24.8133 38.8982 -0.57225 0.0914556 0.679022 0.450661 +TTool-pose None 37.2339 10.9089 16.2976 0.657976 0.648521 -0.230479 0.305415 +#2922 1721120563303 +SLAM 14.314 -24.7975 38.8824 -0.5711 0.0919932 0.68036 0.449992 +TTool-pose None 37.2758 10.9259 16.2995 0.658526 0.647846 -0.231991 0.304518 +#2923 1721120563336 +SLAM 14.3125 -24.7788 38.8981 -0.571072 0.0925627 0.68033 0.449955 +TTool-pose None 37.279 10.9289 16.2922 0.65869 0.647455 -0.232172 0.304858 +#2924 1721120563373 +SLAM 14.2935 -24.8007 38.8684 -0.570809 0.0927951 0.680272 0.450329 +TTool-pose None 37.2653 10.9164 16.2865 0.658441 0.647444 -0.232505 0.305164 +#2925 1721120563414 +SLAM 14.3898 -24.7389 38.9014 -0.570608 0.09332 0.681023 0.449338 +TTool-pose None 37.2939 10.9288 16.2892 0.659304 0.646683 -0.232945 0.304577 +#2926 1721120563446 +SLAM 14.3068 -24.7778 38.9009 -0.571109 0.0926088 0.680272 0.449988 +TTool-pose None 37.2781 10.9297 16.2916 0.658679 0.647439 -0.232139 0.304938 +#2927 1721120563482 +SLAM 14.1429 -24.8817 38.8438 -0.571304 0.0919757 0.679032 0.451738 +TTool-pose None 37.2322 10.9078 16.2797 0.657209 0.648581 -0.231616 0.306079 +#2928 1721120563516 +SLAM 14.3062 -24.9458 38.7813 -0.568984 0.0929451 0.680367 0.452459 +TTool-pose None 37.2848 10.9635 16.2644 0.656711 0.648139 -0.234471 0.30591 +#2929 1721120563549 +SLAM 14.3178 -24.7947 38.8678 -0.570779 0.0925545 0.680493 0.450083 +TTool-pose None 37.2709 10.9172 16.2892 0.658568 0.6475 -0.232496 0.304778 +#2930 1721120563584 +SLAM 14.3494 -24.7565 38.8932 -0.571034 0.0924759 0.680706 0.449453 +TTool-pose None 37.2791 10.9199 16.2958 0.659047 0.647304 -0.232231 0.304359 +#2931 1721120563618 +SLAM 14.182 -24.8242 38.9052 -0.572581 0.0902079 0.679159 0.450284 +TTool-pose None 37.2473 10.9138 16.3166 0.657985 0.6492 -0.229806 0.30446 +#2932 1721120563652 +SLAM 14.259 -24.7786 38.8939 -0.571695 0.0918131 0.679971 0.44986 +TTool-pose None 37.2558 10.9059 16.2964 0.658629 0.647935 -0.231271 0.304653 +#2933 1721120563685 +SLAM 14.2664 -24.7998 38.8754 -0.571562 0.0914352 0.680055 0.44998 +TTool-pose None 37.2553 10.9058 16.3005 0.658437 0.648227 -0.231318 0.304413 +#2934 1721120563718 +SLAM 14.217 -24.837 38.8617 -0.571756 0.0907939 0.679657 0.450464 +TTool-pose None 37.245 10.9032 16.3009 0.657928 0.648855 -0.230892 0.304498 +#2935 1721120563751 +SLAM 14.226 -24.8075 38.8833 -0.572173 0.0904297 0.679698 0.449945 +TTool-pose None 37.246 10.9018 16.3079 0.658266 0.648898 -0.230359 0.304078 +#2936 1721120563784 +SLAM 14.3184 -24.7855 38.8694 -0.571628 0.0905792 0.680553 0.449315 +TTool-pose None 37.2622 10.9017 16.3101 0.658738 0.648518 -0.231071 0.303323 +#2937 1721120563820 +SLAM 14.3897 -24.7159 38.9077 -0.571778 0.0908793 0.681106 0.448225 +TTool-pose None 37.2801 10.9049 16.3159 0.659649 0.64788 -0.231059 0.302716 +#2938 1721120563853 +SLAM 14.223 -24.7782 38.9084 -0.572843 0.0896568 0.679641 0.449334 +TTool-pose None 37.244 10.8968 16.319 0.658593 0.649182 -0.229435 0.30346 +#2939 1721120563886 +SLAM 14.1075 -24.7476 38.9752 -0.574521 0.0887595 0.678475 0.449131 +TTool-pose None 37.2237 10.8918 16.3331 0.658653 0.649756 -0.227285 0.303718 +#2940 1721120563918 +SLAM 14.1552 -24.7764 38.9487 -0.573884 0.0887248 0.678889 0.449328 +TTool-pose None 37.2375 10.9032 16.3335 0.658448 0.649834 -0.227996 0.303464 +#2941 1721120563951 +SLAM 14.3327 -24.7653 38.8787 -0.571647 0.0907907 0.680679 0.449058 +TTool-pose None 37.2649 10.9004 16.309 0.658986 0.648275 -0.231124 0.303265 +#2942 1721120563984 +SLAM 14.2427 -24.8055 38.8784 -0.572171 0.0901167 0.679865 0.44976 +TTool-pose None 37.2475 10.9005 16.3107 0.65833 0.649028 -0.230294 0.30371 +#2943 1721120564017 +SLAM 14.2497 -24.8204 38.8601 -0.57186 0.0902771 0.679987 0.449938 +TTool-pose None 37.2475 10.8969 16.3069 0.65821 0.648983 -0.23068 0.303775 +#2944 1721120564050 +SLAM 14.236 -24.789 38.8932 -0.57237 0.0902336 0.679791 0.449594 +TTool-pose None 37.247 10.8984 16.3111 0.6585 0.648891 -0.230108 0.303775 +#2945 1721120564084 +SLAM 14.1519 -24.7852 38.9369 -0.573783 0.0887325 0.678906 0.449429 +TTool-pose None 37.2336 10.898 16.3322 0.658365 0.649867 -0.228105 0.303491 +#2946 1721120564119 +SLAM 14.2846 -24.7471 38.9118 -0.572534 0.0900879 0.680201 0.448794 +TTool-pose None 37.2564 10.8959 16.3181 0.659084 0.648665 -0.229943 0.303115 +#2947 1721120564153 +SLAM 14.335 -24.7288 38.9086 -0.572233 0.0903447 0.680662 0.448426 +TTool-pose None 37.2657 10.8961 16.3175 0.659402 0.648333 -0.230383 0.3028 +#2948 1721120564188 +SLAM 14.2807 -24.7244 38.9492 -0.573565 0.0885768 0.680017 0.448056 +TTool-pose None 37.2592 10.8992 16.3446 0.659353 0.649395 -0.22842 0.302115 +#2949 1721120564221 +SLAM 14.1625 -24.8307 38.8753 -0.573064 0.0886705 0.679224 0.449877 +TTool-pose None 37.2245 10.8814 16.3225 0.657956 0.650062 -0.228883 0.303377 +#2950 1721120564256 +SLAM 14.2946 -24.7453 38.9116 -0.572636 0.0897145 0.680295 0.448596 +TTool-pose None 37.2581 10.8937 16.3232 0.659151 0.648833 -0.229744 0.30276 +#2951 1721120564289 +SLAM 14.2739 -24.7225 38.9423 -0.573303 0.0892773 0.680029 0.448233 +TTool-pose None 37.2557 10.8923 16.3341 0.65937 0.648998 -0.22889 0.302575 +#2952 1721120564322 +SLAM 14.0146 -24.7618 39.0238 -0.576089 0.0867472 0.677451 0.449062 +TTool-pose None 37.2169 10.8982 16.3614 0.658325 0.651109 -0.224958 0.303266 +#2953 1721120564361 +SLAM 14.1421 -24.7073 39.0388 -0.575635 0.0872103 0.678524 0.447934 +TTool-pose None 37.2478 10.9032 16.3703 0.659263 0.650324 -0.225689 0.302365 +#2954 1721120564393 +SLAM 14.0682 -24.7123 39.0477 -0.575772 0.0879287 0.677899 0.448562 +TTool-pose None 37.2326 10.9017 16.3539 0.658973 0.650117 -0.22567 0.303456 +#2955 1721120564428 +SLAM 14.3175 -24.6197 39.0353 -0.573921 0.0901827 0.680132 0.447104 +TTool-pose None 37.2807 10.9141 16.3406 0.660493 0.647965 -0.228498 0.302636 +#2956 1721120564496 +SLAM 14.1121 -24.7169 39.0292 -0.575237 0.088258 0.678339 0.448519 +TTool-pose None 37.2414 10.9015 16.3504 0.659048 0.649863 -0.226376 0.303313 +ACIM-activate-component Cut#1 +#2957 1721120564529 +SLAM 13.9235 -24.8246 38.988 -0.575574 0.087741 0.67682 0.450479 +TTool-pose None 37.1995 10.8875 16.3354 0.657454 0.651018 -0.2257 0.304796 +#2958 1721120564562 +SLAM 13.983 -24.7877 38.9985 -0.575403 0.0881499 0.677307 0.449885 +TTool-pose None 37.2099 10.8894 16.3389 0.657995 0.6505 -0.226051 0.304474 +#2959 1721120564597 +SLAM 13.9135 -24.7852 39.0494 -0.576658 0.086843 0.676507 0.449736 +TTool-pose None 37.2087 10.8975 16.3589 0.657876 0.651344 -0.224273 0.304242 +#2960 1721120564635 +SLAM 13.9145 -24.7778 39.045 -0.576223 0.0879045 0.67658 0.449977 +TTool-pose None 37.2085 10.8962 16.3425 0.657923 0.65073 -0.225033 0.304891 +#2961 1721120564672 +SLAM 13.7779 -24.8274 39.036 -0.576829 0.0874333 0.67543 0.451019 +TTool-pose None 37.1767 10.8856 16.3361 0.657054 0.651488 -0.224126 0.305812 +#2962 1721120564714 +SLAM 13.8287 -24.8232 39.034 -0.576572 0.0874478 0.675841 0.450729 +TTool-pose None 37.1905 10.8901 16.3432 0.657262 0.651351 -0.22445 0.305422 +#2963 1721120564750 +SLAM 13.9003 -24.8001 39.0246 -0.575881 0.0883819 0.676519 0.450414 +TTool-pose None 37.2035 10.8904 16.3359 0.657683 0.650583 -0.225518 0.305366 +#2964 1721120564792 +SLAM 14.0003 -24.7076 39.0782 -0.575798 0.0894104 0.677274 0.44918 +TTool-pose None 37.2319 10.9029 16.3365 0.658868 0.6494 -0.225977 0.304989 +#2965 1721120564830 +SLAM 13.8863 -24.7674 39.0679 -0.576345 0.088626 0.676275 0.450138 +TTool-pose None 37.2096 10.8976 16.339 0.657985 0.650329 -0.225067 0.30559 +#2966 1721120564863 +SLAM 13.6804 -24.835 39.0743 -0.577427 0.0879161 0.674438 0.451644 +TTool-pose None 37.1694 10.8916 16.3344 0.656737 0.65145 -0.223509 0.307029 +#2967 1721120564901 +SLAM 13.691 -24.8668 39.0332 -0.576643 0.0885513 0.674686 0.452152 +TTool-pose None 37.168 10.8835 16.3202 0.65645 0.651211 -0.224541 0.307395 +#2968 1721120564936 +SLAM 13.6915 -24.7976 39.1139 -0.577728 0.0882062 0.674426 0.45122 +TTool-pose None 37.1804 10.8998 16.3376 0.657152 0.651097 -0.22327 0.307061 +#2969 1721120564976 +SLAM 13.8858 -24.7524 39.0814 -0.575953 0.0900572 0.676267 0.450367 +TTool-pose None 37.2171 10.9009 16.324 0.658132 0.649468 -0.225872 0.306508 +#2970 1721120565010 +SLAM 13.6425 -24.8429 39.0819 -0.577248 0.0888422 0.674116 0.452171 +TTool-pose None 37.1696 10.8934 16.3203 0.656547 0.651051 -0.223913 0.307984 +#2971 1721120565046 +SLAM 13.5362 -25.0107 39.0212 -0.577592 0.0858971 0.672988 0.453979 +TTool-pose None 37.1557 10.9214 16.3494 0.654462 0.653728 -0.222597 0.307706 +#2972 1721120565082 +SLAM 13.5185 -24.8538 39.1281 -0.57893 0.0870871 0.672822 0.45229 +TTool-pose None 37.1493 10.8961 16.3444 0.656138 0.652311 -0.221497 0.307938 +#2973 1721120565114 +SLAM 13.6247 -24.7984 39.1484 -0.578639 0.0874784 0.673709 0.451266 +TTool-pose None 37.1741 10.9028 16.35 0.656999 0.651627 -0.222021 0.307171 +#2974 1721120565148 +SLAM 13.6539 -24.8333 39.0872 -0.577367 0.0886536 0.674201 0.451931 +TTool-pose None 37.1712 10.8925 16.3252 0.656693 0.651081 -0.223747 0.30773 +#2975 1721120565180 +SLAM 13.7555 -24.7504 39.1336 -0.577236 0.0894998 0.674974 0.450775 +TTool-pose None 37.1988 10.9067 16.3268 0.657774 0.650049 -0.224211 0.307263 +#2976 1721120565214 +SLAM 13.9153 -24.6774 39.1292 -0.575975 0.0913644 0.676483 0.449751 +TTool-pose None 37.2286 10.9063 16.3101 0.658921 0.648358 -0.226232 0.306898 +#2977 1721120565248 +SLAM 13.7119 -24.8211 39.0726 -0.576766 0.0892374 0.67477 0.451734 +TTool-pose None 37.1799 10.8933 16.3179 0.656945 0.650595 -0.22461 0.30759 +#2978 1721120565282 +SLAM 13.6 -24.8465 39.0865 -0.577837 0.088082 0.673747 0.452118 +TTool-pose None 37.1562 10.8838 16.3285 0.656442 0.651549 -0.223038 0.30779 +#2979 1721120565315 +SLAM 13.6442 -24.8429 39.0781 -0.577389 0.0884632 0.674152 0.452011 +TTool-pose None 37.1666 10.8875 16.3256 0.656587 0.651239 -0.223665 0.307682 +#2980 1721120565348 +SLAM 13.5335 -24.8509 39.1146 -0.578727 0.0872387 0.673033 0.452207 +TTool-pose None 37.1467 10.8879 16.3409 0.656226 0.65217 -0.221779 0.307845 +#2981 1721120565384 +SLAM 13.7595 -24.7696 39.1118 -0.577098 0.0892198 0.675087 0.450838 +TTool-pose None 37.1958 10.8969 16.3294 0.657648 0.650253 -0.224293 0.30704 +#2982 1721120565419 +SLAM 13.6119 -24.8385 39.0912 -0.577715 0.088384 0.673828 0.452096 +TTool-pose None 37.1601 10.889 16.3257 0.656525 0.651337 -0.22326 0.3079 +#2983 1721120565454 +SLAM 13.6735 -24.783 39.1153 -0.577641 0.088967 0.67435 0.451297 +TTool-pose None 37.1729 10.8888 16.326 0.657273 0.650627 -0.223562 0.307586 +#2984 1721120565489 +SLAM 14.0025 -24.7092 39.0853 -0.575498 0.0902888 0.677293 0.44936 +TTool-pose None 37.2425 10.9023 16.331 0.658924 0.648886 -0.226536 0.305549 +#2985 1721120565522 +SLAM 13.8139 -24.7325 39.1264 -0.576974 0.0895514 0.67553 0.450268 +TTool-pose None 37.2074 10.9015 16.3306 0.658156 0.649798 -0.224569 0.306715 +#2986 1721120565556 +SLAM 13.7128 -24.7914 39.1102 -0.577748 0.0880074 0.674657 0.450888 +TTool-pose None 37.183 10.8896 16.3441 0.657358 0.651093 -0.223223 0.306662 +#2987 1721120565591 +SLAM 13.8131 -24.7708 39.0927 -0.576723 0.0890647 0.675603 0.450576 +TTool-pose None 37.2034 10.8961 16.3322 0.657785 0.650234 -0.224708 0.306485 +#2988 1721120565624 +SLAM 13.629 -24.8674 39.0642 -0.577503 0.0878194 0.674042 0.452157 +TTool-pose None 37.162 10.8836 16.3315 0.656325 0.651725 -0.223354 0.307437 +#2989 1721120565660 +SLAM 13.7352 -24.7975 39.0868 -0.576906 0.0891665 0.674957 0.45129 +TTool-pose None 37.1858 10.8921 16.3225 0.657278 0.650466 -0.224465 0.30726 +#2990 1721120565695 +SLAM 13.7658 -24.8092 39.0676 -0.576485 0.0892713 0.675274 0.451332 +TTool-pose None 37.1916 10.8919 16.3203 0.657242 0.650398 -0.224976 0.307105 +#2991 1721120565728 +SLAM 13.6508 -24.8521 39.0703 -0.577329 0.0882098 0.674231 0.452021 +TTool-pose None 37.1681 10.8874 16.3268 0.656513 0.651407 -0.223668 0.307481 +#2992 1721120565761 +SLAM 13.5522 -24.8797 39.0797 -0.578085 0.0874774 0.673317 0.452559 +TTool-pose None 37.1487 10.8847 16.3312 0.655972 0.652134 -0.222556 0.307901 +#2993 1721120565795 +SLAM 13.7054 -24.8076 39.0842 -0.577037 0.0890924 0.674697 0.451526 +TTool-pose None 37.1778 10.8903 16.3216 0.657088 0.650615 -0.224276 0.307486 +#2994 1721120565829 +SLAM 13.6295 -24.7997 39.1218 -0.578242 0.0880118 0.673881 0.451414 +TTool-pose None 37.1631 10.8907 16.3389 0.656991 0.651323 -0.222608 0.307409 +#2995 1721120565862 +SLAM 13.5492 -24.8014 39.138 -0.578996 0.0875337 0.673182 0.451583 +TTool-pose None 37.1451 10.8802 16.3403 0.656794 0.651733 -0.221595 0.307694 +#2996 1721120565896 +SLAM 13.5762 -24.8462 39.1052 -0.578484 0.0871379 0.673457 0.451907 +TTool-pose None 37.1546 10.8851 16.3427 0.656415 0.652105 -0.22206 0.307376 +#2997 1721120565930 +SLAM 13.7489 -24.8626 39.0218 -0.57605 0.0889855 0.675257 0.451968 +TTool-pose None 37.1836 10.8848 16.3144 0.656656 0.650829 -0.225354 0.30717 +#2998 1721120565962 +SLAM 13.6213 -24.8504 39.0844 -0.577938 0.0874172 0.673914 0.451869 +TTool-pose None 37.1615 10.8857 16.338 0.656476 0.651887 -0.222768 0.307195 +#2999 1721120565997 +SLAM 13.8302 -24.7986 39.0545 -0.576194 0.0890792 0.675883 0.45083 +TTool-pose None 37.2011 10.8883 16.3263 0.657558 0.650308 -0.225304 0.306378 +#3000 1721120566031 +SLAM 13.7558 -24.7993 39.0854 -0.577011 0.088553 0.675127 0.451021 +TTool-pose None 37.1909 10.8923 16.3313 0.65734 0.650762 -0.224207 0.306685 +#3001 1721120566065 +SLAM 13.6075 -24.8484 39.0892 -0.578094 0.0873481 0.673778 0.451885 +TTool-pose None 37.158 10.8852 16.3389 0.656458 0.651944 -0.222568 0.307258 +#3002 1721120566096 +SLAM 13.7906 -24.8017 39.0657 -0.576376 0.0892715 0.675504 0.451127 +TTool-pose None 37.196 10.8916 16.3214 0.657391 0.65031 -0.225119 0.306867 +#3003 1721120566131 +SLAM 13.6981 -24.8105 39.093 -0.57757 0.0880302 0.674588 0.451214 +TTool-pose None 37.1774 10.8872 16.3379 0.657103 0.651205 -0.223407 0.306838 +#3004 1721120566165 +SLAM 13.9569 -24.7232 39.0805 -0.57572 0.0900589 0.676928 0.449671 +TTool-pose None 37.2295 10.8976 16.3276 0.658646 0.649173 -0.226197 0.305788 +#3005 1721120566201 +SLAM 13.7109 -24.8258 39.0882 -0.577695 0.0872511 0.674666 0.45109 +TTool-pose None 37.1825 10.8893 16.3501 0.657015 0.651669 -0.223071 0.306284 +#3006 1721120566236 +SLAM 13.655 -24.856 39.0705 -0.577732 0.0872171 0.674235 0.451693 +TTool-pose None 37.1665 10.8828 16.3436 0.656548 0.651939 -0.222969 0.306785 +#3007 1721120566276 +SLAM 13.8588 -24.7486 39.0935 -0.576555 0.0892245 0.676026 0.450124 +TTool-pose None 37.2108 10.8931 16.3339 0.658157 0.649938 -0.22498 0.306114 +#3008 1721120566311 +SLAM 13.681 -24.8186 39.091 -0.577612 0.0879852 0.674444 0.451385 +TTool-pose None 37.174 10.8873 16.336 0.656963 0.651306 -0.223334 0.306976 +#3009 1721120566342 +SLAM 13.6907 -24.8146 39.0841 -0.577416 0.0882869 0.674574 0.451382 +TTool-pose None 37.1731 10.8841 16.3311 0.657027 0.6511 -0.223639 0.307056 +#3010 1721120566374 +SLAM 13.5529 -24.9 39.0567 -0.578082 0.0868338 0.673384 0.452588 +TTool-pose None 37.1424 10.8772 16.3362 0.655792 0.652567 -0.22239 0.307487 +#3011 1721120566411 +SLAM 13.6982 -24.7882 39.1116 -0.578023 0.0875284 0.67456 0.450773 +TTool-pose None 37.1767 10.885 16.3451 0.657347 0.651371 -0.222788 0.306413 +#3012 1721120566443 +SLAM 13.8128 -24.696 39.1688 -0.578237 0.08768 0.675405 0.449202 +TTool-pose None 37.2081 10.8984 16.3595 0.658597 0.650637 -0.222705 0.305344 +#3013 1721120566484 +SLAM 13.78 -24.8 39.0674 -0.576845 0.0883511 0.67542 0.450834 +TTool-pose None 37.1891 10.8839 16.3323 0.657422 0.650812 -0.224361 0.306291 +#3014 1721120566517 +SLAM 13.6629 -24.759 39.1548 -0.579 0.086845 0.674107 0.450329 +TTool-pose None 37.172 10.8864 16.3608 0.657584 0.651672 -0.221512 0.306188 +#3015 1721120566550 +SLAM 13.5966 -24.9398 39.0428 -0.578195 0.0851693 0.673645 0.452371 +TTool-pose None 37.1584 10.8891 16.3653 0.655555 0.653573 -0.221842 0.30625 +#3016 1721120566585 +SLAM 13.669 -24.7733 39.1396 -0.578455 0.0876018 0.674226 0.450705 +TTool-pose None 37.176 10.8866 16.3485 0.657446 0.65131 -0.222312 0.306674 +#3017 1721120566620 +SLAM 13.7594 -24.7571 39.1251 -0.577535 0.0885743 0.675049 0.450462 +TTool-pose None 37.1952 10.8947 16.34 0.657808 0.65054 -0.22365 0.306561 +#3018 1721120566652 +SLAM 13.7963 -24.7287 39.1434 -0.577278 0.0893733 0.675328 0.450215 +TTool-pose None 37.2093 10.9028 16.3347 0.658174 0.649905 -0.224174 0.306739 +#3019 1721120566683 +SLAM 13.5459 -24.8233 39.1447 -0.578767 0.0878225 0.67307 0.451988 +TTool-pose None 37.159 10.8959 16.3386 0.656539 0.6517 -0.221903 0.308084 +#3020 1721120566719 +SLAM 13.6099 -24.8464 39.1037 -0.577439 0.0892528 0.673707 0.452457 +TTool-pose None 37.172 10.9015 16.3234 0.656442 0.650905 -0.223775 0.308619 +#3021 1721120566755 +SLAM 13.4041 -24.9182 39.1187 -0.578167 0.0894209 0.671782 0.454353 +TTool-pose None 37.1421 10.9111 16.3108 0.655076 0.651591 -0.222815 0.310762 +#3022 1721120566788 +SLAM 13.4785 -24.9235 39.0894 -0.576108 0.0928125 0.672503 0.45522 +TTool-pose None 37.1659 10.9281 16.2703 0.655093 0.649638 -0.226 0.312511 +#3023 1721120566821 +SLAM 13.1133 -25.1036 39.0548 -0.576617 0.0932211 0.669265 0.459246 +TTool-pose None 37.1045 10.9325 16.2392 0.652114 0.651013 -0.225156 0.316466 +#3024 1721120566852 +SLAM 13.2251 -25.0717 39.0623 -0.574588 0.0972079 0.670155 0.459665 +TTool-pose None 37.1452 10.9621 16.2041 0.652604 0.64848 -0.22848 0.318274 +#3025 1721120566885 +SLAM 12.7917 -25.2973 38.9924 -0.574595 0.0982144 0.666349 0.464945 +TTool-pose None 37.0647 10.9742 16.1517 0.648728 0.649928 -0.228222 0.323391 +#3026 1721120566917 +SLAM 12.5301 -25.4526 38.9343 -0.573675 0.100201 0.664115 0.468836 +TTool-pose None 37.0269 10.9873 16.0959 0.646078 0.650125 -0.22939 0.327451 +#3027 1721120566948 +SLAM 12.5228 -25.5474 38.8568 -0.571144 0.103002 0.664295 0.47106 +TTool-pose None 37.042 11.0033 16.0339 0.644808 0.649056 -0.232789 0.32967 +#3028 1721120566978 +SLAM 11.7514 -25.5778 39.0738 -0.577376 0.10084 0.656731 0.474524 +TTool-pose None 36.9275 11.0244 16.0338 0.64193 0.652052 -0.224607 0.335011 +#3029 1721120567008 +SLAM 11.4738 -25.5237 39.2227 -0.579576 0.102382 0.65389 0.475434 +TTool-pose None 36.9133 11.0289 16.0249 0.641667 0.651444 -0.222295 0.338226 +#3030 1721120567037 +SLAM 10.9781 -25.6913 39.1944 -0.580956 0.102201 0.649458 0.479843 +TTool-pose None 36.8285 11.0197 15.9894 0.638139 0.653302 -0.220093 0.342728 +#3031 1721120567068 +SLAM 10.6065 -25.7911 39.103 -0.580433 0.104927 0.646341 0.484078 +TTool-pose None 36.7203 10.9978 15.9109 0.635296 0.653095 -0.220834 0.347892 +#3032 1721120567099 +SLAM 10.5803 -25.568 39.1699 -0.582395 0.105788 0.645649 0.482454 +TTool-pose None 36.6195 11.0063 15.9112 0.63689 0.651946 -0.218925 0.348339 +#3033 1721120567135 +SLAM 10.1675 -25.6791 38.9738 -0.584399 0.102356 0.641829 0.485857 +TTool-pose None 36.3846 10.9889 15.906 0.633408 0.655565 -0.215267 0.350173 +#3034 1721120567169 +SLAM 10.675 -25.2161 39.0217 -0.5873 0.100848 0.646154 0.476858 +TTool-pose None 36.2792 10.8786 16.0456 0.64049 0.65319 -0.212606 0.343281 +#3035 1721120567206 +SLAM 9.72892 -25.6511 38.8544 -0.590759 0.0962558 0.635634 0.487553 +TTool-pose None 36.0121 11.0558 16.0834 0.630787 0.660352 -0.205923 0.351527 +#3036 1721120567237 +SLAM 9.67725 -25.6387 38.7987 -0.59191 0.0957109 0.633725 0.488747 +TTool-pose None 35.873 11.1508 16.1632 0.629695 0.661172 -0.204232 0.352928 +#3037 1721120567268 +SLAM 9.47762 -25.6241 38.7752 -0.594899 0.0938632 0.630169 0.490072 +TTool-pose None 35.6974 11.2357 16.2745 0.628208 0.662915 -0.199967 0.354745 +#3038 1721120567299 +SLAM 9.48855 -25.5692 38.7776 -0.595044 0.0964325 0.628293 0.491805 +TTool-pose None 35.5833 11.3976 16.3442 0.627358 0.661855 -0.200169 0.3581 +#3039 1721120567329 +SLAM 9.52761 -25.5094 38.8076 -0.594396 0.100438 0.62691 0.493548 +TTool-pose None 35.5139 11.5532 16.3847 0.626806 0.659832 -0.201667 0.361943 +#3040 1721120567357 +SLAM 9.07922 -25.5984 38.8373 -0.594371 0.104815 0.620541 0.500665 +TTool-pose None 35.3858 11.7953 16.3456 0.621764 0.659506 -0.201608 0.371153 +#3041 1721120567387 +SLAM 8.87274 -25.614 38.7767 -0.595737 0.103836 0.617914 0.502491 +TTool-pose None 35.2548 11.832 16.3631 0.61999 0.660819 -0.199401 0.372973 +#3042 1721120567416 +SLAM 9.28212 -24.5963 39.6671 -0.606582 0.103533 0.619 0.488034 +TTool-pose None 35.3757 11.9969 16.5264 0.632121 0.655746 -0.188336 0.36727 +#3043 1721120567451 +SLAM 8.73726 -25.1405 39.0729 -0.601623 0.100078 0.615439 0.499268 +TTool-pose None 35.1324 12.0196 16.2717 0.621879 0.662159 -0.191816 0.371426 +#3044 1721120567485 +SLAM 8.99139 -24.5827 39.4804 -0.606381 0.0989547 0.616865 0.491922 +TTool-pose None 35.1717 12.137 16.2734 0.62782 0.660223 -0.186877 0.367371 +#3045 1721120567516 +SLAM 8.75291 -24.2427 39.8439 -0.613564 0.0928706 0.613046 0.488967 +TTool-pose None 35.1263 12.3399 16.2846 0.628796 0.663123 -0.176945 0.365392 +#3046 1721120567550 +SLAM 8.61921 -24.4709 39.4938 -0.609926 0.0936996 0.612784 0.493667 +TTool-pose None 34.9889 12.2799 16.1666 0.62508 0.66432 -0.180918 0.367642 +#3047 1721120567580 +SLAM 8.72797 -24.3172 39.6176 -0.611477 0.0895163 0.61266 0.492676 +TTool-pose None 34.9689 12.5187 16.13 0.624915 0.666714 -0.17811 0.364947 +#3048 1721120567610 +SLAM 8.57744 -24.2838 39.6682 -0.613811 0.0829752 0.610044 0.494164 +TTool-pose None 34.8787 12.7722 16.0732 0.62203 0.671533 -0.173295 0.363353 +#3049 1721120567640 +SLAM 9.097 -24.1021 39.6388 -0.611984 0.0824791 0.615298 0.489981 +TTool-pose None 34.9045 12.7888 16.0657 0.625508 0.670365 -0.176127 0.358137 +#3050 1721120567668 +#3051 1721120567695 +SLAM 9.64599 -23.8976 39.6651 -0.613314 0.0673471 0.620654 0.483838 +TTool-pose None 34.9225 13.041 16.0059 0.626847 0.677968 -0.171403 0.343468 +#3052 1721120567724 +SLAM 10.212 -23.0247 40.3364 -0.615391 0.0764469 0.626557 0.472097 +TTool-pose None 35.2349 13.0397 15.9301 0.638837 0.667635 -0.172936 0.340839 +#3053 1721120567758 +SLAM 10.2119 -22.9428 40.4345 -0.616253 0.0711249 0.626322 0.472117 +TTool-pose None 35.2434 13.2585 15.8209 0.637463 0.671103 -0.170443 0.337842 +#3054 1721120567789 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1721120568181 +SLAM 13.101 -22.5813 40.0041 -0.603678 0.0767746 0.645326 0.461771 +TTool-pose None 35.2386 13.8895 16.5401 0.647208 0.66341 -0.188575 0.324604 +#3067 1721120568214 +SLAM 13.3943 -22.4392 40.038 -0.602507 0.0778357 0.648214 0.45907 +TTool-pose None 35.3171 13.8977 16.5364 0.649591 0.661643 -0.190559 0.322282 +#3068 1721120568246 +SLAM 13.4082 -22.4255 40.0722 -0.603342 0.0758397 0.648261 0.458241 +TTool-pose None 35.3287 13.9085 16.5651 0.649758 0.662626 -0.189107 0.320776 +#3069 1721120568278 +SLAM 13.4491 -22.4516 40.0591 -0.602784 0.0753267 0.648842 0.458237 +TTool-pose None 35.3561 13.9116 16.5511 0.649619 0.662952 -0.189642 0.320068 +#3070 1721120568308 +SLAM 13.4321 -22.4695 40.0689 -0.60279 0.0744114 0.64896 0.458212 +TTool-pose None 35.3786 13.9077 16.5311 0.649406 0.663537 -0.189391 0.319434 +#3071 1721120568338 +SLAM 13.5849 -22.4146 40.1498 -0.602507 0.0734794 0.650541 0.456488 +TTool-pose None 35.4813 13.934 16.5273 0.650517 0.663457 -0.189656 0.317174 +#3072 1721120568368 +SLAM 13.5267 -22.469 40.163 -0.602131 0.0734453 0.650352 0.457258 +TTool-pose None 35.5189 13.9311 16.4854 0.649895 0.663779 -0.19002 0.317558 +#3073 1721120568398 +SLAM 13.6431 -22.4031 40.2394 -0.601894 0.0740612 0.651578 0.455723 +TTool-pose None 35.6048 13.9279 16.4847 0.651251 0.662766 -0.190626 0.316528 +#3074 1721120568431 +SLAM 13.4905 -22.443 40.2819 -0.603195 0.0721376 0.650212 0.456264 +TTool-pose None 35.5958 13.9321 16.4829 0.650365 0.664247 -0.188488 0.316527 +#3075 1721120568463 +SLAM 13.7277 -22.3056 40.3504 -0.60238 0.0727518 0.652875 0.45343 +TTool-pose None 35.703 13.9178 16.461 0.652721 0.66271 -0.189913 0.314035 +#3076 1721120568499 +SLAM 13.6358 -22.25 40.4471 -0.60413 0.0709348 0.65208 0.452535 +TTool-pose None 35.7139 13.9217 16.4638 0.652994 0.663555 -0.187405 0.313188 +#3077 1721120568530 +SLAM 13.5894 -22.328 40.3937 -0.603605 0.0699679 0.651981 0.453526 +TTool-pose None 35.7058 13.9162 16.4316 0.651957 0.66457 -0.187674 0.313034 +#3078 1721120568562 +SLAM 13.8034 -22.1339 40.5044 -0.603676 0.0708408 0.653922 0.450492 +TTool-pose None 35.7838 13.9353 16.4369 0.654549 0.662792 -0.188118 0.311122 +#3079 1721120568597 +SLAM 13.8651 -22.0805 40.515 -0.60376 0.0702225 0.654614 0.44947 +TTool-pose None 35.7931 13.9333 16.4352 0.655184 0.662783 -0.187943 0.309906 +#3080 1721120568628 +SLAM 13.9107 -22.1848 40.4023 -0.602386 0.0693771 0.65528 0.450473 +TTool-pose None 35.7798 13.9278 16.4214 0.65415 0.663712 -0.189264 0.309297 +#3081 1721120568659 +SLAM 14.0386 -22.1893 40.3353 -0.601126 0.0692724 0.656762 0.450014 +TTool-pose None 35.793 13.9141 16.4076 0.654441 0.663575 -0.190784 0.308037 +#3082 1721120568692 +SLAM 14.2612 -22.0813 40.313 -0.600318 0.0690602 0.658999 0.44785 +TTool-pose None 35.8166 13.9083 16.4114 0.656033 0.662825 -0.191884 0.305571 +#3083 1721120568724 +SLAM 14.4645 -22.0033 40.2241 -0.598758 0.0697106 0.661104 0.446734 +TTool-pose None 35.8006 13.9061 16.3886 0.657008 0.661922 -0.194016 0.304082 +#3084 1721120568757 +SLAM 14.5404 -21.9415 40.1704 -0.598769 0.0689941 0.661593 0.446106 +TTool-pose None 35.7388 13.9264 16.4044 0.657304 0.662131 -0.193859 0.303086 +#3085 1721120568792 +SLAM 14.7861 -21.8659 40.0162 -0.596384 0.0704949 0.664166 0.445242 +TTool-pose None 35.697 13.9148 16.3706 0.658265 0.660757 -0.197173 0.301858 +#3086 1721120568826 +SLAM 15.0524 -21.7493 39.8969 -0.595132 0.0694409 0.666751 0.443215 +TTool-pose None 35.6508 13.922 16.3761 0.659484 0.660581 -0.198526 0.298676 +#3087 1721120568857 +SLAM 15.4388 -21.4626 39.8911 -0.594877 0.0680326 0.670328 0.438354 +TTool-pose None 35.6594 13.9357 16.4111 0.662788 0.659485 -0.198803 0.293551 +#3088 1721120568889 +SLAM 15.9084 -21.3908 39.6275 -0.589608 0.0708605 0.675524 0.437046 +TTool-pose None 35.6751 13.9126 16.3258 0.664237 0.656964 -0.205857 0.291055 +#3089 1721120568927 +SLAM 16.1677 -21.3505 39.5054 -0.588081 0.0697306 0.67775 0.435837 +TTool-pose None 35.6548 13.9412 16.3588 0.664756 0.657142 -0.207408 0.28835 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1721120569957 +SLAM 18.8154 -22.2156 37.7458 -0.562786 0.12495 0.691466 0.435355 +TTool-pose None 35.5682 13.3823 17.9644 0.676273 0.619451 -0.250459 0.310036 +#3121 1721120569993 +SLAM 18.3637 -22.4389 37.7351 -0.564379 0.124132 0.687881 0.439188 +TTool-pose None 35.458 13.3063 17.9407 0.673401 0.62169 -0.248234 0.313576 +#3122 1721120570025 +SLAM 18.3678 -22.5586 37.575 -0.561695 0.125864 0.688996 0.440387 +TTool-pose None 35.4645 13.2229 17.8676 0.672629 0.620892 -0.251602 0.314132 +#3123 1721120570054 +SLAM 18.3642 -22.5345 37.574 -0.562233 0.123612 0.689797 0.439083 +TTool-pose None 35.4827 13.146 17.8543 0.67317 0.621889 -0.250557 0.311824 +#3124 1721120570088 +SLAM 18.2155 -22.6019 37.5124 -0.561286 0.124671 0.68938 0.440648 +TTool-pose None 35.4532 13.089 17.7561 0.672142 0.621783 -0.251776 0.313269 +#3125 1721120570126 +SLAM 18.251 -22.6164 37.4398 -0.559987 0.124755 0.690522 0.440488 +TTool-pose None 35.4692 13.0395 17.6987 0.672156 0.621593 -0.253275 0.312409 +#3126 1721120570158 +SLAM 18.164 -22.5687 37.4947 -0.561533 0.123206 0.690095 0.439625 +TTool-pose None 35.4538 12.9891 17.6991 0.672614 0.622352 -0.251224 0.311562 +#3127 1721120570194 +SLAM 18.1257 -22.7818 37.2685 -0.558927 0.121724 0.690989 0.441947 +TTool-pose None 35.4253 12.9316 17.6287 0.670315 0.624183 -0.253683 0.310862 +#3128 1721120570226 +SLAM 18.2172 -22.8515 37.1581 -0.557394 0.120058 0.6927 0.441661 +TTool-pose None 35.4614 12.879 17.6031 0.670015 0.625098 -0.255043 0.308548 +#3129 1721120570257 +SLAM 18.123 -23.1141 36.9648 -0.555818 0.116094 0.693078 0.444107 +TTool-pose None 35.4463 12.8186 17.5623 0.667161 0.628686 -0.25573 0.306867 +#3130 1721120570290 +SLAM 18.0765 -23.3462 36.7607 -0.554141 0.112027 0.693978 0.445838 +TTool-pose None 35.4385 12.7419 17.5266 0.664786 0.632028 -0.256531 0.304477 +#3131 1721120570324 +SLAM 17.9188 -23.6662 36.5238 -0.553239 0.10546 0.693864 0.448729 +TTool-pose None 35.3871 12.6663 17.508 0.661026 0.637543 -0.255751 0.301805 +#3132 1721120570357 +SLAM 18.0029 -23.7237 36.3513 -0.549039 0.108619 0.695944 0.449911 +TTool-pose None 35.4214 12.6302 17.3547 0.660413 0.635693 -0.26115 0.302426 +#3133 1721120570390 +SLAM 17.9745 -23.5371 36.3918 -0.55002 0.110339 0.696146 0.447978 +TTool-pose None 35.3657 12.5574 17.3186 0.662362 0.633804 -0.260601 0.302603 +#3134 1721120570427 +SLAM 17.9374 -23.4868 36.4289 -0.551362 0.108413 0.696197 0.446718 +TTool-pose None 35.3588 12.5016 17.3267 0.663011 0.634638 -0.258713 0.301048 +#3135 1721120570457 +SLAM 17.6639 -23.673 36.3896 -0.551903 0.106246 0.694138 0.449764 +TTool-pose None 35.307 12.4868 17.2889 0.66029 0.637376 -0.257373 0.302393 +#3136 1721120570492 +SLAM 17.6995 -23.5 36.4639 -0.552385 0.108156 0.69478 0.447722 +TTool-pose None 35.3144 12.4441 17.2507 0.662311 0.635287 -0.257438 0.302311 +#3137 1721120570524 +SLAM 17.6721 -23.4004 36.5316 -0.554284 0.106104 0.69488 0.445706 +TTool-pose None 35.3064 12.3798 17.2678 0.663548 0.635917 -0.254936 0.300387 +#3138 1721120570557 +SLAM 17.7202 -23.3501 36.5021 -0.553682 0.105963 0.696287 0.444289 +TTool-pose None 35.333 12.2951 17.2192 0.664508 0.635384 -0.255666 0.298766 +#3139 1721120570591 +SLAM 17.6403 -23.4098 36.4015 -0.552439 0.106263 0.696584 0.445298 +TTool-pose None 35.3043 12.2304 17.1377 0.663693 0.635535 -0.257069 0.299054 +#3140 1721120570625 +SLAM 17.5957 -23.266 36.5339 -0.555254 0.103888 0.696347 0.442721 +TTool-pose None 35.304 12.1741 17.1649 0.665359 0.636192 -0.253486 0.297004 +#3141 1721120570657 +SLAM 17.3391 -23.402 36.5043 -0.556003 0.102215 0.694615 0.444886 +TTool-pose None 35.2522 12.124 17.1266 0.663434 0.638246 -0.252092 0.298087 +#3142 1721120570689 +SLAM 17.33 -23.2512 36.6429 -0.55733 0.103417 0.694468 0.443174 +TTool-pose None 35.2779 12.1137 17.1121 0.665127 0.63681 -0.251007 0.298303 +#3143 1721120570725 +SLAM 17.3885 -23.2438 36.5956 -0.555716 0.10535 0.695456 0.443196 +TTool-pose None 35.3008 12.0939 17.0588 0.665394 0.635448 -0.2533 0.298672 +#3144 1721120570757 +SLAM 17.1314 -23.3468 36.609 -0.557216 0.103552 0.69335 0.445031 +TTool-pose None 35.2444 12.0646 17.0476 0.663761 0.63749 -0.251051 0.299852 +#3145 1721120570790 +SLAM 17.1098 -23.2757 36.646 -0.557556 0.104305 0.693491 0.444209 +TTool-pose None 35.2461 12.0281 17.0175 0.664585 0.636667 -0.250907 0.299897 +#3146 1721120570825 +SLAM 17.1711 -23.2531 36.5972 -0.556622 0.104409 0.694754 0.443381 +TTool-pose None 35.2641 11.9744 16.9788 0.665131 0.6362 -0.252036 0.298726 +#3147 1721120570860 +SLAM 17.0949 -23.2609 36.5847 -0.557157 0.102976 0.694718 0.443101 +TTool-pose None 35.2492 11.9104 16.9542 0.665061 0.637061 -0.251096 0.297838 +#3148 1721120570889 +SLAM 17.0975 -23.1908 36.6101 -0.55723 0.103356 0.6953 0.442007 +TTool-pose None 35.265 11.8613 16.9131 0.66597 0.636356 -0.251176 0.297244 +#3149 1721120570925 +SLAM 16.989 -23.2308 36.5901 -0.557488 0.102498 0.694904 0.442504 +TTool-pose None 35.2458 11.8107 16.8787 0.665427 0.637146 -0.250641 0.29722 +#3150 1721120570965 +SLAM 16.8865 -23.3129 36.5424 -0.556683 0.102885 0.694584 0.443929 +TTool-pose None 35.2394 11.7786 16.8188 0.664374 0.637441 -0.251555 0.298169 +#3151 1721120571007 +SLAM 16.9106 -23.2755 36.5466 -0.556285 0.103495 0.695231 0.443271 +TTool-pose None 35.2605 11.746 16.7849 0.664966 0.63674 -0.252195 0.297807 +#3152 1721120571041 +SLAM 16.8409 -23.3001 36.5233 -0.556217 0.103242 0.695136 0.443565 +TTool-pose None 35.2491 11.7002 16.7511 0.66468 0.637027 -0.252191 0.297834 +#3153 1721120571073 +SLAM 16.8336 -23.2959 36.5374 -0.556138 0.102798 0.695446 0.443281 +TTool-pose None 35.2748 11.6799 16.7214 0.66478 0.637198 -0.252186 0.29725 +#3154 1721120571110 +SLAM 16.732 -23.2904 36.5696 -0.556777 0.10257 0.694877 0.443425 +TTool-pose None 35.2668 11.6485 16.6894 0.664685 0.637444 -0.251402 0.297597 +#3155 1721120571146 +SLAM 16.6365 -23.3313 36.5635 -0.556953 0.102019 0.694445 0.444007 +TTool-pose None 35.2601 11.6145 16.6588 0.664141 0.638061 -0.25103 0.297804 +#3156 1721120571175 +SLAM 16.6231 -23.2937 36.5905 -0.557413 0.101448 0.694721 0.443127 +TTool-pose None 35.2732 11.573 16.6421 0.664709 0.638096 -0.250425 0.296969 +#3157 1721120571204 +SLAM 16.571 -23.2838 36.5993 -0.557598 0.101291 0.694684 0.442989 +TTool-pose None 35.2729 11.5372 16.6097 0.664793 0.638153 -0.250185 0.29686 +#3158 1721120571234 +SLAM 16.5595 -23.2593 36.6114 -0.557575 0.101345 0.694996 0.442516 +TTool-pose None 35.2866 11.504 16.5793 0.665156 0.637918 -0.250254 0.296494 +#3159 1721120571266 +SLAM 16.48 -23.3449 36.5377 -0.556421 0.101995 0.694918 0.443939 +TTool-pose None 35.2748 11.4666 16.5219 0.664131 0.638019 -0.251627 0.297412 +#3160 1721120571299 +SLAM 16.4557 -23.5443 36.424 -0.556019 0.0977511 0.694951 0.445342 +TTool-pose None 35.28 11.4573 16.5543 0.662039 0.641385 -0.250921 0.295427 +#3161 1721120571335 +SLAM 16.5217 -23.1871 36.6467 -0.557292 0.102686 0.695626 0.441572 +TTool-pose None 35.316 11.4259 16.4943 0.666143 0.636619 -0.250965 0.296467 +#3162 1721120571369 +SLAM 16.5839 -23.2882 36.4927 -0.554222 0.104555 0.696953 0.442902 +TTool-pose None 35.328 11.394 16.4277 0.665271 0.635767 -0.254797 0.296989 +#3163 1721120571403 +SLAM 16.4094 -23.3751 36.4771 -0.554822 0.103471 0.695755 0.444287 +TTool-pose None 35.2955 11.3581 16.4052 0.664051 0.637099 -0.25377 0.297744 +#3164 1721120571441 +SLAM 16.5082 -23.3258 36.4579 -0.553649 0.104851 0.697033 0.443423 +TTool-pose None 35.3268 11.3361 16.3701 0.664891 0.635756 -0.255481 0.297275 +#3165 1721120571484 +SLAM 16.4281 -23.3576 36.4625 -0.553972 0.104307 0.696541 0.44392 +TTool-pose None 35.3204 11.3174 16.3532 0.664429 0.636343 -0.254954 0.297505 +#3166 1721120571520 +SLAM 16.3594 -23.3411 36.5158 -0.555046 0.103564 0.695924 0.44372 +TTool-pose None 35.3183 11.3076 16.3553 0.664518 0.636813 -0.253577 0.297477 +#3167 1721120571554 +SLAM 16.4121 -23.2759 36.5281 -0.554678 0.104669 0.696655 0.442774 +TTool-pose None 35.3351 11.284 16.3326 0.665441 0.635663 -0.254322 0.297236 +#3168 1721120571585 +SLAM 16.304 -23.3437 36.5004 -0.554698 0.104144 0.696052 0.44382 +TTool-pose None 35.3168 11.2553 16.3067 0.664543 0.63645 -0.254105 0.297747 +#3169 1721120571618 +SLAM 16.1615 -23.648 36.4003 -0.553772 0.100789 0.694736 0.447795 +TTool-pose None 35.3301 11.3137 16.3023 0.660691 0.640276 -0.254052 0.298163 +#3170 1721120571650 +SLAM 16.2009 -23.3496 36.5271 -0.555139 0.103896 0.695679 0.443912 +TTool-pose None 35.3218 11.2057 16.2647 0.664463 0.636679 -0.253543 0.297917 +#3171 1721120571685 +SLAM 15.9037 -23.6251 36.4226 -0.556089 0.0992324 0.693435 0.447287 +TTool-pose None 35.2572 11.1658 16.2738 0.660943 0.641223 -0.25109 0.298077 +#3172 1721120571715 +SLAM 15.9642 -23.6637 36.3884 -0.554293 0.100677 0.6942 0.448007 +TTool-pose None 35.3005 11.1865 16.2272 0.66056 0.640468 -0.253425 0.298574 +#3173 1721120571749 +SLAM 16.1062 -23.3911 36.4762 -0.553888 0.105153 0.69607 0.444564 +TTool-pose None 35.331 11.1125 16.1641 0.664137 0.636048 -0.255217 0.298562 +#3174 1721120571779 +SLAM 16.0979 -23.3377 36.515 -0.554116 0.105329 0.696384 0.443746 +TTool-pose None 35.3505 11.0805 16.1311 0.664811 0.635602 -0.255056 0.298147 +#3175 1721120571813 +SLAM 16.2052 -23.279 36.4839 -0.55234 0.107479 0.698089 0.442765 +TTool-pose None 35.3922 11.0341 16.0635 0.665846 0.633662 -0.257635 0.297751 +#3176 1721120571844 +SLAM 15.6827 -23.6862 36.3559 -0.554245 0.101573 0.693672 0.448681 +TTool-pose None 35.2649 11.0041 16.0804 0.660261 0.640153 -0.253658 0.299712 +#3177 1721120571881 +SLAM 15.7535 -23.5695 36.4339 -0.552884 0.106548 0.694108 0.448532 +TTool-pose None 35.3083 11.0518 16.013 0.661388 0.63672 -0.256431 0.302175 +#3178 1721120571918 +SLAM 15.6822 -23.5801 36.4576 -0.554989 0.103119 0.69341 0.447813 +TTool-pose None 35.2801 11.021 16.0708 0.661351 0.638812 -0.253266 0.300502 +#3179 1721120571952 +SLAM 15.6849 -23.508 36.5137 -0.555327 0.104401 0.693294 0.447276 +TTool-pose None 35.2842 11.0286 16.0618 0.662087 0.637758 -0.25324 0.301141 +#3180 1721120571986 +SLAM 15.7324 -23.5219 36.4745 -0.554368 0.105134 0.693892 0.447367 +TTool-pose None 35.2941 11.0212 16.0486 0.66209 0.637257 -0.254494 0.301139 +#3181 1721120572022 +SLAM 15.5197 -23.6993 36.4363 -0.555995 0.10077 0.691921 0.4494 +TTool-pose None 35.2456 11.0155 16.0894 0.659711 0.641079 -0.251439 0.300811 +#3182 1721120572054 +SLAM 15.805 -23.4446 36.4895 -0.554229 0.106043 0.69455 0.446302 +TTool-pose None 35.2994 11.0162 16.0459 0.663083 0.636203 -0.254944 0.300803 +#3183 1721120572088 +SLAM 15.647 -23.7376 36.3835 -0.553641 0.102652 0.693044 0.45015 +TTool-pose None 35.2929 11.0643 16.0558 0.659347 0.640015 -0.254506 0.301296 +#3184 1721120572122 +SLAM 15.7523 -23.5483 36.4454 -0.554857 0.102909 0.694141 0.446891 +TTool-pose None 35.2873 11.0039 16.0822 0.661979 0.63856 -0.253424 0.299521 +#3185 1721120572155 +SLAM 15.6101 -23.4801 36.5508 -0.556368 0.104146 0.692621 0.447084 +TTool-pose None 35.2621 11.0105 16.0654 0.662278 0.637905 -0.252017 0.301435 +#3186 1721120572187 +SLAM 15.7655 -23.4844 36.4908 -0.554558 0.105151 0.694147 0.446731 +TTool-pose None 35.2987 11.02 16.0556 0.662589 0.636992 -0.254326 0.300743 +#3187 1721120572220 +SLAM 15.6209 -23.5097 36.5289 -0.555702 0.10476 0.692733 0.447596 +TTool-pose None 35.27 11.0181 16.0564 0.661969 0.637675 -0.252885 0.301875 +#3188 1721120572251 +SLAM 15.5241 -23.6914 36.4756 -0.555598 0.102373 0.691724 0.449831 +TTool-pose None 35.2709 11.0487 16.0751 0.659723 0.640177 -0.252257 0.302021 +#3189 1721120572285 +SLAM 15.4332 -23.5054 36.6553 -0.557616 0.105058 0.6906 0.44844 +TTool-pose None 35.2642 11.0393 16.0607 0.661596 0.637932 -0.250744 0.30393 +#3190 1721120572315 +SLAM 14.9452 -23.641 36.7364 -0.560829 0.103618 0.685935 0.451916 +TTool-pose None 35.1708 11.0281 16.0585 0.658945 0.640489 -0.246502 0.307761 +#3191 1721120572347 +SLAM 14.6835 -23.7954 36.7994 -0.5633 0.0999459 0.68306 0.454019 +TTool-pose None 35.1565 11.0575 16.1077 0.656712 0.643903 -0.242617 0.308496 +#3192 1721120572378 +SLAM 13.9727 -24.0367 36.8709 -0.566803 0.0988665 0.676235 0.460071 +TTool-pose None 35.0341 11.0592 16.0811 0.652112 0.647237 -0.237837 0.314937 +#3193 1721120572410 +SLAM 13.5422 -23.9479 37.065 -0.570103 0.101947 0.672038 0.46147 +TTool-pose None 34.965 11.0265 16.0408 0.651998 0.645899 -0.234681 0.320246 +#3194 1721120572446 +SLAM 12.797 -24.0145 37.3139 -0.576145 0.100753 0.664364 0.465324 +TTool-pose None 34.8727 11.0394 16.0408 0.649119 0.648451 -0.22701 0.326412 +#3195 1721120572480 +SLAM 12.0456 -24.0964 37.5026 -0.581472 0.100263 0.656738 0.46961 +TTool-pose None 34.7637 11.0368 16.0305 0.645918 0.650629 -0.220203 0.33303 +#3196 1721120572518 +SLAM 11.0826 -24.257 37.666 -0.58775 0.0984535 0.647096 0.475524 +TTool-pose None 34.621 11.0238 16.017 0.641032 0.654275 -0.211645 0.34079 +#3197 1721120572555 +SLAM 10.324 -24.3006 37.859 -0.592628 0.099207 0.639244 0.479914 +TTool-pose None 34.5314 11.0366 15.9868 0.637784 0.655534 -0.205442 0.348182 +#3198 1721120572589 +SLAM 9.31897 -24.4158 38.0122 -0.599725 0.0964967 0.628987 0.485173 +TTool-pose None 34.3815 11.0121 15.9891 0.632935 0.659374 -0.195468 0.355449 +#3199 1721120572629 +SLAM 8.34228 -24.6273 38.0197 -0.603943 0.0956728 0.619421 0.492359 +TTool-pose None 34.2359 10.9757 15.9369 0.626729 0.662576 -0.189016 0.363887 +#3200 1721120572661 +SLAM 7.54991 -24.6211 38.1933 -0.60963 0.0952112 0.610985 0.495968 +TTool-pose None 34.1422 10.9789 15.9252 0.623471 0.664149 -0.181273 0.370498 +#3201 1721120572697 +SLAM 6.56118 -24.7479 38.2213 -0.614371 0.0945452 0.601 0.502402 +TTool-pose None 34.003 10.9494 15.8727 0.617626 0.666806 -0.174041 0.378892 +#3202 1721120572731 +SLAM 5.73248 -24.7466 38.3379 -0.619603 0.0942722 0.592201 0.506461 +TTool-pose None 33.9039 10.9419 15.8483 0.613768 0.668277 -0.166577 0.385861 +#3203 1721120572765 +SLAM 4.49605 -24.8875 38.3035 -0.625523 0.0924284 0.5795 0.514157 +TTool-pose None 33.725 10.8932 15.7924 0.606104 0.671919 -0.156948 0.395569 +#3204 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7.73841 12.7303 0.252534 0.653722 0.263882 0.66274 +#3400 1721120579899 +SLAM -32.5756 -12.6248 18.3026 -0.760691 0.0139685 0.00328469 0.648956 +TTool-pose None 29.9127 7.73131 12.7216 0.251291 0.654088 0.263645 0.662945 +#3401 1721120579939 +SLAM -32.5796 -12.5957 18.3734 -0.761433 0.0145176 0.00353679 0.648071 +TTool-pose None 29.9231 7.7419 12.7329 0.252386 0.65352 0.264066 0.662923 +#3402 1721120579974 +SLAM -32.5782 -12.6028 18.3746 -0.761097 0.0146148 0.00375581 0.648462 +TTool-pose None 29.9279 7.74199 12.7254 0.252218 0.653673 0.263557 0.663038 +#3403 1721120580013 +SLAM -32.5812 -12.5956 18.3882 -0.761336 0.0146184 0.00366497 0.648182 +TTool-pose None 29.9285 7.75057 12.7307 0.252403 0.65354 0.263855 0.662979 +#3404 1721120580046 +SLAM -32.5801 -12.6761 18.1739 -0.756947 0.0146909 0.00381893 0.6533 +TTool-pose None 29.9279 7.68574 12.6638 0.248103 0.65536 0.259271 0.664613 +#3405 1721120580090 +SLAM -32.5733 -12.639 18.3167 -0.759714 0.0144453 0.00385694 0.650085 +TTool-pose None 29.9257 7.7364 12.7061 0.25083 0.654388 0.262143 0.663419 +#3406 1721120580133 +SLAM -32.5758 -12.6291 18.3501 -0.760341 0.0144164 0.00372415 0.649353 +TTool-pose None 29.925 7.75316 12.7222 0.251368 0.654101 0.262872 0.66321 +#3407 1721120580172 +SLAM -32.5786 -12.6664 18.2479 -0.757848 0.0149567 0.00418587 0.652247 +TTool-pose None 29.9372 7.69931 12.6815 0.249331 0.654948 0.259874 0.664323 +#3408 1721120580212 +SLAM -32.5784 -12.6308 18.3243 -0.75988 0.0147374 0.00403375 0.649883 +TTool-pose None 29.9348 7.71826 12.7069 0.251208 0.654196 0.262107 0.66348 +#3409 1721120580247 +SLAM -32.5701 -12.629 18.3454 -0.760861 0.0141721 0.00368953 0.64875 +TTool-pose None 29.9189 7.74121 12.7263 0.251789 0.654026 0.263503 0.662874 +#3410 1721120580284 +SLAM -32.5696 -12.6409 18.3312 -0.760099 0.0142575 0.00381387 0.64964 +TTool-pose None 29.9217 7.74594 12.7144 0.251127 0.654332 0.262623 0.663172 +#3411 1721120580322 +SLAM -32.569 -12.656 18.2962 -0.75975 0.014036 0.00374328 0.650053 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-0.761103 0.0146465 0.00391007 0.648454 +TTool-pose None 29.9294 7.73897 12.724 0.252333 0.653702 0.263458 0.663004 +#3430 1721120581043 +SLAM -32.5744 -12.6259 18.3664 -0.761123 0.01432 0.0039151 0.648438 +TTool-pose None 29.9296 7.73652 12.7288 0.252247 0.6539 0.263584 0.662792 +#3431 1721120581078 +SLAM -32.5705 -12.6351 18.331 -0.76071 0.0140272 0.00371138 0.64893 +TTool-pose None 29.9203 7.73766 12.7196 0.251602 0.654187 0.263385 0.662833 +#3432 1721120581116 +SLAM -32.5687 -12.6296 18.3844 -0.761323 0.0142843 0.00401899 0.648203 +TTool-pose None 29.9273 7.74374 12.7341 0.252503 0.653874 0.263736 0.66266 +#3433 1721120581154 +SLAM -32.5704 -12.6224 18.3794 -0.761291 0.0142751 0.00395058 0.648241 +TTool-pose None 29.9271 7.74424 12.7282 0.252424 0.65387 0.263749 0.662688 +#3434 1721120581190 +SLAM -32.569 -12.6366 18.3411 -0.760678 0.0141635 0.0039068 0.648963 +TTool-pose None 29.9242 7.73479 12.7184 0.25174 0.654181 0.263187 0.662865 +#3435 1721120581224 +SLAM -32.5659 -12.6354 18.351 -0.760906 0.0141122 0.00390788 0.648697 +TTool-pose None 29.9214 7.73833 12.7224 0.251953 0.654118 0.263436 0.662747 +#3436 1721120581262 +SLAM -32.572 -12.6403 18.3362 -0.760251 0.0144392 0.00408925 0.649456 +TTool-pose None 29.9313 7.72586 12.7132 0.251518 0.654247 0.26255 0.663137 +#3437 1721120581301 +SLAM -32.5669 -12.6412 18.3456 -0.760991 0.013953 0.00383059 0.648601 +TTool-pose None 29.9206 7.73902 12.7267 0.251937 0.654156 0.263624 0.662641 +#3438 1721120581342 +SLAM -32.5679 -12.6279 18.3595 -0.761303 0.0140728 0.00388276 0.648232 +TTool-pose None 29.923 7.73525 12.7259 0.252325 0.653968 0.26387 0.662581 +#3439 1721120581380 +SLAM -32.5681 -12.6413 18.3384 -0.761046 0.013892 0.00381282 0.648538 +TTool-pose None 29.9215 7.73332 12.7254 0.25196 0.654165 0.26371 0.662589 +#3440 1721120581419 +SLAM -32.5722 -12.6779 18.2234 -0.758135 0.0144063 0.00411533 0.651925 +TTool-pose None 29.9305 7.69057 12.6778 0.249391 0.655151 0.260392 0.663898 +#3441 1721120581456 +SLAM -32.5724 -12.6361 18.3204 -0.760871 0.0138678 0.00359867 0.648745 +TTool-pose None 29.9193 7.73249 12.7219 0.251639 0.654182 0.26367 0.662711 +#3442 1721120581496 +SLAM -32.5662 -12.6322 18.3629 -0.761434 0.0139446 0.00380529 0.648081 +TTool-pose None 29.9195 7.74181 12.7325 0.252366 0.653968 0.264094 0.662477 +#3443 1721120581535 +SLAM -32.5702 -12.63 18.3563 -0.761161 0.0141505 0.00388434 0.648397 +TTool-pose None 29.925 7.73359 12.7269 0.252209 0.65398 0.263698 0.662682 +#3444 1721120581570 +SLAM -32.5671 -12.6274 18.3683 -0.761328 0.0141225 0.00388582 0.648201 +TTool-pose None 29.9222 7.74064 12.7292 0.25237 0.653928 0.263877 0.662601 +#3445 1721120581607 +SLAM -32.5683 -12.6553 18.3266 -0.759982 0.0144452 0.00423685 0.64977 +TTool-pose None 29.9316 7.71848 12.7133 0.251342 0.654405 0.262184 0.663193 +#3446 1721120581642 +SLAM -32.5671 -12.6271 18.3591 -0.761265 0.014084 0.00383442 0.648276 +TTool-pose None 29.9207 7.73786 12.7267 0.25226 0.653961 0.263857 0.662618 +#3447 1721120581678 +SLAM -32.5734 -12.6189 18.3671 -0.761296 0.0142536 0.00379406 0.648237 +TTool-pose None 29.9254 7.73954 12.7293 0.252322 0.653829 0.263856 0.662725 +#3448 1721120581719 +SLAM -32.5719 -12.6311 18.3304 -0.761161 0.0138775 0.00358892 0.648404 +TTool-pose None 29.9186 7.73196 12.7267 0.251929 0.654051 0.263969 0.66261 +#3449 1721120581756 +SLAM -32.5732 -12.6165 18.3604 -0.761559 0.01406 0.00360907 0.647933 +TTool-pose None 29.9203 7.73926 12.7332 0.252405 0.653777 0.264302 0.662566 +#3450 1721120581793 +SLAM -32.5748 -12.63 18.3042 -0.76068 0.0139117 0.00340549 0.648969 +TTool-pose None 29.9157 7.73032 12.719 0.251338 0.654169 0.263579 0.662874 +#3451 1721120581828 +SLAM -32.5768 -12.6149 18.3414 -0.761082 0.014118 0.0034432 0.648493 +TTool-pose None 29.9187 7.74295 12.7264 0.251837 0.653885 0.263897 0.662838 +#3452 1721120581863 +SLAM -32.5794 -12.6208 18.3082 -0.760739 0.0140235 0.0033023 0.648898 +TTool-pose None 29.9169 7.73234 12.7212 0.251369 0.65404 0.263664 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-32.8029 -12.4275 18.0313 -0.761866 0.0132761 -0.00361088 0.647589 +TTool-pose None 29.9388 7.74672 12.8025 0.247867 0.651686 0.26929 0.664329 +#3548 1721120585448 +SLAM -32.792 -12.4579 17.9795 -0.760815 0.0130849 -0.0033471 0.648828 +TTool-pose None 29.9357 7.7298 12.7787 0.246909 0.652335 0.26812 0.664522 +#3549 1721120585481 +SLAM -32.7919 -12.4732 17.9481 -0.759801 0.0131382 -0.00342956 0.650014 +TTool-pose None 29.9329 7.73598 12.7699 0.245851 0.652696 0.26712 0.664963 +#3550 1721120585515 +SLAM -32.7905 -12.4741 17.986 -0.759433 0.0136198 -0.00295882 0.650437 +TTool-pose None 29.9436 7.74687 12.7651 0.245939 0.652709 0.266296 0.665248 +#3551 1721120585548 +SLAM -32.7756 -12.441 18.0708 -0.760478 0.0141221 -0.00218726 0.649206 +TTool-pose None 29.9504 7.74266 12.7557 0.247651 0.652225 0.266721 0.664917 +#3552 1721120585582 +SLAM -32.7622 -12.4278 18.0647 -0.758615 0.0144017 -0.0010181 0.651379 +TTool-pose None 29.9714 7.75112 12.6534 0.246608 0.653221 0.264015 0.665407 +#3553 1721120585616 +SLAM -32.7892 -12.3252 18.0394 -0.758375 0.0137193 -0.00218612 0.65167 +TTool-pose None 29.9695 7.82747 12.5689 0.245397 0.653347 0.264713 0.665453 +#3554 1721120585653 +SLAM -32.8459 -12.1833 18.0669 -0.759347 0.0135401 -0.00387778 0.650534 +TTool-pose None 29.9807 7.9134 12.5279 0.245244 0.652479 0.266798 0.665529 +#3555 1721120585686 +SLAM -32.8795 -12.0267 18.2094 -0.761618 0.0149645 -0.00460078 0.647837 +TTool-pose None 29.9916 7.95574 12.5426 0.247557 0.650394 0.269083 0.665793 +#3556 1721120585722 +SLAM -32.8905 -11.9849 18.3123 -0.762268 0.0160337 -0.00389321 0.647051 +TTool-pose None 30.0212 7.96222 12.5445 0.24902 0.649695 0.268957 0.665981 +#3557 1721120585756 +SLAM -32.8983 -11.9825 18.3495 -0.762659 0.0161631 -0.00370926 0.646588 +TTool-pose None 30.0342 7.97126 12.5551 0.249577 0.649512 0.269202 0.665852 +#3558 1721120585791 +SLAM -32.8882 -12.0723 18.2233 -0.761365 0.0147874 -0.00407674 0.648142 +TTool-pose None 30.0155 7.95916 12.5528 0.247573 0.650791 0.268562 0.66561 +#3559 1721120585839 +SLAM -32.8964 -12.0598 18.239 -0.761219 0.0152925 -0.00405023 0.648302 +TTool-pose None 30.0231 7.95758 12.5581 0.247612 0.650545 0.268229 0.66597 +#3560 1721120585874 +SLAM -32.899 -12.0611 18.2259 -0.761135 0.0152332 -0.00409098 0.648402 +TTool-pose None 30.0245 7.95193 12.5548 0.247481 0.650603 0.268188 0.665978 +#3561 1721120585912 +SLAM -32.8994 -12.111 18.1794 -0.76119 0.0143525 -0.00424661 0.648356 +TTool-pose None 30.022 7.94278 12.5705 0.247143 0.651078 0.268633 0.665461 +#3562 1721120585948 +SLAM -32.8856 -12.1152 18.2381 -0.762989 0.0142989 -0.00412415 0.64624 +TTool-pose None 30.0115 7.93001 12.6216 0.249022 0.650398 0.270412 0.664704 +#3563 1721120585986 +SLAM -32.8955 -12.256 18.015 -0.75945 0.0138959 -0.00432988 0.650403 +TTool-pose None 30.0129 7.84771 12.6301 0.245181 0.652058 0.267063 0.665858 +#3564 1721120586025 +SLAM -32.8943 -12.2407 18.0587 -0.760473 0.0137862 -0.00436555 0.649209 +TTool-pose None 30.0114 7.86112 12.6445 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7.81814 12.716 0.2475 0.650805 0.269326 0.665314 +#3571 1721120586256 +SLAM -32.9309 -12.2984 17.936 -0.757065 0.0157885 -0.00358971 0.653139 +TTool-pose None 30.0604 7.73593 12.6433 0.243884 0.652109 0.263555 0.66768 +#3572 1721120586286 +SLAM -32.9201 -12.3117 17.9725 -0.759446 0.0141066 -0.0044623 0.650402 +TTool-pose None 30.0306 7.79245 12.6935 0.245164 0.651883 0.26707 0.666034 +#3573 1721120586320 +SLAM -32.9193 -12.284 18.0514 -0.761899 0.0135796 -0.00481838 0.647536 +TTool-pose None 30.0219 7.8198 12.7346 0.247238 0.651068 0.269963 0.664896 +#3574 1721120586354 +SLAM -32.9163 -12.2848 18.0327 -0.760869 0.013974 -0.00442747 0.64874 +TTool-pose None 30.0291 7.80695 12.7045 0.246577 0.651387 0.268542 0.665405 +#3575 1721120586386 +SLAM -32.9127 -12.302 17.9892 -0.760845 0.0134392 -0.00479057 0.648777 +TTool-pose None 30.0163 7.80116 12.7095 0.246144 0.651606 0.268918 0.665199 +#3576 1721120586418 +SLAM -32.9115 -12.2947 18.0229 -0.761235 0.013568 -0.0045652 0.648318 +TTool-pose None 30.0214 7.80597 12.712 0.246723 0.65144 0.269134 0.665059 +#3577 1721120586450 +SLAM -32.9133 -12.3639 17.8339 -0.757584 0.0134945 -0.00460654 0.652582 +TTool-pose None 30.0207 7.75189 12.6605 0.242992 0.652982 0.265468 0.666393 +#3578 1721120586484 +SLAM -32.9087 -12.2996 18.0203 -0.76115 0.0135085 -0.00458849 0.648419 +TTool-pose None 30.0182 7.80958 12.713 0.246603 0.651505 0.269082 0.665062 +#3579 1721120586515 +SLAM -32.9078 -12.3204 17.984 -0.761065 0.0130327 -0.00487038 0.648527 +TTool-pose None 30.0103 7.80673 12.7198 0.246179 0.65174 0.269327 0.664889 +#3580 1721120586541 +#3581 1721120586572 +SLAM -32.943 -12.3611 17.9937 -0.761212 0.0135719 -0.00471824 0.648344 +TTool-pose None 30.0464 7.77288 12.7802 0.246604 0.651395 0.269203 0.66512 +#3582 1721120586603 +SLAM -32.9328 -12.3693 17.9298 -0.760376 0.013132 -0.00504282 0.649331 +TTool-pose None 30.0283 7.77354 12.7549 0.245408 0.651906 0.268697 0.665266 +#3583 1721120586634 +SLAM -32.9334 -12.358 17.9023 -0.759393 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17.748 -0.761418 0.0123571 -0.00990794 0.648068 +TTool-pose None 30.0993 7.80483 12.7849 0.243131 0.650266 0.273011 0.66595 +#3590 1721120586887 +SLAM -33.1839 -12.2263 17.62 -0.757458 0.0135771 -0.00970569 0.65267 +TTool-pose None 30.1436 7.75947 12.7329 0.239675 0.651214 0.268449 0.668128 +#3591 1721120586919 +SLAM -33.2066 -12.1601 17.677 -0.761179 0.0122303 -0.011428 0.648325 +TTool-pose None 30.1223 7.8155 12.7925 0.24189 0.649913 0.273747 0.666444 +#3592 1721120586952 +SLAM -33.2346 -12.1535 17.6707 -0.760046 0.0131147 -0.0111823 0.64964 +TTool-pose None 30.1542 7.8024 12.7822 0.241197 0.64992 0.272146 0.667345 +#3593 1721120586987 +SLAM -33.2239 -12.1949 17.6502 -0.761542 0.0119769 -0.0119595 0.647894 +TTool-pose None 30.1238 7.80224 12.8464 0.241838 0.649733 0.27453 0.666318 +#3594 1721120587013 +#3595 1721120587044 +SLAM -33.2355 -12.1062 17.7812 -0.761852 0.014119 -0.0107763 0.647507 +TTool-pose None 30.1632 7.78793 12.8181 0.243612 0.648681 0.273403 0.667159 +#3596 1721120587072 +SLAM -33.2306 -12.2675 17.38 -0.755468 0.0126508 -0.0116088 0.654961 +TTool-pose None 30.1384 7.70818 12.7427 0.236167 0.651937 0.267912 0.668887 +#3597 1721120587109 +SLAM -33.2209 -12.2483 17.5564 -0.759326 0.0118436 -0.0115783 0.650499 +TTool-pose None 30.1322 7.77661 12.808 0.239796 0.650872 0.272081 0.666948 +#3598 1721120587145 +SLAM -33.2403 -12.233 17.5643 -0.758577 0.0127023 -0.0114923 0.651358 +TTool-pose None 30.1508 7.77179 12.8069 0.239383 0.650676 0.270979 0.667735 +#3599 1721120587184 +SLAM -33.2426 -12.1834 17.6725 -0.76051 0.0130632 -0.0113074 0.649096 +TTool-pose None 30.1575 7.78918 12.8272 0.241569 0.649715 0.272713 0.667178 +#3600 1721120587216 +SLAM -33.2462 -12.2215 17.5564 -0.757911 0.013184 -0.0112586 0.652127 +TTool-pose None 30.1619 7.75919 12.7869 0.239021 0.650731 0.269998 0.668209 +#3601 1721120587253 +SLAM -33.2388 -12.2174 17.6076 -0.759143 0.0128961 -0.0113154 0.650697 +TTool-pose None 30.1538 7.77966 12.8112 0.240129 0.650383 0.271381 0.667589 +#3602 1721120587286 +SLAM -33.2421 -12.1822 17.7074 -0.760947 0.0129953 -0.0111974 0.648587 +TTool-pose None 30.1604 7.80613 12.8344 0.242056 0.649614 0.273113 0.666936 +#3603 1721120587329 +SLAM -33.2409 -12.1935 17.6816 -0.760211 0.0131066 -0.0110738 0.64945 +TTool-pose None 30.1623 7.79681 12.8223 0.241428 0.649894 0.272249 0.667243 +#3604 1721120587361 +SLAM -33.2349 -12.2266 17.6043 -0.759312 0.012402 -0.0115981 0.650505 +TTool-pose None 30.1435 7.80264 12.8171 0.239956 0.650523 0.271892 0.667308 +#3605 1721120587399 +SLAM -33.2377 -12.2644 17.508 -0.756325 0.0131506 -0.0109846 0.653971 +TTool-pose None 30.161 7.75542 12.77 0.237588 0.651496 0.26823 0.668687 +#3606 1721120587434 +SLAM -33.2391 -12.2408 17.539 -0.757827 0.0127953 -0.0113896 0.652231 +TTool-pose None 30.1522 7.76552 12.7917 0.238723 0.650962 0.270122 0.66804 +#3607 1721120587471 +SLAM -33.2361 -12.2375 17.5848 -0.758368 0.0128755 -0.0111561 0.651604 +TTool-pose None 30.1556 7.77803 12.8007 0.239441 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12.8193 0.23926 0.650896 0.272412 0.666982 +#3614 1721120587720 +SLAM -33.2291 -12.2835 17.481 -0.756124 0.0126182 -0.0112151 0.654211 +TTool-pose None 30.1477 7.7673 12.7692 0.237062 0.651829 0.268345 0.668502 +#3615 1721120587755 +SLAM -33.2282 -12.231 17.6123 -0.759196 0.0123429 -0.011523 0.650643 +TTool-pose None 30.1392 7.81411 12.8138 0.239866 0.650634 0.271747 0.66729 +#3616 1721120587796 +SLAM -33.2414 -12.2715 17.4958 -0.755782 0.013165 -0.0109855 0.654599 +TTool-pose None 30.1647 7.76208 12.763 0.237046 0.651707 0.267674 0.668895 +#3617 1721120587832 +SLAM -33.2441 -12.2019 17.6142 -0.759607 0.0124664 -0.0118316 0.650155 +TTool-pose None 30.1462 7.81122 12.8149 0.240128 0.650278 0.272315 0.667311 +#3618 1721120587876 +SLAM -33.2451 -12.2645 17.4519 -0.755603 0.0129105 -0.0114841 0.654802 +TTool-pose None 30.1552 7.75774 12.7583 0.236468 0.651764 0.267886 0.66896 +#3619 1721120587912 +SLAM -33.2417 -12.2148 17.595 -0.759195 0.0123788 -0.0117113 0.65064 +TTool-pose None 30.1476 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None 30.1494 7.80921 12.8104 0.239964 0.650661 0.271659 0.667265 +#3626 1721120588176 +SLAM -33.1941 -12.2474 17.8448 -0.761304 0.0132126 -0.00877662 0.648201 +TTool-pose None 30.1811 7.81316 12.8252 0.244015 0.650175 0.271913 0.666165 +#3627 1721120588218 +SLAM -33.1019 -12.3794 18.0167 -0.761124 0.0136651 -0.00448672 0.648447 +TTool-pose None 30.2113 7.78026 12.7968 0.246693 0.651453 0.268941 0.665136 +#3628 1721120588253 +SLAM -32.9074 -12.6702 18.2361 -0.758626 0.014276 0.00323275 0.651362 +TTool-pose None 30.2404 7.71752 12.7235 0.249279 0.654734 0.261472 0.663927 +#3629 1721120588291 +SLAM -32.9286 -12.6723 18.1537 -0.75729 0.0144255 0.00294543 0.652913 +TTool-pose None 30.2513 7.69095 12.6995 0.247802 0.655092 0.26024 0.664611 +#3630 1721120588333 +SLAM -32.9044 -12.6916 18.1574 -0.758787 0.0132745 0.00265401 0.651198 +TTool-pose None 30.2231 7.69973 12.7234 0.248737 0.655098 0.262322 0.663435 +#3631 1721120588372 +SLAM -32.9218 -12.6685 18.197 -0.759002 0.0136593 0.00246118 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0.00291601 0.650892 +TTool-pose None 30.2393 7.71787 12.728 0.249388 0.654648 0.262183 0.66369 +#3638 1721120588630 +SLAM -32.9206 -12.6924 18.1603 -0.757173 0.014362 0.00316311 0.653049 +TTool-pose None 30.2499 7.6934 12.7049 0.247802 0.655253 0.26001 0.664542 +#3639 1721120588663 +SLAM -32.9146 -12.6801 18.1949 -0.758708 0.0137925 0.00289796 0.651278 +TTool-pose None 30.2389 7.70762 12.7254 0.248987 0.65489 0.26192 0.663706 +#3640 1721120588698 +SLAM -32.9148 -12.6754 18.1872 -0.758825 0.0136077 0.00265804 0.651147 +TTool-pose None 30.2328 7.71437 12.726 0.248889 0.654876 0.262247 0.663627 +#3641 1721120588736 +SLAM -32.9133 -12.679 18.1873 -0.758864 0.0135395 0.00265849 0.651103 +TTool-pose None 30.2316 7.71559 12.7279 0.248907 0.654902 0.262309 0.66357 +#3642 1721120588775 +SLAM -32.9167 -12.6605 18.2559 -0.759377 0.0141633 0.00311517 0.650489 +TTool-pose None 30.2469 7.71928 12.7367 0.249924 0.654454 0.262346 0.663615 +#3643 1721120588809 +SLAM -32.918 -12.6984 18.1264 -0.75713 0.0140268 0.00295135 0.653107 +TTool-pose None 30.2419 7.68471 12.7011 0.247512 0.655408 0.260207 0.66442 +#3644 1721120588844 +SLAM -32.913 -12.6784 18.2224 -0.758971 0.0138569 0.00304893 0.65097 +TTool-pose None 30.242 7.71602 12.73 0.249369 0.654792 0.262074 0.663599 +#3645 1721120588886 +SLAM -32.92 -12.6553 18.2543 -0.759512 0.0141016 0.0030041 0.650334 +TTool-pose None 30.2472 7.72054 12.7374 0.249968 0.6544 0.262571 0.663563 +#3646 1721120588923 +SLAM -32.911 -12.6864 18.1791 -0.758729 0.0135036 0.00274708 0.65126 +TTool-pose None 30.2319 7.70977 12.7251 0.248815 0.65501 0.26213 0.663569 +#3647 1721120588960 +SLAM -32.9169 -12.6692 18.207 -0.759028 0.013828 0.00278556 0.650905 +TTool-pose None 30.238 7.71172 12.7309 0.24925 0.654697 0.262303 0.663646 +#3648 1721120588996 +SLAM -32.915 -12.6705 18.214 -0.759097 0.0138032 0.00292616 0.650825 +TTool-pose None 30.2404 7.71144 12.7276 0.2494 0.654732 0.262295 0.663559 +#3649 1721120589036 +SLAM -32.9218 -12.6459 18.2558 -0.759709 0.0141216 0.00293216 0.650103 +TTool-pose None 30.2469 7.71779 12.7374 0.250128 0.654281 0.262809 0.663526 +#3650 1721120589074 +SLAM -32.9174 -12.6567 18.2548 -0.759742 0.0139702 0.00295901 0.650067 +TTool-pose None 30.2437 7.71991 12.7415 0.250127 0.654371 0.262877 0.66341 +#3651 1721120589110 +SLAM -32.9265 -12.6695 18.1866 -0.757772 0.0145627 0.00321342 0.652349 +TTool-pose None 30.2569 7.68843 12.7068 0.248503 0.654899 0.26052 0.664429 +#3652 1721120589144 +SLAM -32.9261 -12.6868 18.1546 -0.757242 0.0144334 0.00318861 0.652967 +TTool-pose None 30.2557 7.68155 12.702 0.247911 0.655188 0.26004 0.664553 +#3653 1721120589181 +SLAM -32.9197 -12.6405 18.2614 -0.76052 0.0136924 0.00264747 0.649165 +TTool-pose None 30.2381 7.72413 12.7491 0.25062 0.654117 0.263951 0.663048 +#3654 1721120589223 +SLAM -32.9174 -12.6464 18.2658 -0.760228 0.0138533 0.00284704 0.649503 +TTool-pose None 30.2411 7.72347 12.7455 0.250506 0.654205 0.263478 0.663193 +#3655 1721120589263 +SLAM -32.9197 -12.6935 18.1224 -0.757155 0.0140981 0.0029791 0.653077 +TTool-pose None 30.244 7.67608 12.6978 0.247578 0.655363 0.260191 0.664446 +#3656 1721120589296 +SLAM -32.92 -12.6443 18.2547 -0.760505 0.0135757 0.0025845 0.649185 +TTool-pose None 30.2369 7.72536 12.7497 0.250526 0.654175 0.264013 0.663002 +#3657 1721120589337 +SLAM -32.9151 -12.687 18.1656 -0.75812 0.0138537 0.00294846 0.651962 +TTool-pose None 30.2402 7.69538 12.7134 0.248447 0.65511 0.261271 0.663947 +#3658 1721120589373 +SLAM -32.9143 -12.6741 18.177 -0.759095 0.0134576 0.0024881 0.650836 +TTool-pose None 30.2277 7.70779 12.7318 0.249003 0.654801 0.262675 0.663489 +#3659 1721120589410 +SLAM -32.9201 -12.6546 18.237 -0.759615 0.0138909 0.00278891 0.650219 +TTool-pose None 30.2416 7.71791 12.7381 0.249864 0.654417 0.262876 0.663465 +#3660 1721120589445 +SLAM -32.9226 -12.6531 18.2254 -0.759249 0.0140167 0.00277256 0.650643 +TTool-pose None 30.2429 7.71551 12.7315 0.249527 0.654484 0.262473 0.663686 +#3661 1721120589478 +SLAM -32.9184 -12.6564 18.2422 -0.759929 0.0137615 0.00276719 0.649855 +TTool-pose None 30.2397 7.71757 12.7443 0.250123 0.65436 0.263253 0.663274 +#3662 1721120589510 +SLAM -32.9142 -12.6731 18.181 -0.758996 0.0135283 0.00261144 0.650949 +TTool-pose None 30.2311 7.70758 12.7261 0.249006 0.654839 0.262476 0.663529 +#3663 1721120589541 +SLAM -32.9182 -12.6762 18.1933 -0.758877 0.013724 0.00279397 0.651084 +TTool-pose None 30.2397 7.70741 12.7275 0.249067 0.654828 0.262178 0.663635 +#3664 1721120589578 +SLAM -32.9271 -12.6408 18.2665 -0.759551 0.0144726 0.00308266 0.650279 +TTool-pose None 30.2553 7.71279 12.7372 0.250182 0.654178 0.262439 0.663753 +#3665 1721120589615 +SLAM -32.9164 -12.6731 18.2126 -0.758923 0.0139405 0.00297971 0.651024 +TTool-pose None 30.2428 7.70774 12.7286 0.249305 0.654736 0.26204 0.663691 +#3666 1721120589656 +SLAM -32.9189 -12.6644 18.2147 -0.759195 0.0138507 0.00278936 0.650709 +TTool-pose None 30.2402 7.71237 12.7323 0.249428 0.654616 0.262463 0.663597 +#3667 1721120589690 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1721120589899 +SLAM -32.9356 -12.6312 18.1539 -0.758828 0.0137894 0.00189242 0.651142 +TTool-pose None 30.2303 7.7096 12.7199 0.248467 0.654503 0.262657 0.663992 +#3674 1721120589932 +SLAM -32.9451 -12.6244 18.1967 -0.75877 0.0145426 0.00236866 0.651192 +TTool-pose None 30.2512 7.70113 12.7265 0.248963 0.654217 0.262056 0.664325 +#3675 1721120589966 +SLAM -32.9379 -12.6189 18.1841 -0.75923 0.0140572 0.00200534 0.650667 +TTool-pose None 30.2353 7.70894 12.7278 0.249033 0.654208 0.262908 0.663971 +#3676 1721120589998 +SLAM -32.9441 -12.6074 18.2014 -0.759863 0.0139772 0.00178081 0.64993 +TTool-pose None 30.2355 7.71598 12.742 0.249502 0.65392 0.263716 0.663758 +#3677 1721120590032 +SLAM -32.9446 -12.5922 18.2497 -0.760025 0.0145227 0.00219804 0.649728 +TTool-pose None 30.2468 7.71786 12.741 0.250113 0.653652 0.263445 0.663899 +#3678 1721120590069 +SLAM -32.9437 -12.6 18.2442 -0.759963 0.0143988 0.00215626 0.649803 +TTool-pose None 30.245 7.72106 12.7433 0.249983 0.653741 0.263448 0.663859 +#3679 1721120590106 +SLAM -32.9402 -12.6025 18.2253 -0.759951 0.0141728 0.00201812 0.649822 +TTool-pose None 30.2381 7.71848 12.7398 0.249807 0.653841 0.263596 0.663769 +#3680 1721120590138 +SLAM -32.9402 -12.6137 18.1861 -0.759301 0.0140779 0.00194323 0.650584 +TTool-pose None 30.2357 7.71046 12.7283 0.249072 0.654144 0.263011 0.663978 +#3681 1721120590172 +SLAM -32.9501 -12.635 18.1208 -0.756937 0.0149805 0.00243781 0.653312 +TTool-pose None 30.2554 7.67151 12.6945 0.24731 0.654718 0.260007 0.665253 +#3682 1721120590205 +SLAM -32.9442 -12.5945 18.2536 -0.759998 0.0145457 0.00224157 0.649759 +TTool-pose None 30.2476 7.71966 12.7421 0.250121 0.653664 0.263383 0.663909 +#3683 1721120590242 +SLAM -32.9384 -12.6224 18.1653 -0.75903 0.0139665 0.00186818 0.650903 +TTool-pose None 30.2318 7.70717 12.726 0.248714 0.654301 0.262818 0.664035 +#3684 1721120590274 +SLAM -32.9396 -12.6109 18.2082 -0.759504 0.014253 0.00204069 0.650344 +TTool-pose None 30.2376 7.71294 12.7365 0.249397 0.653984 0.2631 0.663979 +#3685 1721120590306 +SLAM -32.9412 -12.6098 18.2248 -0.75947 0.0144345 0.00220059 0.650379 +TTool-pose None 30.2433 7.71607 12.737 0.249525 0.653938 0.262907 0.664052 +#3686 1721120590339 +SLAM -32.9436 -12.6041 18.2134 -0.759524 0.0143377 0.00198724 0.650318 +TTool-pose None 30.2398 7.71643 12.7369 0.249412 0.653904 0.263125 0.664041 +#3687 1721120590370 +SLAM -32.9474 -12.6434 18.1011 -0.756906 0.0146571 0.00218329 0.653355 +TTool-pose None 30.2463 7.67712 12.6979 0.247009 0.654847 0.260238 0.665148 +#3688 1721120590411 +SLAM -32.9475 -12.6292 18.1261 -0.757477 0.0146198 0.00201745 0.652695 +TTool-pose None 30.2421 7.6905 12.7077 0.247465 0.654581 0.260932 0.664968 +#3689 1721120590445 +SLAM -32.9461 -12.6146 18.1637 -0.758682 0.014309 0.00182004 0.651301 +TTool-pose None 30.2368 7.70601 12.7254 0.248448 0.654214 0.26238 0.664393 +#3690 1721120590478 +SLAM -32.946 -12.6072 18.1952 -0.758945 0.0145065 0.0020156 0.65099 +TTool-pose None 30.2422 7.71124 12.7282 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0.0130221 -0.000584572 0.648555 +TTool-pose None 30.2214 7.7292 12.7748 0.248883 0.653217 0.266696 0.663491 +#3721 1721120591587 +SLAM -32.9976 -12.5464 18.1415 -0.760882 0.0134484 -0.000286676 0.64875 +TTool-pose None 30.23 7.73235 12.7722 0.249039 0.653125 0.266194 0.663725 +#3722 1721120591623 +SLAM -32.9964 -12.5484 18.1478 -0.76093 0.0134785 -0.000208293 0.648694 +TTool-pose None 30.2311 7.73203 12.7739 0.249147 0.653113 0.266184 0.6637 +#3723 1721120591664 +SLAM -33.0008 -12.5338 18.1871 -0.761204 0.0138441 3.68441e-06 0.648365 +TTool-pose None 30.2408 7.7371 12.7773 0.249681 0.652843 0.266212 0.663755 +#3724 1721120591701 +SLAM -33.0032 -12.5287 18.1924 -0.761244 0.0139543 1.46109e-05 0.648315 +TTool-pose None 30.2431 7.73592 12.7781 0.249765 0.652761 0.26621 0.663804 +#3725 1721120591735 +SLAM -33 -12.5501 18.1507 -0.760664 0.0136753 -0.00010787 0.649002 +TTool-pose None 30.2369 7.73167 12.7728 0.249008 0.653135 0.265786 0.66389 +#3726 1721120591768 +SLAM -33.0006 -12.5488 18.1396 -0.760622 0.0135656 -0.000232489 0.649053 +TTool-pose None 30.2342 7.73252 12.77 0.24885 0.653179 0.265856 0.663878 +#3727 1721120591802 +SLAM -33.0007 -12.541 18.1341 -0.760824 0.0134503 -0.000433554 0.648818 +TTool-pose None 30.2288 7.7338 12.7711 0.248888 0.653098 0.266224 0.663796 +#3728 1721120591838 +SLAM -33.0023 -12.5651 18.097 -0.759252 0.0139075 -7.9347e-05 0.650648 +TTool-pose None 30.2384 7.71859 12.7522 0.24768 0.653586 0.264254 0.664555 +#3729 1721120591874 +SLAM -33.005 -12.5432 18.139 -0.760396 0.0137289 -0.000277374 0.649314 +TTool-pose None 30.2367 7.73557 12.7674 0.248648 0.653156 0.265599 0.66408 +#3730 1721120591910 +SLAM -33.0122 -12.54 18.0668 -0.760164 0.0132467 -0.00110417 0.649596 +TTool-pose None 30.2208 7.7287 12.7661 0.247727 0.653272 0.266029 0.664137 +#3731 1721120591946 +SLAM -33.0598 -12.4924 17.926 -0.759284 0.012886 -0.00307771 0.650624 +TTool-pose None 30.2117 7.7246 12.7527 0.245469 0.653187 0.266462 0.664885 +#3732 1721120591981 +SLAM -33.0966 -12.4154 17.9157 -0.760537 0.0128223 -0.00484652 0.64915 +TTool-pose None 30.1979 7.75073 12.785 0.245591 0.6521 0.268843 0.664949 +#3733 1721120592014 +SLAM -33.1304 -12.3813 17.8566 -0.759729 0.013104 -0.00569261 0.650083 +TTool-pose None 30.2062 7.74828 12.7731 0.244336 0.651968 0.268447 0.665701 +#3734 1721120592048 +SLAM -33.1441 -12.3533 17.8523 -0.760336 0.0129769 -0.00639998 0.649369 +TTool-pose None 30.2 7.75891 12.7874 0.244458 0.651551 0.269542 0.665622 +#3735 1721120592081 +SLAM -33.1392 -12.3478 17.8633 -0.760937 0.0127793 -0.00646307 0.648668 +TTool-pose None 30.1941 7.75947 12.7933 0.244959 0.651402 0.270259 0.665293 +#3736 1721120592115 +SLAM -33.1324 -12.3693 17.8333 -0.760504 0.0125032 -0.00647904 0.649181 +TTool-pose None 30.1876 7.75652 12.7888 0.244419 0.651749 0.269919 0.665289 +#3737 1721120592151 +SLAM -33.1429 -12.3695 17.8054 -0.759141 0.0131938 -0.00628004 0.650762 +TTool-pose None 30.2012 7.74079 12.77 0.243402 0.651952 0.268179 0.666166 +#3738 1721120592194 +SLAM -33.1419 -12.4188 17.6681 -0.756629 0.0130205 -0.00631213 0.653684 +TTool-pose None 30.199 7.70208 12.732 0.240796 0.65308 0.265704 0.667 +#3739 1721120592228 +SLAM -33.1357 -12.358 17.8685 -0.760521 0.0129482 -0.0062038 0.649155 +TTool-pose None 30.1975 7.76086 12.7887 0.244759 0.65156 0.269619 0.665471 +#3740 1721120592261 +SLAM -33.1511 -12.3694 17.7585 -0.758606 0.0131491 -0.00659178 0.651383 +TTool-pose None 30.2003 7.729 12.7625 0.242651 0.652093 0.267842 0.666438 +#3741 1721120592297 +SLAM -33.141 -12.3666 17.7981 -0.759293 0.013074 -0.00636212 0.650587 +TTool-pose None 30.1973 7.73706 12.7687 0.243462 0.651936 0.268424 0.666061 +#3742 1721120592328 +SLAM -33.1366 -12.3444 17.8737 -0.761251 0.0127047 -0.0065316 0.6483 +TTool-pose None 30.1898 7.76445 12.7994 0.245207 0.651294 0.270646 0.66515 +#3743 1721120592361 +SLAM -33.1445 -12.3428 17.8719 -0.76077 0.0130695 -0.00641658 0.648858 +TTool-pose None 30.1997 7.75973 12.7951 0.244916 0.651307 0.269963 0.665522 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0.651393 0.270206 0.665277 +#3750 1721120592605 +SLAM -33.1473 -12.3326 17.8783 -0.760824 0.0132746 -0.00640597 0.648791 +TTool-pose None 30.2021 7.75556 12.795 0.245046 0.65116 0.269943 0.665626 +#3751 1721120592638 +SLAM -33.1408 -12.3468 17.8335 -0.760139 0.013099 -0.00647242 0.649596 +TTool-pose None 30.1941 7.74611 12.7813 0.244255 0.651531 0.269345 0.665795 +#3752 1721120592680 +SLAM -33.1431 -12.3413 17.8681 -0.76096 0.0129471 -0.00652949 0.648636 +TTool-pose None 30.1954 7.75904 12.798 0.244997 0.651264 0.270268 0.66541 +#3753 1721120592719 +SLAM -33.1436 -12.334 17.8653 -0.760944 0.0129738 -0.0065322 0.648655 +TTool-pose None 30.1959 7.75689 12.7911 0.244987 0.651254 0.270244 0.665433 +#3754 1721120592752 +SLAM -33.1515 -12.3776 17.7528 -0.757779 0.0136604 -0.00616382 0.652339 +TTool-pose None 30.2109 7.71292 12.7505 0.24226 0.652261 0.266568 0.666926 +#3755 1721120592784 +SLAM -33.1462 -12.3707 17.7624 -0.758411 0.0132935 -0.00643895 0.65161 +TTool-pose None 30.1993 7.72747 12.7583 0.242599 0.652136 0.267501 0.666552 +#3756 1721120592819 +SLAM -33.1479 -12.3369 17.8181 -0.760356 0.0129364 -0.006822 0.649342 +TTool-pose None 30.1917 7.74536 12.7841 0.244198 0.651422 0.269835 0.665725 +#3757 1721120592854 +SLAM -33.1398 -12.3496 17.8563 -0.760661 0.0128951 -0.00654522 0.648988 +TTool-pose None 30.1918 7.76059 12.7956 0.244667 0.651416 0.26999 0.665495 +#3758 1721120592895 +SLAM -33.1479 -12.3417 17.8464 -0.76014 0.0132453 -0.00650463 0.649592 +TTool-pose None 30.1998 7.75394 12.7857 0.244284 0.651429 0.269317 0.665896 +#3759 1721120592936 +SLAM -33.1441 -12.3296 17.8768 -0.761026 0.0131029 -0.006558 0.648555 +TTool-pose None 30.1952 7.76087 12.7969 0.245097 0.65113 0.270301 0.665491 +#3760 1721120592974 +SLAM -33.1497 -12.3371 17.8763 -0.760463 0.013414 -0.00631439 0.649212 +TTool-pose None 30.2065 7.75656 12.7917 0.244787 0.651255 0.269473 0.665819 +#3761 1721120593011 +SLAM -33.1405 -12.3565 17.81 -0.760103 0.0127191 -0.00680418 0.649643 +TTool-pose None 30.1855 7.75341 12.7864 0.243881 0.651669 0.269639 0.665679 +#3762 1721120593044 +SLAM -33.1436 -12.3366 17.8598 -0.760799 0.0130205 -0.00662754 0.648823 +TTool-pose None 30.1928 7.75821 12.7955 0.244796 0.651252 0.270139 0.665548 +#3763 1721120593081 +SLAM -33.1466 -12.3398 17.8451 -0.760286 0.0131558 -0.00662046 0.649421 +TTool-pose None 30.1955 7.7562 12.7889 0.244328 0.651384 0.269567 0.665823 +#3764 1721120593116 +SLAM -33.1294 -12.3248 17.8584 -0.759662 0.0144678 -0.00615026 0.650128 +TTool-pose None 30.1866 7.7161 12.7909 0.244435 0.650985 0.268206 0.666722 +#3765 1721120593154 +SLAM -33.1374 -12.3764 17.7457 -0.757824 0.0139784 -0.0063381 0.652279 +TTool-pose None 30.1901 7.69665 12.7695 0.242301 0.651984 0.266614 0.667163 +#3766 1721120593192 +SLAM -33.1343 -12.4209 17.7397 -0.756985 0.0139477 -0.00604774 0.653255 +TTool-pose None 30.1948 7.70593 12.7778 0.241631 0.652447 0.265595 0.667361 +#3767 1721120593230 +SLAM -33.1501 -12.3982 17.7399 -0.75666 0.0143846 -0.00622855 0.65362 +TTool-pose None 30.204 7.70839 12.7736 0.241337 0.652244 0.265231 0.66781 +#3768 1721120593265 +SLAM -33.1424 -12.3859 17.7514 -0.757478 0.0141304 -0.00624572 0.652678 +TTool-pose None 30.197 7.70319 12.7733 0.242063 0.652063 0.266156 0.667356 +#3769 1721120593305 +SLAM -33.1407 -12.3532 17.8414 -0.759611 0.0139096 -0.0063815 0.650198 +TTool-pose None 30.1929 7.73177 12.8038 0.244051 0.651276 0.268482 0.666469 +#3770 1721120593338 +SLAM -33.1364 -12.3717 17.8307 -0.759386 0.0137574 -0.00619994 0.650466 +TTool-pose None 30.1942 7.72687 12.8005 0.243887 0.651527 0.268191 0.6664 +#3771 1721120593378 +SLAM -33.1428 -12.3485 17.9007 -0.760256 0.01409 -0.00601621 0.649442 +TTool-pose None 30.2052 7.74369 12.8146 0.244993 0.651021 0.268854 0.666221 +#3772 1721120593418 +SLAM -33.1307 -12.3868 17.8177 -0.759066 0.0136153 -0.00622508 0.650841 +TTool-pose None 30.1881 7.73155 12.8011 0.243502 0.651739 0.267929 0.666439 +#3773 1721120593455 +SLAM -33.1312 -12.381 17.8269 -0.759366 0.0135673 -0.00625022 0.650492 +TTool-pose None 30.1882 7.73338 12.8033 0.243772 0.651636 0.268266 0.666305 +#3774 1721120593493 +SLAM -33.1427 -12.3605 17.8728 -0.759915 0.0139591 -0.0061623 0.649843 +TTool-pose None 30.2011 7.7391 12.8154 0.244512 0.651195 0.26864 0.666315 +#3775 1721120593529 +SLAM -33.1341 -12.4209 17.7449 -0.757056 0.0139983 -0.00580714 0.653174 +TTool-pose None 30.2014 7.69644 12.7713 0.241872 0.652469 0.265502 0.667289 +#3776 1721120593562 +SLAM -33.139 -12.4084 17.7464 -0.757159 0.0140801 -0.00594891 0.653051 +TTool-pose None 30.2021 7.69762 12.7715 0.241913 0.652327 0.265667 0.667347 +#3777 1721120593597 +SLAM -33.1353 -12.377 17.823 -0.759527 0.0135202 -0.00638132 0.650304 +TTool-pose None 30.1886 7.73135 12.8069 0.243835 0.651554 0.268525 0.666258 +#3778 1721120593638 +SLAM -33.1322 -12.3847 17.8244 -0.759251 0.0135972 -0.00619964 0.650626 +TTool-pose None 30.1905 7.73124 12.8027 0.243699 0.651682 0.268108 0.66635 +#3779 1721120593668 +SLAM -33.1344 -12.3902 17.7723 -0.75939 0.0129864 -0.00679268 0.65047 +TTool-pose None 30.1776 7.72534 12.8065 0.24326 0.651801 0.268817 0.666109 +#3780 1721120593704 +SLAM -33.1337 -12.366 17.8437 -0.759966 0.0135702 -0.00642359 0.64979 +TTool-pose None 30.1858 7.73605 12.8138 0.244268 0.651326 0.268982 0.666138 +#3781 1721120593737 +SLAM -33.1346 -12.3754 17.8307 -0.759849 0.0134148 -0.00644303 0.649929 +TTool-pose None 30.1866 7.73415 12.8129 0.244087 0.651464 0.268927 0.666091 +#3782 1721120593772 +SLAM -33.1333 -12.3711 17.8592 -0.760018 0.0136459 -0.00618604 0.649729 +TTool-pose None 30.1919 7.73573 12.8146 0.244497 0.651339 0.268864 0.666089 +#3783 1721120593803 +SLAM -33.1335 -12.3663 17.8618 -0.759907 0.0138147 -0.00605125 0.649857 +TTool-pose None 30.1955 7.73014 12.8081 0.244526 0.651327 0.268611 0.666192 +#3784 1721120593836 +SLAM -33.1329 -12.358 17.8737 -0.760837 0.0135378 -0.00628623 0.648772 +TTool-pose None 30.1891 7.72974 12.8243 0.245223 0.651031 0.269795 0.665746 +#3785 1721120593871 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7.7335 12.7498 0.2485 0.653909 0.264356 0.66389 +#3897 1721120597874 +SLAM -32.9353 -12.5804 18.2183 -0.760152 0.014052 0.00109628 0.649592 +TTool-pose None 30.2068 7.74962 12.7592 0.249383 0.653521 0.264404 0.663921 +#3898 1721120597912 +SLAM -32.9329 -12.5968 18.1454 -0.759481 0.0135552 0.000631799 0.650387 +TTool-pose None 30.1919 7.74235 12.749 0.248245 0.653953 0.26417 0.664017 +#3899 1721120597947 +SLAM -32.9313 -12.599 18.1686 -0.759585 0.0137044 0.00089688 0.650263 +TTool-pose None 30.1977 7.74355 12.751 0.248568 0.653906 0.264063 0.663984 +#3900 1721120597986 +SLAM -32.9324 -12.6049 18.1308 -0.759125 0.0135275 0.000668094 0.650804 +TTool-pose None 30.1923 7.74019 12.7431 0.247899 0.65413 0.263794 0.664121 +#3901 1721120598026 +SLAM -32.9369 -12.5839 18.2012 -0.759801 0.0139823 0.00099784 0.650005 +TTool-pose None 30.2056 7.75281 12.753 0.248943 0.653677 0.264129 0.664043 +#3902 1721120598063 +SLAM -32.9298 -12.6156 18.1141 -0.759116 0.0132799 0.00064236 0.65082 +TTool-pose None 30.1897 7.73492 12.7422 0.247791 0.654279 0.263883 0.663979 +#3903 1721120598101 +SLAM -32.9311 -12.6038 18.1445 -0.759376 0.0135194 0.000756654 0.650511 +TTool-pose None 30.1938 7.74117 12.746 0.248206 0.654061 0.263998 0.663993 +#3904 1721120598141 +SLAM -32.9335 -12.5974 18.1453 -0.759221 0.0136517 0.000705302 0.650689 +TTool-pose None 30.1942 7.74478 12.7435 0.248062 0.654025 0.263828 0.66415 +#3905 1721120598175 +SLAM -32.9342 -12.5896 18.1614 -0.759483 0.0137281 0.000740184 0.650382 +TTool-pose None 30.1959 7.74683 12.7463 0.248373 0.653881 0.264047 0.664088 +#3906 1721120598213 +SLAM -32.9341 -12.592 18.1875 -0.759496 0.013937 0.00101705 0.650362 +TTool-pose None 30.2034 7.75113 12.7486 0.248633 0.653838 0.263822 0.664122 +#3907 1721120598251 +SLAM -32.9339 -12.5938 18.2073 -0.759575 0.0140754 0.0011674 0.650266 +TTool-pose None 30.2073 7.755 12.7541 0.248854 0.65377 0.263765 0.664129 +#3908 1721120598288 +SLAM -32.9329 -12.5934 18.1799 -0.759428 0.0138872 0.000943149 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0.0540239 0.267245 0.622159 +TTool-pose None 32.0648 10.4241 15.1068 0.424772 0.693451 0.0804149 0.576369 +#3927 1721120598948 +SLAM -18.8937 -22.5359 34.4687 -0.729724 0.0570483 0.294389 0.614479 +TTool-pose None 32.2978 10.7227 15.3779 0.443071 0.694581 0.0626708 0.563285 +#3928 1721120598981 +SLAM -17.611 -22.921 35.227 -0.728297 0.0580493 0.312048 0.607322 +TTool-pose None 32.4352 10.8117 15.5779 0.456172 0.694955 0.052974 0.553272 +#3929 1721120599013 +SLAM -15.1653 -24.0462 36.0236 -0.714274 0.0608712 0.344747 0.606017 +TTool-pose None 32.6554 11.0733 15.7661 0.469734 0.69891 0.0235468 0.538785 +#3930 1721120599046 +SLAM -12.5209 -24.3024 37.5607 -0.709179 0.0696581 0.377699 0.591233 +TTool-pose None 33.0387 11.346 16.0759 0.495448 0.693672 0.00202541 0.522795 +#3931 1721120599080 +SLAM -9.81727 -24.1254 39.1751 -0.706597 0.0793725 0.408767 0.572128 +TTool-pose None 33.4468 11.6469 16.3957 0.523274 0.685305 -0.0156458 0.506223 +#3932 1721120599114 +SLAM -8.62253 -25.2259 38.4 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39.5533 -0.646129 0.090345 0.535055 0.536723 +TTool-pose None 33.9679 12.2732 16.9824 0.58213 0.679183 -0.123379 0.42961 +#3939 1721120599355 +SLAM 3.18921 -25.8337 39.3174 -0.639904 0.088702 0.548123 0.53124 +TTool-pose None 33.9564 12.27 17.0844 0.587947 0.679103 -0.132967 0.418816 +#3940 1721120599387 +SLAM 4.20777 -25.2115 39.8524 -0.641724 0.0906888 0.556355 0.520033 +TTool-pose None 34.0789 12.4967 17.1831 0.598745 0.674164 -0.133844 0.411147 +#3941 1721120599421 +SLAM 5.67697 -25.499 39.196 -0.629788 0.0905749 0.572356 0.517273 +TTool-pose None 34.0178 12.3929 17.2222 0.602509 0.674003 -0.150264 0.400088 +#3942 1721120599456 +SLAM 7.55569 -24.6562 39.4713 -0.623914 0.104499 0.591323 0.500148 +TTool-pose None 34.2182 12.2452 17.3091 0.621344 0.65913 -0.164707 0.390249 +#3943 1721120599487 +SLAM 8.34895 -24.9865 38.933 -0.617939 0.0939958 0.598108 0.50158 +TTool-pose None 34.0795 12.512 17.3489 0.61807 0.666806 -0.169551 0.3802 +#3944 1721120599521 +SLAM 9.17273 -24.7357 38.7289 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-0.581677 0.0988901 0.655687 0.471114 +TTool-pose None 34.8079 12.3215 17.1271 0.644414 0.652133 -0.219457 0.333491 +#3957 1721120599986 +SLAM 14.3278 -24.1831 37.5301 -0.576286 0.0993111 0.663891 0.466134 +TTool-pose None 34.9688 12.2531 17.0993 0.648157 0.649732 -0.226407 0.326194 +#3958 1721120600022 +SLAM 15.0638 -23.9165 37.4976 -0.573104 0.0993805 0.671629 0.458901 +TTool-pose None 35.1549 12.1949 17.105 0.653605 0.64668 -0.23081 0.318199 +#3959 1721120600056 +SLAM 15.7713 -23.7913 37.298 -0.567108 0.101481 0.679278 0.454612 +TTool-pose None 35.3116 12.1612 17.0509 0.656941 0.643304 -0.238602 0.312367 +#3960 1721120600090 +SLAM 16.5278 -23.6372 37.1098 -0.56124 0.103697 0.686956 0.449831 +TTool-pose None 35.4794 12.1494 17.0267 0.660579 0.639598 -0.246209 0.306341 +#3961 1721120600125 +SLAM 17.0057 -23.6398 36.8876 -0.556712 0.10346 0.692038 0.447718 +TTool-pose None 35.5736 12.1353 17.0112 0.661677 0.638642 -0.251418 0.301695 +#3962 1721120600161 +SLAM 17.4254 -23.7574 36.7071 -0.55325 0.099638 0.695982 0.446761 +TTool-pose None 35.6985 12.1945 17.0443 0.661137 0.640575 -0.254416 0.296214 +#3963 1721120600196 +SLAM 17.8569 -23.7074 36.4519 -0.551534 0.0925166 0.70162 0.441565 +TTool-pose None 35.7473 12.0172 17.0903 0.663096 0.642979 -0.25483 0.286084 +#3964 1721120600231 +SLAM 18.3617 -23.2688 36.4529 -0.547914 0.0988651 0.707652 0.435022 +TTool-pose None 35.8782 11.9145 16.9469 0.669017 0.635805 -0.260828 0.282909 +#3965 1721120600265 +SLAM 18.8501 -22.9541 36.3334 -0.544006 0.102888 0.713605 0.429231 +TTool-pose None 35.9763 11.7795 16.8508 0.673693 0.630408 -0.266417 0.278645 +#3966 1721120600302 +SLAM 18.9897 -22.9196 36.2582 -0.542782 0.101314 0.715758 0.427567 +TTool-pose None 36.0183 11.7201 16.8121 0.67436 0.630644 -0.26743 0.275506 +#3967 1721120600341 +SLAM 19.0178 -23.1328 36.0458 -0.540038 0.0987401 0.717005 0.42955 +TTool-pose None 36.0298 11.6955 16.754 0.671957 0.633 -0.26971 0.273743 +#3968 1721120600374 +SLAM 19.45 -23.1322 35.8093 -0.5343 0.0999471 0.722061 0.427976 +TTool-pose None 36.1621 11.6735 16.6545 0.672589 0.631098 -0.276339 0.269941 +#3969 1721120600409 +SLAM 19.6215 -22.7062 35.9354 -0.536434 0.0998773 0.724674 0.420846 +TTool-pose None 36.1777 11.4974 16.6429 0.67795 0.628199 -0.274221 0.265406 +#3970 1721120600445 +SLAM 19.7422 -22.7842 35.7779 -0.53265 0.101858 0.72664 0.421786 +TTool-pose None 36.2282 11.4835 16.539 0.677216 0.627013 -0.278806 0.265309 +#3971 1721120600479 +SLAM 19.6966 -22.5739 35.927 -0.534741 0.102024 0.726972 0.418516 +TTool-pose None 36.2446 11.3699 16.5056 0.67987 0.625632 -0.276666 0.264016 +#3972 1721120600513 +SLAM 19.7642 -22.5665 35.8901 -0.533512 0.102879 0.727997 0.418092 +TTool-pose None 36.2787 11.3429 16.4692 0.680194 0.624786 -0.278224 0.263547 +#3973 1721120600547 +SLAM 19.5057 -22.6384 35.9878 -0.536009 0.1005 0.725755 0.419373 +TTool-pose None 36.2398 11.3265 16.4723 0.679082 0.627111 -0.27488 0.264402 +#3974 1721120600585 +SLAM 19.5176 -22.5622 36.0388 -0.536333 0.101133 0.726038 0.418316 +TTool-pose None 36.2585 11.303 16.4538 0.680026 0.626254 -0.274716 0.264175 +#3975 1721120600622 +SLAM 19.4667 -22.6485 35.946 -0.535252 0.101355 0.726214 0.419339 +TTool-pose None 36.2371 11.2538 16.4172 0.679202 0.626474 -0.27592 0.264518 +#3976 1721120600657 +SLAM 19.3908 -22.6728 35.9652 -0.535339 0.10142 0.725773 0.419975 +TTool-pose None 36.2376 11.2479 16.3814 0.678782 0.626717 -0.275826 0.265121 +#3977 1721120600692 +SLAM 19.2712 -22.6466 36.0436 -0.536871 0.100501 0.724889 0.419767 +TTool-pose None 36.2239 11.2216 16.3695 0.678926 0.627349 -0.273933 0.26522 +#3978 1721120600727 +SLAM 19.146 -22.6493 36.094 -0.537844 0.100303 0.724001 0.420102 +TTool-pose None 36.2068 11.1958 16.3474 0.678778 0.6277 -0.272814 0.265921 +#3979 1721120600764 +SLAM 18.8045 -23.0622 35.93 -0.536701 0.098326 0.721454 0.426367 +TTool-pose None 36.1353 11.204 16.2979 0.673686 0.631648 -0.273365 0.268942 +#3980 1721120600801 +SLAM 18.6578 -23.1946 35.9108 -0.538617 0.0930168 0.720279 0.427128 +TTool-pose None 36.0974 11.1714 16.3516 0.672111 0.635605 -0.269876 0.267072 +#3981 1721120600836 +SLAM 18.4711 -23.287 35.9274 -0.538486 0.0947899 0.718633 0.429667 +TTool-pose None 36.0714 11.1921 16.3013 0.670706 0.635533 -0.270388 0.270245 +#3982 1721120600876 +SLAM 18.4594 -22.8757 36.239 -0.542707 0.0965972 0.718158 0.42472 +TTool-pose None 36.0682 11.1531 16.3201 0.675258 0.632508 -0.26641 0.269958 +#3983 1721120600916 +SLAM 18.6051 -22.8265 36.1774 -0.540785 0.0992837 0.719654 0.42402 +TTool-pose None 36.0921 11.14 16.2957 0.676151 0.630299 -0.269227 0.270093 +#3984 1721120600957 +SLAM 18.5426 -22.8309 36.2043 -0.541436 0.0988884 0.719128 0.424173 +TTool-pose None 36.0819 11.1313 16.295 0.676034 0.630673 -0.268408 0.27033 +#3985 1721120600990 +SLAM 18.597 -22.7835 36.1916 -0.540906 0.0997117 0.719858 0.423418 +TTool-pose None 36.0917 11.1091 16.2763 0.6767 0.629764 -0.269224 0.269971 +#3986 1721120601022 +SLAM 18.3105 -23.1466 36.0615 -0.540989 0.0946245 0.717812 0.427928 +TTool-pose None 36.0429 11.0988 16.2664 0.672252 0.635071 -0.26767 0.270196 +#3987 1721120601052 +SLAM 18.2645 -23.2218 36.0398 -0.541632 0.0918241 0.717509 0.428234 +TTool-pose None 36.0376 11.0831 16.2908 0.671429 0.637085 -0.266225 0.268923 +#3988 1721120601082 +SLAM 18.1081 -23.2881 36.0348 -0.541072 0.094063 0.716355 0.430382 +TTool-pose None 36.0113 11.0856 16.2255 0.67036 0.636505 -0.26734 0.271846 +#3989 1721120601114 +SLAM 18.2537 -22.8762 36.2398 -0.5427 0.0980144 0.717676 0.425219 +TTool-pose None 36.0372 11.0344 16.2056 0.675243 0.631793 -0.266764 0.271319 +#3990 1721120601146 +SLAM 17.9661 -23.254 36.0711 -0.541674 0.0957593 0.715392 0.430852 +TTool-pose None 35.9682 11.0504 16.1812 0.670514 0.635637 -0.267099 0.27373 +#3991 1721120601179 +SLAM 17.8283 -23.2751 36.0964 -0.54347 0.0937149 0.714167 0.431072 +TTool-pose None 35.9179 11.0234 16.2077 0.670089 0.637199 -0.264588 0.273578 +#3992 1721120601210 +SLAM 17.7722 -23.2801 36.0678 -0.542955 0.0954631 0.713736 0.432049 +TTool-pose None 35.8792 11.0284 16.176 0.669742 0.636437 -0.265566 0.275252 +#3993 1721120601241 +SLAM 17.784 -23.0683 36.1736 -0.543277 0.0999865 0.713583 0.430873 +TTool-pose None 35.8565 11.0508 16.1302 0.671724 0.632978 -0.266419 0.277565 +#3994 1721120601272 +SLAM 17.7255 -23.1454 36.0951 -0.543036 0.0995333 0.71301 0.432228 +TTool-pose None 35.8002 11.0574 16.1412 0.670605 0.633843 -0.266512 0.278212 +#3995 1721120601304 +SLAM 17.5792 -23.2209 36.0533 -0.543271 0.099645 0.711593 0.434238 +TTool-pose None 35.7279 11.0745 16.1325 0.669203 0.634646 -0.266193 0.280056 +#3996 1721120601340 +SLAM 17.3903 -23.1233 36.1153 -0.546558 0.0982083 0.709835 0.433317 +TTool-pose None 35.6098 11.0144 16.1769 0.669938 0.63542 -0.262241 0.280273 +#3997 1721120601378 +SLAM 17.3141 -23.2335 36.0654 -0.545551 0.0991601 0.708713 0.436197 +TTool-pose None 35.5779 11.1025 16.1515 0.667944 0.635956 -0.263462 0.282663 +#3998 1721120601413 +SLAM 17.3257 -23.1893 36.0115 -0.544753 0.101161 0.708829 0.436546 +TTool-pose None 35.5241 11.113 16.1246 0.668067 0.634733 -0.264834 0.283839 +#3999 1721120601446 +SLAM 17.0764 -23.3068 35.9881 -0.545495 0.100723 0.706325 0.439767 +TTool-pose None 35.4321 11.1592 16.1032 0.665694 0.63644 -0.263739 0.286603 +#4000 1721120601478 +SLAM 17.2506 -22.97 36.0295 -0.546049 0.104018 0.708093 0.435448 +TTool-pose None 35.3823 11.0921 16.0993 0.669702 0.632464 -0.264172 0.285664 +#4001 1721120601514 +SLAM 17.0082 -23.2346 35.9276 -0.547727 0.0974431 0.705665 0.438791 +TTool-pose None 35.287 11.1246 16.1606 0.665895 0.638331 -0.260484 0.284897 +#4002 1721120601545 +SLAM 17.0148 -23.0596 35.9403 -0.547924 0.100658 0.705808 0.437588 +TTool-pose None 35.2164 11.0998 16.1303 0.667569 0.635716 -0.261144 0.286224 +#4003 1721120601584 +SLAM 16.9256 -22.9477 36.0133 -0.549601 0.101454 0.704584 0.437272 +TTool-pose None 35.1482 11.1223 16.134 0.668185 0.635163 -0.259497 0.287507 +#4004 1721120601621 +SLAM 16.8037 -22.9536 35.9874 -0.550189 0.101967 0.703246 0.438565 +TTool-pose None 35.059 11.1414 16.13 0.667424 0.635409 -0.258904 0.289262 +#4005 1721120601658 +SLAM 16.8243 -22.994 35.877 -0.549941 0.100576 0.703351 0.439028 +TTool-pose None 34.9904 11.146 16.1624 0.666727 0.636508 -0.258805 0.288543 +#4006 1721120601692 +SLAM 16.5802 -22.9664 35.9427 -0.552167 0.100993 0.700658 0.440443 +TTool-pose None 34.8834 11.1707 16.161 0.666033 0.636966 -0.256351 0.291312 +#4007 1721120601734 +SLAM 16.6732 -22.833 35.972 -0.552817 0.101235 0.701052 0.438943 +TTool-pose None 34.8545 11.2056 16.1868 0.667269 0.636213 -0.25577 0.29064 +#4008 1721120601770 +SLAM 16.5187 -22.9168 35.9017 -0.553704 0.0993334 0.699525 0.440693 +TTool-pose None 34.7531 11.2113 16.2042 0.665624 0.638258 -0.2542 0.291304 +#4009 1721120601805 +SLAM 16.5862 -22.8092 35.8863 -0.553683 0.100397 0.699989 0.43974 +TTool-pose None 34.7088 11.2229 16.205 0.666579 0.637154 -0.254546 0.291237 +#4010 1721120601844 +SLAM 16.661 -22.7639 35.8095 -0.552786 0.101443 0.70063 0.439608 +TTool-pose None 34.6597 11.2374 16.1985 0.666825 0.636354 -0.25582 0.291306 +#4011 1721120601880 +SLAM 16.6484 -22.7919 35.7011 -0.552827 0.0999515 0.700532 0.440053 +TTool-pose None 34.5737 11.23 16.2228 0.666148 0.637529 -0.255373 0.290677 +#4012 1721120601915 +SLAM 16.3998 -22.9489 35.6412 -0.554724 0.0958299 0.697873 0.4428 +TTool-pose None 34.4546 11.2567 16.2646 0.663335 0.641511 -0.252043 0.291255 +#4013 1721120601951 +SLAM 16.6623 -22.8275 35.521 -0.551368 0.100402 0.700337 0.442087 +TTool-pose None 34.4412 11.3018 16.2104 0.664589 0.638001 -0.257001 0.291775 +#4014 1721120601986 +SLAM 16.6729 -22.6131 35.4572 -0.552943 0.100641 0.700262 0.44018 +TTool-pose None 34.2596 11.2753 16.2413 0.66623 0.637134 -0.25541 0.29132 +#4015 1721120602023 +SLAM 16.612 -22.6694 35.3427 -0.552458 0.100438 0.699734 0.441673 +TTool-pose None 34.1684 11.2807 16.236 0.665025 0.637868 -0.255816 0.292113 +#4016 1721120602059 +SLAM 16.5943 -22.6085 35.3497 -0.553737 0.099303 0.699194 0.441182 +TTool-pose None 34.1048 11.2993 16.2693 0.665258 0.638486 -0.254127 0.291703 +#4017 1721120602095 +SLAM 16.6604 -22.5543 35.3291 -0.553556 0.099657 0.699582 0.440714 +TTool-pose None 34.0801 11.3247 16.2781 0.665669 0.638045 -0.254446 0.291453 +#4018 1721120602130 +SLAM 16.7085 -22.6486 35.2135 -0.552224 0.0987873 0.699931 0.442025 +TTool-pose None 34.0566 11.3611 16.2859 0.664346 0.639091 -0.25564 0.291135 +#4019 1721120602165 +SLAM 16.6399 -22.5603 35.2674 -0.553363 0.0998965 0.69909 0.441683 +TTool-pose None 34.0083 11.3625 16.2814 0.664988 0.638284 -0.254667 0.292294 +#4020 1721120602207 +SLAM 16.5555 -22.592 35.2525 -0.554704 0.0975824 0.698144 0.442013 +TTool-pose None 33.9519 11.3544 16.3204 0.664337 0.640026 -0.252559 0.291791 +#4021 1721120602244 +SLAM 16.78 -22.3817 35.2649 -0.552902 0.102662 0.700257 0.439773 +TTool-pose None 33.9794 11.3676 16.2742 0.667003 0.635626 -0.255986 0.292343 +#4022 1721120602282 +SLAM 16.5745 -22.45 35.3093 -0.554916 0.100595 0.697957 0.441367 +TTool-pose None 33.921 11.3894 16.2971 0.665555 0.63778 -0.253122 0.293443 +#4023 1721120602317 +SLAM 16.6543 -22.4386 35.2487 -0.553719 0.101727 0.698845 0.441205 +TTool-pose None 33.9176 11.3854 16.2857 0.665813 0.636895 -0.254756 0.293365 +#4024 1721120602348 +SLAM 16.523 -22.4644 35.3143 -0.555637 0.099707 0.697226 0.441817 +TTool-pose None 33.8902 11.4067 16.315 0.665087 0.638597 -0.252063 0.293638 +#4025 1721120602386 +SLAM 16.5611 -22.4513 35.2609 -0.554498 0.101495 0.69779 0.44195 +TTool-pose None 33.8767 11.3955 16.2896 0.66529 0.637407 -0.253782 0.294284 +#4026 1721120602422 +SLAM 16.4225 -22.5129 35.2645 -0.555461 0.100343 0.696425 0.443156 +TTool-pose None 33.8363 11.3934 16.296 0.664225 0.638729 -0.25234 0.295064 +#4027 1721120602457 +SLAM 16.4163 -22.4206 35.3623 -0.556818 0.100274 0.695998 0.442138 +TTool-pose None 33.8412 11.4161 16.3096 0.665106 0.638425 -0.250859 0.294998 +#4028 1721120602491 +SLAM 16.3294 -22.5515 35.2474 -0.555609 0.100441 0.695568 0.444292 +TTool-pose None 33.7998 11.3968 16.2809 0.663418 0.639148 -0.252127 0.296152 +#4029 1721120602527 +SLAM 16.4302 -22.4583 35.2571 -0.555366 0.101345 0.696578 0.442805 +TTool-pose None 33.8117 11.3863 16.2795 0.664712 0.637915 -0.25272 0.295403 +#4030 1721120602563 +SLAM 16.1806 -22.8157 35.1038 -0.555487 0.0958303 0.694175 0.447629 +TTool-pose None 33.7435 11.4158 16.3102 0.659814 0.643573 -0.250881 0.295678 +#4031 1721120602598 +SLAM 16.415 -22.4539 35.2267 -0.555326 0.101097 0.696503 0.44303 +TTool-pose None 33.7798 11.3882 16.2698 0.664482 0.638171 -0.252689 0.295394 +#4032 1721120602637 +SLAM 16.3806 -22.3596 35.2726 -0.55661 0.100881 0.696177 0.44198 +TTool-pose None 33.7446 11.3707 16.2722 0.665345 0.637946 -0.251256 0.295158 +#4033 1721120602673 +SLAM 16.3432 -22.4016 35.192 -0.555992 0.100979 0.696089 0.442872 +TTool-pose None 33.6981 11.3546 16.2542 0.664642 0.63822 -0.25192 0.295584 +#4034 1721120602707 +SLAM 16.2405 -22.7059 34.9821 -0.554672 0.0967015 0.695282 0.446733 +TTool-pose None 33.643 11.3779 16.2706 0.660609 0.642581 -0.252078 0.295044 +#4035 1721120602742 +SLAM 16.4345 -22.353 35.062 -0.554406 0.102078 0.69738 0.442578 +TTool-pose None 33.6381 11.3382 16.2184 0.664952 0.63728 -0.253994 0.295141 +#4036 1721120602779 +SLAM 16.3692 -22.3885 34.9514 -0.554025 0.101804 0.69713 0.44351 +TTool-pose None 33.5523 11.3065 16.2019 0.664154 0.63783 -0.254295 0.295489 +#4037 1721120602815 +SLAM 16.5194 -22.2368 34.9721 -0.55406 0.102194 0.698411 0.441356 +TTool-pose None 33.5541 11.325 16.2055 0.665848 0.63667 -0.254482 0.294012 +#4038 1721120602850 +SLAM 16.574 -22.227 34.7938 -0.552712 0.101852 0.699301 0.441716 +TTool-pose None 33.4495 11.3179 16.1827 0.665354 0.636968 -0.255885 0.293265 +#4039 1721120602886 +SLAM 16.6981 -22.0917 34.7381 -0.554635 0.0974772 0.700809 0.437888 +TTool-pose None 33.383 11.2197 16.2741 0.667352 0.638352 -0.252843 0.288306 +#4040 1721120602921 +SLAM 16.2892 -22.3848 34.6266 -0.553942 0.0981216 0.696859 0.444869 +TTool-pose None 33.2558 11.2862 16.1912 0.662262 0.640824 -0.253376 0.294042 +#4041 1721120602957 +SLAM 16.538 -22.2949 34.571 -0.552746 0.0977591 0.699077 0.442952 +TTool-pose None 33.2771 11.3189 16.2129 0.663471 0.640189 -0.254741 0.291506 +#4042 1721120602993 +SLAM 16.6557 -22.0392 34.579 -0.552429 0.101929 0.700475 0.440189 +TTool-pose None 33.2281 11.2784 16.1734 0.666471 0.636258 -0.256307 0.291899 +#4043 1721120603028 +SLAM 16.5831 -22.1996 34.4723 -0.552404 0.0982834 0.69961 0.44242 +TTool-pose None 33.1726 11.3168 16.2003 0.663953 0.6396 -0.255287 0.291223 +#4044 1721120603064 +SLAM 16.71 -21.9525 34.5278 -0.55264 0.101334 0.700816 0.43952 +TTool-pose None 33.154 11.3043 16.18 0.666848 0.636381 -0.25596 0.291072 +#4045 1721120603108 +SLAM 16.734 -21.9194 34.4933 -0.552596 0.101348 0.701039 0.439217 +TTool-pose None 33.1186 11.303 16.1843 0.66707 0.63624 -0.25603 0.290808 +#4046 1721120603143 +SLAM 16.8683 -21.8391 34.4769 -0.551916 0.102115 0.702255 0.437948 +TTool-pose None 33.1302 11.3163 16.1866 0.66811 0.635156 -0.25705 0.28989 +#4047 1721120603179 +SLAM 16.9508 -21.8885 34.3752 -0.550114 0.10263 0.703278 0.438454 +TTool-pose None 33.1342 11.3183 16.172 0.667654 0.634919 -0.25916 0.289579 +#4048 1721120603211 +SLAM 16.7623 -21.9147 34.4534 -0.552264 0.101299 0.701229 0.439342 +TTool-pose None 33.094 11.3178 16.1872 0.666929 0.636306 -0.256381 0.290678 +#4049 1721120603252 +SLAM 16.7586 -22.018 34.3774 -0.552883 0.0969602 0.701317 0.439402 +TTool-pose None 33.0747 11.2836 16.2506 0.66592 0.639229 -0.254588 0.288141 +#4050 1721120603285 +SLAM 16.7916 -21.9423 34.408 -0.550919 0.102759 0.701714 0.439917 +TTool-pose None 33.1062 11.3183 16.1572 0.666698 0.635503 -0.258217 0.291341 +#4051 1721120603321 +SLAM 16.6465 -22.2369 34.2222 -0.54937 0.0999947 0.700791 0.443944 +TTool-pose None 33.0626 11.313 16.1429 0.662891 0.638928 -0.259017 0.291824 +#4052 1721120603356 +SLAM 17.1219 -21.9049 34.2599 -0.548231 0.101822 0.705559 0.437336 +TTool-pose None 33.1711 11.2735 16.1692 0.668065 0.63486 -0.26111 0.286995 +#4053 1721120603391 +SLAM 17.0753 -21.9577 34.2138 -0.547756 0.101865 0.705324 0.438298 +TTool-pose None 33.1506 11.2651 16.151 0.667314 0.63521 -0.261597 0.287526 +#4054 1721120603425 +SLAM 17.0142 -22.1418 34.1653 -0.546977 0.0999542 0.704483 0.441055 +TTool-pose None 33.1666 11.3315 16.1492 0.664741 0.637588 -0.261833 0.288009 +#4055 1721120603460 +SLAM 17.0547 -22.1095 34.114 -0.54698 0.0991593 0.705365 0.439818 +TTool-pose None 33.1481 11.2651 16.1593 0.665462 0.637589 -0.261695 0.28646 +#4056 1721120603493 +SLAM 17.2323 -21.7952 34.2739 -0.547085 0.104321 0.706854 0.436087 +TTool-pose None 33.2057 11.2762 16.1185 0.669431 0.632604 -0.263069 0.287005 +#4057 1721120603527 +SLAM 17.2164 -21.7932 34.2759 -0.547252 0.104092 0.706793 0.436032 +TTool-pose None 33.2013 11.2668 16.1153 0.669438 0.632743 -0.262829 0.286903 +#4058 1721120603565 +SLAM 17.2446 -21.7773 34.2779 -0.547278 0.103646 0.707129 0.435561 +TTool-pose None 33.2109 11.2622 16.1171 0.669681 0.632839 -0.262713 0.28623 +#4059 1721120603601 +SLAM 17.1869 -22.0531 34.1178 -0.546136 0.0993247 0.706753 0.4386 +TTool-pose None 33.1992 11.277 16.1435 0.666295 0.636909 -0.262736 0.285079 +#4060 1721120603639 +SLAM 17.3288 -21.9158 34.0983 -0.544054 0.104438 0.708459 0.437246 +TTool-pose None 33.2226 11.2601 16.0792 0.668242 0.63282 -0.266394 0.286232 +#4061 1721120603673 +SLAM 17.3457 -21.855 34.127 -0.544668 0.104369 0.708648 0.43619 +TTool-pose None 33.2202 11.2404 16.0896 0.669073 0.632457 -0.26575 0.285689 +#4062 1721120603707 +SLAM 17.1414 -21.9624 34.1533 -0.546832 0.100875 0.706556 0.437696 +TTool-pose None 33.1684 11.2318 16.1263 0.66741 0.635548 -0.262404 0.285811 +#4063 1721120603742 +SLAM 17.0954 -21.9904 34.1705 -0.547911 0.0987152 0.706023 0.437699 +TTool-pose None 33.1589 11.2259 16.1564 0.667023 0.637042 -0.26066 0.284983 +#4064 1721120603775 +SLAM 17.2486 -21.8164 34.2356 -0.54666 0.103437 0.707374 0.435989 +TTool-pose None 33.2114 11.2546 16.106 0.669245 0.633119 -0.263324 0.286069 +#4065 1721120603808 +SLAM 17.1033 -22.1101 34.115 -0.547178 0.0971026 0.705976 0.439051 +TTool-pose None 33.1755 11.2574 16.1702 0.665556 0.638631 -0.260993 0.284552 +#4066 1721120603844 +SLAM 17.1256 -21.9807 34.1585 -0.547622 0.0991847 0.706373 0.43739 +TTool-pose None 33.1641 11.2142 16.1594 0.667326 0.636583 -0.261116 0.28488 +#4067 1721120603877 +SLAM 16.863 -22.1707 34.2088 -0.548652 0.097806 0.703282 0.441372 +TTool-pose None 33.1421 11.2948 16.1483 0.66419 0.639244 -0.259409 0.287802 +#4068 1721120603913 +SLAM 16.8769 -22.1261 34.2254 -0.548827 0.0984313 0.703489 0.440686 +TTool-pose None 33.1425 11.2763 16.148 0.664866 0.638553 -0.259412 0.28777 +#4069 1721120603947 +SLAM 16.7909 -22.1422 34.2559 -0.549582 0.0982757 0.702551 0.441274 +TTool-pose None 33.1243 11.2792 16.1491 0.664482 0.638951 -0.258499 0.288595 +#4070 1721120603979 +SLAM 16.9229 -21.8656 34.3537 -0.548972 0.104614 0.703922 0.438382 +TTool-pose None 33.1477 11.2598 16.0878 0.66804 0.633506 -0.26093 0.290196 +#4071 1721120604014 +SLAM 16.8437 -21.8959 34.3853 -0.549937 0.10352 0.703037 0.438854 +TTool-pose None 33.1368 11.2617 16.102 0.667549 0.634489 -0.259559 0.290407 +#4072 1721120604047 +SLAM 16.7682 -22.0183 34.3016 -0.5499 0.101353 0.702564 0.440161 +TTool-pose None 33.1011 11.2351 16.1188 0.666071 0.636472 -0.258985 0.289973 +#4073 1721120604080 +SLAM 16.7097 -22.0783 34.2799 -0.549172 0.102524 0.702008 0.441683 +TTool-pose None 33.094 11.2545 16.0892 0.66514 0.636295 -0.260005 0.291582 +#4074 1721120604112 +SLAM 16.7556 -21.9331 34.3944 -0.550411 0.103333 0.702177 0.439679 +TTool-pose None 33.1171 11.2583 16.0997 0.666951 0.634992 -0.258939 0.291236 +#4075 1721120604146 +SLAM 16.7222 -22.07 34.3194 -0.549516 0.102208 0.701895 0.441508 +TTool-pose None 33.115 11.2763 16.1001 0.665235 0.636451 -0.259552 0.291428 +#4076 1721120604178 +SLAM 16.503 -22.2106 34.3279 -0.551903 0.09751 0.699627 0.44319 +TTool-pose None 33.0589 11.2648 16.1519 0.663142 0.640403 -0.255606 0.291027 +#4077 1721120604212 +SLAM 16.4845 -22.1719 34.3757 -0.552637 0.097593 0.699336 0.442715 +TTool-pose None 33.0596 11.263 16.1587 0.663595 0.640193 -0.254834 0.291134 +#4078 1721120604245 +SLAM 16.3743 -22.0771 34.4368 -0.552978 0.101462 0.698427 0.442855 +TTool-pose None 33.0218 11.2416 16.1011 0.664447 0.63772 -0.255422 0.294091 +#4079 1721120604280 +SLAM 16.5516 -21.9479 34.4815 -0.55244 0.102987 0.699994 0.440695 +TTool-pose None 33.0759 11.2562 16.1022 0.666347 0.635772 -0.256531 0.293042 +#4080 1721120604320 +SLAM 16.518 -21.9169 34.54 -0.553554 0.102308 0.69948 0.440272 +TTool-pose None 33.0754 11.2609 16.1175 0.666622 0.636109 -0.25514 0.292899 +#4081 1721120604351 +SLAM 16.5574 -22.1069 34.3846 -0.552391 0.0984985 0.700085 0.441638 +TTool-pose None 33.0729 11.2534 16.1577 0.664582 0.639128 -0.255403 0.290722 +#4082 1721120604385 +SLAM 16.5647 -21.9403 34.4895 -0.552474 0.102953 0.700069 0.440542 +TTool-pose None 33.0822 11.2609 16.1053 0.666456 0.635732 -0.256494 0.292914 +#4083 1721120604419 +SLAM 16.5919 -21.9832 34.4134 -0.551092 0.103892 0.700617 0.441179 +TTool-pose None 33.0781 11.2495 16.0829 0.666051 0.635296 -0.258235 0.293251 +#4084 1721120604458 +SLAM 16.4602 -21.9995 34.4762 -0.552945 0.102229 0.69913 0.44161 +TTool-pose None 33.0509 11.2506 16.1045 0.665547 0.636688 -0.255725 0.293574 +#4085 1721120604500 +SLAM 16.5525 -22.0187 34.3971 -0.551228 0.10333 0.700275 0.441685 +TTool-pose None 33.0636 11.2446 16.0865 0.665561 0.635889 -0.257915 0.293362 +#4086 1721120604536 +SLAM 16.2986 -22.2589 34.3686 -0.554618 0.0942762 0.69761 0.443679 +TTool-pose None 32.9963 11.2226 16.195 0.662295 0.642896 -0.25171 0.290856 +#4087 1721120604573 +SLAM 16.449 -22.0554 34.42 -0.552232 0.102191 0.6992 0.442399 +TTool-pose None 33.0405 11.2443 16.0947 0.664876 0.637003 -0.256467 0.293768 +#4088 1721120604609 +SLAM 16.613 -22.011 34.42 -0.55239 0.100008 0.700667 0.440375 +TTool-pose None 33.084 11.2421 16.147 0.665875 0.637601 -0.255858 0.290717 +#4089 1721120604647 +SLAM 16.5459 -21.9872 34.439 -0.552071 0.10248 0.700123 0.441072 +TTool-pose None 33.0679 11.244 16.0996 0.665909 0.636243 -0.256796 0.292783 +#4090 1721120604685 +SLAM 16.5973 -21.9287 34.4712 -0.552337 0.102411 0.700593 0.440005 +TTool-pose None 33.0862 11.2425 16.1045 0.66671 0.635855 -0.256541 0.292024 +#4091 1721120604721 +SLAM 16.63 -21.9512 34.4094 -0.551523 0.102328 0.701229 0.440034 +TTool-pose None 33.0819 11.2203 16.0945 0.666578 0.635874 -0.257428 0.291503 +#4092 1721120604762 +SLAM 16.6287 -22.2243 34.2682 -0.549671 0.0986834 0.701192 0.443231 +TTool-pose None 33.1108 11.2804 16.1047 0.663142 0.639512 -0.258392 0.290526 +#4093 1721120604799 +SLAM 16.8856 -21.7697 34.4378 -0.550405 0.104007 0.703899 0.436764 +TTool-pose None 33.1567 11.2125 16.0755 0.669252 0.63331 -0.259269 0.289316 +#4094 1721120604834 +SLAM 16.7638 -22.0042 34.2986 -0.550149 0.0999594 0.703082 0.439339 +TTool-pose None 33.1123 11.1869 16.1014 0.666375 0.637059 -0.258401 0.2885 +#4095 1721120604869 +SLAM 16.6716 -22.1277 34.24 -0.547889 0.103455 0.702295 0.442602 +TTool-pose None 33.1111 11.2301 16.0223 0.664532 0.635987 -0.261612 0.292205 +#4096 1721120604906 +SLAM 16.673 -21.9969 34.3114 -0.548606 0.105508 0.702353 0.441135 +TTool-pose None 33.1046 11.2028 16.0082 0.666178 0.634055 -0.261409 0.292837 +#4097 1721120604940 +SLAM 16.723 -22.0126 34.2769 -0.546832 0.107837 0.703044 0.441673 +TTool-pose None 33.1353 11.2111 15.9623 0.666113 0.632626 -0.263926 0.293816 +#4098 1721120604975 +SLAM 16.6251 -22.237 34.1403 -0.544982 0.107232 0.702387 0.445138 +TTool-pose None 33.1163 11.2267 15.9334 0.66319 0.634368 -0.265629 0.295137 +#4099 1721120605010 +SLAM 16.5058 -22.4068 34.1316 -0.544675 0.105842 0.701053 0.447941 +TTool-pose None 33.1337 11.2811 15.9191 0.660748 0.636443 -0.265456 0.296301 +#4100 1721120605044 +SLAM 16.5019 -22.4015 34.0876 -0.542141 0.111261 0.70124 0.449408 +TTool-pose None 33.132 11.2971 15.8272 0.660596 0.633296 -0.269501 0.299717 +#4101 1721120605082 +SLAM 16.4492 -22.4227 34.1185 -0.542858 0.110514 0.700503 0.449876 +TTool-pose None 33.1268 11.3153 15.8397 0.660162 0.634035 -0.268495 0.300013 +#4102 1721120605122 +SLAM 16.44 -22.2915 34.1801 -0.540571 0.11921 0.700347 0.45065 +TTool-pose None 33.1395 11.3525 15.7065 0.661255 0.628409 -0.27306 0.305284 +#4103 1721120605156 +SLAM 16.2096 -22.7074 33.9556 -0.53537 0.122329 0.698394 0.458978 +TTool-pose None 33.1221 11.454 15.5649 0.655029 0.629423 -0.278958 0.311229 +#4104 1721120605191 +SLAM 16.0821 -22.7482 33.9222 -0.533907 0.126093 0.697373 0.461211 +TTool-pose None 33.087 11.4548 15.4836 0.653962 0.627714 -0.281275 0.314823 +#4105 1721120605223 +SLAM 16.1395 -22.687 33.9501 -0.530108 0.134758 0.697574 0.462834 +TTool-pose None 33.142 11.5382 15.337 0.654058 0.622272 -0.287286 0.319962 +#4106 1721120605257 +SLAM 16.0576 -23.0346 33.7401 -0.527169 0.132138 0.697062 0.467694 +TTool-pose None 33.1419 11.5976 15.3155 0.649426 0.625823 -0.289543 0.320438 +#4107 1721120605289 +SLAM 16.0638 -22.8457 33.8514 -0.530602 0.13032 0.697196 0.464108 +TTool-pose None 33.108 11.5143 15.3859 0.652232 0.625828 -0.285651 0.318213 +#4108 1721120605321 +SLAM 16.2698 -22.6348 33.9072 -0.530277 0.133364 0.699088 0.460755 +TTool-pose None 33.1444 11.4914 15.3839 0.655371 0.622374 -0.286949 0.317367 +#4109 1721120605353 +SLAM 16.2487 -22.6455 33.9363 -0.533453 0.12697 0.698902 0.459175 +TTool-pose None 33.1235 11.4549 15.4935 0.655635 0.626256 -0.282128 0.313479 +#4110 1721120605386 +SLAM 16.4123 -22.4555 34.0055 -0.533257 0.129812 0.70037 0.456363 +TTool-pose None 33.1623 11.4426 15.4822 0.658334 0.623168 -0.283194 0.313018 +#4111 1721120605418 +SLAM 16.4658 -22.4807 33.9905 -0.533691 0.127361 0.700876 0.45577 +TTool-pose None 33.1776 11.442 15.5243 0.658318 0.624603 -0.282201 0.31108 +#4112 1721120605450 +SLAM 16.281 -22.4484 34.073 -0.535096 0.128748 0.698941 0.456703 +TTool-pose None 33.1296 11.4399 15.4967 0.658087 0.624151 -0.280902 0.313642 +#4113 1721120605481 +SLAM 16.2245 -22.5383 34.043 -0.536997 0.123239 0.698576 0.456551 +TTool-pose None 33.1043 11.4051 15.5766 0.657261 0.627921 -0.277551 0.310816 +#4114 1721120605513 +SLAM 16.2141 -22.5661 34.0159 -0.534723 0.127498 0.698384 0.458339 +TTool-pose None 33.1156 11.447 15.5008 0.656539 0.625643 -0.280911 0.313905 +#4115 1721120605544 +SLAM 16.0424 -22.8514 33.8556 -0.528893 0.134417 0.696735 0.46558 +TTool-pose None 33.1176 11.5571 15.3219 0.651738 0.623542 -0.288329 0.321286 +#4116 1721120605576 +SLAM 16.1923 -22.813 33.8083 -0.524267 0.141917 0.698295 0.466248 +TTool-pose None 33.1911 11.5905 15.1887 0.652133 0.618395 -0.294988 0.324375 +#4117 1721120605608 +SLAM 15.7836 -23.0928 33.7596 -0.523783 0.141626 0.694568 0.472408 +TTool-pose None 33.1257 11.6235 15.1101 0.647283 0.62106 -0.294937 0.329014 +#4118 1721120605639 +SLAM 15.6004 -23.2171 33.7013 -0.519781 0.148814 0.692661 0.477392 +TTool-pose None 33.1097 11.6905 14.946 0.644289 0.617873 -0.300389 0.335892 +#4119 1721120605671 +SLAM 15.5827 -23.3883 33.5403 -0.51188 0.159132 0.692449 0.482877 +TTool-pose None 33.1564 11.7808 14.7179 0.640844 0.612388 -0.310581 0.343183 +#4120 1721120605705 +SLAM 15.5038 -23.5416 33.4461 -0.50786 0.163266 0.691755 0.486721 +TTool-pose None 33.177 11.8338 14.5932 0.637997 0.610749 -0.315373 0.34702 +#4121 1721120605737 +SLAM 15.2795 -23.7862 33.3184 -0.502653 0.169123 0.689438 0.493368 +TTool-pose None 33.1635 11.923 14.4165 0.633005 0.608897 -0.321433 0.353795 +#4122 1721120605769 +SLAM 15.5592 -23.6343 33.2832 -0.496103 0.181138 0.691606 0.492698 +TTool-pose None 33.2553 11.9555 14.2358 0.634544 0.599716 -0.33078 0.35808 +#4123 1721120605807 +SLAM 15.7572 -23.4641 33.3207 -0.495072 0.184631 0.69342 0.489882 +TTool-pose None 33.304 11.9287 14.2061 0.637167 0.59607 -0.332807 0.357631 +#4124 1721120605846 +SLAM 15.425 -23.7401 33.2261 -0.494396 0.182686 0.690573 0.495285 +TTool-pose None 33.2376 11.9562 14.166 0.632473 0.599503 -0.332606 0.360404 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1721120606082 +SLAM 14.8743 -23.5628 33.6228 -0.510886 0.167535 0.684539 0.492274 +TTool-pose None 33.0027 11.8771 14.5225 0.634778 0.610207 -0.312311 0.35652 +#4132 1721120606116 +SLAM 14.608 -23.5076 33.7825 -0.517175 0.162027 0.681559 0.491685 +TTool-pose None 32.9055 11.8538 14.6418 0.635124 0.61425 -0.30443 0.355775 +#4133 1721120606147 +SLAM 14.4616 -23.5221 33.7629 -0.519897 0.158274 0.680336 0.491732 +TTool-pose None 32.809 11.8093 14.7088 0.634765 0.61705 -0.300694 0.354745 +#4134 1721120606181 +SLAM 14.3019 -23.2978 33.9842 -0.530869 0.146293 0.678416 0.486341 +TTool-pose None 32.6667 11.7192 14.9698 0.638157 0.623895 -0.286716 0.348197 +#4135 1721120606212 +SLAM 14.344 -23.0821 34.1627 -0.534478 0.14553 0.678282 0.482792 +TTool-pose None 32.664 11.6992 15.0418 0.641233 0.623244 -0.282919 0.346812 +#4136 1721120606245 +SLAM 14.3971 -23.1395 34.1374 -0.537978 0.136278 0.679075 0.480484 +TTool-pose None 32.653 11.6525 15.1986 0.641627 0.628851 -0.277281 0.340455 +#4137 1721120606280 +SLAM 14.7136 -22.7718 34.3164 -0.539631 0.138129 0.682075 0.473807 +TTool-pose None 32.729 11.6012 15.231 0.647417 0.625039 -0.276505 0.337126 +#4138 1721120606318 +SLAM 14.6819 -22.8846 34.213 -0.542203 0.129751 0.682495 0.472632 +TTool-pose None 32.6772 11.5041 15.3564 0.646908 0.630399 -0.271897 0.331823 +#4139 1721120606354 +SLAM 14.8855 -22.7519 34.2564 -0.542515 0.129623 0.684477 0.469432 +TTool-pose None 32.7262 11.4823 15.3927 0.649402 0.629221 -0.271818 0.329242 +#4140 1721120606388 +SLAM 14.8998 -22.568 34.3986 -0.545317 0.129057 0.684368 0.466492 +TTool-pose None 32.7221 11.4522 15.4343 0.651859 0.62858 -0.268816 0.328072 +#4141 1721120606419 +SLAM 14.7435 -22.8325 34.303 -0.54766 0.119613 0.682962 0.468321 +TTool-pose None 32.6798 11.4415 15.5489 0.64868 0.635805 -0.26386 0.32445 +#4142 1721120606451 +SLAM 15.1418 -22.4741 34.3922 -0.544896 0.128327 0.686875 0.46349 +TTool-pose None 32.779 11.4298 15.4709 0.653974 0.627833 -0.269384 0.324808 +#4143 1721120606483 +SLAM 15.0932 -22.7418 34.2296 -0.544133 0.122708 0.686841 0.465952 +TTool-pose None 32.7733 11.4336 15.5078 0.650807 0.63257 -0.268746 0.322498 +#4144 1721120606514 +SLAM 15.3146 -22.2971 34.4893 -0.547226 0.124093 0.689159 0.458481 +TTool-pose None 32.8446 11.3499 15.5213 0.657161 0.628779 -0.266219 0.319101 +#4145 1721120606545 +SLAM 15.2256 -22.7539 34.1601 -0.544789 0.115804 0.689895 0.462427 +TTool-pose None 32.8406 11.2768 15.5313 0.652081 0.635804 -0.266696 0.315179 +#4146 1721120606576 +SLAM 15.673 -21.8608 34.8343 -0.553729 0.115375 0.693084 0.446887 +TTool-pose None 33.0254 11.2101 15.6816 0.664707 0.630209 -0.257727 0.307397 +#4147 1721120606605 +SLAM 15.3132 -22.1872 34.7551 -0.554813 0.111029 0.689251 0.452535 +TTool-pose None 32.9332 11.2687 15.7017 0.659593 0.635506 -0.255071 0.309715 +#4148 1721120606635 +SLAM 14.9851 -22.6276 34.418 -0.555416 0.102243 0.687307 0.456802 +TTool-pose None 32.7732 11.1133 15.7811 0.654398 0.643124 -0.251913 0.307586 +#4149 1721120606668 +SLAM 15.1929 -22.3433 34.4578 -0.55453 0.107444 0.689826 0.452871 +TTool-pose None 32.7833 11.043 15.7373 0.658496 0.638013 -0.254494 0.30736 +#4150 1721120606701 +SLAM 15.2749 -22.2628 34.4797 -0.556043 0.104831 0.690576 0.450478 +TTool-pose None 32.7772 11.0098 15.7987 0.659853 0.638842 -0.25232 0.304506 +#4151 1721120606735 +SLAM 15.4642 -22.2365 34.4521 -0.553076 0.108549 0.692439 0.45039 +TTool-pose None 32.8527 11.0557 15.7459 0.660471 0.636173 -0.256577 0.305194 +#4152 1721120606768 +SLAM 15.5941 -22.1444 34.4999 -0.55402 0.106966 0.693456 0.448039 +TTool-pose None 32.8816 11.0562 15.7968 0.661972 0.636302 -0.255291 0.302739 +#4153 1721120606802 +SLAM 15.3961 -22.2718 34.5302 -0.557205 0.100703 0.691247 0.448953 +TTool-pose None 32.8391 11.0456 15.8797 0.660153 0.641005 -0.250089 0.301126 +#4154 1721120606840 +SLAM 15.5364 -22.1608 34.4945 -0.554963 0.105549 0.693001 0.447913 +TTool-pose None 32.855 11.023 15.8206 0.661838 0.637243 -0.25389 0.302231 +#4155 1721120606876 +SLAM 15.4157 -22.1953 34.5155 -0.555965 0.104784 0.691762 0.448763 +TTool-pose None 32.8258 11.0195 15.8245 0.661124 0.638158 -0.252516 0.303011 +#4156 1721120606907 +SLAM 15.4227 -22.1108 34.616 -0.557506 0.104097 0.691437 0.447511 +TTool-pose None 32.84 11.0395 15.8495 0.66206 0.638177 -0.250694 0.302439 +#4157 1721120606943 +SLAM 15.2804 -22.3916 34.4995 -0.55794 0.0980369 0.69005 0.45047 +TTool-pose None 32.813 11.0488 15.9036 0.658453 0.643432 -0.248482 0.301002 +#4158 1721120606978 +SLAM 15.4881 -22.1108 34.5798 -0.556473 0.104982 0.692215 0.447386 +TTool-pose None 32.8536 11.0361 15.8377 0.662256 0.637483 -0.252086 0.30232 +#4159 1721120607015 +SLAM 15.5358 -22.0709 34.5895 -0.556424 0.105264 0.69265 0.446707 +TTool-pose None 32.8618 11.0368 15.8403 0.662825 0.637011 -0.252257 0.301924 +#4160 1721120607049 +SLAM 15.2724 -22.1973 34.5924 -0.558398 0.102325 0.690091 0.448882 +TTool-pose None 32.7951 11.0207 15.8557 0.660705 0.639967 -0.249153 0.302897 +#4161 1721120607081 +SLAM 15.3158 -22.1809 34.5761 -0.557656 0.103463 0.690624 0.448725 +TTool-pose None 32.804 11.0176 15.8403 0.661016 0.639109 -0.250285 0.303097 +#4162 1721120607114 +SLAM 15.2124 -22.2249 34.581 -0.558413 0.102539 0.689577 0.449604 +TTool-pose None 32.7773 11.0156 15.8446 0.660212 0.640125 -0.249139 0.303647 +#4163 1721120607148 +SLAM 15.3238 -22.3475 34.4965 -0.557511 0.0990883 0.690577 0.449963 +TTool-pose None 32.8157 11.0437 15.8888 0.659042 0.642506 -0.249268 0.301042 +#4164 1721120607178 +SLAM 15.5987 -22.0389 34.5829 -0.556449 0.104527 0.693373 0.445727 +TTool-pose None 32.8713 11.0243 15.8498 0.66339 0.637093 -0.252111 0.300629 +#4165 1721120607211 +SLAM 15.2941 -22.375 34.4766 -0.558242 0.0970083 0.690341 0.449872 +TTool-pose None 32.7945 11.0255 15.9137 0.658688 0.643879 -0.247923 0.299991 +#4166 1721120607243 +SLAM 15.516 -22.0815 34.6007 -0.557539 0.102633 0.692448 0.446242 +TTool-pose None 32.855 11.0276 15.8702 0.662674 0.63862 -0.250379 0.300414 +#4167 1721120607274 +SLAM 15.5087 -22.1228 34.5395 -0.55647 0.103643 0.692633 0.447056 +TTool-pose None 32.8425 11.0152 15.8467 0.662192 0.638233 -0.251781 0.301129 +#4168 1721120607305 +SLAM 15.4819 -22.1386 34.5233 -0.55651 0.103435 0.692439 0.447354 +TTool-pose None 32.8275 11.0084 15.8448 0.661924 0.638496 -0.251663 0.301257 +#4169 1721120607338 +SLAM 15.6605 -22.088 34.498 -0.555214 0.104308 0.694176 0.446068 +TTool-pose None 32.8699 11.019 15.8481 0.662958 0.63731 -0.253424 0.300015 +#4170 1721120607370 +SLAM 15.5253 -22.243 34.4866 -0.557192 0.098403 0.692611 0.447375 +TTool-pose None 32.8457 11.0304 15.9145 0.660793 0.641867 -0.249633 0.298249 +#4171 1721120607402 +SLAM 15.4735 -22.2192 34.493 -0.557725 0.0986496 0.692254 0.447208 +TTool-pose None 32.8189 11.0022 15.9101 0.661029 0.641664 -0.249106 0.298602 +#4172 1721120607435 +SLAM 15.4575 -22.1146 34.5898 -0.557757 0.102165 0.691904 0.44692 +TTool-pose None 32.836 11.0275 15.8667 0.662078 0.639224 -0.249971 0.300784 +#4173 1721120607470 +SLAM 15.592 -22.2204 34.4735 -0.556537 0.0992643 0.693287 0.446953 +TTool-pose None 32.8595 11.0315 15.911 0.661247 0.641087 -0.250616 0.298094 +#4174 1721120607502 +SLAM 15.6242 -22.1386 34.4938 -0.556739 0.100323 0.693739 0.445761 +TTool-pose None 32.8548 11.0027 15.9067 0.66241 0.639903 -0.250734 0.297958 +#4175 1721120607534 +SLAM 15.5311 -22.086 34.5671 -0.556959 0.103332 0.69269 0.44643 +TTool-pose None 32.8452 11.0222 15.8611 0.662638 0.638204 -0.251194 0.300696 +#4176 1721120607568 +SLAM 15.5825 -22.0643 34.5659 -0.556417 0.104298 0.693158 0.446154 +TTool-pose None 32.8597 11.0293 15.8554 0.663015 0.63742 -0.252062 0.300804 +#4177 1721120607604 +SLAM 15.4454 -22.0975 34.6021 -0.557606 0.103642 0.691724 0.447048 +TTool-pose None 32.8327 11.0263 15.8594 0.662311 0.638292 -0.250501 0.301808 +#4178 1721120607636 +SLAM 15.1903 -22.1942 34.6295 -0.559241 0.102399 0.689172 0.449229 +TTool-pose None 32.7778 11.02 15.8573 0.660543 0.640105 -0.248195 0.303743 +#4179 1721120607670 +SLAM 15.3879 -22.1119 34.6224 -0.557639 0.104621 0.691084 0.447767 +TTool-pose None 32.8299 11.0346 15.8463 0.662003 0.637944 -0.250657 0.30309 +#4180 1721120607702 +SLAM 15.1214 -22.2363 34.6247 -0.55943 0.10227 0.688491 0.450066 +TTool-pose None 32.7639 11.0189 15.8555 0.659899 0.640547 -0.247889 0.304461 +#4181 1721120607740 +SLAM 15.1731 -22.1782 34.651 -0.559559 0.102681 0.688928 0.449143 +TTool-pose None 32.7749 11.0204 15.8593 0.660703 0.6399 -0.247911 0.304058 +#4182 1721120607774 +SLAM 15.1243 -22.1646 34.7031 -0.560902 0.101244 0.688255 0.448825 +TTool-pose None 32.77 11.0245 15.8817 0.660734 0.640788 -0.246054 0.303627 +#4183 1721120607805 +SLAM 15.0844 -22.2367 34.6415 -0.560272 0.100965 0.688112 0.449892 +TTool-pose None 32.7536 11.0121 15.8687 0.659805 0.641382 -0.246622 0.303936 +#4184 1721120607836 +SLAM 15.1856 -22.2098 34.6706 -0.561609 0.0972834 0.688879 0.447858 +TTool-pose None 32.7824 11.0034 15.9432 0.660592 0.643039 -0.244325 0.300557 +#4185 1721120607868 +SLAM 15.1567 -22.2172 34.6884 -0.562149 0.0966546 0.68839 0.448069 +TTool-pose None 32.7744 11.0189 15.9557 0.660334 0.643568 -0.243538 0.300631 +#4186 1721120607901 +SLAM 14.9789 -22.3851 34.6269 -0.561182 0.0974346 0.686773 0.45158 +TTool-pose None 32.7478 11.0397 15.9109 0.65778 0.644455 -0.244579 0.303474 +#4187 1721120607932 +SLAM 14.976 -22.2138 34.7229 -0.561505 0.101686 0.686738 0.450292 +TTool-pose None 32.742 11.0255 15.8696 0.659787 0.641132 -0.245375 0.305508 +#4188 1721120607964 +SLAM 14.7608 -22.2733 34.7542 -0.563393 0.0999966 0.684495 0.451725 +TTool-pose None 32.6861 11.0195 15.8802 0.658476 0.642932 -0.2427 0.306687 +#4189 1721120607996 +SLAM 15.0606 -22.1282 34.7513 -0.561365 0.102806 0.68752 0.449018 +TTool-pose None 32.7587 11.0257 15.8676 0.660997 0.639858 -0.245904 0.305136 +#4190 1721120608030 +SLAM 15.1495 -22.0574 34.7923 -0.561411 0.103287 0.688232 0.447756 +TTool-pose None 32.7885 11.0363 15.877 0.662064 0.63902 -0.246061 0.304452 +#4191 1721120608073 +SLAM 15.0055 -22.0974 34.829 -0.562807 0.102094 0.68668 0.448659 +TTool-pose None 32.7599 11.0361 15.8881 0.661234 0.640253 -0.244116 0.305229 +#4192 1721120608112 +SLAM 14.9248 -22.2213 34.7475 -0.56192 0.101941 0.686141 0.450626 +TTool-pose None 32.738 11.0261 15.8717 0.659632 0.641122 -0.244943 0.30621 +#4193 1721120608145 +SLAM 14.8126 -22.3757 34.6894 -0.561966 0.0996795 0.685066 0.452707 +TTool-pose None 32.7191 11.0336 15.8829 0.657528 0.643476 -0.24417 0.306414 +#4194 1721120608177 +SLAM 15.0089 -22.2284 34.7129 -0.561553 0.1009 0.687106 0.449847 +TTool-pose None 32.7555 11.0089 15.892 0.659944 0.64147 -0.245156 0.304632 +#4195 1721120608209 +SLAM 15.0186 -22.1533 34.7501 -0.561082 0.103866 0.687131 0.449721 +TTool-pose None 32.7574 11.0232 15.8552 0.660687 0.639432 -0.246438 0.30627 +#4196 1721120608240 +SLAM 14.9592 -22.3666 34.6439 -0.560749 0.0995846 0.686593 0.451921 +TTool-pose None 32.7508 11.0408 15.8866 0.65799 0.643155 -0.245587 0.304959 +#4197 1721120608271 +SLAM 14.9183 -22.2224 34.79 -0.563112 0.099347 0.685999 0.449934 +TTool-pose None 32.756 11.0274 15.8995 0.659655 0.64261 -0.24299 0.304591 +#4198 1721120608303 +SLAM 15.0509 -22.2877 34.6696 -0.560999 0.0991286 0.687709 0.450012 +TTool-pose None 32.7783 11.0111 15.894 0.65935 0.642681 -0.245329 0.303222 +#4199 1721120608334 +SLAM 14.9822 -22.3755 34.6748 -0.561755 0.0965213 0.686784 0.451047 +TTool-pose None 32.7787 11.0407 15.9181 0.658019 0.644866 -0.243737 0.302759 +#4200 1721120608370 +SLAM 15.0283 -22.3173 34.6544 -0.561459 0.0978878 0.687321 0.450301 +TTool-pose None 32.7582 11.0176 15.9183 0.65888 0.643643 -0.244473 0.302895 +#4201 1721120608406 +SLAM 15.106 -22.1214 34.7607 -0.561671 0.10153 0.687982 0.448217 +TTool-pose None 32.7792 11.0176 15.8888 0.661332 0.640386 -0.245297 0.303788 +#4202 1721120608438 +SLAM 15.1759 -22.1236 34.7419 -0.561003 0.101429 0.688811 0.447802 +TTool-pose None 32.806 11.014 15.8854 0.661558 0.640248 -0.246057 0.302972 +#4203 1721120608469 +SLAM 15.1465 -22.1802 34.7141 -0.560775 0.100761 0.688617 0.448536 +TTool-pose None 32.8042 11.0139 15.8821 0.660826 0.640982 -0.246098 0.302982 +#4204 1721120608505 +SLAM 15.1413 -22.1132 34.7363 -0.560843 0.102377 0.688593 0.448123 +TTool-pose None 32.7893 11.007 15.8632 0.661523 0.639745 -0.246453 0.303787 +#4205 1721120608541 +SLAM 15.0977 -22.0998 34.7575 -0.561504 0.102179 0.688065 0.44815 +TTool-pose None 32.7718 11.0074 15.8688 0.661519 0.639921 -0.245652 0.304076 +#4206 1721120608576 +SLAM 15.0411 -22.2113 34.6926 -0.561379 0.100203 0.68763 0.449419 +TTool-pose None 32.7535 11.0026 15.8804 0.660086 0.641746 -0.24521 0.303697 +#4207 1721120608615 +SLAM 15.1508 -22.1191 34.7412 -0.56135 0.100955 0.688504 0.447947 +TTool-pose None 32.7863 11.0215 15.8859 0.66137 0.640638 -0.245536 0.302978 +#4208 1721120608647 +SLAM 15.1877 -22.3077 34.6025 -0.560392 0.0969475 0.688997 0.449272 +TTool-pose None 32.7897 11.023 15.9286 0.659333 0.643783 -0.245519 0.300756 +#4209 1721120608678 +SLAM 15.2116 -22.0956 34.7351 -0.561119 0.100943 0.689091 0.447336 +TTool-pose None 32.7965 11.0217 15.8929 0.661805 0.640381 -0.245837 0.302326 +#4210 1721120608711 +SLAM 15.1729 -22.198 34.6475 -0.560035 0.100868 0.689007 0.448839 +TTool-pose None 32.7797 11.0092 15.8766 0.660554 0.640998 -0.246941 0.302856 +#4211 1721120608746 +SLAM 15.2651 -22.1537 34.6458 -0.560905 0.0983632 0.689947 0.44686 +TTool-pose None 32.7867 10.9765 15.929 0.661533 0.641876 -0.245463 0.300044 +#4212 1721120608778 +SLAM 15.1525 -22.0912 34.7707 -0.562335 0.0995268 0.688425 0.447151 +TTool-pose None 32.784 11.016 15.9107 0.661724 0.641302 -0.244116 0.301945 +#4213 1721120608811 +SLAM 15.1964 -22.2933 34.6147 -0.561574 0.0943652 0.689033 0.44829 +TTool-pose None 32.7821 11.0078 15.9665 0.659565 0.645137 -0.243591 0.298905 +#4214 1721120608842 +SLAM 15.3757 -21.9963 34.7447 -0.561148 0.100088 0.690732 0.444954 +TTool-pose None 32.8252 11.0113 15.9163 0.663393 0.639959 -0.24575 0.299799 +#4215 1721120608874 +SLAM 15.2641 -22.2731 34.5914 -0.560448 0.0957203 0.689765 0.448286 +TTool-pose None 32.7945 11.025 15.9404 0.659787 0.644186 -0.245213 0.299141 +#4216 1721120608906 +SLAM 15.3051 -22.0199 34.7574 -0.562048 0.098665 0.69 0.445271 +TTool-pose None 32.8067 11.0089 15.9275 0.662904 0.641076 -0.244352 0.299635 +#4217 1721120608937 +SLAM 15.2982 -22.0806 34.6873 -0.56215 0.0965907 0.690196 0.445294 +TTool-pose None 32.7836 10.9679 15.955 0.662403 0.642458 -0.243711 0.298301 +#4218 1721120608969 +SLAM 15.3682 -21.9432 34.8026 -0.562116 0.0998221 0.690442 0.444242 +TTool-pose None 32.8265 11.0187 15.9302 0.663955 0.639887 -0.244635 0.299618 +#4219 1721120609006 +SLAM 15.1092 -22.1844 34.7015 -0.564038 0.0935684 0.68817 0.446685 +TTool-pose None 32.7417 10.9591 15.9909 0.660808 0.64512 -0.240702 0.298538 +#4220 1721120609037 +SLAM 15.0931 -22.3659 34.6195 -0.561982 0.0936678 0.687839 0.449756 +TTool-pose None 32.7675 11.031 15.9665 0.65833 0.646223 -0.242846 0.299888 +#4221 1721120609070 +SLAM 15.3939 -22.1287 34.6256 -0.559413 0.0998459 0.691141 0.446555 +TTool-pose None 32.8231 11.0091 15.9116 0.661969 0.640693 -0.247545 0.2999 +#4222 1721120609106 +SLAM 15.2809 -22.0857 34.6898 -0.560817 0.0999003 0.689946 0.446631 +TTool-pose None 32.7917 11.0071 15.9022 0.66206 0.640762 -0.245966 0.30085 +#4223 1721120609138 +SLAM 15.3581 -22.0838 34.6692 -0.560178 0.0997722 0.69076 0.446204 +TTool-pose None 32.8143 11.0103 15.904 0.662289 0.640636 -0.246686 0.300023 +#4224 1721120609170 +SLAM 15.4554 -21.9875 34.718 -0.560432 0.100279 0.691544 0.444553 +TTool-pose None 32.84 11.0157 15.9174 0.663669 0.639628 -0.246634 0.299166 +#4225 1721120609203 +SLAM 15.516 -22.0274 34.6416 -0.558838 0.101203 0.692402 0.445014 +TTool-pose None 32.8478 11.0089 15.8978 0.663386 0.639125 -0.248637 0.299212 +#4226 1721120609236 +SLAM 15.3606 -22.2928 34.4917 -0.559223 0.0953676 0.691108 0.447822 +TTool-pose None 32.7893 10.9889 15.9442 0.659933 0.644162 -0.24654 0.297777 +#4227 1721120609274 +SLAM 15.6893 -22.2963 34.3867 -0.556237 0.0950487 0.694295 0.446676 +TTool-pose None 32.8687 11.0397 15.9517 0.660416 0.643733 -0.2499 0.294815 +#4228 1721120609315 +SLAM 16.3123 -21.9053 34.3234 -0.553645 0.0979552 0.700964 0.438784 +TTool-pose None 32.9472 10.9608 15.972 0.666699 0.638358 -0.254024 0.28877 +#4229 1721120609354 +SLAM 16.3911 -21.8804 34.2818 -0.551154 0.102097 0.701835 0.439582 +TTool-pose None 32.9664 11.0017 15.8981 0.666816 0.635813 -0.257807 0.290756 +#4230 1721120609387 +SLAM 16.6536 -22.0465 34.0719 -0.549726 0.0945237 0.70461 0.438625 +TTool-pose None 33.0095 10.9866 16.0012 0.665545 0.640308 -0.257524 0.283967 +#4231 1721120609421 +SLAM 16.8162 -21.9086 34.0725 -0.548151 0.0983617 0.706334 0.436977 +TTool-pose None 33.0405 10.9854 15.9627 0.667496 0.636984 -0.260341 0.284297 +#4232 1721120609454 +SLAM 16.9204 -21.9107 34.0281 -0.546526 0.0996481 0.707405 0.436987 +TTool-pose None 33.0718 11.0056 15.9416 0.667601 0.636035 -0.262468 0.284217 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1721120610301 +SLAM 17.0218 -22.0034 33.9316 -0.54376 0.100909 0.708451 0.438452 +TTool-pose None 33.1147 11.0554 15.9033 0.66649 0.635644 -0.265773 0.284631 +#4258 1721120610337 +SLAM 17.1793 -21.7683 34.0157 -0.543679 0.10425 0.709978 0.43529 +TTool-pose None 33.148 11.0418 15.8798 0.669579 0.632085 -0.266856 0.284291 +#4259 1721120610372 +SLAM 17.1664 -21.7416 34.0607 -0.54448 0.103624 0.709663 0.434951 +TTool-pose None 33.1499 11.0543 15.8912 0.669779 0.632408 -0.265832 0.284062 +#4260 1721120610405 +SLAM 16.993 -22.016 33.9336 -0.543816 0.101006 0.708176 0.438804 +TTool-pose None 33.1087 11.0573 15.8979 0.666262 0.635733 -0.265717 0.285017 +#4261 1721120610439 +SLAM 17.1978 -21.821 33.9595 -0.544102 0.101334 0.710262 0.434985 +TTool-pose None 33.1331 11.0128 15.9285 0.669166 0.633909 -0.265671 0.282304 +#4262 1721120610474 +SLAM 17.126 -21.9392 33.9329 -0.544969 0.0974872 0.709486 0.436044 +TTool-pose None 33.1201 11.0191 15.9672 0.667582 0.636954 -0.263685 0.281057 +#4263 1721120610511 +SLAM 17.1104 -21.8351 33.9987 -0.546019 0.098247 0.709378 0.434733 +TTool-pose None 33.109 10.9936 15.9645 0.668849 0.635964 -0.262781 0.28113 +#4264 1721120610543 +SLAM 16.9526 -22.0845 33.915 -0.545018 0.096788 0.707736 0.438972 +TTool-pose None 33.0915 11.0538 15.943 0.665277 0.638663 -0.263307 0.282993 +#4265 1721120610577 +SLAM 17.1439 -21.637 34.1466 -0.546914 0.101292 0.709386 0.432894 +TTool-pose None 33.1324 11.0202 15.9336 0.671024 0.633231 -0.262649 0.282241 +#4266 1721120610614 +SLAM 17.127 -21.7455 34.0651 -0.547546 0.0967819 0.709406 0.433093 +TTool-pose None 33.107 10.984 15.992 0.669877 0.636328 -0.260794 0.279706 +#4267 1721120610649 +SLAM 17.2317 -21.6462 34.0971 -0.547426 0.0975329 0.710339 0.431544 +TTool-pose None 33.1332 10.9916 15.9914 0.671169 0.635162 -0.261187 0.27889 +#4268 1721120610681 +SLAM 17.0425 -21.7922 34.0911 -0.548845 0.0940237 0.708462 0.433602 +TTool-pose None 33.0921 10.9942 16.0121 0.668994 0.638442 -0.258621 0.279017 +#4269 1721120610714 +SLAM 16.9607 -21.9627 34.0157 -0.548508 0.0915252 0.707668 0.435853 +TTool-pose None 33.0765 11.0133 16.0218 0.666701 0.641019 -0.258239 0.278952 +#4270 1721120610750 +SLAM 16.8714 -22.0611 33.9875 -0.549566 0.0881437 0.706789 0.436642 +TTool-pose None 33.0483 10.9963 16.0605 0.665413 0.643636 -0.25614 0.277934 +#4271 1721120610787 +SLAM 17.0235 -21.792 34.0996 -0.549183 0.0938001 0.708224 0.433611 +TTool-pose None 33.0844 10.9922 16.0196 0.668974 0.638615 -0.258188 0.279073 +#4272 1721120610819 +SLAM 16.9973 -21.7783 34.133 -0.549954 0.0931613 0.707874 0.433343 +TTool-pose None 33.0815 10.9899 16.0323 0.669104 0.638969 -0.257179 0.27888 +#4273 1721120610851 +SLAM 17.0284 -21.757 34.1318 -0.55003 0.0929022 0.708195 0.432776 +TTool-pose None 33.0846 10.9808 16.0418 0.669463 0.638901 -0.257053 0.27829 +#4274 1721120610885 +SLAM 17.0272 -21.8212 34.0955 -0.549698 0.0919533 0.708146 0.433481 +TTool-pose None 33.0861 10.991 16.0513 0.668678 0.639803 -0.257143 0.278021 +#4275 1721120610919 +SLAM 16.9896 -21.7579 34.1285 -0.548425 0.0976212 0.707891 0.43427 +TTool-pose None 33.0857 11.0049 15.9709 0.669328 0.636336 -0.25998 0.281754 +#4276 1721120610955 +SLAM 16.896 -21.6532 34.2776 -0.550344 0.0988837 0.706605 0.433651 +TTool-pose None 33.0826 11.0206 15.9658 0.670309 0.635363 -0.258201 0.283251 +#4277 1721120610988 +SLAM 16.9561 -21.6669 34.2394 -0.548506 0.101865 0.707172 0.434364 +TTool-pose None 33.1046 11.0428 15.9328 0.670281 0.633584 -0.260962 0.28477 +#4278 1721120611024 +SLAM 16.9373 -21.8526 34.096 -0.548193 0.0979583 0.707255 0.435522 +TTool-pose None 33.0771 10.997 15.9953 0.668468 0.636633 -0.260263 0.282864 +#4279 1721120611057 +SLAM 16.9189 -21.7832 34.1588 -0.546136 0.105353 0.706879 0.436988 +TTool-pose None 33.1049 11.066 15.883 0.668899 0.632243 -0.264333 0.28788 +#4280 1721120611091 +SLAM 16.7433 -21.8857 34.1501 -0.546381 0.105444 0.705265 0.439262 +TTool-pose None 33.0679 11.0683 15.8576 0.667282 0.633164 -0.263966 0.28994 +#4281 1721120611123 +SLAM 16.8524 -21.7903 34.133 -0.54505 0.108988 0.706392 0.438237 +TTool-pose None 33.0767 11.0578 15.8318 0.668694 0.630293 -0.266369 0.290744 +#4282 1721120611158 +SLAM 16.7133 -22.0457 34.0353 -0.54495 0.10485 0.705081 0.441471 +TTool-pose None 33.0538 11.0791 15.8573 0.665345 0.634399 -0.265286 0.290488 +#4283 1721120611190 +SLAM 16.8782 -21.8206 34.0741 -0.543116 0.111816 0.706824 0.439228 +TTool-pose None 33.0837 11.0635 15.786 0.668377 0.628707 -0.269147 0.292346 +#4284 1721120611230 +SLAM 16.6729 -22.0826 34.0247 -0.544522 0.105561 0.704694 0.442446 +TTool-pose None 33.0494 11.0922 15.8373 0.66474 0.634312 -0.265882 0.291518 +#4285 1721120611268 +SLAM 16.7577 -21.8798 34.1444 -0.544927 0.108868 0.705281 0.440206 +TTool-pose None 33.0788 11.1032 15.8111 0.667205 0.631199 -0.266373 0.292192 +#4286 1721120611310 +SLAM 16.7013 -22.096 34.0035 -0.544305 0.105037 0.705001 0.44235 +TTool-pose None 33.0543 11.0909 15.8452 0.664662 0.634604 -0.265998 0.290952 +#4287 1721120611346 +SLAM 16.5853 -22.0998 34.0391 -0.54539 0.104808 0.703907 0.442809 +TTool-pose None 33.0237 11.0753 15.8417 0.6644 0.635019 -0.264713 0.291814 +#4288 1721120611383 +SLAM 16.7561 -21.8865 34.1469 -0.545269 0.107895 0.705254 0.440064 +TTool-pose None 33.0786 11.1017 15.8232 0.667127 0.631807 -0.265762 0.291613 +#4289 1721120611416 +SLAM 16.8642 -21.8299 34.1071 -0.543902 0.110126 0.706551 0.439121 +TTool-pose None 33.0942 11.0782 15.8028 0.668166 0.629837 -0.267872 0.291565 +#4290 1721120611453 +SLAM 16.4627 -22.3493 33.9494 -0.545364 0.100195 0.702686 0.445839 +TTool-pose None 33.0127 11.105 15.8694 0.661067 0.63934 -0.263409 0.291128 +#4291 1721120611492 +SLAM 16.8471 -21.9172 34.0544 -0.545965 0.102885 0.706662 0.438139 +TTool-pose None 33.0698 11.0149 15.9007 0.667456 0.634353 -0.263848 0.28703 +#4292 1721120611531 +SLAM 16.8479 -21.7991 34.1615 -0.546302 0.105547 0.706424 0.437469 +TTool-pose None 33.0912 11.047 15.8618 0.668612 0.63233 -0.264173 0.288503 +#4293 1721120611568 +SLAM 16.6473 -22.1432 34.0126 -0.546539 0.0992863 0.70465 0.441481 +TTool-pose None 33.043 11.0447 15.9105 0.664215 0.63818 -0.262126 0.287642 +#4294 1721120611603 +SLAM 16.7277 -21.9873 34.0862 -0.54748 0.100045 0.705349 0.439021 +TTool-pose None 33.0523 11.0234 15.9259 0.666318 0.6367 -0.261407 0.286711 +#4295 1721120611636 +SLAM 16.8133 -21.7963 34.1883 -0.547519 0.103718 0.705971 0.437116 +TTool-pose None 33.0775 11.0409 15.8926 0.668588 0.633468 -0.262386 0.287688 +#4296 1721120611676 +SLAM 16.7281 -22.0362 34.0484 -0.546831 0.100027 0.705424 0.439714 +TTool-pose None 33.0542 11.0288 15.9186 0.665728 0.636963 -0.262086 0.286877 +#4297 1721120611709 +SLAM 16.8212 -21.9708 34.0432 -0.546487 0.100628 0.706371 0.438482 +TTool-pose None 33.0662 11.0186 15.9232 0.666734 0.636022 -0.262683 0.286079 +#4298 1721120611747 +SLAM 16.7375 -22.0939 34.0164 -0.547211 0.097363 0.705444 0.439806 +TTool-pose None 33.0517 11.0293 15.9561 0.665068 0.638781 -0.260982 0.285364 +#4299 1721120611784 +SLAM 16.8214 -21.9044 34.0906 -0.545821 0.104207 0.7063 0.438589 +TTool-pose None 33.0797 11.0391 15.8747 0.66742 0.63366 -0.264314 0.288214 +#4300 1721120611821 +SLAM 16.8389 -21.9437 34.0584 -0.547378 0.0990236 0.706523 0.437489 +TTool-pose None 33.0633 10.9996 15.9548 0.667187 0.636716 -0.26134 0.284705 +#4301 1721120611858 +SLAM 16.7551 -22.0203 34.0534 -0.547091 0.0993681 0.705633 0.439204 +TTool-pose None 33.0577 11.0273 15.9335 0.665976 0.637198 -0.261658 0.286167 +#4302 1721120611894 +SLAM 16.7434 -22.0751 34.0176 -0.54734 0.0973643 0.705587 0.439416 +TTool-pose None 33.0487 11.0146 15.9577 0.66537 0.638624 -0.26086 0.285124 +#4303 1721120611926 +SLAM 16.7703 -22.0237 34.0398 -0.54765 0.0975265 0.705842 0.438582 +TTool-pose None 33.0512 11.0061 15.9623 0.666058 0.638184 -0.260601 0.284739 +#4304 1721120611961 +SLAM 16.8889 -21.8913 34.0681 -0.546911 0.100414 0.707057 0.436893 +TTool-pose None 33.0766 10.9996 15.9381 0.667899 0.635516 -0.26224 0.28489 +#4305 1721120611993 +SLAM 16.6871 -22.1029 34.0327 -0.546673 0.0993564 0.704951 0.440818 +TTool-pose None 33.053 11.0503 15.9155 0.664736 0.637862 -0.262032 0.287228 +#4306 1721120612028 +SLAM 16.8735 -21.7944 34.1468 -0.546242 0.105137 0.706766 0.437089 +TTool-pose None 33.0927 11.0344 15.8687 0.668788 0.632436 -0.264156 0.287878 +#4307 1721120612060 +SLAM 16.895 -21.7848 34.1314 -0.54562 0.10639 0.707017 0.437158 +TTool-pose None 33.0941 11.0343 15.855 0.668954 0.631595 -0.265152 0.288422 +#4308 1721120612097 +SLAM 16.9693 -21.7597 34.1131 -0.545454 0.105719 0.707809 0.436245 +TTool-pose None 33.1053 11.0239 15.869 0.669445 0.63164 -0.265216 0.287122 +#4309 1721120612132 +SLAM 16.8394 -22.003 34.0261 -0.546016 0.100286 0.706528 0.438893 +TTool-pose None 33.0797 11.0364 15.918 0.666294 0.636391 -0.263098 0.285902 +#4310 1721120612168 +SLAM 16.8669 -21.7943 34.1914 -0.54735 0.102822 0.706454 0.436759 +TTool-pose None 33.1034 11.0574 15.8958 0.66862 0.633898 -0.262367 0.286685 +#4311 1721120612204 +SLAM 16.9365 -21.777 34.1578 -0.546162 0.10443 0.707248 0.436579 +TTool-pose None 33.1174 11.0566 15.8759 0.668986 0.632681 -0.264094 0.286932 +#4312 1721120612239 +SLAM 16.7086 -22.2177 33.9339 -0.546582 0.0953928 0.705331 0.441198 +TTool-pose None 33.0435 11.0308 15.9604 0.663493 0.640625 -0.2611 0.284788 +#4313 1721120612276 +SLAM 16.6712 -22.3378 33.8661 -0.545075 0.0960797 0.705008 0.443426 +TTool-pose None 33.0464 11.0645 15.9295 0.661835 0.641016 -0.262823 0.28618 +#4314 1721120612311 +SLAM 16.7786 -22.0965 33.9748 -0.544715 0.101675 0.706025 0.440994 +TTool-pose None 33.0721 11.0607 15.8775 0.664922 0.63628 -0.264777 0.287791 +#4315 1721120612345 +SLAM 16.8726 -21.9311 34.0575 -0.546068 0.101507 0.706833 0.438057 +TTool-pose None 33.0857 11.0335 15.9086 0.667204 0.635234 -0.263391 0.286083 +#4316 1721120612380 +SLAM 16.8477 -21.8246 34.1837 -0.547448 0.102133 0.706253 0.437123 +TTool-pose None 33.1005 11.0614 15.9007 0.668202 0.634514 -0.262067 0.286569 +#4317 1721120612414 +SLAM 16.7247 -22.1481 33.9841 -0.546219 0.09805 0.705385 0.440981 +TTool-pose None 33.0586 11.0521 15.9269 0.66425 0.638762 -0.262194 0.286201 +#4318 1721120612445 +SLAM 16.6456 -22.3405 33.8914 -0.546402 0.0936466 0.704616 0.442935 +TTool-pose None 33.037 11.057 15.9677 0.661766 0.642494 -0.260753 0.284914 +#4319 1721120612477 +SLAM 16.7369 -22.2432 33.9093 -0.545666 0.0961559 0.705589 0.441755 +TTool-pose None 33.0572 11.0518 15.9448 0.663158 0.6403 -0.262281 0.285217 +#4320 1721120612509 +SLAM 16.8825 -21.9362 34.0399 -0.545349 0.102725 0.706994 0.438408 +TTool-pose None 33.0888 11.0378 15.889 0.667147 0.634532 -0.264475 0.286775 +#4321 1721120612541 +SLAM 16.8806 -21.7709 34.1856 -0.547188 0.103574 0.706666 0.436441 +TTool-pose None 33.0992 11.043 15.8923 0.669009 0.633255 -0.262751 0.286844 +#4322 1721120612572 +SLAM 16.8014 -22.0734 34.002 -0.546291 0.0984513 0.706122 0.43962 +TTool-pose None 33.0711 11.0413 15.936 0.665356 0.637927 -0.262289 0.285407 +#4323 1721120612605 +SLAM 16.7859 -22.1728 33.9378 -0.545172 0.0983711 0.706044 0.441149 +TTool-pose None 33.0735 11.0592 15.9217 0.664077 0.638554 -0.263427 0.285936 +#4324 1721120612640 +SLAM 16.7845 -22.0366 34.0221 -0.546334 0.0997119 0.70602 0.439447 +TTool-pose None 33.0651 11.0324 15.92 0.66579 0.637025 -0.262571 0.28615 +#4325 1721120612675 +SLAM 16.8472 -22.0054 34.0149 -0.545334 0.101542 0.706634 0.439283 +TTool-pose None 33.0839 11.0464 15.8967 0.666224 0.635684 -0.26415 0.286671 +#4326 1721120612708 +SLAM 16.8234 -22.0395 33.996 -0.545165 0.101405 0.706448 0.439822 +TTool-pose None 33.0774 11.046 15.8937 0.665775 0.635991 -0.264273 0.286918 +#4327 1721120612742 +SLAM 16.8317 -22.0326 34.0059 -0.54555 0.100633 0.706479 0.439471 +TTool-pose None 33.0797 11.0437 15.9081 0.665896 0.636377 -0.263671 0.286333 +#4328 1721120612777 +SLAM 16.7408 -22.1481 33.9737 -0.546015 0.098186 0.705573 0.440901 +TTool-pose None 33.0608 11.0487 15.9273 0.664317 0.638626 -0.262459 0.286108 +#4329 1721120612812 +SLAM 16.8899 -21.9962 34.0022 -0.545292 0.101007 0.70708 0.43874 +TTool-pose None 33.09 11.0372 15.9104 0.66649 0.635804 -0.26409 0.285839 +#4330 1721120612850 +SLAM 16.8518 -21.8224 34.1486 -0.546628 0.103912 0.706487 0.437351 +TTool-pose None 33.0898 11.0423 15.8806 0.668355 0.633382 -0.26341 0.287483 +#4331 1721120612882 +SLAM 16.9394 -21.7967 34.123 -0.545707 0.104857 0.707395 0.436808 +TTool-pose None 33.1089 11.0428 15.8742 0.668863 0.632466 -0.264693 0.287141 +#4332 1721120612914 +SLAM 16.8729 -21.8277 34.1159 -0.546398 0.103824 0.706832 0.437102 +TTool-pose None 33.0829 11.0196 15.8897 0.668489 0.63332 -0.263655 0.287084 +#4333 1721120612947 +SLAM 16.9436 -21.8277 34.0844 -0.546375 0.102319 0.707561 0.436305 +TTool-pose None 33.0901 11.0069 15.9189 0.668715 0.633973 -0.263343 0.285394 +#4334 1721120612982 +SLAM 16.8745 -21.8299 34.1369 -0.545837 0.10513 0.706672 0.43775 +TTool-pose None 33.1015 11.0591 15.8631 0.668253 0.632695 -0.26457 0.288171 +#4335 1721120613020 +SLAM 16.9351 -21.8101 34.0922 -0.544728 0.106755 0.707443 0.437493 +TTool-pose None 33.1026 11.0447 15.8468 0.668684 0.631436 -0.266213 0.288416 +#4336 1721120613057 +SLAM 16.7302 -22.1165 33.9838 -0.547135 0.0968028 0.705531 0.439884 +TTool-pose None 33.0397 11.0098 15.9613 0.664866 0.639178 -0.26092 0.285002 +#4337 1721120613091 +SLAM 16.8774 -21.9307 34.0382 -0.544867 0.104288 0.70693 0.438741 +TTool-pose None 33.0877 11.0422 15.8723 0.667211 0.633609 -0.265383 0.287828 +#4338 1721120613125 +SLAM 16.5545 -22.3188 33.9413 -0.543655 0.102844 0.703601 0.445879 +TTool-pose None 33.0519 11.1367 15.8241 0.661459 0.637497 -0.265966 0.291954 +#4339 1721120613157 +SLAM 16.7216 -22.1483 33.9727 -0.545579 0.0997321 0.705374 0.441412 +TTool-pose None 33.0556 11.0555 15.9084 0.664258 0.637795 -0.263307 0.287319 +#4340 1721120613190 +SLAM 16.7076 -22.1491 33.9706 -0.54474 0.101859 0.705273 0.442123 +TTool-pose None 33.059 11.0701 15.8719 0.664137 0.636637 -0.264734 0.288853 +#4341 1721120613225 +SLAM 16.7597 -22.0562 34.0159 -0.54639 0.0997216 0.705745 0.439816 +TTool-pose None 33.056 11.0325 15.9233 0.665527 0.637179 -0.262492 0.286491 +#4342 1721120613257 +SLAM 16.8525 -21.89 34.0818 -0.545791 0.103935 0.706618 0.438179 +TTool-pose None 33.0804 11.0349 15.8819 0.667653 0.633664 -0.2643 0.287676 +#4343 1721120613291 +SLAM 16.8491 -21.8567 34.0728 -0.545165 0.106118 0.70675 0.438222 +TTool-pose None 33.0702 11.0223 15.8507 0.668055 0.632197 -0.265535 0.288834 +#4344 1721120613330 +SLAM 16.6591 -22.178 33.9899 -0.546305 0.0986374 0.704678 0.441871 +TTool-pose None 33.0445 11.0596 15.9187 0.663744 0.638757 -0.262199 0.28738 +#4345 1721120613370 +SLAM 16.5377 -22.4413 33.855 -0.546092 0.0938168 0.703586 0.444914 +TTool-pose None 33.012 11.0663 15.9537 0.660307 0.643196 -0.261027 0.286464 +#4346 1721120613402 +SLAM 16.757 -22.0974 33.9864 -0.546349 0.0985946 0.705768 0.440084 +TTool-pose None 33.0522 11.0282 15.935 0.665056 0.638032 -0.262237 0.285917 +#4347 1721120613435 +SLAM 16.6419 -22.1924 33.989 -0.547004 0.0969781 0.704495 0.441667 +TTool-pose None 33.0346 11.0484 15.943 0.66358 0.639808 -0.261013 0.286498 +#4348 1721120613473 +SLAM 16.5113 -22.426 33.8807 -0.547424 0.091819 0.703287 0.444167 +TTool-pose None 32.9985 11.0436 15.9874 0.660529 0.644277 -0.259074 0.285289 +#4349 1721120613512 +SLAM 16.8159 -21.9492 34.0654 -0.546038 0.102481 0.70623 0.438838 +TTool-pose None 33.0735 11.0404 15.8953 0.666857 0.634921 -0.263629 0.287367 +#4350 1721120613550 +SLAM 16.8 -21.8971 34.1064 -0.546717 0.102805 0.706038 0.438226 +TTool-pose None 33.0672 11.0311 15.897 0.667464 0.634491 -0.26299 0.287492 +#4351 1721120613586 +SLAM 16.7779 -21.9699 34.0614 -0.54566 0.103527 0.705875 0.439633 +TTool-pose None 33.0679 11.0498 15.8737 0.666474 0.634542 -0.264268 0.288506 +#4352 1721120613625 +SLAM 16.7628 -22.0412 34.0275 -0.545606 0.101932 0.70572 0.440322 +TTool-pose None 33.0664 11.0564 15.8886 0.665585 0.635884 -0.263892 0.287946 +#4353 1721120613658 +SLAM 16.7329 -21.9918 34.0778 -0.546989 0.100886 0.705384 0.439384 +TTool-pose None 33.0544 11.0358 15.9111 0.666193 0.636267 -0.262145 0.287289 +#4354 1721120613692 +SLAM 16.7391 -21.9563 34.0898 -0.546934 0.101866 0.705478 0.439074 +TTool-pose None 33.0526 11.0296 15.9013 0.666646 0.635485 -0.262469 0.287672 +#4355 1721120613725 +SLAM 16.748 -22.0275 34.0392 -0.546728 0.100019 0.70562 0.439528 +TTool-pose None 33.0524 11.028 15.9212 0.66585 0.636883 -0.262208 0.286659 +#4356 1721120613759 +SLAM 16.6639 -22.1294 34.0173 -0.547046 0.0982268 0.704736 0.440953 +TTool-pose None 33.0386 11.0407 15.9325 0.664411 0.638687 -0.261324 0.28679 +#4357 1721120613792 +SLAM 16.7722 -22.0484 34.0199 -0.54612 0.100324 0.705834 0.439871 +TTool-pose None 33.0629 11.0421 15.9143 0.665597 0.636788 -0.262941 0.286786 +#4358 1721120613826 +SLAM 16.8173 -21.9654 34.0527 -0.545604 0.102964 0.706253 0.439228 +TTool-pose None 33.0765 11.0483 15.885 0.666632 0.634739 -0.264211 0.287756 +#4359 1721120613860 +SLAM 16.7507 -22.0897 34 -0.545332 0.101369 0.705626 0.44094 +TTool-pose None 33.065 11.0619 15.8898 0.664964 0.6365 -0.264019 0.287904 +#4360 1721120613894 +SLAM 16.8571 -21.9067 34.0728 -0.545521 0.104008 0.706636 0.438469 +TTool-pose None 33.0846 11.0443 15.8785 0.667424 0.633722 -0.264603 0.287803 +#4361 1721120613927 +SLAM 16.6954 -22.0697 34.0426 -0.547159 0.0990057 0.70504 0.440153 +TTool-pose None 33.0439 11.0351 15.9288 0.6652 0.637843 -0.26144 0.286734 +#4362 1721120613961 +SLAM 16.7462 -22.0704 34.0091 -0.545848 0.100795 0.705618 0.440448 +TTool-pose None 33.0572 11.0458 15.902 0.665253 0.636703 -0.263331 0.287416 +#4363 1721120613996 +SLAM 16.7276 -22.0352 34.0413 -0.546178 0.101531 0.705387 0.440239 +TTool-pose None 33.0533 11.0456 15.8954 0.66562 0.636151 -0.263161 0.287943 +#4364 1721120614029 +SLAM 16.8216 -21.7978 34.1894 -0.547132 0.104426 0.706014 0.437362 +TTool-pose None 33.0858 11.0538 15.8803 0.668528 0.63308 -0.262979 0.288142 +#4365 1721120614065 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16.5534 -21.8583 34.2293 -0.548966 0.104404 0.703427 0.439233 +TTool-pose None 33.0084 11.0254 15.8756 0.667364 0.634004 -0.260839 0.290743 +#4372 1721120614312 +SLAM 16.7637 -21.7967 34.1804 -0.547866 0.104156 0.705559 0.437243 +TTool-pose None 33.0479 11.0147 15.8989 0.66864 0.633255 -0.262105 0.288296 +#4373 1721120614345 +SLAM 16.4528 -22.212 34.0501 -0.548539 0.0973094 0.702487 0.442886 +TTool-pose None 32.9872 11.0467 15.9389 0.662939 0.640202 -0.259323 0.288633 +#4374 1721120614382 +SLAM 16.426 -22.1667 34.0888 -0.547836 0.100867 0.702172 0.44346 +TTool-pose None 32.9915 11.0702 15.8869 0.66328 0.638054 -0.260973 0.291108 +#4375 1721120614417 +SLAM 16.7627 -21.7509 34.2179 -0.549722 0.10142 0.705496 0.435654 +TTool-pose None 33.0341 10.9786 15.9556 0.669377 0.634506 -0.259436 0.286238 +#4376 1721120614454 +SLAM 16.5363 -21.9222 34.1952 -0.550298 0.10001 0.703292 0.438807 +TTool-pose None 32.9881 10.992 15.9448 0.666796 0.63681 -0.258278 0.288188 +#4377 1721120614488 +SLAM 16.5254 -21.8302 34.2607 -0.549203 0.105553 0.703054 0.439261 +TTool-pose None 33.0028 11.0282 15.868 0.667639 0.633271 -0.26086 0.291692 +#4378 1721120614521 +SLAM 16.47 -21.9826 34.1468 -0.54814 0.104344 0.702798 0.441283 +TTool-pose None 32.9775 11.021 15.8636 0.665744 0.634858 -0.26163 0.291884 +#4379 1721120614554 +SLAM 16.2145 -22.0594 34.2286 -0.552068 0.0988863 0.700058 0.441996 +TTool-pose None 32.9166 10.9982 15.932 0.664374 0.639004 -0.25584 0.291086 +#4380 1721120614588 +SLAM 16.2929 -22.1306 34.1719 -0.550421 0.0990985 0.700753 0.442901 +TTool-pose None 32.9521 11.0384 15.9216 0.66357 0.639146 -0.257681 0.290987 +#4381 1721120614622 +SLAM 16.2773 -22.1345 34.1833 -0.550503 0.0991938 0.700544 0.443109 +TTool-pose None 32.9533 11.0467 15.9183 0.663448 0.639175 -0.257601 0.291271 +#4382 1721120614654 +SLAM 16.6252 -21.8195 34.2398 -0.548492 0.105207 0.704018 0.438688 +TTool-pose None 33.0318 11.0429 15.8706 0.667898 0.633212 -0.261595 0.290565 +#4383 1721120614688 +SLAM 16.6215 -21.7056 34.2872 -0.549186 0.10688 0.704107 0.437271 +TTool-pose None 33.0153 11.002 15.864 0.669408 0.631548 -0.261313 0.290967 +#4384 1721120614720 +SLAM 16.422 -22.0471 34.1694 -0.54872 0.102486 0.702094 0.442116 +TTool-pose None 32.9893 11.053 15.8784 0.66476 0.636474 -0.260473 0.291641 +#4385 1721120614755 +SLAM 16.7668 -21.7203 34.2132 -0.548135 0.105631 0.705653 0.436399 +TTool-pose None 33.0415 10.9942 15.8885 0.669634 0.631938 -0.262215 0.288778 +#4386 1721120614788 +SLAM 16.4913 -21.9703 34.1834 -0.549354 0.101678 0.702844 0.440321 +TTool-pose None 32.9912 11.0217 15.905 0.665968 0.63629 -0.259666 0.29 +#4387 1721120614821 +SLAM 16.5433 -21.8873 34.2208 -0.549099 0.103628 0.703291 0.439471 +TTool-pose None 33.0072 11.0275 15.8873 0.667023 0.634627 -0.260485 0.290485 +#4388 1721120614854 +SLAM 16.3354 -22.2886 34.0465 -0.548982 0.0965429 0.701339 0.444321 +TTool-pose None 32.9647 11.0507 15.9346 0.661742 0.641337 -0.25855 0.289551 +#4389 1721120614888 +SLAM 16.5087 -21.8588 34.262 -0.549323 0.104505 0.702896 0.439613 +TTool-pose None 33.0085 11.0409 15.8654 0.667149 0.634121 -0.260446 0.291334 +#4390 1721120614921 +SLAM 16.3885 -22.2659 34.0256 -0.548185 0.0977068 0.701984 0.444032 +TTool-pose None 32.9736 11.0462 15.9193 0.662144 0.6404 -0.259751 0.289631 +#4391 1721120614954 +SLAM 16.5938 -21.9455 34.1559 -0.54948 0.0997678 0.703943 0.438843 +TTool-pose None 33.0045 10.9973 15.9416 0.666618 0.636934 -0.259125 0.287566 +#4392 1721120614991 +SLAM 16.4727 -22.1279 34.0854 -0.548454 0.0993921 0.702773 0.442074 +TTool-pose None 32.9902 11.0339 15.9158 0.664028 0.638482 -0.259992 0.289337 +#4393 1721120615025 +SLAM 16.5687 -22.056 34.1046 -0.550018 0.0958855 0.703698 0.439426 +TTool-pose None 32.997 10.9904 15.9874 0.66532 0.639771 -0.257505 0.28572 +#4394 1721120615062 +SLAM 16.6056 -21.8505 34.2323 -0.548639 0.10425 0.70388 0.438954 +TTool-pose None 33.0318 11.0414 15.8746 0.667496 0.633967 -0.26118 0.290215 +#4395 1721120615095 +SLAM 16.5526 -21.8966 34.252 -0.549325 0.10266 0.703225 0.43952 +TTool-pose None 33.0327 11.0565 15.8887 0.666786 0.635302 -0.259988 0.289999 +#4396 1721120615128 +SLAM 16.6994 -21.9914 34.1168 -0.548216 0.0993217 0.704964 0.438886 +TTool-pose None 33.0547 11.019 15.9446 0.666332 0.637166 -0.260414 0.286544 +#4397 1721120615161 +SLAM 16.6097 -22.086 34.116 -0.548142 0.0989566 0.704046 0.44053 +TTool-pose None 33.0585 11.0376 15.9338 0.665027 0.638098 -0.260315 0.287593 +#4398 1721120615193 +SLAM 16.5365 -22.1988 34.0876 -0.547128 0.0997276 0.703348 0.442726 +TTool-pose None 33.0684 11.0679 15.9011 0.663471 0.638452 -0.261514 0.28931 +#4399 1721120615226 +SLAM 16.6237 -22.0674 34.1393 -0.547622 0.100607 0.704282 0.440426 +TTool-pose None 33.0865 11.0336 15.91 0.665435 0.636933 -0.261316 0.288324 +#4400 1721120615259 +SLAM 16.6661 -22.137 34.073 -0.546999 0.0989895 0.704786 0.44076 +TTool-pose None 33.0938 11.0328 15.927 0.66473 0.6381 -0.26158 0.287124 +#4401 1721120615292 +SLAM 16.7235 -22.0453 34.1071 -0.546929 0.100513 0.705392 0.439532 +TTool-pose None 33.1073 11.0219 15.9153 0.665988 0.636572 -0.26211 0.287119 +#4402 1721120615334 +SLAM 16.7507 -22.0828 34.0654 -0.545888 0.101106 0.705739 0.440132 +TTool-pose None 33.1175 11.0322 15.8995 0.665564 0.636367 -0.263381 0.287395 +#4403 1721120615368 +SLAM 16.8551 -21.8294 34.1994 -0.545966 0.10607 0.706579 0.437512 +TTool-pose None 33.1503 11.0396 15.8532 0.668662 0.631979 -0.264673 0.288697 +#4404 1721120615402 +SLAM 16.7236 -22.1283 34.0556 -0.544946 0.10254 0.705442 0.441442 +TTool-pose None 33.1281 11.0629 15.865 0.664824 0.635913 -0.264715 0.288884 +#4405 1721120615441 +SLAM 16.6557 -22.2384 34.0196 -0.545184 0.10026 0.704773 0.442738 +TTool-pose None 33.1172 11.0703 15.8821 0.663357 0.637981 -0.263804 0.288529 +#4406 1721120615474 +SLAM 16.7647 -22.1659 34.0193 -0.544324 0.101984 0.705888 0.441626 +TTool-pose None 33.1431 11.0681 15.8691 0.664482 0.636317 -0.265253 0.288286 +#4407 1721120615508 +SLAM 16.8813 -22.0445 34.0421 -0.544794 0.10183 0.707116 0.439109 +TTool-pose None 33.1559 11.0305 15.894 0.666353 0.635384 -0.264829 0.286406 +#4408 1721120615542 +SLAM 16.7205 -22.175 34.043 -0.544943 0.101298 0.705449 0.44172 +TTool-pose None 33.1405 11.0634 15.8743 0.664326 0.63685 -0.26439 0.288262 +#4409 1721120615583 +SLAM 16.8002 -22.1555 34.0318 -0.544292 0.101771 0.706246 0.44114 +TTool-pose None 33.1661 11.0649 15.8741 0.664785 0.636251 -0.265262 0.287725 +#4410 1721120615619 +SLAM 16.844 -22.1527 34.035 -0.543316 0.103406 0.706664 0.441295 +TTool-pose None 33.1985 11.0808 15.8508 0.664938 0.635171 -0.266743 0.28839 +#4411 1721120615654 +SLAM 16.8604 -22.15 34.1016 -0.543702 0.103157 0.706639 0.440917 +TTool-pose None 33.2496 11.0938 15.8609 0.665204 0.635201 -0.266273 0.28814 +#4412 1721120615686 +SLAM 16.8486 -22.2213 34.2039 -0.543871 0.103005 0.706085 0.441631 +TTool-pose None 33.346 11.1422 15.8706 0.664664 0.635615 -0.26601 0.288718 +#4413 1721120615721 +SLAM 16.7553 -22.2804 34.388 -0.544829 0.104078 0.704571 0.442616 +TTool-pose None 33.4538 11.1918 15.8757 0.664306 0.635385 -0.265163 0.290824 +#4414 1721120615759 +SLAM 16.5637 -22.2387 34.8852 -0.550585 0.103475 0.701696 0.440196 +TTool-pose None 33.6695 11.1495 15.9968 0.666623 0.635126 -0.258752 0.291859 +#4415 1721120615793 +SLAM 16.7606 -22.4032 34.9037 -0.54457 0.111414 0.703052 0.443562 +TTool-pose None 33.9006 11.3031 15.881 0.665267 0.630902 -0.267202 0.296471 +#4416 1721120615829 +SLAM 16.8825 -22.2494 35.0409 -0.547857 0.107149 0.704636 0.438018 +TTool-pose None 33.9814 11.1549 15.997 0.668766 0.631602 -0.262816 0.290971 +#4417 1721120615863 +SLAM 16.8079 -22.4108 35.0248 -0.545497 0.11013 0.704308 0.440743 +TTool-pose None 34.0581 11.1602 15.9189 0.667168 0.630626 -0.26602 0.293836 +#4418 1721120615897 +SLAM 16.7091 -22.6138 35.0015 -0.547358 0.102582 0.703765 0.441124 +TTool-pose None 34.0877 11.102 15.9998 0.665356 0.635907 -0.262068 0.290085 +#4419 1721120615931 +SLAM 16.8308 -22.3851 35.1603 -0.548893 0.102892 0.705046 0.437081 +TTool-pose None 34.1567 11.0568 16.0053 0.668582 0.634087 -0.260655 0.287912 +#4420 1721120615967 +SLAM 16.761 -22.5243 35.0523 -0.546931 0.1036 0.70523 0.439072 +TTool-pose None 34.1605 11.0146 15.9376 0.667055 0.634339 -0.262907 0.288852 +#4421 1721120616002 +SLAM 16.7282 -22.4987 35.0842 -0.547349 0.103885 0.705022 0.438817 +TTool-pose None 34.1611 10.9994 15.9276 0.667359 0.634069 -0.262528 0.289087 +#4422 1721120616034 +SLAM 16.7368 -22.5838 35.0293 -0.546135 0.103885 0.705219 0.440012 +TTool-pose None 34.1777 11.0172 15.9077 0.666336 0.634497 -0.263811 0.289341 +#4423 1721120616068 +SLAM 16.7872 -22.6069 34.9794 -0.54458 0.105481 0.705838 0.440567 +TTool-pose None 34.1926 11.0267 15.8764 0.666113 0.633574 -0.265901 0.289963 +#4424 1721120616101 +SLAM 16.672 -22.7286 34.9801 -0.54561 0.102379 0.704543 0.442095 +TTool-pose None 34.1802 11.0529 15.9049 0.664385 0.636339 -0.263902 0.289701 +#4425 1721120616134 +SLAM 16.7836 -22.6815 34.9667 -0.544727 0.103327 0.705671 0.441162 +TTool-pose None 34.2084 11.0513 15.8971 0.665189 0.635261 -0.265169 0.289063 +#4426 1721120616168 +SLAM 16.8894 -22.6394 34.9468 -0.544332 0.10304 0.706792 0.439921 +TTool-pose None 34.2277 11.0353 15.9076 0.665986 0.634899 -0.2656 0.28762 +#4427 1721120616202 +SLAM 16.8886 -22.5185 34.9983 -0.544756 0.10526 0.706879 0.438728 +TTool-pose None 34.2128 11.0064 15.8881 0.667435 0.632953 -0.265748 0.288416 +#4428 1721120616236 +SLAM 17.0464 -22.495 34.9453 -0.542466 0.107779 0.708437 0.438443 +TTool-pose None 34.2564 11.0264 15.855 0.667946 0.63101 -0.268917 0.288553 +#4429 1721120616270 +SLAM 16.9847 -22.4897 34.9729 -0.543944 0.105777 0.707915 0.43794 +TTool-pose None 34.2352 10.9972 15.8842 0.668033 0.632222 -0.266814 0.287648 +#4430 1721120616313 +SLAM 17.0979 -22.532 34.918 -0.54178 0.107356 0.708857 0.438714 +TTool-pose None 34.2788 11.0483 15.8576 0.667563 0.631359 -0.269555 0.28808 +#4431 1721120616350 +SLAM 17.1708 -22.4508 34.9193 -0.541151 0.109382 0.709647 0.437712 +TTool-pose None 34.2862 11.0326 15.8397 0.668685 0.629546 -0.270797 0.288282 +#4432 1721120616386 +SLAM 17.013 -22.728 34.8318 -0.543996 0.098498 0.708184 0.439137 +TTool-pose None 34.2418 11.0058 15.9721 0.665442 0.63754 -0.264865 0.283686 +#4433 1721120616424 +SLAM 17.1071 -22.4243 34.9708 -0.542153 0.109349 0.708925 0.437652 +TTool-pose None 34.272 11.032 15.8442 0.668848 0.629611 -0.269688 0.2888 +#4434 1721120616458 +SLAM 16.9185 -22.6222 34.9556 -0.543846 0.104274 0.706956 0.439968 +TTool-pose None 34.2406 11.0525 15.8962 0.666182 0.634071 -0.266444 0.288214 +#4435 1721120616492 +SLAM 16.9855 -22.4494 35.0252 -0.543798 0.108272 0.707226 0.438625 +TTool-pose None 34.232 11.0708 15.8776 0.668092 0.63085 -0.267558 0.289827 +#4436 1721120616525 +SLAM 16.8227 -22.5165 35.0064 -0.545241 0.106677 0.705529 0.439956 +TTool-pose None 34.1512 11.0632 15.9112 0.666921 0.632567 -0.265498 0.290675 +#4437 1721120616562 +SLAM 16.7584 -22.6336 34.9616 -0.545459 0.104927 0.7043 0.44207 +TTool-pose None 34.1095 11.136 15.9481 0.664982 0.634634 -0.264707 0.291333 +#4438 1721120616606 +SLAM 16.8298 -22.4532 35.0391 -0.546944 0.105779 0.704312 0.440009 +TTool-pose None 34.0732 11.1624 15.9908 0.666877 0.633294 -0.263386 0.291114 +#4439 1721120616642 +SLAM 16.8129 -22.4872 34.9594 -0.546584 0.105935 0.703878 0.441112 +TTool-pose None 34.0046 11.1902 16.0062 0.666058 0.633634 -0.263763 0.291907 +#4440 1721120616676 +SLAM 16.9622 -22.5648 34.7927 -0.54609 0.101764 0.704988 0.440933 +TTool-pose None 33.9555 11.2136 16.0969 0.665153 0.636285 -0.26328 0.288617 +#4441 1721120616711 +SLAM 16.9414 -22.3663 34.8662 -0.546328 0.107071 0.70429 0.440497 +TTool-pose None 33.8882 11.2566 16.051 0.666744 0.632605 -0.264362 0.292031 +#4442 1721120616748 +SLAM 17.0114 -22.4089 34.7212 -0.545336 0.106167 0.704762 0.441188 +TTool-pose None 33.8165 11.2843 16.0809 0.665907 0.633432 -0.2652 0.291387 +#4443 1721120616780 +SLAM 16.8586 -22.2734 34.8256 -0.548507 0.105792 0.702492 0.440969 +TTool-pose None 33.6976 11.3304 16.1121 0.666355 0.63379 -0.2616 0.292836 +#4444 1721120616818 +SLAM 17.0686 -22.2416 34.6414 -0.545928 0.10727 0.704337 0.440868 +TTool-pose None 33.6394 11.3721 16.1145 0.666469 0.632604 -0.264834 0.292233 +#4445 1721120616854 +SLAM 17.6092 -21.7017 34.5344 -0.544518 0.112223 0.709918 0.432346 +TTool-pose None 33.5775 11.2598 16.142 0.673668 0.625596 -0.26803 0.28786 +#4446 1721120616889 +SLAM 17.1499 -22.2547 34.354 -0.546048 0.102635 0.704694 0.441253 +TTool-pose None 33.4099 11.4048 16.212 0.665119 0.635842 -0.263527 0.289448 +#4447 1721120616922 +SLAM 17.2703 -22.2269 34.2337 -0.545509 0.101161 0.705582 0.44084 +TTool-pose None 33.3405 11.437 16.2497 0.66501 0.636606 -0.263777 0.287786 +#4448 1721120616955 +SLAM 17.4027 -21.8755 34.3011 -0.546315 0.105999 0.706203 0.437701 +TTool-pose None 33.2513 11.4705 16.2431 0.668549 0.632129 -0.264259 0.289009 +#4449 1721120616989 +SLAM 17.3268 -22.0173 34.1752 -0.548182 0.0988895 0.705622 0.437967 +TTool-pose None 33.1586 11.4054 16.3564 0.666899 0.637059 -0.26039 0.285481 +#4450 1721120617022 +SLAM 17.4229 -21.8434 34.2737 -0.546524 0.106337 0.705948 0.437768 +TTool-pose None 33.1981 11.502 16.2706 0.668603 0.631948 -0.264107 0.289419 +#4451 1721120617060 +SLAM 17.198 -21.9989 34.2154 -0.547279 0.104838 0.703777 0.440672 +TTool-pose None 33.1082 11.498 16.2782 0.666208 0.634219 -0.262744 0.291211 +#4452 1721120617096 +SLAM 17.2251 -22.011 34.1779 -0.546691 0.105375 0.703953 0.440994 +TTool-pose None 33.097 11.5104 16.2798 0.666027 0.633962 -0.263512 0.291491 +#4453 1721120617129 +SLAM 17.2719 -21.9057 34.2823 -0.548052 0.105271 0.703815 0.439547 +TTool-pose None 33.115 11.5444 16.3146 0.667229 0.633506 -0.262054 0.291048 +#4454 1721120617164 +SLAM 17.0246 -21.9188 34.3911 -0.550886 0.104048 0.701019 0.440762 +TTool-pose None 33.0494 11.5565 16.3297 0.666373 0.635005 -0.258528 0.292893 +#4455 1721120617202 +SLAM 17.1007 -22.1073 34.188 -0.547793 0.103701 0.702089 0.442989 +TTool-pose None 33.0505 11.5689 16.3172 0.664292 0.635981 -0.261759 0.292633 +#4456 1721120617238 +SLAM 17.0509 -22.1641 34.1755 -0.547934 0.102956 0.701445 0.444009 +TTool-pose None 33.0348 11.5902 16.3241 0.663378 0.636911 -0.261356 0.293042 +#4457 1721120617274 +SLAM 17.0997 -21.9819 34.2324 -0.548491 0.105466 0.702037 0.441791 +TTool-pose None 33.0184 11.5528 16.3082 0.66567 0.634352 -0.26149 0.293275 +#4458 1721120617308 +SLAM 17.1282 -21.9471 34.2441 -0.548916 0.104842 0.702146 0.441238 +TTool-pose None 33.0116 11.5641 16.3243 0.665983 0.634558 -0.260893 0.292649 +#4459 1721120617346 +SLAM 17.1378 -21.9383 34.2345 -0.548743 0.105185 0.702289 0.441143 +TTool-pose None 33.008 11.5591 16.3205 0.666112 0.634281 -0.261176 0.292704 +#4460 1721120617380 +SLAM 17.2195 -21.8923 34.2265 -0.547938 0.106611 0.703097 0.440514 +TTool-pose None 33.0274 11.5639 16.3076 0.666815 0.63302 -0.262459 0.292687 +#4461 1721120617419 +SLAM 16.9504 -22.0192 34.2418 -0.549585 0.104833 0.700507 0.443009 +TTool-pose None 32.9593 11.5525 16.3086 0.664747 0.635351 -0.260044 0.294491 +#4462 1721120617453 +SLAM 17.0371 -21.9577 34.2821 -0.549875 0.104601 0.701092 0.441775 +TTool-pose None 32.9887 11.5687 16.331 0.665639 0.635004 -0.259735 0.293497 +#4463 1721120617491 +SLAM 17.108 -21.8576 34.314 -0.549594 0.10651 0.70182 0.440511 +TTool-pose None 33.007 11.5621 16.3129 0.666984 0.633189 -0.260592 0.293602 +#4464 1721120617526 +SLAM 17.0193 -22.0762 34.2097 -0.548685 0.104039 0.701056 0.443441 +TTool-pose None 32.9949 11.5861 16.3152 0.664138 0.636004 -0.260823 0.293765 +#4465 1721120617559 +SLAM 17.0093 -21.9437 34.2667 -0.549259 0.106237 0.701222 0.441947 +TTool-pose None 32.9824 11.5407 16.2878 0.665822 0.633954 -0.260817 0.294389 +#4466 1721120617594 +SLAM 16.7409 -21.969 34.3885 -0.552684 0.103552 0.698341 0.442874 +TTool-pose None 32.9252 11.5339 16.3141 0.664892 0.636329 -0.256272 0.295358 +#4467 1721120617629 +SLAM 16.7947 -21.9014 34.4408 -0.553264 0.103321 0.698672 0.44168 +TTool-pose None 32.9465 11.5426 16.3304 0.665786 0.636014 -0.255637 0.29457 +#4468 1721120617662 +SLAM 16.8253 -22.009 34.3005 -0.551242 0.103551 0.699434 0.442947 +TTool-pose None 32.9356 11.5222 16.3096 0.664679 0.636274 -0.25788 0.294554 +#4469 1721120617696 +SLAM 16.9221 -21.9089 34.3478 -0.551057 0.104916 0.700273 0.441528 +TTool-pose None 32.9701 11.5329 16.3011 0.666028 0.634763 -0.258509 0.294215 +#4470 1721120617734 +SLAM 16.9158 -21.8562 34.4143 -0.552163 0.104306 0.700014 0.4407 +TTool-pose None 32.9775 11.5372 16.3183 0.666621 0.634885 -0.25717 0.293782 +#4471 1721120617772 +SLAM 16.9769 -21.958 34.2623 -0.549527 0.105404 0.701122 0.441972 +TTool-pose None 32.9772 11.521 16.2838 0.665641 0.634533 -0.260311 0.293999 +#4472 1721120617806 +SLAM 16.8276 -22.2143 34.2099 -0.55116 0.0979899 0.699313 0.444501 +TTool-pose None 32.9508 11.5512 16.3709 0.662201 0.640593 -0.256478 0.291984 +#4473 1721120617840 +SLAM 17.0599 -21.8415 34.3484 -0.550387 0.105434 0.701628 0.440085 +TTool-pose None 33.01 11.5352 16.3031 0.667139 0.633771 -0.259466 0.292991 +#4474 1721120617874 +SLAM 16.9671 -22.1057 34.1975 -0.549379 0.101928 0.700929 0.443274 +TTool-pose None 32.9839 11.5426 16.3222 0.663846 0.637372 -0.259533 0.2926 +#4475 1721120617907 +SLAM 16.8285 -21.9415 34.361 -0.551918 0.103832 0.699408 0.442079 +TTool-pose None 32.9465 11.5213 16.3062 0.665463 0.635764 -0.257246 0.29444 +#4476 1721120617941 +SLAM 16.9384 -21.9821 34.261 -0.549742 0.104997 0.700769 0.44236 +TTool-pose None 32.9685 11.5184 16.2846 0.665283 0.634979 -0.259947 0.294166 +#4477 1721120617981 +SLAM 16.9733 -21.9181 34.3156 -0.550324 0.105017 0.700913 0.441403 +TTool-pose None 32.985 11.5295 16.2944 0.666062 0.634599 -0.259359 0.293745 +#4478 1721120618013 +SLAM 16.9287 -21.9253 34.322 -0.550671 0.104847 0.700515 0.441641 +TTool-pose None 32.9713 11.5226 16.2925 0.665885 0.634833 -0.258917 0.29403 +#4479 1721120618053 +SLAM 16.9338 -21.9925 34.2565 -0.54969 0.104851 0.700742 0.442501 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None 33.0538 11.4556 16.2331 0.667913 0.633098 -0.262295 0.290148 +#4690 1721120625443 +SLAM 17.0376 -21.9593 34.173 -0.548408 0.103922 0.702798 0.441049 +TTool-pose None 32.9907 11.4491 16.2382 0.665849 0.635056 -0.26124 0.291564 +#4691 1721120625477 +SLAM 17.1205 -21.8289 34.2678 -0.549208 0.104786 0.70314 0.4393 +TTool-pose None 33.0178 11.478 16.2557 0.667432 0.633795 -0.260661 0.291203 +#4692 1721120625512 +SLAM 16.9536 -22.0699 34.1659 -0.54955 0.100706 0.701485 0.44246 +TTool-pose None 32.9624 11.4875 16.2929 0.66418 0.637847 -0.259082 0.291202 +#4693 1721120625548 +SLAM 17.1964 -21.8759 34.1528 -0.547014 0.106637 0.704032 0.440161 +TTool-pose None 33.0092 11.4853 16.2329 0.666972 0.632795 -0.263511 0.291868 +#4694 1721120625584 +SLAM 16.9012 -21.9361 34.2761 -0.551011 0.102765 0.700664 0.441471 +TTool-pose None 32.9384 11.4901 16.288 0.665562 0.63616 -0.258028 0.29267 +#4695 1721120625618 +SLAM 17.0334 -21.9449 34.2027 -0.549107 0.10403 0.702057 0.441333 +TTool-pose None 32.9669 11.5003 16.2755 0.665745 0.635148 -0.260473 0.292287 +#4696 1721120625650 +SLAM 17.2099 -21.8061 34.2372 -0.548524 0.105803 0.703615 0.439151 +TTool-pose None 33.0117 11.5133 16.2748 0.667699 0.633015 -0.261683 0.29137 +#4697 1721120625682 +SLAM 17.1243 -21.837 34.2475 -0.549284 0.105015 0.702754 0.439768 +TTool-pose None 32.9852 11.5081 16.2822 0.66715 0.633846 -0.260608 0.291787 +#4698 1721120625714 +SLAM 17.1665 -21.8657 34.1903 -0.548075 0.105829 0.703358 0.440115 +TTool-pose None 32.9924 11.5038 16.2653 0.666943 0.633378 -0.262136 0.291907 +#4699 1721120625746 +SLAM 17.1923 -21.7901 34.2573 -0.548982 0.105674 0.703385 0.438976 +TTool-pose None 33.0053 11.511 16.2806 0.667851 0.633056 -0.26115 0.291412 +#4700 1721120625779 +SLAM 17.113 -21.798 34.2965 -0.550039 0.104898 0.702494 0.439268 +TTool-pose None 32.9881 11.5117 16.2912 0.667577 0.633759 -0.259766 0.291749 +#4701 1721120625811 +SLAM 17.0992 -21.8766 34.2186 -0.548965 0.105069 0.702599 0.4404 +TTool-pose None 32.9756 11.5038 16.2764 0.666659 0.634058 -0.260942 0.29215 +#4702 1721120625843 +SLAM 17.0171 -22.1127 34.0933 -0.549027 0.0997286 0.701929 0.442628 +TTool-pose None 32.9474 11.4973 16.3299 0.663764 0.63853 -0.259409 0.290361 +#4703 1721120625876 +SLAM 16.9687 -21.8802 34.288 -0.550765 0.1038 0.701135 0.440788 +TTool-pose None 32.9471 11.5055 16.2912 0.666282 0.635172 -0.2586 0.292672 +#4704 1721120625908 +SLAM 17.108 -21.8326 34.2602 -0.549599 0.104821 0.702567 0.439719 +TTool-pose None 32.9816 11.5061 16.2861 0.667177 0.633973 -0.260212 0.291802 +#4705 1721120625943 +SLAM 17.1057 -21.8685 34.2226 -0.548898 0.105323 0.702663 0.44032 +TTool-pose None 32.9791 11.5046 16.2732 0.66677 0.633851 -0.261084 0.292219 +#4706 1721120625974 +SLAM 17.3139 -21.766 34.2097 -0.547408 0.107237 0.704696 0.438462 +TTool-pose None 33.0343 11.5139 16.2625 0.668408 0.631703 -0.263314 0.291126 +#4707 1721120626007 +SLAM 17.1568 -21.9045 34.1562 -0.547633 0.105757 0.703373 0.440659 +TTool-pose None 32.9872 11.501 16.2591 0.666474 0.633627 -0.262579 0.292039 +#4708 1721120626038 +SLAM 17.14 -21.7696 34.3187 -0.550223 0.10482 0.702668 0.438777 +TTool-pose None 33 11.5182 16.2966 0.667942 0.633614 -0.259568 0.291405 +#4709 1721120626070 +SLAM 17.1953 -21.7935 34.2516 -0.548863 0.105759 0.703443 0.439014 +TTool-pose None 33.0061 11.5097 16.2786 0.667829 0.633008 -0.261302 0.291429 +#4710 1721120626102 +SLAM 17.2617 -21.8349 34.1664 -0.547198 0.106593 0.704342 0.439447 +TTool-pose None 33.0145 11.5054 16.2595 0.66751 0.632533 -0.263335 0.291364 +#4711 1721120626134 +SLAM 17.0495 -22.0857 34.0957 -0.548959 0.0999196 0.702283 0.442107 +TTool-pose None 32.9539 11.4907 16.3309 0.664186 0.63818 -0.259562 0.290025 +#4712 1721120626164 +SLAM 17.1365 -21.8437 34.2412 -0.549077 0.105073 0.702889 0.439796 +TTool-pose None 32.9919 11.5092 16.2809 0.667119 0.633807 -0.260852 0.291726 +#4713 1721120626196 +SLAM 17.1132 -21.8754 34.231 -0.549197 0.104405 0.702652 0.440185 +TTool-pose None 32.9853 11.5106 16.2875 0.66669 0.634421 -0.26053 0.291658 +#4714 1721120626227 +SLAM 17.077 -21.8973 34.2285 -0.549458 0.10393 0.702302 0.44053 +TTool-pose None 32.9739 11.5082 16.2914 0.666355 0.634897 -0.260102 0.291771 +#4715 1721120626258 +SLAM 17.1198 -21.79 34.3141 -0.550337 0.104388 0.702485 0.439029 +TTool-pose None 32.9955 11.5168 16.2996 0.667668 0.634014 -0.25932 0.291383 +#4716 1721120626290 +SLAM 16.9395 -21.8933 34.2904 -0.551114 0.103188 0.700868 0.440919 +TTool-pose None 32.9387 11.4999 16.297 0.666081 0.635654 -0.258049 0.29257 +#4717 1721120626322 +SLAM 17.0825 -21.9227 34.1812 -0.548603 0.10471 0.70257 0.440982 +TTool-pose None 32.968 11.4976 16.2728 0.666105 0.634518 -0.261223 0.292164 +#4718 1721120626357 +SLAM 17.1428 -21.885 34.1839 -0.548088 0.105697 0.703168 0.440434 +TTool-pose None 32.9869 11.5011 16.2631 0.666679 0.633601 -0.262071 0.292085 +#4719 1721120626388 +SLAM 17.1272 -21.8891 34.1952 -0.548616 0.104825 0.702936 0.440357 +TTool-pose None 32.9812 11.5012 16.2787 0.666594 0.634179 -0.261272 0.291739 +#4720 1721120626420 +SLAM 17.04 -21.9375 34.1937 -0.549193 0.103939 0.702099 0.44118 +TTool-pose None 32.9565 11.4958 16.2839 0.665846 0.635149 -0.260363 0.292151 +#4721 1721120626453 +SLAM 17.1297 -21.8829 34.2171 -0.548783 0.104766 0.702836 0.440321 +TTool-pose None 32.9905 11.5146 16.2811 0.666627 0.634213 -0.261073 0.29177 +#4722 1721120626490 +SLAM 17.1483 -22.0795 34.0604 -0.54677 0.10298 0.703256 0.442571 +TTool-pose None 32.9922 11.5293 16.2818 0.664312 0.636216 -0.262739 0.29119 +#4723 1721120626522 +SLAM 17.1407 -21.8696 34.2001 -0.548501 0.105342 0.703073 0.440157 +TTool-pose None 32.9841 11.5011 16.2732 0.666849 0.633745 -0.261539 0.291861 +#4724 1721120626553 +SLAM 17.1325 -21.7593 34.3323 -0.550472 0.104771 0.702568 0.438636 +TTool-pose None 32.9993 11.5164 16.2995 0.668062 0.633603 -0.259286 0.291405 +#4725 1721120626585 +SLAM 17.18 -21.7785 34.2932 -0.549715 0.104843 0.703101 0.438714 +TTool-pose None 33.0085 11.519 16.297 0.667935 0.633542 -0.260143 0.291066 +#4726 1721120626617 +SLAM 17.144 -21.8267 34.2447 -0.549126 0.105221 0.702972 0.439567 +TTool-pose None 32.9902 11.5062 16.2803 0.667327 0.633615 -0.260846 0.29167 +#4727 1721120626656 +SLAM 17.1342 -21.883 34.2084 -0.54873 0.104704 0.702927 0.440256 +TTool-pose None 32.9879 11.509 16.2818 0.666654 0.634223 -0.26112 0.291643 +#4728 1721120626690 +SLAM 17.1256 -21.8026 34.2945 -0.550076 0.104425 0.702595 0.439172 +TTool-pose None 32.9927 11.514 16.298 0.667542 0.634034 -0.259613 0.291369 +#4729 1721120626722 +SLAM 17.0404 -21.8995 34.2302 -0.549508 0.104434 0.702012 0.440811 +TTool-pose None 32.9623 11.5009 16.2809 0.666271 0.634685 -0.260156 0.292374 +#4730 1721120626754 +SLAM 17.0031 -21.8863 34.2637 -0.550405 0.103612 0.701551 0.440619 +TTool-pose None 32.9526 11.4997 16.294 0.666322 0.635203 -0.258963 0.292192 +#4731 1721120626787 +SLAM 17.0531 -21.9244 34.2188 -0.549497 0.10354 0.702099 0.440896 +TTool-pose None 32.9683 11.5064 16.2927 0.665997 0.635312 -0.259941 0.291827 +#4732 1721120626819 +SLAM 17.1431 -21.793 34.2935 -0.549949 0.104618 0.702776 0.438995 +TTool-pose None 32.9975 11.5133 16.2968 0.667703 0.633824 -0.259811 0.29128 +#4733 1721120626852 +SLAM 17.2517 -21.7664 34.2572 -0.548773 0.10564 0.703923 0.438384 +TTool-pose None 33.0221 11.5151 16.2872 0.668255 0.632814 -0.261407 0.290781 +#4734 1721120626882 +SLAM 17.0893 -21.7753 34.3521 -0.551221 0.103606 0.702047 0.438807 +TTool-pose None 32.9902 11.5199 16.3145 0.667749 0.634492 -0.258153 0.291194 +#4735 1721120626914 +SLAM 17.2346 -21.7444 34.2799 -0.549122 0.10585 0.703737 0.438196 +TTool-pose None 33.0184 11.5117 16.2857 0.668482 0.632618 -0.261081 0.290979 +#4736 1721120626946 +SLAM 17.1285 -21.8745 34.201 -0.548635 0.105061 0.702997 0.440178 +TTool-pose None 32.982 11.496 16.2738 0.666784 0.633948 -0.261319 0.291766 +#4737 1721120626978 +SLAM 17.1476 -21.9064 34.1437 -0.547591 0.105713 0.703422 0.440644 +TTool-pose None 32.9799 11.4874 16.2544 0.66647 0.633648 -0.262616 0.291971 +#4738 1721120627015 +SLAM 17.1708 -21.8949 34.1526 -0.547749 0.105245 0.703604 0.440267 +TTool-pose None 32.9888 11.489 16.2636 0.666657 0.633809 -0.262345 0.291438 +#4739 1721120627052 +SLAM 17.1229 -22.0518 34.0912 -0.54832 0.100631 0.703072 0.441485 +TTool-pose None 32.9782 11.4928 16.3198 0.664741 0.637408 -0.260488 0.28962 +#4740 1721120627086 +SLAM 17.0133 -21.9476 34.195 -0.549477 0.103314 0.701933 0.441238 +TTool-pose None 32.9511 11.486 16.2841 0.665689 0.635605 -0.259887 0.29194 +#4741 1721120627117 +SLAM 17.0478 -22.0613 34.1175 -0.549754 0.0987041 0.702285 0.441388 +TTool-pose None 32.9517 11.4749 16.3491 0.66452 0.638728 -0.25841 0.289082 +#4742 1721120627148 +SLAM 17.1725 -21.7821 34.2934 -0.549945 0.104126 0.703114 0.438575 +TTool-pose None 33.0079 11.5099 16.3003 0.667896 0.633971 -0.259716 0.2906 +#4743 1721120627181 +SLAM 17.0712 -21.9445 34.163 -0.548592 0.104009 0.702605 0.441107 +TTool-pose None 32.964 11.4866 16.2724 0.665847 0.635034 -0.261054 0.291781 +#4744 1721120627212 +SLAM 17.227 -21.8654 34.1512 -0.547211 0.106089 0.704173 0.439824 +TTool-pose None 33.0072 11.4931 16.2535 0.667116 0.633028 -0.263176 0.291334 +#4745 1721120627250 +SLAM 17.1278 -21.8896 34.2052 -0.548932 0.103901 0.702978 0.440113 +TTool-pose None 32.9879 11.4977 16.285 0.666594 0.634707 -0.260704 0.291097 +#4746 1721120627281 +SLAM 17.192 -21.8241 34.2252 -0.54867 0.105009 0.703601 0.439181 +TTool-pose None 33.007 11.4973 16.2764 0.667509 0.633563 -0.261322 0.290937 +#4747 1721120627313 +SLAM 17.1507 -21.8956 34.1836 -0.548551 0.103892 0.703305 0.440068 +TTool-pose None 32.9919 11.4931 16.2806 0.666581 0.634671 -0.261127 0.290828 +#4748 1721120627345 +SLAM 17.138 -21.9052 34.1646 -0.548285 0.104304 0.703306 0.4403 +TTool-pose None 32.9834 11.4831 16.2709 0.666476 0.634479 -0.261513 0.29114 +#4749 1721120627376 +SLAM 17.3088 -21.7821 34.1957 -0.547614 0.105902 0.704849 0.438282 +TTool-pose None 33.0337 11.4957 16.2675 0.668254 0.632524 -0.262765 0.290188 +#4750 1721120627412 +SLAM 17.1712 -21.8849 34.18 -0.548293 0.10429 0.703551 0.439903 +TTool-pose None 32.9985 11.4914 16.2746 0.666766 0.63432 -0.261522 0.290812 +#4751 1721120627444 +SLAM 16.9683 -22.1717 34.0934 -0.549645 0.0973597 0.701494 0.443078 +TTool-pose None 32.9483 11.4964 16.3435 0.662936 0.640318 -0.258093 0.289485 +#4752 1721120627479 +SLAM 17.0847 -22.0174 34.1361 -0.549972 0.0984809 0.70271 0.440489 +TTool-pose None 32.9638 11.4639 16.3521 0.665155 0.638509 -0.258161 0.288326 +#4753 1721120627516 +SLAM 17.0941 -22.0324 34.1236 -0.549273 0.0994628 0.702785 0.441021 +TTool-pose None 32.9719 11.4818 16.3332 0.664917 0.638043 -0.259159 0.289012 +#4754 1721120627550 +SLAM 17.2125 -21.9073 34.1197 -0.54704 0.105253 0.704182 0.440224 +TTool-pose None 33.0019 11.4849 16.2535 0.666608 0.63374 -0.263137 0.290986 +#4755 1721120627586 +SLAM 17.0998 -21.9311 34.1573 -0.548404 0.103981 0.702991 0.440731 +TTool-pose None 32.973 11.4787 16.2689 0.666096 0.634882 -0.261277 0.291342 +#4756 1721120627619 +SLAM 17.0667 -22.0178 34.1452 -0.550276 0.0981842 0.702514 0.440488 +TTool-pose None 32.9591 11.4616 16.3567 0.665119 0.638722 -0.257747 0.288304 +#4757 1721120627656 +SLAM 17.2006 -21.7724 34.2876 -0.54981 0.103877 0.703484 0.438211 +TTool-pose None 33.0172 11.5032 16.2992 0.668091 0.633973 -0.259824 0.290051 +#4758 1721120627690 +SLAM 17.2017 -22.0844 34.0581 -0.547032 0.100893 0.703794 0.441871 +TTool-pose None 33.0146 11.5278 16.3051 0.664368 0.637317 -0.261963 0.289348 +#4759 1721120627721 +SLAM 17.1441 -21.9059 34.1717 -0.548317 0.104124 0.703332 0.440262 +TTool-pose None 32.9906 11.4884 16.2722 0.666466 0.634584 -0.261435 0.291005 +#4760 1721120627753 +SLAM 17.2537 -21.7874 34.2199 -0.548329 0.105315 0.704279 0.438445 +TTool-pose None 33.0213 11.4917 16.2734 0.668082 0.633028 -0.261816 0.290345 +#4761 1721120627790 +SLAM 17.1932 -21.8494 34.1859 -0.548148 0.105026 0.703808 0.439497 +TTool-pose None 33.0007 11.4873 16.2655 0.66722 0.633653 -0.261889 0.290897 +#4762 1721120627829 +SLAM 17.2572 -21.8562 34.1522 -0.547308 0.105373 0.704491 0.439366 +TTool-pose None 33.0174 11.49 16.2624 0.667299 0.633314 -0.262915 0.290528 +#4763 1721120627864 +SLAM 17.13 -21.9113 34.1716 -0.548524 0.103792 0.703201 0.440291 +TTool-pose None 32.9844 11.4839 16.2774 0.666391 0.634829 -0.26112 0.290925 +#4764 1721120627898 +SLAM 17.1323 -21.9251 34.1495 -0.548134 0.104098 0.703302 0.440544 +TTool-pose None 32.9812 11.4818 16.2694 0.66623 0.634709 -0.261617 0.291108 +#4765 1721120627931 +SLAM 17.1148 -21.9403 34.1405 -0.548063 0.1041 0.703178 0.44083 +TTool-pose None 32.9757 11.4799 16.2652 0.666012 0.634824 -0.26168 0.291301 +#4766 1721120627964 +SLAM 17.3017 -21.8632 34.123 -0.546598 0.105751 0.704999 0.439345 +TTool-pose None 33.0281 11.4913 16.256 0.667318 0.63301 -0.263798 0.290348 +#4767 1721120627997 +SLAM 17.0453 -22.0992 34.087 -0.549783 0.0972771 0.702406 0.441477 +TTool-pose None 32.9489 11.4606 16.3597 0.664116 0.639706 -0.25801 0.288201 +#4768 1721120628028 +SLAM 17.0209 -22.1643 34.1003 -0.549044 0.0981005 0.701845 0.443102 +TTool-pose None 32.974 11.5267 16.3356 0.663026 0.639803 -0.258949 0.28965 +#4769 1721120628060 +SLAM 17.1205 -22.168 34.0346 -0.547433 0.0992455 0.702996 0.443017 +TTool-pose None 32.9922 11.5293 16.3173 0.663177 0.638912 -0.261037 0.2894 +#4770 1721120628093 +SLAM 17.2974 -21.8576 34.1199 -0.546483 0.106173 0.704997 0.439389 +TTool-pose None 33.0241 11.4886 16.2489 0.66737 0.632741 -0.264027 0.290604 +#4771 1721120628125 +SLAM 17.1187 -22.0306 34.1049 -0.548968 0.0995807 0.70312 0.44084 +TTool-pose None 32.9744 11.4728 16.3324 0.665043 0.63787 -0.259538 0.288764 +#4772 1721120628158 +SLAM 17.2649 -21.9036 34.0922 -0.546326 0.105767 0.704773 0.44004 +TTool-pose None 33.013 11.484 16.247 0.666778 0.633276 -0.264066 0.290764 +#4773 1721120628191 +SLAM 17.1317 -21.8763 34.2025 -0.54893 0.103861 0.703132 0.43988 +TTool-pose None 32.9863 11.4881 16.279 0.666757 0.634635 -0.260708 0.290878 +#4774 1721120628226 +SLAM 17.0351 -22.1663 34.0775 -0.548757 0.0982131 0.702107 0.443018 +TTool-pose None 32.971 11.5148 16.3333 0.663083 0.639676 -0.259302 0.289487 +#4775 1721120628258 +SLAM 17.1906 -21.9113 34.1199 -0.547258 0.105059 0.703993 0.440301 +TTool-pose None 32.9923 11.4786 16.2558 0.666532 0.633914 -0.262842 0.291046 +#4776 1721120628292 +SLAM 17.1303 -21.8934 34.181 -0.548583 0.104136 0.703203 0.440135 +TTool-pose None 32.9834 11.4827 16.2735 0.666593 0.634539 -0.26115 0.291067 +#4777 1721120628325 +SLAM 17.153 -22.055 34.0862 -0.548297 0.0997854 0.703391 0.441196 +TTool-pose None 32.9906 11.4937 16.3268 0.664751 0.637842 -0.260316 0.288795 +#4778 1721120628358 +SLAM 17.2179 -21.9067 34.1159 -0.546963 0.105288 0.704264 0.440179 +TTool-pose None 33.0031 11.4826 16.2525 0.66664 0.633692 -0.263233 0.290928 +#4779 1721120628391 +SLAM 17.0825 -21.8667 34.2402 -0.54982 0.103302 0.702548 0.439833 +TTool-pose None 32.9763 11.4872 16.289 0.666763 0.63504 -0.259581 0.290988 +#4780 1721120628428 +SLAM 17.1852 -22.0178 34.0738 -0.547675 0.101336 0.703877 0.440841 +TTool-pose None 32.9924 11.4806 16.3055 0.665308 0.63663 -0.261418 0.289191 +#4781 1721120628459 +SLAM 17.3012 -21.8358 34.1497 -0.546947 0.105867 0.704925 0.439001 +TTool-pose None 33.0306 11.4922 16.2587 0.667639 0.63281 -0.263458 0.290353 +#4782 1721120628492 +SLAM 17.1939 -21.9102 34.1298 -0.547377 0.10486 0.703957 0.440259 +TTool-pose None 32.9972 11.4852 16.2597 0.66653 0.634036 -0.262663 0.290946 +#4783 1721120628525 +SLAM 17.2175 -21.8378 34.1801 -0.547842 0.105565 0.70406 0.439346 +TTool-pose None 33.006 11.4873 16.2609 0.667421 0.633213 -0.262371 0.29096 +#4784 1721120628562 +SLAM 17.2667 -21.7863 34.2133 -0.548096 0.105585 0.704417 0.43845 +TTool-pose None 33.0245 11.4936 16.2695 0.668114 0.632836 -0.262141 0.290394 +#4785 1721120628598 +SLAM 17.1337 -21.9037 34.1664 -0.548267 0.10443 0.703294 0.440314 +TTool-pose None 32.9838 11.4812 16.2672 0.666493 0.6344 -0.261564 0.291226 +#4786 1721120628632 +SLAM 17.2132 -21.8888 34.1297 -0.547061 0.105743 0.704191 0.440066 +TTool-pose None 33.002 11.4827 16.2489 0.666841 0.63335 -0.263243 0.291205 +#4787 1721120628667 +SLAM 17.2421 -22.0071 34.0752 -0.546854 0.102519 0.704298 0.440913 +TTool-pose None 33.0184 11.5108 16.2902 0.665437 0.635827 -0.262623 0.28957 +#4788 1721120628702 +SLAM 17.1362 -21.9022 34.1665 -0.548276 0.104406 0.703302 0.440294 +TTool-pose None 32.9835 11.4827 16.2681 0.666503 0.634408 -0.26155 0.2912 +#4789 1721120628734 +SLAM 17.2456 -21.7779 34.2297 -0.548488 0.105441 0.704171 0.438391 +TTool-pose None 33.0183 11.4918 16.2735 0.66817 0.632931 -0.261673 0.29048 +#4790 1721120628772 +SLAM 17.3921 -21.7317 34.1911 -0.547009 0.1069 0.705692 0.437438 +TTool-pose None 33.0539 11.4947 16.2607 0.669034 0.631466 -0.263726 0.289824 +#4791 1721120628807 +SLAM 17.3149 -21.8512 34.1214 -0.546466 0.106129 0.705141 0.43919 +TTool-pose None 33.0296 11.489 16.2536 0.667504 0.632685 -0.264046 0.290401 +#4792 1721120628839 +SLAM 17.2795 -21.8305 34.1498 -0.546859 0.106591 0.704778 0.439171 +TTool-pose None 33.0225 11.4861 16.2466 0.667672 0.632396 -0.263725 0.290935 +#4793 1721120628873 +SLAM 17.2619 -21.7467 34.27 -0.549097 0.104869 0.704156 0.437788 +TTool-pose None 33.0305 11.5005 16.2894 0.66855 0.633093 -0.260886 0.289961 +#4794 1721120628904 +SLAM 17.3016 -21.8631 34.1994 -0.549456 0.10017 0.704522 0.437851 +TTool-pose None 33.0369 11.4884 16.3626 0.667439 0.636246 -0.259306 0.287017 +#4795 1721120628932 +SLAM 17.2903 -22.0287 34.2269 -0.548781 0.099541 0.703432 0.440584 +TTool-pose None 33.0967 11.6163 16.3857 0.665201 0.637776 -0.25975 0.288416 +#4796 1721120628960 +#4797 1721120628988 +#4798 1721120629015 +#4799 1721120629046 +#4800 1721120629074 +#4801 1721120629101 +#4802 1721120629130 +#4803 1721120629158 +#4804 1721120629185 +#4805 1721120629212 +#4806 1721120629239 +#4807 1721120629268 +#4808 1721120629295 +#4809 1721120629322 +SLAM 16.8836 -22.4265 34.1414 -0.549674 0.0937809 0.699459 0.447012 +TTool-pose None 33.0182 11.6687 16.3752 0.659152 0.644323 -0.256905 0.290293 +#4810 1721120629352 +#4811 1721120629380 +SLAM 17.173 -21.9874 34.4001 -0.552105 0.0959169 0.701631 0.440106 +TTool-pose None 33.1007 11.6653 16.4275 0.665063 0.640165 -0.25515 0.287542 +#4812 1721120629411 +SLAM 16.9916 -22.2163 34.149 -0.551398 0.0927563 0.70119 0.442367 +TTool-pose None 32.9841 11.5176 16.429 0.662547 0.643152 -0.254997 0.286821 +#4813 1721120629439 +#4814 1721120629468 +SLAM 16.8901 -22.14 34.3237 -0.553547 0.0931745 0.699424 0.442392 +TTool-pose None 32.9891 11.587 16.4333 0.662867 0.643017 -0.252703 0.288411 +#4815 1721120629506 +SLAM 17.3936 -21.7446 34.2214 -0.548006 0.104773 0.705502 0.437011 +TTool-pose None 33.0649 11.4976 16.3026 0.66897 0.632758 -0.262114 0.288612 +#4816 1721120629535 +SLAM 17.2308 -21.7526 34.3133 -0.550585 0.102408 0.703613 0.437376 +TTool-pose None 33.0269 11.5016 16.3349 0.668448 0.634638 -0.258637 0.288829 +#4817 1721120629570 +SLAM 17.1875 -21.8749 34.1889 -0.548848 0.103175 0.703632 0.439344 +TTool-pose None 32.9986 11.4843 16.3012 0.666981 0.634857 -0.260658 0.289923 +#4818 1721120629604 +SLAM 17.2138 -21.7579 34.2945 -0.550242 0.103296 0.703538 0.437718 +TTool-pose None 33.0139 11.4949 16.3214 0.668366 0.634175 -0.259224 0.289511 +#4819 1721120629637 +SLAM 17.3773 -21.7988 34.147 -0.547064 0.105289 0.705567 0.437961 +TTool-pose None 33.0402 11.4881 16.2861 0.668282 0.632759 -0.263239 0.28918 +#4820 1721120629670 +SLAM 17.1581 -21.8785 34.2377 -0.550774 0.0998422 0.703025 0.438675 +TTool-pose None 32.9908 11.4835 16.3648 0.666907 0.636894 -0.257712 0.288251 +#4821 1721120629702 +SLAM 17.2099 -21.7144 34.3635 -0.551313 0.102688 0.703155 0.43713 +TTool-pose None 33.0223 11.5158 16.3431 0.668777 0.634394 -0.257909 0.289254 +#4822 1721120629736 +SLAM 17.2947 -21.6811 34.3473 -0.550663 0.103287 0.70403 0.436399 +TTool-pose None 33.042 11.5135 16.3417 0.66938 0.633648 -0.258821 0.288679 +#4823 1721120629770 +SLAM 17.1107 -21.8088 34.341 -0.551889 0.100836 0.70219 0.438382 +TTool-pose None 32.9947 11.512 16.36 0.667485 0.636183 -0.256735 0.289355 +#4824 1721120629806 +SLAM 17.1636 -21.7326 34.3747 -0.551936 0.10183 0.70266 0.43734 +TTool-pose None 33.0097 11.5114 16.3557 0.668491 0.635088 -0.256989 0.289212 +#4825 1721120629841 +SLAM 17.179 -21.9674 34.1774 -0.549914 0.0989017 0.70316 0.439749 +TTool-pose None 32.9975 11.5092 16.3712 0.665794 0.637915 -0.258374 0.287974 +#4826 1721120629873 +SLAM 17.3418 -21.7483 34.2738 -0.549348 0.103215 0.704637 0.437093 +TTool-pose None 33.0544 11.519 16.3339 0.668703 0.633908 -0.26023 0.288413 +#4827 1721120629906 +SLAM 17.1664 -21.8349 34.2453 -0.549926 0.102684 0.703148 0.438886 +TTool-pose None 32.9927 11.4963 16.3206 0.667328 0.635055 -0.25936 0.289856 +#4828 1721120629937 +SLAM 17.1777 -21.7688 34.2975 -0.550458 0.103344 0.703133 0.438087 +TTool-pose None 32.9999 11.4976 16.3219 0.668131 0.634313 -0.258976 0.289972 +#4829 1721120629972 +SLAM 17.1841 -21.792 34.3065 -0.550812 0.102007 0.703077 0.438044 +TTool-pose None 33.0116 11.5059 16.3431 0.667888 0.635201 -0.258249 0.289236 +#4830 1721120630007 +SLAM 17.2167 -21.8078 34.2352 -0.549 0.104451 0.703751 0.438661 +TTool-pose None 33.0112 11.4951 16.2958 0.6678 0.633733 -0.260844 0.290329 +#4831 1721120630041 +SLAM 17.1102 -21.8488 34.268 -0.550527 0.102212 0.702559 0.439185 +TTool-pose None 32.9841 11.4948 16.3245 0.667064 0.635531 -0.258556 0.290136 +#4832 1721120630074 +SLAM 17.2249 -21.9825 34.1614 -0.549067 0.0994373 0.703583 0.44001 +TTool-pose None 33.0209 11.5308 16.3577 0.665632 0.63762 -0.259438 0.288047 +#4833 1721120630105 +SLAM 17.1723 -21.815 34.2803 -0.550131 0.102943 0.703066 0.438699 +TTool-pose None 33.0075 11.5098 16.3204 0.667549 0.634817 -0.259207 0.290003 +#4834 1721120630143 +SLAM 17.1582 -21.8627 34.223 -0.549652 0.102629 0.703163 0.439217 +TTool-pose None 32.9907 11.4899 16.3176 0.667039 0.635215 -0.259634 0.289926 +#4835 1721120630173 +SLAM 17.1619 -21.7459 34.3327 -0.550807 0.103574 0.70292 0.437935 +TTool-pose None 33.0054 11.503 16.3164 0.668337 0.634119 -0.258652 0.290214 +#4836 1721120630203 +SLAM 17.0549 -21.8579 34.2921 -0.551035 0.102008 0.70196 0.439553 +TTool-pose None 32.9751 11.499 16.3226 0.666803 0.635852 -0.257919 0.290601 +#4837 1721120630236 +SLAM 17.051 -22.0575 34.147 -0.551847 0.0942427 0.702122 0.440009 +TTool-pose None 32.9436 11.4486 16.4298 0.664701 0.641209 -0.255014 0.28617 +#4838 1721120630270 +SLAM 17.2471 -21.795 34.2281 -0.548914 0.104295 0.704059 0.438311 +TTool-pose None 33.0145 11.4928 16.3007 0.668011 0.633683 -0.260919 0.289885 +#4839 1721120630306 +SLAM 17.1268 -21.6847 34.4372 -0.552892 0.101837 0.702164 0.436927 +TTool-pose None 33.0065 11.5165 16.3564 0.668904 0.634966 -0.255945 0.289451 +#4840 1721120630338 +SLAM 17.2912 -21.731 34.278 -0.549467 0.104147 0.704309 0.43725 +TTool-pose None 33.033 11.5012 16.3136 0.668819 0.633366 -0.260322 0.289249 +#4841 1721120630369 +SLAM 17.0804 -21.8582 34.2883 -0.551143 0.101256 0.702187 0.439229 +TTool-pose None 32.9811 11.4973 16.3367 0.666876 0.636219 -0.257628 0.289887 +#4842 1721120630403 +SLAM 17.0473 -21.809 34.3417 -0.55213 0.101204 0.701751 0.438697 +TTool-pose None 32.972 11.4937 16.3435 0.667367 0.636088 -0.256542 0.290007 +#4843 1721120630437 +SLAM 17.0397 -21.9884 34.2033 -0.552029 0.0961391 0.701939 0.439662 +TTool-pose None 32.9478 11.4582 16.4058 0.665436 0.639827 -0.255317 0.287285 +#4844 1721120630473 +SLAM 17.141 -21.7867 34.3238 -0.551291 0.101808 0.702687 0.438115 +TTool-pose None 32.9999 11.4996 16.3403 0.667844 0.635391 -0.257661 0.289443 +#4845 1721120630505 +SLAM 17.229 -21.8485 34.1874 -0.548468 0.103873 0.704034 0.43901 +TTool-pose None 33.0084 11.4889 16.2939 0.667346 0.63423 -0.261273 0.289901 +#4846 1721120630537 +SLAM 17.2166 -21.7774 34.2781 -0.550219 0.102509 0.703608 0.437822 +TTool-pose None 33.012 11.4949 16.326 0.668102 0.634737 -0.259047 0.289043 +#4847 1721120630570 +SLAM 17.267 -21.7031 34.3183 -0.550486 0.103089 0.704002 0.436713 +TTool-pose None 33.0276 11.4955 16.3296 0.669083 0.633901 -0.258952 0.288695 +#4848 1721120630604 +SLAM 17.2198 -21.7378 34.3025 -0.550345 0.103314 0.703642 0.437418 +TTool-pose None 33.0148 11.4902 16.3183 0.668602 0.634042 -0.259129 0.28934 +#4849 1721120630638 +SLAM 17.2506 -21.7761 34.2479 -0.549518 0.103236 0.704079 0.437774 +TTool-pose None 33.0161 11.4876 16.3143 0.668227 0.634193 -0.260012 0.289083 +#4850 1721120630674 +SLAM 17.0909 -21.9917 34.1924 -0.55129 0.096538 0.702449 0.439687 +TTool-pose None 32.9723 11.4753 16.3929 0.66543 0.63953 -0.256241 0.287135 +#4851 1721120630705 +SLAM 16.9689 -22.1422 34.1883 -0.551451 0.0949136 0.700876 0.442341 +TTool-pose None 32.9656 11.5381 16.395 0.663096 0.641727 -0.255496 0.288296 +#4852 1721120630736 +SLAM 17.0775 -21.6107 34.5266 -0.5545 0.101051 0.701594 0.435986 +TTool-pose None 33.0032 11.5117 16.3618 0.669587 0.635183 -0.254 0.289109 +#4853 1721120630772 +SLAM 17.2338 -21.9095 34.1648 -0.549584 0.0994189 0.704057 0.438609 +TTool-pose None 33.0051 11.4725 16.3569 0.666719 0.637071 -0.258933 0.287199 +#4854 1721120630805 +SLAM 17.2013 -21.8061 34.2462 -0.550038 0.102055 0.703659 0.438071 +TTool-pose None 33.0023 11.4777 16.3228 0.667791 0.635133 -0.259121 0.288829 +#4855 1721120630841 +SLAM 17.298 -21.8281 34.1474 -0.547784 0.103996 0.704955 0.438356 +TTool-pose None 33.0158 11.4697 16.2877 0.667775 0.633828 -0.262097 0.289046 +#4856 1721120630879 +SLAM 17.3246 -21.6651 34.3253 -0.550275 0.103204 0.704609 0.435973 +TTool-pose None 33.047 11.4953 16.3259 0.669629 0.633497 -0.259253 0.288045 +#4857 1721120630916 +SLAM 17.2343 -21.7867 34.2568 -0.549787 0.102496 0.703942 0.43783 +TTool-pose None 33.0187 11.4884 16.3157 0.668043 0.634723 -0.259524 0.288784 +#4858 1721120630952 +SLAM 17.1927 -21.706 34.3574 -0.551502 0.102095 0.70325 0.436878 +TTool-pose None 33.0147 11.4935 16.3331 0.668844 0.634691 -0.257563 0.288756 +#4859 1721120630984 +SLAM 17.216 -21.6237 34.4405 -0.55273 0.101531 0.703195 0.435544 +TTool-pose None 33.0309 11.5019 16.357 0.669828 0.634572 -0.256121 0.288017 +#4860 1721120631021 +SLAM 17.3205 -21.7842 34.1886 -0.548144 0.10402 0.705079 0.4377 +TTool-pose None 33.0324 11.4768 16.2891 0.668305 0.633557 -0.261738 0.288741 +#4861 1721120631053 +SLAM 17.1353 -21.8168 34.2671 -0.550243 0.102537 0.703071 0.438647 +TTool-pose None 32.9953 11.4784 16.303 0.667505 0.635071 -0.258984 0.289749 +#4862 1721120631087 +SLAM 17.3447 -21.7012 34.2424 -0.548904 0.10419 0.705202 0.436507 +TTool-pose None 33.0367 11.4731 16.2977 0.669308 0.632986 -0.260997 0.288337 +#4863 1721120631120 +SLAM 17.3092 -21.7305 34.2455 -0.549058 0.103765 0.704862 0.436964 +TTool-pose None 33.0349 11.4756 16.2965 0.668893 0.633471 -0.260697 0.288511 +#4864 1721120631155 +SLAM 17.2953 -21.8024 34.1626 -0.54776 0.104577 0.705038 0.438115 +TTool-pose None 33.021 11.4623 16.2718 0.668086 0.63334 -0.262282 0.289231 +#4865 1721120631186 +SLAM 17.2282 -21.8059 34.2197 -0.54954 0.102142 0.704133 0.437915 +TTool-pose None 33.0074 11.4657 16.3109 0.667869 0.634977 -0.259706 0.288464 +#4866 1721120631219 +SLAM 17.2024 -21.8597 34.1692 -0.548861 0.102296 0.704109 0.438769 +TTool-pose None 32.9959 11.4567 16.2938 0.667199 0.635195 -0.260454 0.288862 +#4867 1721120631251 +SLAM 17.1068 -21.8562 34.2408 -0.55069 0.100627 0.702929 0.438754 +TTool-pose None 32.9787 11.4588 16.3215 0.667026 0.636404 -0.258 0.288801 +#4868 1721120631282 +SLAM 17.2703 -21.6403 34.3729 -0.551449 0.102129 0.704113 0.435544 +TTool-pose None 33.0387 11.4806 16.3336 0.669824 0.634099 -0.257699 0.287661 +#4869 1721120631316 +SLAM 17.1923 -21.7923 34.2643 -0.550355 0.101503 0.703692 0.437749 +TTool-pose None 33.0088 11.4687 16.3172 0.667934 0.63538 -0.258646 0.288378 +#4870 1721120631349 +SLAM 17.2153 -21.7687 34.2419 -0.549644 0.103 0.704106 0.437628 +TTool-pose None 33.0065 11.4561 16.2938 0.668294 0.634295 -0.259819 0.288878 +#4871 1721120631382 +SLAM 17.1387 -21.754 34.3171 -0.55154 0.100987 0.703092 0.437342 +TTool-pose None 32.9939 11.4615 16.3254 0.668246 0.635621 -0.257218 0.288401 +#4872 1721120631415 +SLAM 17.2472 -21.6651 34.355 -0.551255 0.102075 0.704019 0.435954 +TTool-pose None 33.0324 11.4746 16.3234 0.669489 0.634296 -0.257881 0.287843 +#4873 1721120631447 +SLAM 17.2866 -21.7456 34.2259 -0.549212 0.102945 0.704877 0.43694 +TTool-pose None 33.0234 11.4514 16.2961 0.668735 0.634013 -0.260322 0.288023 +#4874 1721120631479 +SLAM 17.3511 -21.7156 34.2256 -0.548946 0.10302 0.705505 0.436243 +TTool-pose None 33.0422 11.452 16.2998 0.669233 0.63365 -0.260672 0.287348 +#4875 1721120631511 +SLAM 17.1566 -21.8087 34.227 -0.550008 0.10184 0.703692 0.438107 +TTool-pose None 32.9882 11.4414 16.2947 0.667711 0.635288 -0.259099 0.288693 +#4876 1721120631553 +SLAM 17.2313 -21.7989 34.195 -0.549051 0.102561 0.70452 0.437807 +TTool-pose None 33.0065 11.4425 16.2846 0.66799 0.634624 -0.260359 0.288371 +#4877 1721120631589 +SLAM 17.33 -21.7082 34.2348 -0.549219 0.102715 0.705342 0.436235 +TTool-pose None 33.0352 11.4509 16.2945 0.669199 0.633865 -0.260293 0.287296 +#4878 1721120631622 +SLAM 17.2941 -21.7587 34.1932 -0.548533 0.10343 0.705193 0.437168 +TTool-pose None 33.0241 11.4412 16.2744 0.668602 0.633746 -0.261186 0.288136 +#4879 1721120631655 +SLAM 17.3586 -21.7166 34.1926 -0.548478 0.10331 0.705797 0.436291 +TTool-pose None 33.0332 11.4393 16.2843 0.66921 0.633449 -0.261261 0.287307 +#4880 1721120631688 +SLAM 17.3254 -21.7839 34.1581 -0.54819 0.102627 0.705571 0.437178 +TTool-pose None 33.0274 11.4389 16.2821 0.668366 0.63426 -0.261364 0.287392 +#4881 1721120631722 +SLAM 17.3352 -21.7771 34.1571 -0.54787 0.103288 0.705683 0.437244 +TTool-pose None 33.0326 11.444 16.2702 0.668436 0.63383 -0.261883 0.287706 +#4882 1721120631754 +SLAM 17.2297 -21.8068 34.173 -0.548819 0.102465 0.704653 0.437907 +TTool-pose None 32.9999 11.4344 16.2759 0.667867 0.634715 -0.260588 0.288249 +#4883 1721120631788 +SLAM 17.3004 -21.6847 34.277 -0.550084 0.102054 0.704973 0.435896 +TTool-pose None 33.0326 11.4499 16.3034 0.669391 0.634213 -0.259182 0.287084 +#4884 1721120631821 +SLAM 17.3606 -21.7585 34.1392 -0.547333 0.104164 0.706103 0.437029 +TTool-pose None 33.0348 11.4327 16.2534 0.668735 0.633125 -0.262708 0.287812 +#4885 1721120631853 +SLAM 17.2815 -21.7489 34.2032 -0.549093 0.102403 0.705099 0.436859 +TTool-pose None 33.0166 11.4338 16.2836 0.668653 0.634329 -0.260323 0.287515 +#4886 1721120631886 +SLAM 17.2437 -21.7204 34.253 -0.550085 0.101795 0.704625 0.436518 +TTool-pose None 33.0117 11.4339 16.2923 0.668875 0.634648 -0.259084 0.287414 +#4887 1721120631923 +SLAM 17.3998 -21.6762 34.195 -0.548147 0.103855 0.706371 0.435647 +TTool-pose None 33.0475 11.4294 16.2675 0.66977 0.632794 -0.261797 0.286959 +#4888 1721120631967 +SLAM 17.3297 -21.693 34.2026 -0.548733 0.103302 0.705718 0.4361 +TTool-pose None 33.0232 11.424 16.2668 0.669379 0.633389 -0.260985 0.287298 +#4889 1721120632001 +SLAM 17.1488 -21.7828 34.2578 -0.550945 0.0999269 0.703694 0.437366 +TTool-pose None 32.9907 11.4324 16.3043 0.667909 0.636294 -0.257612 0.287343 +#4890 1721120632036 +SLAM 17.3907 -21.7015 34.1652 -0.54785 0.103633 0.706416 0.436001 +TTool-pose None 33.0388 11.4242 16.2604 0.669424 0.633072 -0.262053 0.286919 +#4891 1721120632074 +SLAM 17.3559 -21.8235 34.1045 -0.548068 0.1004 0.706089 0.437013 +TTool-pose None 33.0252 11.4225 16.2983 0.667945 0.635651 -0.260948 0.285665 +#4892 1721120632107 +SLAM 17.2575 -21.7267 34.207 -0.549401 0.102233 0.705022 0.436636 +TTool-pose None 33.0015 11.4189 16.2741 0.668813 0.634366 -0.259949 0.287401 +#4893 1721120632139 +SLAM 17.0745 -22.042 34.1322 -0.551642 0.0924512 0.702896 0.439411 +TTool-pose None 32.961 11.4318 16.3921 0.664682 0.642119 -0.254812 0.284344 +#4894 1721120632174 +SLAM 17.4127 -21.6901 34.1257 -0.547035 0.104858 0.70685 0.436028 +TTool-pose None 33.0296 11.4117 16.2374 0.669594 0.632221 -0.263261 0.287294 +#4895 1721120632211 +SLAM 17.2302 -21.598 34.3625 -0.552155 0.100782 0.704231 0.434771 +TTool-pose None 33.0054 11.4326 16.3172 0.670152 0.634703 -0.256611 0.286535 +#4896 1721120632245 +SLAM 17.3465 -21.7452 34.1352 -0.548124 0.102299 0.706083 0.436511 +TTool-pose None 33.0135 11.4151 16.2687 0.668769 0.634188 -0.261389 0.286585 +#4897 1721120632284 +SLAM 17.1812 -21.7072 34.2662 -0.551137 0.100425 0.704066 0.436411 +TTool-pose None 32.9771 11.4225 16.2992 0.66875 0.635573 -0.257574 0.287019 +#4898 1721120632317 +SLAM 17.3533 -21.6742 34.1978 -0.549089 0.102157 0.705937 0.435566 +TTool-pose None 33.0158 11.422 16.2815 0.669541 0.633941 -0.26033 0.286293 +#4899 1721120632350 +SLAM 17.3319 -21.6514 34.2218 -0.549529 0.102217 0.705697 0.435386 +TTool-pose None 33.0092 11.4202 16.2809 0.669739 0.633853 -0.259865 0.286449 +#4900 1721120632388 +SLAM 17.2405 -21.7411 34.1805 -0.549544 0.101421 0.704928 0.436796 +TTool-pose None 32.9787 11.4121 16.2793 0.66852 0.634979 -0.259577 0.287063 +#4901 1721120632423 +SLAM 17.1019 -22.0204 34.1085 -0.550908 0.0937304 0.703261 0.439476 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None 32.9751 11.4156 16.2651 0.668728 0.634139 -0.260409 0.287681 +#4932 1721120633513 +SLAM 17.384 -21.6979 34.1196 -0.547402 0.104284 0.706473 0.436316 +TTool-pose None 33.0052 11.4197 16.2457 0.669293 0.632747 -0.262697 0.287354 +#4933 1721120633544 +SLAM 17.2875 -21.7055 34.1934 -0.549321 0.102228 0.705228 0.436404 +TTool-pose None 32.9903 11.4279 16.2795 0.668972 0.634265 -0.260047 0.287162 +#4934 1721120633578 +SLAM 17.2833 -21.7386 34.1466 -0.548614 0.102735 0.70537 0.436945 +TTool-pose None 32.9805 11.4183 16.2661 0.668612 0.634116 -0.260934 0.287528 +#4935 1721120633614 +SLAM 17.2529 -21.6954 34.2213 -0.549504 0.102985 0.704841 0.436623 +TTool-pose None 32.9893 11.4333 16.2678 0.669011 0.63387 -0.260024 0.287965 +#4936 1721120633650 +SLAM 17.1666 -21.784 34.2022 -0.549814 0.101677 0.703966 0.437947 +TTool-pose None 32.9692 11.4396 16.2761 0.667767 0.635316 -0.259282 0.288337 +#4937 1721120633685 +SLAM 17.1706 -21.7465 34.2352 -0.550328 0.101617 0.703942 0.437354 +TTool-pose None 32.973 11.4355 16.2836 0.668248 0.635136 -0.258726 0.288118 +#4938 1721120633724 +SLAM 17.2332 -21.6241 34.3105 -0.550761 0.103065 0.704379 0.435764 +TTool-pose None 32.9966 11.4405 16.2807 0.669805 0.633531 -0.258689 0.288069 +#4939 1721120633757 +SLAM 16.9968 -22.064 34.1033 -0.551299 0.0939414 0.702251 0.440553 +TTool-pose None 32.9201 11.4296 16.3632 0.664165 0.641603 -0.255516 0.286083 +#4940 1721120633790 +SLAM 17.2207 -21.6162 34.3355 -0.55121 0.102642 0.70417 0.435633 +TTool-pose None 32.9993 11.4453 16.2876 0.669853 0.633783 -0.258089 0.287942 +#4941 1721120633822 +SLAM 17.0607 -21.8123 34.2385 -0.550791 0.101087 0.702825 0.438689 +TTool-pose None 32.9488 11.4429 16.2797 0.667194 0.636079 -0.258007 0.289121 +#4942 1721120633856 +SLAM 17.2527 -21.725 34.1879 -0.548977 0.10335 0.704942 0.437035 +TTool-pose None 32.9855 11.4266 16.2622 0.668734 0.63377 -0.260679 0.288237 +#4943 1721120633890 +SLAM 17.1198 -21.8071 34.1863 -0.549521 0.102611 0.703646 0.438611 +TTool-pose None 32.9551 11.429 16.258 0.667466 0.634962 -0.259807 0.28934 +#4944 1721120633924 +SLAM 17.1272 -21.8429 34.1386 -0.549071 0.102219 0.703875 0.438899 +TTool-pose None 32.9468 11.4168 16.2597 0.66711 0.635314 -0.260194 0.28904 +#4945 1721120633957 +SLAM 17.139 -21.7627 34.2381 -0.550319 0.102027 0.703617 0.437794 +TTool-pose None 32.9681 11.4372 16.2783 0.668021 0.635051 -0.258816 0.288751 +#4946 1721120633991 +SLAM 17.1309 -21.8128 34.1823 -0.549644 0.101995 0.703722 0.438479 +TTool-pose None 32.9564 11.4288 16.2697 0.667432 0.63532 -0.259523 0.288886 +#4947 1721120634025 +SLAM 17.0231 -21.8092 34.2423 -0.551026 0.101513 0.702507 0.438804 +TTool-pose None 32.9332 11.4288 16.2779 0.667237 0.635862 -0.257845 0.289646 +#4948 1721120634058 +SLAM 17.276 -21.6776 34.2369 -0.549434 0.103528 0.704957 0.436394 +TTool-pose None 33.0012 11.4407 16.2701 0.669298 0.633409 -0.260248 0.288108 +#4949 1721120634091 +SLAM 17.0448 -21.8077 34.2484 -0.551274 0.100605 0.70263 0.438505 +TTool-pose None 32.9404 11.4346 16.2935 0.667271 0.636349 -0.257356 0.28893 +#4950 1721120634123 +SLAM 17.0166 -21.7948 34.2743 -0.551437 0.101313 0.702296 0.438672 +TTool-pose None 32.9393 11.4413 16.2829 0.667333 0.635963 -0.257344 0.289647 +#4951 1721120634155 +SLAM 16.9374 -22.0611 34.1488 -0.551509 0.0953483 0.701421 0.44131 +TTool-pose None 32.9166 11.4592 16.3476 0.663971 0.641011 -0.255602 0.287783 +#4952 1721120634189 +SLAM 17.1911 -21.7941 34.1588 -0.54898 0.102742 0.704331 0.438159 +TTool-pose None 32.9639 11.4308 16.2656 0.667765 0.634649 -0.260466 0.28874 +#4953 1721120634222 +SLAM 17.0358 -21.8292 34.2217 -0.550739 0.101324 0.702614 0.439036 +TTool-pose None 32.9332 11.4353 16.2801 0.666989 0.636067 -0.258105 0.289535 +#4954 1721120634254 +SLAM 17.1515 -21.6163 34.3871 -0.552575 0.101581 0.703172 0.435766 +TTool-pose None 32.9808 11.457 16.316 0.66966 0.634624 -0.256295 0.28814 +#4955 1721120634285 +SLAM 17.1496 -21.7944 34.1831 -0.549596 0.102346 0.703823 0.438295 +TTool-pose None 32.9538 11.4342 16.2726 0.667645 0.635007 -0.259674 0.288946 +#4956 1721120634325 +SLAM 17.2112 -21.7691 34.1668 -0.548559 0.104105 0.704536 0.438034 +TTool-pose None 32.9741 11.4334 16.2498 0.668128 0.633668 -0.261281 0.289319 +#4957 1721120634360 +SLAM 17.031 -21.8248 34.2237 -0.550708 0.101661 0.702546 0.439107 +TTool-pose None 32.9301 11.4375 16.2768 0.667012 0.635873 -0.258221 0.289805 +#4958 1721120634394 +SLAM 17.0862 -21.7563 34.2744 -0.551272 0.101409 0.702903 0.437884 +TTool-pose None 32.9516 11.4447 16.2929 0.667917 0.635556 -0.257594 0.288971 +#4959 1721120634437 +SLAM 17.0999 -21.6588 34.3717 -0.552757 0.100871 0.702717 0.436432 +TTool-pose None 32.9636 11.4546 16.3166 0.669024 0.635386 -0.255878 0.288308 +#4960 1721120634474 +SLAM 16.9692 -21.7712 34.3214 -0.552963 0.0996034 0.70163 0.438207 +TTool-pose None 32.9195 11.44 16.3136 0.667441 0.636987 -0.255234 0.289014 +#4961 1721120634506 +SLAM 17.2031 -21.6733 34.299 -0.55086 0.102422 0.703925 0.436523 +TTool-pose None 32.9871 11.4567 16.2933 0.669108 0.634284 -0.258379 0.288307 +#4962 1721120634544 +SLAM 17.1042 -21.7795 34.2227 -0.550225 0.102507 0.703289 0.438327 +TTool-pose None 32.9485 11.4357 16.2724 0.667732 0.634953 -0.259013 0.289457 +#4963 1721120634576 +SLAM 17.078 -21.8268 34.1991 -0.550051 0.102025 0.703063 0.439018 +TTool-pose None 32.9418 11.44 16.2713 0.66709 0.635554 -0.259049 0.289588 +#4964 1721120634611 +SLAM 17.0951 -21.752 34.2556 -0.55091 0.102 0.703085 0.437911 +TTool-pose None 32.9462 11.4381 16.2838 0.667996 0.635155 -0.258145 0.289181 +#4965 1721120634642 +SLAM 17.0848 -21.7886 34.2275 -0.550376 0.10238 0.703064 0.438526 +TTool-pose None 32.9447 11.4384 16.2737 0.667572 0.635131 -0.258802 0.289623 +#4966 1721120634673 +SLAM 17.085 -21.7741 34.2548 -0.550992 0.101515 0.702913 0.438196 +TTool-pose None 32.9468 11.4471 16.2897 0.667681 0.635601 -0.257916 0.289131 +#4967 1721120634711 +SLAM 17.0952 -21.7996 34.2151 -0.550175 0.102285 0.703173 0.438626 +TTool-pose None 32.9466 11.441 16.2741 0.667453 0.635224 -0.258996 0.28952 +#4968 1721120634743 +SLAM 17.0181 -21.8117 34.2581 -0.551552 0.100722 0.702216 0.438792 +TTool-pose None 32.9281 11.4441 16.2997 0.667119 0.636411 -0.257061 0.28941 +#4969 1721120634775 +SLAM 17.0487 -21.7772 34.2853 -0.551691 0.100988 0.70239 0.438277 +TTool-pose None 32.942 11.453 16.3043 0.667576 0.636026 -0.257001 0.289255 +#4970 1721120634808 +SLAM 17.0578 -21.6427 34.4089 -0.553254 0.101564 0.702101 0.436635 +TTool-pose None 32.9538 11.4661 16.3177 0.669094 0.635045 -0.255488 0.289242 +#4971 1721120634841 +SLAM 17.1039 -21.6241 34.4078 -0.553006 0.101779 0.70252 0.436223 +TTool-pose None 32.9669 11.4693 16.3207 0.669419 0.634713 -0.25584 0.288906 +#4972 1721120634874 +SLAM 17.0369 -21.8017 34.2778 -0.551514 0.101129 0.702184 0.438797 +TTool-pose None 32.9396 11.4667 16.3032 0.667206 0.636142 -0.257206 0.28967 +#4973 1721120634908 +SLAM 17.123 -21.7419 34.251 -0.550423 0.103116 0.703247 0.438002 +TTool-pose None 32.9512 11.4522 16.2778 0.668136 0.634426 -0.258962 0.289726 +#4974 1721120634941 +SLAM 16.9398 -21.7829 34.3185 -0.552825 0.100632 0.701241 0.43877 +TTool-pose None 32.9064 11.4466 16.3096 0.667255 0.636538 -0.255618 0.290092 +#4975 1721120634974 +SLAM 17.0244 -21.7814 34.301 -0.552307 0.100267 0.701987 0.438312 +TTool-pose None 32.9314 11.4584 16.3229 0.667448 0.636554 -0.25613 0.289159 +#4976 1721120635007 +SLAM 17.052 -21.7339 34.3169 -0.552018 0.101648 0.70225 0.437937 +TTool-pose None 32.9385 11.4633 16.3059 0.668018 0.635467 -0.256819 0.289623 +#4977 1721120635042 +SLAM 16.8664 -21.8493 34.2903 -0.552966 0.0998575 0.700561 0.439854 +TTool-pose None 32.8802 11.4448 16.3114 0.666288 0.637515 -0.255205 0.290533 +#4978 1721120635075 +SLAM 16.8986 -21.8955 34.2427 -0.551672 0.100833 0.700945 0.440644 +TTool-pose None 32.8942 11.4596 16.2917 0.665792 0.637127 -0.256853 0.29107 +#4979 1721120635108 +SLAM 17.021 -21.8284 34.2272 -0.550927 0.101757 0.702208 0.43935 +TTool-pose None 32.9166 11.4528 16.2912 0.666881 0.635925 -0.257988 0.2902 +#4980 1721120635142 +SLAM 17.002 -21.9074 34.216 -0.55317 0.0950393 0.701869 0.438578 +TTool-pose None 32.9024 11.4217 16.3978 0.666096 0.640161 -0.25382 0.286334 +#4981 1721120635177 +SLAM 16.9214 -21.8247 34.3023 -0.55246 0.10086 0.700989 0.439578 +TTool-pose None 32.9049 11.4625 16.3046 0.666673 0.636707 -0.256038 0.290689 +#4982 1721120635213 +SLAM 17.0389 -21.687 34.385 -0.553359 0.100643 0.701833 0.437145 +TTool-pose None 32.94 11.4708 16.3347 0.668513 0.635875 -0.255111 0.289093 +#4983 1721120635246 +SLAM 16.9849 -21.8134 34.2748 -0.551971 0.100744 0.70168 0.439116 +TTool-pose None 32.9135 11.4593 16.3076 0.666932 0.636559 -0.256581 0.289941 +#4984 1721120635283 +SLAM 17.0986 -21.7437 34.2795 -0.551233 0.10207 0.702797 0.43795 +TTool-pose None 32.9458 11.4621 16.3002 0.66802 0.635145 -0.257801 0.289453 +#4985 1721120635317 +SLAM 17.0675 -21.7605 34.2669 -0.551356 0.101857 0.702572 0.438205 +TTool-pose None 32.9309 11.4507 16.301 0.667796 0.635402 -0.257596 0.289589 +#4986 1721120635353 +SLAM 17.1183 -21.7018 34.2899 -0.551298 0.102598 0.703027 0.437376 +TTool-pose None 32.9453 11.4531 16.2973 0.668574 0.634557 -0.257891 0.289384 +#4987 1721120635386 +SLAM 17.0733 -21.7046 34.3268 -0.552177 0.101589 0.70245 0.43743 +TTool-pose None 32.9407 11.4601 16.3097 0.668395 0.6353 -0.256655 0.289264 +#4988 1721120635417 +SLAM 17.0719 -21.787 34.2474 -0.551055 0.101498 0.702669 0.438512 +TTool-pose None 32.9344 11.4552 16.2972 0.667452 0.635749 -0.257825 0.289415 +#4989 1721120635450 +SLAM 17.2293 -21.6623 34.2769 -0.55052 0.103091 0.704112 0.436493 +TTool-pose None 32.9758 11.4606 16.2962 0.669249 0.633808 -0.258926 0.288537 +#4990 1721120635479 +SLAM 17.1155 -21.75 34.2588 -0.551026 0.101833 0.703061 0.437841 +TTool-pose None 32.9456 11.4528 16.3019 0.668021 0.635243 -0.257977 0.289079 +#4991 1721120635509 +SLAM 17.0696 -21.9139 34.2175 -0.550933 0.0987588 0.702366 0.439775 +TTool-pose None 32.9558 11.4964 16.3299 0.665857 0.638083 -0.257201 0.288505 +#4992 1721120635542 +SLAM 17.0141 -21.843 34.2097 -0.550854 0.101412 0.702266 0.43943 +TTool-pose None 32.9119 11.4416 16.2902 0.666732 0.636182 -0.257978 0.289986 +#4993 1721120635576 +SLAM 17.1185 -21.7777 34.238 -0.550474 0.10222 0.703144 0.438313 +TTool-pose None 32.9512 11.4582 16.2909 0.667702 0.635152 -0.258665 0.289399 +#4994 1721120635609 +SLAM 17.0991 -21.7771 34.2302 -0.550437 0.10258 0.703041 0.438441 +TTool-pose None 32.9399 11.4488 16.2837 0.667688 0.634967 -0.258789 0.289727 +#4995 1721120635644 +SLAM 17.1053 -21.7379 34.2782 -0.551225 0.102014 0.702893 0.437818 +TTool-pose None 32.9465 11.4592 16.2998 0.668103 0.635125 -0.257802 0.289303 +#4996 1721120635677 +SLAM 17.1271 -21.7339 34.2638 -0.550777 0.102532 0.703183 0.437796 +TTool-pose None 32.9511 11.4583 16.2895 0.66819 0.634747 -0.258432 0.289371 +#4997 1721120635711 +SLAM 17.2249 -21.6754 34.2953 -0.550782 0.102494 0.703923 0.436609 +TTool-pose None 32.9859 11.4753 16.3059 0.669054 0.634268 -0.258479 0.28838 +#4998 1721120635745 +SLAM 16.9277 -21.7872 34.3193 -0.55282 0.100885 0.701049 0.439024 +TTool-pose None 32.9003 11.4546 16.3083 0.667127 0.636478 -0.255673 0.290469 +#4999 1721120635778 +SLAM 16.9439 -21.8331 34.2587 -0.551978 0.100941 0.701383 0.439537 +TTool-pose None 32.8952 11.4461 16.3028 0.666669 0.636607 -0.2566 0.290422 +#5000 1721120635813 +SLAM 17.025 -21.9785 34.1302 -0.550539 0.0981525 0.702303 0.440503 +TTool-pose None 32.9132 11.4554 16.3304 0.665131 0.638766 -0.257445 0.288452 +#5001 1721120635848 +SLAM 16.9997 -21.7846 34.3042 -0.552286 0.100796 0.701698 0.43868 +TTool-pose None 32.9224 11.4655 16.3151 0.667301 0.63636 -0.256266 0.289808 +#5002 1721120635879 +SLAM 16.8567 -22.1111 34.1861 -0.552677 0.0939762 0.700043 0.44233 +TTool-pose None 32.8953 11.5031 16.3847 0.663013 0.642412 -0.253886 0.288384 +#5003 1721120635912 +SLAM 17.0386 -21.7296 34.3261 -0.552316 0.101516 0.70206 0.437897 +TTool-pose None 32.9321 11.4622 16.313 0.66805 0.635555 -0.256457 0.289678 +#5004 1721120635946 +SLAM 17.0894 -21.746 34.2764 -0.551313 0.102073 0.702699 0.438006 +TTool-pose None 32.9387 11.4591 16.3033 0.667989 0.635172 -0.257708 0.289548 +#5005 1721120635977 +SLAM 17.0089 -21.7203 34.374 -0.553357 0.100216 0.70155 0.437699 +TTool-pose None 32.9328 11.4759 16.3324 0.668004 0.636392 -0.254977 0.289252 +#5006 1721120636008 +SLAM 17.1031 -21.7309 34.2868 -0.551429 0.101899 0.702796 0.437745 +TTool-pose None 32.9436 11.4632 16.3054 0.668153 0.635183 -0.25755 0.289286 +#5007 1721120636039 +SLAM 16.9825 -21.7608 34.327 -0.552866 0.100452 0.701492 0.438358 +TTool-pose None 32.9144 11.4612 16.3214 0.667521 0.636485 -0.255549 0.289657 +#5008 1721120636073 +SLAM 17.0077 -21.8178 34.2629 -0.551564 0.101132 0.701929 0.439142 +TTool-pose None 32.9218 11.4608 16.3036 0.666959 0.636289 -0.257132 0.289983 +#5009 1721120636105 +SLAM 16.9237 -21.7305 34.4084 -0.554366 0.099631 0.700631 0.438027 +TTool-pose None 32.9129 11.4706 16.3418 0.667735 0.636976 -0.253683 0.289725 +#5010 1721120636146 +SLAM 17.0523 -21.9971 34.1148 -0.548807 0.101155 0.702473 0.441712 +TTool-pose None 32.9372 11.5048 16.2787 0.664754 0.637189 -0.260066 0.290454 +#5011 1721120636179 +SLAM 17.0261 -21.7562 34.3007 -0.552172 0.101219 0.702007 0.438231 +TTool-pose None 32.9219 11.4569 16.3139 0.667718 0.635884 -0.256524 0.289662 +#5012 1721120636218 +SLAM 16.9218 -21.9863 34.2038 -0.551971 0.0973913 0.700933 0.441063 +TTool-pose None 32.8996 11.4804 16.3436 0.664696 0.639591 -0.255623 0.289247 +#5013 1721120636249 +SLAM 16.8336 -22.0936 34.2052 -0.552652 0.0950889 0.699794 0.442519 +TTool-pose None 32.8917 11.5089 16.3688 0.66314 0.641759 -0.254189 0.289279 +#5014 1721120636282 +SLAM 17.0046 -21.7792 34.3021 -0.552129 0.101303 0.701729 0.438711 +TTool-pose None 32.9216 11.467 16.3118 0.66738 0.636028 -0.256568 0.290085 +#5015 1721120636316 +SLAM 17.0523 -21.6845 34.3775 -0.552881 0.101532 0.701966 0.43733 +TTool-pose None 32.9443 11.4788 16.3214 0.668534 0.635338 -0.25586 0.289565 +#5016 1721120636350 +SLAM 17.0944 -21.8025 34.2169 -0.550231 0.102678 0.702899 0.438903 +TTool-pose None 32.9363 11.4602 16.2868 0.667348 0.635085 -0.259019 0.290048 +#5017 1721120636382 +SLAM 16.9271 -22.038 34.1557 -0.552055 0.0955461 0.701111 0.441077 +TTool-pose None 32.8907 11.4558 16.3718 0.664251 0.640816 -0.255056 0.288054 +#5018 1721120636419 +SLAM 17.0846 -21.8213 34.2033 -0.550203 0.102487 0.702807 0.439131 +TTool-pose None 32.9295 11.4577 16.2918 0.667132 0.635306 -0.25899 0.290087 +#5019 1721120636451 +SLAM 16.9841 -21.787 34.3041 -0.552188 0.101506 0.701486 0.438978 +TTool-pose None 32.915 11.4699 16.311 0.667238 0.636011 -0.256538 0.290477 +#5020 1721120636489 +SLAM 17.0073 -21.7675 34.319 -0.552172 0.101728 0.701658 0.438672 +TTool-pose None 32.927 11.4754 16.3112 0.667514 0.635734 -0.256628 0.290369 +#5021 1721120636521 +SLAM 16.9609 -21.7887 34.3161 -0.552233 0.101892 0.701229 0.439244 +TTool-pose None 32.9138 11.476 16.3028 0.667138 0.635871 -0.256571 0.290985 +#5022 1721120636555 +SLAM 17.029 -21.7741 34.2936 -0.55171 0.102006 0.701949 0.438724 +TTool-pose None 32.9272 11.4724 16.3063 0.667489 0.635544 -0.25721 0.290325 +#5023 1721120636589 +SLAM 17.144 -21.6901 34.3138 -0.55132 0.102949 0.703031 0.437258 +TTool-pose None 32.9608 11.4743 16.3065 0.668745 0.634276 -0.25796 0.289541 +#5024 1721120636625 +SLAM 17.0756 -21.7362 34.3233 -0.552168 0.101285 0.702237 0.437853 +TTool-pose None 32.943 11.48 16.3271 0.668012 0.635679 -0.256566 0.289396 +#5025 1721120636666 +SLAM 17.0324 -21.7889 34.2655 -0.551115 0.102787 0.70211 0.439032 +TTool-pose None 32.9247 11.4652 16.2934 0.667379 0.635122 -0.258053 0.290755 +#5026 1721120636701 +SLAM 16.8019 -22.1438 34.1827 -0.552828 0.0941612 0.69945 0.443039 +TTool-pose None 32.8791 11.5038 16.3862 0.662549 0.642598 -0.253723 0.289181 +#5027 1721120636739 +SLAM 17.0317 -21.9458 34.1931 -0.550918 0.0989763 0.701963 0.440388 +TTool-pose None 32.9316 11.4911 16.3369 0.665455 0.638198 -0.257239 0.289145 +#5028 1721120636775 +SLAM 16.9131 -21.8853 34.266 -0.551814 0.1012 0.700798 0.440615 +TTool-pose None 32.9012 11.4811 16.3049 0.665916 0.636881 -0.256787 0.291383 +#5029 1721120636808 +SLAM 16.9141 -21.8529 34.2798 -0.552272 0.10101 0.700822 0.440047 +TTool-pose None 32.8934 11.4675 16.3136 0.666342 0.636795 -0.256261 0.291062 +#5030 1721120636844 +SLAM 16.9814 -21.8075 34.2935 -0.552352 0.100811 0.701409 0.439057 +TTool-pose None 32.9101 11.4678 16.3272 0.667034 0.636512 -0.256176 0.290165 +#5031 1721120636877 +SLAM 17.033 -21.7903 34.2739 -0.551183 0.102792 0.70201 0.439104 +TTool-pose None 32.9272 11.4749 16.2973 0.667335 0.635154 -0.257975 0.290858 +#5032 1721120636911 +SLAM 16.8455 -21.8896 34.2795 -0.552361 0.101231 0.700162 0.440934 +TTool-pose None 32.8791 11.4703 16.3029 0.665748 0.637028 -0.256167 0.291992 +#5033 1721120636945 +SLAM 17.0619 -21.7552 34.2894 -0.551292 0.103006 0.702232 0.438562 +TTool-pose None 32.9332 11.4765 16.3012 0.667797 0.634789 -0.257936 0.290627 +#5034 1721120636980 +SLAM 17.0601 -21.7562 34.2893 -0.551301 0.102991 0.702215 0.438582 +TTool-pose None 32.9327 11.4764 16.3012 0.66778 0.634808 -0.257921 0.290639 +#5035 1721120637012 +SLAM 17.05 -21.7392 34.3333 -0.552087 0.102248 0.701903 0.438267 +TTool-pose None 32.9387 11.488 16.3188 0.667925 0.635213 -0.256876 0.290343 +#5036 1721120637041 +SLAM 17.008 -21.7139 34.3723 -0.552973 0.101988 0.7014 0.438014 +TTool-pose None 32.9266 11.4825 16.3283 0.668149 0.635332 -0.255835 0.290489 +#5037 1721120637072 +SLAM 17.0681 -21.7118 34.3552 -0.552446 0.102041 0.701965 0.437764 +TTool-pose None 32.9435 11.4907 16.3311 0.668287 0.635159 -0.25645 0.290005 +#5038 1721120637103 +SLAM 17.0645 -21.78 34.28 -0.551028 0.103027 0.702194 0.438951 +TTool-pose None 32.9382 11.4883 16.3012 0.667486 0.634923 -0.258215 0.290801 +#5039 1721120637134 +SLAM 16.9847 -21.8011 34.2983 -0.551897 0.102261 0.701383 0.439333 +TTool-pose None 32.9158 11.4782 16.3123 0.667121 0.635645 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0.290318 +#5052 1721120637534 +SLAM 17.0955 -21.8185 34.2203 -0.550565 0.101474 0.702862 0.438823 +TTool-pose None 32.9409 11.4623 16.3026 0.667161 0.635868 -0.258348 0.28936 +#5053 1721120637565 +SLAM 17.0636 -21.8386 34.2105 -0.5508 0.100789 0.702698 0.438949 +TTool-pose None 32.9314 11.4445 16.3046 0.666933 0.636387 -0.257907 0.289136 +#5054 1721120637597 +SLAM 17.3178 -21.7399 34.1739 -0.548715 0.102732 0.705266 0.436987 +TTool-pose None 32.9993 11.4571 16.2886 0.668593 0.634142 -0.260818 0.28762 +#5055 1721120637629 +SLAM 17.1816 -21.6596 34.3409 -0.552034 0.100897 0.703465 0.436137 +TTool-pose None 32.981 11.4651 16.3245 0.669165 0.6352 -0.256707 0.287653 +#5056 1721120637659 +SLAM 17.3927 -21.701 34.1549 -0.547968 0.103597 0.70614 0.436309 +TTool-pose None 33.0151 11.451 16.275 0.669205 0.633234 -0.261898 0.287215 +#5057 1721120637689 +SLAM 17.179 -21.8817 34.1326 -0.549753 0.0989696 0.70405 0.438509 +TTool-pose None 32.9602 11.4366 16.32 0.666705 0.637335 -0.258636 0.286912 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1721120638124 +SLAM 17.0255 -21.8475 34.2199 -0.551194 0.0996414 0.702712 0.438693 +TTool-pose None 32.9394 11.4102 16.2924 0.666894 0.63706 -0.257192 0.28838 +#5071 1721120638162 +SLAM 17.1285 -21.7568 34.2464 -0.550555 0.101748 0.703607 0.437578 +TTool-pose None 32.9691 11.4243 16.2786 0.66814 0.635158 -0.258494 0.288525 +#5072 1721120638201 +SLAM 17.029 -21.8478 34.2318 -0.550834 0.100875 0.702556 0.439114 +TTool-pose None 32.947 11.4349 16.2834 0.666836 0.636403 -0.257882 0.289349 +#5073 1721120638234 +SLAM 16.8826 -22.0159 34.2127 -0.553265 0.0939968 0.70086 0.440292 +TTool-pose None 32.9037 11.4255 16.3776 0.66459 0.641575 -0.253351 0.287083 +#5074 1721120638270 +SLAM 17.1 -21.7557 34.2828 -0.550989 0.102067 0.703042 0.437865 +TTool-pose None 32.9688 11.4456 16.287 0.668055 0.635096 -0.258076 0.289236 +#5075 1721120638303 +SLAM 16.9244 -21.8269 34.3061 -0.552087 0.101453 0.701226 0.439534 +TTool-pose None 32.9248 11.449 16.2861 0.666804 0.636275 -0.256607 0.290834 +#5076 1721120638334 +SLAM 16.8401 -21.8734 34.3073 -0.553102 0.0996985 0.700369 0.440025 +TTool-pose None 32.8963 11.4355 16.3111 0.666139 0.6377 -0.255003 0.290646 +#5077 1721120638371 +SLAM 16.9464 -21.8043 34.3222 -0.552327 0.101422 0.701312 0.439101 +TTool-pose None 32.9294 11.452 16.2996 0.667143 0.636127 -0.256355 0.290604 +#5078 1721120638403 +SLAM 16.886 -21.849 34.317 -0.552805 0.100398 0.700665 0.439768 +TTool-pose None 32.9103 11.4535 16.3109 0.666462 0.637113 -0.255527 0.290736 +#5079 1721120638437 +SLAM 16.8831 -21.7811 34.3825 -0.553626 0.100855 0.700414 0.439029 +TTool-pose None 32.9135 11.4625 16.3171 0.667205 0.636548 -0.254764 0.290935 +#5080 1721120638470 +SLAM 16.8398 -21.8894 34.2994 -0.552403 0.101352 0.700175 0.440833 +TTool-pose None 32.8966 11.4642 16.297 0.665856 0.636908 -0.256156 0.292016 +#5081 1721120638503 +SLAM 16.7596 -22.0567 34.2389 -0.553549 0.095914 0.699248 0.442082 +TTool-pose None 32.8683 11.4602 16.3703 0.663761 0.641086 -0.253423 0.29002 +#5082 1721120638536 +SLAM 16.839 -21.7655 34.4219 -0.554113 0.101685 0.699719 0.439333 +TTool-pose None 32.9026 11.4802 16.3185 0.66723 0.636157 -0.254412 0.292041 +#5083 1721120638568 +SLAM 16.7024 -21.9648 34.3409 -0.55543 0.0959413 0.698388 0.441074 +TTool-pose None 32.8506 11.4568 16.3906 0.664716 0.640754 -0.251382 0.290342 +#5084 1721120638602 +SLAM 16.7333 -21.8391 34.4107 -0.554687 0.100749 0.698598 0.440604 +TTool-pose None 32.8695 11.4817 16.3301 0.666131 0.637345 -0.253461 0.292786 +#5085 1721120638642 +SLAM 16.7514 -21.8431 34.4015 -0.554385 0.101028 0.698755 0.440672 +TTool-pose None 32.8742 11.4872 16.3283 0.666115 0.637171 -0.253867 0.292851 +#5086 1721120638677 +SLAM 16.6976 -21.8534 34.4164 -0.554839 0.100937 0.698156 0.44107 +TTool-pose None 32.8592 11.4896 16.3296 0.665847 0.637426 -0.253311 0.293387 +#5087 1721120638709 +SLAM 16.7382 -21.8837 34.3561 -0.553802 0.10137 0.698729 0.441368 +TTool-pose None 32.86 11.483 16.3207 0.665618 0.637204 -0.254564 0.293304 +#5088 1721120638744 +SLAM 17.925 -19.1739 35.2072 -0.533696 0.194742 0.70537 0.423908 +TTool-pose None 33.2488 11.6479 15.1152 0.694089 0.564706 -0.29739 0.332922 +#5089 1721120638783 +SLAM 16.6704 -21.8516 34.4448 -0.555651 0.100048 0.697661 0.441034 +TTool-pose None 32.8505 11.5003 16.351 0.66575 0.638044 -0.252179 0.293239 +#5090 1721120638816 +SLAM 16.7218 -21.7787 34.4834 -0.555811 0.100854 0.698053 0.440028 +TTool-pose None 32.8656 11.5049 16.3519 0.666703 0.637098 -0.252261 0.293061 +#5091 1721120638850 +SLAM 16.6716 -21.8377 34.4658 -0.555565 0.100895 0.697512 0.441185 +TTool-pose None 32.8563 11.5203 16.3438 0.665829 0.637543 -0.25248 0.293889 +#5092 1721120638882 +SLAM 16.6825 -21.8535 34.433 -0.555143 0.101091 0.697739 0.441313 +TTool-pose None 32.851 11.5088 16.3418 0.665736 0.637443 -0.252995 0.293873 +#5093 1721120638916 +SLAM 16.7919 -21.7769 34.4473 -0.554855 0.101769 0.698748 0.43992 +TTool-pose None 32.8767 11.51 16.3486 0.666896 0.636393 -0.253568 0.293024 +#5094 1721120638954 +SLAM 16.5948 -21.9376 34.391 -0.55525 0.100144 0.696964 0.442617 +TTool-pose None 32.818 11.5013 16.3449 0.664556 0.638622 -0.252559 0.29436 +#5095 1721120638987 +SLAM 16.6291 -21.8345 34.4914 -0.556454 0.100141 0.696902 0.441201 +TTool-pose None 32.8385 11.5244 16.3639 0.665733 0.638098 -0.251292 0.293921 +#5096 1721120639021 +SLAM 16.6886 -21.9125 34.382 -0.554432 0.100938 0.697783 0.442173 +TTool-pose None 32.845 11.522 16.3418 0.664987 0.637865 -0.253703 0.294046 +#5097 1721120639055 +SLAM 16.6581 -21.8919 34.3947 -0.554498 0.102013 0.697532 0.442239 +TTool-pose None 32.8343 11.5135 16.3281 0.665198 0.637186 -0.253895 0.294873 +#5098 1721120639088 +SLAM 16.6334 -21.8976 34.4214 -0.555612 0.100064 0.697066 0.442019 +TTool-pose None 32.8253 11.5204 16.3624 0.665019 0.638445 -0.252169 0.294032 +#5099 1721120639122 +SLAM 16.6794 -21.7908 34.502 -0.556363 0.100773 0.697287 0.440563 +TTool-pose None 32.8456 11.5292 16.3694 0.666345 0.637408 -0.25159 0.293776 +#5100 1721120639156 +SLAM 16.7502 -21.8508 34.3893 -0.554067 0.102354 0.69835 0.441408 +TTool-pose None 32.8525 11.5221 16.3357 0.665848 0.636586 -0.254512 0.294168 +#5101 1721120639190 +SLAM 16.5946 -21.8872 34.4513 -0.556256 0.0998791 0.696551 0.442064 +TTool-pose None 32.8151 11.5258 16.3687 0.665009 0.638623 -0.251397 0.29433 +#5102 1721120639225 +SLAM 16.5711 -21.8148 34.5188 -0.557372 0.0999919 0.696214 0.441163 +TTool-pose None 32.811 11.5181 16.3755 0.665821 0.638232 -0.250225 0.29434 +#5103 1721120639259 +SLAM 16.6758 -21.8247 34.4414 -0.555558 0.101234 0.697509 0.441121 +TTool-pose None 32.829 11.5139 16.3526 0.665956 0.637293 -0.252577 0.294063 +#5104 1721120639294 +SLAM 16.8093 -21.8248 34.3797 -0.553977 0.101834 0.698971 0.440658 +TTool-pose None 32.8612 11.5169 16.3449 0.666272 0.636609 -0.254526 0.293145 +#5105 1721120639330 +SLAM 16.7637 -21.8491 34.3725 -0.55432 0.101149 0.698574 0.441013 +TTool-pose None 32.8441 11.509 16.3486 0.665884 0.637231 -0.253949 0.293173 +#5106 1721120639363 +SLAM 16.774 -21.811 34.4189 -0.555069 0.100514 0.698525 0.440293 +TTool-pose None 32.8549 11.5135 16.3643 0.666347 0.637391 -0.252992 0.292601 +#5107 1721120639396 +SLAM 16.7912 -21.8767 34.3339 -0.554003 0.100139 0.698991 0.440982 +TTool-pose None 32.8465 11.5 16.3546 0.665634 0.637867 -0.254052 0.292269 +#5108 1721120639429 +SLAM 16.7723 -21.8324 34.3862 -0.554682 0.100337 0.698689 0.440561 +TTool-pose None 32.8487 11.5054 16.3537 0.666065 0.637598 -0.253366 0.292466 +#5109 1721120639462 +SLAM 16.8587 -21.8388 34.3501 -0.554021 0.0997002 0.699625 0.440052 +TTool-pose None 32.8713 11.5028 16.3629 0.66622 0.637765 -0.253974 0.29122 +#5110 1721120639496 +SLAM 17.0997 -21.6737 34.3605 -0.552525 0.102446 0.702093 0.437363 +TTool-pose None 32.9352 11.5022 16.34 0.668685 0.634727 -0.256485 0.290002 +#5111 1721120639529 +SLAM 17.0399 -21.7982 34.2839 -0.552002 0.100907 0.701743 0.43894 +TTool-pose None 32.9169 11.4957 16.3376 0.667104 0.636379 -0.256597 0.289926 +#5112 1721120639563 +SLAM 16.9768 -21.8277 34.2721 -0.552426 0.100124 0.701297 0.439298 +TTool-pose None 32.8948 11.4728 16.3391 0.666701 0.637073 -0.255907 0.289938 +#5113 1721120639597 +SLAM 17.2001 -21.8182 34.1404 -0.549012 0.102653 0.703976 0.438709 +TTool-pose None 32.9427 11.4646 16.2958 0.667344 0.634944 -0.260378 0.289146 +#5114 1721120639630 +SLAM 16.9986 -22.075 34.1224 -0.551518 0.0943728 0.701608 0.441213 +TTool-pose None 32.9092 11.4867 16.3916 0.663807 0.641611 -0.255347 0.287046 +#5115 1721120639664 +SLAM 18.3851 -19.0711 35.0047 -0.530284 0.194185 0.710615 0.419663 +TTool-pose None 33.3283 11.6019 15.1292 0.696594 0.563013 -0.301183 0.327095 +#5116 1721120639698 +SLAM 17.2411 -21.5946 34.3717 -0.552268 0.101329 0.703794 0.43521 +TTool-pose None 32.9902 11.4798 16.339 0.669973 0.634536 -0.256602 0.287332 +#5117 1721120639732 +SLAM 17.1907 -21.7285 34.2426 -0.550744 0.101227 0.703833 0.437096 +TTool-pose None 32.9609 11.4525 16.3106 0.668392 0.635309 -0.258177 0.28789 +#5118 1721120639767 +SLAM 17.2754 -21.6767 34.2462 -0.550054 0.102438 0.704737 0.436226 +TTool-pose None 32.9909 11.4502 16.2976 0.669237 0.634097 -0.259295 0.287597 +#5119 1721120639801 +SLAM 17.3981 -21.6362 34.2279 -0.549329 0.10245 0.705987 0.435114 +TTool-pose None 33.0242 11.451 16.3016 0.669969 0.633571 -0.260159 0.286268 +#5120 1721120639834 +SLAM 17.1158 -22.0703 34.088 -0.55102 0.0921998 0.703165 0.439813 +TTool-pose None 32.9564 11.4548 16.3997 0.664254 0.642416 -0.255418 0.284131 +#5121 1721120639875 +SLAM 17.3633 -21.6781 34.1987 -0.54888 0.102601 0.705899 0.435787 +TTool-pose None 33.0194 11.4383 16.2813 0.66946 0.633729 -0.260663 0.286652 +#5122 1721120639914 +SLAM 17.3639 -21.7376 34.1228 -0.547671 0.103178 0.706215 0.436659 +TTool-pose None 33.0111 11.4253 16.2588 0.668814 0.633641 -0.262105 0.287037 +#5123 1721120639947 +SLAM 17.0722 -22.0652 34.0907 -0.551162 0.0925642 0.702988 0.439842 +TTool-pose None 32.9462 11.429 16.3836 0.664338 0.642198 -0.255353 0.284486 +#5124 1721120639980 +SLAM 17.2294 -21.8184 34.1401 -0.548848 0.101144 0.704851 0.43786 +TTool-pose None 32.985 11.4241 16.2743 0.667593 0.635569 -0.260226 0.287326 +#5125 1721120640016 +SLAM 17.2046 -21.8177 34.1528 -0.549286 0.100633 0.704635 0.437776 +TTool-pose None 32.9801 11.4158 16.2793 0.667585 0.635898 -0.259615 0.28717 +#5126 1721120640051 +SLAM 17.3682 -21.6045 34.2724 -0.549855 0.102413 0.705889 0.434617 +TTool-pose None 33.0367 11.4308 16.287 0.670385 0.633416 -0.25959 0.286152 +#5127 1721120640084 +SLAM 17.3225 -21.7429 34.1443 -0.548151 0.102711 0.705897 0.43668 +TTool-pose None 33.0111 11.4133 16.2572 0.668746 0.633989 -0.261454 0.287021 +#5128 1721120640118 +SLAM 17.1634 -21.7929 34.1882 -0.549972 0.100705 0.704234 0.437543 +TTool-pose None 32.972 11.4044 16.2799 0.667852 0.635796 -0.258883 0.287437 +#5129 1721120640151 +SLAM 17.4159 -21.7159 34.1136 -0.547232 0.103368 0.706916 0.436029 +TTool-pose None 33.0316 11.4107 16.2503 0.669267 0.633219 -0.262671 0.286394 +#5130 1721120640192 +SLAM 17.1601 -21.7976 34.1871 -0.54979 0.100898 0.70425 0.437701 +TTool-pose None 32.976 11.4072 16.2697 0.667761 0.635724 -0.259125 0.28759 +#5131 1721120640229 +SLAM 17.1515 -21.7606 34.2374 -0.550854 0.099915 0.703994 0.437 +TTool-pose None 32.9773 11.4083 16.2915 0.668165 0.636141 -0.257729 0.286982 +#5132 1721120640262 +SLAM 17.2245 -21.7545 34.204 -0.549801 0.100842 0.704822 0.436779 +TTool-pose None 32.9972 11.4085 16.2789 0.668425 0.63537 -0.259146 0.286807 +#5133 1721120640295 +SLAM 17.3429 -21.7825 34.1009 -0.547511 0.102297 0.706293 0.436941 +TTool-pose None 33.0186 11.4043 16.2524 0.668381 0.634332 -0.262048 0.28657 +#5134 1721120640328 +SLAM 17.2161 -21.9968 34.0878 -0.549341 0.0953684 0.704597 0.438944 +TTool-pose None 33.0073 11.4408 16.3373 0.665471 0.639863 -0.258151 0.284572 +#5135 1721120640363 +SLAM 17.3418 -21.7522 34.1288 -0.547737 0.102736 0.706252 0.436621 +TTool-pose None 33.0238 11.4041 16.2482 0.668746 0.633921 -0.261923 0.286743 +#5136 1721120640397 +SLAM 17.178 -22.0243 34.0601 -0.548767 0.096448 0.70441 0.439727 +TTool-pose None 32.9945 11.434 16.3116 0.665089 0.639449 -0.259025 0.285603 +#5137 1721120640437 +SLAM 17.4489 -21.6083 34.2102 -0.548204 0.103736 0.707086 0.434443 +TTool-pose None 33.0615 11.4114 16.254 0.670629 0.632363 -0.261762 0.285932 +#5138 1721120640471 +SLAM 17.366 -21.7208 34.1295 -0.547286 0.103925 0.706589 0.436358 +TTool-pose None 33.0312 11.4006 16.2281 0.669164 0.632994 -0.262734 0.287074 +#5139 1721120640504 +SLAM 17.0364 -21.9515 34.1542 -0.551644 0.0947758 0.703105 0.438577 +TTool-pose None 32.9456 11.3748 16.3403 0.665862 0.640241 -0.255456 0.285242 +#5140 1721120640538 +SLAM 17.2231 -21.7228 34.2388 -0.549896 0.101441 0.704858 0.436463 +TTool-pose None 33.013 11.4079 16.263 0.66881 0.634846 -0.259208 0.287015 +#5141 1721120640572 +SLAM 17.3269 -21.6628 34.2349 -0.549241 0.102437 0.70589 0.435385 +TTool-pose None 33.0385 11.407 16.2596 0.669758 0.633689 -0.26024 0.286427 +#5142 1721120640605 +SLAM 17.2279 -21.7326 34.2483 -0.549998 0.100884 0.704815 0.436532 +TTool-pose None 33.0224 11.4212 16.2676 0.668639 0.63525 -0.25895 0.286752 +#5143 1721120640639 +SLAM 17.0722 -22.0316 34.0937 -0.549999 0.0954102 0.703529 0.439824 +TTool-pose None 32.971 11.4032 16.3148 0.66491 0.64025 -0.257383 0.28571 +#5144 1721120640673 +SLAM 17.3646 -21.7418 34.1398 -0.547756 0.102411 0.706542 0.436203 +TTool-pose None 33.0419 11.3985 16.2483 0.668977 0.633959 -0.261841 0.286193 +#5145 1721120640705 +SLAM 17.395 -21.6131 34.2603 -0.549371 0.102169 0.70647 0.434342 +TTool-pose None 33.0633 11.4115 16.2703 0.670471 0.63343 -0.260079 0.285474 +#5146 1721120640738 +SLAM 17.2773 -21.8068 34.1018 -0.547522 0.102544 0.705919 0.437474 +TTool-pose None 33.0125 11.3852 16.2286 0.668051 0.634396 -0.26207 0.287179 +#5147 1721120640771 +SLAM 17.2796 -21.6824 34.2567 -0.550084 0.100984 0.705377 0.435492 +TTool-pose None 33.0317 11.4047 16.2758 0.669434 0.634747 -0.258932 0.286025 +#5148 1721120640803 +SLAM 17.415 -21.6602 34.1783 -0.547989 0.1031 0.706986 0.435028 +TTool-pose None 33.0555 11.3959 16.2469 0.670027 0.633018 -0.261814 0.285846 +#5149 1721120640837 +SLAM 17.3517 -21.8714 34.0781 -0.5469 0.100972 0.70639 0.437856 +TTool-pose None 33.0528 11.4279 16.25 0.667324 0.635556 -0.262345 0.286049 +#5150 1721120640871 +SLAM 17.2327 -21.7666 34.1768 -0.548939 0.101843 0.705231 0.436971 +TTool-pose None 33.009 11.3904 16.2487 0.668421 0.634737 -0.260347 0.287133 +#5151 1721120640909 +SLAM 17.3105 -21.6925 34.2096 -0.548984 0.102336 0.705901 0.435715 +TTool-pose None 33.034 11.393 16.2538 0.669462 0.633879 -0.260484 0.286474 +#5152 1721120640945 +SLAM 17.4353 -21.6292 34.2024 -0.548155 0.103348 0.707114 0.434552 +TTool-pose None 33.0662 11.3981 16.2499 0.670452 0.632662 -0.261715 0.285727 +#5153 1721120640979 +SLAM 17.3239 -21.9429 34.0387 -0.548165 0.096513 0.706179 0.437621 +TTool-pose None 33.028 11.3922 16.3163 0.666581 0.638475 -0.25982 0.283572 +#5154 1721120641012 +SLAM 17.0897 -22.0412 34.092 -0.550956 0.0925409 0.703698 0.438968 +TTool-pose None 32.9716 11.3793 16.3606 0.664952 0.641831 -0.255623 0.283634 +#5155 1721120641045 +SLAM 17.232 -21.7794 34.1724 -0.549011 0.101278 0.705255 0.436972 +TTool-pose None 33.0114 11.387 16.2539 0.668295 0.635114 -0.260125 0.286792 +#5156 1721120641078 +SLAM 17.2425 -21.7558 34.2062 -0.549443 0.100966 0.705211 0.436572 +TTool-pose None 33.0223 11.3967 16.2633 0.668564 0.635178 -0.259586 0.286511 +#5157 1721120641112 +SLAM 17.3694 -21.6152 34.2705 -0.549538 0.102304 0.706273 0.43442 +TTool-pose None 33.0618 11.4033 16.2665 0.670466 0.633384 -0.259925 0.285728 +#5158 1721120641150 +SLAM 17.2452 -21.9472 34.1101 -0.549254 0.0960422 0.70514 0.438034 +TTool-pose None 33.0294 11.4149 16.3208 0.666293 0.63903 -0.25847 0.284235 +#5159 1721120641183 +SLAM 17.2412 -21.7898 34.1425 -0.548351 0.102037 0.7055 0.437228 +TTool-pose None 33.0099 11.3808 16.2372 0.668209 0.63468 -0.261035 0.287126 +#5160 1721120641214 +SLAM 17.2809 -21.6136 34.3251 -0.550718 0.1017 0.705259 0.434714 +TTool-pose None 33.0458 11.4092 16.2723 0.670246 0.633983 -0.258445 0.286258 +#5161 1721120641250 +SLAM 17.2667 -21.7681 34.1666 -0.548488 0.102136 0.705573 0.436915 +TTool-pose None 33.0226 11.3957 16.2445 0.668478 0.63449 -0.260924 0.28702 +#5162 1721120641290 +SLAM 17.1957 -21.9943 34.0993 -0.549082 0.0962807 0.704604 0.439059 +TTool-pose None 33.0194 11.4288 16.3121 0.665577 0.639296 -0.258668 0.285131 +#5163 1721120641327 +SLAM 17.2335 -21.7182 34.249 -0.550099 0.100976 0.704988 0.436104 +TTool-pose None 33.0234 11.3991 16.2714 0.668986 0.635013 -0.258883 0.286526 +#5164 1721120641357 +SLAM 17.17 -21.8729 34.1748 -0.551033 0.0958025 0.704405 0.437034 +TTool-pose None 32.9941 11.3756 16.3401 0.667174 0.638874 -0.256481 0.284318 +#5165 1721120641388 +SLAM 17.4556 -21.6532 34.189 -0.547863 0.103159 0.707247 0.434747 +TTool-pose None 33.076 11.4069 16.2565 0.67023 0.632852 -0.261981 0.285583 +#5166 1721120641418 +SLAM 17.2899 -21.7508 34.1888 -0.548806 0.101822 0.705672 0.436429 +TTool-pose None 33.0349 11.3977 16.2613 0.668797 0.634511 -0.260516 0.286599 +#5167 1721120641448 +SLAM 17.306 -21.7585 34.1649 -0.548363 0.102198 0.705881 0.436561 +TTool-pose None 33.0331 11.3968 16.2562 0.668737 0.634291 -0.261097 0.286699 +#5168 1721120641478 +SLAM 17.1731 -21.9578 34.1044 -0.550906 0.0935543 0.704541 0.437461 +TTool-pose None 32.9826 11.3564 16.3722 0.666301 0.640524 -0.25602 0.283063 +#5169 1721120641508 +SLAM 17.2982 -21.6515 34.2928 -0.55016 0.101914 0.705358 0.435209 +TTool-pose None 33.0474 11.4181 16.278 0.66987 0.634017 -0.259096 0.286474 +#5170 1721120641545 +SLAM 17.264 -21.718 34.2422 -0.549793 0.10143 0.705146 0.436131 +TTool-pose None 33.029 11.4119 16.2774 0.669038 0.634706 -0.259337 0.286675 +#5171 1721120641577 +SLAM 17.2934 -21.8921 34.1101 -0.548874 0.0978635 0.705558 0.437434 +TTool-pose None 33.0277 11.4095 16.319 0.667127 0.637553 -0.259388 0.284759 +#5172 1721120641610 +SLAM 17.2023 -21.8699 34.1879 -0.550717 0.0965912 0.704436 0.437207 +TTool-pose None 33.0094 11.4073 16.3435 0.667201 0.63841 -0.257026 0.284807 +#5173 1721120641644 +SLAM 17.236 -21.7585 34.241 -0.549768 0.101323 0.704748 0.436829 +TTool-pose None 33.0287 11.4263 16.2812 0.668499 0.635072 -0.259302 0.287156 +#5174 1721120641675 +SLAM 17.2568 -21.7444 34.2279 -0.54941 0.102078 0.705026 0.436655 +TTool-pose None 33.0283 11.4179 16.2748 0.668763 0.634477 -0.259899 0.287317 +#5175 1721120641710 +SLAM 17.3444 -21.7773 34.1349 -0.547502 0.103265 0.70616 0.43694 +TTool-pose None 33.0402 11.4113 16.2536 0.668609 0.633692 -0.2623 0.287224 +#5176 1721120641746 +SLAM 17.3472 -21.6931 34.2342 -0.549109 0.102396 0.705828 0.435662 +TTool-pose None 33.0515 11.4248 16.2815 0.669529 0.633826 -0.260363 0.286546 +#5177 1721120641776 +SLAM 17.2642 -21.7089 34.267 -0.549875 0.102095 0.704924 0.436229 +TTool-pose None 33.0352 11.4298 16.2813 0.669133 0.634314 -0.259407 0.287258 +#5178 1721120641814 +SLAM 17.47 -21.7163 34.1551 -0.547322 0.103045 0.707158 0.435601 +TTool-pose None 33.0792 11.4318 16.2729 0.669515 0.633256 -0.262512 0.285879 +#5179 1721120641849 +SLAM 17.3391 -21.7899 34.1499 -0.547876 0.10245 0.70598 0.436954 +TTool-pose None 33.0462 11.4197 16.2688 0.668451 0.63426 -0.261681 0.286902 +#5180 1721120641883 +SLAM 17.4259 -21.7467 34.1547 -0.547609 0.10267 0.706716 0.436045 +TTool-pose None 33.0687 11.4271 16.2798 0.669136 0.633712 -0.262077 0.286154 +#5181 1721120641918 +SLAM 17.4621 -21.8057 34.1098 -0.546941 0.101776 0.707057 0.43654 +TTool-pose None 33.082 11.4409 16.288 0.668484 0.634468 -0.262568 0.28555 +#5182 1721120641947 +SLAM 17.2258 -21.8476 34.1568 -0.548689 0.10144 0.704844 0.438001 +TTool-pose None 33.0157 11.4163 16.276 0.667541 0.635424 -0.26047 0.287549 +#5183 1721120641977 +SLAM 17.2543 -21.8082 34.1722 -0.548527 0.10234 0.705113 0.437561 +TTool-pose None 33.0251 11.418 16.2669 0.668057 0.634633 -0.260899 0.287708 +#5184 1721120642008 +SLAM 17.2414 -21.8346 34.163 -0.548557 0.101892 0.704957 0.43788 +TTool-pose None 33.0218 11.4211 16.2732 0.667721 0.635065 -0.260736 0.287681 +#5185 1721120642038 +SLAM 17.3681 -21.6207 34.3373 -0.550306 0.102287 0.705557 0.434614 +TTool-pose None 33.0804 11.4515 16.308 0.67041 0.633527 -0.259056 0.286332 +#5186 1721120642068 +SLAM 17.2864 -21.7933 34.2066 -0.549148 0.101211 0.705138 0.437005 +TTool-pose None 33.0417 11.4356 16.2973 0.668271 0.635181 -0.259954 0.286855 +#5187 1721120642098 +SLAM 17.3855 -21.6597 34.2899 -0.549691 0.102023 0.705823 0.435023 +TTool-pose None 33.0775 11.4508 16.3068 0.669977 0.633837 -0.259654 0.286118 +#5188 1721120642129 +SLAM 17.3349 -21.7842 34.168 -0.548011 0.102876 0.705772 0.43702 +TTool-pose None 33.048 11.4303 16.2744 0.66852 0.634016 -0.261634 0.287327 +#5189 1721120642159 +SLAM 17.2326 -21.9749 34.1152 -0.548683 0.0983632 0.704616 0.439076 +TTool-pose None 33.03 11.4488 16.3229 0.666018 0.637908 -0.259642 0.286324 +#5190 1721120642189 +SLAM 17.1306 -21.8401 34.2306 -0.55011 0.101146 0.703584 0.438312 +TTool-pose None 32.9997 11.4302 16.2917 0.667408 0.635839 -0.2588 0.288448 +#5191 1721120642217 +SLAM 17.1087 -22.0694 34.1809 -0.550039 0.0961319 0.702767 0.440833 +TTool-pose None 33.0287 11.5172 16.3491 0.664345 0.640204 -0.257468 0.287049 +#5192 1721120642247 +SLAM 17.3081 -21.8592 34.1779 -0.548934 0.0998735 0.705172 0.437527 +TTool-pose None 33.0526 11.4542 16.3235 0.667546 0.636271 -0.259828 0.28624 +#5193 1721120642277 +SLAM 17.286 -21.7443 34.263 -0.549707 0.102021 0.704836 0.4366 +TTool-pose None 33.047 11.4521 16.3053 0.668824 0.63451 -0.259557 0.28741 +#5194 1721120642306 +SLAM 17.1752 -21.769 34.2988 -0.550875 0.101089 0.703669 0.437227 +TTool-pose None 33.0203 11.4505 16.313 0.668279 0.635464 -0.25799 0.287981 +#5195 1721120642337 +SLAM 17.2814 -21.7336 34.2879 -0.550061 0.101826 0.704669 0.436469 +TTool-pose None 33.0515 11.4604 16.3119 0.668916 0.634605 -0.259121 0.287381 +#5196 1721120642371 +SLAM 17.3274 -21.7173 34.2727 -0.549617 0.102257 0.705157 0.436141 +TTool-pose None 33.0592 11.4593 16.309 0.669206 0.634154 -0.25974 0.287143 +#5197 1721120642410 +SLAM 17.2189 -21.7245 34.3319 -0.551005 0.101557 0.703901 0.436581 +TTool-pose None 33.0377 11.4637 16.3207 0.668878 0.634889 -0.257997 0.287851 +#5198 1721120642446 +SLAM 17.3084 -21.8974 34.1272 -0.548404 0.100009 0.705268 0.438005 +TTool-pose None 33.0381 11.4445 16.3259 0.667165 0.636351 -0.260426 0.286406 +#5199 1721120642483 +SLAM 17.3237 -21.7856 34.2055 -0.548734 0.102385 0.705266 0.437045 +TTool-pose None 33.049 11.4529 16.3048 0.668471 0.634398 -0.260707 0.287441 +#5200 1721120642520 +SLAM 17.3278 -21.7421 34.2442 -0.549064 0.102855 0.705202 0.436623 +TTool-pose None 33.0552 11.461 16.3009 0.668929 0.633928 -0.26048 0.287615 +#5201 1721120642558 +SLAM 17.144 -21.786 34.3116 -0.551137 0.101086 0.703202 0.437648 +TTool-pose None 33.0145 11.4623 16.3199 0.667999 0.63566 -0.257676 0.288478 +#5202 1721120642593 +SLAM 17.2537 -21.8289 34.2245 -0.549524 0.101023 0.704414 0.437743 +TTool-pose None 33.0358 11.4672 16.3195 0.667728 0.635642 -0.259451 0.287551 +#5203 1721120642628 +SLAM 17.2961 -21.7403 34.282 -0.549916 0.101965 0.704694 0.43658 +TTool-pose None 33.0527 11.4707 16.3188 0.66885 0.634551 -0.259312 0.287479 +#5204 1721120642664 +SLAM 17.1443 -21.805 34.2847 -0.550523 0.101873 0.703295 0.43809 +TTool-pose None 33.012 11.4617 16.3057 0.66779 0.635291 -0.258534 0.289009 +#5205 1721120642701 +SLAM 17.355 -21.7121 34.2674 -0.549275 0.102942 0.705307 0.436167 +TTool-pose None 33.0639 11.471 16.3104 0.669308 0.63369 -0.26029 0.287429 +#5206 1721120642735 +SLAM 17.0966 -22.0583 34.1769 -0.551429 0.0938187 0.702634 0.439808 +TTool-pose None 32.9982 11.4713 16.4079 0.664699 0.641377 -0.255382 0.285468 +#5207 1721120642776 +SLAM 17.3183 -21.8176 34.1843 -0.5483 0.102615 0.705198 0.437644 +TTool-pose None 33.0478 11.4638 16.2982 0.668035 0.634472 -0.261216 0.287828 +#5208 1721120642810 +SLAM 17.2639 -21.7523 34.2922 -0.550327 0.10154 0.704305 0.436789 +TTool-pose None 33.0438 11.4722 16.3276 0.668644 0.634946 -0.258737 0.287605 +#5209 1721120642844 +SLAM 17.3985 -21.7099 34.2543 -0.548889 0.102954 0.705756 0.435924 +TTool-pose None 33.0776 11.4722 16.3115 0.669444 0.633554 -0.260734 0.287009 +#5210 1721120642878 +SLAM 17.178 -21.7252 34.3757 -0.552115 0.100365 0.703232 0.436533 +TTool-pose None 33.0312 11.4745 16.3482 0.668758 0.635724 -0.256463 0.28766 +#5211 1721120642910 +SLAM 17.5144 -21.5958 34.3207 -0.549384 0.102998 0.706601 0.433917 +TTool-pose None 33.1167 11.4858 16.3338 0.670978 0.632702 -0.260293 0.285702 +#5212 1721120642939 +SLAM 17.3045 -21.6608 34.3556 -0.550754 0.102477 0.704592 0.435566 +TTool-pose None 33.0646 11.4738 16.3246 0.669811 0.633834 -0.258559 0.287503 +#5213 1721120642969 +SLAM 17.1731 -21.7766 34.3249 -0.55112 0.101098 0.703347 0.437435 +TTool-pose None 33.0287 11.4752 16.3275 0.668156 0.635562 -0.257709 0.288302 +#5214 1721120643001 +SLAM 17.2544 -21.8148 34.2203 -0.549145 0.102233 0.704519 0.437768 +TTool-pose None 33.0353 11.4596 16.3027 0.667952 0.63483 -0.260175 0.288171 +#5215 1721120643030 +SLAM 17.195 -21.8189 34.2702 -0.550351 0.100943 0.703738 0.437809 +TTool-pose None 33.0289 11.4667 16.3233 0.667757 0.635774 -0.258507 0.288043 +#5216 1721120643060 +SLAM 17.2024 -21.7118 34.3731 -0.551796 0.100936 0.703492 0.436385 +TTool-pose None 33.0388 11.4762 16.3407 0.668965 0.635264 -0.256969 0.28774 +#5217 1721120643089 +SLAM 17.2135 -21.6847 34.4042 -0.552335 0.100441 0.703458 0.435872 +TTool-pose None 33.045 11.4816 16.3553 0.669285 0.635407 -0.256269 0.287306 +#5218 1721120643119 +SLAM 17.2722 -21.832 34.196 -0.548556 0.102653 0.704754 0.43803 +TTool-pose None 33.0406 11.4623 16.2938 0.66779 0.634627 -0.260921 0.288321 +#5219 1721120643149 +SLAM 17.2856 -21.7297 34.2984 -0.549985 0.102474 0.704557 0.436593 +TTool-pose None 33.0547 11.4729 16.3137 0.668968 0.634226 -0.259361 0.287879 +#5220 1721120643178 +SLAM 17.2782 -21.808 34.21 -0.548947 0.102329 0.704768 0.437593 +TTool-pose None 33.0374 11.4584 16.3036 0.66808 0.63468 -0.260428 0.287976 +#5221 1721120643212 +SLAM 17.3205 -21.7768 34.2301 -0.548888 0.102698 0.705082 0.437076 +TTool-pose None 33.0559 11.4667 16.3062 0.66854 0.634213 -0.260613 0.287772 +#5222 1721120643246 +SLAM 17.1527 -21.8951 34.178 -0.548911 0.10241 0.7037 0.439334 +TTool-pose None 33.0008 11.45 16.2859 0.666816 0.635362 -0.260396 0.28943 +#5223 1721120643277 +SLAM 17.2078 -21.6264 34.4749 -0.553168 0.100721 0.703175 0.435206 +TTool-pose None 33.056 11.4924 16.3621 0.669933 0.634989 -0.255445 0.287452 +#5224 1721120643315 +SLAM 17.0585 -22.1098 34.1648 -0.550587 0.0952998 0.702199 0.441236 +TTool-pose None 33.0018 11.5021 16.3775 0.663909 0.640955 -0.256622 0.287139 +#5225 1721120643348 +SLAM 17.0711 -21.8676 34.2863 -0.551367 0.0999885 0.70247 0.438786 +TTool-pose None 32.9942 11.4619 16.3322 0.666928 0.636881 -0.257082 0.288794 +#5226 1721120643383 +SLAM 17.2005 -21.8314 34.2359 -0.549737 0.101731 0.703909 0.438123 +TTool-pose None 33.0207 11.4605 16.3113 0.667642 0.635349 -0.259372 0.288471 +#5227 1721120643424 +SLAM 17.0548 -21.7979 34.3582 -0.552565 0.0997563 0.702121 0.437888 +TTool-pose None 32.9928 11.4635 16.3445 0.667668 0.636727 -0.255735 0.28862 +#5228 1721120643465 +SLAM 17.177 -21.7728 34.3227 -0.551374 0.100486 0.703354 0.437245 +TTool-pose None 33.0222 11.4733 16.3386 0.66818 0.635901 -0.257282 0.287881 +#5229 1721120643501 +SLAM 17.3463 -21.9144 34.1273 -0.547308 0.101702 0.705338 0.438872 +TTool-pose None 33.063 11.5017 16.3029 0.666801 0.635532 -0.262024 0.287616 +#5230 1721120643539 +SLAM 17.1939 -21.8231 34.2312 -0.549672 0.102038 0.703877 0.438184 +TTool-pose None 33.0119 11.4604 16.3034 0.667662 0.635168 -0.259518 0.288691 +#5231 1721120643570 +SLAM 17.2448 -21.8043 34.2087 -0.549088 0.102653 0.704464 0.43783 +TTool-pose None 33.0183 11.4556 16.2967 0.667999 0.634576 -0.260341 0.288474 +#5232 1721120643606 +SLAM 17.1753 -21.8092 34.275 -0.550638 0.100885 0.703489 0.437862 +TTool-pose None 33.0132 11.4698 16.3249 0.667736 0.635854 -0.25817 0.288218 +#5233 1721120643637 +SLAM 17.1468 -21.8394 34.2284 -0.550204 0.101213 0.703443 0.438405 +TTool-pose None 32.9901 11.4506 16.3124 0.667365 0.63584 -0.258707 0.288626 +#5234 1721120643668 +SLAM 17.0667 -22.1018 34.1735 -0.551143 0.0940709 0.702097 0.440967 +TTool-pose None 32.994 11.5137 16.399 0.663873 0.641684 -0.255701 0.286416 +#5235 1721120643698 +SLAM 17.1533 -21.8019 34.274 -0.550686 0.101362 0.70329 0.438011 +TTool-pose None 32.9989 11.467 16.3183 0.667746 0.635604 -0.258229 0.288693 +#5236 1721120643738 +SLAM 17.1402 -21.8081 34.2598 -0.55069 0.101305 0.703239 0.438101 +TTool-pose None 32.9871 11.4572 16.318 0.667666 0.635681 -0.258205 0.28873 +#5237 1721120643778 +SLAM 17.1221 -21.8499 34.2428 -0.550324 0.101332 0.70306 0.438842 +TTool-pose None 32.9881 11.4692 16.3095 0.667086 0.635954 -0.25858 0.289134 +#5238 1721120643812 +SLAM 17.162 -21.8083 34.2528 -0.550194 0.101998 0.703451 0.438223 +TTool-pose None 32.997 11.4661 16.307 0.667684 0.635244 -0.258925 0.289007 +#5239 1721120643846 +SLAM 17.9196 -18.3479 35.9593 -0.54612 0.190611 0.703417 0.413067 +TTool-pose None 33.3692 11.6959 15.2512 0.702773 0.563755 -0.283349 0.328532 +#5240 1721120643880 +SLAM 17.1064 -21.8322 34.26 -0.550948 0.10077 0.702884 0.43847 +TTool-pose None 32.9788 11.4587 16.3225 0.667298 0.636206 -0.257763 0.28882 +#5241 1721120643913 +SLAM 17.2502 -21.7906 34.2067 -0.548985 0.103018 0.704504 0.437809 +TTool-pose None 33.0131 11.4603 16.2905 0.668088 0.634319 -0.260547 0.288646 +#5242 1721120643948 +SLAM 17.1561 -21.8128 34.2512 -0.550527 0.101087 0.70341 0.438082 +TTool-pose None 32.9917 11.4604 16.3177 0.66761 0.635806 -0.258333 0.288469 +#5243 1721120643982 +SLAM 17.221 -21.7161 34.3124 -0.550799 0.102074 0.70388 0.436754 +TTool-pose None 33.0183 11.4702 16.3165 0.66885 0.634609 -0.258348 0.288222 +#5244 1721120644016 +SLAM 17.3232 -21.7151 34.2405 -0.549038 0.103592 0.705137 0.436587 +TTool-pose None 33.0364 11.4626 16.293 0.669126 0.633424 -0.260695 0.288073 +#5245 1721120644051 +SLAM 17.2383 -21.6933 34.312 -0.550743 0.10238 0.704116 0.436372 +TTool-pose None 33.019 11.4603 16.3144 0.669196 0.634241 -0.258506 0.288087 +#5246 1721120644085 +SLAM 17.0185 -21.8803 34.2564 -0.55146 0.0997578 0.702154 0.439227 +TTool-pose None 32.9581 11.4468 16.3197 0.666558 0.637225 -0.256897 0.289053 +#5247 1721120644119 +SLAM 17.1693 -21.8292 34.2059 -0.549694 0.101754 0.703835 0.43829 +TTool-pose None 32.9902 11.4421 16.2969 0.667519 0.635402 -0.259417 0.288597 +#5248 1721120644153 +SLAM 17.2313 -21.8102 34.1951 -0.549043 0.102395 0.70446 0.437954 +TTool-pose None 33.0092 11.4495 16.2882 0.667842 0.634796 -0.260319 0.288372 +#5249 1721120644186 +SLAM 17.1327 -21.7944 34.2724 -0.550646 0.101667 0.703283 0.438002 +TTool-pose None 32.9939 11.4519 16.3022 0.66782 0.635397 -0.258351 0.288871 +#5250 1721120644220 +SLAM 17.1269 -21.8234 34.2477 -0.550489 0.101138 0.703304 0.438288 +TTool-pose None 32.989 11.448 16.3037 0.667467 0.635858 -0.258377 0.288649 +#5251 1721120644253 +SLAM 17.2062 -21.8055 34.2233 -0.549724 0.101622 0.704148 0.437781 +TTool-pose None 33.0084 11.4475 16.3 0.667866 0.635275 -0.259377 0.28811 +#5252 1721120644287 +SLAM 17.1887 -21.7184 34.3288 -0.551373 0.101128 0.703635 0.436645 +TTool-pose None 33.0148 11.4601 16.3206 0.668772 0.635222 -0.257476 0.28783 +#5253 1721120644321 +SLAM 17.073 -21.7482 34.3572 -0.552529 0.100139 0.702475 0.437279 +TTool-pose None 32.985 11.4506 16.329 0.668202 0.636215 -0.255904 0.288363 +#5254 1721120644354 +SLAM 17.1688 -21.6687 34.3968 -0.552563 0.100572 0.703239 0.435907 +TTool-pose None 33.0175 11.4622 16.3386 0.669316 0.635349 -0.256047 0.28756 +#5255 1721120644388 +SLAM 17.2562 -21.913 34.1222 -0.54918 0.0984664 0.704836 0.438078 +TTool-pose None 33.011 11.4286 16.3391 0.666834 0.637448 -0.259168 0.285877 +#5256 1721120644418 +SLAM 17.2995 -21.6797 34.3013 -0.55021 0.102437 0.704824 0.435889 +TTool-pose None 33.0432 11.4587 16.3077 0.669502 0.633964 -0.259138 0.287414 +#5257 1721120644449 +SLAM 17.3675 -21.6934 34.2307 -0.548553 0.104047 0.705754 0.436091 +TTool-pose None 33.0529 11.4504 16.2804 0.669538 0.632881 -0.261372 0.287692 +#5258 1721120644481 +SLAM 17.215 -21.7145 34.3091 -0.550842 0.101757 0.704012 0.436562 +TTool-pose None 33.0201 11.4529 16.3104 0.668921 0.634739 -0.25823 0.287874 +#5259 1721120644516 +SLAM 17.1402 -21.749 34.3134 -0.551251 0.101446 0.703293 0.437276 +TTool-pose None 33.0012 11.4496 16.3086 0.66837 0.635273 -0.257659 0.288488 +#5260 1721120644549 +SLAM 17.2385 -21.6694 34.3438 -0.551127 0.102224 0.704113 0.435929 +TTool-pose None 33.0307 11.4562 16.3162 0.669528 0.63418 -0.258062 0.287847 +#5261 1721120644578 +SLAM 17.2936 -21.7522 34.238 -0.549382 0.102257 0.704918 0.436822 +TTool-pose None 33.0367 11.4556 16.3023 0.66868 0.634428 -0.259966 0.287559 +#5262 1721120644608 +SLAM 17.091 -21.8182 34.2615 -0.5505 0.102073 0.703009 0.438531 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+TTool-pose None 33.0052 11.4923 16.3371 0.666026 0.637977 -0.257099 0.28844 +#5323 1721120646647 +SLAM 17.0713 -21.7613 34.3707 -0.55226 0.101057 0.702297 0.437693 +TTool-pose None 32.9983 11.4682 16.3257 0.668086 0.635768 -0.256414 0.289165 +#5324 1721120646678 +SLAM 17.1082 -21.7203 34.4033 -0.552522 0.101131 0.702499 0.437021 +TTool-pose None 33.0137 11.4778 16.3351 0.668627 0.63545 -0.256176 0.288824 +#5325 1721120646708 +SLAM 16.9552 -21.9187 34.278 -0.551615 0.100212 0.701413 0.440111 +TTool-pose None 32.959 11.4588 16.3151 0.666032 0.637309 -0.256789 0.290177 +#5326 1721120646742 +SLAM 16.9573 -21.935 34.2311 -0.550398 0.102133 0.701675 0.440775 +TTool-pose None 32.9531 11.4522 16.2788 0.665859 0.636246 -0.258593 0.291304 +#5327 1721120646773 +SLAM 17.0352 -21.8591 34.2776 -0.550477 0.10282 0.702258 0.439587 +TTool-pose None 32.9837 11.4649 16.2835 0.666906 0.635296 -0.258743 0.29085 +#5328 1721120646805 +SLAM 17.0273 -21.8876 34.2527 -0.55034 0.102465 0.702199 0.439935 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+TTool-pose None 32.972 11.4982 16.3648 0.667871 0.636633 -0.253726 0.290128 +#5341 1721120647262 +SLAM 16.9749 -21.8644 34.323 -0.551978 0.101359 0.701244 0.439662 +TTool-pose None 32.9603 11.4791 16.3275 0.666675 0.636384 -0.256698 0.29081 +#5342 1721120647297 +SLAM 17.1429 -21.7646 34.3237 -0.550918 0.10301 0.702881 0.437992 +TTool-pose None 33.0031 11.4866 16.3178 0.668175 0.634522 -0.258384 0.289941 +#5343 1721120647332 +SLAM 16.9089 -21.8248 34.4066 -0.554048 0.0993609 0.700333 0.438967 +TTool-pose None 32.9468 11.4792 16.3619 0.666943 0.637533 -0.253919 0.290118 +#5344 1721120647364 +SLAM 16.9592 -21.8289 34.3744 -0.552865 0.100767 0.700925 0.439193 +TTool-pose None 32.9624 11.4877 16.3378 0.66698 0.63663 -0.255584 0.290553 +#5345 1721120647397 +SLAM 16.8553 -21.8066 34.4614 -0.554996 0.0990305 0.699632 0.438962 +TTool-pose None 32.9418 11.4897 16.3667 0.66697 0.637804 -0.252775 0.290457 +#5346 1721120647430 +SLAM 16.8861 -22.0815 34.2614 -0.55265 0.0957298 0.700074 0.44194 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None 33.3753 11.7195 15.2685 0.702712 0.564152 -0.281948 0.329184 +#5353 1721120647668 +SLAM 17.0503 -21.7472 34.3981 -0.552859 0.101066 0.701822 0.437697 +TTool-pose None 32.9862 11.4816 16.3423 0.668152 0.6358 -0.255748 0.289532 +#5354 1721120647701 +SLAM 17.0158 -21.8189 34.3347 -0.552055 0.101223 0.701731 0.438819 +TTool-pose None 32.9704 11.4713 16.3249 0.667273 0.636123 -0.256624 0.290075 +#5355 1721120647735 +SLAM 17.0694 -21.8489 34.269 -0.550764 0.1019 0.702451 0.439132 +TTool-pose None 32.9769 11.4677 16.3103 0.667057 0.635729 -0.258217 0.290022 +#5356 1721120647770 +SLAM 17.0805 -21.7907 34.3246 -0.551524 0.101804 0.702377 0.438319 +TTool-pose None 32.985 11.4748 16.3207 0.667719 0.635495 -0.257389 0.289746 +#5357 1721120647805 +SLAM 16.9363 -21.814 34.3942 -0.553616 0.0997505 0.700743 0.438769 +TTool-pose None 32.955 11.4733 16.349 0.667134 0.637166 -0.254512 0.289963 +#5358 1721120647840 +SLAM 16.9784 -21.8614 34.3158 -0.5521 0.100679 0.701425 0.439377 +TTool-pose None 32.9594 11.465 16.3282 0.666739 0.63672 -0.256406 0.290186 +#5359 1721120647871 +SLAM 16.9635 -21.8556 34.3358 -0.552692 0.0998646 0.701185 0.439201 +TTool-pose None 32.9556 11.4674 16.3414 0.666741 0.637219 -0.255549 0.289841 +#5360 1721120647904 +SLAM 17.107 -21.7616 34.3398 -0.551482 0.102257 0.702617 0.437882 +TTool-pose None 32.9963 11.4751 16.3187 0.668143 0.635008 -0.257573 0.289674 +#5361 1721120647937 +SLAM 16.8817 -21.857 34.3668 -0.553353 0.10007 0.700366 0.439629 +TTool-pose None 32.9374 11.4638 16.3342 0.666547 0.637303 -0.254839 0.290726 +#5362 1721120647969 +SLAM 17.1408 -21.8007 34.2885 -0.550601 0.102302 0.703077 0.43824 +TTool-pose None 33.0024 11.4732 16.3136 0.667789 0.635076 -0.258547 0.289471 +#5363 1721120648001 +SLAM 17.0563 -21.8666 34.2749 -0.550929 0.101399 0.702277 0.43932 +TTool-pose None 32.9802 11.4728 16.3154 0.666819 0.636149 -0.257897 0.289931 +#5364 1721120648034 +SLAM 17.182 -21.6918 34.3766 -0.551674 0.102407 0.703209 0.436653 +TTool-pose None 33.021 11.4821 16.3293 0.669102 0.6344 -0.257461 0.288889 +#5365 1721120648067 +SLAM 17.1997 -21.7306 34.3269 -0.550803 0.102682 0.703534 0.437163 +TTool-pose None 33.0218 11.4802 16.3174 0.668693 0.634381 -0.258474 0.288973 +#5366 1721120648100 +SLAM 16.9829 -21.8587 34.3303 -0.552397 0.100012 0.701391 0.439211 +TTool-pose None 32.9654 11.4721 16.3367 0.666736 0.637108 -0.255915 0.289773 +#5367 1721120648134 +SLAM 17.249 -21.7017 34.3161 -0.550344 0.103398 0.704092 0.436675 +TTool-pose None 33.0308 11.4742 16.3108 0.669167 0.633671 -0.25919 0.288791 +#5368 1721120648165 +SLAM 17.0337 -21.8394 34.3273 -0.552066 0.100225 0.701901 0.438764 +TTool-pose None 32.9814 11.4739 16.3359 0.667079 0.636758 -0.256363 0.289355 +#5369 1721120648198 +SLAM 17.0278 -21.7919 34.3772 -0.552951 0.0998394 0.70171 0.438041 +TTool-pose None 32.9826 11.4731 16.3492 0.667618 0.636761 -0.255317 0.289032 +#5370 1721120648230 +SLAM 16.9406 -21.8623 34.3428 -0.55277 0.0999243 0.701001 0.439385 +TTool-pose None 32.9554 11.4655 16.3351 0.666628 0.637261 -0.255468 0.290078 +#5371 1721120648262 +SLAM 17.0391 -21.7384 34.4087 -0.553096 0.100841 0.701788 0.437505 +TTool-pose None 32.9868 11.4723 16.3406 0.668266 0.635881 -0.255437 0.289364 +#5372 1721120648293 +SLAM 17.1067 -21.6804 34.4468 -0.553517 0.100317 0.702257 0.436338 +TTool-pose None 33.0093 11.4827 16.3604 0.669046 0.635757 -0.254895 0.288307 +#5373 1721120648329 +SLAM 16.9757 -21.8591 34.3221 -0.55213 0.100571 0.701436 0.439346 +TTool-pose None 32.9638 11.4655 16.323 0.666739 0.63678 -0.256347 0.290105 +#5374 1721120648368 +SLAM 17.1846 -21.8491 34.2319 -0.549878 0.101374 0.703614 0.438503 +TTool-pose None 33.0099 11.4747 16.319 0.667294 0.635755 -0.259105 0.288621 +#5375 1721120648402 +SLAM 17.1126 -21.7219 34.378 -0.55209 0.101883 0.702603 0.437225 +TTool-pose None 33.0027 11.4743 16.3262 0.668606 0.635014 -0.256836 0.289245 +#5376 1721120648435 +SLAM 17.1062 -21.7454 34.3528 -0.551781 0.101922 0.702636 0.437553 +TTool-pose None 32.9971 11.469 16.3214 0.668339 0.635108 -0.257173 0.289355 +#5377 1721120648469 +SLAM 17.0648 -21.7104 34.4306 -0.553239 0.10084 0.701946 0.43707 +TTool-pose None 32.9982 11.481 16.3438 0.668601 0.635706 -0.2553 0.289094 +#5378 1721120648502 +SLAM 17.0482 -21.8468 34.2911 -0.551385 0.100926 0.702241 0.438914 +TTool-pose None 32.9777 11.4621 16.3201 0.667058 0.636318 -0.257292 0.28955 +#5379 1721120648538 +SLAM 17.0954 -21.8055 34.2844 -0.550945 0.101883 0.70278 0.438383 +TTool-pose None 32.9827 11.4577 16.3085 0.667625 0.635434 -0.258051 0.289507 +#5380 1721120648572 +SLAM 16.9267 -21.8941 34.2853 -0.551854 0.100743 0.7012 0.44003 +TTool-pose None 32.9408 11.4478 16.3066 0.666244 0.636939 -0.25666 0.290616 +#5381 1721120648605 +SLAM 17.0039 -21.8522 34.2904 -0.55142 0.101318 0.701939 0.439263 +TTool-pose None 32.9649 11.453 16.3039 0.666897 0.636209 -0.257332 0.290123 +#5382 1721120648639 +SLAM 17.0535 -21.7031 34.4434 -0.553333 0.100905 0.70188 0.43704 +TTool-pose None 33.0016 11.4801 16.3357 0.668649 0.635656 -0.255212 0.289171 +#5383 1721120648672 +SLAM 17.0449 -21.7028 34.4441 -0.553788 0.0998979 0.701871 0.436712 +TTool-pose None 32.9961 11.4637 16.3487 0.668702 0.636209 -0.254467 0.288488 +#5384 1721120648710 +SLAM 16.9336 -21.8404 34.3408 -0.552913 0.0995926 0.701237 0.438902 +TTool-pose None 32.9523 11.4376 16.3224 0.666921 0.637285 -0.25525 0.289544 +#5385 1721120648747 +SLAM 17.0841 -21.8066 34.26 -0.55035 0.102696 0.703074 0.438469 +TTool-pose None 32.9829 11.4302 16.2758 0.667685 0.634897 -0.258913 0.289777 +#5386 1721120648782 +SLAM 17.1317 -21.7068 34.3558 -0.551839 0.101459 0.703204 0.436673 +TTool-pose None 33.0069 11.4424 16.3088 0.668883 0.635045 -0.257038 0.288356 +#5387 1721120648820 +SLAM 17.0106 -21.7584 34.371 -0.552883 0.100098 0.702028 0.437558 +TTool-pose None 32.9767 11.4342 16.3166 0.668027 0.636381 -0.255484 0.288773 +#5388 1721120648851 +SLAM 17.1413 -21.6632 34.3721 -0.551828 0.102227 0.703433 0.43614 +TTool-pose None 33.0115 11.429 16.2937 0.669454 0.63431 -0.257271 0.28844 +#5389 1721120648888 +SLAM 17.0376 -21.8368 34.2694 -0.550895 0.101184 0.702754 0.43865 +TTool-pose None 32.9834 11.4197 16.2779 0.667258 0.636006 -0.257917 0.289217 +#5390 1721120648924 +SLAM 16.887 -22.0846 34.2373 -0.552405 0.0944852 0.700799 0.441364 +TTool-pose None 32.9653 11.4679 16.3538 0.663821 0.641655 -0.254377 0.287777 +#5391 1721120648957 +SLAM 16.8809 -22.1018 34.2151 -0.551909 0.0949941 0.700874 0.441755 +TTool-pose None 32.9637 11.4654 16.3373 0.6636 0.641456 -0.255039 0.288145 +#5392 1721120648989 +SLAM 17.0065 -21.7283 34.3879 -0.552797 0.100839 0.702235 0.437166 +TTool-pose None 32.9879 11.4137 16.2939 0.668482 0.635721 -0.255788 0.288907 +#5393 1721120649021 +SLAM 17.0611 -21.671 34.4305 -0.553289 0.100226 0.702615 0.436072 +TTool-pose None 33.0095 11.4241 16.308 0.669194 0.635691 -0.255141 0.287892 +#5394 1721120649054 +SLAM 16.9109 -22.0213 34.2592 -0.552469 0.0951531 0.701305 0.440335 +TTool-pose None 32.9763 11.4386 16.3374 0.66475 0.640786 -0.254535 0.287427 +#5395 1721120649088 +SLAM 16.9168 -21.8804 34.2538 -0.551449 0.100213 0.702034 0.439329 +TTool-pose None 32.95 11.3763 16.2583 0.66659 0.636968 -0.257018 0.289441 +#5396 1721120649121 +SLAM 17.0636 -21.72 34.3276 -0.551353 0.102084 0.703343 0.436917 +TTool-pose None 33.0005 11.382 16.2518 0.668795 0.634705 -0.257724 0.288692 +#5397 1721120649160 +SLAM 16.8549 -22.0248 34.2107 -0.552028 0.0960283 0.70141 0.440531 +TTool-pose None 32.9463 11.3798 16.2983 0.664768 0.640267 -0.255241 0.287919 +#5398 1721120649196 +SLAM 17.0972 -21.7714 34.2418 -0.549848 0.102589 0.704061 0.437539 +TTool-pose None 33.0017 11.3681 16.2242 0.668286 0.634542 -0.259494 0.288646 +#5399 1721120649229 +SLAM 16.9091 -21.9887 34.1989 -0.551096 0.0976231 0.702112 0.440229 +TTool-pose None 32.9619 11.3804 16.2677 0.665269 0.639033 -0.256705 0.2882 +#5400 1721120649262 +SLAM 17.0866 -21.6749 34.353 -0.551908 0.10104 0.703684 0.435908 +TTool-pose None 33.0102 11.3683 16.2558 0.669352 0.635 -0.256895 0.287489 +#5401 1721120649304 +SLAM 16.6948 -21.8314 34.3936 -0.554652 0.09849 0.699893 0.439102 +TTool-pose None 32.9111 11.3457 16.2584 0.666702 0.638199 -0.253015 0.289997 +#5402 1721120649339 +SLAM 16.9867 -21.8451 34.2357 -0.550923 0.0999629 0.703118 0.43831 +TTool-pose None 32.974 11.3488 16.2407 0.667222 0.636669 -0.257596 0.288124 +#5403 1721120649376 +SLAM 17.0094 -21.7791 34.2774 -0.55089 0.101455 0.70335 0.437637 +TTool-pose None 32.9901 11.3483 16.2219 0.668066 0.635397 -0.258045 0.288573 +#5404 1721120649409 +SLAM 16.8728 -21.7058 34.4296 -0.554157 0.0994446 0.701572 0.436828 +TTool-pose None 32.9658 11.3528 16.2601 0.66855 0.636579 -0.253935 0.288494 +#5405 1721120649447 +SLAM 16.8248 -21.8271 34.3351 -0.55315 0.0988552 0.70143 0.438463 +TTool-pose None 32.9467 11.3383 16.2468 0.667095 0.637599 -0.254823 0.288824 +#5406 1721120649479 +SLAM 16.9406 -21.7155 34.3911 -0.552902 0.100312 0.702404 0.436881 +TTool-pose None 32.9904 11.3573 16.2381 0.668578 0.635954 -0.255553 0.288379 +#5407 1721120649511 +SLAM 17.1023 -21.7358 34.2607 -0.550205 0.101806 0.704448 0.43665 +TTool-pose None 33.0146 11.3376 16.2124 0.668795 0.634704 -0.258946 0.2876 +#5408 1721120649546 +SLAM 16.9539 -21.7901 34.2913 -0.551554 0.100331 0.70297 0.43767 +TTool-pose None 32.9814 11.3307 16.2207 0.667851 0.636194 -0.257019 0.28823 +#5409 1721120649578 +SLAM 16.9677 -21.7912 34.2603 -0.55131 0.10043 0.703236 0.437527 +TTool-pose None 32.9704 11.3123 16.2237 0.667952 0.636053 -0.257324 0.288035 +#5410 1721120649612 +SLAM 16.9444 -21.879 34.2671 -0.552345 0.0963041 0.702748 0.437934 +TTool-pose None 32.9831 11.335 16.2733 0.666784 0.639006 -0.2551 0.286175 +#5411 1721120649646 +SLAM 17.0201 -21.8415 34.1756 -0.549443 0.101496 0.704083 0.438266 +TTool-pose None 32.9825 11.3115 16.1884 0.667447 0.635547 -0.259632 0.288252 +#5412 1721120649677 +SLAM 16.9879 -21.6987 34.363 -0.552621 0.0997614 0.703163 0.436142 +TTool-pose None 32.9965 11.3298 16.2359 0.668958 0.635987 -0.255766 0.287233 +#5413 1721120649708 +SLAM 16.9749 -21.8266 34.2385 -0.550788 0.100081 0.703418 0.437973 +TTool-pose None 32.9827 11.3204 16.2102 0.667482 0.63644 -0.257794 0.287849 +#5414 1721120649739 +SLAM 17.3005 -21.6351 34.2351 -0.549064 0.102295 0.706624 0.434449 +TTool-pose None 33.0612 11.3238 16.2055 0.670387 0.633373 -0.260446 0.285464 +#5415 1721120649769 +SLAM 16.9845 -21.9839 34.1569 -0.550952 0.094856 0.703475 0.438835 +TTool-pose None 32.9884 11.3281 16.268 0.665613 0.640255 -0.256233 0.285095 +#5416 1721120649798 +SLAM 17.1535 -21.909 34.1226 -0.549904 0.0955415 0.705283 0.437097 +TTool-pose None 33.02 11.3123 16.2722 0.666934 0.639002 -0.257667 0.283519 +#5417 1721120649830 +SLAM 17.1011 -21.9327 34.1351 -0.550285 0.095148 0.704725 0.437601 +TTool-pose None 33.0114 11.3172 16.2719 0.666514 0.639499 -0.257115 0.28389 +#5418 1721120649867 +SLAM 17.0923 -21.8645 34.1997 -0.552091 0.093278 0.704517 0.436063 +TTool-pose None 33.0038 11.2925 16.3133 0.667394 0.640186 -0.254701 0.282443 +#5419 1721120649901 +SLAM 17.1331 -21.8987 34.1861 -0.550342 0.0957328 0.704779 0.437317 +TTool-pose None 33.0409 11.35 16.2681 0.66687 0.638997 -0.257217 0.284089 +#5420 1721120649936 +SLAM 17.1999 -21.7759 34.1369 -0.548437 0.101143 0.706088 0.436378 +TTool-pose None 33.0238 11.2949 16.192 0.66863 0.634914 -0.260758 0.285875 +#5421 1721120649967 +SLAM 17.1514 -22.0189 34.07 -0.548458 0.0956321 0.705232 0.438972 +TTool-pose None 33.0418 11.3597 16.2443 0.665411 0.639646 -0.259199 0.284249 +#5422 1721120650002 +SLAM 17.1092 -21.8872 34.148 -0.55055 0.0952735 0.704943 0.436891 +TTool-pose None 33.0076 11.2984 16.267 0.667095 0.639131 -0.25689 0.283554 +#5423 1721120650034 +SLAM 17.2314 -21.9021 34.1322 -0.549595 0.0947579 0.705942 0.436592 +TTool-pose None 33.0598 11.3353 16.2777 0.667079 0.639283 -0.257834 0.282391 +#5424 1721120650067 +SLAM 17.5125 -21.5911 34.1544 -0.546815 0.103384 0.709074 0.433035 +TTool-pose None 33.1147 11.3098 16.1846 0.671404 0.631903 -0.263278 0.283725 +#5425 1721120650103 +SLAM 17.3677 -21.67 34.176 -0.548347 0.100807 0.707589 0.434132 +TTool-pose None 33.0802 11.3057 16.2094 0.670181 0.634174 -0.260882 0.283766 +#5426 1721120650145 +SLAM 17.4672 -21.7098 34.0392 -0.545406 0.103405 0.709089 0.434778 +TTool-pose None 33.0875 11.2895 16.1575 0.669967 0.632541 -0.264762 0.28432 +#5427 1721120650180 +SLAM 17.2745 -21.9408 34.0646 -0.548495 0.0947572 0.706627 0.436867 +TTool-pose None 33.0654 11.3244 16.2661 0.666748 0.639329 -0.259041 0.281961 +#5428 1721120650211 +SLAM 17.3428 -21.8304 34.0749 -0.548082 0.097028 0.707494 0.435481 +TTool-pose None 33.0673 11.2994 16.2438 0.668261 0.637221 -0.260151 0.282131 +#5429 1721120650245 +SLAM 17.4292 -21.7964 34.06 -0.547364 0.0977397 0.708414 0.434729 +TTool-pose None 33.0909 11.2954 16.2396 0.668894 0.636385 -0.261164 0.281579 +#5430 1721120650278 +SLAM 17.5556 -21.6065 34.1282 -0.546136 0.103375 0.709581 0.433063 +TTool-pose None 33.1318 11.3138 16.1773 0.671298 0.631876 -0.264026 0.283339 +#5431 1721120650310 +SLAM 17.415 -21.6345 34.1714 -0.547991 0.101492 0.708102 0.433586 +TTool-pose None 33.0884 11.3016 16.2032 0.670698 0.633465 -0.261475 0.283578 +#5432 1721120650343 +SLAM 17.3616 -21.6997 34.1483 -0.548086 0.100573 0.707594 0.434509 +TTool-pose None 33.0735 11.3033 16.2089 0.669819 0.634471 -0.261095 0.283758 +#5433 1721120650379 +SLAM 17.2492 -21.9216 34.0835 -0.549287 0.0941369 0.706353 0.436448 +TTool-pose None 33.0503 11.3078 16.2836 0.666997 0.63961 -0.258023 0.28167 +#5434 1721120650417 +SLAM 17.3855 -21.661 34.1922 -0.548334 0.101048 0.7076 0.434074 +TTool-pose None 33.0911 11.3221 16.213 0.670279 0.633989 -0.26096 0.283875 +#5435 1721120650450 +SLAM 17.3383 -21.5898 34.2937 -0.549974 0.100802 0.70684 0.433295 +TTool-pose None 33.09 11.3299 16.2287 0.670982 0.633923 -0.259115 0.284049 +#5436 1721120650482 +SLAM 17.1442 -22.0039 34.094 -0.550159 0.0926288 0.705034 0.437803 +TTool-pose None 33.0269 11.3291 16.3069 0.665738 0.64123 -0.256594 0.282269 +#5437 1721120650516 +SLAM 17.2208 -21.9344 34.0957 -0.547273 0.0996822 0.705803 0.438632 +TTool-pose None 33.0644 11.3842 16.2024 0.666493 0.63676 -0.261565 0.286023 +#5438 1721120650548 +SLAM 17.2329 -21.789 34.1258 -0.548152 0.101052 0.70626 0.43648 +TTool-pose None 33.0322 11.3117 16.202 0.668501 0.634999 -0.261046 0.285726 +#5439 1721120650580 +SLAM 17.3351 -21.6976 34.1696 -0.548056 0.102082 0.707028 0.435116 +TTool-pose None 33.0651 11.3299 16.2065 0.669731 0.633733 -0.26148 0.285262 +#5440 1721120650614 +SLAM 17.2097 -21.8082 34.1584 -0.550216 0.0967903 0.705728 0.435708 +TTool-pose None 33.0203 11.3028 16.2801 0.66829 0.63761 -0.257709 0.283423 +#5441 1721120650647 +SLAM 17.2047 -21.756 34.1835 -0.549005 0.101254 0.705659 0.436333 +TTool-pose None 33.0283 11.3311 16.2144 0.668757 0.634858 -0.260158 0.286251 +#5442 1721120650681 +SLAM 17.0869 -21.7986 34.2351 -0.550395 0.09984 0.704263 0.437163 +TTool-pose None 33.0108 11.3444 16.2324 0.667974 0.636231 -0.258213 0.28679 +#5443 1721120650721 +SLAM 17.122 -21.7454 34.2783 -0.550678 0.100515 0.70436 0.436494 +TTool-pose None 33.0247 11.3589 16.2414 0.668658 0.63552 -0.258103 0.286875 +#5444 1721120650753 +SLAM 17.0512 -21.6536 34.4154 -0.553249 0.0994694 0.703175 0.435392 +TTool-pose None 33.0143 11.371 16.2779 0.669509 0.635899 -0.255029 0.286798 +#5445 1721120650787 +SLAM 17.0381 -21.8035 34.2649 -0.550943 0.100302 0.70345 0.437675 +TTool-pose None 32.9948 11.3648 16.2455 0.667771 0.636178 -0.257693 0.28785 +#5446 1721120650821 +SLAM 16.8843 -22.0008 34.2309 -0.553217 0.0932012 0.701682 0.439211 +TTool-pose None 32.9514 11.3574 16.3417 0.665189 0.641638 -0.253259 0.285631 +#5447 1721120650856 +SLAM 16.9401 -21.7971 34.3061 -0.551932 0.100667 0.702306 0.438183 +TTool-pose None 32.9625 11.3684 16.2486 0.667597 0.636213 -0.256656 0.289102 +#5448 1721120650891 +SLAM 17.0882 -21.6707 34.3575 -0.551779 0.101833 0.703518 0.436156 +TTool-pose None 33.0061 11.385 16.2563 0.669343 0.634574 -0.257226 0.288155 +#5449 1721120650925 +SLAM 17.0205 -21.7856 34.2742 -0.5513 0.100784 0.703094 0.437687 +TTool-pose None 32.9738 11.3688 16.257 0.667917 0.635887 -0.257416 0.2884 +#5450 1721120650959 +SLAM 16.8319 -21.7825 34.3862 -0.553839 0.0994732 0.700923 0.438262 +TTool-pose None 32.9383 11.3773 16.2729 0.667466 0.637148 -0.25422 0.289494 +#5451 1721120650994 +SLAM 17.0052 -21.6881 34.4102 -0.553487 0.0996315 0.702384 0.436329 +TTool-pose None 32.9864 11.397 16.2941 0.668886 0.636204 -0.254756 0.287814 +#5452 1721120651029 +SLAM 17.0453 -21.7715 34.2774 -0.55092 0.101669 0.70326 0.437693 +TTool-pose None 32.9823 11.3824 16.2483 0.668079 0.635281 -0.258062 0.288783 +#5453 1721120651063 +SLAM 17.0013 -21.7881 34.271 -0.551398 0.100873 0.702848 0.437939 +TTool-pose None 32.9594 11.3745 16.2569 0.667764 0.635941 -0.257316 0.288725 +#5454 1721120651096 +SLAM 17.1561 -21.7216 34.2845 -0.550864 0.100999 0.704208 0.436394 +TTool-pose None 33.01 11.3906 16.2715 0.668867 0.635169 -0.258023 0.287234 +#5455 1721120651129 +SLAM 17.161 -21.6931 34.2842 -0.550676 0.101937 0.704343 0.436194 +TTool-pose None 33.005 11.3826 16.2578 0.669214 0.634453 -0.258478 0.287599 +#5456 1721120651162 +SLAM 16.9396 -22.0569 34.1865 -0.552922 0.0914441 0.701898 0.439607 +TTool-pose None 32.9538 11.3926 16.377 0.664435 0.64294 -0.253111 0.284586 +#5457 1721120651197 +SLAM 17.0798 -21.6682 34.3788 -0.552748 0.100023 0.703231 0.435811 +TTool-pose None 32.9981 11.3919 16.2891 0.669277 0.635682 -0.255707 0.287218 +#5458 1721120651231 +SLAM 17.0288 -21.7976 34.263 -0.551406 0.0999367 0.70312 0.437706 +TTool-pose None 32.9696 11.3749 16.2682 0.667714 0.63646 -0.257083 0.287902 +#5459 1721120651265 +SLAM 17.0736 -21.6336 34.4199 -0.553515 0.0995021 0.703065 0.435223 +TTool-pose None 33.0006 11.3909 16.3017 0.66967 0.635822 -0.254748 0.286843 +#5460 1721120651301 +SLAM 17.0018 -21.9941 34.2061 -0.55223 0.093391 0.702548 0.439028 +TTool-pose None 32.9781 11.4033 16.349 0.66526 0.641377 -0.25442 0.285021 +#5461 1721120651332 +SLAM 17.2518 -21.7087 34.2125 -0.548928 0.10299 0.705551 0.436197 +TTool-pose None 33.0281 11.3755 16.2304 0.669257 0.633649 -0.260686 0.28728 +#5462 1721120651362 +SLAM 17.1269 -21.6253 34.3867 -0.552561 0.10043 0.703768 0.435087 +TTool-pose None 33.0122 11.3865 16.2822 0.669883 0.635094 -0.256055 0.286794 +#5463 1721120651393 +SLAM 17.1524 -21.6302 34.377 -0.5523 0.100308 0.704052 0.434987 +TTool-pose None 33.0225 11.3868 16.2824 0.669897 0.635116 -0.25632 0.286474 +#5464 1721120651429 +SLAM 17.0732 -21.7372 34.2982 -0.551359 0.100718 0.703602 0.436811 +TTool-pose None 32.9946 11.372 16.2561 0.668552 0.635562 -0.25738 0.287676 +#5465 1721120651465 +SLAM 17.1679 -21.811 34.2162 -0.550523 0.098445 0.70456 0.43684 +TTool-pose None 33.0134 11.3766 16.2883 0.667893 0.637021 -0.257733 0.285653 +#5466 1721120651502 +SLAM 17.0445 -21.7515 34.3403 -0.552247 0.0993441 0.703054 0.436886 +TTool-pose None 33.0015 11.3912 16.2794 0.668271 0.636555 -0.256038 0.287331 +#5467 1721120651534 +SLAM 17.061 -21.7809 34.2561 -0.550866 0.100641 0.703637 0.437394 +TTool-pose None 32.9862 11.3639 16.2495 0.668049 0.63583 -0.257879 0.287806 +#5468 1721120651568 +SLAM 16.9487 -21.8425 34.2492 -0.551512 0.0996637 0.702614 0.438447 +TTool-pose None 32.9539 11.352 16.2518 0.667116 0.63696 -0.256856 0.288383 +#5469 1721120651604 +SLAM 16.8043 -22.118 34.2017 -0.553108 0.0918393 0.700733 0.441147 +TTool-pose None 32.9401 11.3939 16.3418 0.663415 0.643342 -0.25292 0.286224 +#5470 1721120651644 +SLAM 17.1776 -21.7114 34.2547 -0.550254 0.10148 0.704786 0.436118 +TTool-pose None 33.0136 11.3639 16.2484 0.669113 0.634697 -0.258837 0.286974 +#5471 1721120651680 +SLAM 17.155 -21.7623 34.2254 -0.55024 0.100457 0.704631 0.436623 +TTool-pose None 33.0049 11.3584 16.2573 0.668499 0.635585 -0.258569 0.286679 +#5472 1721120651721 +SLAM 16.9773 -21.8928 34.2518 -0.554251 0.0916539 0.702652 0.436677 +TTool-pose None 32.9509 11.3146 16.3844 0.666789 0.641642 -0.251839 0.283132 +#5473 1721120651760 +SLAM 17.2597 -21.6799 34.2495 -0.549689 0.102057 0.705545 0.435468 +TTool-pose None 33.0372 11.3709 16.2493 0.66966 0.634004 -0.259643 0.286502 +#5474 1721120651790 +SLAM 17.0798 -21.6857 34.3692 -0.552549 0.0997829 0.7034 0.435844 +TTool-pose None 33.0083 11.3796 16.2829 0.669173 0.635842 -0.255866 0.286962 +#5475 1721120651821 +SLAM 17.077 -21.7897 34.2537 -0.55067 0.100721 0.703744 0.43745 +TTool-pose None 32.9957 11.37 16.2522 0.668005 0.635789 -0.258114 0.287789 +#5476 1721120651851 +SLAM 17.0774 -21.6867 34.3669 -0.552374 0.100271 0.703373 0.435999 +TTool-pose None 33.0077 11.3821 16.277 0.669156 0.635575 -0.256177 0.287317 +#5477 1721120651881 +SLAM 17.1033 -21.727 34.3213 -0.551669 0.100097 0.703714 0.43638 +TTool-pose None 33.0115 11.3824 16.2759 0.668756 0.635808 -0.256899 0.287088 +#5478 1721120651911 +SLAM 17.0863 -21.6485 34.4075 -0.552911 0.100146 0.703338 0.435404 +TTool-pose None 33.017 11.3857 16.2856 0.669623 0.635437 -0.255577 0.287068 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1721120652893 +SLAM 17.4397 -21.4885 34.3375 -0.550633 0.101309 0.707215 0.431724 +TTool-pose None 33.0922 11.3539 16.2807 0.672323 0.63296 -0.258583 0.283511 +#5510 1721120652926 +SLAM 17.362 -21.4786 34.4063 -0.552213 0.099883 0.706246 0.431624 +TTool-pose None 33.082 11.3587 16.3017 0.67224 0.633956 -0.25647 0.283399 +#5511 1721120652959 +SLAM 17.0981 -21.9159 34.2353 -0.552013 0.0935172 0.703694 0.437437 +TTool-pose None 33.0216 11.3906 16.3368 0.666435 0.640607 -0.254779 0.283679 +#5512 1721120652993 +SLAM 17.1888 -21.6032 34.3604 -0.55267 0.0986101 0.704809 0.433678 +TTool-pose None 33.0263 11.3352 16.2954 0.670492 0.6357 -0.255542 0.284472 +#5513 1721120653026 +SLAM 17.2869 -21.5332 34.3932 -0.552308 0.0996303 0.705589 0.432636 +TTool-pose None 33.0634 11.3562 16.2936 0.671454 0.634561 -0.256254 0.284105 +#5514 1721120653060 +SLAM 17.2012 -21.6739 34.3014 -0.551599 0.0988331 0.705012 0.434659 +TTool-pose None 33.0308 11.3435 16.2863 0.669706 0.635906 -0.256744 0.284783 +#5515 1721120653093 +SLAM 17.2634 -21.6447 34.3034 -0.551159 0.0994371 0.705615 0.434102 +TTool-pose None 33.0527 11.3467 16.2834 0.670207 0.635242 -0.257414 0.284479 +#5516 1721120653128 +SLAM 17.1883 -21.6193 34.3526 -0.552197 0.099444 0.704787 0.434124 +TTool-pose None 33.0318 11.3444 16.284 0.670311 0.635312 -0.256259 0.285121 +#5517 1721120653161 +SLAM 17.2612 -21.6189 34.3168 -0.551322 0.0998439 0.705575 0.433865 +TTool-pose None 33.0484 11.3444 16.2812 0.670496 0.634884 -0.257347 0.284661 +#5518 1721120653195 +SLAM 17.2393 -21.7034 34.2397 -0.550164 0.100237 0.705631 0.435152 +TTool-pose None 33.0377 11.3364 16.2603 0.669515 0.6351 -0.258672 0.285286 +#5519 1721120653229 +SLAM 17.1641 -21.7461 34.2361 -0.550424 0.0999847 0.704915 0.436041 +TTool-pose None 33.0176 11.3367 16.2552 0.668835 0.635661 -0.258275 0.285992 +#5520 1721120653263 +SLAM 17.1618 -21.7099 34.2797 -0.550936 0.100128 0.704743 0.435639 +TTool-pose None 33.0241 11.3454 16.2591 0.669222 0.635428 -0.257761 0.286068 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1721120654122 +SLAM 17.3577 -21.6354 34.2495 -0.548957 0.102735 0.706715 0.434333 +TTool-pose None 33.0809 11.3544 16.2382 0.670563 0.633026 -0.260681 0.285606 +#5546 1721120654156 +SLAM 17.3296 -21.6871 34.2118 -0.548567 0.1026 0.706572 0.43509 +TTool-pose None 33.0702 11.3485 16.2318 0.669932 0.633412 -0.261044 0.285898 +#5547 1721120654186 +SLAM 17.1656 -21.7208 34.2863 -0.550858 0.100304 0.704723 0.43573 +TTool-pose None 33.0353 11.3485 16.2629 0.669188 0.635346 -0.257888 0.286216 +#5548 1721120654217 +SLAM 17.1003 -21.9005 34.2126 -0.551429 0.0953248 0.704031 0.43724 +TTool-pose None 33.0178 11.3503 16.3198 0.666952 0.6393 -0.255906 0.284397 +#5549 1721120654250 +SLAM 17.0691 -21.9216 34.2102 -0.551649 0.0948664 0.703721 0.437562 +TTool-pose None 33.0086 11.3495 16.3231 0.66663 0.639751 -0.255527 0.284479 +#5550 1721120654282 +SLAM 17.1885 -21.7232 34.2619 -0.550144 0.101239 0.705052 0.435883 +TTool-pose None 33.0394 11.3476 16.2467 0.669216 0.634749 -0.25891 0.286552 +#5551 1721120654316 +SLAM 17.2314 -21.6533 34.3119 -0.550711 0.101204 0.705293 0.434785 +TTool-pose None 33.0546 11.3551 16.2585 0.670076 0.63434 -0.258326 0.285972 +#5552 1721120654353 +SLAM 17.2659 -21.5648 34.3966 -0.551676 0.101221 0.705335 0.433486 +TTool-pose None 33.0774 11.3693 16.2741 0.67114 0.633836 -0.257319 0.285503 +#5553 1721120654386 +SLAM 17.2106 -21.8482 34.1807 -0.549683 0.0982751 0.705281 0.436772 +TTool-pose None 33.0446 11.3544 16.2812 0.667805 0.637051 -0.258628 0.284982 +#5554 1721120654418 +SLAM 17.2445 -21.6329 34.3499 -0.551553 0.0999191 0.705231 0.434114 +TTool-pose None 33.0651 11.3595 16.287 0.670358 0.634954 -0.257097 0.285053 +#5555 1721120654452 +SLAM 17.1716 -21.7435 34.2813 -0.551003 0.0993156 0.704739 0.435746 +TTool-pose None 33.0409 11.3503 16.2777 0.668958 0.636013 -0.257476 0.285641 +#5556 1721120654486 +SLAM 17.2453 -21.6324 34.3277 -0.550849 0.101297 0.705379 0.434448 +TTool-pose None 33.061 11.3563 16.2618 0.67036 0.634144 -0.258212 0.285845 +#5557 1721120654522 +SLAM 17.1618 -21.6428 34.3658 -0.551645 0.101044 0.704478 0.434958 +TTool-pose None 33.0468 11.3617 16.2592 0.670019 0.634578 -0.257237 0.286561 +#5558 1721120654559 +SLAM 17.1385 -21.7369 34.2834 -0.550936 0.100232 0.704478 0.436044 +TTool-pose None 33.0279 11.3467 16.2611 0.66895 0.635531 -0.257767 0.286469 +#5559 1721120654594 +SLAM 17.2163 -21.714 34.2683 -0.550063 0.101192 0.705285 0.435619 +TTool-pose None 33.0527 11.3522 16.2497 0.669388 0.634663 -0.259002 0.286257 +#5560 1721120654630 +SLAM 17.2485 -21.6249 34.3193 -0.550656 0.101748 0.705492 0.434404 +TTool-pose None 33.058 11.3492 16.2543 0.670477 0.633815 -0.258542 0.286001 +#5561 1721120654667 +SLAM 17.2255 -21.7116 34.2541 -0.549814 0.101486 0.705456 0.435588 +TTool-pose None 33.0502 11.3459 16.2443 0.669452 0.63444 -0.259354 0.286285 +#5562 1721120654701 +SLAM 17.1576 -21.7337 34.2721 -0.550468 0.100883 0.704747 0.43605 +TTool-pose None 33.035 11.3451 16.2491 0.669046 0.635075 -0.258452 0.286638 +#5563 1721120654741 +SLAM 17.4308 -21.6159 34.2322 -0.548004 0.10399 0.707494 0.43397 +TTool-pose None 33.106 11.3553 16.2251 0.671009 0.63198 -0.26207 0.285603 +#5564 1721120654775 +SLAM 17.22 -21.7187 34.2645 -0.549615 0.10207 0.705367 0.435847 +TTool-pose None 33.0611 11.3543 16.2354 0.669377 0.634152 -0.259709 0.286775 +#5565 1721120654811 +SLAM 17.0833 -21.8047 34.242 -0.550182 0.101053 0.704177 0.43729 +TTool-pose None 33.0191 11.3366 16.2353 0.668145 0.635472 -0.25875 0.287594 +#5566 1721120654842 +SLAM 17.3125 -21.5076 34.4393 -0.551506 0.102586 0.705768 0.432676 +TTool-pose None 33.1112 11.3684 16.2633 0.672033 0.632578 -0.25789 0.285675 +#5567 1721120654875 +SLAM 17.401 -21.5851 34.2742 -0.548114 0.105369 0.707294 0.433823 +TTool-pose None 33.1175 11.3436 16.203 0.671452 0.631013 -0.262298 0.286492 +#5568 1721120654907 +SLAM 17.2097 -21.5759 34.4222 -0.551323 0.103053 0.705005 0.434041 +TTool-pose None 33.0941 11.3546 16.2367 0.671127 0.63284 -0.258146 0.286994 +#5569 1721120654941 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17.247 -21.9902 34.1047 -0.547144 0.0990783 0.705857 0.438842 +TTool-pose None 33.1041 11.3939 16.2306 0.666179 0.637239 -0.261544 0.285706 +#5594 1721120655790 +SLAM 17.3263 -21.908 34.1241 -0.547431 0.0990535 0.706633 0.437239 +TTool-pose None 33.1151 11.3769 16.2469 0.667384 0.636593 -0.261302 0.284554 +#5595 1721120655823 +SLAM 17.3931 -21.7104 34.186 -0.547438 0.102897 0.707505 0.434926 +TTool-pose None 33.1168 11.3359 16.2109 0.669987 0.633074 -0.262378 0.285297 +#5596 1721120655854 +SLAM 17.3021 -21.9278 34.136 -0.54772 0.0984613 0.706311 0.43753 +TTool-pose None 33.1162 11.3863 16.2521 0.667063 0.637126 -0.260816 0.284559 +#5597 1721120655886 +SLAM 17.2267 -21.9489 34.1522 -0.548244 0.0983324 0.705532 0.43816 +TTool-pose None 33.0969 11.3879 16.2497 0.666632 0.637512 -0.26017 0.285296 +#5598 1721120655919 +SLAM 17.33 -21.8543 34.1207 -0.547881 0.0990677 0.706944 0.436168 +TTool-pose None 33.096 11.3277 16.2529 0.668224 0.636157 -0.26086 0.283959 +#5599 1721120655952 +SLAM 17.1658 -21.9292 34.1576 -0.549789 0.0962793 0.705175 0.437254 +TTool-pose None 33.0571 11.3258 16.2837 0.666985 0.638576 -0.257976 0.284079 +#5600 1721120655983 +SLAM 17.1787 -22.002 34.117 -0.548788 0.0963101 0.705228 0.438418 +TTool-pose None 33.0713 11.3586 16.273 0.666021 0.638987 -0.259036 0.284454 +#5601 1721120656014 +SLAM 17.1058 -22.0565 34.1403 -0.548858 0.0964739 0.704292 0.439797 +TTool-pose None 33.0724 11.3975 16.2596 0.665055 0.639468 -0.258927 0.285731 +#5602 1721120656047 +SLAM 17.155 -22.0215 34.1252 -0.548946 0.0960339 0.704926 0.438765 +TTool-pose None 33.0717 11.367 16.2747 0.665718 0.639325 -0.258771 0.284643 +#5603 1721120656080 +SLAM 17.2964 -21.824 34.1605 -0.547882 0.10082 0.706502 0.436481 +TTool-pose None 33.095 11.346 16.2276 0.668412 0.635136 -0.261288 0.285408 +#5604 1721120656116 +SLAM 17.3698 -21.9005 34.0943 -0.545662 0.102257 0.707184 0.43782 +TTool-pose None 33.1334 11.3935 16.1944 0.667505 0.634612 -0.264041 0.286163 +#5605 1721120656148 +SLAM 17.3514 -21.7042 34.2083 -0.547752 0.103315 0.707083 0.435118 +TTool-pose None 33.1093 11.3348 16.2037 0.669983 0.6329 -0.262126 0.285925 +#5606 1721120656180 +SLAM 17.1861 -21.9667 34.154 -0.548926 0.0970419 0.705167 0.438181 +TTool-pose None 33.0817 11.3735 16.2661 0.666388 0.638414 -0.259081 0.28484 +#5607 1721120656218 +SLAM 17.2864 -21.7492 34.1943 -0.548313 0.10193 0.706519 0.435655 +TTool-pose None 33.0844 11.323 16.2154 0.669331 0.634079 -0.26113 0.285749 +#5608 1721120656254 +SLAM 17.1711 -21.9297 34.1388 -0.5494 0.0967985 0.70535 0.437346 +TTool-pose None 33.0538 11.3194 16.2718 0.666996 0.638249 -0.258536 0.284276 +#5609 1721120656287 +SLAM 17.343 -21.769 34.1335 -0.547033 0.102737 0.707283 0.435833 +TTool-pose None 33.0927 11.3177 16.198 0.669238 0.63354 -0.262742 0.285685 +#5610 1721120656321 +SLAM 17.3852 -21.6226 34.2612 -0.54845 0.103261 0.707289 0.433915 +TTool-pose None 33.1183 11.3371 16.2112 0.670932 0.632467 -0.261395 0.285324 +#5611 1721120656353 +SLAM 17.2561 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0.490397 0.548913 +TTool-pose None 35.9153 10.9474 15.7591 0.561819 0.687471 -0.0794773 0.453193 +#5630 1721120656893 +#5631 1721120656925 +SLAM -8.0664 -25.9206 39.861 -0.682732 0.0752552 0.457183 0.564975 +TTool-pose None 35.6649 10.6329 15.5876 0.540512 0.691901 -0.056659 0.475259 +#5632 1721120656957 +SLAM -10.0473 -25.733 39.1964 -0.688445 0.0727843 0.437072 0.574207 +TTool-pose None 35.479 10.3775 15.3547 0.527287 0.694317 -0.0429227 0.487866 +#5633 1721120656987 +SLAM -11.5195 -25.4845 38.7031 -0.694619 0.0693644 0.422099 0.578382 +TTool-pose None 35.3615 10.1257 15.1865 0.519013 0.695997 -0.0300539 0.495251 +#5634 1721120657021 +SLAM -14.6762 -24.7731 37.7015 -0.702205 0.0707167 0.384798 0.594843 +TTool-pose None 35.1129 10.0597 14.8773 0.494814 0.695442 -0.00828688 0.520978 +#5635 1721120657055 +SLAM -16.0487 -24.3486 37.2303 -0.712984 0.0641136 0.36668 0.594213 +TTool-pose None 34.9418 9.93763 14.9458 0.487947 0.696458 0.0120857 0.525999 +#5636 1721120657094 +SLAM -17.7281 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1721120658118 +SLAM -36.1452 -13.0277 18.707 -0.758256 0.0155409 0.00956644 0.651701 +TTool-pose None 33.6659 7.71406 12.9183 0.253375 0.656206 0.256824 0.662736 +#5667 1721120658150 +SLAM -36.1519 -13.0149 18.7129 -0.759144 0.0153768 0.00944904 0.650672 +TTool-pose None 33.6696 7.70028 12.928 0.254139 0.655904 0.257853 0.662343 +#5668 1721120658182 +SLAM -36.1444 -12.9787 18.7365 -0.762077 0.0140721 0.00861031 0.647276 +TTool-pose None 33.6429 7.71767 12.9562 0.256126 0.655221 0.261785 0.660709 +#5669 1721120658214 +SLAM -36.1543 -12.9395 18.8678 -0.76176 0.016083 0.00987465 0.647584 +TTool-pose None 33.6853 7.70618 12.9543 0.257289 0.654513 0.260026 0.661652 +#5670 1721120658246 +SLAM -36.2363 -12.6572 18.9525 -0.761879 0.0184434 0.0075834 0.647413 +TTool-pose None 33.6945 7.80707 12.9132 0.256738 0.652222 0.260757 0.663838 +#5671 1721120658279 +SLAM -36.2692 -12.6241 18.9316 -0.76169 0.0192454 0.00764697 0.647611 +TTool-pose None 33.7255 7.75355 12.9047 0.256859 0.651817 0.260261 0.664384 +#5672 1721120658313 +SLAM -36.2258 -12.798 18.7327 -0.758282 0.0180897 0.00856354 0.65162 +TTool-pose None 33.7077 7.68377 12.8596 0.253617 0.654264 0.256614 0.664642 +#5673 1721120658341 +#5674 1721120658370 +#5675 1721120658398 +#5676 1721120658426 +#5677 1721120658458 +#5678 1721120658489 +#5679 1721120658526 +SLAM -35.9294 -12.9498 19.099 -0.762024 0.0214821 0.0152463 0.647013 +TTool-pose None 33.6005 7.41504 12.9711 0.262826 0.652761 0.255263 0.663061 +#5680 1721120658563 +SLAM -36.1693 -12.9247 19.0307 -0.765379 0.0145047 0.00954564 0.643345 +TTool-pose None 33.7012 7.82013 13.0086 0.260216 0.65386 0.264452 0.659396 +#5681 1721120658597 +SLAM -36.1136 -12.9617 18.9167 -0.763352 0.0153541 0.0102295 0.645719 +TTool-pose None 33.6591 7.71075 12.9751 0.258883 0.654416 0.26168 0.660474 +#5682 1721120658629 +SLAM -36.118 -13.0967 18.5654 -0.759128 0.0128069 0.00900094 0.650753 +TTool-pose None 33.6302 7.69564 12.8955 0.252975 0.657369 0.258963 0.660902 +#5683 1721120658662 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1721120658877 +SLAM -36.1596 -12.924 18.8396 -0.761245 0.0160773 0.00934768 0.648198 +TTool-pose None 33.6746 7.72471 12.9478 0.256429 0.654559 0.259822 0.662022 +#5690 1721120658915 +SLAM -36.1533 -12.9658 18.7338 -0.761438 0.0146025 0.00856127 0.648017 +TTool-pose None 33.6481 7.71704 12.9524 0.255626 0.655142 0.260985 0.661298 +#5691 1721120658952 +SLAM -36.1517 -13.0028 18.6566 -0.7599 0.0145074 0.00864391 0.64982 +TTool-pose None 33.6477 7.69723 12.9293 0.254094 0.655869 0.2594 0.661791 +#5692 1721120658990 +SLAM -36.1513 -13.0091 18.6287 -0.759723 0.0143126 0.00852652 0.650034 +TTool-pose None 33.644 7.69091 12.9241 0.253775 0.656026 0.259355 0.661776 +#5693 1721120659027 +SLAM -36.1524 -13.0321 18.588 -0.758577 0.0143064 0.00849727 0.651371 +TTool-pose None 33.6436 7.69391 12.9128 0.252599 0.656493 0.258208 0.66221 +#5694 1721120659062 +SLAM -36.1526 -13.0582 18.5569 -0.756995 0.0147302 0.00886461 0.653195 +TTool-pose None 33.6523 7.68333 12.894 0.251385 0.656999 0.256238 0.662936 +#5695 1721120659098 +SLAM -36.1505 -13.045 18.5827 -0.756439 0.0154727 0.00934749 0.653814 +TTool-pose None 33.6621 7.67305 12.8791 0.251385 0.65692 0.255134 0.663439 +#5696 1721120659135 +SLAM -36.1715 -13.0242 18.5401 -0.756252 0.0156353 0.00898493 0.654032 +TTool-pose None 33.6704 7.64832 12.8732 0.25102 0.656774 0.25511 0.663731 +#5697 1721120659174 +SLAM -36.2378 -12.8444 18.4869 -0.760689 0.0140699 0.00538611 0.648942 +TTool-pose None 33.6359 7.6874 12.9132 0.252663 0.65473 0.262329 0.662311 +#5698 1721120659216 +SLAM -36.3265 -12.7044 18.2628 -0.758937 0.0148565 0.00305853 0.650988 +TTool-pose None 33.6497 7.61614 12.8503 0.249676 0.654184 0.261701 0.66423 +#5699 1721120659260 +SLAM -36.4133 -12.5447 17.9864 -0.760393 0.0130543 -0.00140607 0.649331 +TTool-pose None 33.6114 7.59934 12.8349 0.247703 0.653194 0.266511 0.66403 +#5700 1721120659301 +SLAM -36.541 -12.318 17.5473 -0.759635 0.0121376 -0.00699023 0.650199 +TTool-pose None 33.5819 7.52017 12.7717 0.243097 0.652161 0.26947 0.665552 +#5701 1721120659340 +SLAM -36.6746 -12.0004 17.1367 -0.760151 0.0113688 -0.0134078 0.649509 +TTool-pose None 33.5423 7.46345 12.7042 0.239319 0.650182 0.274209 0.666921 +#5702 1721120659379 +SLAM -36.6822 -12.0952 16.9397 -0.7559 0.010981 -0.0136148 0.654453 +TTool-pose None 33.5455 7.44115 12.6651 0.234783 0.652095 0.270147 0.668321 +#5703 1721120659423 +SLAM -36.6338 -12.1295 17.1411 -0.757173 0.0118483 -0.0116871 0.653002 +TTool-pose None 33.5458 7.45933 12.696 0.237563 0.651716 0.269958 0.667785 +#5704 1721120659467 +SLAM -36.6246 -12.0666 17.3333 -0.760277 0.0127626 -0.0104817 0.649388 +TTool-pose None 33.5673 7.44327 12.7133 0.241753 0.650289 0.272066 0.666816 +#5705 1721120659509 +SLAM -36.6092 -12.1322 17.2141 -0.758851 0.0117812 -0.0103912 0.651074 +TTool-pose None 33.5582 7.41548 12.6784 0.240044 0.651523 0.270886 0.666709 +#5706 1721120659548 +SLAM -36.6189 -12.1293 17.2694 -0.758862 0.0122277 -0.0104831 0.651052 +TTool-pose None 33.5629 7.45117 12.7089 0.240146 0.651208 0.270805 0.667013 +#5707 1721120659586 +SLAM -36.6194 -12.1245 17.2511 -0.757845 0.0126535 -0.010141 0.652233 +TTool-pose None 33.5717 7.43482 12.6793 0.23948 0.65148 0.269418 0.667548 +#5708 1721120659623 +SLAM -36.6141 -12.1115 17.3245 -0.75863 0.0129924 -0.00975939 0.651319 +TTool-pose None 33.5758 7.44588 12.691 0.240624 0.65108 0.269868 0.667346 +#5709 1721120659660 +SLAM -36.6234 -12.1094 17.2578 -0.758112 0.012822 -0.0101714 0.651919 +TTool-pose None 33.5743 7.42633 12.6806 0.239786 0.651255 0.269652 0.667563 +#5710 1721120659698 +SLAM -36.6087 -12.1483 17.186 -0.758383 0.0116773 -0.0104313 0.651621 +TTool-pose None 33.5567 7.40985 12.6768 0.239513 0.651766 0.27047 0.666831 +#5711 1721120659735 +SLAM -36.6231 -12.1396 17.1701 -0.758492 0.0116142 -0.0109835 0.651486 +TTool-pose None 33.5557 7.4187 12.6941 0.239254 0.651567 0.270942 0.666927 +#5712 1721120659773 +SLAM -36.6157 -12.1355 17.2109 -0.757405 0.0126011 -0.010084 0.652746 +TTool-pose None 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-0.00967404 0.652212 +TTool-pose None 33.5689 7.42433 12.6785 0.239751 0.651727 0.269208 0.667295 +#5725 1721120660234 +SLAM -36.6176 -12.2266 16.9098 -0.758814 0.00856952 -0.0125552 0.65113 +TTool-pose None 33.5195 7.36147 12.6938 0.237576 0.652774 0.273258 0.6654 +#5726 1721120660267 +SLAM -36.5975 -12.1774 17.1985 -0.757742 0.0118143 -0.00968145 0.652375 +TTool-pose None 33.5659 7.40187 12.6603 0.239386 0.652206 0.26931 0.666916 +#5727 1721120660301 +SLAM -36.5848 -12.2195 17.2065 -0.756928 0.0118194 -0.00922476 0.653326 +TTool-pose None 33.5655 7.41375 12.661 0.238857 0.652695 0.268201 0.667074 +#5728 1721120660336 +SLAM -36.5765 -12.2309 17.229 -0.755249 0.0127532 -0.00837019 0.655261 +TTool-pose None 33.5773 7.4113 12.6347 0.238022 0.653093 0.26566 0.668 +#5729 1721120660377 +SLAM -36.5803 -12.247 17.1794 -0.755974 0.0119839 -0.00889779 0.654431 +TTool-pose None 33.569 7.39567 12.6529 0.23816 0.653095 0.266976 0.667423 +#5730 1721120660417 +SLAM -36.5801 -12.1802 17.3338 -0.759144 0.0121017 -0.00897625 0.650749 +TTool-pose None 33.5668 7.43726 12.6921 0.241337 0.651696 0.270205 0.666349 +#5731 1721120660454 +SLAM -36.6037 -12.1214 17.3028 -0.757418 0.0133185 -0.00899264 0.652733 +TTool-pose None 33.5861 7.41778 12.6445 0.239996 0.651641 0.268055 0.667754 +#5732 1721120660484 +SLAM -36.587 -12.1954 17.2439 -0.757642 0.0120265 -0.00924004 0.652494 +TTool-pose None 33.5665 7.41768 12.6691 0.239634 0.652269 0.268866 0.666945 +#5733 1721120660517 +SLAM -36.5817 -12.0933 17.5263 -0.758008 0.0146703 -0.00773195 0.652035 +TTool-pose None 33.5954 7.49615 12.6587 0.241838 0.650993 0.267428 0.667973 +#5734 1721120660554 +SLAM -36.5731 -12.182 17.3318 -0.75826 0.012367 -0.00878488 0.651776 +TTool-pose None 33.5644 7.44613 12.6747 0.240656 0.651962 0.269099 0.666783 +#5735 1721120660591 +SLAM -36.5831 -12.1334 17.4579 -0.760162 0.0129704 -0.008517 0.649549 +TTool-pose None 33.5799 7.46406 12.7036 0.242944 0.650893 0.270669 0.666363 +#5736 1721120660624 +SLAM -36.581 -12.2157 17.2424 -0.757637 0.0116732 -0.00918842 0.652507 +TTool-pose None 33.5633 7.42934 12.6705 0.239544 0.652509 0.268947 0.66671 +#5737 1721120660661 +SLAM -36.572 -12.242 17.1987 -0.755078 0.0123529 -0.00875082 0.65546 +TTool-pose None 33.5636 7.42339 12.6388 0.237477 0.653279 0.265855 0.667934 +#5738 1721120660693 +SLAM -36.5921 -12.1524 17.4315 -0.75848 0.0135095 -0.00812518 0.651506 +TTool-pose None 33.5976 7.45302 12.683 0.241676 0.651388 0.268536 0.667202 +#5739 1721120660726 +SLAM -36.6069 -12.1461 17.4799 -0.757595 0.0149385 -0.00715821 0.652515 +TTool-pose None 33.6338 7.41845 12.6778 0.241875 0.651194 0.266566 0.668109 +#5740 1721120660757 +#5741 1721120660789 +#5742 1721120660819 +#5743 1721120660851 +#5744 1721120660881 +#5745 1721120660912 +#5746 1721120660943 +#5747 1721120660973 +#5748 1721120661004 +SLAM -36.5524 -12.2728 16.986 -0.756726 0.00926874 -0.0111096 0.653572 +TTool-pose None 33.4911 7.4089 12.6591 0.236616 0.653704 0.27001 0.666154 +#5749 1721120661038 +SLAM -36.5929 -12.1334 17.4414 -0.761137 0.0124081 -0.00900226 0.64841 +TTool-pose None 33.578 7.46123 12.7242 0.243434 0.650668 0.272149 0.665799 +#5750 1721120661071 +SLAM -36.5866 -12.1826 17.2896 -0.758815 0.0119599 -0.00924919 0.651131 +TTool-pose None 33.5661 7.4248 12.6879 0.240787 0.651825 0.270086 0.666471 +#5751 1721120661105 +SLAM -36.5806 -12.184 17.2676 -0.758843 0.0117063 -0.00935744 0.651101 +TTool-pose None 33.5583 7.41961 12.6808 0.240662 0.651934 0.270266 0.666336 +#5752 1721120661140 +SLAM -36.5792 -12.1701 17.3515 -0.758286 0.0127685 -0.00864266 0.65174 +TTool-pose None 33.5729 7.43944 12.6773 0.240907 0.65175 0.268905 0.666978 +#5753 1721120661174 +SLAM -36.5959 -12.1444 17.3127 -0.757651 0.0130205 -0.00903086 0.652467 +TTool-pose None 33.578 7.43257 12.6627 0.240108 0.651718 0.268415 0.667494 +#5754 1721120661205 +SLAM -36.5873 -12.1917 17.2059 -0.756873 0.0121574 -0.00926257 0.653383 +TTool-pose None 33.5659 7.40353 12.6491 0.238891 0.652494 0.268055 0.667318 +#5755 1721120661238 +SLAM -36.6186 -12.101 17.2696 -0.759094 0.0123625 -0.0102073 0.650784 +TTool-pose None 33.5707 7.42793 12.6782 0.240599 0.651125 0.270826 0.666923 +#5756 1721120661271 +SLAM -36.5984 -12.1429 17.3068 -0.757484 0.0131795 -0.00894737 0.652659 +TTool-pose None 33.5822 7.4213 12.6593 0.240046 0.651717 0.268141 0.667628 +#5757 1721120661305 +SLAM -36.5945 -12.1157 17.41 -0.758595 0.0136245 -0.00858067 0.651364 +TTool-pose None 33.5872 7.44699 12.6746 0.241543 0.651111 0.268895 0.667376 +#5758 1721120661336 +SLAM -36.5881 -12.19 17.2417 -0.755642 0.0131425 -0.00854071 0.654798 +TTool-pose None 33.5829 7.4025 12.6312 0.238439 0.652632 0.266033 0.668153 +#5759 1721120661376 +SLAM -36.5981 -12.0545 17.5255 -0.759907 0.0142212 -0.00851396 0.649821 +TTool-pose None 33.5915 7.48774 12.6856 0.243107 0.650218 0.269991 0.667236 +#5760 1721120661409 +SLAM -36.5828 -12.1126 17.4419 -0.756934 0.0144956 -0.00787145 0.653284 +TTool-pose None 33.5927 7.46489 12.6394 0.240611 0.651494 0.266481 0.668306 +#5761 1721120661442 +SLAM -36.5822 -12.0393 17.6348 -0.757996 0.0159416 -0.0071825 0.652025 +TTool-pose None 33.6079 7.52224 12.6496 0.2426 0.650392 0.266656 0.66859 +#5762 1721120661474 +SLAM -36.6042 -12.1812 17.1407 -0.754621 0.012855 -0.00939149 0.655968 +TTool-pose None 33.5765 7.39363 12.6158 0.236783 0.652927 0.265619 0.668618 +#5763 1721120661508 +SLAM -36.6035 -12.0493 17.5174 -0.755988 0.0160241 -0.00766841 0.654344 +TTool-pose None 33.6146 7.4958 12.6237 0.240303 0.650992 0.26489 0.669538 +#5764 1721120661541 +SLAM -36.5839 -12.098 17.5081 -0.757885 0.0145346 -0.00784332 0.652179 +TTool-pose None 33.5948 7.49388 12.6575 0.241599 0.65109 0.267417 0.66797 +#5765 1721120661572 +SLAM -36.5946 -12.1253 17.3184 -0.755862 0.0138194 -0.0087867 0.654527 +TTool-pose None 33.5811 7.45548 12.626 0.238731 0.652034 0.266182 0.668573 +#5766 1721120661606 +SLAM -36.5952 -12.1263 17.3658 -0.757798 0.0132958 -0.00888807 0.652293 +TTool-pose None 33.5806 7.46178 12.6609 0.240438 0.651536 0.268384 0.667566 +#5767 1721120661638 +SLAM -36.6452 -11.9489 17.4697 -0.752293 0.0185041 -0.00763185 0.658525 +TTool-pose None 33.6499 7.46778 12.5407 0.23746 0.650932 0.260308 0.672402 +#5768 1721120661669 +SLAM -36.6972 -11.9457 17.2045 -0.754459 0.0157778 -0.0104924 0.656073 +TTool-pose None 33.6306 7.39314 12.5768 0.236907 0.65078 0.265162 0.670845 +#5769 1721120661700 +SLAM -36.7747 -11.8385 17.054 -0.755735 0.0153148 -0.01283 0.654572 +TTool-pose None 33.6466 7.33916 12.5798 0.23656 0.649734 0.268051 0.670833 +#5770 1721120661734 +SLAM -36.6772 -12.0295 17.2177 -0.754986 0.0151442 -0.00966003 0.655495 +TTool-pose None 33.6347 7.37125 12.6025 0.237746 0.651256 0.265392 0.669995 +#5771 1721120661768 +SLAM -36.8242 -12.1006 16.227 -0.75614 0.00756675 -0.0175287 0.654132 +TTool-pose None 33.6023 7.07395 12.6265 0.231433 0.652728 0.273957 0.66732 +#5772 1721120661801 +#5773 1721120661834 +#5774 1721120661867 +#5775 1721120661901 +#5776 1721120661934 +#5777 1721120661967 +#5778 1721120661997 +#5779 1721120662029 +#5780 1721120662062 +#5781 1721120662095 +#5782 1721120662130 +#5783 1721120662162 +#5784 1721120662193 +#5785 1721120662223 +#5786 1721120662253 +#5787 1721120662283 +#5788 1721120662314 +SLAM -36.7627 -11.9214 16.9519 -0.755043 0.0144387 -0.0126887 0.655393 +TTool-pose None 33.6405 7.29059 12.5851 0.235661 0.650612 0.267554 0.670497 +#5789 1721120662344 +SLAM -36.5913 -12.0491 17.544 -0.758626 0.0147728 -0.00824983 0.651307 +TTool-pose None 33.5906 7.51467 12.6635 0.242168 0.650495 0.268342 0.667973 +#5790 1721120662377 +SLAM -36.5917 -12.2251 17.1285 -0.757383 0.0110475 -0.0099024 0.652803 +TTool-pose None 33.5565 7.38815 12.666 0.238629 0.652753 0.269337 0.666641 +#5791 1721120662414 +SLAM -36.5941 -12.1374 17.3634 -0.759098 0.0128761 -0.00893224 0.650787 +TTool-pose None 33.5795 7.43289 12.6855 0.241578 0.651248 0.269873 0.666835 +#5792 1721120662451 +SLAM -36.5871 -12.1844 17.2676 -0.757998 0.0121689 -0.00916201 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0.0125292 -0.00898601 0.652814 +TTool-pose None 33.575 7.4072 12.6627 0.23968 0.652159 0.268256 0.667281 +#5799 1721120662728 +SLAM -36.5829 -12.1838 17.2951 -0.758376 0.0122426 -0.00900067 0.65164 +TTool-pose None 33.5684 7.42107 12.6795 0.240596 0.651917 0.269392 0.666731 +#5800 1721120662773 +SLAM -36.5839 -12.1811 17.2972 -0.758508 0.0122156 -0.00901772 0.651486 +TTool-pose None 33.569 7.42067 12.6799 0.240709 0.651873 0.269546 0.66667 +#5801 1721120662811 +SLAM -36.586 -12.1579 17.3612 -0.758581 0.0130373 -0.00849039 0.651393 +TTool-pose None 33.5829 7.41934 12.6778 0.24139 0.651514 0.269021 0.666987 +#5802 1721120662849 +SLAM -36.5856 -12.1742 17.3273 -0.758011 0.0128905 -0.00858289 0.652058 +TTool-pose None 33.5802 7.41626 12.6738 0.240708 0.651808 0.268547 0.667137 +#5803 1721120662886 +SLAM -36.5883 -12.1815 17.2679 -0.758362 0.0120505 -0.00927361 0.651657 +TTool-pose None 33.5669 7.41688 12.6783 0.240345 0.651947 0.26961 0.666704 +#5804 1721120662925 +SLAM -36.5855 -12.1636 17.3313 -0.759471 0.0120368 -0.00916095 0.650365 +TTool-pose None 33.5676 7.43648 12.6896 0.241529 0.651537 0.270673 0.666245 +#5805 1721120662966 +SLAM -36.5874 -12.1557 17.352 -0.759382 0.0124304 -0.00901017 0.650464 +TTool-pose None 33.5721 7.43456 12.6926 0.241666 0.651381 0.270359 0.666476 +#5806 1721120663005 +SLAM -36.5852 -12.1814 17.2914 -0.758037 0.0124743 -0.0088696 0.652032 +TTool-pose None 33.5735 7.41273 12.6724 0.240415 0.651957 0.26889 0.666959 +#5807 1721120663046 +SLAM -36.5965 -12.134 17.4219 -0.758388 0.0140688 -0.00789698 0.651604 +TTool-pose None 33.6062 7.41078 12.6745 0.241915 0.651156 0.268116 0.667511 +#5808 1721120663084 +SLAM -36.5876 -12.1703 17.2879 -0.759091 0.0118384 -0.00944001 0.650808 +TTool-pose None 33.5625 7.42921 12.6862 0.240904 0.65172 0.270525 0.666352 +#5809 1721120663124 +SLAM -36.5887 -12.1778 17.2814 -0.757859 0.0125292 -0.0089359 0.652237 +TTool-pose None 33.5749 7.41005 12.6691 0.240212 0.651973 0.268731 0.667081 +#5810 1721120663162 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1721120663414 +SLAM -36.5875 -12.1555 17.3421 -0.759496 0.0122435 -0.00915484 0.650332 +TTool-pose None 33.5689 7.43653 12.6926 0.241627 0.6514 0.270626 0.666363 +#5817 1721120663458 +SLAM -36.5867 -12.1758 17.2836 -0.758668 0.0120334 -0.00927269 0.651301 +TTool-pose None 33.5654 7.4226 12.6813 0.240648 0.651832 0.269926 0.666579 +#5818 1721120663504 +SLAM -36.5844 -12.1588 17.3574 -0.760012 0.0120589 -0.00913578 0.649733 +TTool-pose None 33.567 7.44054 12.7011 0.242098 0.651308 0.271201 0.666048 +#5819 1721120663546 +SLAM -36.5877 -12.1583 17.3461 -0.759692 0.0121245 -0.00919459 0.650106 +TTool-pose None 33.5684 7.44056 12.6973 0.241759 0.651379 0.270889 0.666228 +#5820 1721120663582 +SLAM -36.5861 -12.168 17.3183 -0.759027 0.0122397 -0.00906692 0.650881 +TTool-pose None 33.5699 7.42498 12.6858 0.241209 0.651627 0.270096 0.666508 +#5821 1721120663618 +SLAM -36.5905 -12.171 17.2715 -0.758425 0.0121831 -0.00931241 0.65158 +TTool-pose None 33.5676 7.4145 12.6779 0.240429 0.651825 0.269654 0.666775 +#5822 1721120663667 +SLAM -36.5868 -12.1509 17.3899 -0.759138 0.0130304 -0.00850681 0.650744 +TTool-pose None 33.5833 7.42894 12.6887 0.241938 0.651283 0.2696 0.66678 +#5823 1721120663714 +SLAM -36.5929 -12.1664 17.3363 -0.757807 0.0132712 -0.00833213 0.652291 +TTool-pose None 33.5932 7.40324 12.6669 0.240789 0.651741 0.268059 0.667369 +#5824 1721120663758 +SLAM -36.5827 -12.1674 17.3421 -0.760009 0.0117553 -0.00926084 0.649741 +TTool-pose None 33.5629 7.44526 12.7001 0.241914 0.651455 0.271376 0.6659 +#5825 1721120663800 +SLAM -36.5861 -12.1666 17.3538 -0.75832 0.0129797 -0.00849464 0.651697 +TTool-pose None 33.583 7.42352 12.6769 0.241105 0.651656 0.268778 0.667049 +#5826 1721120663840 +SLAM -36.5864 -12.1493 17.3828 -0.759515 0.0126854 -0.00872015 0.650308 +TTool-pose None 33.5784 7.43523 12.6905 0.242068 0.651268 0.27023 0.666492 +#5827 1721120663880 +SLAM -36.5856 -12.1705 17.3363 -0.757831 0.0131223 -0.00842551 0.652264 +TTool-pose None 33.5838 7.41355 12.6696 0.240705 0.651792 0.268191 0.667298 +#5828 1721120663919 +SLAM -36.5881 -12.1797 17.2625 -0.758591 0.0118583 -0.00942413 0.651391 +TTool-pose None 33.5633 7.41973 12.6802 0.240417 0.65192 0.27 0.666546 +#5829 1721120663959 +SLAM -36.5866 -12.1748 17.3039 -0.758734 0.0122442 -0.00905964 0.651222 +TTool-pose None 33.5704 7.42014 12.6834 0.24092 0.651747 0.269792 0.666617 +#5830 1721120663997 +SLAM -36.5887 -12.148 17.375 -0.758581 0.0132215 -0.00849884 0.65139 +TTool-pose None 33.5848 7.42527 12.6787 0.241446 0.651396 0.268964 0.667104 +#5831 1721120664038 +SLAM -36.5842 -12.1908 17.2692 -0.758388 0.0119418 -0.009174 0.65163 +TTool-pose None 33.5659 7.417 12.6783 0.240398 0.652039 0.269611 0.666594 +#5832 1721120664078 +SLAM -36.5896 -12.125 17.453 -0.760619 0.0128366 -0.00871201 0.649013 +TTool-pose None 33.5815 7.45869 12.7096 0.243238 0.650718 0.2713 0.666169 +#5833 1721120664122 +SLAM -36.5955 -12.1343 17.4147 -0.758825 0.0136685 -0.00815046 0.6511 +TTool-pose None 33.5998 7.41908 12.6791 0.242061 0.651138 0.26885 0.66718 +#5834 1721120664165 +SLAM -36.5849 -12.1786 17.2967 -0.758642 0.0121687 -0.00907578 0.651331 +TTool-pose None 33.5686 7.42052 12.6814 0.240792 0.651827 0.269733 0.66661 +#5835 1721120664206 +SLAM -36.5928 -12.1529 17.368 -0.757996 0.0136047 -0.00815568 0.652066 +TTool-pose None 33.5968 7.40458 12.6685 0.241202 0.651517 0.268032 0.66745 +#5836 1721120664245 +SLAM -36.5894 -12.1634 17.3088 -0.759344 0.0119773 -0.00932833 0.650513 +TTool-pose None 33.5669 7.4294 12.689 0.241275 0.651568 0.270666 0.666309 +#5837 1721120664284 +SLAM -36.5844 -12.1735 17.3125 -0.759244 0.0119213 -0.00923468 0.650632 +TTool-pose None 33.5647 7.43413 12.6898 0.241215 0.651677 0.270526 0.666282 +#5838 1721120664325 +SLAM -36.5896 -12.1466 17.3688 -0.760092 0.0122618 -0.00912281 0.649636 +TTool-pose None 33.5718 7.4396 12.701 0.242254 0.651153 0.271207 0.666141 +#5839 1721120664368 +SLAM -36.5878 -12.1491 17.3921 -0.758987 0.0131179 -0.00849608 0.650919 +TTool-pose None 33.5843 7.43208 12.6872 0.241822 0.651295 0.26941 0.666888 +#5840 1721120664405 +SLAM -36.595 -12.1475 17.3386 -0.758311 0.0130464 -0.00883461 0.651702 +TTool-pose None 33.5823 7.42318 12.676 0.240904 0.6515 0.268956 0.667203 +#5841 1721120664442 +SLAM -36.5842 -12.1781 17.3028 -0.7586 0.0121604 -0.00903147 0.651381 +TTool-pose None 33.5692 7.4267 12.6781 0.240774 0.651865 0.269666 0.666606 +#5842 1721120664480 +SLAM -36.5849 -12.1664 17.3275 -0.759244 0.0121417 -0.00914102 0.650629 +TTool-pose None 33.5669 7.43456 12.6901 0.241347 0.651573 0.270394 0.666389 +#5843 1721120664518 +SLAM -36.5855 -12.1748 17.3134 -0.758859 0.0121807 -0.00905504 0.651078 +TTool-pose None 33.5698 7.42799 12.6846 0.241027 0.651737 0.269937 0.66653 +#5844 1721120664556 +SLAM -36.5862 -12.1989 17.2183 -0.757663 0.0118168 -0.00935814 0.652472 +TTool-pose None 33.5633 7.40706 12.666 0.239511 0.65235 0.26903 0.666844 +#5845 1721120664595 +SLAM -36.5879 -12.1913 17.2366 -0.757742 0.0119968 -0.00930282 0.652377 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-0.758436 0.0118891 -0.01014 0.65156 +TTool-pose None 33.5631 7.41624 12.6698 0.23982 0.651715 0.270273 0.666851 +#5858 1721120665052 +SLAM -36.6124 -12.1367 17.2175 -0.758769 0.0118329 -0.0102231 0.651172 +TTool-pose None 33.5658 7.4112 12.6754 0.240084 0.651583 0.270682 0.666719 +#5859 1721120665093 +SLAM -36.6143 -11.9494 17.6798 -0.759611 0.0165324 -0.007824 0.650121 +TTool-pose None 33.6208 7.5175 12.666 0.24402 0.649133 0.268497 0.66856 +#5860 1721120665126 +SLAM -36.5756 -12.1122 17.4983 -0.757059 0.0148544 -0.00751208 0.653135 +TTool-pose None 33.5944 7.48189 12.6477 0.241084 0.651343 0.266268 0.668368 +#5861 1721120665160 +SLAM -36.6325 -12.198 16.9837 -0.75542 0.011529 -0.0106854 0.655053 +TTool-pose None 33.5739 7.33113 12.6361 0.236325 0.652979 0.267668 0.667912 +#5862 1721120665195 +SLAM -36.6133 -12.0234 17.5329 -0.756986 0.016056 -0.00792572 0.653186 +TTool-pose None 33.6172 7.48768 12.6387 0.241154 0.650476 0.26605 0.669273 +#5863 1721120665234 +SLAM -36.6951 -11.9959 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1721120665851 +SLAM -36.6271 -12.169 17.0854 -0.756841 0.0116995 -0.0105341 0.653409 +TTool-pose None 33.5721 7.36793 12.6539 0.237904 0.652348 0.268959 0.667449 +#5882 1721120665882 +SLAM -36.6056 -12.1286 17.2459 -0.754091 0.0144626 -0.00867952 0.656554 +TTool-pose None 33.5922 7.41065 12.6015 0.237238 0.652384 0.264109 0.669584 +#5883 1721120665920 +SLAM -36.5876 -12.1006 17.4354 -0.758631 0.0136357 -0.0086551 0.65132 +TTool-pose None 33.5787 7.47582 12.6684 0.241536 0.651063 0.268974 0.667393 +#5884 1721120665955 +SLAM -36.6048 -12.1576 17.2374 -0.758552 0.0120497 -0.00975934 0.651427 +TTool-pose None 33.57 7.40439 12.6798 0.240231 0.651699 0.270103 0.666787 +#5885 1721120665991 +SLAM -36.5931 -12.1914 17.2068 -0.757874 0.0117703 -0.0095578 0.652225 +TTool-pose None 33.5648 7.40002 12.67 0.239582 0.652223 0.269382 0.6668 +#5886 1721120666030 +SLAM -36.6081 -12.1051 17.4213 -0.757952 0.0145924 -0.00800598 0.652098 +TTool-pose None 33.6131 7.40838 12.6647 0.241583 0.650969 0.267566 0.668033 +#5887 1721120666071 +SLAM -36.5868 -12.1875 17.2579 -0.758058 0.0120664 -0.0092035 0.65201 +TTool-pose None 33.5673 7.41348 12.6728 0.240089 0.652086 0.269253 0.666804 +#5888 1721120666109 +SLAM -36.5873 -12.1806 17.2725 -0.758202 0.0122011 -0.00913487 0.651841 +TTool-pose None 33.5692 7.41364 12.674 0.240322 0.651967 0.269312 0.666812 +#5889 1721120666146 +SLAM -36.5877 -12.1582 17.336 -0.759542 0.0120954 -0.00923146 0.650281 +TTool-pose None 33.5676 7.43939 12.6929 0.241575 0.651447 0.270769 0.666278 +#5890 1721120666182 +SLAM -36.5849 -12.1669 17.321 -0.758998 0.0122954 -0.0090323 0.650914 +TTool-pose None 33.5695 7.4246 12.6851 0.24122 0.651616 0.270026 0.666542 +#5891 1721120666221 +SLAM -36.589 -12.1452 17.3829 -0.759301 0.0129391 -0.00869433 0.650552 +TTool-pose None 33.5806 7.4297 12.6914 0.241954 0.651207 0.269912 0.666722 +#5892 1721120666265 +SLAM -36.5887 -12.1462 17.3936 -0.759399 0.0129107 -0.00864217 0.65044 +TTool-pose None 33.5819 7.43565 12.6924 0.242075 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1721120667868 +SLAM -36.5995 -12.1371 17.3905 -0.758931 0.0133743 -0.00846865 0.650979 +TTool-pose None 33.5958 7.41984 12.684 0.241869 0.651167 0.269251 0.667059 +#5935 1721120667911 +SLAM -36.584 -12.172 17.3159 -0.759347 0.0119207 -0.00923152 0.650511 +TTool-pose None 33.5644 7.43366 12.6911 0.241321 0.651636 0.270629 0.666242 +#5936 1721120667951 +SLAM -36.5974 -12.1347 17.4114 -0.758775 0.0136619 -0.00819386 0.651157 +TTool-pose None 33.6004 7.41987 12.6798 0.241982 0.651147 0.268828 0.667208 +#5937 1721120667991 +SLAM -36.5861 -12.1785 17.2834 -0.758558 0.0120902 -0.00916844 0.651429 +TTool-pose None 33.5675 7.41867 12.6786 0.240622 0.651878 0.269731 0.666622 +#5938 1721120668030 +SLAM -36.5892 -12.1481 17.3785 -0.759017 0.0130294 -0.00858312 0.650884 +TTool-pose None 33.5836 7.426 12.6853 0.241768 0.651307 0.269524 0.666849 +#5939 1721120668069 +SLAM -36.6001 -12.1485 17.3486 -0.757575 0.0137621 -0.00823907 0.652551 +TTool-pose None 33.6012 7.39723 12.6629 0.240779 0.651562 0.267603 0.667731 +#5940 1721120668116 +SLAM -36.5883 -12.1643 17.32 -0.759549 0.0119168 -0.00936353 0.650273 +TTool-pose None 33.565 7.43729 12.6954 0.24144 0.651509 0.270917 0.666206 +#5941 1721120668154 +SLAM -36.594 -12.1632 17.3253 -0.757943 0.013106 -0.00851585 0.652134 +TTool-pose None 33.5898 7.40435 12.6674 0.240754 0.651725 0.268365 0.667275 +#5942 1721120668191 +SLAM -36.5899 -12.1634 17.3162 -0.758306 0.0127187 -0.00889542 0.651714 +TTool-pose None 33.5765 7.41843 12.6767 0.240751 0.651685 0.269097 0.66702 +#5943 1721120668229 +SLAM -36.5943 -12.1446 17.4053 -0.758008 0.0139776 -0.00788743 0.652048 +TTool-pose None 33.6045 7.4113 12.669 0.241508 0.651372 0.267754 0.667592 +#5944 1721120668268 +SLAM -36.5908 -12.1441 17.43 -0.758705 0.013839 -0.00784165 0.65124 +TTool-pose None 33.6029 7.41486 12.68 0.242193 0.651188 0.268481 0.667232 +#5945 1721120668307 +SLAM -36.5873 -12.175 17.2892 -0.758172 0.0125005 -0.00896425 0.651873 +TTool-pose None 33.5728 7.40923 12.6749 0.240499 0.651852 0.269076 0.666956 +#5946 1721120668349 +SLAM -36.5914 -12.1243 17.4398 -0.76018 0.0130851 -0.0086344 0.649524 +TTool-pose None 33.5844 7.44607 12.7035 0.242926 0.650773 0.270721 0.666465 +#5947 1721120668391 +SLAM -36.5839 -12.1849 17.2856 -0.758765 0.0118463 -0.00920809 0.651192 +TTool-pose None 33.5652 7.42642 12.6812 0.240724 0.651931 0.270047 0.666405 +#5948 1721120668430 +SLAM -36.5848 -12.1632 17.322 -0.760301 0.0114256 -0.0096244 0.649399 +TTool-pose None 33.5562 7.44802 12.7037 0.24187 0.651412 0.272008 0.6657 +#5949 1721120668471 +SLAM -36.5884 -12.1367 17.4152 -0.759814 0.0129523 -0.00862623 0.649954 +TTool-pose None 33.582 7.44003 12.6971 0.242518 0.65101 0.270388 0.666517 +#5950 1721120668509 +SLAM -36.5866 -12.1766 17.2904 -0.758385 0.01231 -0.00904299 0.651628 +TTool-pose None 33.5706 7.41548 12.6771 0.240601 0.651856 0.269405 0.666783 +#5951 1721120668549 +SLAM -36.5867 -12.174 17.2874 -0.758968 0.0119223 -0.00933717 0.650952 +TTool-pose None 33.5641 7.42401 12.6854 0.240872 0.651755 0.270308 0.666418 +#5952 1721120668590 +SLAM -36.5907 -12.1727 17.2719 -0.758495 0.0121207 -0.00930683 0.651499 +TTool-pose None 33.5681 7.41495 12.6782 0.240482 0.651837 0.269742 0.666708 +#5953 1721120668630 +SLAM -36.5847 -12.1593 17.3702 -0.758771 0.0129985 -0.00849022 0.651172 +TTool-pose None 33.5817 7.42283 12.6832 0.241569 0.65146 0.269228 0.666892 +#5954 1721120668668 +SLAM -36.5865 -12.1622 17.318 -0.759489 0.0120215 -0.00928188 0.650343 +TTool-pose None 33.5651 7.42894 12.6921 0.241465 0.651497 0.270771 0.666268 +#5955 1721120668710 +SLAM -36.588 -12.151 17.3816 -0.759093 0.0129409 -0.00859556 0.650797 +TTool-pose None 33.5824 7.43093 12.6871 0.241806 0.651327 0.269638 0.66677 +#5956 1721120668752 +SLAM -36.5852 -12.1528 17.3634 -0.760343 0.0119428 -0.00926723 0.649346 +TTool-pose None 33.5647 7.44661 12.7054 0.24231 0.651197 0.271658 0.665893 +#5957 1721120668789 +SLAM -36.5868 -12.1951 17.2171 -0.75729 0.0121052 -0.00918067 0.652901 +TTool-pose None 33.5677 7.39764 12.6572 0.239344 0.652385 0.268446 0.667105 +#5958 1721120668830 +SLAM -36.5875 -12.1148 17.4357 -0.761404 0.0124213 -0.00911994 0.648095 +TTool-pose None 33.5695 7.45297 12.7177 0.243634 0.650507 0.272489 0.665744 +#5959 1721120668869 +SLAM -36.5872 -12.1819 17.2631 -0.758091 0.012129 -0.00922011 0.651971 +TTool-pose None 33.567 7.41573 12.6725 0.240133 0.652028 0.269275 0.666836 +#5960 1721120668911 +SLAM -36.5877 -12.1578 17.3519 -0.758636 0.012872 -0.00867413 0.65133 +TTool-pose None 33.58 7.42458 12.6796 0.241274 0.651531 0.269246 0.666922 +#5961 1721120668951 +SLAM -36.5893 -12.144 17.3674 -0.759794 0.0124731 -0.00902376 0.649982 +TTool-pose None 33.5736 7.4345 12.6956 0.242087 0.651179 0.270772 0.666353 +#5962 1721120668994 +SLAM -36.5874 -12.1898 17.2379 -0.757841 0.0119795 -0.00929681 0.652263 +TTool-pose None 33.5656 7.41008 12.6681 0.239783 0.652197 0.269118 0.66686 +#5963 1721120669037 +SLAM -36.5945 -12.1406 17.4064 -0.758219 0.0139892 -0.00792728 0.651802 +TTool-pose None 33.6036 7.40625 12.6728 0.241699 0.651264 0.26799 0.667534 +#5964 1721120669077 +SLAM -36.5869 -12.129 17.4424 -0.759839 0.0132571 -0.00842752 0.649921 +TTool-pose None 33.5851 7.44271 12.6975 0.242771 0.650879 0.270189 0.666634 +#5965 1721120669120 +SLAM -36.5787 -12.1862 17.3043 -0.758829 0.0119857 -0.00900498 0.651118 +TTool-pose None 33.565 7.42634 12.6825 0.240963 0.651889 0.26994 0.666404 +#5966 1721120669158 +SLAM -36.5889 -12.1446 17.3634 -0.759381 0.012737 -0.00889152 0.65046 +TTool-pose None 33.5758 7.42653 12.6909 0.241843 0.651232 0.270182 0.666629 +#5967 1721120669198 +SLAM -36.589 -12.1525 17.3501 -0.759293 0.0124862 -0.00901549 0.650567 +TTool-pose None 33.5734 7.43385 12.6898 0.241591 0.651381 0.270252 0.666546 +#5968 1721120669239 +SLAM -36.592 -12.1843 17.2832 -0.75652 0.0135014 -0.00817139 0.65378 +TTool-pose None 33.5955 7.37705 12.6491 0.239674 0.652179 0.266577 0.667936 +#5969 1721120669279 +SLAM -36.5993 -12.156 17.3251 -0.7574 0.0136028 -0.00834855 0.652756 +TTool-pose None 33.5978 7.39244 12.6613 0.24048 0.651695 0.267545 0.667732 +#5970 1721120669320 +SLAM -36.5823 -12.1978 17.2533 -0.758158 0.011822 -0.00919728 0.651899 +TTool-pose None 33.5638 7.41603 12.6734 0.240112 0.6522 0.269432 0.666612 +#5971 1721120669363 +SLAM -36.5983 -12.1547 17.3526 -0.757792 0.0135643 -0.00825415 0.652303 +TTool-pose None 33.5997 7.40305 12.6666 0.240921 0.651591 0.267898 0.667532 +#5972 1721120669402 +SLAM -36.5905 -12.1258 17.4448 -0.759661 0.0133755 -0.00841658 0.650128 +TTool-pose None 33.5885 7.44572 12.6953 0.242637 0.650883 0.269962 0.666771 +#5973 1721120669442 +SLAM -36.5868 -12.1641 17.325 -0.75961 0.0119314 -0.00929495 0.650203 +TTool-pose None 33.5654 7.43627 12.6945 0.241549 0.651499 0.270932 0.66617 +#5974 1721120669482 +SLAM -36.5892 -12.1674 17.2997 -0.758452 0.0124692 -0.00903363 0.651547 +TTool-pose None 33.573 7.415 12.6776 0.240727 0.651733 0.269413 0.666855 +#5975 1721120669521 +SLAM -36.5872 -12.1906 17.2459 -0.757766 0.0121228 -0.00918347 0.652349 +TTool-pose None 33.5679 7.40834 12.6689 0.239827 0.652178 0.268924 0.666941 +#5976 1721120669563 +SLAM -36.588 -12.132 17.4288 -0.760138 0.0128869 -0.00867198 0.649576 +TTool-pose None 33.5807 7.44747 12.7015 0.242794 0.650901 0.270768 0.666369 +#5977 1721120669601 +SLAM -36.5846 -12.1882 17.2713 -0.757851 0.0123098 -0.00895148 0.652251 +TTool-pose None 33.5712 7.41082 12.6687 0.24012 0.652108 0.268805 0.666952 +#5978 1721120669641 +SLAM -36.5902 -12.1695 17.2897 -0.758504 0.0123198 -0.00915799 0.651487 +TTool-pose None 33.571 7.41594 12.6791 0.240652 0.651761 0.269593 0.666782 +#5979 1721120669688 +SLAM -36.5944 -12.156 17.3795 -0.757818 0.0137829 -0.00796047 0.652272 +TTool-pose None 33.6032 7.40438 12.6672 0.241206 0.651546 0.267672 0.667565 +#5980 1721120669729 +SLAM -36.5914 -12.1252 17.44 -0.760138 0.0131146 -0.00858673 0.649573 +TTool-pose None 33.5857 7.44402 12.7023 0.242924 0.650788 0.270639 0.666484 +#5981 1721120669772 +SLAM -36.587 -12.1498 17.3466 -0.760537 0.0117167 -0.00951962 0.649119 +TTool-pose None 33.5603 7.44591 12.7074 0.242271 0.651169 0.272086 0.66576 +#5982 1721120669814 +SLAM -36.5852 -12.1622 17.356 -0.758897 0.0127424 -0.00866682 0.651029 +TTool-pose None 33.5782 7.42462 12.6846 0.241498 0.651507 0.269549 0.666742 +#5983 1721120669853 +SLAM -36.5865 -12.1553 17.3794 -0.758639 0.0131732 -0.00841909 0.651324 +TTool-pose None 33.5849 7.42537 12.6817 0.241538 0.65143 0.268991 0.667027 +#5984 1721120669894 +SLAM -36.5927 -12.1403 17.4225 -0.758863 0.0137251 -0.00803425 0.651056 +TTool-pose None 33.5999 7.41644 12.6835 0.242192 0.651127 0.268799 0.667164 +#5985 1721120669934 +SLAM -36.5857 -12.1628 17.3354 -0.75929 0.0122684 -0.00905613 0.650574 +TTool-pose None 33.5697 7.43097 12.6901 0.24149 0.651504 0.270347 0.666424 +#5986 1721120669978 +SLAM -36.5941 -12.1382 17.4004 -0.759268 0.013247 -0.00842476 0.650588 +TTool-pose None 33.5922 7.42155 12.6865 0.242194 0.651122 0.26961 0.66684 +#5987 1721120670018 +SLAM -36.5937 -12.1677 17.3188 -0.757619 0.0132813 -0.00838702 0.652508 +TTool-pose None 33.5923 7.39462 12.6646 0.240569 0.651793 0.267899 0.667463 +#5988 1721120670066 +SLAM -36.5847 -12.1821 17.2823 -0.758578 0.0120661 -0.00915443 0.651407 +TTool-pose None 33.5665 7.41692 12.6807 0.240643 0.65189 0.26975 0.666595 +#5989 1721120670112 +SLAM -36.5886 -12.1549 17.3564 -0.758621 0.0130414 -0.00861136 0.651345 +TTool-pose None 33.582 7.41861 12.6814 0.241355 0.651453 0.269134 0.667013 +#5990 1721120670154 +SLAM -36.5874 -12.1751 17.2921 -0.758471 0.0122384 -0.00910246 0.651529 +TTool-pose None 33.5701 7.42046 12.6777 0.240626 0.651845 0.269552 0.666726 +#5991 1721120670194 +SLAM -36.6004 -12.135 17.3962 -0.757523 0.0143835 -0.00783628 0.652603 +TTool-pose None 33.6105 7.39853 12.6624 0.241188 0.651335 0.267095 0.668008 +#5992 1721120670236 +SLAM -36.5954 -12.1645 17.3251 -0.757793 0.0132413 -0.00842675 0.652306 +TTool-pose None 33.5931 7.39862 12.6666 0.240705 0.651733 0.268114 0.667386 +#5993 1721120670277 +SLAM -36.588 -12.1376 17.4209 -0.759948 0.0129454 -0.00860374 0.649798 +TTool-pose None 33.5822 7.43989 12.7005 0.242665 0.650967 0.270513 0.666455 +#5994 1721120670321 +SLAM -36.5898 -12.1282 17.4079 -0.761362 0.0119297 -0.00941131 0.648149 +TTool-pose None 33.5654 7.46305 12.7188 0.243244 0.65073 0.27279 0.665547 +#5995 1721120670359 +SLAM -36.5887 -12.1803 17.2656 -0.758262 0.0121735 -0.00922039 0.651771 +TTool-pose None 33.5682 7.40985 12.6773 0.240319 0.65193 0.269434 0.6668 +#5996 1721120670399 +SLAM -36.5831 -12.171 17.3209 -0.759246 0.012101 -0.00908897 0.650628 +TTool-pose None 33.5668 7.42705 12.6892 0.241369 0.651615 0.270378 0.666346 +#5997 1721120670438 +SLAM -36.5864 -12.1656 17.3316 -0.759077 0.0123268 -0.00899264 0.650822 +TTool-pose None 33.5719 7.42896 12.6866 0.241335 0.651578 0.270072 0.66652 +#5998 1721120670479 +SLAM -36.5847 -12.1726 17.313 -0.758653 0.0123783 -0.00895259 0.651316 +TTool-pose None 33.571 7.42093 12.6811 0.24095 0.651735 0.269598 0.666697 +#5999 1721120670522 +SLAM -36.5959 -12.1334 17.436 -0.758893 0.0138915 -0.00796105 0.651018 +TTool-pose None 33.6045 7.41793 12.6833 0.242324 0.651036 0.268729 0.667233 +#6000 1721120670564 +SLAM -36.5921 -12.1503 17.3815 -0.758689 0.0134006 -0.00827523 0.651262 +TTool-pose None 33.5936 7.40827 12.6811 0.241756 0.651318 0.268878 0.667104 +#6001 1721120670609 +SLAM -36.5847 -12.1509 17.385 -0.759378 0.0128246 -0.00858981 0.650466 +TTool-pose None 33.5797 7.42942 12.6887 0.242059 0.651283 0.269964 0.666589 +#6002 1721120670649 +SLAM -36.589 -12.1696 17.2986 -0.758146 0.0125943 -0.0089352 0.651901 +TTool-pose None 33.575 7.41415 12.673 0.240524 0.651814 0.269001 0.667015 +#6003 1721120670690 +SLAM -36.5874 -12.1773 17.2755 -0.758599 0.0120045 -0.00930507 0.651381 +TTool-pose None 33.5653 7.41989 12.6804 0.240549 0.651867 0.269885 0.666597 +#6004 1721120670729 +SLAM -36.5987 -12.1469 17.3612 -0.758137 0.0135934 -0.00831135 0.6519 +TTool-pose None 33.5984 7.40088 12.6724 0.241242 0.651412 0.268275 0.667441 +#6005 1721120670769 +SLAM -36.5914 -12.1501 17.3668 -0.758461 0.0132455 -0.00851484 0.651528 +TTool-pose None 33.5868 7.42076 12.6787 0.241323 0.651425 0.268845 0.667169 +#6006 1721120670816 +SLAM -36.5939 -12.1313 17.4517 -0.759338 0.013767 -0.00799899 0.650502 +TTool-pose None 33.602 7.4252 12.6903 0.242706 0.650917 0.269245 0.667002 +#6007 1721120670856 +SLAM -36.5947 -12.135 17.4369 -0.758533 0.014057 -0.00782042 0.651436 +TTool-pose None 33.6068 7.41734 12.6767 0.242105 0.65113 0.268221 0.667425 +#6008 1721120670897 +SLAM -36.5884 -12.1628 17.3112 -0.759871 0.0116508 -0.00956653 0.649898 +TTool-pose None 33.5606 7.43935 12.6988 0.241548 0.65147 0.27146 0.665984 +#6009 1721120670938 +SLAM -36.5859 -12.1651 17.3181 -0.759673 0.0118226 -0.00935504 0.65013 +TTool-pose None 33.5632 7.43518 12.6942 0.241539 0.651519 0.27107 0.666098 +#6010 1721120670975 +SLAM -36.5818 -12.1859 17.2761 -0.758844 0.0116939 -0.00934813 0.651101 +TTool-pose None 33.5597 7.42791 12.683 0.240664 0.651945 0.270264 0.666325 +#6011 1721120671013 +SLAM -36.6013 -12.1102 17.4519 -0.758559 0.0145086 -0.007865 0.651395 +TTool-pose None 33.6105 7.4135 12.6774 0.242255 0.650821 0.268124 0.66771 +#6012 1721120671054 +SLAM -36.5873 -12.1231 17.4595 -0.76105 0.0127063 -0.00876459 0.648509 +TTool-pose None 33.5781 7.45822 12.7156 0.243596 0.650601 0.271815 0.665942 +#6013 1721120671091 +SLAM -36.6004 -12.1455 17.36 -0.757664 0.0137712 -0.00823383 0.652447 +TTool-pose None 33.6017 7.40496 12.6638 0.240875 0.651522 0.267687 0.667702 +#6014 1721120671130 +SLAM -36.5893 -12.1608 17.3133 -0.759482 0.0119453 -0.0093844 0.650351 +TTool-pose None 33.5654 7.43318 12.6918 0.241368 0.651512 0.270852 0.666256 +#6015 1721120671173 +SLAM -36.5873 -12.1261 17.4603 -0.760569 0.0129966 -0.0085453 0.649071 +TTool-pose None 33.5831 7.45211 12.709 0.243346 0.650697 0.271092 0.666235 +#6016 1721120671212 +SLAM -36.5862 -12.153 17.3609 -0.759972 0.0121919 -0.00911242 0.649777 +TTool-pose None 33.569 7.43846 12.6997 0.242117 0.65125 0.271102 0.666139 +#6017 1721120671250 +SLAM -36.6009 -12.1749 17.2602 -0.75685 0.0131787 -0.00863817 0.653399 +TTool-pose None 33.5927 7.38053 12.6537 0.239602 0.652084 0.267306 0.667763 +#6018 1721120671294 +SLAM -36.5927 -12.1549 17.3671 -0.758536 0.0132478 -0.008375 0.651443 +TTool-pose None 33.592 7.41131 12.6783 0.241488 0.651441 0.268834 0.667098 +#6019 1721120671337 +SLAM -36.5887 -12.129 17.4324 -0.760374 0.0128659 -0.00871997 0.6493 +TTool-pose None 33.5801 7.44573 12.7062 0.242995 0.650799 0.271045 0.666282 +#6020 1721120671380 +SLAM -36.5925 -12.1506 17.3999 -0.758342 0.0137328 -0.00799392 0.651663 +TTool-pose None 33.6006 7.40987 12.6765 0.241695 0.651351 0.268241 0.66735 +#6021 1721120671421 +SLAM -36.5865 -12.1795 17.2787 -0.758694 0.0119533 -0.00927909 0.651272 +TTool-pose None 33.5653 7.42066 12.6816 0.240643 0.651869 0.269983 0.666521 +#6022 1721120671462 +SLAM -36.5862 -12.1607 17.3552 -0.758594 0.0129747 -0.00855473 0.651378 +TTool-pose None 33.5814 7.41849 12.6805 0.241341 0.651525 0.269095 0.666964 +#6023 1721120671503 +SLAM -36.5953 -12.1562 17.3452 -0.757874 0.013497 -0.00828844 0.652209 +TTool-pose None 33.5959 7.3975 12.6676 0.240959 0.651588 0.268025 0.667471 +#6024 1721120671544 +SLAM -36.5813 -12.1552 17.3642 -0.759818 0.0123855 -0.00888408 0.649957 +TTool-pose None 33.5697 7.42728 12.6955 0.24217 0.651273 0.270739 0.666244 +#6025 1721120671584 +SLAM -36.5856 -12.1734 17.3261 -0.759154 0.0121792 -0.00900215 0.650735 +TTool-pose None 33.5713 7.4274 12.6893 0.241357 0.651635 0.270205 0.666402 +#6026 1721120671625 +SLAM -36.5966 -12.1481 17.3665 -0.758835 0.0131168 -0.00859047 0.651095 +TTool-pose None 33.5904 7.41671 12.6838 0.241609 0.651325 0.269314 0.666974 +#6027 1721120671665 +SLAM -36.5894 -12.1473 17.3825 -0.75915 0.0129736 -0.00862304 0.650729 +TTool-pose None 33.5829 7.42969 12.6879 0.241858 0.651273 0.269703 0.666777 +#6028 1721120671710 +SLAM -36.5859 -12.1575 17.3781 -0.758968 0.0129879 -0.00848771 0.650943 +TTool-pose None 33.583 7.42398 12.6866 0.241765 0.651386 0.26943 0.666811 +#6029 1721120671754 +SLAM -36.5876 -12.1476 17.3659 -0.760156 0.0120915 -0.00922194 0.649563 +TTool-pose None 33.5678 7.44733 12.7006 0.2422 0.651198 0.27139 0.666042 +#6030 1721120671797 +SLAM -36.5897 -12.142 17.392 -0.759323 0.013025 -0.00863593 0.650526 +TTool-pose None 33.5827 7.43137 12.691 0.242042 0.651165 0.26987 0.666749 +#6031 1721120671838 +SLAM -36.5861 -12.162 17.3373 -0.759227 0.0123076 -0.0090466 0.650647 +TTool-pose None 33.5703 7.43286 12.6893 0.241446 0.651509 0.270264 0.666469 +#6032 1721120671880 +SLAM -36.5944 -12.1544 17.3636 -0.758298 0.0133979 -0.00830566 0.651718 +TTool-pose None 33.595 7.40604 12.6749 0.241342 0.65147 0.268499 0.667258 +#6033 1721120671919 +SLAM -36.5859 -12.157 17.3756 -0.75894 0.0129538 -0.00853477 0.650976 +TTool-pose None 33.5818 7.42655 12.686 0.241695 0.651403 0.269441 0.666815 +#6034 1721120671957 +SLAM -36.5977 -12.1261 17.4279 -0.759217 0.0136259 -0.00826405 0.650643 +TTool-pose None 33.599 7.42593 12.6861 0.24237 0.650963 0.269332 0.667044 +#6035 1721120671994 +SLAM -36.5941 -12.1596 17.3759 -0.757075 0.0141998 -0.00769337 0.653128 +TTool-pose None 33.6087 7.39478 12.6577 0.240767 0.651682 0.266614 0.668013 +#6036 1721120672034 +SLAM -36.5927 -12.1553 17.3707 -0.758455 0.0133442 -0.00828787 0.651537 +TTool-pose None 33.594 7.40901 12.6771 0.241493 0.651445 0.268666 0.66716 +#6037 1721120672078 +SLAM -36.5848 -12.1808 17.2859 -0.758823 0.0119206 -0.00918472 0.651123 +TTool-pose None 33.5665 7.4203 12.6806 0.240822 0.651869 0.270067 0.666422 +#6038 1721120672121 +SLAM -36.5871 -12.1506 17.3825 -0.758821 0.0131027 -0.00847558 0.651112 +TTool-pose None 33.5842 7.42846 12.6816 0.241663 0.651379 0.269235 0.666933 +#6039 1721120672159 +SLAM -36.5854 -12.1758 17.2974 -0.75813 0.012571 -0.00886213 0.651922 +TTool-pose None 33.5735 7.4107 12.6738 0.240545 0.651861 0.268947 0.666983 +#6040 1721120672202 +SLAM -36.5845 -12.1563 17.3765 -0.75937 0.0126637 -0.00869393 0.650477 +TTool-pose None 33.5771 7.43333 12.6907 0.241932 0.651351 0.270074 0.666525 +#6041 1721120672243 +SLAM -36.59 -12.1349 17.4162 -0.759606 0.0131561 -0.00854984 0.650195 +TTool-pose None 33.5849 7.43529 12.6957 0.242424 0.650996 0.270061 0.666697 +#6042 1721120672282 +SLAM -36.5978 -12.1535 17.3439 -0.75808 0.0133415 -0.00845704 0.65197 +TTool-pose None 33.5944 7.40429 12.6713 0.241009 0.651542 0.26839 0.667352 +#6043 1721120672324 +SLAM -36.5857 -12.1765 17.2852 -0.75906 0.0118019 -0.00936966 0.650846 +TTool-pose None 33.5626 7.4256 12.686 0.240905 0.651781 0.270462 0.666319 +#6044 1721120672367 +SLAM -36.5852 -12.1817 17.2792 -0.758501 0.0120385 -0.00918414 0.651496 +TTool-pose None 33.5664 7.41944 12.6783 0.240538 0.651928 0.2697 0.666616 +#6045 1721120672408 +SLAM -36.587 -12.2033 17.2075 -0.757521 0.0117562 -0.00936989 0.652637 +TTool-pose None 33.5639 7.40463 12.6634 0.23934 0.652442 0.268913 0.666862 +#6046 1721120672445 +SLAM -36.5871 -12.1753 17.2919 -0.758591 0.012152 -0.00914347 0.65139 +TTool-pose None 33.569 7.42197 12.679 0.240692 0.651835 0.269729 0.66664 +#6047 1721120672485 +SLAM -36.5845 -12.1575 17.3628 -0.760096 0.0119866 -0.00914998 0.649635 +TTool-pose None 33.567 7.44716 12.7002 0.24215 0.651313 0.27132 0.665976 +#6048 1721120672525 +SLAM -36.5883 -12.1645 17.3168 -0.758982 0.0122917 -0.00910946 0.650932 +TTool-pose None 33.5707 7.42496 12.6856 0.241154 0.651598 0.270059 0.666571 +#6049 1721120672561 +SLAM -36.5866 -12.1551 17.3693 -0.758657 0.0130828 -0.00850377 0.651304 +TTool-pose None 33.5829 7.42314 12.6807 0.241473 0.65145 0.269091 0.666991 +#6050 1721120672598 +SLAM -36.5852 -12.1816 17.27 -0.758967 0.0116555 -0.00946586 0.650956 +TTool-pose None 33.56 7.42506 12.685 0.240702 0.651876 0.270476 0.666293 +#6051 1721120672636 +SLAM -36.5903 -12.1458 17.3457 -0.759422 0.0124997 -0.00911556 0.650414 +TTool-pose None 33.5719 7.42943 12.6913 0.241663 0.651285 0.270441 0.666538 +#6052 1721120672673 +SLAM -36.5872 -12.1737 17.2945 -0.758715 0.0121474 -0.00917263 0.651244 +TTool-pose None 33.5683 7.42166 12.682 0.240797 0.651776 0.269875 0.6666 +#6053 1721120672712 +SLAM -36.5844 -12.1494 17.374 -0.760638 0.0119148 -0.00927835 0.649 +TTool-pose None 33.5636 7.44851 12.7099 0.242592 0.651087 0.271975 0.665768 +#6054 1721120672748 +SLAM -36.5971 -12.1623 17.3258 -0.757624 0.0133559 -0.00839114 0.652501 +TTool-pose None 33.5954 7.39854 12.664 0.240595 0.651743 0.267881 0.667509 +#6055 1721120672793 +SLAM -36.5861 -12.1698 17.3086 -0.759146 0.0120118 -0.00923997 0.650744 +TTool-pose None 33.5659 7.43008 12.6876 0.241143 0.651659 0.270399 0.666376 +#6056 1721120672830 +SLAM -36.586 -12.176 17.2853 -0.75894 0.0118249 -0.00936438 0.650986 +TTool-pose None 33.563 7.42882 12.6835 0.240795 0.651818 0.270329 0.666376 +#6057 1721120672868 +SLAM -36.5839 -12.1556 17.3855 -0.759299 0.0127572 -0.00860534 0.65056 +TTool-pose None 33.5787 7.43628 12.6893 0.241947 0.651353 0.269916 0.666581 +#6058 1721120672905 +SLAM -36.5908 -12.1581 17.2606 -0.758085 0.0124525 -0.00941677 0.651969 +TTool-pose None 33.5639 7.40903 12.6728 0.24011 0.65176 0.269282 0.667103 +#6059 1721120672946 +SLAM -36.5854 -12.0822 17.3715 -0.760367 0.0128099 -0.00946039 0.649299 +TTool-pose None 33.5569 7.42844 12.6856 0.242502 0.650579 0.271512 0.666487 +#6060 1721120672988 +SLAM -36.5681 -12.1255 17.3807 -0.760584 0.0122838 -0.00882958 0.649064 +TTool-pose None 33.5592 7.42235 12.6789 0.242943 0.651037 0.27152 0.665876 +#6061 1721120673028 +SLAM -36.5691 -12.17 17.4268 -0.759067 0.0130942 -0.00786989 0.650833 +TTool-pose None 33.5833 7.43409 12.6815 0.24229 0.651494 0.269115 0.666642 +#6062 1721120673065 +SLAM -36.5793 -12.1747 17.3135 -0.758614 0.0123607 -0.00888609 0.651362 +TTool-pose None 33.5676 7.42062 12.678 0.240947 0.651785 0.269524 0.666679 +#6063 1721120673106 +SLAM -36.581 -12.1346 17.3812 -0.758767 0.0133285 -0.00834256 0.651172 +TTool-pose None 33.5813 7.41421 12.6673 0.241768 0.651307 0.269022 0.667052 +#6064 1721120673145 +SLAM -36.5875 -12.1103 17.3373 -0.760036 0.0123631 -0.00962488 0.649692 +TTool-pose None 33.5558 7.43292 12.6891 0.241916 0.650937 0.271426 0.666385 +#6065 1721120673186 +SLAM -36.5836 -12.1529 17.3043 -0.758352 0.0127046 -0.00899467 0.651659 +TTool-pose None 33.5677 7.4116 12.6699 0.24073 0.65164 0.26921 0.667026 +#6066 1721120673226 +SLAM -36.5853 -12.168 17.2611 -0.758017 0.0124011 -0.00920528 0.652052 +TTool-pose None 33.5646 7.40399 12.6679 0.240159 0.651894 0.2691 0.667028 +#6067 1721120673273 +SLAM -36.5845 -12.1494 17.3503 -0.759669 0.0121835 -0.00919586 0.650131 +TTool-pose None 33.5651 7.44406 12.6912 0.241755 0.651352 0.270847 0.666274 +#6068 1721120673320 +SLAM -36.5812 -12.1378 17.3974 -0.759809 0.0126332 -0.00888078 0.649963 +TTool-pose None 33.569 7.45012 12.694 0.242246 0.651123 0.270646 0.666401 +#6069 1721120673360 +SLAM -36.589 -12.1914 17.2405 -0.756408 0.0128378 -0.00878205 0.653915 +TTool-pose None 33.5781 7.39894 12.6489 0.238954 0.652426 0.26706 0.66776 +#6070 1721120673401 +SLAM -36.5902 -12.1963 17.2511 -0.756935 0.0125032 -0.00893509 0.65331 +TTool-pose None 33.5764 7.41309 12.6604 0.239274 0.652367 0.2678 0.667406 +#6071 1721120673441 +SLAM -36.5836 -12.2152 17.2303 -0.756431 0.0124279 -0.00877504 0.653896 +TTool-pose None 33.5743 7.40538 12.6529 0.238845 0.652675 0.267216 0.667493 +#6072 1721120673482 +SLAM -36.5882 -12.1575 17.3357 -0.758853 0.0125676 -0.00908489 0.651077 +TTool-pose None 33.5701 7.4342 12.6895 0.241132 0.651488 0.269821 0.666783 +#6073 1721120673523 +SLAM -36.5866 -12.1478 17.3644 -0.758911 0.0129719 -0.00876413 0.651006 +TTool-pose None 33.5761 7.42699 12.6871 0.241528 0.651324 0.269547 0.666911 +#6074 1721120673564 +SLAM -36.5873 -12.1884 17.2209 -0.757301 0.0121891 -0.00937417 0.652885 +TTool-pose None 33.5625 7.4062 12.665 0.239261 0.65226 0.268548 0.667215 +#6075 1721120673607 +SLAM -36.5867 -12.1705 17.2911 -0.755944 0.013806 -0.00828934 0.654438 +TTool-pose None 33.586 7.39788 12.6426 0.239123 0.652182 0.265964 0.668375 +#6076 1721120673651 +SLAM -36.5828 -12.1474 17.3717 -0.758251 0.0132621 -0.00853071 0.651772 +TTool-pose None 33.5779 7.4338 12.6732 0.241107 0.651496 0.268636 0.667262 +#6077 1721120673695 +SLAM -36.5818 -12.195 17.2607 -0.758133 0.0118014 -0.0092974 0.651927 +TTool-pose None 33.5607 7.43016 12.6753 0.240016 0.652188 0.269474 0.666641 +#6078 1721120673736 +SLAM -36.5867 -12.1934 17.2379 -0.756933 0.0124599 -0.00905679 0.653311 +TTool-pose None 33.5696 7.40814 12.6597 0.239182 0.652353 0.267888 0.667419 +#6079 1721120673784 +SLAM -36.5913 -12.173 17.2598 -0.757123 0.0127181 -0.00914351 0.653085 +TTool-pose None 33.5709 7.41619 12.6631 0.239404 0.652084 0.268048 0.667537 +#6080 1721120673823 +SLAM -36.5916 -12.1685 17.3026 -0.756805 0.0133492 -0.0086342 0.653448 +TTool-pose None 33.583 7.41617 12.6597 0.239616 0.651998 0.267201 0.667885 +#6081 1721120673864 +SLAM -36.5881 -12.1732 17.2705 -0.758125 0.0122083 -0.00937821 0.651928 +TTool-pose None 33.5632 7.42595 12.6774 0.240094 0.651909 0.269381 0.666923 +#6082 1721120673904 +SLAM -36.5932 -12.1832 17.2653 -0.757344 0.0125739 -0.0090283 0.652833 +TTool-pose None 33.5765 7.41425 12.667 0.239651 0.652124 0.26825 0.667329 +#6083 1721120673945 +SLAM -36.592 -12.1614 17.319 -0.758309 0.0126469 -0.00908337 0.651709 +TTool-pose None 33.5736 7.43327 12.6817 0.240611 0.651663 0.26924 0.667034 +#6084 1721120673986 +SLAM -36.5886 -12.1793 17.2801 -0.757915 0.0123528 -0.00917235 0.652172 +TTool-pose None 33.5688 7.42588 12.6759 0.24006 0.651977 0.268992 0.667026 +#6085 1721120674040 +SLAM -36.5871 -12.1277 17.4166 -0.759749 0.0130006 -0.00874988 0.650027 +TTool-pose None 33.5772 7.44813 12.6953 0.242391 0.650964 0.270382 0.666611 +#6086 1721120674092 +SLAM -36.5871 -12.173 17.3064 -0.757094 0.0131757 -0.00860503 0.653117 +TTool-pose None 33.58 7.41627 12.6621 0.239867 0.651998 0.267534 0.667661 +#6087 1721120674144 +SLAM -36.5841 -12.2157 17.186 -0.756082 0.012278 -0.00915027 0.654297 +TTool-pose None 33.5649 7.39861 12.6514 0.238208 0.65278 0.267144 0.667648 +#6088 1721120674202 +SLAM -36.5876 -12.1794 17.2697 -0.758139 0.0121059 -0.00936467 0.651913 +TTool-pose None 33.5634 7.42836 12.6784 0.240082 0.651972 0.269421 0.66685 +#6089 1721120674256 +SLAM -36.5873 -12.1364 17.4305 -0.759709 0.0130501 -0.00861019 0.650076 +TTool-pose None 33.581 7.45342 12.7001 0.242454 0.650999 0.270238 0.666612 +#6090 1721120674309 +SLAM -36.587 -12.1951 17.2405 -0.756851 0.0124858 -0.00901495 0.653406 +TTool-pose None 33.5709 7.41033 12.659 0.239134 0.652385 0.26777 0.667452 +#6091 1721120674359 +SLAM -36.5877 -12.1874 17.2525 -0.757235 0.0124964 -0.00909493 0.65296 +TTool-pose None 33.5694 7.41205 12.6665 0.239473 0.652193 0.268206 0.667342 +#6092 1721120674406 +SLAM -36.59 -12.1666 17.2865 -0.758388 0.0122858 -0.0093721 0.65162 +TTool-pose None 33.565 7.42865 12.6825 0.240388 0.651755 0.269618 0.666872 +#6093 1721120674461 +SLAM -36.5917 -12.1574 17.3205 -0.757632 0.0131859 -0.00874519 0.652491 +TTool-pose None 33.5808 7.41802 12.6689 0.240323 0.651723 0.268164 0.667513 +#6094 1721120674511 +SLAM -36.5897 -12.1455 17.3366 -0.759166 0.0124975 -0.00920471 0.650712 +TTool-pose None 33.5688 7.43401 12.688 0.241348 0.651361 0.270236 0.66666 +#6095 1721120674558 +SLAM -36.5857 -12.1935 17.2397 -0.756769 0.0125488 -0.00901069 0.653499 +TTool-pose None 33.5695 7.40941 12.6579 0.239076 0.65238 0.267664 0.66752 +#6096 1721120674608 +SLAM -36.5898 -12.1786 17.2509 -0.757012 0.0127137 -0.00907757 0.653214 +TTool-pose None 33.5712 7.40808 12.6612 0.239333 0.652155 0.267896 0.667554 +#6097 1721120674660 +SLAM -36.5876 -12.1848 17.2312 -0.75661 0.0127327 -0.0090724 0.653679 +TTool-pose None 33.569 7.40139 12.6557 0.238939 0.652309 0.267479 0.667713 +#6098 1721120674707 +SLAM -36.5882 -12.2129 17.2043 -0.756608 0.0121671 -0.00908116 0.653692 +TTool-pose None 33.5714 7.40026 12.655 0.238742 0.652659 0.267671 0.667363 +#6099 1721120674757 +SLAM -36.5854 -12.2021 17.2482 -0.757628 0.0120529 -0.00909124 0.652512 +TTool-pose None 33.5689 7.41358 12.6696 0.239723 0.65231 0.268751 0.666919 +#6100 1721120674804 +SLAM -36.5874 -12.1735 17.3525 -0.757821 0.0131889 -0.00830522 0.652277 +TTool-pose None 33.5887 7.42077 12.6715 0.240792 0.651796 0.268084 0.667304 +#6101 1721120674860 +SLAM -36.5501 -12.2342 17.37 -0.758955 0.0118653 -0.00787645 0.650987 +TTool-pose None 33.5685 7.43616 12.6793 0.241762 0.652304 0.269415 0.66592 +#6102 1721120674909 +SLAM -36.5573 -12.2453 17.3167 -0.757887 0.0119592 -0.00804444 0.652227 +TTool-pose None 33.5703 7.42439 12.6703 0.240612 0.652627 0.2684 0.66643 +#6103 1721120674959 +SLAM -36.5904 -12.1712 17.3004 -0.757862 0.012662 -0.00898373 0.65223 +TTool-pose None 33.5748 7.42491 12.6738 0.24023 0.651872 0.26872 0.667178 +#6104 1721120675009 +SLAM -36.5836 -12.1744 17.3618 -0.757873 0.0132509 -0.00823279 0.652216 +TTool-pose None 33.5867 7.42157 12.6739 0.240911 0.651761 0.268071 0.667301 +#6105 1721120675057 +SLAM -36.5877 -12.1564 17.2833 -0.758363 0.0124083 -0.00956685 0.651645 +TTool-pose None 33.5567 7.4302 12.6866 0.240281 0.651621 0.269672 0.66702 +#6106 1721120675106 +SLAM -36.5941 -12.1659 17.2596 -0.758035 0.0123495 -0.00955499 0.652027 +TTool-pose None 33.5636 7.42006 12.6819 0.239938 0.651797 0.269351 0.667101 +#6107 1721120675157 +SLAM -36.5762 -12.1766 17.3344 -0.758458 0.0125108 -0.00862366 0.651545 +TTool-pose None 33.5714 7.42759 12.6726 0.241006 0.651847 0.269153 0.666747 +#6108 1721120675219 +SLAM -36.5696 -12.2251 17.3014 -0.757788 0.0121195 -0.00833751 0.652335 +TTool-pose None 33.5739 7.4204 12.668 0.240381 0.652466 0.268427 0.66666 +#6109 1721120675274 +SLAM -36.5729 -12.1114 17.4373 -0.760507 0.013006 -0.00844887 0.649145 +TTool-pose None 33.5719 7.42945 12.6846 0.243347 0.650751 0.270966 0.666233 +#6110 1721120675322 +SLAM -36.5891 -12.0898 17.3035 -0.758813 0.0130549 -0.00948405 0.651109 +TTool-pose None 33.559 7.40654 12.6586 0.241002 0.651061 0.269863 0.667229 +#6111 1721120675370 +SLAM -36.5926 -12.1054 17.3594 -0.758436 0.0134257 -0.00882767 0.651549 +TTool-pose None 33.5794 7.42552 12.6568 0.241161 0.651214 0.268952 0.66739 +#6112 1721120675427 +SLAM -36.5865 -12.1013 17.3699 -0.75938 0.0131059 -0.00893664 0.650454 +TTool-pose None 33.5715 7.42265 12.6675 0.241936 0.650986 0.270086 0.666874 +#6113 1721120675478 +SLAM -36.5931 -12.1534 17.3068 -0.758177 0.012631 -0.00865584 0.651869 +TTool-pose None 33.5875 7.40938 12.6465 0.240742 0.651876 0.268847 0.666937 +#6114 1721120675534 +SLAM -36.5729 -12.0672 17.4957 -0.761544 0.01315 -0.00829465 0.647927 +TTool-pose None 33.5767 7.44099 12.6729 0.24454 0.650281 0.271881 0.665882 +#6115 1721120675592 +SLAM -36.562 -12.1631 17.3772 -0.759699 0.0122316 -0.00801381 0.65011 +TTool-pose None 33.5763 7.41335 12.6508 0.242547 0.651721 0.270134 0.665915 +#6116 1721120675642 +SLAM -36.5594 -12.1308 17.4179 -0.759273 0.0133507 -0.00761305 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0.0125481 -0.0107052 0.650378 +TTool-pose None 33.6169 7.40361 12.6136 0.240688 0.650695 0.271414 0.667071 +#6129 1721120676314 +SLAM -36.664 -11.8595 17.2995 -0.762296 0.0126832 -0.0113879 0.647005 +TTool-pose None 33.5868 7.41093 12.5946 0.243195 0.649177 0.274711 0.666291 +#6130 1721120676361 +SLAM -36.8804 -11.9592 16.365 -0.76555 0.00226068 -0.0211147 0.643026 +TTool-pose None 33.5858 7.31367 12.6619 0.236942 0.650785 0.287569 0.661533 +#6131 1721120676404 +#6132 1721120676450 +SLAM -36.9113 -11.2973 16.9908 -0.766687 0.0113908 -0.0169552 0.641696 +TTool-pose None 33.7017 7.34883 12.3287 0.243724 0.646144 0.283083 0.665541 +#6133 1721120676499 +SLAM -37.0361 -11.2076 16.7196 -0.765143 0.0108244 -0.0207265 0.643436 +TTool-pose None 33.7303 7.34621 12.3347 0.239608 0.645808 0.28403 0.666957 +#6134 1721120676547 +SLAM -37.1745 -11.393 16.3623 -0.76212 0.00834657 -0.0238776 0.646942 +TTool-pose None 33.7913 7.33946 12.4518 0.233755 0.647488 0.283729 0.667532 +#6135 1721120676594 +SLAM -36.9832 -10.6881 17.295 -0.771005 0.0176697 -0.0212596 0.636229 +TTool-pose None 33.6461 7.4574 12.3863 0.247545 0.638786 0.288116 0.669064 +#6136 1721120676644 +SLAM -37.0179 -10.6777 17.1821 -0.769917 0.017309 -0.0213662 0.637551 +TTool-pose None 33.6817 7.41105 12.3213 0.246245 0.639454 0.287179 0.669309 +#6137 1721120676696 +SLAM -37.0569 -10.7037 16.9783 -0.765948 0.0178168 -0.0225279 0.642261 +TTool-pose None 33.6887 7.36999 12.3034 0.241647 0.640439 0.283652 0.671543 +#6138 1721120676744 +SLAM -37.0759 -10.5774 16.9776 -0.768481 0.0170116 -0.0232734 0.639222 +TTool-pose None 33.6958 7.37705 12.2416 0.243491 0.639579 0.286987 0.670279 +#6139 1721120676793 +SLAM -37.0509 -10.5267 17.1314 -0.770265 0.0180187 -0.0232501 0.637046 +TTool-pose None 33.6669 7.42018 12.3027 0.245665 0.638173 0.288476 0.670186 +#6140 1721120676842 +SLAM -37.0679 -10.6007 16.9547 -0.764473 0.0195546 -0.0234531 0.643932 +TTool-pose None 33.6728 7.3647 12.2894 0.24016 0.63964 0.282143 0.673471 +#6141 1721120676893 +SLAM -37.082 -10.5943 16.928 -0.764862 0.0194537 -0.0245836 0.643431 +TTool-pose None 33.6558 7.38003 12.3423 0.239816 0.639127 0.283279 0.673603 +#6142 1721120676941 +SLAM -37.0795 -10.3831 17.1115 -0.766639 0.0227485 -0.0264369 0.64113 +TTool-pose None 33.5954 7.44126 12.4481 0.241588 0.635605 0.285177 0.6755 +#6143 1721120676986 +SLAM -37.086 -10.4758 16.9658 -0.764177 0.0217971 -0.0257027 0.644126 +TTool-pose None 33.6247 7.38641 12.3778 0.239219 0.637531 0.282505 0.67565 +#6144 1721120677026 +#6145 1721120677074 +SLAM -37.3046 -12.403 15.8605 -0.757736 -0.00268014 -0.0221906 0.652178 +TTool-pose None 34.0076 7.35248 12.7055 0.226754 0.656691 0.281943 0.661688 +#6146 1721120677133 +SLAM -37.143 -12.7234 16.0952 -0.761129 -0.00636125 -0.0175378 0.648332 +TTool-pose None 33.9869 7.39013 12.7196 0.231883 0.659191 0.283764 0.656626 +#6147 1721120677180 +SLAM -36.8888 -13.2768 16.4197 -0.769746 -0.0176795 -0.0108425 0.638013 +TTool-pose None 33.9762 7.56895 12.6566 0.241198 0.664656 0.29237 0.643862 +#6148 1721120677229 +SLAM -36.7498 -13.5503 16.3524 -0.76737 -0.0190547 -0.00513345 0.640901 +TTool-pose None 34.0137 7.3699 12.504 0.24194 0.668491 0.286892 0.642075 +#6149 1721120677280 +SLAM -36.7212 -13.911 16.2688 -0.768097 -0.0239628 -0.00321817 0.639877 +TTool-pose None 34.0769 7.36451 12.5461 0.242339 0.67173 0.288185 0.637951 +#6150 1721120677326 +SLAM -36.4549 -14.6342 16.2988 -0.76733 -0.0317598 0.00448453 0.64045 +TTool-pose None 34.0986 7.35553 12.5128 0.244012 0.679226 0.285449 0.630564 +#6151 1721120677380 +SLAM -36.3098 -15.6543 16.0354 -0.765523 -0.0439921 0.0101966 0.641822 +TTool-pose None 34.2533 7.36548 12.6097 0.242059 0.688923 0.284515 0.621148 +#6152 1721120677436 +SLAM -36.2792 -16.1309 15.9079 -0.766002 -0.0501788 0.0120262 0.640764 +TTool-pose None 34.3545 7.37022 12.7019 0.241845 0.692812 0.286149 0.616135 +#6153 1721120677485 +SLAM -36.2068 -16.5638 15.7307 -0.764582 -0.0555709 0.0141737 0.641971 +TTool-pose None 34.4201 7.36014 12.7258 0.240163 0.697139 0.28537 0.612261 +#6154 1721120677537 +SLAM -36.1359 -17.0336 15.5096 -0.763541 -0.0617792 0.0158161 0.642603 +TTool-pose None 34.4903 7.3473 12.7778 0.23832 0.701553 0.285606 0.607813 +#6155 1721120677591 +SLAM -36.1661 -17.1298 15.2461 -0.759717 -0.0624878 0.0149321 0.647072 +TTool-pose None 34.5144 7.3208 12.7697 0.233671 0.70327 0.282494 0.609086 +#6156 1721120677640 +SLAM -36.5066 -17.5166 14.3777 -0.751314 -0.066093 0.00728062 0.656587 +TTool-pose None 34.7289 7.32975 13.0813 0.21926 0.706164 0.279941 0.612267 +#6157 1721120677691 +SLAM -36.8414 -17.2306 14.0765 -0.752165 -0.0652873 -0.000788209 0.655732 +TTool-pose None 34.8158 7.378 13.2073 0.21521 0.702667 0.285421 0.615191 +#6158 1721120677748 +SLAM -36.9792 -17.224 13.6723 -0.748561 -0.066045 -0.00444337 0.659754 +TTool-pose None 34.8746 7.35309 13.2345 0.209071 0.703262 0.284305 0.617142 +#6159 1721120677801 +SLAM -37.1038 -17.0763 13.488 -0.747971 -0.0656694 -0.00739084 0.660434 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-0.0214407 0.648508 +TTool-pose None 35.2731 7.31265 12.9452 0.204219 0.698985 0.307071 0.612702 +#6166 1721120678180 +SLAM -37.8142 -16.4275 12.3934 -0.756301 -0.0755752 -0.0231807 0.649431 +TTool-pose None 35.3137 7.27455 12.9039 0.202285 0.698704 0.307298 0.613549 +#6167 1721120678236 +SLAM -37.756 -16.1353 12.7939 -0.760295 -0.0721252 -0.0216808 0.645197 +TTool-pose None 35.2174 7.28698 12.8169 0.208249 0.695725 0.309134 0.614017 +#6168 1721120678291 +SLAM -37.7267 -16.1129 12.8894 -0.762811 -0.0734043 -0.0206268 0.64211 +TTool-pose None 35.2205 7.29359 12.7353 0.211086 0.695729 0.311533 0.611827 +#6169 1721120678348 +SLAM -37.7039 -16.1274 12.9805 -0.763745 -0.0735178 -0.0193744 0.641025 +TTool-pose None 35.2277 7.28931 12.7071 0.212783 0.695841 0.311755 0.610998 +#6170 1721120678403 +SLAM -37.5486 -16.1893 13.0996 -0.762813 -0.0728399 -0.0164587 0.642292 +TTool-pose None 35.1419 7.25444 12.6551 0.213857 0.696916 0.308735 0.610931 +#6171 1721120678450 +SLAM -37.3846 -16.1773 13.5283 -0.763703 -0.0699803 -0.0116098 0.641659 +TTool-pose None 35.0563 7.26034 12.6059 0.218633 0.696705 0.305572 0.611073 +#6172 1721120678500 +SLAM -37.1873 -15.9683 14.2303 -0.768998 -0.065516 -0.00763547 0.635839 +TTool-pose None 34.8782 7.3303 12.6106 0.227835 0.693365 0.306897 0.610846 +#6173 1721120678555 +SLAM -37.1163 -15.9366 14.3848 -0.768548 -0.0638292 -0.00521452 0.636579 +TTool-pose None 34.8503 7.30847 12.5482 0.229399 0.693478 0.304315 0.611423 +#6174 1721120678612 +SLAM -36.9302 -15.7199 15.0186 -0.772621 -0.0594331 -0.000676073 0.632079 +TTool-pose None 34.7138 7.35287 12.489 0.237741 0.690809 0.304109 0.61136 +#6175 1721120678664 +SLAM -36.7812 -15.5609 15.567 -0.77696 -0.0562008 0.00432425 0.627022 +TTool-pose None 34.6525 7.33855 12.4049 0.246347 0.688742 0.304367 0.610155 +#6176 1721120678724 +SLAM -36.6836 -15.3937 15.8512 -0.778353 -0.0539127 0.00634438 0.625475 +TTool-pose None 34.5742 7.37797 12.3248 0.249757 0.687504 0.303747 0.610474 +#6177 1721120678778 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1721120679094 +SLAM -36.3976 -14.4436 16.891 -0.781073 -0.0378433 0.0108033 0.623198 +TTool-pose None 34.2362 7.4389 12.1415 0.260293 0.678639 0.298036 0.61875 +#6184 1721120679144 +SLAM -36.4192 -14.5611 16.8033 -0.780133 -0.0389509 0.0103124 0.624314 +TTool-pose None 34.2576 7.44702 12.1949 0.258664 0.679551 0.29775 0.618571 +#6185 1721120679198 +SLAM -36.4326 -14.3028 16.9223 -0.781067 -0.0360301 0.00968485 0.623331 +TTool-pose None 34.2222 7.45495 12.1456 0.260128 0.677234 0.298057 0.620348 +#6186 1721120679246 +SLAM -36.4653 -14.2278 16.8091 -0.778405 -0.0341482 0.00822344 0.626779 +TTool-pose None 34.201 7.43775 12.1467 0.257018 0.676904 0.29549 0.623226 +#6187 1721120679303 +SLAM -36.5247 -14.0972 16.7855 -0.776129 -0.0305964 0.00616234 0.629801 +TTool-pose None 34.1782 7.44169 12.2233 0.254456 0.675206 0.293108 0.627232 +#6188 1721120679353 +SLAM -36.8777 -12.8738 16.8045 -0.776824 -0.0179297 -0.00435792 0.629448 +TTool-pose None 34.1379 7.48119 12.1363 0.252471 0.663892 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None 34.4764 7.84507 12.6079 0.253782 0.690126 0.267151 0.622843 +#6235 1721120681774 +SLAM -36.1527 -15.8324 17.7377 -0.762529 -0.0328765 0.0265676 0.645572 +TTool-pose None 34.4948 7.85353 12.6396 0.252995 0.689089 0.267599 0.624117 +#6236 1721120681830 +SLAM -36.346 -15.6608 17.5465 -0.763815 -0.0333194 0.0218787 0.644203 +TTool-pose None 34.5399 7.87246 12.6821 0.251123 0.687319 0.271882 0.624973 +#6237 1721120681887 +SLAM -36.4977 -15.4681 17.4155 -0.762125 -0.0311357 0.0192718 0.646394 +TTool-pose None 34.5891 7.85541 12.6543 0.248407 0.685936 0.270943 0.627979 +#6238 1721120681939 +SLAM -36.5591 -15.205 17.3526 -0.763518 -0.0302414 0.0167221 0.644862 +TTool-pose None 34.5554 7.84616 12.5873 0.248452 0.684007 0.273584 0.628919 +#6239 1721120681991 +SLAM -36.6508 -15.1235 17.2565 -0.762594 -0.0293878 0.0149044 0.646038 +TTool-pose None 34.5848 7.84309 12.5979 0.246613 0.683312 0.273433 0.630463 +#6240 1721120682042 +SLAM -36.8159 -14.7991 17.0898 -0.762201 -0.0268707 0.0102967 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None 35.9656 7.64589 13.7337 0.146793 0.685962 0.293021 0.649639 +#6263 1721120683153 +SLAM -39.5756 -15.26 9.80228 -0.723295 -0.0630583 -0.0640899 0.684661 +TTool-pose None 35.993 7.66215 13.7859 0.148261 0.688713 0.295546 0.645236 +#6264 1721120683202 +SLAM -39.3612 -15.6697 10.2362 -0.723952 -0.0635157 -0.0557984 0.68465 +TTool-pose None 35.968 7.64418 13.7603 0.153782 0.692017 0.291053 0.642444 +#6265 1721120683256 +SLAM -39.0786 -16.0912 10.4662 -0.723716 -0.0659753 -0.048479 0.685224 +TTool-pose None 35.9006 7.60057 13.6816 0.157285 0.696295 0.287075 0.638754 +#6266 1721120683302 +SLAM -38.9544 -16.1914 10.7758 -0.726238 -0.0657612 -0.0450799 0.682804 +TTool-pose None 35.8419 7.60929 13.6663 0.161878 0.696608 0.28732 0.637152 +#6267 1721120683350 +SLAM -38.8576 -16.1579 11.1695 -0.729451 -0.0639721 -0.0415863 0.679765 +TTool-pose None 35.7879 7.59961 13.6078 0.16768 0.695823 0.287613 0.636377 +#6268 1721120683394 +SLAM -38.7632 -16.144 11.3028 -0.729078 -0.0626942 -0.040027 0.680377 +TTool-pose None 35.7107 7.59577 13.5794 0.168654 0.695838 0.285788 0.636925 +#6269 1721120683449 +SLAM -38.6477 -16.1595 11.7721 -0.732109 -0.0603156 -0.0357885 0.677567 +TTool-pose None 35.6512 7.59979 13.567 0.174933 0.695033 0.285235 0.636358 +#6270 1721120683499 +SLAM -38.5454 -16.1822 11.9965 -0.734272 -0.0602357 -0.0337175 0.675336 +TTool-pose None 35.5895 7.61739 13.5372 0.178354 0.69498 0.286047 0.635101 +#6271 1721120683548 +SLAM -38.4872 -16.2556 12.1316 -0.736514 -0.0615349 -0.0313761 0.672886 +TTool-pose None 35.6042 7.60403 13.4712 0.181619 0.695748 0.287284 0.632772 +#6272 1721120683588 +#6273 1721120683638 +SLAM -38.3964 -15.4973 12.9553 -0.745644 -0.0533111 -0.0294772 0.663555 +TTool-pose None 35.4081 7.59023 13.2393 0.194271 0.688431 0.292186 0.634768 +#6274 1721120683687 +SLAM -38.3761 -15.161 13.2693 -0.748075 -0.0493142 -0.0282365 0.661176 +TTool-pose None 35.3584 7.57313 13.1043 0.198664 0.685696 0.292394 0.636272 +#6275 1721120683738 +SLAM -38.3615 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1721120689822 +SLAM -38.3093 -12.8434 15.5326 -0.747626 -0.00976483 -0.0244154 0.663599 +TTool-pose None 34.9838 7.85527 12.7061 0.212957 0.664207 0.275544 0.661467 +#6396 1721120689872 +SLAM -38.3189 -12.8783 15.4787 -0.747153 -0.0103035 -0.0246513 0.664115 +TTool-pose None 34.991 7.85473 12.712 0.212166 0.664628 0.275401 0.661356 +#6397 1721120689920 +SLAM -38.3329 -12.8859 15.4336 -0.746323 -0.010479 -0.0246912 0.665043 +TTool-pose None 35.0064 7.85156 12.6911 0.211261 0.66504 0.274654 0.661544 +#6398 1721120689970 +SLAM -38.3287 -12.9686 15.3745 -0.745185 -0.0110915 -0.0241067 0.66633 +TTool-pose None 35.0234 7.83082 12.6831 0.210299 0.666056 0.273361 0.661363 +#6399 1721120690023 +SLAM -38.3232 -12.9199 15.389 -0.746481 -0.0114226 -0.0246729 0.664851 +TTool-pose None 35.0039 7.84586 12.6777 0.211125 0.665552 0.275127 0.660874 +#6400 1721120690071 +SLAM -38.3387 -12.9295 15.4867 -0.747945 -0.0114874 -0.0244387 0.663211 +TTool-pose None 35.0224 7.88076 12.7145 0.212705 0.66511 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0.274363 0.660933 +#6542 1721120697130 +SLAM -38.2982 -12.8908 15.5345 -0.748384 -0.0108271 -0.0238941 0.662747 +TTool-pose None 33.9589 7.80548 12.67 0.213693 0.66474 0.276347 0.660357 +#6543 1721120697181 +SLAM -38.3011 -12.8849 15.5434 -0.748417 -0.0106553 -0.0238588 0.662714 +TTool-pose None 33.9616 7.80353 12.6718 0.213803 0.664637 0.276299 0.660446 +#6544 1721120697229 +SLAM -38.305 -12.8878 15.5181 -0.747887 -0.0105705 -0.023914 0.663311 +TTool-pose None 33.9643 7.79608 12.6673 0.213269 0.664772 0.275771 0.660703 +#6545 1721120697274 +SLAM -38.3027 -12.8878 15.4771 -0.747828 -0.0109748 -0.0242858 0.663358 +TTool-pose None 33.9552 7.79454 12.6619 0.212848 0.664903 0.276083 0.660576 +#6546 1721120697326 +SLAM -38.3012 -12.8809 15.5426 -0.748949 -0.0109157 -0.0241318 0.662098 +TTool-pose None 33.9555 7.80887 12.6813 0.214079 0.664487 0.277094 0.660174 +#6547 1721120697372 +SLAM -38.3031 -12.8766 15.5665 -0.74881 -0.0105831 -0.0238559 0.662271 +TTool-pose None 33.9626 7.80914 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0.264992 0.675081 +#6624 1721120701986 +SLAM -38.3008 -12.8932 15.5064 -0.747621 -0.0106833 -0.0239049 0.66361 +TTool-pose Tracking 33.5938 7.42242 12.6506 0.242597 0.644358 0.263813 0.675527 +#6625 1721120702101 +SLAM -38.298 -12.8981 15.5239 -0.748462 -0.0110489 -0.0240322 0.66265 +TTool-pose Tracking 33.5892 7.43449 12.6656 0.243167 0.644183 0.265368 0.67488 +#6626 1721120702226 +SLAM -38.2849 -12.9558 15.342 -0.744592 -0.0110473 -0.023774 0.667005 +TTool-pose Tracking 33.589 7.37567 12.611 0.239469 0.645745 0.261294 0.676297 +#6627 1721120702350 +SLAM -38.3051 -12.8643 15.5952 -0.749672 -0.0107402 -0.0240265 0.661286 +TTool-pose Tracking 33.5924 7.44737 12.6792 0.244199 0.643767 0.266083 0.674621 +#6628 1721120702473 +SLAM -38.3115 -12.8568 15.5959 -0.749532 -0.0105927 -0.0241247 0.661444 +TTool-pose Tracking 33.5951 7.44773 12.6794 0.244535 0.643486 0.265862 0.674855 +#6629 1721120702589 +SLAM -38.3056 -12.8716 15.5821 -0.749018 -0.010594 -0.0238965 0.662034 +TTool-pose Tracking 33.5951 7.44057 12.6705 0.243993 0.643817 0.265355 0.674936 +#6630 1721120702706 +SLAM -38.2917 -12.9034 15.5019 -0.748212 -0.0111995 -0.0240733 0.662928 +TTool-pose Tracking 33.5828 7.42802 12.6591 0.242604 0.644421 0.264952 0.675018 +#6631 1721120702823 +SLAM -38.3002 -12.885 15.5593 -0.749216 -0.0110097 -0.0241062 0.661796 +TTool-pose Tracking 33.5872 7.44074 12.6763 0.243798 0.644093 0.265777 0.674576 +#6632 1721120702944 +SLAM -38.3062 -12.8698 15.5768 -0.74999 -0.0112516 -0.0244637 0.660901 +TTool-pose Tracking 33.5847 7.45945 12.6859 0.244271 0.6439 0.266642 0.674248 +#6633 1721120703081 +SLAM -38.2917 -12.9127 15.4683 -0.746385 -0.0103488 -0.023406 0.665023 +TTool-pose Tracking 33.5995 7.39181 12.634 0.241488 0.644987 0.262452 0.675853 +#6634 1721120703194 +SLAM -38.2988 -12.8876 15.5338 -0.748612 -0.0109558 -0.0240632 0.662481 +TTool-pose Tracking 33.5891 7.43593 12.6651 0.243252 0.644286 0.265181 0.674824 +#6635 1721120703306 +SLAM -38.2941 -12.9273 15.4296 -0.746412 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0.264906 0.674969 +#6653 1721120704356 +SLAM -38.3078 -12.8734 15.5692 -0.749249 -0.0109832 -0.0242393 0.661754 +TTool-pose None 33.5911 7.45864 12.6751 0.243807 0.643894 0.266064 0.674649 +#6654 1721120704392 +SLAM -38.2995 -12.9032 15.507 -0.747916 -0.0110163 -0.0239955 0.663268 +TTool-pose None 33.5918 7.43344 12.6565 0.242587 0.644496 0.264618 0.675083 +#6655 1721120704428 +SLAM -38.2913 -12.9142 15.4997 -0.747856 -0.0110384 -0.0238328 0.663341 +TTool-pose None 33.5886 7.42069 12.6559 0.242617 0.64459 0.264461 0.675044 +#6656 1721120704467 +SLAM -38.3072 -12.8762 15.5661 -0.748832 -0.0106538 -0.0239622 0.662241 +TTool-pose None 33.5964 7.44195 12.6697 0.243653 0.643939 0.265366 0.674937 +#6657 1721120704507 +SLAM -38.2983 -12.8921 15.527 -0.748416 -0.0108379 -0.023969 0.662707 +TTool-pose None 33.5899 7.42582 12.6644 0.243168 0.644207 0.265028 0.674989 +#6658 1721120704549 +SLAM -38.303 -12.8748 15.5784 -0.74958 -0.0110309 -0.0242043 0.661379 +TTool-pose None 33.5873 7.45595 12.6803 0.244151 0.643813 0.266381 0.674478 +#6659 1721120704586 +SLAM -38.2967 -12.896 15.5178 -0.747994 -0.0107663 -0.0238595 0.663189 +TTool-pose None 33.5911 7.42343 12.6563 0.242827 0.644357 0.264521 0.675167 +#6660 1721120704622 +SLAM -38.2964 -12.9136 15.4392 -0.746379 -0.0107091 -0.0238716 0.665007 +TTool-pose None 33.5927 7.40072 12.6356 0.241197 0.644912 0.262939 0.675839 +#6661 1721120704658 +SLAM -38.3022 -12.8919 15.5297 -0.74801 -0.0106243 -0.0238356 0.663175 +TTool-pose None 33.596 7.42716 12.6593 0.242902 0.64427 0.264473 0.675242 +#6662 1721120704701 +SLAM -38.2979 -12.8859 15.5482 -0.747865 -0.0103112 -0.0235512 0.663353 +TTool-pose None 33.5972 7.42317 12.6521 0.243024 0.644226 0.264041 0.675409 +#6663 1721120704740 +SLAM -38.2922 -12.9117 15.4808 -0.747477 -0.011051 -0.0238311 0.663768 +TTool-pose None 33.5903 7.41694 12.6429 0.242229 0.644738 0.264096 0.675184 +#6664 1721120704772 +SLAM -38.3022 -12.8942 15.5196 -0.747448 -0.0105067 -0.0237566 0.663812 +TTool-pose None 33.5977 7.42832 12.6503 0.242416 0.644431 0.263835 0.675513 +#6665 1721120704815 +SLAM -38.3024 -12.8931 15.5053 -0.747186 -0.0104616 -0.0237783 0.664107 +TTool-pose None 33.5976 7.42261 12.6455 0.242151 0.644492 0.26358 0.67565 +#6666 1721120704850 +SLAM -38.3036 -12.8713 15.5786 -0.749668 -0.0109681 -0.0242187 0.661279 +TTool-pose None 33.5873 7.45071 12.6821 0.244252 0.643735 0.266455 0.674486 +#6667 1721120704884 +SLAM -38.3004 -12.8993 15.4951 -0.747426 -0.0107345 -0.023906 0.663828 +TTool-pose None 33.594 7.42213 12.6495 0.242232 0.644531 0.263988 0.675424 +#6668 1721120704921 +SLAM -38.2917 -12.9194 15.4659 -0.747042 -0.0109345 -0.0238012 0.66426 +TTool-pose None 33.5903 7.41006 12.6439 0.241842 0.644836 0.263614 0.675418 +#6669 1721120704957 +SLAM -38.3004 -12.8893 15.5372 -0.748389 -0.0107579 -0.0239336 0.662741 +TTool-pose None 33.5921 7.4318 12.6642 0.243187 0.644179 0.264951 0.675039 +#6670 1721120704991 +SLAM -38.2911 -12.9373 15.3926 -0.745858 -0.0111751 -0.0239918 0.665579 +TTool-pose None 33.5883 7.39951 12.6286 0.240451 0.645356 0.26267 0.675787 +#6671 1721120705026 +SLAM -38.2926 -12.9252 15.4544 -0.746946 -0.0111668 -0.0239385 0.66436 +TTool-pose None 33.5891 7.41933 12.643 0.241589 0.64497 0.263688 0.675352 +#6672 1721120705063 +SLAM -38.3032 -12.8714 15.5794 -0.749205 -0.010681 -0.0238857 0.661822 +TTool-pose None 33.5945 7.43973 12.6689 0.24407 0.643844 0.265688 0.67475 +#6673 1721120705102 +SLAM -38.305 -12.8739 15.5748 -0.749145 -0.0107463 -0.0240561 0.661882 +TTool-pose None 33.5919 7.44782 12.6754 0.243886 0.643847 0.265764 0.674784 +#6674 1721120705137 +SLAM -38.2963 -12.9146 15.4674 -0.746466 -0.0105956 -0.023681 0.664918 +TTool-pose None 33.596 7.41133 12.6371 0.241436 0.644876 0.262861 0.675819 +#6675 1721120705174 +SLAM -38.2981 -12.8929 15.5272 -0.748304 -0.01086 -0.0239701 0.662834 +TTool-pose None 33.5896 7.43124 12.6621 0.243046 0.644263 0.264926 0.67502 +#6676 1721120705209 +SLAM -38.3044 -12.8745 15.5679 -0.749385 -0.0109349 -0.0241531 0.661604 +TTool-pose None 33.5901 7.44578 12.6764 0.244012 0.643843 0.266124 0.6746 +#6677 1721120705248 +SLAM -38.298 -12.9033 15.4979 -0.747414 -0.0107138 -0.0238017 0.663845 +TTool-pose None 33.5943 7.41911 12.6491 0.242289 0.644559 0.263902 0.67541 +#6678 1721120705290 +SLAM -38.2984 -12.9002 15.5031 -0.747914 -0.0109522 -0.0240253 0.66327 +TTool-pose None 33.5897 7.42803 12.6573 0.242588 0.644446 0.264614 0.675132 +#6679 1721120705324 +SLAM -38.3052 -12.8703 15.606 -0.749698 -0.0107688 -0.0239931 0.661257 +TTool-pose None 33.593 7.45704 12.6826 0.24448 0.643677 0.266269 0.674532 +#6680 1721120705361 +SLAM -38.2914 -12.9241 15.4445 -0.74684 -0.0110922 -0.023929 0.664481 +TTool-pose None 33.5881 7.40935 12.6415 0.241511 0.644965 0.263554 0.675437 +#6681 1721120705400 +SLAM -38.3004 -12.8912 15.5264 -0.748065 -0.0106872 -0.0238693 0.66311 +TTool-pose None 33.5938 7.42648 12.6581 0.242918 0.644278 0.26457 0.675191 +#6682 1721120705435 +SLAM -38.2961 -12.9059 15.4851 -0.747335 -0.0108236 -0.0239004 0.663929 +TTool-pose None 33.5907 7.41884 12.6487 0.242115 0.644623 0.263926 0.675402 +#6683 1721120705469 +SLAM -38.2951 -12.9078 15.4903 -0.747692 -0.0110169 -0.023981 0.663521 +TTool-pose None 33.5885 7.42385 12.6537 0.242368 0.644585 0.264391 0.675166 +#6684 1721120705503 +SLAM -38.3011 -12.8915 15.5249 -0.748034 -0.0107504 -0.0239153 0.663143 +TTool-pose None 33.5935 7.43137 12.6572 0.242839 0.644313 0.264591 0.675178 +#6685 1721120705542 +SLAM -38.3017 -12.8818 15.5546 -0.748948 -0.0109089 -0.0240762 0.662102 +TTool-pose None 33.5897 7.44318 12.6704 0.243622 0.644017 0.265639 0.674767 +#6686 1721120705578 +SLAM -38.2901 -12.9287 15.4578 -0.747217 -0.0112937 -0.023957 0.664052 +TTool-pose None 33.5867 7.4194 12.6475 0.241813 0.644944 0.264007 0.675173 +#6687 1721120705613 +SLAM -38.3061 -12.8737 15.566 -0.748992 -0.0107416 -0.0240781 0.662055 +TTool-pose None 33.5927 7.44566 12.6724 0.243718 0.643894 0.265627 0.674854 +#6688 1721120705645 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1721120708061 +SLAM -38.2981 -12.9011 15.5022 -0.747856 -0.0109868 -0.0240277 0.663336 +TTool-pose None 33.5896 7.43101 12.6555 0.242516 0.644489 0.264571 0.675134 +#6754 1721120708100 +SLAM -38.3013 -12.8904 15.5259 -0.747712 -0.0105149 -0.0237927 0.663513 +TTool-pose None 33.5957 7.42713 12.6541 0.24266 0.644326 0.264119 0.675415 +#6755 1721120708136 +SLAM -38.2997 -12.8996 15.494 -0.747713 -0.0109663 -0.0240741 0.663494 +TTool-pose None 33.5901 7.42941 12.6535 0.24235 0.644512 0.264456 0.675217 +#6756 1721120708172 +SLAM -38.3054 -12.8765 15.5605 -0.748747 -0.010632 -0.0239608 0.662338 +TTool-pose None 33.5948 7.43824 12.6685 0.243574 0.643957 0.265275 0.674984 +#6757 1721120708209 +SLAM -38.2996 -12.8883 15.543 -0.748496 -0.0107754 -0.0239099 0.662621 +TTool-pose None 33.5918 7.4335 12.664 0.243304 0.644159 0.265046 0.674979 +#6758 1721120708244 +SLAM -38.2969 -12.9075 15.4929 -0.747391 -0.0108172 -0.0238374 0.663869 +TTool-pose None 33.5929 7.42134 12.6494 0.242212 0.64462 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None 33.5898 7.42459 12.6351 0.240927 0.645083 0.262917 0.675781 +#6824 1721120710663 +SLAM -38.2935 -12.9197 15.4513 -0.746707 -0.0110814 -0.0240443 0.664626 +TTool-pose None 33.5865 7.42613 12.6416 0.24131 0.644966 0.263497 0.67553 +#6825 1721120710707 +SLAM -38.3014 -12.8928 15.5127 -0.747633 -0.0108149 -0.0240354 0.663589 +TTool-pose None 33.5911 7.4425 12.6522 0.242339 0.64446 0.264301 0.675331 +#6826 1721120710744 +SLAM -38.293 -12.92 15.4669 -0.747329 -0.0113668 -0.0242083 0.663916 +TTool-pose None 33.5826 7.44009 12.6516 0.241753 0.64486 0.264305 0.675158 +#6827 1721120710784 +SLAM -38.2995 -12.8997 15.4864 -0.746929 -0.0107316 -0.0239747 0.664385 +TTool-pose None 33.5912 7.43467 12.6425 0.241687 0.644688 0.263549 0.675641 +#6828 1721120710821 +SLAM -38.2939 -12.9261 15.4454 -0.745987 -0.01089 -0.0238372 0.665445 +TTool-pose None 33.5915 7.42736 12.6311 0.240764 0.645183 0.262597 0.675869 +#6829 1721120710857 +SLAM -38.3036 -12.8837 15.5449 -0.747748 -0.0104516 -0.0238599 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0.446178 0.689836 0.0522915 0.567705 +#6856 1721120711752 +SLAM -21.3145 -23.9433 33.9219 -0.725694 0.0311754 0.304827 0.616016 +TTool-pose None 33.5996 9.85759 14.7362 0.458748 0.69033 0.0408372 0.557941 +#6857 1721120711782 +SLAM -19.1554 -24.2276 35.2383 -0.720994 0.0407954 0.333784 0.605881 +TTool-pose None 33.6841 9.91533 14.9195 0.47989 0.686037 0.0194065 0.546491 +#6858 1721120711814 +SLAM -18.0756 -24.1223 35.923 -0.718605 0.0477131 0.34712 0.600698 +TTool-pose None 33.6707 10.011 14.9296 0.49045 0.682074 0.00873928 0.542334 +#6859 1721120711842 +SLAM -17.1078 -24.862 35.5021 -0.711724 0.0391941 0.357199 0.603591 +TTool-pose None 33.4103 10.0644 14.9607 0.488511 0.690458 -5.21777e-05 0.533473 +#6860 1721120711873 +SLAM -15.7621 -25.0072 35.9914 -0.711651 0.0375553 0.371758 0.594927 +TTool-pose None 33.307 10.1547 15.1435 0.499724 0.691009 -0.00613672 0.522218 +#6861 1721120711904 +SLAM -14.4863 -24.6173 37.0499 -0.708734 0.0495328 0.387019 0.587757 +TTool-pose None 33.4347 10.4316 15.1242 0.5134 0.683048 -0.0194047 0.519092 +#6862 1721120711934 +SLAM -13.8244 -24.9678 36.7824 -0.705741 0.0445849 0.393378 0.587533 +TTool-pose None 33.2216 10.4097 15.1981 0.513859 0.68724 -0.0236119 0.512892 +#6863 1721120711967 +SLAM -12.4634 -24.9632 37.3641 -0.700869 0.0508622 0.409013 0.582155 +TTool-pose None 33.2733 10.5626 15.2652 0.52409 0.683537 -0.0370017 0.506659 +#6864 1721120712000 +SLAM -11.9181 -25.4349 36.9115 -0.693703 0.0482857 0.41515 0.586596 +TTool-pose None 33.104 10.525 15.2415 0.520945 0.687652 -0.0458993 0.503596 +#6865 1721120712031 +SLAM -10.2056 -25.1175 37.9146 -0.694412 0.0527255 0.433554 0.571876 +TTool-pose None 33.2382 10.7329 15.4481 0.538965 0.682115 -0.054053 0.4912 +#6866 1721120712067 +SLAM -10.2167 -25.8976 36.7939 -0.681752 0.0502107 0.435154 0.585948 +TTool-pose None 32.9815 10.5315 15.2338 0.52634 0.688823 -0.0665009 0.493995 +#6867 1721120712098 +SLAM -8.82186 -25.6707 37.5055 -0.683041 0.0513269 0.449584 0.573319 +TTool-pose None 33.0666 10.6859 15.4352 0.540543 0.68557 -0.0713137 0.482372 +#6868 1721120712130 +SLAM -7.24012 -25.6235 38.017 -0.676532 0.057827 0.467447 0.566087 +TTool-pose None 33.2232 10.8304 15.5001 0.551771 0.680803 -0.0866169 0.473829 +#6869 1721120712161 +SLAM -6.06309 -25.5958 38.2924 -0.672759 0.0595801 0.480101 0.559776 +TTool-pose None 33.2936 10.9256 15.5775 0.559745 0.6788 -0.0956195 0.465546 +#6870 1721120712194 +SLAM -5.35523 -25.8978 38.0382 -0.666286 0.0587783 0.488434 0.560393 +TTool-pose None 33.2595 10.8971 15.5767 0.560224 0.680383 -0.104869 0.460639 +#6871 1721120712226 +SLAM -4.28092 -25.8817 38.2138 -0.662944 0.0590274 0.499995 0.5541 +TTool-pose None 33.329 10.9488 15.6551 0.567317 0.679132 -0.112413 0.45194 +#6872 1721120712256 +SLAM -3.16549 -25.8373 38.3866 -0.658977 0.0602005 0.511978 0.547725 +TTool-pose None 33.4156 11.0002 15.7254 0.574592 0.677178 -0.12089 0.443411 +#6873 1721120712288 +SLAM -2.17901 -25.8548 38.454 -0.654047 0.0617439 0.5226 0.543414 +TTool-pose None 33.4943 11.0485 15.7712 0.579848 0.67549 -0.129865 0.436552 +#6874 1721120712319 +SLAM -1.28945 -25.8187 38.5417 -0.650307 0.0629239 0.531704 0.538918 +TTool-pose None 33.5594 11.1158 15.8327 0.584884 0.6738 -0.136958 0.430232 +#6875 1721120712350 +SLAM -0.699287 -25.9091 38.4546 -0.64725 0.0615041 0.537433 0.537076 +TTool-pose None 33.5544 11.1655 15.897 0.586582 0.674505 -0.14145 0.425332 +#6876 1721120712384 +SLAM 0.249888 -25.8318 38.5561 -0.642628 0.0644961 0.547037 0.532559 +TTool-pose None 33.647 11.2481 15.9511 0.591945 0.671522 -0.149998 0.419656 +#6877 1721120712419 +SLAM 0.688955 -25.9078 38.4621 -0.640685 0.0624705 0.551111 0.530939 +TTool-pose None 33.633 11.2797 16.0216 0.593078 0.67256 -0.152615 0.415427 +#6878 1721120712454 +SLAM 1.39111 -25.8744 38.5115 -0.63751 0.0634089 0.558026 0.527416 +TTool-pose None 33.7102 11.3453 16.0822 0.596738 0.671075 -0.158186 0.410472 +#6879 1721120712489 +SLAM 1.92039 -25.85 38.5232 -0.635039 0.0639422 0.563262 0.524759 +TTool-pose None 33.7598 11.3846 16.1259 0.599406 0.670051 -0.16239 0.406596 +#6880 1721120712521 +SLAM 2.47946 -25.7899 38.5842 -0.633122 0.0641429 0.568695 0.52118 +TTool-pose None 33.8329 11.4292 16.1848 0.60275 0.668918 -0.165975 0.402045 +#6881 1721120712553 +SLAM 2.92017 -25.7536 38.6193 -0.630804 0.0653638 0.573182 0.518919 +TTool-pose None 33.9058 11.4619 16.2068 0.605146 0.667494 -0.169959 0.399135 +#6882 1721120712586 +SLAM 3.22142 -25.7172 38.6478 -0.629833 0.0653006 0.576057 0.516918 +TTool-pose None 33.9449 11.4865 16.2409 0.606926 0.666952 -0.17174 0.396568 +#6883 1721120712618 +SLAM 3.47234 -25.7385 38.5984 -0.628141 0.065335 0.578607 0.516125 +TTool-pose None 33.9606 11.4966 16.2558 0.607672 0.666748 -0.174172 0.394702 +#6884 1721120712649 +SLAM 3.70033 -25.7255 38.5836 -0.627092 0.0653005 0.58067 0.515086 +TTool-pose None 33.9689 11.524 16.2802 0.608594 0.666483 -0.175796 0.393006 +#6885 1721120712680 +SLAM 4.03538 -25.7057 38.5614 -0.62488 0.0666487 0.583888 0.513963 +TTool-pose None 33.9948 11.5577 16.2965 0.609946 0.665287 -0.179305 0.391347 +#6886 1721120712710 +SLAM 4.40067 -25.6103 38.5972 -0.622936 0.0691141 0.587195 0.512226 +TTool-pose None 34.0237 11.6112 16.3117 0.612086 0.663114 -0.182881 0.390037 +#6887 1721120712741 +SLAM 4.50814 -25.6765 38.4732 -0.62168 0.068489 0.587792 0.513151 +TTool-pose None 33.9623 11.6485 16.3367 0.611137 0.663878 -0.184123 0.389641 +#6888 1721120712771 +SLAM 4.83126 -25.5934 38.4769 -0.620352 0.0697442 0.590347 0.511653 +TTool-pose None 33.9511 11.7142 16.3722 0.612746 0.662576 -0.186515 0.388189 +#6889 1721120712803 +SLAM 5.15808 -25.5222 38.4635 -0.618834 0.0709515 0.593021 0.510232 +TTool-pose None 33.9409 11.7722 16.4056 0.614264 0.66133 -0.189107 0.386656 +#6890 1721120712834 +SLAM 5.21991 -25.573 38.3474 -0.618377 0.0695516 0.593145 0.510834 +TTool-pose None 33.8657 11.7963 16.4396 0.613398 0.662493 -0.189195 0.385995 +#6891 1721120712868 +SLAM 5.63082 -25.4567 38.3604 -0.616425 0.0716406 0.596799 0.508644 +TTool-pose None 33.8808 11.8526 16.4622 0.615776 0.660397 -0.19273 0.384049 +#6892 1721120712900 +SLAM 5.77142 -25.4441 38.2692 -0.615466 0.0716953 0.597758 0.508671 +TTool-pose None 33.8128 11.8837 16.4794 0.615755 0.660389 -0.19396 0.383476 +#6893 1721120712939 +SLAM 5.93598 -25.4416 38.1659 -0.614312 0.071661 0.598986 0.508628 +TTool-pose None 33.7481 11.9106 16.5015 0.615767 0.660422 -0.19543 0.382651 +#6894 1721120712970 +SLAM 6.22333 -25.2893 38.1896 -0.613915 0.0727182 0.601187 0.506354 +TTool-pose None 33.7154 11.9591 16.5356 0.617952 0.658953 -0.196711 0.381001 +#6895 1721120713008 +SLAM 6.48081 -25.2561 38.0816 -0.61254 0.0725391 0.603227 0.505618 +TTool-pose None 33.6475 11.9982 16.5668 0.618503 0.658854 -0.198568 0.37931 +#6896 1721120713047 +SLAM 6.80354 -25.1825 37.9917 -0.611089 0.0727541 0.605884 0.504164 +TTool-pose None 33.5876 12.0391 16.6029 0.619748 0.658242 -0.200769 0.377176 +#6897 1721120713082 +SLAM 6.81097 -25.155 37.9044 -0.612474 0.0699488 0.605 0.503942 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0.491674 +TTool-pose None 33.1029 12.1768 16.7976 0.6299 0.653939 -0.210584 0.362188 +#6910 1721120713548 +SLAM 8.75971 -24.4298 37.436 -0.605152 0.0716337 0.622739 0.49077 +TTool-pose None 33.1259 12.1634 16.8127 0.630328 0.654449 -0.210577 0.360521 +#6911 1721120713581 +SLAM 8.89057 -24.4026 37.4141 -0.603956 0.07235 0.624472 0.489935 +TTool-pose None 33.1582 12.1459 16.7879 0.631127 0.653669 -0.212393 0.359472 +#6912 1721120713612 +SLAM 9.15801 -24.3313 37.4149 -0.602329 0.0734456 0.627524 0.487872 +TTool-pose None 33.2259 12.134 16.7773 0.632983 0.652193 -0.215053 0.357301 +#6913 1721120713650 +SLAM 9.16237 -24.3622 37.3727 -0.60219 0.0721919 0.627913 0.48773 +TTool-pose None 33.226 12.1032 16.7712 0.632777 0.652996 -0.214928 0.356271 +#6914 1721120713682 +SLAM 9.35278 -24.292 37.3888 -0.601286 0.0727173 0.630177 0.485844 +TTool-pose None 33.2809 12.0852 16.7607 0.634375 0.651964 -0.216506 0.354357 +#6915 1721120713715 +SLAM 9.47803 -24.2931 37.3283 -0.600004 0.0725882 0.631999 0.485082 +TTool-pose None 33.3045 12.049 16.7377 0.634878 0.651774 -0.218175 0.35278 +#6916 1721120713750 +SLAM 9.69643 -24.2302 37.3146 -0.598295 0.0739051 0.63471 0.483451 +TTool-pose None 33.363 12.0271 16.7077 0.636401 0.650281 -0.220877 0.351104 +#6917 1721120713788 +SLAM 9.71085 -24.2399 37.2776 -0.598156 0.072919 0.635241 0.483074 +TTool-pose None 33.3612 11.9923 16.697 0.636446 0.650815 -0.220856 0.350042 +#6918 1721120713820 +SLAM 9.9815 -24.1694 37.2629 -0.596185 0.0742508 0.638429 0.481101 +TTool-pose None 33.4324 11.9757 16.6729 0.63821 0.649178 -0.223921 0.347916 +#6919 1721120713850 +SLAM 10.0513 -24.1094 37.2863 -0.596706 0.0730208 0.639373 0.479388 +TTool-pose None 33.45 11.9447 16.679 0.639296 0.649399 -0.223253 0.345933 +#6920 1721120713882 +SLAM 10.1435 -24.106 37.2302 -0.595767 0.0725065 0.640881 0.47862 +TTool-pose None 33.4654 11.904 16.6539 0.639706 0.649458 -0.224381 0.34433 +#6921 1721120713916 +SLAM 10.425 -24.0543 37.1763 -0.593521 0.0732578 0.64437 0.476607 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0.462083 +TTool-pose None 33.9901 11.5184 16.3174 0.651565 0.640532 -0.249494 0.32071 +#6940 1721120714551 +SLAM 12.3103 -23.598 36.7339 -0.578386 0.0752402 0.669166 0.460462 +TTool-pose None 33.9915 11.4924 16.344 0.652739 0.640397 -0.248291 0.319522 +#6941 1721120714586 +SLAM 12.2782 -23.6558 36.7067 -0.578674 0.0735319 0.668855 0.460828 +TTool-pose None 33.9845 11.4863 16.3606 0.652066 0.641708 -0.247465 0.318906 +#6942 1721120714623 +SLAM 12.3856 -23.5816 36.7183 -0.578244 0.0744627 0.670043 0.459491 +TTool-pose None 34.0058 11.4705 16.3563 0.653258 0.640547 -0.248373 0.318094 +#6943 1721120714655 +SLAM 12.5002 -23.4804 36.7552 -0.577339 0.0770021 0.671291 0.458388 +TTool-pose None 34.0413 11.4759 16.3241 0.654618 0.638364 -0.250217 0.31824 +#6944 1721120714694 +SLAM 12.5999 -23.4687 36.7297 -0.576376 0.0774155 0.67244 0.457845 +TTool-pose None 34.0679 11.4703 16.3145 0.655015 0.637839 -0.251509 0.317457 +#6945 1721120714725 +SLAM 12.4137 -23.6776 36.6323 -0.576031 0.0752593 0.670757 0.461095 +TTool-pose None 34.0328 11.4865 16.2967 0.651996 0.640546 -0.250963 0.318651 +#6946 1721120714757 +SLAM 12.5453 -23.6641 36.5985 -0.575087 0.075154 0.672173 0.460228 +TTool-pose None 34.061 11.4797 16.2997 0.652509 0.64025 -0.252139 0.317263 +#6947 1721120714789 +SLAM 12.5801 -23.5439 36.6661 -0.575456 0.0768773 0.672649 0.458785 +TTool-pose None 34.0722 11.4585 16.2832 0.654068 0.638535 -0.252328 0.31736 +#6948 1721120714821 +SLAM 12.6035 -23.5296 36.6625 -0.575831 0.0758743 0.672985 0.457987 +TTool-pose None 34.0726 11.4325 16.2992 0.654458 0.638923 -0.251727 0.316251 +#6949 1721120714854 +SLAM 12.6644 -23.4814 36.6773 -0.574839 0.078161 0.673687 0.457818 +TTool-pose None 34.0969 11.4445 16.2638 0.655038 0.637265 -0.253489 0.316988 +#6950 1721120714886 +SLAM 12.4195 -23.7488 36.5647 -0.575375 0.0736891 0.671303 0.461373 +TTool-pose None 34.0441 11.4545 16.2801 0.651313 0.641696 -0.251285 0.317476 +#6951 1721120714919 +SLAM 12.4809 -23.6854 36.596 -0.575852 0.0734008 0.671849 0.460028 +TTool-pose None 34.054 11.4421 16.2995 0.652307 0.641391 -0.250817 0.316419 +#6952 1721120714952 +SLAM 12.42 -23.767 36.5461 -0.57442 0.0751816 0.671386 0.462202 +TTool-pose None 34.0496 11.4709 16.2499 0.650953 0.640966 -0.252682 0.318579 +#6953 1721120714984 +SLAM 12.6136 -23.583 36.6356 -0.575508 0.0747505 0.673126 0.458371 +TTool-pose None 34.0862 11.4405 16.3003 0.653849 0.639823 -0.251766 0.315657 +#6954 1721120715018 +SLAM 12.6187 -23.6376 36.5752 -0.573098 0.078115 0.673446 0.460355 +TTool-pose None 34.0985 11.4702 16.2273 0.652916 0.638211 -0.255196 0.318091 +#6955 1721120715052 +SLAM 12.6802 -23.4866 36.6675 -0.574774 0.0775553 0.673993 0.457552 +TTool-pose None 34.1051 11.4321 16.2617 0.655077 0.637571 -0.25344 0.316326 +#6956 1721120715084 +SLAM 12.5314 -23.6799 36.5819 -0.57564 0.0727999 0.672533 0.459389 +TTool-pose None 34.0693 11.4228 16.3008 0.652609 0.641545 -0.250983 0.315351 +#6957 1721120715119 +SLAM 12.5788 -23.6696 36.5754 -0.575316 0.0728324 0.673071 0.459 +TTool-pose None 34.0827 11.4185 16.2991 0.65287 0.641361 -0.251413 0.314841 +#6958 1721120715154 +SLAM 12.6898 -23.4325 36.701 -0.575334 0.0772924 0.674258 0.456501 +TTool-pose None 34.1126 11.4062 16.2603 0.655863 0.637364 -0.252843 0.315591 +#6959 1721120715186 +SLAM 12.6722 -23.6128 36.5629 -0.573527 0.0762053 0.67434 0.458829 +TTool-pose None 34.1098 11.4168 16.2418 0.653633 0.638937 -0.254387 0.315797 +#6960 1721120715217 +SLAM 12.8393 -23.4888 36.6147 -0.573519 0.0766799 0.675952 0.456383 +TTool-pose None 34.1527 11.4064 16.256 0.655577 0.637666 -0.254802 0.313997 +#6961 1721120715248 +SLAM 12.8417 -23.4814 36.6099 -0.573422 0.0768726 0.676086 0.456272 +TTool-pose None 34.1519 11.3962 16.2492 0.655695 0.637488 -0.254976 0.313969 +#6962 1721120715279 +SLAM 12.8382 -23.447 36.6343 -0.575316 0.0736988 0.676026 0.454499 +TTool-pose None 34.1364 11.347 16.3088 0.656446 0.639028 -0.252159 0.311533 +#6963 1721120715313 +SLAM 12.8564 -23.4758 36.6153 -0.573621 0.0762259 0.676261 0.455873 +TTool-pose None 34.159 11.3895 16.2561 0.655855 0.63778 -0.254625 0.313326 +#6964 1721120715348 +SLAM 12.8093 -23.5126 36.5912 -0.574179 0.0746674 0.675877 0.455998 +TTool-pose None 34.1385 11.3675 16.2729 0.655438 0.63891 -0.25356 0.31276 +#6965 1721120715379 +SLAM 12.844 -23.5183 36.5859 -0.573042 0.0763516 0.676252 0.456592 +TTool-pose None 34.1615 11.3944 16.2401 0.65528 0.637952 -0.255245 0.313676 +#6966 1721120715410 +SLAM 12.8532 -23.5088 36.5866 -0.573562 0.0752548 0.676354 0.45597 +TTool-pose None 34.157 11.3767 16.2601 0.655531 0.638476 -0.254429 0.312745 +#6967 1721120715442 +SLAM 12.8192 -23.5251 36.5617 -0.573345 0.0755513 0.67626 0.456333 +TTool-pose None 34.1444 11.3567 16.2438 0.655309 0.638407 -0.254716 0.313118 +#6968 1721120715476 +SLAM 12.832 -23.5157 36.5724 -0.57405 0.0739595 0.676355 0.455566 +TTool-pose None 34.1464 11.3431 16.2684 0.655565 0.639217 -0.253573 0.311853 +#6969 1721120715515 +SLAM 12.8535 -23.5514 36.5442 -0.572447 0.0759239 0.676676 0.456781 +TTool-pose None 34.1679 11.3757 16.2216 0.654958 0.638293 -0.255801 0.313203 +#6970 1721120715548 +SLAM 12.9572 -23.4739 36.5582 -0.572683 0.0755952 0.677764 0.454924 +TTool-pose None 34.1817 11.3453 16.2431 0.656284 0.637803 -0.255651 0.311539 +#6971 1721120715579 +SLAM 12.9493 -23.5211 36.5306 -0.571482 0.0769041 0.67778 0.45619 +TTool-pose None 34.1942 11.3719 16.205 0.655522 0.637357 -0.257236 0.31275 +#6972 1721120715611 +SLAM 12.936 -23.4385 36.5955 -0.572955 0.0760976 0.677618 0.454715 +TTool-pose None 34.1871 11.3465 16.2261 0.6566 0.637391 -0.255491 0.311849 +#6973 1721120715645 +SLAM 12.9512 -23.4745 36.5561 -0.57233 0.0760946 0.677884 0.455106 +TTool-pose None 34.1893 11.3425 16.2199 0.656231 0.63752 -0.256169 0.311806 +#6974 1721120715677 +SLAM 13.0343 -23.3964 36.5956 -0.572121 0.0771948 0.678668 0.454013 +TTool-pose None 34.2155 11.3482 16.2127 0.657291 0.636337 -0.256816 0.311456 +#6975 1721120715707 +SLAM 12.8776 -23.6124 36.5045 -0.57215 0.0738072 0.677137 0.456818 +TTool-pose None 34.189 11.3672 16.2217 0.654358 0.639733 -0.255589 0.311685 +#6976 1721120715739 +SLAM 12.8827 -23.6287 36.4817 -0.572218 0.0729773 0.677298 0.456627 +TTool-pose None 34.1852 11.3476 16.2312 0.654298 0.640224 -0.255314 0.311025 +#6977 1721120715777 +SLAM 13.0451 -23.3729 36.6052 -0.572504 0.0763726 0.678973 0.453213 +TTool-pose None 34.222 11.3215 16.2146 0.657726 0.636599 -0.256248 0.310468 +#6978 1721120715814 +SLAM 13.0695 -23.4646 36.5206 -0.571749 0.0746896 0.679431 0.45376 +TTool-pose None 34.2245 11.3068 16.2209 0.6568 0.637925 -0.256622 0.309393 +#6979 1721120715848 +SLAM 13.0373 -23.5732 36.4574 -0.5706 0.074424 0.679312 0.455424 +TTool-pose None 34.2337 11.323 16.1917 0.655353 0.638708 -0.257693 0.309957 +#6980 1721120715885 +SLAM 13.0915 -23.4456 36.5417 -0.571693 0.0744631 0.67999 0.45303 +TTool-pose None 34.2579 11.2802 16.2032 0.657276 0.637792 -0.256706 0.308588 +#6981 1721120715920 +SLAM 13.066 -23.3799 36.6067 -0.572197 0.0755502 0.680013 0.452179 +TTool-pose None 34.2775 11.2478 16.1827 0.658244 0.636741 -0.2565 0.308866 +#6982 1721120715954 +SLAM 13.0352 -23.5018 36.5465 -0.571012 0.0750062 0.680137 0.453578 +TTool-pose None 34.3078 11.2381 16.1509 0.656921 0.637609 -0.257573 0.309 +#6983 1721120715988 +SLAM 12.9337 -23.5355 36.5354 -0.571274 0.074681 0.679635 0.454054 +TTool-pose None 34.2968 11.1937 16.1235 0.65652 0.638027 -0.257135 0.309353 +#6984 1721120716020 +SLAM 13.1142 -23.4028 36.5658 -0.5711 0.0750551 0.681613 0.451238 +TTool-pose None 34.3367 11.1553 16.1316 0.658672 0.636662 -0.257735 0.307082 +#6985 1721120716051 +SLAM 13.1288 -23.4862 36.493 -0.569719 0.0748935 0.682046 0.452355 +TTool-pose None 34.3496 11.1613 16.1007 0.657627 0.637151 -0.259163 0.307105 +#6986 1721120716083 +SLAM 13.279 -23.2863 36.561 -0.569674 0.0775294 0.683654 0.449531 +TTool-pose None 34.3709 11.128 16.09 0.660361 0.634248 -0.260194 0.306375 +#6987 1721120716114 +SLAM 13.2592 -23.3555 36.5357 -0.569162 0.077153 0.683432 0.450581 +TTool-pose None 34.3802 11.1506 16.0816 0.659429 0.634894 -0.260576 0.30672 +#6988 1721120716145 +SLAM 13.1509 -23.3162 36.6008 -0.570602 0.0772561 0.682348 0.450384 +TTool-pose None 34.3582 11.1322 16.0863 0.659789 0.63481 -0.258969 0.307481 +#6989 1721120716177 +SLAM 12.853 -23.506 36.5964 -0.57103 0.0769248 0.679428 0.454295 +TTool-pose None 34.3306 11.1653 16.0531 0.656875 0.636586 -0.257972 0.310868 +#6990 1721120716210 +SLAM 12.7357 -23.4909 36.6943 -0.571969 0.07809 0.678232 0.454703 +TTool-pose None 34.3497 11.1695 16.0375 0.656984 0.635991 -0.257146 0.312537 +#6991 1721120716243 +SLAM 12.4312 -23.5725 36.728 -0.574973 0.0749287 0.675255 0.455875 +TTool-pose None 34.2789 11.1264 16.0723 0.655692 0.638715 -0.252721 0.313304 +#6992 1721120716277 +SLAM 12.3027 -23.6755 36.7096 -0.574895 0.0746768 0.674115 0.457699 +TTool-pose None 34.2748 11.1312 16.0537 0.654259 0.63959 -0.252537 0.314661 +#6993 1721120716310 +SLAM 12.1279 -23.5833 36.8573 -0.576614 0.0766407 0.672579 0.457471 +TTool-pose None 34.2802 11.1093 16.0154 0.655129 0.63823 -0.251075 0.316777 +#6994 1721120716344 +SLAM 11.9645 -23.668 36.8677 -0.578327 0.0734691 0.671209 0.457841 +TTool-pose None 34.2701 11.0619 16.0392 0.654253 0.640589 -0.248214 0.31608 +#6995 1721120716377 +SLAM 11.8243 -23.9676 36.6936 -0.575249 0.0740762 0.67006 0.463272 +TTool-pose None 34.2647 11.1265 15.9692 0.649967 0.642157 -0.251298 0.319289 +#6996 1721120716410 +SLAM 11.7688 -23.9721 36.7131 -0.575597 0.074385 0.669652 0.463381 +TTool-pose None 34.2668 11.1053 15.9649 0.650003 0.642002 -0.250961 0.319794 +#6997 1721120716444 +SLAM 11.6618 -23.859 36.8157 -0.57635 0.0779433 0.668529 0.46348 +TTool-pose None 34.2451 11.1101 15.9278 0.650907 0.639645 -0.250989 0.322645 +#6998 1721120716478 +SLAM 11.3258 -23.9836 36.864 -0.578002 0.0771158 0.665151 0.466412 +TTool-pose None 34.2155 11.1264 15.9104 0.648665 0.641381 -0.248472 0.325651 +#6999 1721120716511 +SLAM 11.2037 -23.9701 36.9774 -0.578644 0.0790271 0.66389 0.467093 +TTool-pose None 34.2534 11.1421 15.8846 0.648691 0.640358 -0.24812 0.327875 +#7000 1721120716543 +SLAM 10.8747 -24.1902 36.9603 -0.578374 0.0798135 0.660772 0.471693 +TTool-pose None 34.2502 11.1686 15.8373 0.645337 0.641548 -0.248015 0.33222 +#7001 1721120716578 +SLAM 10.7409 -24.1281 37.1222 -0.580641 0.0797845 0.659314 0.470952 +TTool-pose None 34.2843 11.1609 15.8484 0.646137 0.641356 -0.245443 0.332945 +#7002 1721120716612 +SLAM 10.8083 -24.132 37.1726 -0.580745 0.0792534 0.660187 0.469689 +TTool-pose None 34.3603 11.1273 15.8682 0.646987 0.641246 -0.24536 0.331563 +#7003 1721120716644 +SLAM 10.6004 -24.4051 37.0989 -0.577599 0.082082 0.658575 0.475311 +TTool-pose None 34.4181 11.1885 15.759 0.643022 0.64133 -0.248987 0.336381 +#7004 1721120716676 +SLAM 10.52 -24.6384 37.1066 -0.577016 0.079416 0.657882 0.477427 +TTool-pose None 34.5316 11.225 15.761 0.640668 0.643922 -0.248692 0.336137 +#7005 1721120716708 +SLAM 10.7165 -24.3729 37.3626 -0.577664 0.0835452 0.660134 0.472807 +TTool-pose None 34.6799 11.1617 15.7504 0.645316 0.639394 -0.249633 0.33519 +#7006 1721120716747 +SLAM 10.6838 -24.5625 37.3576 -0.578345 0.0788622 0.659894 0.473114 +TTool-pose None 34.7635 11.146 15.8105 0.644006 0.64273 -0.247608 0.332823 +#7007 1721120716779 +SLAM 10.6143 -24.8203 37.3246 -0.577979 0.0750374 0.659276 0.475042 +TTool-pose None 34.8571 11.1661 15.8386 0.641528 0.646045 -0.246784 0.331797 +#7008 1721120716810 +SLAM 11.1045 -24.2163 37.7764 -0.583612 0.0736905 0.663551 0.462241 +TTool-pose None 35.0137 11.0388 16.0107 0.651576 0.642294 -0.241539 0.323245 +#7009 1721120716842 +SLAM 11.1962 -24.2879 37.7936 -0.582119 0.0742769 0.664323 0.462921 +TTool-pose None 35.1031 11.0909 15.9988 0.651051 0.642111 -0.243361 0.3233 +#7010 1721120716874 +SLAM 11.4916 -24.3048 37.8669 -0.580203 0.0748207 0.667011 0.46137 +TTool-pose None 35.2833 11.133 16.0176 0.652153 0.64109 -0.245945 0.321141 +#7011 1721120716905 +SLAM 11.4446 -24.5275 37.8113 -0.581539 0.0686369 0.666412 0.461515 +TTool-pose None 35.3218 11.0887 16.1302 0.650617 0.645381 -0.24274 0.318083 +#7012 1721120716942 +SLAM 11.7195 -24.3747 37.8759 -0.579346 0.0739132 0.669072 0.459606 +TTool-pose None 35.409 11.0951 16.1056 0.653157 0.641002 -0.246929 0.318508 +#7013 1721120716973 +SLAM 11.8849 -24.5939 37.6855 -0.575227 0.0741137 0.671029 0.461889 +TTool-pose None 35.4731 11.1231 16.0697 0.651015 0.641601 -0.251504 0.318106 +#7014 1721120717006 +SLAM 12.04 -24.6659 37.5948 -0.572894 0.0742899 0.672804 0.462179 +TTool-pose None 35.5234 11.1287 16.0472 0.650563 0.641507 -0.254225 0.317059 +#7015 1721120717036 +SLAM 12.2341 -24.5619 37.6266 -0.573457 0.0722974 0.674667 0.459069 +TTool-pose None 35.5621 11.0989 16.0885 0.652458 0.641681 -0.253421 0.313431 +#7016 1721120717076 +SLAM 12.6312 -24.31 37.6765 -0.571572 0.0757295 0.67877 0.454798 +TTool-pose None 35.6489 11.068 16.0622 0.656271 0.637617 -0.256983 0.310849 +#7017 1721120717113 +SLAM 12.6819 -24.3023 37.6474 -0.571204 0.0749752 0.679594 0.454155 +TTool-pose None 35.6585 11.042 16.0478 0.65651 0.637864 -0.257281 0.309589 +#7018 1721120717154 +SLAM 12.7044 -24.3456 37.6021 -0.571276 0.0729372 0.679841 0.454027 +TTool-pose None 35.6528 11.0346 16.0672 0.656097 0.639199 -0.256679 0.308204 +#7019 1721120717187 +SLAM 12.7779 -24.2851 37.632 -0.571387 0.0728665 0.680529 0.452867 +TTool-pose None 35.6728 11.0324 16.0711 0.656951 0.638798 -0.256659 0.307232 +#7020 1721120717220 +SLAM 12.8649 -24.2477 37.6229 -0.57009 0.074989 0.681452 0.452766 +TTool-pose None 35.6936 11.0445 16.0392 0.657397 0.637264 -0.258717 0.307741 +#7021 1721120717254 +SLAM 12.8096 -24.2634 37.6375 -0.571958 0.071471 0.680807 0.451948 +TTool-pose None 35.6727 11.0193 16.0932 0.657347 0.639407 -0.255731 0.305888 +#7022 1721120717285 +SLAM 12.7456 -24.4437 37.5382 -0.570155 0.0717622 0.680286 0.454955 +TTool-pose None 35.6784 11.0593 16.0587 0.654967 0.640311 -0.257559 0.307567 +#7023 1721120717316 +SLAM 12.7567 -24.4028 37.5283 -0.569022 0.0750192 0.680615 0.455357 +TTool-pose None 35.6718 11.0513 16.015 0.655349 0.638211 -0.259672 0.309338 +#7024 1721120717349 +SLAM 12.8892 -24.2772 37.5867 -0.570501 0.0729499 0.68171 0.452194 +TTool-pose None 35.6862 11.0167 16.076 0.657355 0.63844 -0.257772 0.306179 +#7025 1721120717383 +SLAM 12.9006 -24.2718 37.5835 -0.569704 0.0744493 0.681883 0.452691 +TTool-pose None 35.6943 11.033 16.0453 0.657265 0.637584 -0.259027 0.307097 +#7026 1721120717416 +SLAM 13.004 -24.2286 37.5797 -0.569306 0.0745065 0.682869 0.451697 +TTool-pose None 35.7119 11.0308 16.0504 0.657959 0.637137 -0.259605 0.306045 +#7027 1721120717447 +SLAM 12.9771 -24.2472 37.5731 -0.569553 0.0738923 0.682617 0.451867 +TTool-pose None 35.7038 11.0278 16.0556 0.657711 0.637632 -0.259143 0.305941 +#7028 1721120717478 +SLAM 12.9955 -24.26 37.5567 -0.568571 0.0753888 0.682844 0.452512 +TTool-pose None 35.7143 11.0429 16.0299 0.657484 0.636827 -0.260593 0.306873 +#7029 1721120717517 +SLAM 12.9966 -24.2678 37.5682 -0.568761 0.0748336 0.682751 0.452505 +TTool-pose None 35.7221 11.0553 16.037 0.657374 0.637209 -0.26023 0.306622 +#7030 1721120717552 +SLAM 12.8851 -24.3094 37.5608 -0.570563 0.0717193 0.681728 0.452285 +TTool-pose None 35.6821 11.0124 16.0817 0.656981 0.639312 -0.257367 0.305499 +#7031 1721120717588 +SLAM 12.911 -24.3627 37.5261 -0.570002 0.0710825 0.681939 0.452774 +TTool-pose None 35.6941 11.0278 16.0838 0.656384 0.639912 -0.257792 0.30517 +#7032 1721120717622 +SLAM 12.8547 -24.3034 37.5763 -0.570896 0.0716594 0.681407 0.452358 +TTool-pose None 35.6761 11.015 16.0809 0.656956 0.639396 -0.256961 0.305722 +#7033 1721120717654 +SLAM 12.9558 -24.3493 37.5353 -0.569777 0.0710724 0.682291 0.452529 +TTool-pose None 35.7104 11.0443 16.0817 0.656533 0.639813 -0.258073 0.304819 +#7034 1721120717685 +SLAM 12.8975 -24.3711 37.5427 -0.570373 0.0700381 0.681709 0.452817 +TTool-pose None 35.6997 11.0473 16.0857 0.656133 0.640651 -0.257084 0.304754 +#7035 1721120717718 +SLAM 13.0843 -24.1029 37.6539 -0.570334 0.0739219 0.683515 0.449513 +TTool-pose None 35.7262 11.0235 16.0692 0.659552 0.636719 -0.258498 0.304418 +#7036 1721120717750 +SLAM 13.024 -24.147 37.6548 -0.571755 0.0706902 0.682861 0.449221 +TTool-pose None 35.7116 11.0065 16.1119 0.659127 0.638855 -0.256044 0.302932 +#7037 1721120717782 +SLAM 13.0082 -24.1224 37.6659 -0.570718 0.0739563 0.682774 0.450145 +TTool-pose None 35.7128 11.0278 16.0637 0.659147 0.636962 -0.258001 0.30521 +#7038 1721120717818 +SLAM 13.1487 -24.0105 37.7032 -0.570911 0.0742882 0.684004 0.447974 +TTool-pose None 35.7347 11.0105 16.0903 0.660849 0.635888 -0.258089 0.303688 +#7039 1721120717853 +SLAM 12.8822 -24.2152 37.6439 -0.571001 0.073642 0.681461 0.451824 +TTool-pose None 35.6864 11.0378 16.0711 0.657868 0.637847 -0.257417 0.30661 +#7040 1721120717889 +SLAM 12.7923 -24.184 37.6924 -0.572828 0.0725037 0.680352 0.451367 +TTool-pose None 35.6499 11.0256 16.1105 0.658151 0.638516 -0.255063 0.30658 +#7041 1721120717923 +SLAM 12.8419 -24.1453 37.6909 -0.572216 0.0742097 0.680679 0.451373 +TTool-pose None 35.6454 11.0446 16.1031 0.658502 0.637336 -0.256215 0.307321 +#7042 1721120717954 +SLAM 12.6964 -24.1868 37.6662 -0.574103 0.0713036 0.679197 0.451677 +TTool-pose None 35.5712 11.0173 16.146 0.657776 0.639502 -0.253242 0.306837 +#7043 1721120717990 +SLAM 12.5998 -24.2119 37.6262 -0.573588 0.072877 0.678204 0.453569 +TTool-pose None 35.5141 11.0543 16.1082 0.656714 0.639156 -0.254046 0.309163 +#7044 1721120718022 +SLAM 12.4427 -24.1825 37.6084 -0.576301 0.0695433 0.676692 0.452912 +TTool-pose None 35.4028 10.9998 16.1546 0.656682 0.641262 -0.250098 0.308083 +#7045 1721120718053 +SLAM 12.5313 -24.1043 37.5516 -0.575249 0.07128 0.677593 0.452632 +TTool-pose None 35.3574 11.0102 16.1269 0.657207 0.639937 -0.251807 0.308329 +#7046 1721120718085 +SLAM 12.5561 -24.0929 37.4383 -0.574697 0.0705943 0.677953 0.4529 +TTool-pose None 35.275 11.0097 16.1125 0.656765 0.640484 -0.252235 0.307784 +#7047 1721120718116 +SLAM 12.5252 -24.0478 37.3366 -0.577156 0.0646295 0.677835 0.450837 +TTool-pose None 35.1445 10.9253 16.177 0.657046 0.643801 -0.248017 0.303659 +#7048 1721120718146 +SLAM 12.7357 -23.9329 37.2762 -0.573767 0.0696796 0.679967 0.4512 +TTool-pose None 35.1431 11.0032 16.0788 0.65767 0.6404 -0.253251 0.305178 +#7049 1721120718177 +SLAM 12.7889 -23.9542 37.1876 -0.571928 0.0715599 0.680676 0.452169 +TTool-pose None 35.1236 11.0135 16.0403 0.657203 0.639433 -0.255766 0.306116 +#7050 1721120718211 +SLAM 12.8713 -23.81 37.2487 -0.572992 0.0715033 0.68124 0.449977 +TTool-pose None 35.1123 11.0072 16.0677 0.65894 0.638654 -0.254756 0.304845 +#7051 1721120718242 +SLAM 12.8771 -23.7515 37.2946 -0.573653 0.0716374 0.681175 0.449212 +TTool-pose None 35.1118 11.0075 16.0771 0.659621 0.638289 -0.254109 0.304675 +#7052 1721120718272 +SLAM 12.8114 -23.7574 37.2966 -0.574984 0.0697592 0.68046 0.448888 +TTool-pose None 35.0768 10.984 16.112 0.659545 0.639487 -0.252109 0.303987 +#7053 1721120718304 +SLAM 12.7576 -23.7509 37.2868 -0.57504 0.0707009 0.679846 0.4496 +TTool-pose None 35.039 10.9965 16.1026 0.65927 0.639132 -0.252221 0.305236 +#7054 1721120718335 +SLAM 12.6069 -23.9626 37.1378 -0.575429 0.066099 0.678313 0.45211 +TTool-pose None 34.9607 11.0035 16.1342 0.656278 0.643242 -0.250275 0.304652 +#7055 1721120718368 +SLAM 12.6753 -23.8754 37.0963 -0.573449 0.0706783 0.679127 0.452711 +TTool-pose None 34.9272 11.0317 16.0643 0.65677 0.640304 -0.25372 0.306925 +#7056 1721120718405 +SLAM 12.781 -23.7651 37.0715 -0.574055 0.0695772 0.680069 0.450696 +TTool-pose None 34.8808 11.0084 16.0962 0.658051 0.640284 -0.252945 0.304855 +#7057 1721120718436 +SLAM 12.7692 -23.8438 36.9425 -0.572176 0.0705427 0.680113 0.452863 +TTool-pose None 34.8307 11.0416 16.0474 0.656462 0.640403 -0.255137 0.306201 +#7058 1721120718469 +SLAM 13.0532 -23.5526 37.0057 -0.573578 0.0693603 0.682692 0.447358 +TTool-pose None 34.8239 10.994 16.1107 0.660387 0.639096 -0.253782 0.301579 +#7059 1721120718501 +SLAM 13.1211 -23.6035 36.8971 -0.572087 0.069218 0.683403 0.448204 +TTool-pose None 34.8 11.0145 16.097 0.659537 0.639463 -0.255375 0.301314 +#7060 1721120718535 +SLAM 13.1645 -23.537 36.8754 -0.571932 0.0699792 0.683856 0.447591 +TTool-pose None 34.7667 11.007 16.0919 0.660162 0.6387 -0.255817 0.30119 +#7061 1721120718573 +SLAM 13.0988 -23.6224 36.7965 -0.573129 0.0656381 0.683092 0.447884 +TTool-pose None 34.704 10.9883 16.1456 0.658977 0.641799 -0.253249 0.299362 +#7062 1721120718605 +SLAM 13.3501 -23.4398 36.7913 -0.56985 0.0729206 0.685543 0.447197 +TTool-pose None 34.7309 11.0437 16.0644 0.660928 0.636462 -0.259025 0.301507 +#7063 1721120718637 +SLAM 13.0798 -23.6289 36.699 -0.572108 0.067165 0.682864 0.449308 +TTool-pose None 34.6228 11.0145 16.1188 0.658198 0.641287 -0.254689 0.300947 +#7064 1721120718670 +SLAM 13.2078 -23.4452 36.7485 -0.571304 0.0715964 0.683892 0.448082 +TTool-pose None 34.615 11.0469 16.0896 0.660136 0.637773 -0.256919 0.302275 +#7065 1721120718701 +SLAM 13.0834 -23.5474 36.6905 -0.572347 0.0686286 0.682355 0.449556 +TTool-pose None 34.5458 11.0665 16.127 0.658427 0.640406 -0.25478 0.302244 +#7066 1721120718733 +SLAM 13.0768 -23.5051 36.6735 -0.572271 0.0697963 0.682072 0.449902 +TTool-pose None 34.4965 11.0919 16.1212 0.658464 0.63975 -0.255142 0.303246 +#7067 1721120718766 +SLAM 13.1807 -23.3433 36.6684 -0.572025 0.0722214 0.683012 0.448404 +TTool-pose None 34.4474 11.0875 16.1136 0.660154 0.637507 -0.256222 0.303385 +#7068 1721120718800 +SLAM 13.1366 -23.3537 36.5906 -0.57251 0.0706424 0.682559 0.448727 +TTool-pose None 34.3641 11.0774 16.1286 0.659575 0.638724 -0.255213 0.302933 +#7069 1721120718834 +SLAM 13.2656 -23.1991 36.5877 -0.573038 0.0704488 0.683708 0.446328 +TTool-pose None 34.3236 11.06 16.1538 0.661351 0.63793 -0.254797 0.301079 +#7070 1721120718866 +SLAM 13.1793 -23.3114 36.4722 -0.572013 0.0703056 0.682845 0.448977 +TTool-pose None 34.2563 11.0998 16.1245 0.659241 0.63903 -0.25567 0.302631 +#7071 1721120718898 +SLAM 13.1192 -23.2709 36.4766 -0.574158 0.0672092 0.681934 0.448098 +TTool-pose None 34.1824 11.0889 16.1781 0.659361 0.640866 -0.252464 0.301173 +#7072 1721120718929 +SLAM 13.1074 -23.1804 36.4756 -0.574251 0.0693154 0.681747 0.447943 +TTool-pose None 34.1248 11.0925 16.1625 0.660032 0.639385 -0.252936 0.302453 +#7073 1721120718961 +SLAM 13.2589 -23.0855 36.439 -0.572331 0.073079 0.683054 0.44781 +TTool-pose None 34.1126 11.1407 16.1283 0.660848 0.636705 -0.256155 0.303617 +#7074 1721120718995 +SLAM 13.1359 -23.0661 36.3972 -0.574138 0.0710197 0.681796 0.447745 +TTool-pose None 33.9998 11.1043 16.1607 0.660601 0.63815 -0.253538 0.303316 +#7075 1721120719027 +SLAM 13.1243 -22.9969 36.3801 -0.575667 0.0688086 0.681508 0.446565 +TTool-pose None 33.9241 11.0855 16.1995 0.66109 0.639242 -0.251306 0.301804 +#7076 1721120719058 +SLAM 12.9589 -23.2152 36.2033 -0.575145 0.0657696 0.679843 0.450218 +TTool-pose None 33.8247 11.1156 16.1941 0.657553 0.642712 -0.250717 0.302651 +#7077 1721120719092 +SLAM 13.2088 -22.8822 36.2658 -0.575211 0.0691632 0.682301 0.445886 +TTool-pose None 33.8031 11.0923 16.1904 0.661621 0.638715 -0.251995 0.301179 +#7078 1721120719124 +SLAM 13.1996 -22.9189 36.1542 -0.575209 0.0670269 0.682328 0.446172 +TTool-pose None 33.7295 11.0707 16.2045 0.660859 0.640271 -0.251397 0.300046 +#7079 1721120719159 +SLAM 13.1681 -22.9201 36.1054 -0.574709 0.0677481 0.681993 0.447219 +TTool-pose None 33.6782 11.0992 16.1759 0.660215 0.640178 -0.252062 0.301102 +#7080 1721120719191 +SLAM 13.1794 -22.8598 36.0884 -0.573547 0.0711955 0.682188 0.447878 +TTool-pose None 33.6497 11.1257 16.1208 0.660473 0.638059 -0.254252 0.303188 +#7081 1721120719222 +SLAM 13.1373 -22.8723 36.0626 -0.574942 0.0681128 0.68167 0.447357 +TTool-pose None 33.6015 11.0992 16.1667 0.660238 0.639995 -0.251877 0.301595 +#7082 1721120719254 +SLAM 13.183 -22.8408 36.0534 -0.573203 0.0717795 0.682069 0.448405 +TTool-pose None 33.6068 11.1562 16.1081 0.660192 0.637857 -0.254749 0.303808 +#7083 1721120719293 +SLAM 13.1051 -22.9336 36.0002 -0.573371 0.0701343 0.681273 0.44966 +TTool-pose None 33.5757 11.1576 16.1187 0.65887 0.639472 -0.25399 0.303918 +#7084 1721120719329 +SLAM 13.1787 -22.8399 36.0427 -0.573832 0.0705174 0.681916 0.448034 +TTool-pose None 33.5853 11.1452 16.1365 0.660222 0.638591 -0.253728 0.303054 +#7085 1721120719366 +SLAM 13.1205 -22.8597 36.0548 -0.574821 0.0689942 0.681245 0.448024 +TTool-pose None 33.5698 11.135 16.16 0.659962 0.639658 -0.252184 0.302659 +#7086 1721120719398 +SLAM 13.1248 -22.8654 36.0445 -0.574206 0.070222 0.681334 0.448487 +TTool-pose None 33.5728 11.1429 16.1427 0.65986 0.638985 -0.253172 0.303476 +#7087 1721120719429 +SLAM 12.9176 -23.0777 35.98 -0.575064 0.0664041 0.679119 0.451319 +TTool-pose None 33.5317 11.1564 16.1674 0.656896 0.642712 -0.250865 0.303951 +#7088 1721120719467 +SLAM 12.8453 -23.1032 35.9791 -0.574515 0.068555 0.678474 0.452664 +TTool-pose None 33.5227 11.1682 16.1339 0.656392 0.641765 -0.25193 0.306157 +#7089 1721120719505 +SLAM 12.9258 -23.0062 36.0237 -0.57323 0.073133 0.679281 0.452368 +TTool-pose None 33.5521 11.1906 16.0904 0.657623 0.638498 -0.254657 0.308085 +#7090 1721120719540 +SLAM 12.8431 -22.996 36.0637 -0.574135 0.0732851 0.678379 0.452548 +TTool-pose None 33.5365 11.1853 16.0946 0.657642 0.638501 -0.253632 0.308882 +#7091 1721120719576 +SLAM 12.7382 -23.0634 36.0577 -0.5752 0.0712792 0.677239 0.453223 +TTool-pose None 33.5118 11.1742 16.1222 0.656763 0.640166 -0.251799 0.308806 +#7092 1721120719612 +SLAM 12.5904 -23.131 36.0493 -0.57548 0.0714802 0.675817 0.454955 +TTool-pose None 33.4818 11.1796 16.1019 0.655563 0.640716 -0.251335 0.31059 +#7093 1721120719653 +SLAM 12.7216 -23.0418 36.0794 -0.574956 0.0728878 0.677046 0.453565 +TTool-pose None 33.5129 11.188 16.1019 0.65689 0.6392 -0.252467 0.309991 +#7094 1721120719693 +SLAM 12.6624 -23.0608 36.0801 -0.576121 0.0708639 0.676466 0.453273 +TTool-pose None 33.4913 11.1588 16.1315 0.656732 0.640502 -0.250617 0.309136 +#7095 1721120719734 +SLAM 12.7353 -23.0952 36.0354 -0.573479 0.0743167 0.677291 0.454835 +TTool-pose None 33.5259 11.2117 16.0675 0.656127 0.638668 -0.254408 0.311114 +#7096 1721120719771 +SLAM 12.7035 -23.1272 36.0098 -0.57464 0.0710886 0.67709 0.454187 +TTool-pose None 33.5048 11.168 16.1071 0.655931 0.640649 -0.252291 0.30917 +#7097 1721120719803 +SLAM 12.8811 -23.0605 35.9859 -0.573149 0.0724913 0.679093 0.452855 +TTool-pose None 33.5434 11.1608 16.0887 0.657089 0.63912 -0.254529 0.308039 +#7098 1721120719835 +SLAM 12.9674 -23.0297 35.9625 -0.571632 0.0744833 0.680253 0.452709 +TTool-pose None 33.5687 11.1635 16.0446 0.65751 0.63765 -0.256817 0.30829 +#7099 1721120719868 +SLAM 12.976 -23.1832 35.8324 -0.568963 0.0751254 0.680718 0.455258 +TTool-pose None 33.5822 11.1894 15.9881 0.655441 0.638097 -0.259779 0.309287 +#7100 1721120719901 +SLAM 13.0459 -23.0827 35.8684 -0.570281 0.0732728 0.681545 0.452666 +TTool-pose None 33.5837 11.1363 16.0243 0.65706 0.638397 -0.258059 0.306659 +#7101 1721120719934 +SLAM 13.1256 -23.007 35.888 -0.570143 0.0737697 0.682504 0.451313 +TTool-pose None 33.6022 11.1193 16.0162 0.658166 0.637523 -0.258492 0.305741 +#7102 1721120719970 +SLAM 13.1408 -23.0446 35.8428 -0.569576 0.0732251 0.68285 0.451594 +TTool-pose None 33.6037 11.1104 16.008 0.657745 0.637978 -0.25897 0.30529 +#7103 1721120720004 +SLAM 13.2274 -22.9463 35.8753 -0.569801 0.0734735 0.683833 0.449779 +TTool-pose None 33.6192 11.087 16.0105 0.659172 0.637105 -0.258966 0.304036 +#7104 1721120720037 +SLAM 13.3545 -22.8658 35.8841 -0.569558 0.0734396 0.685216 0.447983 +TTool-pose None 33.6451 11.0689 16.0157 0.660447 0.636408 -0.259417 0.302338 +#7105 1721120720072 +SLAM 13.2809 -22.9577 35.8282 -0.568171 0.074993 0.684695 0.450278 +TTool-pose None 33.6362 11.0929 15.9629 0.658973 0.636199 -0.261181 0.304471 +#7106 1721120720104 +SLAM 13.3565 -22.8694 35.8584 -0.568929 0.0743106 0.685462 0.448262 +TTool-pose None 33.6418 11.0592 15.9919 0.66038 0.6359 -0.260338 0.302763 +#7107 1721120720137 +SLAM 13.36 -22.8596 35.8632 -0.569061 0.0741471 0.685501 0.448062 +TTool-pose None 33.6413 11.0567 15.9939 0.660502 0.635937 -0.260164 0.302566 +#7108 1721120720170 +SLAM 13.4141 -22.8324 35.8562 -0.567926 0.0763438 0.686083 0.448242 +TTool-pose None 33.6555 11.075 15.9629 0.660773 0.634466 -0.262019 0.303463 +#7109 1721120720204 +SLAM 13.3913 -22.8765 35.8454 -0.569425 0.0722001 0.685773 0.447502 +TTool-pose None 33.6434 11.0449 16.0236 0.660464 0.637052 -0.259291 0.301048 +#7110 1721120720236 +SLAM 13.3107 -22.9312 35.8268 -0.569172 0.0725511 0.685059 0.448858 +TTool-pose None 33.6286 11.056 15.9993 0.659529 0.637339 -0.259538 0.302278 +#7111 1721120720269 +SLAM 13.4203 -22.8786 35.8336 -0.567518 0.0756702 0.68613 0.448801 +TTool-pose None 33.6654 11.0923 15.9587 0.660138 0.635126 -0.262255 0.30326 +#7112 1721120720305 +SLAM 13.4971 -22.8431 35.8169 -0.567412 0.0753874 0.686961 0.44771 +TTool-pose None 33.6692 11.0685 15.9762 0.66085 0.634881 -0.262411 0.302085 +#7113 1721120720338 +SLAM 13.4154 -22.9825 35.7448 -0.56692 0.0739227 0.686205 0.449733 +TTool-pose None 33.6531 11.0834 15.9706 0.658932 0.636653 -0.262388 0.302567 +#7114 1721120720373 +SLAM 13.5288 -22.839 35.8097 -0.568212 0.0729247 0.687232 0.446687 +TTool-pose None 33.6656 11.048 16.0151 0.66108 0.636183 -0.260951 0.300099 +#7115 1721120720411 +SLAM 13.5622 -22.8121 35.8045 -0.566969 0.0756637 0.687658 0.447155 +TTool-pose None 33.6761 11.0685 15.9714 0.661264 0.634453 -0.263043 0.301528 +#7116 1721120720447 +SLAM 13.5926 -22.8726 35.748 -0.565792 0.0758809 0.688017 0.448056 +TTool-pose None 33.6849 11.0851 15.9577 0.660498 0.634607 -0.264355 0.301734 +#7117 1721120720484 +SLAM 13.5 -22.9691 35.7311 -0.567864 0.0701712 0.686946 0.448008 +TTool-pose None 33.6579 11.0615 16.0272 0.659362 0.638554 -0.26049 0.299239 +#7118 1721120720522 +SLAM 13.6251 -22.8855 35.7387 -0.56646 0.0731465 0.688233 0.447335 +TTool-pose None 33.6869 11.0811 15.9935 0.660422 0.636208 -0.262947 0.29975 +#7119 1721120720558 +SLAM 13.7471 -22.7759 35.7589 -0.566709 0.0732245 0.689485 0.445072 +TTool-pose None 33.6991 11.0489 16.0162 0.662124 0.635267 -0.262902 0.298025 +#7120 1721120720590 +SLAM 13.8534 -22.7327 35.7572 -0.565689 0.0745827 0.690498 0.444574 +TTool-pose None 33.7274 11.0706 16.0009 0.662688 0.634098 -0.264467 0.297874 +#7121 1721120720623 +SLAM 13.9354 -22.6565 35.7677 -0.566942 0.0720967 0.691344 0.442066 +TTool-pose None 33.7236 11.0158 16.0573 0.664047 0.634842 -0.262617 0.294885 +#7122 1721120720658 +SLAM 13.9593 -22.7631 35.6702 -0.564262 0.0743927 0.691755 0.444465 +TTool-pose None 33.737 11.0602 15.9983 0.662516 0.634114 -0.26605 0.296812 +#7123 1721120720697 +SLAM 13.9555 -22.8503 35.5938 -0.561724 0.0774389 0.691901 0.446926 +TTool-pose None 33.746 11.1047 15.9283 0.661134 0.632899 -0.269496 0.29937 +#7124 1721120720733 +SLAM 13.9969 -22.734 35.6685 -0.565084 0.0722644 0.692134 0.443179 +TTool-pose None 33.7302 11.0339 16.032 0.663021 0.635083 -0.264674 0.294835 +#7125 1721120720768 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14.4004 -22.6173 35.5627 -0.561027 0.075649 0.696387 0.441101 +TTool-pose None 33.8047 11.0549 15.9894 0.664788 0.631748 -0.270347 0.292865 +#7150 1721120721619 +SLAM 14.402 -22.6422 35.5469 -0.56017 0.076945 0.696421 0.441913 +TTool-pose None 33.8132 11.074 15.9656 0.664404 0.631149 -0.271583 0.293885 +#7151 1721120721653 +SLAM 14.4325 -22.6681 35.5153 -0.559165 0.0779196 0.696766 0.442472 +TTool-pose None 33.8242 11.0866 15.949 0.664096 0.630657 -0.272922 0.294397 +#7152 1721120721685 +SLAM 14.3785 -22.6742 35.5219 -0.560485 0.0756807 0.696266 0.441977 +TTool-pose None 33.7989 11.0548 15.9813 0.664085 0.632049 -0.270892 0.293306 +#7153 1721120721719 +SLAM 14.3926 -22.6336 35.5562 -0.561616 0.0739679 0.696296 0.440782 +TTool-pose None 33.7984 11.0403 16.014 0.664678 0.63279 -0.269268 0.291855 +#7154 1721120721752 +SLAM 14.4006 -22.5792 35.5966 -0.562776 0.0726903 0.696295 0.439514 +TTool-pose None 33.7945 11.0214 16.0423 0.665434 0.633206 -0.267729 0.290643 +#7155 1721120721784 +SLAM 14.4602 -22.5816 35.5676 -0.560754 0.075931 0.69695 0.440512 +TTool-pose None 33.8183 11.0616 15.9874 0.665242 0.631304 -0.270781 0.292388 +#7156 1721120721817 +SLAM 14.5583 -22.4582 35.6235 -0.56238 0.0735257 0.697822 0.437456 +TTool-pose None 33.8277 11.0219 16.0438 0.667064 0.631788 -0.26857 0.289212 +#7157 1721120721849 +SLAM 14.5437 -22.6308 35.5088 -0.56048 0.0729126 0.697769 0.440073 +TTool-pose None 33.8332 11.062 16.0168 0.664747 0.633159 -0.270334 0.289906 +#7158 1721120721880 +SLAM 14.7395 -22.4638 35.5247 -0.558801 0.0775224 0.69985 0.438113 +TTool-pose None 33.8715 11.0542 15.9805 0.667066 0.629149 -0.273599 0.290245 +#7159 1721120721913 +SLAM 14.6939 -22.6229 35.4357 -0.558328 0.0747563 0.699411 0.439892 +TTool-pose None 33.8614 11.0695 15.9936 0.665019 0.631719 -0.27326 0.28968 +#7160 1721120721956 +SLAM 14.8769 -22.5216 35.4385 -0.557588 0.0757122 0.701157 0.437883 +TTool-pose None 33.8993 11.064 16.0065 0.666584 0.630216 -0.274508 0.288169 +#7161 1721120721990 +SLAM 14.9101 -22.5454 35.393 -0.556296 0.0771902 0.701635 0.438503 +TTool-pose None 33.9068 11.0695 15.98 0.666314 0.629391 -0.276294 0.288891 +#7162 1721120722025 +SLAM 14.9478 -22.4961 35.392 -0.555323 0.0800009 0.702159 0.438393 +TTool-pose None 33.9144 11.0667 15.945 0.666946 0.627381 -0.278123 0.290051 +#7163 1721120722056 +SLAM 15.082 -22.5672 35.2871 -0.551873 0.0829213 0.703657 0.439804 +TTool-pose None 33.964 11.1084 15.8863 0.666112 0.62576 -0.282617 0.291123 +#7164 1721120722089 +SLAM 15.1788 -22.5464 35.2384 -0.550398 0.084431 0.704921 0.43934 +TTool-pose None 33.9858 11.0897 15.8601 0.666576 0.624453 -0.284684 0.290855 +#7165 1721120722122 +SLAM 15.2775 -22.5209 35.1991 -0.54811 0.0880368 0.706064 0.439658 +TTool-pose None 34.0162 11.1093 15.8017 0.666853 0.621977 -0.288117 0.292142 +#7166 1721120722156 +SLAM 15.1759 -22.6451 35.1474 -0.54664 0.0898637 0.705182 0.442524 +TTool-pose None 34.0079 11.1439 15.7466 0.665005 0.621795 -0.289973 0.294897 +#7167 1721120722189 +SLAM 15.0898 -22.723 35.1297 -0.547473 0.0875249 0.704351 0.443286 +TTool-pose None 33.9848 11.1348 15.7711 0.66403 0.623756 -0.288397 0.294497 +#7168 1721120722220 +SLAM 15.1306 -22.6852 35.1223 -0.545424 0.0923813 0.704733 0.444219 +TTool-pose None 33.9982 11.1755 15.7002 0.664193 0.620677 -0.291805 0.297268 +#7169 1721120722253 +SLAM 15.0204 -22.9722 34.9666 -0.542257 0.0929432 0.70387 0.449317 +TTool-pose None 34.0031 11.2479 15.6234 0.66012 0.622138 -0.295008 0.300115 +#7170 1721120722286 +SLAM 15.1124 -22.9322 34.9221 -0.537844 0.101511 0.705039 0.450931 +TTool-pose None 34.0466 11.2938 15.4775 0.660208 0.616597 -0.301816 0.304559 +#7171 1721120722322 +SLAM 14.9778 -23.0898 34.8359 -0.536003 0.103094 0.703947 0.454457 +TTool-pose None 34.0218 11.3282 15.4086 0.657695 0.616787 -0.303895 0.307533 +#7172 1721120722356 +SLAM 14.7981 -23.2998 34.7409 -0.533088 0.106758 0.702161 0.459771 +TTool-pose None 33.9982 11.4113 15.3068 0.654141 0.616161 -0.307447 0.312796 +#7173 1721120722392 +SLAM 14.7628 -23.0991 34.8782 -0.533351 0.113486 0.701339 0.459109 +TTool-pose None 33.9761 11.4263 15.257 0.656181 0.611245 -0.308776 0.316839 +#7174 1721120722423 +SLAM 14.2261 -23.2331 34.9693 -0.53961 0.106696 0.695825 0.461806 +TTool-pose None 33.8045 11.3975 15.3514 0.653761 0.617434 -0.300015 0.318255 +#7175 1721120722456 +SLAM 13.9139 -23.3493 34.9663 -0.540105 0.108754 0.692179 0.466205 +TTool-pose None 33.6975 11.4662 15.3233 0.651048 0.617755 -0.299459 0.323674 +#7176 1721120722493 +SLAM 13.8178 -23.3238 35.0426 -0.542098 0.108214 0.690429 0.466614 +TTool-pose None 33.6516 11.5146 15.3718 0.65095 0.618409 -0.297066 0.324826 +#7177 1721120722526 +SLAM 13.8138 -23.2416 35.1139 -0.544461 0.106382 0.689961 0.464972 +TTool-pose None 33.6241 11.5054 15.4429 0.652139 0.619183 -0.294186 0.323583 +#7178 1721120722564 +SLAM 13.8627 -23.2408 35.1106 -0.546564 0.101183 0.690408 0.462997 +TTool-pose None 33.6166 11.4651 15.5391 0.652755 0.622136 -0.290831 0.319685 +#7179 1721120722600 +SLAM 13.9132 -23.1555 35.1604 -0.548603 0.0983759 0.690877 0.460484 +TTool-pose None 33.614 11.4201 15.6045 0.654287 0.623209 -0.288149 0.316877 +#7180 1721120722636 +SLAM 14.1016 -23.0896 35.151 -0.548591 0.096475 0.692818 0.457978 +TTool-pose None 33.656 11.3971 15.6432 0.655688 0.623535 -0.287971 0.313478 +#7181 1721120722675 +SLAM 14.3168 -22.9196 35.2098 -0.549951 0.093955 0.695081 0.453419 +TTool-pose None 33.7048 11.3335 15.7062 0.658651 0.623549 -0.286298 0.308733 +#7182 1721120722717 +SLAM 14.1962 -22.8891 35.2824 -0.552563 0.0917175 0.693709 0.452801 +TTool-pose None 33.6641 11.3092 15.7531 0.658979 0.62499 -0.282879 0.308271 +#7183 1721120722750 +SLAM 13.9519 -23.2657 35.1279 -0.554095 0.0821309 0.691297 0.456444 +TTool-pose None 33.608 11.3054 15.8397 0.654211 0.63307 -0.278379 0.306024 +#7184 1721120722785 +SLAM 14.1682 -23.1101 35.1287 -0.552431 0.0851528 0.69394 0.453891 +TTool-pose None 33.6596 11.2678 15.7959 0.656572 0.629908 -0.28128 0.304835 +#7185 1721120722820 +SLAM 14.4673 -22.7432 35.2886 -0.554381 0.0848902 0.697055 0.446732 +TTool-pose None 33.7266 11.1806 15.8443 0.662019 0.627351 -0.27971 0.299724 +#7186 1721120722857 +SLAM 14.5611 -22.5854 35.3615 -0.555673 0.0835641 0.698392 0.443275 +TTool-pose None 33.7567 11.1102 15.8558 0.664389 0.626943 -0.278232 0.296691 +#7187 1721120722901 +SLAM 14.6173 -22.522 35.4144 -0.557344 0.0807581 0.698814 0.441027 +TTool-pose None 33.773 11.0772 15.9176 0.665567 0.628044 -0.275831 0.293947 +#7188 1721120722937 +SLAM 14.5906 -22.6539 35.3267 -0.55388 0.0853629 0.698632 0.444796 +TTool-pose None 33.7899 11.1557 15.8188 0.663455 0.626224 -0.280567 0.298098 +#7189 1721120722970 +SLAM 14.5229 -22.8081 35.2152 -0.551655 0.0869602 0.69837 0.447654 +TTool-pose None 33.7839 11.1624 15.7615 0.661429 0.626149 -0.283205 0.300259 +#7190 1721120723012 +SLAM 14.4724 -22.7465 35.2742 -0.554545 0.0833118 0.697845 0.44559 +TTool-pose None 33.7513 11.1 15.8341 0.662481 0.627981 -0.279229 0.297825 +#7191 1721120723048 +SLAM 14.4641 -22.7076 35.3018 -0.554713 0.0842049 0.697742 0.445374 +TTool-pose None 33.7486 11.1016 15.8245 0.662884 0.627295 -0.279287 0.298322 +#7192 1721120723090 +SLAM 14.3972 -22.6551 35.399 -0.557643 0.0807923 0.696785 0.443844 +TTool-pose None 33.7335 11.0817 15.8885 0.663595 0.62917 -0.275257 0.296527 +#7193 1721120723121 +SLAM 14.3502 -22.6761 35.4116 -0.557081 0.082512 0.696314 0.444971 +TTool-pose None 33.7391 11.1072 15.8532 0.663122 0.62842 -0.27623 0.298268 +#7194 1721120723154 +SLAM 14.4722 -22.6364 35.3873 -0.557415 0.0804487 0.697469 0.443118 +TTool-pose None 33.7469 11.0796 15.9048 0.663997 0.629101 -0.27549 0.295556 +#7195 1721120723186 +SLAM 14.4333 -22.8282 35.2522 -0.553904 0.0834686 0.697354 0.447125 +TTool-pose None 33.7583 11.134 15.8206 0.66131 0.628452 -0.279848 0.298852 +#7196 1721120723219 +SLAM 14.4654 -22.6744 35.346 -0.556139 0.0822493 0.697627 0.444141 +TTool-pose None 33.7506 11.0808 15.8678 0.663512 0.628214 -0.277297 0.296841 +#7197 1721120723250 +SLAM 14.4418 -22.6668 35.3722 -0.557554 0.0797536 0.697216 0.443466 +TTool-pose None 33.737 11.0745 15.908 0.663594 0.629721 -0.275123 0.295481 +#7198 1721120723283 +SLAM 14.4075 -22.7297 35.3554 -0.55745 0.078758 0.696841 0.444363 +TTool-pose None 33.739 11.093 15.9052 0.662682 0.630753 -0.274903 0.295534 +#7199 1721120723315 +SLAM 14.3501 -22.7025 35.423 -0.560275 0.0745201 0.69606 0.442763 +TTool-pose None 33.7219 11.057 15.9787 0.663193 0.633141 -0.270755 0.293098 +#7200 1721120723347 +SLAM 14.4115 -22.5146 35.5138 -0.561219 0.0767597 0.696573 0.440372 +TTool-pose None 33.7169 11.0328 15.9861 0.665623 0.63071 -0.270484 0.29308 +#7201 1721120723383 +SLAM 14.3229 -22.6835 35.438 -0.559728 0.0770694 0.69584 0.443365 +TTool-pose None 33.7198 11.0665 15.9458 0.663323 0.631623 -0.271986 0.294934 +#7202 1721120723416 +SLAM 14.363 -22.5829 35.4948 -0.562305 0.0733033 0.696044 0.440412 +TTool-pose None 33.7025 11.0142 16.0295 0.664876 0.633128 -0.268346 0.29152 +#7203 1721120723450 +SLAM 14.3681 -22.6124 35.4657 -0.560999 0.0752082 0.696131 0.441616 +TTool-pose None 33.7081 11.0462 15.9905 0.664302 0.632252 -0.270218 0.292999 +#7204 1721120723484 +SLAM 14.3799 -22.5505 35.5157 -0.560546 0.0776263 0.696253 0.441583 +TTool-pose None 33.7281 11.0712 15.949 0.66487 0.630573 -0.271365 0.294268 +#7205 1721120723519 +SLAM 14.331 -22.5324 35.5456 -0.561591 0.0766412 0.695755 0.44121 +TTool-pose None 33.7126 11.0574 15.9621 0.665046 0.631147 -0.269959 0.293932 +#7206 1721120723553 +SLAM 14.3101 -22.5225 35.5561 -0.562746 0.0746403 0.695514 0.440462 +TTool-pose None 33.6955 11.033 15.996 0.665247 0.632264 -0.268195 0.292686 +#7207 1721120723585 +SLAM 14.3187 -22.4885 35.5995 -0.563437 0.0740176 0.695463 0.439763 +TTool-pose None 33.7063 11.0363 16.0106 0.665692 0.632441 -0.267309 0.292101 +#7208 1721120723617 +SLAM 14.2373 -22.5879 35.5581 -0.562783 0.074321 0.694719 0.441722 +TTool-pose None 33.6947 11.0557 15.9868 0.664265 0.632989 -0.267959 0.293567 +#7209 1721120723648 +SLAM 14.2204 -22.6084 35.5499 -0.563841 0.0715632 0.694483 0.441197 +TTool-pose None 33.6787 11.0356 16.0276 0.664091 0.634701 -0.266077 0.291968 +#7210 1721120723679 +SLAM 14.2438 -22.5271 35.6079 -0.564177 0.072638 0.69468 0.440282 +TTool-pose None 33.6917 11.038 16.0185 0.665075 0.633622 -0.266061 0.292086 +#7211 1721120723710 +SLAM 14.1526 -22.5865 35.5859 -0.563507 0.0741867 0.693877 0.442143 +TTool-pose None 33.6737 11.0583 15.9776 0.664033 0.633286 -0.267065 0.294265 +#7212 1721120723742 +SLAM 14.2777 -22.507 35.6165 -0.563995 0.0729871 0.694918 0.440081 +TTool-pose None 33.7005 11.0525 16.0173 0.665282 0.633296 -0.266378 0.292034 +#7213 1721120723774 +SLAM 14.2209 -22.4232 35.6998 -0.566394 0.0712432 0.6943 0.438258 +TTool-pose None 33.6804 11.0036 16.0619 0.666491 0.633863 -0.263351 0.290788 +#7214 1721120723806 +SLAM 13.9682 -22.6846 35.6102 -0.565946 0.0699585 0.691859 0.442879 +TTool-pose None 33.6353 11.0379 16.0325 0.662767 0.636565 -0.26311 0.293604 +#7215 1721120723841 +SLAM 14.0544 -22.5105 35.7121 -0.566137 0.0732159 0.69261 0.44093 +TTool-pose None 33.6627 11.039 16.0188 0.665039 0.633589 -0.263931 0.294168 +#7216 1721120723878 +SLAM 13.9516 -22.6292 35.6753 -0.566301 0.0716536 0.691595 0.442566 +TTool-pose None 33.6468 11.0437 16.0242 0.66348 0.635311 -0.263185 0.294642 +#7217 1721120723912 +SLAM 13.7947 -22.5848 35.7538 -0.56866 0.0708169 0.690018 0.442138 +TTool-pose None 33.6022 11.0075 16.0428 0.663905 0.635818 -0.260313 0.295142 +#7218 1721120723947 +SLAM 13.7578 -22.6952 35.7009 -0.567932 0.0702013 0.689608 0.443809 +TTool-pose None 33.6026 11.0324 16.0371 0.662435 0.636868 -0.260825 0.295729 +#7219 1721120723984 +SLAM 13.805 -22.5644 35.7735 -0.568972 0.0708576 0.690059 0.441666 +TTool-pose None 33.6074 10.9994 16.0561 0.6643 0.635617 -0.26001 0.294954 +#7220 1721120724017 +SLAM 13.7472 -22.6205 35.7473 -0.567274 0.0743863 0.689565 0.444035 +TTool-pose None 33.6072 11.0431 15.9903 0.663252 0.634093 -0.26266 0.298231 +#7221 1721120724050 +SLAM 13.7077 -22.6287 35.7644 -0.568269 0.0729082 0.689093 0.44374 +TTool-pose None 33.597 11.0284 16.0177 0.663226 0.635024 -0.261163 0.297618 +#7222 1721120724082 +SLAM 13.5199 -22.8229 35.7059 -0.568598 0.0705966 0.687203 0.446614 +TTool-pose None 33.5647 11.0391 16.024 0.660589 0.637748 -0.259901 0.298764 +#7223 1721120724117 +SLAM 13.4583 -22.7529 35.7671 -0.569194 0.0728887 0.686614 0.446394 +TTool-pose None 33.5504 11.0248 16.009 0.661418 0.636135 -0.259847 0.300411 +#7224 1721120724152 +SLAM 13.4166 -22.7961 35.7534 -0.56716 0.077452 0.686286 0.448712 +TTool-pose None 33.5648 11.0691 15.9356 0.660604 0.633863 -0.263136 0.304125 +#7225 1721120724188 +SLAM 13.3085 -22.9058 35.7125 -0.566837 0.0772792 0.685272 0.450694 +TTool-pose None 33.5476 11.0783 15.9218 0.659064 0.634749 -0.263259 0.305511 +#7226 1721120724222 +SLAM 13.2221 -22.897 35.7456 -0.567989 0.0767552 0.684405 0.450651 +TTool-pose None 33.5253 11.0595 15.9326 0.65912 0.63514 -0.26181 0.305822 +#7227 1721120724258 +SLAM 13.0842 -23.0333 35.7055 -0.56901 0.0732138 0.68292 0.452203 +TTool-pose None 33.4924 11.0627 15.9626 0.657219 0.6382 -0.259553 0.305465 +#7228 1721120724289 +SLAM 13.1925 -22.8716 35.7913 -0.570006 0.0736269 0.683897 0.449397 +TTool-pose None 33.5119 11.0407 15.9864 0.659519 0.636859 -0.258809 0.303932 +#7229 1721120724325 +SLAM 13.1601 -22.8463 35.8239 -0.570756 0.0732811 0.683548 0.449032 +TTool-pose None 33.5057 11.0328 15.9925 0.659798 0.636983 -0.257895 0.303846 +#7230 1721120724360 +SLAM 13.1198 -22.9003 35.8059 -0.571394 0.0709162 0.683079 0.449313 +TTool-pose None 33.4939 11.0315 16.0151 0.65907 0.638723 -0.256509 0.302941 +#7231 1721120724396 +SLAM 13.2368 -22.7727 35.8438 -0.570078 0.0751279 0.684326 0.448403 +TTool-pose None 33.5222 11.0483 15.9679 0.660637 0.635451 -0.25922 0.304099 +#7232 1721120724430 +SLAM 13.1689 -22.8151 35.8521 -0.571432 0.072082 0.683567 0.448337 +TTool-pose None 33.5082 11.037 16.0015 0.66009 0.63755 -0.256873 0.302883 +#7233 1721120724464 +SLAM 13.2338 -22.678 35.9252 -0.572951 0.0712667 0.684118 0.445679 +TTool-pose None 33.5091 11.0038 16.0384 0.662023 0.637116 -0.255177 0.301003 +#7234 1721120724496 +SLAM 13.1753 -22.7998 35.8433 -0.571673 0.0715854 0.68365 0.447982 +TTool-pose None 33.4944 11.0273 16.0087 0.660254 0.637757 -0.256501 0.302405 +#7235 1721120724530 +SLAM 13.2413 -22.7841 35.7929 -0.571061 0.0716103 0.68437 0.44766 +TTool-pose None 33.4786 11.023 16.0089 0.660416 0.637586 -0.257243 0.301779 +#7236 1721120724563 +SLAM 13.4243 -22.581 35.7675 -0.572249 0.0698631 0.686152 0.443673 +TTool-pose None 33.4164 10.9635 16.0701 0.663032 0.637239 -0.255807 0.297971 +#7237 1721120724596 +SLAM 13.4992 -22.6346 35.6353 -0.569801 0.0709144 0.686861 0.445556 +TTool-pose None 33.3809 11.0337 16.0219 0.661605 0.637168 -0.258712 0.298787 +#7238 1721120724630 +SLAM 13.4763 -22.6292 35.61 -0.570667 0.0685584 0.686519 0.445344 +TTool-pose None 33.3345 11.0374 16.0408 0.661268 0.638715 -0.257112 0.297605 +#7239 1721120724664 +SLAM 13.4735 -22.6067 35.6323 -0.569989 0.0710915 0.686468 0.445894 +TTool-pose None 33.3447 11.0608 16.0091 0.66143 0.63719 -0.25851 0.2993 +#7240 1721120724700 +SLAM 13.3756 -22.6405 35.6564 -0.570911 0.0701486 0.685364 0.446561 +TTool-pose None 33.328 11.0672 16.0172 0.660824 0.638134 -0.257138 0.299811 +#7241 1721120724731 +SLAM 13.3397 -22.6248 35.6874 -0.572426 0.0681241 0.684997 0.445495 +TTool-pose None 33.319 11.026 16.0577 0.661278 0.639146 -0.254963 0.298506 +#7242 1721120724761 +SLAM 13.2943 -22.6994 35.6674 -0.571163 0.069955 0.684547 0.44752 +TTool-pose None 33.3319 11.0689 16.0151 0.660107 0.638655 -0.256701 0.300654 +#7243 1721120724793 +SLAM 13.3164 -22.5094 35.7795 -0.573023 0.0710191 0.684728 0.44469 +TTool-pose None 33.3208 11.0212 16.0393 0.662691 0.636894 -0.255126 0.300045 +#7244 1721120724826 +SLAM 13.2433 -22.561 35.7625 -0.572879 0.0713584 0.684125 0.445747 +TTool-pose None 33.3099 11.0158 16.0242 0.661988 0.637078 -0.255278 0.301077 +#7245 1721120724858 +SLAM 13.2332 -22.6155 35.7527 -0.573034 0.0697073 0.683849 0.446232 +TTool-pose None 33.3161 11.0376 16.0394 0.661229 0.638394 -0.254614 0.300517 +#7246 1721120724891 +SLAM 13.137 -22.5905 35.7993 -0.574679 0.0686141 0.682838 0.445835 +TTool-pose None 33.2875 11.0143 16.0584 0.661449 0.639044 -0.252467 0.300462 +#7247 1721120724923 +SLAM 13.0494 -22.5609 35.8516 -0.574605 0.0714339 0.682028 0.446726 +TTool-pose None 33.284 11.0306 16.0115 0.661514 0.637486 -0.253211 0.302995 +#7248 1721120724954 +SLAM 13 -22.6502 35.7988 -0.575058 0.0689713 0.681533 0.447285 +TTool-pose None 33.2619 11.0092 16.0448 0.660528 0.639391 -0.251979 0.302156 +#7249 1721120724986 +SLAM 13.1069 -22.5606 35.8445 -0.574351 0.0714304 0.682516 0.446307 +TTool-pose None 33.2995 11.0277 16.0303 0.661787 0.637312 -0.253545 0.302484 +#7250 1721120725021 +SLAM 13.0783 -22.5732 35.8346 -0.573766 0.0730315 0.682301 0.447129 +TTool-pose None 33.294 11.0351 16.0054 0.661519 0.636528 -0.254559 0.303867 +#7251 1721120725053 +SLAM 13.094 -22.5975 35.8195 -0.573259 0.0733238 0.682456 0.447495 +TTool-pose None 33.3042 11.0438 16.0008 0.66126 0.636453 -0.255183 0.304064 +#7252 1721120725085 +SLAM 12.9555 -22.8332 35.7088 -0.573001 0.0697477 0.68105 0.450528 +TTool-pose None 33.2775 11.0627 16.0138 0.658085 0.64006 -0.254223 0.304188 +#7253 1721120725119 +SLAM 13.0499 -22.5992 35.8281 -0.574624 0.0710019 0.681981 0.446842 +TTool-pose None 33.2818 11.0145 16.0373 0.66132 0.637825 -0.253064 0.302827 +#7254 1721120725155 +SLAM 12.9724 -22.7601 35.7507 -0.573215 0.0708911 0.68124 0.44979 +TTool-pose None 33.2807 11.0609 16.002 0.658949 0.639005 -0.254357 0.304424 +#7255 1721120725194 +SLAM 13.0189 -22.6868 35.7806 -0.573646 0.0711224 0.681717 0.448479 +TTool-pose None 33.284 11.0419 16.0132 0.660026 0.638349 -0.254057 0.303714 +#7256 1721120725228 +SLAM 13.1375 -22.6014 35.7925 -0.57327 0.0721081 0.682929 0.446955 +TTool-pose None 33.3028 11.0306 16.0181 0.661347 0.637064 -0.254905 0.302825 +#7257 1721120725262 +SLAM 13.1803 -22.6177 35.7713 -0.571715 0.074377 0.683406 0.447846 +TTool-pose None 33.326 11.0613 15.9801 0.661071 0.635812 -0.257201 0.304118 +#7258 1721120725294 +SLAM 13.0508 -22.6874 35.7809 -0.573808 0.0703035 0.681977 0.448004 +TTool-pose None 33.2937 11.0369 16.032 0.660185 0.638723 -0.253701 0.302877 +#7259 1721120725327 +SLAM 13.0967 -22.5995 35.818 -0.574125 0.0712662 0.682446 0.446731 +TTool-pose None 33.2964 11.0208 16.0357 0.661406 0.637582 -0.25372 0.302603 +#7260 1721120725360 +SLAM 13.12 -22.6092 35.8054 -0.572962 0.0732258 0.68271 0.447504 +TTool-pose None 33.3111 11.046 16.0039 0.661191 0.636511 -0.255498 0.30383 +#7261 1721120725393 +SLAM 13.1116 -22.6126 35.8032 -0.572787 0.0737219 0.682652 0.447735 +TTool-pose None 33.3102 11.0474 15.9963 0.661125 0.636258 -0.255807 0.304242 +#7262 1721120725430 +SLAM 13.0265 -22.6507 35.8045 -0.57452 0.0703066 0.681737 0.447458 +TTool-pose None 33.2792 11.0175 16.0419 0.660677 0.638535 -0.252938 0.302841 +#7263 1721120725461 +SLAM 13.117 -22.5979 35.8102 -0.573283 0.0728308 0.682692 0.447185 +TTool-pose None 33.3061 11.0361 16.0115 0.661366 0.636666 -0.255057 0.303495 +#7264 1721120725492 +SLAM 13.136 -22.5611 35.8256 -0.573835 0.0722204 0.682884 0.446281 +TTool-pose None 33.3037 11.0182 16.0278 0.661942 0.636746 -0.254352 0.302662 +#7265 1721120725524 +SLAM 13.0984 -22.6372 35.7842 -0.573014 0.0725269 0.682554 0.447789 +TTool-pose None 33.3011 11.0399 16.0059 0.660811 0.6371 -0.255227 0.303651 +#7266 1721120725558 +SLAM 13.0926 -22.683 35.7371 -0.571802 0.0738721 0.682645 0.448979 +TTool-pose None 33.2992 11.052 15.9742 0.660123 0.636606 -0.256854 0.304809 +#7267 1721120725594 +SLAM 13.1308 -22.6489 35.7551 -0.572439 0.0727213 0.682971 0.447856 +TTool-pose None 33.3048 11.0366 16.0006 0.660737 0.63697 -0.255932 0.30349 +#7268 1721120725633 +SLAM 13.2121 -22.5986 35.7539 -0.572013 0.0733378 0.683762 0.447094 +TTool-pose None 33.3138 11.0422 15.9984 0.661396 0.636233 -0.256661 0.302983 +#7269 1721120725666 +SLAM 13.1687 -22.6344 35.7746 -0.572688 0.0718543 0.68328 0.447207 +TTool-pose None 33.3242 11.0399 16.0135 0.661023 0.637312 -0.255483 0.302526 +#7270 1721120725698 +SLAM 13.1379 -22.5118 35.8536 -0.573446 0.0741201 0.682877 0.446482 +TTool-pose None 33.3047 11.046 15.9928 0.662229 0.635521 -0.255279 0.303827 +#7271 1721120725730 +SLAM 13.0759 -22.6218 35.8039 -0.57375 0.0715622 0.682316 0.447365 +TTool-pose None 33.294 11.0308 16.0163 0.660969 0.637616 -0.254167 0.303109 +#7272 1721120725761 +SLAM 13.0409 -22.6626 35.7897 -0.573687 0.0713006 0.68194 0.44806 +TTool-pose None 33.288 11.0379 16.0152 0.660385 0.638065 -0.2541 0.303495 +#7273 1721120725792 +SLAM 13.0533 -22.6229 35.8035 -0.572872 0.0740638 0.682118 0.448384 +TTool-pose None 33.2934 11.0531 15.9787 0.660747 0.636286 -0.255733 0.305067 +#7274 1721120725825 +SLAM 13.0575 -22.6316 35.8115 -0.574655 0.0698319 0.682062 0.446863 +TTool-pose None 33.2876 11.0112 16.0492 0.661008 0.638626 -0.252716 0.302109 +#7275 1721120725862 +SLAM 13.0559 -22.599 35.8384 -0.575134 0.0698831 0.681984 0.446358 +TTool-pose None 33.2862 11.0053 16.058 0.661452 0.638412 -0.252228 0.301999 +#7276 1721120725895 +SLAM 12.9273 -22.8101 35.7304 -0.573826 0.0690992 0.680758 0.450019 +TTool-pose None 33.2653 11.0453 16.0277 0.658397 0.640332 -0.253153 0.303831 +#7277 1721120725927 +SLAM 13.0323 -22.711 35.7706 -0.573176 0.071489 0.681826 0.448856 +TTool-pose None 33.2963 11.0518 16.0098 0.659783 0.63823 -0.254656 0.30399 +#7278 1721120725960 +SLAM 13.057 -22.6015 35.8325 -0.574606 0.070969 0.682032 0.446793 +TTool-pose None 33.2887 11.0157 16.0398 0.661345 0.637827 -0.253081 0.302753 +#7279 1721120725993 +SLAM 13.0245 -22.6385 35.825 -0.574212 0.0715133 0.681706 0.44771 +TTool-pose None 33.2914 11.0321 16.0238 0.660763 0.637804 -0.253587 0.303649 +#7280 1721120726034 +SLAM 12.9684 -22.6937 35.7985 -0.574552 0.0702283 0.68119 0.448261 +TTool-pose None 33.2742 11.0192 16.035 0.660072 0.638906 -0.252798 0.303495 +#7281 1721120726069 +SLAM 12.9803 -22.6849 35.7947 -0.573919 0.0716419 0.681347 0.448611 +TTool-pose None 33.2779 11.0313 16.0137 0.660098 0.63806 -0.253866 0.304324 +#7282 1721120726106 +SLAM 12.9384 -22.7206 35.7845 -0.574359 0.070474 0.680946 0.44884 +TTool-pose None 33.2683 11.0193 16.0264 0.659686 0.63896 -0.253026 0.304031 +#7283 1721120726138 +SLAM 13.0452 -22.6781 35.7815 -0.572571 0.0736632 0.682058 0.448925 +TTool-pose None 33.3035 11.0517 15.9843 0.66021 0.636759 -0.255919 0.305089 +#7284 1721120726172 +SLAM 13.0877 -22.664 35.7764 -0.573083 0.0719352 0.682437 0.447974 +TTool-pose None 33.303 11.038 16.0134 0.660533 0.637576 -0.254972 0.303469 +#7285 1721120726206 +SLAM 13.1029 -22.6634 35.7562 -0.572938 0.0715594 0.682704 0.447812 +TTool-pose None 33.2983 11.0291 16.0101 0.660536 0.637761 -0.255056 0.303001 +#7286 1721120726243 +SLAM 13.2227 -22.6124 35.7494 -0.572887 0.0705439 0.683863 0.446269 +TTool-pose None 33.3141 11.0206 16.0341 0.661399 0.637836 -0.255001 0.301 +#7287 1721120726280 +SLAM 13.3222 -22.6052 35.7091 -0.571686 0.0712702 0.684984 0.445975 +TTool-pose None 33.3334 11.0221 16.023 0.661643 0.637176 -0.256604 0.300499 +#7288 1721120726318 +SLAM 13.3726 -22.5581 35.7182 -0.57205 0.0706407 0.685526 0.444773 +TTool-pose None 33.3367 11.001 16.0397 0.662405 0.637141 -0.256135 0.299289 +#7289 1721120726352 +SLAM 13.4522 -22.5486 35.6992 -0.571212 0.0711468 0.686314 0.444553 +TTool-pose None 33.3555 11.0145 16.0336 0.662584 0.636675 -0.257252 0.298927 +#7290 1721120726386 +SLAM 13.477 -22.5374 35.6837 -0.570732 0.0719298 0.686664 0.444503 +TTool-pose None 33.3559 11.0095 16.0227 0.662757 0.636103 -0.258015 0.299103 +#7291 1721120726418 +SLAM 13.5385 -22.5159 35.6859 -0.570282 0.0723778 0.687247 0.444107 +TTool-pose None 33.3748 11.0188 16.0202 0.663099 0.635622 -0.258687 0.298787 +#7292 1721120726450 +SLAM 13.5829 -22.5225 35.6529 -0.569837 0.0722174 0.687765 0.443904 +TTool-pose None 33.3763 11.0093 16.0249 0.663146 0.63563 -0.259173 0.298245 +#7293 1721120726483 +SLAM 13.6385 -22.4974 35.657 -0.570318 0.0707133 0.688257 0.442762 +TTool-pose None 33.3837 10.9949 16.0554 0.663654 0.636215 -0.258331 0.296593 +#7294 1721120726519 +SLAM 13.6126 -22.5707 35.6185 -0.568432 0.0734384 0.688079 0.445016 +TTool-pose None 33.397 11.0424 15.9959 0.662458 0.635181 -0.260996 0.299141 +#7295 1721120726551 +SLAM 13.5534 -22.5935 35.6031 -0.568975 0.0726378 0.687577 0.445229 +TTool-pose None 33.3703 11.0189 16.0057 0.662172 0.635833 -0.260144 0.299129 +#7296 1721120726583 +SLAM 13.5386 -22.7094 35.5519 -0.568248 0.0712913 0.687348 0.446727 +TTool-pose None 33.383 11.0508 16.005 0.660638 0.637306 -0.260475 0.299099 +#7297 1721120726622 +SLAM 13.6406 -22.5893 35.5839 -0.567184 0.0751529 0.688475 0.445709 +TTool-pose None 33.4051 11.0529 15.9678 0.662217 0.634235 -0.262805 0.300095 +#7298 1721120726658 +SLAM 13.6312 -22.6184 35.5562 -0.567044 0.0747319 0.688453 0.445992 +TTool-pose None 33.3972 11.0447 15.9704 0.661886 0.634627 -0.262826 0.29998 +#7299 1721120726691 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1721120728126 +SLAM 13.7156 -22.596 35.5185 -0.565353 0.0777754 0.689433 0.446104 +TTool-pose None 33.4108 11.045 15.9423 0.662336 0.632524 -0.265537 0.301041 +#7342 1721120728159 +SLAM 13.7134 -22.6138 35.5119 -0.565223 0.0775762 0.689402 0.446352 +TTool-pose None 33.4141 11.0514 15.9405 0.662087 0.632751 -0.26561 0.301045 +#7343 1721120728192 +SLAM 13.7016 -22.6443 35.4902 -0.564845 0.0776984 0.689348 0.446891 +TTool-pose None 33.4126 11.0544 15.9314 0.661672 0.632865 -0.26602 0.301358 +#7344 1721120728230 +SLAM 13.6678 -22.7031 35.4636 -0.56441 0.0776167 0.689032 0.447941 +TTool-pose None 33.4106 11.0681 15.9201 0.660825 0.633315 -0.266391 0.30194 +#7345 1721120728267 +SLAM 13.7089 -22.7201 35.4358 -0.562894 0.079704 0.68953 0.448717 +TTool-pose None 33.4307 11.0904 15.8834 0.660566 0.632129 -0.26858 0.303054 +#7346 1721120728299 +SLAM 13.8051 -22.6711 35.435 -0.561917 0.0814011 0.690527 0.448102 +TTool-pose None 33.4565 11.0971 15.8667 0.661296 0.63068 -0.270184 0.303055 +#7347 1721120728331 +SLAM 13.8058 -22.6068 35.4667 -0.562679 0.0814971 0.690568 0.447065 +TTool-pose None 33.4456 11.0718 15.8776 0.662185 0.630241 -0.269444 0.302687 +#7348 1721120728362 +SLAM 13.7604 -22.6443 35.463 -0.563346 0.0797907 0.69008 0.447285 +TTool-pose None 33.4346 11.0671 15.896 0.661696 0.631524 -0.268227 0.302161 +#7349 1721120728395 +SLAM 13.7685 -22.6897 35.4219 -0.561843 0.0816138 0.690253 0.448579 +TTool-pose None 33.4441 11.0919 15.8573 0.660991 0.630721 -0.270276 0.303555 +#7350 1721120728428 +SLAM 13.7477 -22.677 35.4352 -0.562317 0.0813599 0.690055 0.448335 +TTool-pose None 33.4362 11.0805 15.8644 0.661174 0.630821 -0.269697 0.303463 +#7351 1721120728460 +SLAM 13.7807 -22.7073 35.4107 -0.561342 0.0820436 0.690357 0.448967 +TTool-pose None 33.4525 11.105 15.8482 0.660742 0.630556 -0.270917 0.303868 +#7352 1721120728498 +SLAM 13.7425 -22.6865 35.4461 -0.562428 0.0810363 0.689918 0.448465 +TTool-pose None 33.4431 11.0924 15.8669 0.661015 0.631099 -0.269475 0.30343 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0.299247 +#7377 1721120729321 +SLAM 13.9905 -22.59 35.4193 -0.561871 0.079678 0.692482 0.445445 +TTool-pose None 33.487 11.0635 15.9028 0.662792 0.630794 -0.270047 0.299652 +#7378 1721120729353 +SLAM 13.8895 -22.7036 35.3999 -0.562842 0.0762892 0.69136 0.446554 +TTool-pose None 33.4712 11.0694 15.9335 0.661276 0.633589 -0.267963 0.298972 +#7379 1721120729386 +SLAM 13.9219 -22.6059 35.4447 -0.562789 0.0786519 0.6917 0.445684 +TTool-pose None 33.4741 11.0642 15.9155 0.662495 0.631633 -0.268719 0.299732 +#7380 1721120729422 +SLAM 13.9813 -22.5687 35.4478 -0.562546 0.0790763 0.692278 0.445017 +TTool-pose None 33.485 11.0633 15.9174 0.66305 0.631067 -0.269166 0.299298 +#7381 1721120729454 +SLAM 13.8677 -22.5714 35.4778 -0.564209 0.0774066 0.69118 0.444911 +TTool-pose None 33.4496 11.0335 15.9383 0.662947 0.632243 -0.266856 0.29911 +#7382 1721120729486 +SLAM 13.9032 -22.5452 35.4894 -0.563259 0.0796505 0.69151 0.445207 +TTool-pose None 33.4686 11.0601 15.9056 0.663158 0.630788 -0.268487 0.300254 +#7383 1721120729520 +SLAM 13.9904 -22.5389 35.4525 -0.562921 0.078837 0.692404 0.444389 +TTool-pose None 33.476 11.0451 15.9282 0.663499 0.630997 -0.268738 0.298831 +#7384 1721120729553 +SLAM 13.883 -22.6628 35.4181 -0.562772 0.0777391 0.691328 0.446441 +TTool-pose None 33.4649 11.0678 15.9179 0.661714 0.632555 -0.26843 0.299773 +#7385 1721120729585 +SLAM 14.0222 -22.517 35.4608 -0.56264 0.0794942 0.69272 0.444135 +TTool-pose None 33.4883 11.0495 15.9213 0.663807 0.630435 -0.269249 0.298876 +#7386 1721120729617 +SLAM 13.9723 -22.597 35.4154 -0.562053 0.0793897 0.69232 0.445519 +TTool-pose None 33.4786 11.0579 15.9063 0.662692 0.631029 -0.26976 0.299636 +#7387 1721120729650 +SLAM 14.0395 -22.5909 35.4112 -0.561452 0.079607 0.692931 0.445287 +TTool-pose None 33.5038 11.0746 15.9031 0.662827 0.630757 -0.270518 0.299225 +#7388 1721120729682 +SLAM 14.0248 -22.5736 35.4168 -0.562013 0.0790293 0.692834 0.444833 +TTool-pose None 33.4906 11.0546 15.9149 0.663093 0.630998 -0.269776 0.298796 +#7389 1721120729718 +SLAM 13.9836 -22.5955 35.4226 -0.562648 0.0777928 0.692399 0.444925 +TTool-pose None 33.4821 11.0485 15.9288 0.662809 0.631908 -0.268727 0.298448 +#7390 1721120729754 +SLAM 14.0226 -22.6062 35.4032 -0.561433 0.0794482 0.692809 0.445529 +TTool-pose None 33.4997 11.0726 15.9001 0.662609 0.630961 -0.270476 0.299316 +#7391 1721120729786 +SLAM 14.0389 -22.61 35.3879 -0.560941 0.0800647 0.693031 0.445694 +TTool-pose None 33.503 11.0741 15.8897 0.662571 0.630582 -0.271177 0.299565 +#7392 1721120729822 +SLAM 13.8477 -22.6812 35.4175 -0.56367 0.0755912 0.691056 0.446098 +TTool-pose None 33.4547 11.0442 15.9391 0.66155 0.633923 -0.266884 0.298623 +#7393 1721120729859 +SLAM 14.1604 -22.4339 35.4752 -0.562614 0.0789949 0.694092 0.442109 +TTool-pose None 33.5187 11.0351 15.9417 0.665141 0.629962 -0.269333 0.296821 +#7394 1721120729901 +SLAM 14.1222 -22.5566 35.3974 -0.560738 0.0803872 0.693829 0.444648 +TTool-pose None 33.5206 11.0719 15.8958 0.663379 0.629934 -0.271586 0.298767 +#7395 1721120729936 +SLAM 14.0823 -22.5379 35.4234 -0.561884 0.0791447 0.693398 0.444097 +TTool-pose None 33.5037 11.0526 15.9188 0.663636 0.630619 -0.270019 0.298171 +#7396 1721120729966 +SLAM 14.063 -22.6264 35.3946 -0.562404 0.0757976 0.693093 0.444498 +TTool-pose None 33.5064 11.0584 15.9538 0.662579 0.63308 -0.268524 0.296649 +#7397 1721120730000 +SLAM 14.1536 -22.5622 35.3913 -0.560676 0.0797316 0.694101 0.444421 +TTool-pose None 33.5307 11.0758 15.9049 0.663371 0.630286 -0.271509 0.298113 +#7398 1721120730035 +SLAM 14.1269 -22.4913 35.4384 -0.562391 0.0784007 0.693829 0.442912 +TTool-pose None 33.5071 11.0345 15.9401 0.66438 0.630677 -0.26936 0.296984 +#7399 1721120730070 +SLAM 14.0863 -22.5794 35.3979 -0.561611 0.0783701 0.693427 0.444534 +TTool-pose None 33.507 11.0626 15.9206 0.663085 0.631307 -0.270088 0.297878 +#7400 1721120730102 +SLAM 14.0729 -22.5761 35.403 -0.561945 0.0779253 0.69327 0.444434 +TTool-pose None 33.4996 11.0597 15.9271 0.663095 0.631586 -0.269603 0.297703 +#7401 1721120730134 +SLAM 14.1916 -22.5376 35.3714 -0.560814 0.0790352 0.694534 0.443693 +TTool-pose None 33.5191 11.0581 15.9192 0.663743 0.630476 -0.271238 0.297126 +#7402 1721120730172 +SLAM 14.1852 -22.4417 35.454 -0.561685 0.0799434 0.694328 0.44275 +TTool-pose None 33.5231 11.0667 15.913 0.66478 0.629525 -0.270573 0.29743 +#7403 1721120730210 +SLAM 14.2153 -22.5221 35.3615 -0.561078 0.078194 0.694755 0.443162 +TTool-pose None 33.5101 11.0496 15.9344 0.663955 0.630849 -0.27077 0.296286 +#7404 1721120730247 +SLAM 14.3508 -22.4308 35.3822 -0.560874 0.0786012 0.695993 0.441401 +TTool-pose None 33.5379 11.0494 15.949 0.665295 0.629855 -0.271262 0.29494 +#7405 1721120730278 +SLAM 14.373 -22.4854 35.3336 -0.559493 0.0797541 0.696184 0.442645 +TTool-pose None 33.5452 11.0823 15.9249 0.664481 0.629497 -0.27301 0.295927 +#7406 1721120730309 +SLAM 14.4545 -22.4725 35.3199 -0.55917 0.0793489 0.696826 0.442115 +TTool-pose None 33.5584 11.0964 15.9421 0.664712 0.629542 -0.273317 0.295025 +#7407 1721120730341 +SLAM 14.4522 -22.5269 35.2618 -0.558279 0.079856 0.696805 0.443182 +TTool-pose None 33.544 11.1096 15.9332 0.663935 0.629577 -0.274359 0.295733 +#7408 1721120730373 +SLAM 14.3689 -22.4567 35.3378 -0.560892 0.0777902 0.695741 0.44192 +TTool-pose None 33.5007 11.0833 15.9828 0.66472 0.630615 -0.270987 0.294864 +#7409 1721120730404 +SLAM 14.4919 -22.4967 35.2861 -0.560209 0.0759489 0.696637 0.441695 +TTool-pose None 33.5229 11.1167 16.0203 0.664315 0.631739 -0.271298 0.293079 +#7410 1721120730436 +SLAM 14.5242 -22.4115 35.2977 -0.560759 0.0765601 0.696888 0.440494 +TTool-pose None 33.4955 11.0949 16.0398 0.665415 0.63087 -0.270941 0.292783 +#7411 1721120730468 +SLAM 14.5606 -22.4153 35.2721 -0.558894 0.0801436 0.697117 0.441862 +TTool-pose None 33.5026 11.1516 15.9898 0.665051 0.628885 -0.273856 0.295165 +#7412 1721120730507 +SLAM 14.5382 -22.3544 35.3019 -0.561277 0.077032 0.696653 0.440124 +TTool-pose None 33.4537 11.1123 16.0647 0.665878 0.630428 -0.27051 0.293082 +#7413 1721120730540 +SLAM 14.391 -22.5545 35.2186 -0.561612 0.0736274 0.694867 0.443091 +TTool-pose None 33.4013 11.1543 16.0927 0.662927 0.633948 -0.268979 0.293587 +#7414 1721120730576 +SLAM 14.5663 -22.2169 35.3257 -0.562045 0.0790044 0.696386 0.439215 +TTool-pose None 33.3839 11.1369 16.0898 0.667142 0.628762 -0.270232 0.294045 +#7415 1721120730612 +SLAM 14.4213 -22.5259 35.1727 -0.561268 0.0750152 0.694431 0.443978 +TTool-pose None 33.3285 11.2278 16.1138 0.66259 0.633344 -0.269653 0.295032 +#7416 1721120730649 +SLAM 14.4852 -22.3641 35.1948 -0.561341 0.078366 0.694755 0.4428 +TTool-pose None 33.2772 11.2404 16.1136 0.664298 0.6306 -0.27055 0.296246 +#7417 1721120730684 +SLAM 14.3598 -22.5425 35.1137 -0.562343 0.0736889 0.692867 0.445281 +TTool-pose None 33.2042 11.295 16.1758 0.661467 0.63482 -0.267967 0.295914 +#7418 1721120730716 +SLAM 14.5792 -22.17 35.2309 -0.563019 0.0788252 0.694677 0.440703 +TTool-pose None 33.1878 11.2819 16.1909 0.666171 0.629534 -0.268954 0.295761 +#7419 1721120730750 +SLAM 14.5158 -22.3321 35.124 -0.561656 0.0788817 0.693628 0.444073 +TTool-pose None 33.1425 11.3607 16.1833 0.663554 0.630776 -0.270211 0.297845 +#7420 1721120730785 +SLAM 14.3462 -22.4831 35.07 -0.563517 0.0740999 0.691383 0.446035 +TTool-pose None 33.0549 11.3816 16.2567 0.661195 0.634901 -0.266673 0.297514 +#7421 1721120730817 +SLAM 14.41 -22.36 35.0992 -0.56285 0.078417 0.691688 0.445667 +TTool-pose None 33.0349 11.42 16.2345 0.662457 0.63179 -0.26859 0.299602 +#7422 1721120730850 +SLAM 14.4819 -22.2783 35.1336 -0.56365 0.0779907 0.691857 0.444465 +TTool-pose None 33.0208 11.449 16.2782 0.663337 0.631641 -0.267684 0.298779 +#7423 1721120730883 +SLAM 14.3873 -22.325 35.1183 -0.564325 0.0772453 0.690647 0.445621 +TTool-pose None 32.9703 11.466 16.2945 0.662408 0.632641 -0.266615 0.299677 +#7424 1721120730914 +SLAM 14.4068 -22.3213 35.1174 -0.565849 0.0736931 0.690456 0.444584 +TTool-pose None 32.9439 11.4588 16.3687 0.662477 0.634714 -0.264051 0.297402 +#7425 1721120730945 +SLAM 14.3581 -22.3776 35.0779 -0.564923 0.075276 0.689812 0.446491 +TTool-pose None 32.918 11.5038 16.3405 0.661363 0.634355 -0.265339 0.299496 +#7426 1721120730977 +SLAM 14.4276 -22.2639 35.141 -0.566387 0.0741441 0.690183 0.444248 +TTool-pose None 32.9157 11.4922 16.3924 0.662912 0.6343 -0.263588 0.297728 +#7427 1721120731009 +SLAM 14.4158 -22.3856 35.0558 -0.564189 0.0760508 0.690006 0.446988 +TTool-pose None 32.9169 11.552 16.3479 0.661094 0.63399 -0.266328 0.299984 +#7428 1721120731043 +SLAM 14.3737 -22.3486 35.1004 -0.566105 0.0738753 0.689423 0.445829 +TTool-pose None 32.8922 11.52 16.3987 0.661655 0.635098 -0.263689 0.29873 +#7429 1721120731077 +SLAM 14.459 -22.3065 35.0966 -0.563727 0.0788451 0.690349 0.446557 +TTool-pose None 32.9307 11.5703 16.3235 0.662044 0.631896 -0.26762 0.301155 +#7430 1721120731109 +SLAM 14.4133 -22.3833 35.0651 -0.564302 0.0763062 0.689829 0.447076 +TTool-pose None 32.9143 11.5618 16.3558 0.66111 0.633857 -0.266259 0.300291 +#7431 1721120731142 +SLAM 14.3443 -22.3788 35.0911 -0.565701 0.0747423 0.689118 0.446668 +TTool-pose None 32.89 11.5324 16.3843 0.661209 0.634825 -0.264296 0.299763 +#7432 1721120731177 +SLAM 14.3832 -22.3315 35.1147 -0.565724 0.0753849 0.689479 0.445974 +TTool-pose None 32.9015 11.5316 16.3847 0.66188 0.634114 -0.264505 0.299602 +#7433 1721120731209 +SLAM 14.4266 -22.2582 35.1479 -0.564894 0.0785925 0.689928 0.445777 +TTool-pose None 32.9203 11.5526 16.3437 0.662714 0.631816 -0.266302 0.301021 +#7434 1721120731241 +SLAM 14.3373 -22.2557 35.1892 -0.566089 0.0777957 0.688963 0.445894 +TTool-pose None 32.9 11.5463 16.3523 0.662597 0.632462 -0.264723 0.301313 +#7435 1721120731274 +SLAM 14.2629 -22.4239 35.0909 -0.564933 0.0769618 0.688308 0.448508 +TTool-pose None 32.8841 11.5668 16.3368 0.660321 0.634011 -0.265571 0.302308 +#7436 1721120731311 +SLAM 14.2506 -22.4016 35.1163 -0.565993 0.0754895 0.688119 0.447712 +TTool-pose None 32.8761 11.5481 16.3656 0.660678 0.634746 -0.264058 0.301307 +#7437 1721120731344 +SLAM 14.172 -22.5093 35.0848 -0.566046 0.073801 0.687231 0.449288 +TTool-pose None 32.8646 11.5701 16.3696 0.659106 0.636518 -0.263399 0.301588 +#7438 1721120731376 +SLAM 14.2238 -22.3999 35.1393 -0.567338 0.0730442 0.687722 0.447024 +TTool-pose None 32.8648 11.5312 16.4056 0.660745 0.636195 -0.261949 0.299942 +#7439 1721120731408 +SLAM 14.1536 -22.475 35.1022 -0.566232 0.0746445 0.687154 0.449031 +TTool-pose None 32.8573 11.5563 16.3587 0.659534 0.635853 -0.263433 0.302026 +#7440 1721120731440 +SLAM 14.2097 -22.4748 35.0804 -0.565186 0.0759169 0.687738 0.449241 +TTool-pose None 32.8736 11.5732 16.3408 0.659557 0.635023 -0.264937 0.302407 +#7441 1721120731480 +SLAM 14.1197 -22.5566 35.0516 -0.56439 0.0770364 0.686893 0.45134 +TTool-pose None 32.8617 11.6023 16.3002 0.658191 0.635054 -0.265925 0.304447 +#7442 1721120731514 +SLAM 14.1727 -22.4414 35.1186 -0.56635 0.0750307 0.687343 0.448528 +TTool-pose None 32.8612 11.5511 16.3601 0.660015 0.635398 -0.26345 0.301918 +#7443 1721120731547 +SLAM 14.2117 -22.438 35.1121 -0.566106 0.0749502 0.687685 0.448326 +TTool-pose None 32.8708 11.5576 16.365 0.660109 0.635361 -0.263727 0.301549 +#7444 1721120731581 +SLAM 14.2553 -22.4097 35.122 -0.566833 0.0733241 0.688044 0.447122 +TTool-pose None 32.8737 11.5373 16.4026 0.660675 0.636021 -0.262589 0.299906 +#7445 1721120731614 +SLAM 14.1401 -22.5473 35.0751 -0.566559 0.0722049 0.686858 0.44947 +TTool-pose None 32.8552 11.5634 16.3901 0.658636 0.637696 -0.262375 0.301018 +#7446 1721120731650 +SLAM 14.182 -22.4919 35.0923 -0.565831 0.0746135 0.687354 0.449235 +TTool-pose None 32.8695 11.5732 16.3592 0.659321 0.635936 -0.263862 0.301941 +#7447 1721120731685 +SLAM 14.3489 -22.2905 35.157 -0.566657 0.0752734 0.689087 0.445413 +TTool-pose None 32.8907 11.518 16.3949 0.66239 0.634011 -0.263465 0.299609 +#7448 1721120731721 +SLAM 14.3219 -22.3695 35.1202 -0.564781 0.0776584 0.688868 0.447718 +TTool-pose None 32.907 11.5749 16.3306 0.66105 0.633217 -0.266002 0.301998 +#7449 1721120731755 +SLAM 14.3255 -22.3698 35.1016 -0.56516 0.0765456 0.689033 0.447178 +TTool-pose None 32.8957 11.5428 16.3499 0.661218 0.633777 -0.265334 0.301043 +#7450 1721120731789 +SLAM 14.2354 -22.3888 35.1184 -0.566843 0.0737603 0.688148 0.446878 +TTool-pose None 32.8658 11.5089 16.384 0.660965 0.635628 -0.262716 0.299986 +#7451 1721120731821 +SLAM 14.4172 -22.3298 35.0932 -0.564192 0.0776277 0.69012 0.446537 +TTool-pose None 32.9258 11.5453 16.3273 0.66182 0.63274 -0.266778 0.300624 +#7452 1721120731852 +SLAM 14.4861 -22.2431 35.1309 -0.564695 0.0773324 0.690932 0.444693 +TTool-pose None 32.9459 11.5156 16.3388 0.663156 0.632231 -0.266305 0.299165 +#7453 1721120731885 +SLAM 14.5751 -22.1942 35.1204 -0.563757 0.0785158 0.692102 0.443856 +TTool-pose None 32.9742 11.5037 16.3133 0.663925 0.631045 -0.267754 0.298667 +#7454 1721120731918 +SLAM 14.5462 -22.1918 35.1269 -0.564455 0.0771703 0.692026 0.443322 +TTool-pose None 32.9693 11.4687 16.3223 0.664074 0.631782 -0.266662 0.297755 +#7455 1721120731950 +SLAM 14.4487 -22.3441 35.0575 -0.564608 0.0739374 0.69123 0.444919 +TTool-pose None 32.9513 11.4558 16.3341 0.66212 0.634621 -0.265496 0.297108 +#7456 1721120731984 +SLAM 14.4504 -22.3594 35.0615 -0.564571 0.073218 0.691328 0.444931 +TTool-pose None 32.9675 11.4582 16.3277 0.661922 0.635111 -0.265346 0.296632 +#7457 1721120732018 +SLAM 14.5281 -22.3075 35.0664 -0.563835 0.0745496 0.692283 0.444159 +TTool-pose None 32.995 11.453 16.3068 0.662716 0.633864 -0.266606 0.296401 +#7458 1721120732054 +SLAM 14.5881 -22.2307 35.0801 -0.563502 0.0760618 0.693112 0.44303 +TTool-pose None 33.0086 11.4284 16.291 0.663868 0.632369 -0.267482 0.296226 +#7459 1721120732086 +SLAM 14.5864 -22.192 35.102 -0.563709 0.0764615 0.693293 0.442415 +TTool-pose None 33.0145 11.406 16.2801 0.664443 0.631862 -0.267407 0.296086 +#7460 1721120732119 +SLAM 14.554 -22.3233 35.0021 -0.562772 0.0748132 0.693324 0.44384 +TTool-pose None 33.0075 11.389 16.2706 0.66286 0.633504 -0.26791 0.295672 +#7461 1721120732160 +SLAM 14.5852 -22.3497 34.9847 -0.562378 0.0739896 0.693718 0.44386 +TTool-pose None 33.0278 11.3927 16.2675 0.662578 0.63405 -0.268138 0.294924 +#7462 1721120732196 +SLAM 14.6503 -22.2006 35.0574 -0.563055 0.0751041 0.694517 0.441559 +TTool-pose None 33.0438 11.3603 16.2639 0.664621 0.632407 -0.26787 0.294097 +#7463 1721120732227 +SLAM 14.6789 -22.2751 34.9841 -0.561173 0.0762512 0.695038 0.442937 +TTool-pose None 33.0607 11.3799 16.2223 0.663641 0.632083 -0.270178 0.294893 +#7464 1721120732258 +SLAM 14.7182 -22.2274 34.999 -0.562104 0.0743657 0.695494 0.441358 +TTool-pose None 33.0615 11.3446 16.2551 0.664438 0.632778 -0.268771 0.292888 +#7465 1721120732290 +SLAM 14.7761 -22.2264 34.9499 -0.560116 0.0774099 0.696372 0.441978 +TTool-pose None 33.0782 11.3529 16.2008 0.664467 0.630856 -0.271759 0.294209 +#7466 1721120732320 +SLAM 14.7436 -22.2566 34.9474 -0.560776 0.0755643 0.696065 0.441944 +TTool-pose None 33.0715 11.3394 16.2203 0.664123 0.63213 -0.270536 0.293375 +#7467 1721120732352 +SLAM 14.7497 -22.2603 34.9387 -0.56003 0.0769475 0.696205 0.442429 +TTool-pose None 33.0793 11.3515 16.1933 0.664012 0.631346 -0.271696 0.294241 +#7468 1721120732384 +SLAM 14.746 -22.2863 34.9246 -0.559506 0.0774609 0.696193 0.443021 +TTool-pose None 33.0849 11.3637 16.1787 0.663636 0.631207 -0.272369 0.294766 +#7469 1721120732418 +SLAM 14.8409 -22.1548 34.9682 -0.559185 0.0800184 0.69719 0.441402 +TTool-pose None 33.1041 11.3561 16.1611 0.665395 0.6288 -0.273535 0.294866 +#7470 1721120732458 +SLAM 14.8077 -22.1957 34.9603 -0.559731 0.07829 0.696805 0.441628 +TTool-pose None 33.0951 11.352 16.1821 0.664882 0.630096 -0.272453 0.294257 +#7471 1721120732494 +SLAM 14.798 -22.1684 34.9852 -0.560397 0.0777672 0.696684 0.441066 +TTool-pose None 33.0907 11.3404 16.1945 0.665255 0.630261 -0.271615 0.293835 +#7472 1721120732527 +SLAM 14.7683 -22.269 34.9304 -0.558948 0.0787285 0.696441 0.443114 +TTool-pose None 33.0975 11.3768 16.1574 0.663804 0.630353 -0.273319 0.295337 +#7473 1721120732558 +SLAM 14.6962 -22.3684 34.8938 -0.560193 0.0744166 0.695661 0.443511 +TTool-pose None 33.0702 11.354 16.2114 0.662614 0.633506 -0.270754 0.293616 +#7474 1721120732591 +SLAM 14.7095 -22.3821 34.8949 -0.559873 0.0745099 0.695713 0.443818 +TTool-pose None 33.0831 11.3753 16.2047 0.662369 0.633549 -0.271112 0.293747 +#7475 1721120732623 +SLAM 14.7769 -22.2447 34.9359 -0.560823 0.074915 0.696514 0.441287 +TTool-pose None 33.0761 11.3178 16.2307 0.664438 0.632309 -0.27037 0.292427 +#7476 1721120732656 +SLAM 14.6945 -22.3948 34.877 -0.559513 0.0752259 0.695655 0.444241 +TTool-pose None 33.0753 11.3721 16.1923 0.662192 0.633214 -0.271668 0.294356 +#7477 1721120732686 +SLAM 14.6973 -22.3531 34.904 -0.560007 0.0752676 0.695691 0.443555 +TTool-pose None 33.074 11.359 16.1985 0.662772 0.632937 -0.271183 0.294093 +#7478 1721120732724 +SLAM 14.7068 -22.3435 34.9026 -0.559694 0.0760478 0.695823 0.44361 +TTool-pose None 33.0768 11.3619 16.1874 0.662883 0.632413 -0.271735 0.294461 +#7479 1721120732762 +SLAM 14.8567 -22.2156 34.9346 -0.55865 0.0791203 0.697298 0.44207 +TTool-pose None 33.116 11.3753 16.1633 0.664608 0.629651 -0.273848 0.294533 +#7480 1721120732799 +SLAM 14.6933 -22.3418 34.9194 -0.55996 0.0757749 0.695611 0.443654 +TTool-pose None 33.0778 11.3711 16.1886 0.662822 0.63263 -0.271361 0.294477 +#7481 1721120732834 +SLAM 14.8461 -22.1606 34.9677 -0.559583 0.0787437 0.697218 0.441082 +TTool-pose None 33.104 11.3494 16.1786 0.665366 0.62956 -0.272784 0.294003 +#7482 1721120732872 +SLAM 14.7689 -22.2551 34.9298 -0.559289 0.0781804 0.69649 0.442703 +TTool-pose None 33.089 11.3621 16.167 0.664014 0.630579 -0.272829 0.294835 +#7483 1721120732903 +SLAM 14.8103 -22.2358 34.9339 -0.5598 0.0768054 0.696844 0.44174 +TTool-pose None 33.0942 11.3465 16.1982 0.664438 0.631153 -0.271979 0.293431 +#7484 1721120732937 +SLAM 14.9094 -22.1246 34.9682 -0.56107 0.0750047 0.697802 0.438916 +TTool-pose None 33.0994 11.2982 16.2534 0.6662 0.631306 -0.270317 0.290628 +#7485 1721120732973 +SLAM 14.6801 -22.3412 34.9261 -0.560534 0.074698 0.695459 0.443349 +TTool-pose None 33.0711 11.3603 16.2049 0.662854 0.633269 -0.270457 0.293861 +#7486 1721120733006 +SLAM 14.7778 -22.2605 34.948 -0.560164 0.075931 0.696406 0.442119 +TTool-pose None 33.0949 11.3619 16.2022 0.663999 0.631919 -0.271307 0.293399 +#7487 1721120733042 +SLAM 14.7625 -22.2382 34.9465 -0.560655 0.0756951 0.696357 0.441615 +TTool-pose None 33.0759 11.332 16.2136 0.664375 0.631903 -0.270735 0.29311 +#7488 1721120733082 +SLAM 14.8283 -22.2051 34.949 -0.559004 0.0790965 0.697039 0.442034 +TTool-pose None 33.1078 11.3702 16.161 0.664682 0.629672 -0.273446 0.294696 +#7489 1721120733117 +SLAM 14.9195 -22.1004 34.9744 -0.558992 0.080226 0.697989 0.440344 +TTool-pose None 33.1206 11.3516 16.1646 0.666177 0.628222 -0.273897 0.293993 +#7490 1721120733149 +SLAM 14.9041 -22.1016 34.9865 -0.559244 0.079982 0.697796 0.440374 +TTool-pose None 33.1201 11.354 16.1672 0.666133 0.628414 -0.273547 0.294008 +#7491 1721120733184 +SLAM 14.7335 -22.3021 34.9299 -0.56093 0.073802 0.695978 0.442182 +TTool-pose None 33.0745 11.3404 16.2305 0.663526 0.633429 -0.269878 0.292528 +#7492 1721120733219 +SLAM 14.7814 -22.2449 34.9533 -0.560504 0.0754651 0.69645 0.441698 +TTool-pose None 33.0904 11.351 16.2123 0.664234 0.632084 -0.270838 0.292942 +#7493 1721120733252 +SLAM 14.7427 -22.2705 34.9568 -0.56073 0.0750588 0.696024 0.442152 +TTool-pose None 33.0848 11.3565 16.213 0.663838 0.632554 -0.270436 0.293197 +#7494 1721120733284 +SLAM 14.808 -22.1599 34.9911 -0.560396 0.077708 0.696775 0.440934 +TTool-pose None 33.0955 11.3442 16.1926 0.665335 0.630248 -0.271611 0.293685 +#7495 1721120733315 +SLAM 14.8071 -22.1881 34.9621 -0.560613 0.0762905 0.696809 0.440852 +TTool-pose None 33.0848 11.3277 16.2129 0.665068 0.63119 -0.271004 0.292825 +#7496 1721120733347 +SLAM 14.8238 -22.146 34.9954 -0.560418 0.077683 0.696931 0.440663 +TTool-pose None 33.099 11.3431 16.1942 0.665527 0.630158 -0.271603 0.293453 +#7497 1721120733386 +SLAM 14.6795 -22.3537 34.8981 -0.560857 0.0733699 0.695503 0.443093 +TTool-pose None 33.0532 11.3397 16.2251 0.662749 0.634083 -0.269765 0.292976 +#7498 1721120733423 +SLAM 14.7932 -22.2668 34.8984 -0.560729 0.0736119 0.696553 0.441564 +TTool-pose None 33.0576 11.3376 16.2402 0.663893 0.633298 -0.270109 0.291764 +#7499 1721120733454 +SLAM 14.8212 -22.2766 34.8708 -0.559286 0.0758539 0.696828 0.442579 +TTool-pose None 33.0645 11.3781 16.1975 0.663515 0.632109 -0.272236 0.293222 +#7500 1721120733485 +SLAM 14.8656 -22.2125 34.8999 -0.560463 0.0741256 0.697116 0.440926 +TTool-pose None 33.0588 11.3575 16.2423 0.664442 0.632679 -0.270599 0.2914 +#7501 1721120733517 +SLAM 14.9012 -22.1319 34.9111 -0.561112 0.0741694 0.697632 0.439274 +TTool-pose None 33.0457 11.306 16.2634 0.665737 0.632019 -0.270019 0.290415 +#7502 1721120733549 +SLAM 14.8682 -22.1332 34.9418 -0.561067 0.0750704 0.697166 0.439919 +TTool-pose None 33.0509 11.3377 16.2441 0.665497 0.631666 -0.270253 0.291515 +#7503 1721120733580 +SLAM 14.8249 -22.2163 34.9137 -0.560677 0.0745817 0.696636 0.441335 +TTool-pose None 33.0482 11.3651 16.2383 0.664296 0.632546 -0.270442 0.292167 +#7504 1721120733611 +SLAM 14.9023 -22.1583 34.9024 -0.5596 0.0771564 0.697529 0.44085 +TTool-pose None 33.0604 11.3631 16.2137 0.665136 0.630546 -0.272373 0.292788 +#7505 1721120733642 +SLAM 14.9441 -22.1197 34.9062 -0.560114 0.0762103 0.69795 0.439693 +TTool-pose None 33.0589 11.3382 16.241 0.665804 0.63075 -0.271646 0.291501 +#7506 1721120733673 +SLAM 14.8612 -22.1105 34.9739 -0.562182 0.0735337 0.696879 0.439208 +TTool-pose None 33.0429 11.3341 16.2788 0.665781 0.63248 -0.268649 0.290579 +#7507 1721120733705 +SLAM 14.9158 -22.1234 34.9344 -0.56036 0.0761576 0.697539 0.440042 +TTool-pose None 33.0631 11.361 16.2343 0.665578 0.63094 -0.271325 0.291906 +#7508 1721120733737 +SLAM 14.8628 -22.2007 34.9159 -0.561111 0.0732843 0.696904 0.440578 +TTool-pose None 33.0503 11.3592 16.2662 0.664575 0.633144 -0.269677 0.290944 +#7509 1721120733769 +SLAM 14.8925 -22.0429 34.9989 -0.561923 0.0754207 0.697253 0.438625 +TTool-pose None 33.0496 11.3322 16.2594 0.666642 0.630952 -0.269487 0.291154 +#7510 1721120733801 +SLAM 14.9392 -22.1289 34.9243 -0.55956 0.0773897 0.697782 0.440459 +TTool-pose None 33.0759 11.379 16.2133 0.665469 0.630228 -0.272513 0.292585 +#7511 1721120733839 +SLAM 14.8501 -22.1647 34.9213 -0.560229 0.0766089 0.696967 0.441035 +TTool-pose None 33.0479 11.3617 16.2181 0.664959 0.631026 -0.271505 0.29296 +#7512 1721120733872 +SLAM 14.9726 -22.0437 34.9674 -0.560092 0.0779556 0.6981 0.439177 +TTool-pose None 33.0794 11.3646 16.2194 0.666611 0.629355 -0.272169 0.292183 +#7513 1721120733904 +SLAM 14.8914 -22.0864 34.9665 -0.560652 0.0771019 0.697312 0.439865 +TTool-pose None 33.0586 11.3581 16.2231 0.665988 0.630243 -0.271257 0.29254 +#7514 1721120733938 +SLAM 14.887 -22.1914 34.9009 -0.559294 0.0772296 0.697288 0.441605 +TTool-pose None 33.0674 11.3899 16.2021 0.664565 0.630784 -0.272672 0.293294 +#7515 1721120733973 +SLAM 15.032 -21.9719 34.9996 -0.56082 0.0771821 0.698616 0.437561 +TTool-pose None 33.0878 11.346 16.2486 0.667683 0.629267 -0.271282 0.290747 +#7516 1721120734005 +SLAM 14.8678 -22.1035 34.9632 -0.560843 0.0766767 0.69707 0.440078 +TTool-pose None 33.0515 11.3557 16.2276 0.665756 0.630628 -0.270912 0.292557 +#7517 1721120734039 +SLAM 14.8874 -22.1413 34.9296 -0.559326 0.0786714 0.697314 0.441269 +TTool-pose None 33.0675 11.3877 16.1878 0.665174 0.629671 -0.27304 0.293962 +#7518 1721120734072 +SLAM 14.8982 -22.1696 34.9091 -0.559299 0.0776862 0.697398 0.441345 +TTool-pose None 33.0683 11.3872 16.2011 0.664868 0.63037 -0.272808 0.293373 +#7519 1721120734106 +SLAM 14.8229 -22.1618 34.9363 -0.560293 0.0771945 0.696672 0.441316 +TTool-pose None 33.045 11.3686 16.2083 0.664915 0.630746 -0.271561 0.293615 +#7520 1721120734140 +SLAM 14.7425 -22.3179 34.8603 -0.560543 0.0736781 0.695873 0.442859 +TTool-pose None 33.0215 11.3621 16.2399 0.662949 0.633764 -0.270222 0.292793 +#7521 1721120734175 +SLAM 14.8934 -22.1192 34.9256 -0.558846 0.0802878 0.697468 0.441342 +TTool-pose None 33.0649 11.3845 16.1681 0.665454 0.628575 -0.273992 0.294791 +#7522 1721120734212 +SLAM 14.8064 -22.2959 34.8576 -0.559785 0.0748019 0.696486 0.442666 +TTool-pose None 33.0426 11.3781 16.2276 0.663261 0.632884 -0.271391 0.292909 +#7523 1721120734246 +SLAM 14.8229 -22.227 34.8846 -0.559504 0.077101 0.696736 0.442232 +TTool-pose None 33.0446 11.375 16.2022 0.664113 0.631135 -0.272347 0.293864 +#7524 1721120734279 +SLAM 14.8903 -22.1431 34.9348 -0.559524 0.0782085 0.697289 0.441139 +TTool-pose None 33.0697 11.388 16.1974 0.665181 0.629944 -0.272707 0.293669 +#7525 1721120734318 +SLAM 14.7931 -22.2475 34.9077 -0.559927 0.0761885 0.696286 0.442564 +TTool-pose None 33.0496 11.3956 16.2064 0.663707 0.631911 -0.271603 0.293803 +#7526 1721120734355 +SLAM 14.7933 -22.2459 34.9033 -0.560518 0.0748433 0.696286 0.442045 +TTool-pose None 33.0398 11.3756 16.2315 0.663828 0.632646 -0.270629 0.292842 +#7527 1721120734390 +SLAM 14.8382 -22.1712 34.9202 -0.561246 0.0744063 0.696809 0.440368 +TTool-pose None 33.0338 11.3335 16.259 0.665032 0.632306 -0.269838 0.291571 +#7528 1721120734424 +SLAM 14.7107 -22.3757 34.8502 -0.56042 0.0729582 0.695444 0.443806 +TTool-pose None 33.0238 11.3874 16.2374 0.662063 0.634625 -0.270087 0.293057 +#7529 1721120734457 +SLAM 14.7248 -22.3211 34.8696 -0.561443 0.0718967 0.695628 0.442397 +TTool-pose None 33.0118 11.3466 16.269 0.66296 0.634833 -0.268776 0.291782 +#7530 1721120734491 +SLAM 14.8213 -22.1946 34.909 -0.560862 0.0749609 0.696677 0.44097 +TTool-pose None 33.0337 11.3417 16.2449 0.664683 0.632152 -0.270364 0.292212 +#7531 1721120734525 +SLAM 14.8175 -22.1976 34.9024 -0.560447 0.0758492 0.69667 0.441358 +TTool-pose None 33.0331 11.351 16.2282 0.664568 0.631684 -0.271032 0.29287 +#7532 1721120734559 +SLAM 14.7825 -22.2233 34.9046 -0.560728 0.0752297 0.696284 0.441717 +TTool-pose None 33.0276 11.3535 16.2326 0.664195 0.632263 -0.270522 0.292938 +#7533 1721120734592 +SLAM 14.8134 -22.2222 34.9088 -0.560303 0.0756314 0.696512 0.441827 +TTool-pose None 33.0447 11.3756 16.2241 0.664153 0.632012 -0.271096 0.293041 +#7534 1721120734626 +SLAM 14.7403 -22.2655 34.9101 -0.561185 0.073844 0.695737 0.44223 +TTool-pose None 33.0244 11.3668 16.2431 0.66354 0.633433 -0.269596 0.292746 +#7535 1721120734659 +SLAM 14.7272 -22.3159 34.8788 -0.561101 0.0728017 0.695636 0.44267 +TTool-pose None 33.0201 11.3625 16.2523 0.662944 0.634311 -0.269377 0.292396 +#7536 1721120734694 +SLAM 14.7708 -22.2622 34.8834 -0.560143 0.0756588 0.696192 0.44253 +TTool-pose None 33.0306 11.3682 16.217 0.66363 0.632268 -0.271223 0.293559 +#7537 1721120734727 +SLAM 14.6785 -22.2593 34.9158 -0.561882 0.0737322 0.695232 0.442159 +TTool-pose None 32.9972 11.336 16.2497 0.663667 0.633517 -0.268785 0.293025 +#7538 1721120734760 +SLAM 14.8548 -22.0626 35.0057 -0.561911 0.0759834 0.696831 0.439214 +TTool-pose None 33.0461 11.3398 16.2531 0.666361 0.630807 -0.269598 0.292008 +#7539 1721120734793 +SLAM 14.7634 -22.2201 34.916 -0.560956 0.0754175 0.696069 0.441734 +TTool-pose None 33.0239 11.3496 16.2355 0.664264 0.632155 -0.270312 0.293208 +#7540 1721120734826 +SLAM 14.7587 -22.2192 34.9299 -0.560924 0.075747 0.69595 0.441906 +TTool-pose None 33.0299 11.3626 16.2304 0.664219 0.631999 -0.270419 0.293548 +#7541 1721120734860 +SLAM 14.6935 -22.2539 34.9409 -0.561661 0.0744989 0.695205 0.442353 +TTool-pose None 33.016 11.3639 16.2437 0.66369 0.633064 -0.269219 0.293554 +#7542 1721120734893 +SLAM 14.7243 -22.1908 34.9619 -0.562158 0.0745269 0.695565 0.44115 +TTool-pose None 33.0138 11.3377 16.2571 0.664637 0.632587 -0.26877 0.292848 +#7543 1721120734926 +SLAM 14.7116 -22.2098 34.9644 -0.562182 0.07422 0.695387 0.441452 +TTool-pose None 33.0171 11.3477 16.2567 0.664344 0.632918 -0.268636 0.292919 +#7544 1721120734962 +SLAM 14.753 -22.1752 34.9647 -0.562008 0.0747233 0.695838 0.440877 +TTool-pose None 33.0221 11.3407 16.2567 0.664861 0.632337 -0.269015 0.292655 +#7545 1721120735000 +SLAM 14.6349 -22.2946 34.9513 -0.562552 0.0724743 0.6945 0.442665 +TTool-pose None 33.0054 11.3661 16.2646 0.663079 0.634607 -0.267649 0.293037 +#7546 1721120735033 +SLAM 14.7149 -22.2043 34.9536 -0.562383 0.0737568 0.695495 0.441103 +TTool-pose None 33.0086 11.3281 16.2669 0.664507 0.633102 -0.268317 0.292443 +#7547 1721120735073 +SLAM 14.7344 -22.2027 34.9487 -0.561067 0.0764594 0.695711 0.441976 +TTool-pose None 33.0253 11.3632 16.2211 0.66437 0.631551 -0.270437 0.294153 +#7548 1721120735107 +SLAM 14.713 -22.1791 34.9788 -0.562017 0.0753638 0.695429 0.441401 +TTool-pose None 33.0171 11.3531 16.2396 0.664648 0.632113 -0.269127 0.293518 +#7549 1721120735145 +SLAM 14.6564 -22.3215 34.9207 -0.561462 0.0736423 0.694784 0.443409 +TTool-pose None 33.0159 11.3851 16.2386 0.66268 0.634057 -0.269124 0.293777 +#7550 1721120735181 +SLAM 14.7182 -22.2781 34.9095 -0.560944 0.0747918 0.69552 0.442719 +TTool-pose None 33.0227 11.3705 16.2333 0.663394 0.632974 -0.270075 0.29363 +#7551 1721120735215 +SLAM 14.6925 -22.292 34.9161 -0.562467 0.0714094 0.695186 0.441869 +TTool-pose None 33.0068 11.3373 16.2875 0.663367 0.635004 -0.267534 0.291625 +#7552 1721120735248 +SLAM 14.7748 -22.1844 34.9434 -0.561409 0.0752964 0.696123 0.441094 +TTool-pose None 33.0272 11.3444 16.2456 0.664761 0.632004 -0.269824 0.292856 +#7553 1721120735282 +SLAM 14.639 -22.3451 34.9056 -0.562 0.0720827 0.694632 0.443223 +TTool-pose None 33.0038 11.3632 16.2635 0.662494 0.635067 -0.268121 0.29293 +#7554 1721120735316 +SLAM 14.7598 -22.2523 34.9094 -0.560398 0.0759494 0.695974 0.442501 +TTool-pose None 33.0352 11.3749 16.2203 0.663763 0.632072 -0.271014 0.293872 +#7555 1721120735349 +SLAM 14.6731 -22.316 34.9197 -0.561179 0.074164 0.694949 0.443422 +TTool-pose None 33.0222 11.3903 16.2327 0.662762 0.633694 -0.26958 0.293958 +#7556 1721120735383 +SLAM 14.7842 -22.2655 34.8848 -0.559671 0.0766862 0.696281 0.44281 +TTool-pose None 33.0419 11.3809 16.2073 0.663617 0.631658 -0.272 0.294183 +#7557 1721120735416 +SLAM 14.7731 -22.0864 35.0249 -0.561985 0.0770976 0.695952 0.440317 +TTool-pose None 33.0334 11.3576 16.2325 0.665862 0.630499 -0.269711 0.293704 +#7558 1721120735450 +SLAM 14.7999 -22.1535 34.9776 -0.560545 0.078647 0.69607 0.441691 +TTool-pose None 33.0457 11.3932 16.22 0.665048 0.629923 -0.271621 0.295021 +#7559 1721120735486 +SLAM 14.7062 -22.2188 34.9903 -0.56139 0.077633 0.694769 0.442844 +TTool-pose None 33.0217 11.4155 16.2474 0.664089 0.631119 -0.270301 0.295837 +#7560 1721120735520 +SLAM 14.7738 -22.2333 35.0017 -0.561903 0.07548 0.694884 0.442385 +TTool-pose None 33.0378 11.452 16.3044 0.663952 0.632423 -0.2692 0.294358 +#7561 1721120735553 +SLAM 14.7825 -22.3088 34.9304 -0.559564 0.0785563 0.694999 0.444628 +TTool-pose None 33.0425 11.5031 16.2474 0.662761 0.63111 -0.272443 0.296871 +#7562 1721120735587 +SLAM 14.8331 -22.276 34.9222 -0.560251 0.0768379 0.695505 0.443269 +TTool-pose None 33.0357 11.4701 16.2887 0.663412 0.63177 -0.271343 0.295011 +#7563 1721120735620 +SLAM 14.8369 -22.3029 34.9116 -0.560072 0.0763843 0.695505 0.443574 +TTool-pose None 33.042 11.4804 16.2899 0.663051 0.63219 -0.2714 0.29487 +#7564 1721120735654 +SLAM 14.8449 -22.2549 34.9487 -0.561355 0.0747372 0.695482 0.442267 +TTool-pose None 33.0359 11.4573 16.3275 0.663767 0.632852 -0.269635 0.293455 +#7565 1721120735689 +SLAM 14.8358 -22.192 35 -0.561712 0.0759992 0.695365 0.441782 +TTool-pose None 33.0389 11.4597 16.3144 0.664489 0.631819 -0.269605 0.294071 +#7566 1721120735724 +SLAM 14.8618 -22.2384 34.9432 -0.560948 0.0757547 0.695736 0.442211 +TTool-pose None 33.0385 11.4545 16.3144 0.664005 0.632117 -0.270367 0.293825 +#7567 1721120735757 +SLAM 14.8339 -22.2743 34.9213 -0.5608 0.0755316 0.695499 0.442809 +TTool-pose None 33.0288 11.4555 16.3103 0.663495 0.632501 -0.270424 0.294099 +#7568 1721120735792 +SLAM 14.8941 -22.2236 34.9355 -0.560012 0.0776292 0.696124 0.442462 +TTool-pose None 33.0511 11.4687 16.2854 0.664158 0.630895 -0.271891 0.294699 +#7569 1721120735826 +SLAM 14.8162 -22.2613 34.9444 -0.561955 0.0736642 0.695254 0.442043 +TTool-pose None 33.0199 11.4344 16.3438 0.663743 0.63352 -0.268695 0.292926 +#7570 1721120735861 +SLAM 14.8772 -22.2525 34.9158 -0.559693 0.0778281 0.696 0.443025 +TTool-pose None 33.0463 11.4721 16.2769 0.663754 0.630969 -0.272253 0.295117 +#7571 1721120735896 +SLAM 14.8306 -22.2959 34.9137 -0.560267 0.0762166 0.695467 0.443417 +TTool-pose None 33.0367 11.4726 16.2933 0.663151 0.632252 -0.27115 0.294743 +#7572 1721120735929 +SLAM 14.8367 -22.2404 34.9533 -0.56184 0.0741405 0.695449 0.441803 +TTool-pose None 33.0267 11.4373 16.3399 0.664021 0.633095 -0.268971 0.292962 +#7573 1721120735963 +SLAM 14.8901 -22.2029 34.9593 -0.560967 0.0761762 0.695987 0.441718 +TTool-pose None 33.0454 11.456 16.314 0.664469 0.631634 -0.270499 0.293693 +#7574 1721120736000 +SLAM 14.8661 -22.2227 34.9502 -0.561035 0.0759152 0.695791 0.441986 +TTool-pose None 33.0383 11.4503 16.3145 0.664221 0.631922 -0.270331 0.29379 +#7575 1721120736036 +SLAM 14.8811 -22.2184 34.9399 -0.560564 0.07677 0.696003 0.442103 +TTool-pose None 33.0415 11.4523 16.3017 0.664282 0.631364 -0.271076 0.294164 +#7576 1721120736069 +SLAM 14.8416 -22.2198 34.9695 -0.561881 0.0746337 0.695456 0.441657 +TTool-pose None 33.0298 11.4423 16.3365 0.664258 0.632704 -0.269068 0.293182 +#7577 1721120736104 +SLAM 14.8832 -22.278 34.9062 -0.559623 0.0771578 0.696009 0.443216 +TTool-pose None 33.0521 11.4797 16.2835 0.663437 0.631498 -0.272141 0.294803 +#7578 1721120736139 +SLAM 14.7675 -22.269 34.958 -0.562436 0.0733945 0.694753 0.442264 +TTool-pose None 33.0081 11.4305 16.3458 0.663586 0.633817 -0.26806 0.293222 +#7579 1721120736174 +SLAM 14.8598 -22.2448 34.9382 -0.56084 0.0758146 0.695723 0.442357 +TTool-pose None 33.0379 11.4573 16.3111 0.663899 0.632129 -0.270492 0.293924 +#7580 1721120736212 +SLAM 14.8385 -22.2378 34.9486 -0.561298 0.0753754 0.695523 0.442165 +TTool-pose None 33.0299 11.4466 16.3183 0.663994 0.632375 -0.269876 0.293748 +#7581 1721120736252 +SLAM 14.9791 -22.0915 34.9906 -0.559989 0.0797214 0.696969 0.440784 +TTool-pose None 33.0706 11.464 16.273 0.665887 0.628797 -0.272605 0.294624 +#7582 1721120736286 +SLAM 14.8782 -22.2911 34.9125 -0.56099 0.0736941 0.695841 0.44234 +TTool-pose None 33.0437 11.4566 16.3377 0.663394 0.633568 -0.269767 0.292627 +#7583 1721120736320 +SLAM 14.9083 -22.152 34.9874 -0.561344 0.07632 0.696175 0.440919 +TTool-pose None 33.0487 11.4471 16.317 0.665137 0.631235 -0.270181 0.293331 +#7584 1721120736363 +SLAM 14.9158 -22.228 34.9208 -0.559696 0.0776643 0.696373 0.442462 +TTool-pose None 33.0553 11.4701 16.2827 0.664119 0.630855 -0.272256 0.294536 +#7585 1721120736400 +SLAM 14.8198 -22.3429 34.897 -0.560537 0.0744398 0.695282 0.443666 +TTool-pose None 33.0354 11.4753 16.3133 0.66256 0.633571 -0.270357 0.293965 +#7586 1721120736439 +SLAM 14.8868 -22.2584 34.9177 -0.56098 0.0744274 0.696 0.441979 +TTool-pose None 33.0389 11.4455 16.3324 0.663839 0.632926 -0.270003 0.29279 +#7587 1721120736479 +SLAM 14.9367 -22.2264 34.9152 -0.559995 0.0765673 0.696578 0.441953 +TTool-pose None 33.0564 11.4572 16.3027 0.664254 0.631411 -0.271679 0.293571 +#7588 1721120736516 +SLAM 14.8645 -22.3051 34.8945 -0.560201 0.0752772 0.695796 0.443144 +TTool-pose None 33.0407 11.4695 16.3069 0.6631 0.632776 -0.271003 0.293866 +#7589 1721120736555 +SLAM 14.8486 -22.1808 34.9922 -0.561921 0.0753784 0.695561 0.441314 +TTool-pose None 33.0337 11.4429 16.3245 0.6647 0.632063 -0.269247 0.293397 +#7590 1721120736589 +SLAM 14.9148 -22.2021 34.9496 -0.561142 0.0751454 0.696251 0.441257 +TTool-pose None 33.0474 11.4451 16.3297 0.664566 0.632157 -0.270072 0.292738 +#7591 1721120736623 +SLAM 14.8493 -22.2319 34.9529 -0.560765 0.0764532 0.695625 0.442497 +TTool-pose None 33.0399 11.4669 16.2958 0.663949 0.631748 -0.270731 0.294411 +#7592 1721120736660 +SLAM 14.9177 -22.2339 34.9174 -0.56003 0.0766418 0.696375 0.442216 +TTool-pose None 33.0522 11.4623 16.2983 0.664088 0.631468 -0.271636 0.293863 +#7593 1721120736695 +SLAM 14.9374 -22.2178 34.9269 -0.560158 0.0764188 0.696531 0.441845 +TTool-pose None 33.0581 11.4626 16.3046 0.664318 0.631478 -0.271465 0.293481 +#7594 1721120736738 +SLAM 14.924 -22.1898 34.9511 -0.561097 0.0753455 0.696373 0.441088 +TTool-pose None 33.0485 11.4423 16.3272 0.664731 0.631951 -0.27019 0.292699 +#7595 1721120736775 +SLAM 14.9458 -22.2465 34.9138 -0.559808 0.0761691 0.696593 0.442234 +TTool-pose None 33.0675 11.4761 16.3006 0.663923 0.631785 -0.27176 0.293441 +#7596 1721120736815 +SLAM 14.9197 -22.2327 34.9255 -0.560616 0.0752072 0.696332 0.441787 +TTool-pose None 33.051 11.4564 16.3192 0.664121 0.632301 -0.270637 0.292917 +#7597 1721120736854 +SLAM 14.8994 -22.2907 34.9101 -0.559921 0.0754824 0.696045 0.443071 +TTool-pose None 33.0601 11.4958 16.2969 0.663162 0.632593 -0.27138 0.293772 +#7598 1721120736886 +SLAM 14.382 -22.8153 34.7153 -0.56315 0.0623001 0.690564 0.449558 +TTool-pose None 32.8938 11.4923 16.393 0.655513 0.64425 -0.263588 0.292696 +#7599 1721120736916 +#7600 1721120736946 +#7601 1721120736975 +#7602 1721120737008 +#7603 1721120737036 +#7604 1721120737064 +#7605 1721120737100 +#7606 1721120737133 +#7607 1721120737166 +SLAM 14.8623 -22.3533 34.9872 -0.562698 0.0682827 0.694896 0.442526 +TTool-pose None 33.0776 11.541 16.391 0.662119 0.637392 -0.26638 0.290303 +#7608 1721120737196 +SLAM 14.7471 -22.3887 34.9954 -0.565572 0.062949 0.693683 0.441554 +TTool-pose None 33.0237 11.4672 16.4761 0.661838 0.640742 -0.261762 0.287755 +#7609 1721120737226 +SLAM 14.2018 -22.0864 34.9763 -0.568888 0.0739416 0.691767 0.438585 +TTool-pose None 32.7488 10.9431 16.3584 0.6673 0.632288 -0.261195 0.294287 +#7610 1721120737255 +SLAM 14.7122 -21.9762 35.2232 -0.566337 0.0739201 0.693898 0.438525 +TTool-pose None 33.0098 11.4144 16.359 0.666977 0.632155 -0.2641 0.292708 +#7611 1721120737284 +SLAM 14.9333 -21.8647 35.3111 -0.566831 0.0719044 0.695332 0.435943 +TTool-pose None 33.0872 11.4828 16.4179 0.668382 0.632503 -0.263224 0.28952 +#7612 1721120737315 +SLAM 14.9831 -22.0179 35.1924 -0.561803 0.07808 0.695842 0.440551 +TTool-pose None 33.1325 11.6165 16.2837 0.665914 0.629916 -0.270151 0.294431 +#7613 1721120737350 +SLAM 15.0504 -21.9809 35.1042 -0.560187 0.0812913 0.69719 0.439896 +TTool-pose None 33.1194 11.5354 16.2559 0.666945 0.627381 -0.272862 0.295009 +#7614 1721120737381 +SLAM 14.8559 -22.0535 35.1271 -0.564847 0.0724655 0.695144 0.438715 +TTool-pose None 33.0367 11.4379 16.3923 0.666254 0.633142 -0.265391 0.291048 +#7615 1721120737414 +SLAM 14.8251 -22.1175 35.0996 -0.564559 0.0720028 0.694766 0.439761 +TTool-pose None 33.0308 11.4557 16.3907 0.665343 0.633862 -0.265506 0.291461 +#7616 1721120737450 +SLAM 14.8537 -22.2673 34.9628 -0.561007 0.0749453 0.695288 0.442977 +TTool-pose None 33.0474 11.5137 16.3136 0.663256 0.632977 -0.27002 0.293985 +#7617 1721120737489 +SLAM 14.8669 -22.1467 35.0283 -0.564682 0.0696941 0.695341 0.439064 +TTool-pose None 33.0113 11.4079 16.4317 0.665265 0.635149 -0.264812 0.289457 +#7618 1721120737523 +SLAM 14.6726 -22.3907 34.9362 -0.56374 0.06857 0.693404 0.443493 +TTool-pose None 32.9781 11.4615 16.393 0.661647 0.637639 -0.265189 0.291923 +#7619 1721120737563 +SLAM 14.9495 -22.015 35.0978 -0.564696 0.0717112 0.696108 0.437504 +TTool-pose None 33.0382 11.4184 16.416 0.666906 0.633157 -0.265465 0.289449 +#7620 1721120737600 +SLAM 14.8937 -22.0968 35.0489 -0.564453 0.070943 0.695633 0.438697 +TTool-pose None 33.0186 11.4162 16.4138 0.665818 0.634145 -0.265436 0.289817 +#7621 1721120737634 +SLAM 14.8954 -22.2047 34.9664 -0.562437 0.0723166 0.695771 0.440838 +TTool-pose None 33.028 11.453 16.3711 0.664338 0.633974 -0.267898 0.291321 +#7622 1721120737670 +SLAM 14.9214 -22.0942 35.0392 -0.563927 0.071635 0.695952 0.438754 +TTool-pose None 33.0286 11.4219 16.403 0.665878 0.633673 -0.266211 0.29 +#7623 1721120737707 +SLAM 14.8144 -22.2775 34.9665 -0.563444 0.0695432 0.694797 0.441532 +TTool-pose None 33.0113 11.4586 16.3982 0.663271 0.636181 -0.26596 0.290715 +#7624 1721120737740 +SLAM 14.8044 -22.1484 35.0434 -0.564909 0.0700963 0.694747 0.439649 +TTool-pose None 32.9954 11.4181 16.4112 0.664982 0.635125 -0.264611 0.290345 +#7625 1721120737771 +SLAM 14.9919 -21.9452 35.1559 -0.565246 0.071518 0.696359 0.436424 +TTool-pose None 33.0585 11.4329 16.4233 0.66771 0.632879 -0.26488 0.288738 +#7626 1721120737803 +SLAM 14.9325 -22.2192 34.96 -0.563207 0.0690965 0.695998 0.440011 +TTool-pose None 33.0335 11.4458 16.4159 0.664215 0.635858 -0.266242 0.289001 +#7627 1721120737834 +SLAM 14.7294 -22.2984 34.984 -0.565183 0.0664063 0.69395 0.441125 +TTool-pose None 32.9835 11.4227 16.436 0.663001 0.638222 -0.263181 0.28938 +#7628 1721120737868 +SLAM 14.8081 -22.2404 34.9485 -0.562577 0.0722866 0.695127 0.441678 +TTool-pose None 33.0008 11.4372 16.3514 0.663746 0.634339 -0.267659 0.292095 +#7629 1721120737901 +SLAM 14.911 -22.0995 35.0407 -0.56516 0.068523 0.695819 0.437876 +TTool-pose None 33.0156 11.3925 16.4465 0.665883 0.635485 -0.264058 0.287982 +#7630 1721120737935 +SLAM 14.8889 -22.2559 34.9492 -0.563491 0.0681316 0.695633 0.440375 +TTool-pose None 33.0242 11.4352 16.4198 0.663744 0.636671 -0.26563 0.288855 +#7631 1721120737970 +SLAM 14.8696 -22.1402 35.0258 -0.565852 0.0663523 0.695454 0.437895 +TTool-pose None 33.0013 11.3704 16.4686 0.665404 0.636993 -0.262687 0.287012 +#7632 1721120738006 +SLAM 14.8103 -22.2615 34.9776 -0.564452 0.0672726 0.694806 0.440582 +TTool-pose None 33.0045 11.4311 16.4245 0.663512 0.637383 -0.264292 0.289046 +#7633 1721120738042 +SLAM 14.9383 -22.1613 34.9525 -0.562097 0.0727467 0.696475 0.440087 +TTool-pose None 33.0303 11.43 16.3559 0.664937 0.633363 -0.268462 0.290764 +#7634 1721120738076 +SLAM 14.8708 -22.2775 34.9242 -0.562502 0.0698526 0.695671 0.441309 +TTool-pose None 33.0249 11.4437 16.3781 0.663373 0.635833 -0.26713 0.290169 +#7635 1721120738113 +SLAM 14.9095 -22.0713 35.0408 -0.564531 0.0704168 0.696056 0.438009 +TTool-pose None 33.0181 11.3887 16.4074 0.666186 0.634227 -0.265266 0.288943 +#7636 1721120738146 +SLAM 15.042 -21.9824 35.053 -0.563652 0.0722987 0.697388 0.436715 +TTool-pose None 33.0531 11.3951 16.3969 0.667468 0.632386 -0.266869 0.288546 +#7637 1721120738180 +SLAM 15.0041 -21.9898 35.0641 -0.562873 0.0747012 0.697085 0.437798 +TTool-pose None 33.0594 11.4208 16.3491 0.667192 0.631155 -0.268294 0.290551 +#7638 1721120738213 +SLAM 15.0271 -21.9623 35.064 -0.563408 0.0735612 0.697362 0.436859 +TTool-pose None 33.0536 11.3955 16.3713 0.667652 0.631576 -0.267466 0.289339 +#7639 1721120738245 +SLAM 14.9109 -22.2459 34.9194 -0.562242 0.0702358 0.696221 0.440712 +TTool-pose None 33.0326 11.4299 16.3714 0.663863 0.63532 -0.267578 0.289757 +#7640 1721120738279 +SLAM 14.9581 -22.0828 35.0014 -0.562913 0.0723793 0.696763 0.438648 +TTool-pose None 33.0379 11.4061 16.362 0.665996 0.633074 -0.267565 0.289792 +#7641 1721120738311 +SLAM 14.8943 -22.1117 34.984 -0.562997 0.0725129 0.696256 0.439322 +TTool-pose None 33.0139 11.3941 16.352 0.665559 0.63326 -0.267448 0.290497 +#7642 1721120738343 +SLAM 15.0379 -22.016 35.0075 -0.563364 0.071321 0.697646 0.436835 +TTool-pose None 33.0465 11.3705 16.3899 0.667088 0.633081 -0.266925 0.287846 +#7643 1721120738386 +SLAM 15.0151 -22.031 34.9968 -0.5633 0.0712889 0.697491 0.43717 +TTool-pose None 33.0385 11.369 16.3816 0.66683 0.633235 -0.266962 0.28807 +#7644 1721120738417 +SLAM 14.9155 -22.1898 34.9443 -0.562415 0.0706168 0.696486 0.44001 +TTool-pose None 33.0359 11.416 16.3501 0.664491 0.63479 -0.267544 0.289512 +#7645 1721120738449 +SLAM 14.973 -22.0271 35.017 -0.564241 0.0697413 0.697145 0.436758 +TTool-pose None 33.0293 11.3477 16.3937 0.666865 0.634163 -0.265519 0.287281 +#7646 1721120738484 +SLAM 14.947 -22.072 34.9756 -0.563489 0.070248 0.697119 0.437689 +TTool-pose None 33.0228 11.347 16.3653 0.666219 0.634158 -0.266428 0.287948 +#7647 1721120738518 +SLAM 14.9693 -22.075 34.9488 -0.562859 0.0706465 0.697574 0.437709 +TTool-pose None 33.0286 11.3374 16.3462 0.666214 0.633864 -0.267244 0.287851 +#7648 1721120738552 +SLAM 14.9586 -22.1491 34.93 -0.563074 0.0678494 0.697416 0.438126 +TTool-pose None 33.0415 11.3475 16.3625 0.665222 0.635933 -0.266217 0.286528 +#7649 1721120738585 +SLAM 14.9974 -21.9832 35.0134 -0.563243 0.0713121 0.69798 0.436458 +TTool-pose None 33.0524 11.3313 16.3268 0.667337 0.632928 -0.267091 0.287451 +#7650 1721120738616 +SLAM 14.9704 -22.0344 34.9679 -0.562712 0.0713889 0.697963 0.437157 +TTool-pose None 33.0443 11.3132 16.3134 0.666778 0.633131 -0.267654 0.287777 +#7651 1721120738652 +SLAM 14.9303 -22.1825 34.9077 -0.561827 0.0700177 0.697515 0.439228 +TTool-pose None 33.0557 11.3479 16.3058 0.66481 0.634848 -0.268116 0.288119 +#7652 1721120738683 +SLAM 14.8949 -22.0412 35.0081 -0.564225 0.0692012 0.697189 0.436794 +TTool-pose None 33.0327 11.2907 16.3382 0.666697 0.634542 -0.265389 0.286954 +#7653 1721120738715 +SLAM 14.8633 -22.0381 35.0094 -0.564449 0.0692655 0.696998 0.436798 +TTool-pose None 33.0217 11.2746 16.3332 0.666743 0.634512 -0.265151 0.287132 +#7654 1721120738751 +SLAM 14.7704 -22.238 34.911 -0.563643 0.0670077 0.696144 0.439546 +TTool-pose None 33.0089 11.2944 16.3267 0.664069 0.637103 -0.265227 0.287521 +#7655 1721120738785 +SLAM 14.7808 -22.1694 34.9631 -0.563472 0.0692138 0.696234 0.439281 +TTool-pose None 33.0228 11.3137 16.2963 0.664808 0.635499 -0.266036 0.288616 +#7656 1721120738817 +SLAM 14.869 -22.0676 34.9815 -0.562742 0.0719963 0.697275 0.438116 +TTool-pose None 33.0411 11.3026 16.2723 0.666253 0.633109 -0.267702 0.288995 +#7657 1721120738850 +SLAM 14.8854 -21.9921 34.9975 -0.562513 0.0741385 0.697659 0.43744 +TTool-pose None 33.0366 11.2815 16.2471 0.667251 0.631373 -0.268582 0.289673 +#7658 1721120738882 +SLAM 14.7611 -22.0806 35.0154 -0.56447 0.0697342 0.69618 0.438 +TTool-pose None 33.0108 11.2768 16.2978 0.666008 0.634682 -0.265153 0.288459 +#7659 1721120738913 +SLAM 14.7481 -21.9904 35.0882 -0.565494 0.0702349 0.696007 0.436872 +TTool-pose None 33.0097 11.2671 16.2988 0.667094 0.63394 -0.264221 0.288435 +#7660 1721120738945 +SLAM 14.79 -22.1311 35.0026 -0.564017 0.0686844 0.696368 0.43845 +TTool-pose None 33.0382 11.3037 16.2994 0.665347 0.635549 -0.265347 0.287895 +#7661 1721120738978 +SLAM 14.9779 -21.9003 35.0513 -0.56378 0.0717872 0.698488 0.434871 +TTool-pose None 33.0629 11.2531 16.2961 0.66867 0.631991 -0.266738 0.286738 +#7662 1721120739011 +SLAM 14.7611 -22.1587 34.9593 -0.563084 0.0702537 0.696398 0.439352 +TTool-pose None 33.0258 11.2932 16.2621 0.664969 0.634805 -0.266747 0.289117 +#7663 1721120739043 +SLAM 14.8415 -22.0158 35.0255 -0.564028 0.0704354 0.697231 0.436784 +TTool-pose None 33.0391 11.2585 16.2823 0.666994 0.633694 -0.265942 0.287624 +#7664 1721120739077 +SLAM 14.8352 -22.0329 35.0016 -0.563087 0.0721262 0.697345 0.437541 +TTool-pose None 33.0413 11.2638 16.2488 0.666749 0.632807 -0.267394 0.288797 +#7665 1721120739109 +SLAM 14.8065 -22.02 35.0244 -0.564694 0.0693036 0.696994 0.436483 +TTool-pose None 33.024 11.2294 16.2957 0.667014 0.634371 -0.264911 0.287035 +#7666 1721120739141 +SLAM 14.7087 -22.227 34.937 -0.563857 0.0670908 0.695987 0.439507 +TTool-pose None 33.0171 11.2682 16.2855 0.66415 0.637043 -0.26501 0.287668 +#7667 1721120739173 +SLAM 14.671 -22.2604 34.9215 -0.562464 0.0700157 0.695779 0.441163 +TTool-pose None 33.0235 11.2997 16.2236 0.663515 0.635662 -0.267229 0.290128 +#7668 1721120739205 +SLAM 14.7682 -21.9829 35.068 -0.563869 0.0729093 0.696774 0.437312 +TTool-pose None 33.0394 11.2582 16.2255 0.66723 0.632225 -0.266735 0.289571 +#7669 1721120739238 +SLAM 14.8705 -21.8748 35.0787 -0.563799 0.0739999 0.697901 0.435418 +TTool-pose None 33.0469 11.2265 16.2349 0.668851 0.630716 -0.267258 0.288638 +#7670 1721120739274 +SLAM 14.8138 -22.0955 34.9708 -0.561587 0.0737228 0.697327 0.439227 +TTool-pose None 33.0597 11.299 16.1898 0.665727 0.632328 -0.26937 0.290366 +#7671 1721120739308 +SLAM 14.8227 -21.985 35.0045 -0.562747 0.0738238 0.697567 0.437341 +TTool-pose None 33.0333 11.2441 16.2092 0.667277 0.631559 -0.268244 0.289524 +#7672 1721120739340 +SLAM 14.8389 -22.0351 34.9767 -0.562115 0.0734178 0.697669 0.438058 +TTool-pose None 33.0452 11.2687 16.2037 0.666566 0.632091 -0.268791 0.289494 +#7673 1721120739376 +SLAM 14.8682 -22.0432 34.9672 -0.560967 0.0752717 0.697964 0.438743 +TTool-pose None 33.0651 11.2991 16.1707 0.666375 0.63105 -0.270517 0.290594 +#7674 1721120739411 +SLAM 14.7741 -21.9437 35.049 -0.56429 0.0723245 0.696989 0.436523 +TTool-pose None 33.0097 11.2258 16.2352 0.667706 0.632324 -0.266169 0.288777 +#7675 1721120739451 +SLAM 14.8174 -21.9575 35.0204 -0.564772 0.0698436 0.697332 0.435755 +TTool-pose None 33.0039 11.2074 16.2802 0.667686 0.633716 -0.265026 0.286815 +#7676 1721120739488 +SLAM 14.7752 -22.0662 34.9546 -0.563552 0.0702404 0.696986 0.437819 +TTool-pose None 32.998 11.2358 16.2508 0.666133 0.634219 -0.266343 0.288091 +#7677 1721120739522 +SLAM 14.7732 -22.0808 34.9558 -0.563156 0.0706908 0.696873 0.438437 +TTool-pose None 33.0043 11.2665 16.2347 0.665748 0.634144 -0.26686 0.288668 +#7678 1721120739555 +SLAM 14.7697 -21.9712 35.016 -0.564348 0.0712442 0.696851 0.436845 +TTool-pose None 32.9882 11.2332 16.2483 0.667206 0.633188 -0.26579 0.288386 +#7679 1721120739589 +SLAM 14.8082 -22.0351 34.9613 -0.562402 0.073016 0.697279 0.438377 +TTool-pose None 33.0111 11.2774 16.2061 0.666277 0.632507 -0.268334 0.289673 +#7680 1721120739624 +SLAM 14.6645 -22.1642 34.9331 -0.563773 0.0689784 0.69575 0.439698 +TTool-pose None 32.9709 11.2671 16.2434 0.664492 0.635841 -0.265596 0.288994 +#7681 1721120739661 +SLAM 14.765 -22.0724 34.9626 -0.563704 0.0697497 0.696662 0.438219 +TTool-pose None 32.9909 11.2696 16.2509 0.665742 0.63472 -0.266007 0.288201 +#7682 1721120739695 +SLAM 14.8096 -22.0163 34.9617 -0.562705 0.0726962 0.697257 0.438077 +TTool-pose None 32.9979 11.2731 16.2146 0.666455 0.632618 -0.267932 0.289392 +#7683 1721120739730 +SLAM 14.7607 -21.9839 35.0042 -0.564245 0.0712221 0.696692 0.437237 +TTool-pose None 32.9779 11.2462 16.2462 0.666906 0.633356 -0.265869 0.288641 +#7684 1721120739762 +SLAM 14.7988 -21.9641 35.0052 -0.564024 0.0715807 0.696982 0.437 +TTool-pose None 32.9838 11.2574 16.2479 0.667135 0.633006 -0.266233 0.288542 +#7685 1721120739795 +SLAM 14.6347 -22.0332 35.019 -0.566084 0.0681553 0.695305 0.437555 +TTool-pose None 32.9361 11.226 16.2847 0.666152 0.63565 -0.262937 0.288022 +#7686 1721120739828 +SLAM 14.5901 -22.1902 34.9476 -0.564422 0.0683806 0.694785 0.440483 +TTool-pose None 32.9463 11.2889 16.2489 0.663867 0.636594 -0.264632 0.289657 +#7687 1721120739862 +SLAM 14.7342 -22.0231 34.9737 -0.565192 0.068511 0.696321 0.437037 +TTool-pose None 32.9469 11.2211 16.2947 0.666485 0.635156 -0.264088 0.287286 +#7688 1721120739901 +SLAM 14.7932 -22.015 34.9664 -0.562599 0.0736211 0.696896 0.438632 +TTool-pose None 32.9851 11.2988 16.2097 0.666279 0.63221 -0.268249 0.290395 +#7689 1721120739938 +SLAM 14.8109 -21.9555 35.0067 -0.563306 0.0733827 0.697004 0.437593 +TTool-pose None 32.9877 11.2896 16.2234 0.667067 0.631989 -0.267474 0.289781 +#7690 1721120739972 +SLAM 14.749 -22.0485 34.9497 -0.562833 0.0731047 0.696466 0.439101 +TTool-pose None 32.9662 11.2902 16.217 0.665845 0.632761 -0.267808 0.290596 +#7691 1721120740007 +SLAM 14.709 -22.1237 34.9324 -0.565381 0.0659305 0.695795 0.438025 +TTool-pose None 32.9374 11.2415 16.3284 0.665132 0.637305 -0.263095 0.286572 +#7692 1721120740043 +SLAM 14.8073 -21.9889 34.9748 -0.563179 0.072956 0.696928 0.437948 +TTool-pose None 32.9751 11.287 16.2358 0.666684 0.632415 -0.267475 0.289731 +#7693 1721120740081 +SLAM 14.6693 -22.1225 34.9618 -0.56476 0.0682623 0.69539 0.439111 +TTool-pose None 32.9478 11.2814 16.2805 0.664872 0.636138 -0.264336 0.288621 +#7694 1721120740114 +SLAM 14.7549 -22.0107 34.9833 -0.56417 0.0710847 0.696395 0.437828 +TTool-pose None 32.9603 11.2676 16.2596 0.666436 0.633684 -0.265868 0.289007 +#7695 1721120740153 +SLAM 14.7826 -21.9345 35.0166 -0.563633 0.0740525 0.696751 0.43746 +TTool-pose None 32.9713 11.2731 16.2254 0.667381 0.631499 -0.267291 0.290296 +#7696 1721120740188 +SLAM 14.7533 -22.084 34.937 -0.563078 0.071563 0.696422 0.439111 +TTool-pose None 32.9692 11.2889 16.2404 0.665478 0.633822 -0.267123 0.289754 +#7697 1721120740220 +SLAM 14.7431 -22.0317 34.9736 -0.562569 0.0745233 0.696421 0.439272 +TTool-pose None 32.9784 11.2998 16.1969 0.666046 0.631855 -0.268466 0.291501 +#7698 1721120740251 +SLAM 14.7705 -22.0921 34.9092 -0.561466 0.0745951 0.696765 0.440124 +TTool-pose None 32.9802 11.3105 16.1877 0.665288 0.632092 -0.269659 0.291617 +#7699 1721120740282 +SLAM 14.7627 -22.0213 34.9686 -0.56388 0.0713165 0.696568 0.437889 +TTool-pose None 32.964 11.2587 16.2564 0.666409 0.633537 -0.266252 0.289037 +#7700 1721120740312 +SLAM 14.7304 -22.0148 35.0009 -0.563719 0.0727388 0.696172 0.438491 +TTool-pose None 32.9712 11.2848 16.2311 0.66632 0.632809 -0.266761 0.290368 +#7701 1721120740345 +SLAM 14.8161 -21.9538 35.0062 -0.56416 0.0716321 0.696995 0.436796 +TTool-pose None 32.9785 11.2604 16.2654 0.667314 0.632896 -0.26611 0.288484 +#7702 1721120740378 +SLAM 14.6618 -22.024 35.0295 -0.565734 0.0692208 0.695351 0.437767 +TTool-pose None 32.9448 11.2544 16.2847 0.666226 0.634999 -0.263602 0.288679 +#7703 1721120740410 +SLAM 14.7687 -21.9878 35.0065 -0.563095 0.0742174 0.696553 0.43844 +TTool-pose None 32.9853 11.299 16.2126 0.666642 0.631754 -0.267862 0.290911 +#7704 1721120740442 +SLAM 14.7654 -22.0105 34.9806 -0.562445 0.0750659 0.696613 0.439035 +TTool-pose None 32.9835 11.3029 16.1953 0.666336 0.631385 -0.268769 0.291578 +#7705 1721120740474 +SLAM 14.6187 -22.0395 35.0117 -0.565028 0.0713534 0.695104 0.438729 +TTool-pose None 32.9329 11.2534 16.2498 0.665984 0.63391 -0.26489 0.290448 +#7706 1721120740505 +SLAM 14.6905 -21.9743 35.0485 -0.565047 0.0718499 0.695689 0.437695 +TTool-pose None 32.9572 11.2648 16.2548 0.666857 0.633158 -0.265089 0.289906 +#7707 1721120740538 +SLAM 14.7232 -22.0463 34.9886 -0.563779 0.0720042 0.696067 0.438701 +TTool-pose None 32.9714 11.2829 16.2428 0.665989 0.633394 -0.26648 0.290107 +#7708 1721120740570 +SLAM 14.5747 -22.2395 34.9074 -0.563708 0.0695381 0.69465 0.441428 +TTool-pose None 32.938 11.2873 16.2454 0.663383 0.636156 -0.265669 0.290779 +#7709 1721120740609 +SLAM 14.8152 -22.0199 34.9771 -0.561851 0.0753775 0.697058 0.439035 +TTool-pose None 33.0111 11.3176 16.1931 0.666326 0.631143 -0.269522 0.29143 +#7710 1721120740643 +SLAM 14.6896 -22.1004 34.9706 -0.564816 0.0687788 0.69575 0.438389 +TTool-pose None 32.9607 11.2466 16.2887 0.665532 0.635502 -0.264473 0.288377 +#7711 1721120740673 +SLAM 14.7194 -22.0803 34.9705 -0.564257 0.0699842 0.696098 0.438366 +TTool-pose None 32.9711 11.2549 16.2712 0.665779 0.63465 -0.265431 0.288803 +#7712 1721120740703 +SLAM 14.7825 -22.1159 34.9281 -0.561344 0.0743713 0.696846 0.44019 +TTool-pose None 33.0133 11.318 16.19 0.665166 0.632263 -0.269733 0.291455 +#7713 1721120740734 +SLAM 14.6917 -22.1802 34.9378 -0.563415 0.069607 0.695801 0.439977 +TTool-pose None 32.9882 11.2887 16.2527 0.664402 0.63551 -0.266146 0.289423 +#7714 1721120740773 +SLAM 14.6474 -22.1137 34.96 -0.564108 0.0706247 0.695647 0.43917 +TTool-pose None 32.9606 11.2386 16.245 0.665346 0.634534 -0.265702 0.289807 +#7715 1721120740805 +SLAM 14.8543 -22.0059 34.9991 -0.562791 0.0726573 0.697553 0.437501 +TTool-pose None 33.0374 11.2784 16.2312 0.666871 0.632416 -0.267872 0.288932 +#7716 1721120740837 +SLAM 14.8312 -21.9959 35.0088 -0.563794 0.0709729 0.697376 0.436768 +TTool-pose None 33.0237 11.2457 16.2581 0.66711 0.633312 -0.266352 0.287819 +#7717 1721120740868 +SLAM 14.8722 -22.0393 34.9647 -0.563224 0.0699565 0.697893 0.43684 +TTool-pose None 33.0377 11.2389 16.2642 0.666711 0.633998 -0.266719 0.286889 +#7718 1721120740899 +SLAM 14.8755 -22.0831 34.9612 -0.562006 0.071483 0.697909 0.438136 +TTool-pose None 33.0682 11.2856 16.2225 0.665997 0.633426 -0.268396 0.288247 +#7719 1721120740930 +SLAM 14.8393 -22.0203 34.9958 -0.563251 0.0710947 0.697717 0.436904 +TTool-pose None 33.0463 11.2328 16.2398 0.666964 0.633256 -0.266987 0.287692 +#7720 1721120740960 +SLAM 14.729 -22.16 34.9617 -0.56353 0.0686709 0.696561 0.438772 +TTool-pose None 33.0332 11.2475 16.2469 0.665041 0.635663 -0.265868 0.287871 +#7721 1721120740990 +SLAM 15.0243 -21.9009 35.0159 -0.560521 0.0771204 0.699703 0.436216 +TTool-pose None 33.1203 11.2726 16.1628 0.668582 0.628748 -0.271712 0.289398 +#7722 1721120741023 +SLAM 14.8839 -22.0204 34.9979 -0.562042 0.0730771 0.698294 0.437212 +TTool-pose None 33.0858 11.2487 16.2039 0.667072 0.631975 -0.268853 0.288518 +#7723 1721120741056 +SLAM 14.8498 -22.0573 34.9859 -0.561329 0.0743738 0.698042 0.438311 +TTool-pose None 33.0892 11.2645 16.1724 0.666511 0.631503 -0.26991 0.289862 +#7724 1721120741087 +SLAM 14.8332 -22.0894 34.9798 -0.561699 0.072989 0.697908 0.438282 +TTool-pose None 33.0911 11.2502 16.1895 0.666233 0.632449 -0.269129 0.289161 +#7725 1721120741120 +SLAM 14.8831 -21.978 35.038 -0.562273 0.0737704 0.698422 0.436593 +TTool-pose None 33.1027 11.2333 16.1922 0.667726 0.631267 -0.268826 0.28858 +#7726 1721120741151 +SLAM 14.735 -22.147 34.9647 -0.561855 0.072741 0.69711 0.439392 +TTool-pose None 33.07 11.24 16.1728 0.665398 0.633073 -0.268794 0.29003 +#7727 1721120741183 +SLAM 14.8274 -21.9661 35.0858 -0.563848 0.0716305 0.697803 0.435907 +TTool-pose None 33.0947 11.2126 16.2218 0.667902 0.632521 -0.266535 0.28755 +#7728 1721120741215 +SLAM 14.7273 -22.1226 34.9996 -0.562924 0.0711444 0.697001 0.438458 +TTool-pose None 33.0727 11.2197 16.1989 0.665816 0.633833 -0.267241 0.288841 +#7729 1721120741252 +SLAM 14.8167 -22.1436 34.9679 -0.561515 0.0719955 0.697842 0.438787 +TTool-pose None 33.1075 11.2522 16.184 0.665589 0.633316 -0.269032 0.288838 +#7730 1721120741283 +SLAM 14.8595 -22.0703 34.9997 -0.561441 0.0734198 0.698285 0.437939 +TTool-pose None 33.1181 11.25 16.1737 0.66655 0.632005 -0.269562 0.288999 +#7731 1721120741314 +SLAM 14.7722 -22.1649 34.9928 -0.562071 0.0711474 0.697269 0.439124 +TTool-pose None 33.1078 11.265 16.19 0.665213 0.634055 -0.268149 0.288903 +#7732 1721120741346 +SLAM 14.7212 -22.1539 35.0094 -0.563397 0.0693862 0.696764 0.438508 +TTool-pose None 33.0817 11.2324 16.2201 0.665396 0.635067 -0.266232 0.28803 +#7733 1721120741376 +SLAM 14.7729 -21.9895 35.0831 -0.563927 0.0718503 0.697374 0.436456 +TTool-pose None 33.0841 11.2044 16.2103 0.667579 0.632599 -0.26646 0.2882 +#7734 1721120741406 +SLAM 14.9657 -21.9046 35.0664 -0.563159 0.0720067 0.699269 0.434384 +TTool-pose None 33.1214 11.1948 16.2331 0.668981 0.631612 -0.267537 0.286104 +#7735 1721120741437 +SLAM 14.8225 -22.0042 35.062 -0.562201 0.0744992 0.69784 0.437492 +TTool-pose None 33.1102 11.2509 16.166 0.667259 0.631133 -0.269026 0.289766 +#7736 1721120741472 +SLAM 14.8813 -21.9182 35.0715 -0.562372 0.0752989 0.698531 0.43603 +TTool-pose None 33.1056 11.2185 16.1752 0.668533 0.630008 -0.269162 0.289152 +#7737 1721120741505 +SLAM 14.7618 -22.0434 35.0488 -0.563024 0.0727211 0.697221 0.437719 +TTool-pose None 33.083 11.2324 16.1909 0.666765 0.632473 -0.267608 0.289294 +#7738 1721120741543 +SLAM 14.7407 -22.0729 35.0216 -0.563758 0.0705893 0.697048 0.437398 +TTool-pose None 33.0609 11.1984 16.2272 0.666555 0.633824 -0.266238 0.288082 +#7739 1721120741582 +SLAM 14.7381 -22.0241 35.0711 -0.564047 0.0715285 0.696902 0.437107 +TTool-pose None 33.0684 11.215 16.2178 0.667048 0.633086 -0.266185 0.288613 +#7740 1721120741614 +SLAM 14.6995 -22.0277 35.0927 -0.564804 0.0705352 0.696435 0.437034 +TTool-pose None 33.0604 11.212 16.2315 0.666955 0.633768 -0.265069 0.288358 +#7741 1721120741649 +SLAM 14.6894 -22.0922 35.03 -0.563049 0.0728917 0.696506 0.438795 +TTool-pose None 33.0589 11.2342 16.1847 0.666042 0.632794 -0.267534 0.290328 +#7742 1721120741682 +SLAM 14.6898 -22.0467 35.0706 -0.562932 0.0746123 0.696443 0.438758 +TTool-pose None 33.0683 11.2532 16.1628 0.666491 0.631606 -0.268124 0.291338 +#7743 1721120741717 +SLAM 14.6414 -22.0843 35.0358 -0.562839 0.0746087 0.696115 0.439397 +TTool-pose None 33.044 11.2356 16.158 0.666018 0.631862 -0.268173 0.291821 +#7744 1721120741750 +SLAM 14.777 -21.9876 35.0765 -0.563336 0.0735499 0.697259 0.437118 +TTool-pose None 33.077 11.2326 16.1965 0.667453 0.631685 -0.267523 0.289507 +#7745 1721120741783 +SLAM 14.6003 -22.0448 35.1003 -0.565741 0.0699894 0.695437 0.437499 +TTool-pose None 33.0219 11.1965 16.2395 0.666618 0.634372 -0.263822 0.288953 +#7746 1721120741816 +SLAM 14.499 -22.2785 34.9924 -0.564533 0.068005 0.694364 0.441063 +TTool-pose None 33.0119 11.2458 16.2256 0.663368 0.637087 -0.264355 0.289972 +#7747 1721120741848 +SLAM 14.6187 -21.9928 35.1399 -0.565301 0.0722621 0.695554 0.437512 +TTool-pose None 33.038 11.2242 16.2095 0.66713 0.632818 -0.264924 0.290169 +#7748 1721120741881 +SLAM 14.6776 -21.926 35.1521 -0.565127 0.0734284 0.69619 0.43653 +TTool-pose None 33.0453 11.2116 16.2083 0.668106 0.631622 -0.265512 0.28999 +#7749 1721120741913 +SLAM 14.7075 -21.9699 35.1096 -0.563626 0.074979 0.696536 0.437654 +TTool-pose None 33.0606 11.2415 16.1755 0.667477 0.630948 -0.267527 0.291054 +#7750 1721120741943 +SLAM 14.5998 -22.0548 35.0968 -0.56488 0.0718654 0.695409 0.438351 +TTool-pose None 33.0301 11.2248 16.2097 0.666366 0.633403 -0.265226 0.290372 +#7751 1721120741972 +SLAM 14.5986 -22.0762 35.0849 -0.564436 0.0723504 0.695375 0.438898 +TTool-pose None 33.033 11.2396 16.1991 0.666033 0.633273 -0.265811 0.290884 +#7752 1721120742006 +SLAM 14.6206 -21.9819 35.1382 -0.565876 0.0712447 0.695548 0.436946 +TTool-pose None 33.0257 11.2048 16.2336 0.667357 0.633307 -0.26405 0.289375 +#7753 1721120742037 +SLAM 14.6034 -22.1192 35.0521 -0.564676 0.0702916 0.695404 0.438878 +TTool-pose None 33.0264 11.2298 16.2248 0.665552 0.63467 -0.264994 0.289681 +#7754 1721120742072 +SLAM 14.5423 -22.2022 35.0263 -0.564943 0.0685081 0.694725 0.43989 +TTool-pose None 33.0139 11.2372 16.2367 0.664402 0.636296 -0.264127 0.289546 +#7755 1721120742106 +SLAM 14.6574 -22.0296 35.0921 -0.563881 0.0736583 0.695974 0.438443 +TTool-pose None 33.0476 11.2492 16.1842 0.666613 0.632175 -0.266825 0.291017 +#7756 1721120742142 +SLAM 14.605 -22.1605 35.0051 -0.562267 0.0745268 0.695603 0.440951 +TTool-pose None 33.038 11.2748 16.1463 0.664796 0.632513 -0.268664 0.292744 +#7757 1721120742177 +SLAM 14.5029 -22.1404 35.0537 -0.564958 0.0709811 0.69453 0.439787 +TTool-pose None 32.9969 11.2211 16.2047 0.665118 0.634584 -0.264779 0.291061 +#7758 1721120742209 +SLAM 14.5194 -22.0726 35.1142 -0.566211 0.0698493 0.694531 0.438352 +TTool-pose None 33.0023 11.2102 16.2346 0.666037 0.634834 -0.263178 0.289861 +#7759 1721120742248 +SLAM 14.5033 -22.245 34.9993 -0.564633 0.0687732 0.694414 0.440737 +TTool-pose None 33.0019 11.2368 16.2261 0.663817 0.636442 -0.264476 0.290249 +#7760 1721120742278 +SLAM 14.5218 -22.1649 35.0577 -0.564394 0.0713836 0.694558 0.4404 +TTool-pose None 33.0183 11.2589 16.1937 0.664699 0.63453 -0.265473 0.291505 +#7761 1721120742309 +SLAM 14.5637 -22.1528 35.0373 -0.564482 0.0706255 0.695026 0.439672 +TTool-pose None 33.0155 11.236 16.2147 0.66504 0.634754 -0.265235 0.290453 +#7762 1721120742338 +SLAM 14.5247 -22.0616 35.125 -0.567051 0.0682594 0.694469 0.437615 +TTool-pose None 32.9958 11.1948 16.2685 0.666274 0.635653 -0.261862 0.288712 +#7763 1721120742369 +SLAM 14.6313 -22.0308 35.0792 -0.5636 0.0748988 0.695807 0.43886 +TTool-pose None 33.0325 11.2418 16.1702 0.666589 0.631488 -0.267433 0.292004 +#7764 1721120742406 +SLAM 14.6548 -21.9636 35.1277 -0.564524 0.0743529 0.695909 0.437602 +TTool-pose None 33.0359 11.233 16.1926 0.667487 0.631398 -0.26635 0.291135 +#7765 1721120742437 +SLAM 14.4162 -22.1501 35.0868 -0.566749 0.068665 0.693472 0.439519 +TTool-pose None 32.9665 11.2016 16.247 0.664969 0.636131 -0.262151 0.290403 +#7766 1721120742467 +SLAM 14.52 -22.0474 35.1291 -0.566969 0.0691326 0.694414 0.437671 +TTool-pose None 32.9902 11.195 16.2635 0.66645 0.635082 -0.262184 0.289273 +#7767 1721120742497 +SLAM 14.4701 -22.2326 35.0317 -0.56404 0.0716238 0.693927 0.441808 +TTool-pose None 33.0053 11.2819 16.1876 0.663696 0.634915 -0.265814 0.292641 +#7768 1721120742533 +SLAM 14.5852 -22.0808 35.0749 -0.563962 0.0739746 0.695135 0.439615 +TTool-pose None 33.02 11.2576 16.187 0.665865 0.632438 -0.266715 0.292259 +#7769 1721120742567 +SLAM 14.4587 -22.1391 35.0775 -0.5653 0.0718776 0.693844 0.440284 +TTool-pose None 32.9818 11.2376 16.2105 0.665041 0.634195 -0.264586 0.292262 +#7770 1721120742600 +SLAM 14.4558 -22.1348 35.0839 -0.566811 0.0685977 0.693727 0.439047 +TTool-pose None 32.9669 11.1991 16.2693 0.6653 0.63599 -0.262102 0.289998 +#7771 1721120742636 +SLAM 14.5053 -22.0998 35.1043 -0.56628 0.0699454 0.694129 0.438885 +TTool-pose None 32.9885 11.2247 16.2542 0.66569 0.634987 -0.263081 0.290413 +#7772 1721120742666 +SLAM 14.4519 -22.1808 35.062 -0.565244 0.0710512 0.693679 0.440749 +TTool-pose None 32.9828 11.2493 16.2195 0.664486 0.634938 -0.264389 0.292089 +#7773 1721120742704 +SLAM 14.5291 -22.0621 35.1081 -0.565726 0.0718813 0.694445 0.438786 +TTool-pose None 32.9918 11.2258 16.2331 0.66618 0.633611 -0.264233 0.29125 +#7774 1721120742734 +SLAM 14.3434 -22.2833 35.0543 -0.566436 0.0676834 0.692345 0.441845 +TTool-pose None 32.9585 11.2601 16.2544 0.662994 0.637712 -0.262036 0.291554 +#7775 1721120742766 +SLAM 14.4647 -22.1321 35.0957 -0.565529 0.0716593 0.693693 0.440264 +TTool-pose None 32.9842 11.2577 16.2199 0.665032 0.634346 -0.26427 0.29224 +#7776 1721120742796 +SLAM 14.4433 -22.0299 35.1876 -0.567568 0.0705128 0.693328 0.438396 +TTool-pose None 32.9758 11.2305 16.2552 0.666371 0.63447 -0.261809 0.29113 +#7777 1721120742827 +SLAM 14.3563 -22.2578 35.0698 -0.566571 0.0680093 0.69243 0.441489 +TTool-pose None 32.9609 11.259 16.2581 0.663355 0.637356 -0.262003 0.291542 +#7778 1721120742858 +SLAM 14.4541 -22.1035 35.1114 -0.565958 0.0719127 0.693583 0.439844 +TTool-pose None 32.9744 11.2425 16.2282 0.665461 0.634027 -0.263886 0.292302 +#7779 1721120742889 +SLAM 14.3533 -22.28 35.0427 -0.566302 0.0679708 0.692449 0.44181 +TTool-pose None 32.9528 11.2557 16.257 0.663075 0.637498 -0.262269 0.29163 +#7780 1721120742924 +SLAM 14.4526 -22.1091 35.1181 -0.566436 0.0706836 0.693457 0.439626 +TTool-pose None 32.9728 11.2444 16.2465 0.66537 0.634794 -0.263035 0.291608 +#7781 1721120742955 +SLAM 14.4891 -21.9977 35.1852 -0.56615 0.0738929 0.693775 0.438964 +TTool-pose None 32.9899 11.2662 16.2101 0.666628 0.632341 -0.264267 0.292951 +#7782 1721120742986 +SLAM 14.4064 -22.1023 35.1322 -0.567316 0.0698697 0.692965 0.439397 +TTool-pose None 32.9516 11.2266 16.2637 0.66545 0.635295 -0.261837 0.291412 +#7783 1721120743017 +SLAM 14.4133 -22.2064 35.0538 -0.56492 0.0721437 0.693155 0.441811 +TTool-pose None 32.9677 11.2754 16.2068 0.663955 0.634608 -0.264952 0.2935 +#7784 1721120743047 +SLAM 14.3706 -22.182 35.0966 -0.566233 0.0707107 0.692631 0.441183 +TTool-pose None 32.9564 11.2625 16.2297 0.664227 0.635391 -0.263136 0.292822 +#7785 1721120743078 +SLAM 14.536 -22.0355 35.1184 -0.565098 0.074102 0.694391 0.43931 +TTool-pose None 32.9897 11.2592 16.206 0.666282 0.632286 -0.265486 0.292755 +#7786 1721120743109 +SLAM 14.4704 -22.15 35.0747 -0.564671 0.0730972 0.693711 0.441099 +TTool-pose None 32.9836 11.2825 16.1983 0.664676 0.633665 -0.265551 0.293366 +#7787 1721120743139 +SLAM 14.3156 -22.2536 35.0964 -0.567381 0.0671416 0.691869 0.441463 +TTool-pose None 32.9488 11.265 16.2707 0.663262 0.63797 -0.26085 0.291442 +#7788 1721120743169 +SLAM 14.5049 -22.0797 35.105 -0.566202 0.0709152 0.694055 0.438947 +TTool-pose None 32.9759 11.2297 16.2519 0.665884 0.634353 -0.263422 0.291045 +#7789 1721120743200 +SLAM 14.3265 -22.2839 35.0489 -0.566646 0.0675751 0.692124 0.44194 +TTool-pose None 32.9424 11.2584 16.2609 0.662927 0.637833 -0.26176 0.291689 +#7790 1721120743230 +SLAM 14.4438 -22.1787 35.0585 -0.56544 0.0709082 0.693464 0.44086 +TTool-pose None 32.967 11.2578 16.2283 0.664397 0.635089 -0.264119 0.292206 +#7791 1721120743261 +SLAM 14.4255 -22.1137 35.1237 -0.566776 0.0702829 0.693187 0.439678 +TTool-pose None 32.9648 11.2397 16.2499 0.665278 0.635103 -0.262538 0.291595 +#7792 1721120743290 +SLAM 14.417 -22.1545 35.0971 -0.56568 0.0717613 0.693156 0.440899 +TTool-pose None 32.9712 11.2663 16.2162 0.664623 0.634539 -0.264069 0.292932 +#7793 1721120743322 +SLAM 14.491 -21.9807 35.1919 -0.565994 0.0746122 0.693861 0.438909 +TTool-pose None 32.9924 11.265 16.1977 0.666829 0.631824 -0.264639 0.293276 +#7794 1721120743355 +SLAM 14.482 -22.0489 35.1401 -0.566101 0.0724672 0.693835 0.439171 +TTool-pose None 32.981 11.2456 16.2238 0.666108 0.633388 -0.263929 0.292175 +#7795 1721120743398 +SLAM 14.3877 -22.1198 35.1201 -0.567671 0.0686624 0.692855 0.439303 +TTool-pose None 32.9427 11.2102 16.2738 0.665255 0.636091 -0.261119 0.290766 +#7796 1721120743429 +SLAM 14.5323 -22.0736 35.0919 -0.5648 0.0735668 0.694426 0.439727 +TTool-pose None 32.9908 11.2595 16.2031 0.665802 0.632802 -0.265648 0.292586 +#7797 1721120743462 +SLAM 14.5319 -22.002 35.1514 -0.565748 0.0735482 0.69435 0.438633 +TTool-pose None 32.9931 11.2495 16.2136 0.66672 0.632422 -0.264662 0.29221 +#7798 1721120743493 +SLAM 14.4738 -22.0708 35.1209 -0.565298 0.0736768 0.693824 0.44002 +TTool-pose None 32.9824 11.2634 16.1947 0.665691 0.63287 -0.265086 0.293199 +#7799 1721120743526 +SLAM 14.4367 -22.1431 35.1069 -0.565554 0.0717938 0.69334 0.440765 +TTool-pose None 32.9828 11.2771 16.2094 0.66471 0.634457 -0.264232 0.292765 +#7800 1721120743557 +SLAM 14.5018 -22.1311 35.0668 -0.565043 0.0718645 0.694145 0.440141 +TTool-pose None 32.984 11.2521 16.2178 0.665103 0.634133 -0.264887 0.29198 +#7801 1721120743590 +SLAM 14.4143 -22.2181 35.0409 -0.566093 0.068591 0.69323 0.440756 +TTool-pose None 32.9566 11.2352 16.2519 0.663966 0.636646 -0.262767 0.291013 +#7802 1721120743622 +SLAM 14.3629 -22.1103 35.1474 -0.56787 0.0687464 0.692608 0.439422 +TTool-pose None 32.948 11.222 16.2597 0.66522 0.636091 -0.260904 0.291038 +#7803 1721120743659 +SLAM 14.4461 -22.0911 35.1117 -0.566341 0.0710013 0.693585 0.439497 +TTool-pose None 32.9651 11.2321 16.2299 0.665531 0.634523 -0.263239 0.291648 +#7804 1721120743690 +SLAM 14.4996 -22.1341 35.0706 -0.565286 0.0710993 0.694117 0.439998 +TTool-pose None 32.9853 11.2508 16.2235 0.665045 0.634606 -0.26442 0.291509 +#7805 1721120743722 +SLAM 14.3224 -22.3679 34.9879 -0.565893 0.0664115 0.692247 0.442886 +TTool-pose None 32.9469 11.2617 16.2509 0.661833 0.63896 -0.262217 0.291296 +#7806 1721120743763 +SLAM 14.4297 -22.136 35.0617 -0.56558 0.0715363 0.693649 0.440287 +TTool-pose None 32.9558 11.2218 16.2112 0.664991 0.634441 -0.264177 0.29221 +#7807 1721120743805 +SLAM 14.3649 -22.2349 35.0521 -0.565841 0.0693946 0.692808 0.441617 +TTool-pose None 32.9578 11.2545 16.2193 0.663518 0.636436 -0.263192 0.292109 +#7808 1721120743846 +SLAM 14.4163 -22.0415 35.1554 -0.567707 0.0696441 0.693322 0.438365 +TTool-pose None 32.9536 11.2017 16.2504 0.666189 0.635052 -0.261423 0.290626 +#7809 1721120743882 +SLAM 14.601 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-22.0666 35.0652 -0.565122 0.0713849 0.694973 0.438811 +TTool-pose None 32.987 11.2212 16.2089 0.665948 0.633926 -0.264785 0.290593 +#7816 1721120744124 +SLAM 14.4702 -22.2238 34.9913 -0.564298 0.0702031 0.694213 0.441256 +TTool-pose None 32.9779 11.2452 16.1913 0.663766 0.635667 -0.265192 0.291411 +#7817 1721120744162 +SLAM 14.6369 -22.0355 35.0515 -0.56297 0.075337 0.695956 0.439357 +TTool-pose None 33.0236 11.2585 16.1434 0.666251 0.631359 -0.268219 0.292335 +#7818 1721120744201 +SLAM 14.5932 -22.0443 35.0466 -0.564628 0.0720062 0.695569 0.438399 +TTool-pose None 32.9918 11.2051 16.1976 0.666331 0.633315 -0.265545 0.290354 +#7819 1721120744235 +SLAM 14.688 -22.0467 35.0217 -0.562623 0.0745234 0.696537 0.439019 +TTool-pose None 33.0336 11.2509 16.1524 0.666235 0.631756 -0.268427 0.291319 +#7820 1721120744273 +SLAM 14.6015 -22.0587 35.0404 -0.564452 0.0716077 0.695688 0.438503 +TTool-pose None 33.0008 11.2103 16.1931 0.666128 0.633617 -0.26563 0.290081 +#7821 1721120744306 +SLAM 14.6736 -21.9765 35.0778 -0.564898 0.0715411 0.696353 0.43688 +TTool-pose None 33.0172 11.1963 16.2117 0.667338 0.633029 -0.265243 0.288932 +#7822 1721120744342 +SLAM 14.6578 -22.0444 35.0164 -0.563404 0.073245 0.696374 0.438491 +TTool-pose None 33.0139 11.212 16.1729 0.666403 0.63245 -0.267252 0.290508 +#7823 1721120744377 +SLAM 14.7176 -22.0296 35.0224 -0.562893 0.0737543 0.696872 0.438272 +TTool-pose None 33.0385 11.2324 16.1693 0.666614 0.63199 -0.267983 0.290351 +#7824 1721120744413 +SLAM 14.5683 -22.0112 35.0891 -0.566536 0.0689441 0.695289 0.436871 +TTool-pose None 32.982 11.1625 16.2469 0.666911 0.634865 -0.262694 0.28822 +#7825 1721120744451 +SLAM 14.5917 -22.0859 35.0357 -0.564781 0.0703085 0.695538 0.438527 +TTool-pose None 33.001 11.2074 16.2098 0.665824 0.634523 -0.26491 0.289458 +#7826 1721120744489 +SLAM 14.5932 -22.0709 35.0398 -0.566094 0.0676196 0.695536 0.437259 +TTool-pose None 32.9858 11.1646 16.2597 0.666225 0.635893 -0.262807 0.287433 +#7827 1721120744522 +SLAM 14.7209 -21.9142 35.1057 -0.565273 0.0715869 0.696793 0.435686 +TTool-pose None 33.0262 11.1831 16.2259 0.668258 0.632535 -0.264929 0.288176 +#7828 1721120744558 +SLAM 14.5293 -22.2051 34.9987 -0.564359 0.0692852 0.694816 0.440373 +TTool-pose None 33.0014 11.2378 16.2051 0.664172 0.635936 -0.264956 0.290109 +#7829 1721120744591 +SLAM 14.562 -22.1746 34.9958 -0.564427 0.0691931 0.695199 0.439697 +TTool-pose None 33.0002 11.2229 16.2122 0.664644 0.635729 -0.264913 0.289518 +#7830 1721120744626 +SLAM 14.7024 -21.9222 35.1001 -0.565612 0.0708963 0.696637 0.435607 +TTool-pose None 33.0155 11.17 16.2359 0.668187 0.632987 -0.264367 0.287865 +#7831 1721120744659 +SLAM 14.6591 -22.0731 35.0167 -0.563583 0.0721372 0.696263 0.438621 +TTool-pose None 33.0219 11.222 16.1877 0.666052 0.633262 -0.266745 0.290009 +#7832 1721120744692 +SLAM 14.4998 -22.2051 35.0153 -0.564934 0.068505 0.694481 0.440288 +TTool-pose None 32.9952 11.235 16.2128 0.664114 0.636457 -0.264102 0.289874 +#7833 1721120744727 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1721120744934 +SLAM 14.7395 -21.9569 35.0579 -0.563529 0.0736622 0.697137 0.437046 +TTool-pose None 33.0384 11.2138 16.1756 0.667562 0.63159 -0.267341 0.289632 +#7840 1721120744967 +SLAM 14.6323 -21.9954 35.075 -0.5659 0.0692366 0.69596 0.436582 +TTool-pose None 32.9978 11.1729 16.2384 0.667102 0.634518 -0.263518 0.287788 +#7841 1721120745000 +SLAM 14.5664 -22.145 35.0224 -0.564854 0.0687595 0.695204 0.439207 +TTool-pose None 33.0039 11.225 16.2147 0.664945 0.635847 -0.264354 0.289078 +#7842 1721120745034 +SLAM 14.7132 -21.9567 35.0582 -0.563674 0.0738225 0.696897 0.437213 +TTool-pose None 33.0263 11.2103 16.1723 0.667505 0.631557 -0.267205 0.289963 +#7843 1721120745067 +SLAM 14.6085 -22.1296 35.0106 -0.564714 0.068583 0.695628 0.438744 +TTool-pose None 33.0065 11.2197 16.2229 0.665211 0.635772 -0.264506 0.288491 +#7844 1721120745100 +SLAM 14.6873 -21.9849 35.0515 -0.563456 0.0740965 0.69662 0.437891 +TTool-pose None 33.024 11.2229 16.1622 0.667058 0.631633 -0.267468 0.290582 +#7845 1721120745134 +SLAM 14.6354 -22.0785 35.0326 -0.564079 0.0711356 0.695932 0.438672 +TTool-pose None 33.0183 11.2323 16.1935 0.665831 0.633985 -0.265913 0.289699 +#7846 1721120745166 +SLAM 14.7768 -21.9532 35.0514 -0.563137 0.0740894 0.697409 0.437045 +TTool-pose None 33.0468 11.2282 16.1767 0.667614 0.63128 -0.267897 0.289676 +#7847 1721120745201 +SLAM 14.6087 -22.1971 34.9531 -0.562999 0.0707705 0.695701 0.440481 +TTool-pose None 33.0106 11.2498 16.1845 0.664279 0.634906 -0.266884 0.290354 +#7848 1721120745234 +SLAM 14.5465 -22.2176 34.9698 -0.563953 0.069309 0.694993 0.440612 +TTool-pose None 32.9948 11.2439 16.2023 0.663947 0.635995 -0.265402 0.290086 +#7849 1721120745267 +SLAM 14.5912 -22.0448 35.0577 -0.564744 0.0717786 0.695485 0.438422 +TTool-pose None 32.9964 11.2143 16.1985 0.666273 0.633484 -0.265352 0.290295 +#7850 1721120745301 +SLAM 14.6568 -22.0055 35.0769 -0.565569 0.0697895 0.695969 0.436908 +TTool-pose None 33.0074 11.2 16.2445 0.666964 0.634259 -0.264014 0.288223 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0.289567 +#7869 1721120745956 +SLAM 14.6814 -22.0464 35.0311 -0.564711 0.0706964 0.695874 0.438022 +TTool-pose None 32.9914 11.2433 16.251 0.666276 0.634053 -0.265135 0.28924 +#7870 1721120745989 +SLAM 14.599 -22.197 34.9576 -0.563581 0.0706152 0.695076 0.440749 +TTool-pose None 32.9796 11.2784 16.2238 0.664131 0.635148 -0.26616 0.290824 +#7871 1721120746020 +SLAM 14.5647 -22.2481 34.943 -0.563569 0.0699534 0.694702 0.441458 +TTool-pose None 32.9766 11.285 16.226 0.663449 0.63588 -0.265935 0.29099 +#7872 1721120746051 +SLAM 14.5085 -22.231 34.9656 -0.564543 0.0693716 0.694136 0.441196 +TTool-pose None 32.953 11.2655 16.2385 0.663629 0.636218 -0.264698 0.290969 +#7873 1721120746085 +SLAM 14.6323 -22.1533 34.985 -0.56364 0.0712691 0.695313 0.440195 +TTool-pose None 32.9903 11.2855 16.2253 0.664708 0.634486 -0.266315 0.290812 +#7874 1721120746118 +SLAM 14.6521 -22.0937 35.0026 -0.563127 0.0737959 0.695628 0.439936 +TTool-pose None 32.9941 11.2835 16.1962 0.665466 0.632645 -0.267587 0.291921 +#7875 1721120746152 +SLAM 14.5881 -22.0984 35.0327 -0.565274 0.0701578 0.694826 0.439044 +TTool-pose None 32.9665 11.249 16.2576 0.665486 0.634858 -0.264266 0.290089 +#7876 1721120746187 +SLAM 14.6473 -22.0886 35.0142 -0.564279 0.0715645 0.695452 0.439107 +TTool-pose None 32.9829 11.2619 16.241 0.665658 0.633881 -0.265763 0.290461 +#7877 1721120746220 +SLAM 14.6986 -21.9869 35.0592 -0.563524 0.0752146 0.696004 0.43859 +TTool-pose None 33.0016 11.2796 16.197 0.666852 0.631161 -0.267625 0.291936 +#7878 1721120746250 +SLAM 14.6218 -22.0416 35.05 -0.565187 0.0713185 0.695194 0.438387 +TTool-pose None 32.9698 11.2436 16.2509 0.666244 0.633803 -0.26473 0.290231 +#7879 1721120746282 +SLAM 14.7003 -21.9816 35.0658 -0.563891 0.0744813 0.695999 0.438252 +TTool-pose None 33.0009 11.2724 16.2096 0.666962 0.631541 -0.267046 0.291392 +#7880 1721120746316 +SLAM 14.5746 -22.208 34.9772 -0.564262 0.0696601 0.694628 0.440735 +TTool-pose None 32.9752 11.2832 16.2472 0.663995 0.635823 -0.265134 0.290599 +#7881 1721120746351 +SLAM 14.6212 -22.1377 34.9926 -0.564063 0.071145 0.695201 0.439849 +TTool-pose None 32.9802 11.2693 16.2373 0.664986 0.634453 -0.265833 0.290689 +#7882 1721120746383 +SLAM 14.6025 -22.1114 35.0141 -0.56484 0.0705353 0.695026 0.439226 +TTool-pose None 32.9705 11.2477 16.2528 0.66539 0.634654 -0.264843 0.290229 +#7883 1721120746413 +SLAM 14.7004 -21.9371 35.0902 -0.564315 0.0748081 0.696049 0.437571 +TTool-pose None 32.9979 11.255 16.2128 0.667595 0.631066 -0.266708 0.29128 +#7884 1721120746443 +SLAM 14.6029 -22.2102 34.9641 -0.563374 0.0708646 0.695025 0.441053 +TTool-pose None 32.9911 11.2951 16.2205 0.663947 0.635091 -0.266434 0.29112 +#7885 1721120746474 +SLAM 14.7105 -21.9445 35.0807 -0.56384 0.0753203 0.696264 0.437753 +TTool-pose None 33.008 11.2556 16.1971 0.667525 0.630768 -0.267366 0.291484 +#7886 1721120746505 +SLAM 14.6485 -22.0964 35.0059 -0.562717 0.0746872 0.695696 0.440202 +TTool-pose None 33.0053 11.2864 16.1759 0.665441 0.632127 -0.268263 0.29248 +#7887 1721120746536 +SLAM 14.5195 -22.2852 34.9356 -0.56379 0.0690914 0.694368 0.441837 +TTool-pose None 32.973 11.2737 16.2242 0.662985 0.636626 -0.26542 0.290886 +#7888 1721120746568 +SLAM 14.6707 -22.0649 34.9964 -0.563245 0.0734459 0.696164 0.438995 +TTool-pose None 32.9985 11.2381 16.1939 0.66607 0.632509 -0.267442 0.290969 +#7889 1721120746605 +SLAM 14.6043 -22.0919 35.0022 -0.564493 0.0709299 0.695547 0.438783 +TTool-pose None 32.9783 11.2089 16.2217 0.665758 0.634191 -0.265379 0.289905 +#7890 1721120746636 +SLAM 14.4074 -22.2326 35.0003 -0.566177 0.0668013 0.693496 0.440505 +TTool-pose None 32.942 11.2064 16.2451 0.663693 0.637756 -0.262213 0.289698 +#7891 1721120746666 +SLAM 14.6147 -22.1798 34.96 -0.562964 0.071164 0.695774 0.440348 +TTool-pose None 33.0112 11.2508 16.1791 0.664471 0.634584 -0.26704 0.290474 +#7892 1721120746697 +SLAM 14.5728 -22.0515 35.0306 -0.564313 0.0723821 0.695612 0.438675 +TTool-pose None 32.987 11.1942 16.1738 0.666183 0.633155 -0.265978 0.290643 +#7893 1721120746728 +SLAM 14.6675 -22.0188 35.0183 -0.562982 0.0741749 0.696677 0.438396 +TTool-pose None 33.0203 11.2096 16.1437 0.666646 0.631759 -0.267982 0.29078 +#7894 1721120746760 +SLAM 14.6069 -22.0277 35.0328 -0.563106 0.0747239 0.696184 0.438925 +TTool-pose None 33.0139 11.2079 16.1228 0.666425 0.631607 -0.267941 0.291654 +#7895 1721120746789 +SLAM 14.4177 -22.2451 34.9809 -0.564872 0.0680399 0.694163 0.440941 +TTool-pose None 32.9743 11.1998 16.1796 0.663514 0.637031 -0.263991 0.290091 +#7896 1721120746819 +SLAM 14.6879 -21.9201 35.0737 -0.563081 0.0758874 0.697138 0.437242 +TTool-pose None 33.0384 11.1904 16.1119 0.667922 0.630137 -0.268416 0.290972 +#7897 1721120746850 +SLAM 14.5459 -21.9939 35.0624 -0.565069 0.0718 0.695808 0.437485 +TTool-pose None 32.9881 11.142 16.157 0.666997 0.633108 -0.265067 0.28971 +#7898 1721120746886 +SLAM 14.4886 -22.1457 34.9916 -0.564431 0.0697699 0.695255 0.439511 +TTool-pose None 32.986 11.1658 16.1525 0.664927 0.635265 -0.265078 0.289736 +#7899 1721120746917 +SLAM 14.5781 -22.0056 35.0516 -0.563592 0.0737709 0.696278 0.438313 +TTool-pose None 33.0192 11.1761 16.1039 0.666692 0.632032 -0.267192 0.290809 +#7900 1721120746948 +SLAM 14.4645 -21.9591 35.1189 -0.566611 0.0702551 0.695174 0.436748 +TTool-pose None 32.9767 11.1104 16.1581 0.66735 0.633933 -0.262969 0.289005 +#7901 1721120746978 +SLAM 14.3435 -22.166 35.0286 -0.566628 0.0663575 0.693979 0.439229 +TTool-pose None 32.9526 11.1196 16.1729 0.66456 0.637565 -0.261692 0.288602 +#7902 1721120747009 +SLAM 14.4638 -22.1401 34.9777 -0.564461 0.0693384 0.695447 0.439237 +TTool-pose None 32.9809 11.1291 16.13 0.665017 0.635448 -0.264952 0.289244 +#7903 1721120747042 +SLAM 14.5435 -21.998 35.0242 -0.563849 0.0730754 0.696447 0.437831 +TTool-pose None 32.9985 11.1176 16.0915 0.666898 0.632322 -0.266759 0.290105 +#7904 1721120747073 +SLAM 14.6041 -21.9213 35.0586 -0.563275 0.0752554 0.697107 0.43715 +TTool-pose None 33.0241 11.1283 16.0628 0.667856 0.630539 -0.268038 0.2906 +#7905 1721120747108 +SLAM 14.5352 -21.9666 35.0353 -0.563756 0.0739383 0.696594 0.437572 +TTool-pose None 32.9999 11.1022 16.0686 0.66729 0.631627 -0.267113 0.290389 +#7906 1721120747136 +SLAM 14.5697 -21.9272 35.0622 -0.564252 0.0730513 0.696915 0.43657 +TTool-pose None 33.013 11.0947 16.0823 0.667853 0.631849 -0.2664 0.289263 +#7907 1721120747167 +SLAM 14.5739 -21.9149 35.0645 -0.564775 0.0718502 0.697029 0.435909 +TTool-pose None 33.0095 11.0731 16.0976 0.668094 0.632421 -0.265544 0.28824 +#7908 1721120747197 +SLAM 14.6483 -21.8237 35.0959 -0.564438 0.0736146 0.697842 0.43475 +TTool-pose None 33.0303 11.0695 16.0821 0.669324 0.630739 -0.266487 0.288203 +#7909 1721120747227 +SLAM 14.5039 -22.0397 35.0031 -0.563896 0.0713349 0.696533 0.43792 +TTool-pose None 33.0062 11.085 16.0698 0.666394 0.633537 -0.266236 0.289084 +#7910 1721120747256 +SLAM 14.4426 -22.0608 35.0262 -0.565208 0.0689266 0.695825 0.437741 +TTool-pose None 32.9933 11.0732 16.0987 0.666092 0.635161 -0.264122 0.288157 +#7911 1721120747287 +SLAM 14.3913 -22.1452 34.9846 -0.564789 0.0683194 0.695416 0.439024 +TTool-pose None 32.9869 11.0781 16.0871 0.664953 0.636067 -0.264326 0.288602 +#7912 1721120747322 +SLAM 14.3509 -22.131 34.9811 -0.565077 0.0686996 0.695208 0.438925 +TTool-pose None 32.9653 11.0492 16.0809 0.665165 0.635785 -0.26411 0.288932 +#7913 1721120747352 +SLAM 14.4314 -22.0965 34.9973 -0.565208 0.0677138 0.6959 0.43781 +TTool-pose None 32.9912 11.0524 16.1015 0.665727 0.636007 -0.263791 0.287435 +#7914 1721120747383 +SLAM 14.3096 -22.0613 35.0528 -0.566519 0.0680545 0.694803 0.437805 +TTool-pose None 32.96 11.0286 16.0894 0.666009 0.635841 -0.262395 0.288426 +#7915 1721120747414 +SLAM 14.3844 -22.0751 35.0295 -0.565983 0.0672659 0.695502 0.43751 +TTool-pose None 32.9832 11.0384 16.0997 0.665937 0.636227 -0.262817 0.287352 +#7916 1721120747444 +SLAM 14.4146 -21.955 35.0795 -0.565241 0.0717718 0.695992 0.436974 +TTool-pose None 32.9926 11.0422 16.0443 0.667381 0.632929 -0.264907 0.289363 +#7917 1721120747476 +SLAM 14.4345 -22.0234 35.0203 -0.563567 0.0731166 0.696331 0.43837 +TTool-pose None 33.0071 11.0655 16.0091 0.66648 0.632497 -0.267043 0.29042 +#7918 1721120747506 +SLAM 14.3586 -22.0839 35.017 -0.564663 0.0703215 0.69552 0.438706 +TTool-pose None 32.9893 11.0533 16.0376 0.665682 0.63458 -0.265032 0.289548 +#7919 1721120747536 +SLAM 14.3301 -21.9584 35.1063 -0.566674 0.0698811 0.695223 0.436649 +TTool-pose None 32.9706 11.0107 16.0628 0.667333 0.634149 -0.262806 0.288718 +#7920 1721120747567 +SLAM 14.4321 -21.8991 35.1068 -0.565713 0.0716706 0.696317 0.435861 +TTool-pose None 32.9984 11.0148 16.0467 0.668219 0.632571 -0.264437 0.288638 +#7921 1721120747598 +SLAM 14.4261 -21.9407 35.0679 -0.565147 0.0717759 0.696364 0.436502 +TTool-pose None 32.9938 11.0133 16.0379 0.667706 0.632731 -0.265055 0.288912 +#7922 1721120747628 +SLAM 14.4795 -21.9628 35.0344 -0.564057 0.07241 0.696954 0.436866 +TTool-pose None 33.0126 11.0291 16.0221 0.667449 0.632393 -0.266427 0.288984 +#7923 1721120747660 +SLAM 14.306 -21.9567 35.1045 -0.566163 0.0712848 0.695234 0.437067 +TTool-pose None 32.9736 11.0045 16.028 0.667323 0.633343 -0.263724 0.289673 +#7924 1721120747691 +SLAM 14.4167 -21.9775 35.0541 -0.564409 0.0723639 0.696359 0.437368 +TTool-pose None 33.0068 11.0326 16.0099 0.66713 0.632645 -0.265975 0.289585 +#7925 1721120747726 +SLAM 14.4692 -21.9206 35.062 -0.563782 0.0743338 0.696982 0.436853 +TTool-pose None 33.0186 11.0304 15.9896 0.66791 0.63107 -0.267247 0.290053 +#7926 1721120747767 +SLAM 14.4 -21.9364 35.073 -0.565471 0.0712204 0.696296 0.436283 +TTool-pose None 32.9904 10.9933 16.0312 0.667767 0.633034 -0.264558 0.28856 +#7927 1721120747800 +SLAM 14.3315 -22.0655 35.0206 -0.564782 0.0702757 0.695652 0.438349 +TTool-pose None 32.9888 11.0198 16.0132 0.665943 0.634473 -0.264915 0.289287 +#7928 1721120747831 +SLAM 14.2805 -22.1188 35.0127 -0.565971 0.0669483 0.695071 0.438258 +TTool-pose None 32.9737 11.0001 16.0535 0.665317 0.636743 -0.262681 0.287772 +#7929 1721120747861 +SLAM 14.4137 -21.8748 35.1032 -0.565843 0.0715251 0.696557 0.435334 +TTool-pose None 32.9936 10.9752 16.0258 0.668577 0.632463 -0.264295 0.288177 +#7930 1721120747892 +SLAM 14.2573 -22.1162 35.0235 -0.566434 0.0662308 0.694893 0.438052 +TTool-pose None 32.97 10.9888 16.0571 0.665344 0.637167 -0.261979 0.287411 +#7931 1721120747927 +SLAM 14.4864 -21.8672 35.0863 -0.565051 0.0718139 0.697372 0.435008 +TTool-pose None 33.0192 10.98 16.0164 0.668768 0.632095 -0.265295 0.28762 +#7932 1721120747964 +SLAM 14.2667 -22.0542 35.0418 -0.566616 0.0670606 0.695184 0.437227 +TTool-pose None 32.9654 10.9643 16.0459 0.666178 0.636283 -0.262066 0.287356 +#7933 1721120747999 +SLAM 14.3628 -21.8919 35.1057 -0.567187 0.0682711 0.696222 0.434642 +TTool-pose None 32.9784 10.9333 16.0527 0.668423 0.634449 -0.261957 0.286293 +#7934 1721120748033 +SLAM 14.3958 -21.8401 35.1111 -0.565085 0.0738577 0.696781 0.435569 +TTool-pose None 33.0001 10.9672 15.9668 0.668896 0.63094 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0.635453 -0.264231 0.288794 +#7953 1721120748666 +SLAM 14.2828 -22.0492 34.976 -0.56486 0.0694706 0.695916 0.437958 +TTool-pose None 32.9552 10.9567 15.9746 0.666026 0.634863 -0.264644 0.288485 +#7954 1721120748701 +SLAM 14.2663 -22.0527 34.9836 -0.565232 0.0688247 0.695733 0.437871 +TTool-pose None 32.9522 10.9524 15.9818 0.665976 0.635283 -0.264057 0.288216 +#7955 1721120748734 +SLAM 14.3882 -21.8367 35.0639 -0.56428 0.0749025 0.697074 0.435965 +TTool-pose None 32.9789 10.9533 15.9279 0.668762 0.630351 -0.266906 0.289966 +#7956 1721120748770 +SLAM 14.3337 -21.9971 34.9914 -0.564168 0.0716503 0.696457 0.43764 +TTool-pose None 32.9717 10.966 15.9525 0.666716 0.633225 -0.266036 0.289212 +#7957 1721120748804 +SLAM 14.3198 -21.9958 34.9996 -0.565049 0.0699334 0.696262 0.437091 +TTool-pose None 32.9617 10.9489 15.9807 0.666795 0.63421 -0.264626 0.288163 +#7958 1721120748840 +SLAM 14.3512 -21.9406 35.0131 -0.564644 0.0718387 0.696647 0.436691 +TTool-pose None 32.9659 10.9471 15.9623 0.667513 0.632739 -0.265626 0.288815 +#7959 1721120748875 +SLAM 14.2411 -22.086 34.9618 -0.565136 0.0686699 0.69549 0.438405 +TTool-pose None 32.9409 10.9511 15.9831 0.665539 0.635598 -0.264079 0.28851 +#7960 1721120748912 +SLAM 14.2241 -22.0755 34.983 -0.565383 0.0688064 0.695276 0.438405 +TTool-pose None 32.9416 10.9565 15.9803 0.66561 0.635519 -0.263835 0.288744 +#7961 1721120748942 +SLAM 14.303 -21.8973 35.0619 -0.565872 0.0713256 0.696104 0.436052 +TTool-pose None 32.9503 10.9318 15.9762 0.668017 0.63289 -0.26415 0.288671 +#7962 1721120748974 +SLAM 14.2431 -21.8849 35.0967 -0.567335 0.0695496 0.695439 0.435498 +TTool-pose None 32.9314 10.9104 16.0033 0.668165 0.63394 -0.262062 0.287925 +#7963 1721120749009 +SLAM 14.3381 -21.876 35.0467 -0.565129 0.072767 0.69658 0.436016 +TTool-pose None 32.9546 10.9312 15.9561 0.668305 0.631862 -0.265378 0.289131 +#7964 1721120749040 +SLAM 14.2282 -22.059 34.9859 -0.565909 0.0677959 0.695374 0.437727 +TTool-pose None 32.9359 10.9343 15.9958 0.66591 0.635954 -0.263024 0.287832 +#7965 1721120749074 +SLAM 14.3666 -22.0019 34.9717 -0.5631 0.0730906 0.696869 0.438121 +TTool-pose None 32.9851 10.9842 15.9234 0.666584 0.632389 -0.267585 0.289917 +#7966 1721120749105 +SLAM 14.2376 -22.0823 34.9613 -0.564553 0.0700238 0.695587 0.438789 +TTool-pose None 32.9478 10.9575 15.9548 0.665529 0.634809 -0.265069 0.289361 +#7967 1721120749135 +SLAM 14.3531 -21.9587 34.9882 -0.562589 0.0757878 0.69687 0.438317 +TTool-pose None 32.982 10.9841 15.8868 0.667055 0.630614 -0.268857 0.291524 +#7968 1721120749166 +SLAM 14.3883 -21.8985 35.0315 -0.564296 0.0728274 0.6971 0.436254 +TTool-pose None 32.9835 10.9519 15.9431 0.668028 0.631875 -0.266317 0.288879 +#7969 1721120749199 +SLAM 14.3531 -21.9223 35.0233 -0.564064 0.0734024 0.696815 0.436913 +TTool-pose None 32.978 10.9544 15.9285 0.66767 0.63174 -0.266678 0.289668 +#7970 1721120749230 +SLAM 14.4613 -21.8071 35.0618 -0.564911 0.0725194 0.697846 0.434312 +TTool-pose None 32.9916 10.9213 15.9679 0.669424 0.631328 -0.265697 0.287407 +#7971 1721120749262 +SLAM 14.332 -22.061 34.9324 -0.563768 0.070153 0.696698 0.438013 +TTool-pose None 32.9692 10.9452 15.9524 0.666003 0.634368 -0.266059 0.288326 +#7972 1721120749294 +SLAM 14.3189 -21.8878 35.0647 -0.565789 0.070822 0.696488 0.435627 +TTool-pose None 32.9662 10.9189 15.9632 0.668179 0.633055 -0.264145 0.287939 +#7973 1721120749330 +SLAM 14.2017 -22.0313 35.0166 -0.566572 0.0671355 0.695287 0.43711 +TTool-pose None 32.9387 10.9123 15.9907 0.666275 0.636183 -0.262146 0.287279 +#7974 1721120749363 +SLAM 14.1754 -22.1307 34.9681 -0.56604 0.0659979 0.695001 0.438425 +TTool-pose None 32.9408 10.9294 15.9902 0.664958 0.637454 -0.262332 0.287343 +#7975 1721120749400 +SLAM 14.2139 -22.0728 34.9968 -0.56562 0.0679871 0.695402 0.438028 +TTool-pose None 32.9563 10.9388 15.9702 0.665702 0.635931 -0.263379 0.288038 +#7976 1721120749433 +SLAM 14.1588 -22.0923 35.0027 -0.566526 0.0665177 0.694837 0.437978 +TTool-pose None 32.9389 10.9193 15.9908 0.665485 0.636948 -0.261958 0.287588 +#7977 1721120749466 +SLAM 14.2607 -21.9478 35.0363 -0.565671 0.0706197 0.696007 0.436581 +TTool-pose None 32.9525 10.9112 15.958 0.667427 0.633571 -0.264147 0.288543 +#7978 1721120749502 +SLAM 14.2936 -21.9684 35.008 -0.564465 0.0721143 0.696362 0.437331 +TTool-pose None 32.965 10.9357 15.9321 0.6671 0.632802 -0.265848 0.289426 +#7979 1721120749536 +SLAM 14.3169 -21.8625 35.0741 -0.565828 0.0715559 0.696527 0.435395 +TTool-pose None 32.963 10.9093 15.9582 0.668539 0.632466 -0.264315 0.28824 +#7980 1721120749570 +SLAM 14.1214 -21.8249 35.1799 -0.568416 0.0707832 0.694503 0.435383 +TTool-pose None 32.9216 10.8896 15.9624 0.66872 0.633113 -0.261171 0.289264 +#7981 1721120749610 +SLAM 14.3016 -21.8752 35.067 -0.564835 0.0739618 0.696404 0.436478 +TTool-pose None 32.9664 10.934 15.9204 0.668237 0.631225 -0.265988 0.290118 +#7982 1721120749641 +SLAM 14.1536 -22.0854 35.0111 -0.566311 0.0674807 0.694731 0.438278 +TTool-pose None 32.9391 10.9333 15.98 0.665491 0.636409 -0.262437 0.288332 +#7983 1721120749674 +SLAM 14.153 -22.0584 35.0162 -0.567572 0.065357 0.694715 0.436991 +TTool-pose None 32.919 10.8896 16.0247 0.666038 0.637384 -0.260539 0.286628 +#7984 1721120749705 +SLAM 14.2028 -21.988 35.0517 -0.566814 0.0683359 0.695201 0.436748 +TTool-pose None 32.9402 10.9125 15.9926 0.666882 0.635239 -0.262225 0.287889 +#7985 1721120749742 +SLAM 14.1612 -22.1131 34.975 -0.565463 0.0685701 0.694859 0.439 +TTool-pose None 32.9355 10.9411 15.9658 0.665133 0.635922 -0.263631 0.289142 +#7986 1721120749773 +SLAM 14.2945 -21.8915 35.077 -0.565834 0.0715128 0.69616 0.43598 +TTool-pose None 32.9634 10.9267 15.9609 0.668111 0.632733 -0.264249 0.288708 +#7987 1721120749805 +SLAM 14.2342 -21.8644 35.1151 -0.56741 0.0699672 0.695502 0.435234 +TTool-pose None 32.9392 10.8984 15.9903 0.668473 0.633554 -0.26211 0.288016 +#7988 1721120749837 +SLAM 14.2662 -21.8843 35.0879 -0.566267 0.0714008 0.695857 0.435921 +TTool-pose None 32.9517 10.9192 15.9666 0.668187 0.632806 -0.263733 0.288842 +#7989 1721120749876 +SLAM 14.2072 -21.9272 35.078 -0.566246 0.0715087 0.695286 0.43684 +TTool-pose None 32.9398 10.9236 15.9578 0.667554 0.633104 -0.263708 0.289675 +#7990 1721120749908 +SLAM 14.274 -21.8652 35.0957 -0.566174 0.0721759 0.695909 0.435831 +TTool-pose None 32.9518 10.9211 15.9633 0.668438 0.632241 -0.264051 0.289212 +#7991 1721120749942 +SLAM 14.1772 -22.0808 35.0015 -0.566424 0.0673086 0.694809 0.438034 +TTool-pose None 32.9309 10.9319 16.003 0.665637 0.636432 -0.262284 0.288082 +#7992 1721120749977 +SLAM 14.2592 -21.9568 35.0365 -0.565255 0.0721309 0.695716 0.437336 +TTool-pose None 32.947 10.9432 15.9572 0.667216 0.632833 -0.264957 0.289909 +#7993 1721120750010 +SLAM 14.3098 -21.8812 35.0781 -0.5655 0.0728791 0.696107 0.436272 +TTool-pose None 32.9592 10.9467 15.9623 0.668205 0.631909 -0.264966 0.289638 +#7994 1721120750040 +SLAM 14.3458 -21.9336 35.0221 -0.56381 0.0745622 0.696511 0.437528 +TTool-pose None 32.9709 10.9756 15.9322 0.667489 0.63119 -0.267219 0.290786 +#7995 1721120750070 +SLAM 14.2474 -21.966 35.0434 -0.566654 0.0692077 0.695343 0.436591 +TTool-pose None 32.9288 10.9271 16.0155 0.667197 0.634579 -0.262653 0.288224 +#7996 1721120750100 +SLAM 14.2628 -21.9655 35.0509 -0.566005 0.0707172 0.695377 0.437137 +TTool-pose None 32.9415 10.9582 15.9978 0.667103 0.633747 -0.263747 0.289272 +#7997 1721120750130 +SLAM 14.1993 -22.1313 34.9832 -0.565456 0.0686916 0.694559 0.439465 +TTool-pose None 32.9368 10.9968 16.0054 0.66483 0.636027 -0.263631 0.289608 +#7998 1721120750161 +SLAM 14.1897 -22.1554 34.9781 -0.565082 0.0693214 0.694395 0.440104 +TTool-pose None 32.9405 11.0136 15.9974 0.66448 0.63584 -0.264168 0.290333 +#7999 1721120750204 +SLAM 14.3422 -22.0045 35.0171 -0.56364 0.0741052 0.695945 0.438725 +TTool-pose None 32.9777 11.0309 15.9574 0.66649 0.631974 -0.267192 0.2914 +#8000 1721120750235 +SLAM 14.2879 -21.9195 35.0923 -0.566799 0.0704698 0.695268 0.43632 +TTool-pose None 32.9408 10.9673 16.0328 0.667739 0.633624 -0.262848 0.288893 +#8001 1721120750273 +SLAM 14.2162 -22.1224 35.0048 -0.565696 0.0687096 0.694443 0.439336 +TTool-pose None 32.9426 11.0153 16.0247 0.664962 0.635975 -0.263374 0.289653 +#8002 1721120750304 +SLAM 14.2439 -21.9612 35.0987 -0.566979 0.0700785 0.694664 0.437112 +TTool-pose None 32.9385 10.9878 16.0361 0.667097 0.634217 -0.262473 0.289416 +#8003 1721120750338 +SLAM 14.2063 -22.1185 35.015 -0.567178 0.0658641 0.694159 0.438308 +TTool-pose None 32.9244 10.9865 16.0826 0.66517 0.637554 -0.261012 0.287833 +#8004 1721120750369 +SLAM 14.3253 -21.9217 35.0989 -0.566135 0.0718762 0.695374 0.436783 +TTool-pose None 32.9573 11.0057 16.0294 0.667674 0.632827 -0.263937 0.289798 +#8005 1721120750408 +SLAM 14.2488 -22.0822 35.0339 -0.566354 0.0683702 0.69448 0.438481 +TTool-pose None 32.9422 11.0168 16.0595 0.665582 0.635892 -0.262609 0.289102 +#8006 1721120750441 +SLAM 14.1154 -22.0667 35.0668 -0.56708 0.0699876 0.693262 0.439214 +TTool-pose None 32.9021 11.0011 16.0353 0.665578 0.635131 -0.262154 0.291194 +#8007 1721120750475 +SLAM 14.2017 -22.1363 35.0105 -0.565997 0.0688385 0.693975 0.439668 +TTool-pose None 32.9305 11.0302 16.0499 0.6648 0.636036 -0.263039 0.290195 +#8008 1721120750511 +SLAM 14.2098 -22.1604 34.9963 -0.565566 0.069055 0.694031 0.440099 +TTool-pose None 32.937 11.0422 16.0448 0.664484 0.636042 -0.263548 0.290443 +#8009 1721120750548 +SLAM 14.4047 -21.9224 35.0637 -0.564538 0.0743659 0.696079 0.43731 +TTool-pose None 32.9731 11.0354 16.0102 0.667701 0.631272 -0.266361 0.290906 +#8010 1721120750584 +SLAM 14.2994 -22.0514 35.0453 -0.565881 0.0698362 0.694778 0.438389 +TTool-pose None 32.9527 11.0422 16.0585 0.66596 0.634842 -0.263547 0.289688 +#8011 1721120750621 +SLAM 14.3786 -21.9101 35.0927 -0.565462 0.073327 0.695669 0.436945 +TTool-pose None 32.9647 11.0327 16.0321 0.667832 0.631876 -0.265071 0.290473 +#8012 1721120750655 +SLAM 14.2197 -22.2218 34.9559 -0.56394 0.0710347 0.694061 0.441819 +TTool-pose None 32.9489 11.0906 16.0092 0.663522 0.635313 -0.26577 0.292212 +#8013 1721120750689 +SLAM 14.3367 -21.9523 35.0874 -0.566253 0.0713217 0.69515 0.437078 +TTool-pose None 32.9514 11.0234 16.0618 0.667337 0.633327 -0.263631 0.289759 +#8014 1721120750720 +SLAM 14.2806 -22.1497 34.9922 -0.565364 0.0687051 0.694485 0.439698 +TTool-pose None 32.9492 11.0631 16.0659 0.664653 0.636107 -0.263719 0.289759 +#8015 1721120750754 +SLAM 14.3066 -21.9981 35.0775 -0.566743 0.0695265 0.694758 0.437355 +TTool-pose None 32.9445 11.0232 16.0828 0.666745 0.634677 -0.262573 0.289126 +#8016 1721120750786 +SLAM 14.3627 -21.9787 35.0698 -0.565121 0.072804 0.695338 0.437999 +TTool-pose None 32.9677 11.0599 16.0372 0.666894 0.632638 -0.265231 0.290823 +#8017 1721120750821 +SLAM 14.479 -21.8875 35.0877 -0.564776 0.073896 0.696476 0.43645 +TTool-pose None 32.991 11.0548 16.0423 0.668231 0.631255 -0.266039 0.290018 +#8018 1721120750853 +SLAM 14.333 -22.124 34.9984 -0.565219 0.0689664 0.694934 0.439133 +TTool-pose None 32.9624 11.0646 16.0755 0.665106 0.635696 -0.264002 0.289364 +#8019 1721120750889 +SLAM 14.2481 -22.1042 35.0234 -0.565459 0.070791 0.694193 0.439706 +TTool-pose None 32.9384 11.0582 16.0483 0.6652 0.634705 -0.264167 0.291166 +#8020 1721120750921 +SLAM 14.3407 -22.0921 35.0179 -0.564822 0.0708226 0.695002 0.43924 +TTool-pose None 32.9688 11.0778 16.0542 0.665451 0.634464 -0.264939 0.290416 +#8021 1721120750958 +SLAM 14.4136 -21.9809 35.0726 -0.565291 0.0716271 0.695674 0.437439 +TTool-pose None 32.9845 11.0644 16.0656 0.667018 0.633218 -0.264773 0.289692 +#8022 1721120750990 +SLAM 14.3828 -22.0106 35.0647 -0.564831 0.0725342 0.695373 0.438362 +TTool-pose None 32.9834 11.0812 16.0452 0.666522 0.632953 -0.265458 0.290783 +#8023 1721120751025 +SLAM 14.4063 -21.9632 35.0794 -0.564423 0.0744242 0.695668 0.438102 +TTool-pose None 32.9888 11.0816 16.0255 0.667132 0.631546 -0.266441 0.291544 +#8024 1721120751057 +SLAM 14.2983 -22.1045 35.0362 -0.56519 0.0708002 0.694508 0.439552 +TTool-pose None 32.9653 11.0805 16.0569 0.665275 0.634623 -0.264488 0.290882 +#8025 1721120751091 +SLAM 14.4987 -21.849 35.1429 -0.566615 0.0709726 0.696351 0.434747 +TTool-pose None 32.9965 11.0349 16.1115 0.668966 0.632638 -0.26332 0.287783 +#8026 1721120751124 +SLAM 14.4231 -21.9711 35.0914 -0.564289 0.0745396 0.695652 0.438281 +TTool-pose None 33.003 11.1047 16.0297 0.667013 0.631534 -0.266608 0.29169 +#8027 1721120751161 +SLAM 14.4172 -22.0236 35.0377 -0.565004 0.07131 0.695675 0.437861 +TTool-pose None 32.9793 11.0616 16.0782 0.666592 0.633587 -0.26498 0.289673 +#8028 1721120751194 +SLAM 14.3819 -22.0013 35.0841 -0.5654 0.0720111 0.695214 0.437967 +TTool-pose None 32.9828 11.0762 16.0692 0.666754 0.633176 -0.264707 0.29045 +#8029 1721120751230 +SLAM 14.4199 -21.9644 35.1035 -0.56546 0.0722524 0.69552 0.437362 +TTool-pose None 32.9937 11.0799 16.0741 0.667259 0.632772 -0.264754 0.29013 +#8030 1721120751261 +SLAM 14.4726 -22.0179 35.0547 -0.564453 0.0719477 0.696035 0.437895 +TTool-pose None 33.0113 11.0966 16.0734 0.666651 0.633142 -0.265771 0.289787 +#8031 1721120751294 +SLAM 14.4066 -22.0398 35.064 -0.564878 0.0717781 0.695371 0.438429 +TTool-pose None 32.9967 11.095 16.0713 0.666287 0.633494 -0.265199 0.29038 +#8032 1721120751325 +SLAM 14.482 -21.9819 35.0746 -0.563433 0.0753599 0.696195 0.438379 +TTool-pose None 33.0264 11.1172 16.0267 0.667027 0.630973 -0.267784 0.291798 +#8033 1721120751358 +SLAM 14.4366 -22.0169 35.0616 -0.564387 0.0730374 0.69574 0.438267 +TTool-pose None 33.0041 11.0925 16.0596 0.666654 0.632551 -0.266102 0.290767 +#8034 1721120751389 +SLAM 14.3523 -22.1592 35.0332 -0.565264 0.0686901 0.694689 0.439506 +TTool-pose None 32.9978 11.1058 16.0992 0.664772 0.636035 -0.263845 0.289529 +#8035 1721120751423 +SLAM 14.46 -22.0588 35.0475 -0.565001 0.070017 0.69584 0.43781 +TTool-pose None 33.0127 11.0845 16.1041 0.666295 0.634441 -0.264643 0.288795 +#8036 1721120751455 +SLAM 14.4996 -22.0274 35.0512 -0.56395 0.0726335 0.696306 0.437998 +TTool-pose None 33.03 11.1008 16.0696 0.66668 0.632693 -0.266513 0.29002 +#8037 1721120751488 +SLAM 14.4927 -22.0482 35.0394 -0.563831 0.0725038 0.696229 0.438296 +TTool-pose None 33.0281 11.1033 16.0704 0.666416 0.632895 -0.266588 0.290117 +#8038 1721120751520 +SLAM 14.4723 -22.0157 35.0644 -0.56553 0.0699367 0.695988 0.436904 +TTool-pose None 33.0073 11.0593 16.1201 0.666999 0.634157 -0.264097 0.288292 +#8039 1721120751554 +SLAM 14.5324 -21.9312 35.1208 -0.565032 0.0725481 0.696494 0.436317 +TTool-pose None 33.0393 11.0867 16.0931 0.66802 0.632127 -0.265405 0.289186 +#8040 1721120751591 +SLAM 14.5698 -21.9674 35.0793 -0.563636 0.0740892 0.696899 0.437216 +TTool-pose None 33.053 11.1093 16.0691 0.667565 0.631375 -0.267319 0.290115 +#8041 1721120751624 +SLAM 14.4907 -22.1007 35.0391 -0.5645 0.0698604 0.695973 0.43827 +TTool-pose None 33.037 11.1093 16.1114 0.665852 0.634707 -0.26513 0.288786 +#8042 1721120751658 +SLAM 14.4821 -21.9664 35.1202 -0.565776 0.071155 0.695913 0.436508 +TTool-pose None 33.0238 11.0746 16.118 0.667633 0.633186 -0.264176 0.288888 +#8043 1721120751697 +SLAM 14.5181 -21.9646 35.0972 -0.564348 0.0738318 0.696327 0.437252 +TTool-pose None 33.0346 11.0997 16.0798 0.667579 0.631601 -0.266441 0.290399 +#8044 1721120751740 +SLAM 14.477 -22.1088 35.0505 -0.564817 0.0695826 0.695673 0.438383 +TTool-pose None 33.0342 11.1173 16.125 0.665745 0.634957 -0.264687 0.28889 +#8045 1721120751779 +SLAM 14.306 -22.3119 34.9751 -0.564303 0.0684271 0.69398 0.441895 +TTool-pose None 33.0034 11.1468 16.1043 0.662846 0.637124 -0.264655 0.290811 +#8046 1721120751815 +SLAM 14.4734 -22.0555 35.0704 -0.564983 0.0710194 0.695661 0.437958 +TTool-pose None 33.0219 11.1052 16.1201 0.666445 0.633823 -0.264918 0.289555 +#8047 1721120751847 +SLAM 14.5858 -21.9787 35.0795 -0.563789 0.0737754 0.696783 0.437256 +TTool-pose None 33.0519 11.1231 16.095 0.66748 0.631612 -0.267059 0.290036 +#8048 1721120751882 +SLAM 14.6536 -21.8948 35.1126 -0.563355 0.0760417 0.697419 0.436413 +TTool-pose None 33.0707 11.1301 16.0803 0.668595 0.629711 -0.268215 0.290534 +#8049 1721120751914 +SLAM 14.4169 -22.0142 35.1443 -0.566852 0.0697222 0.694782 0.437146 +TTool-pose None 33.0073 11.0977 16.1608 0.666962 0.634465 -0.262519 0.28914 +#8050 1721120751948 +SLAM 14.6518 -22.0009 35.0734 -0.563523 0.0730734 0.697116 0.437186 +TTool-pose None 33.0749 11.1508 16.1232 0.667311 0.632045 -0.267181 0.289367 +#8051 1721120751982 +SLAM 14.5633 -21.982 35.1221 -0.566432 0.0688428 0.696074 0.435771 +TTool-pose None 33.0339 11.0974 16.1981 0.667657 0.634483 -0.262875 0.287166 +#8052 1721120752017 +SLAM 14.4002 -22.1326 35.077 -0.565099 0.0711787 0.694486 0.439643 +TTool-pose None 33.012 11.1519 16.1322 0.665294 0.6344 -0.264685 0.29115 +#8053 1721120752049 +SLAM 14.6061 -21.9951 35.1037 -0.564363 0.0729877 0.696372 0.437302 +TTool-pose None 33.056 11.1588 16.1462 0.66733 0.632194 -0.266197 0.289905 +#8054 1721120752080 +SLAM 14.6157 -22.0481 35.0638 -0.563054 0.0744507 0.696449 0.438618 +TTool-pose None 33.0639 11.1903 16.1197 0.666568 0.631666 -0.267954 0.291188 +#8055 1721120752110 +SLAM 14.665 -22.0033 35.0821 -0.563159 0.0747018 0.69684 0.43782 +TTool-pose None 33.0736 11.1906 16.1312 0.667219 0.631179 -0.267969 0.290739 +#8056 1721120752140 +SLAM 14.6417 -22.0427 35.0605 -0.562867 0.0748964 0.696549 0.438624 +TTool-pose None 33.0644 11.2027 16.1282 0.66665 0.631356 -0.268283 0.29137 +#8057 1721120752171 +SLAM 14.4587 -22.2883 35.0074 -0.564131 0.0689297 0.694372 0.441421 +TTool-pose None 33.0345 11.2311 16.1805 0.663292 0.636586 -0.265027 0.290632 +#8058 1721120752204 +SLAM 14.6045 -22.1846 35.0283 -0.56401 0.0695522 0.695709 0.439368 +TTool-pose None 33.0603 11.2208 16.2064 0.664913 0.635333 -0.265509 0.289225 +#8059 1721120752236 +SLAM 14.6759 -21.9822 35.1391 -0.56524 0.071519 0.696312 0.436506 +TTool-pose None 33.0677 11.1929 16.2221 0.66765 0.632911 -0.26488 0.288805 +#8060 1721120752269 +SLAM 14.5561 -22.1612 35.0692 -0.565428 0.0685797 0.694997 0.438824 +TTool-pose None 33.0381 11.2059 16.244 0.665257 0.635843 -0.263688 0.288978 +#8061 1721120752300 +SLAM 14.6953 -22.0609 35.0821 -0.563965 0.0722206 0.696369 0.437947 +TTool-pose None 33.0728 11.2287 16.2138 0.666612 0.632953 -0.266392 0.289719 +#8062 1721120752334 +SLAM 14.7655 -22.0133 35.0965 -0.563495 0.0735102 0.696978 0.437369 +TTool-pose None 33.0928 11.241 16.2104 0.667287 0.631822 -0.267312 0.289787 +#8063 1721120752363 +SLAM 14.6467 -22.2228 35.0285 -0.563753 0.0695225 0.695576 0.439912 +TTool-pose None 33.0751 11.269 16.24 0.664476 0.635559 -0.265746 0.289514 +#8064 1721120752393 +SLAM 14.7405 -22.0488 35.0848 -0.563467 0.0733683 0.696654 0.437945 +TTool-pose None 33.0862 11.2471 16.2157 0.666835 0.632149 -0.267259 0.290164 +#8065 1721120752424 +SLAM 14.6518 -22.2543 35.0205 -0.563186 0.0701115 0.695529 0.440619 +TTool-pose None 33.087 11.2941 16.2309 0.664037 0.635416 -0.266484 0.290156 +#8066 1721120752464 +SLAM 14.8619 -21.9727 35.1059 -0.563279 0.0737029 0.697787 0.436323 +TTool-pose None 33.1194 11.2424 16.2324 0.668052 0.631257 -0.267694 0.288902 +#8067 1721120752499 +SLAM 14.8118 -21.9945 35.127 -0.563911 0.0727851 0.697214 0.436577 +TTool-pose None 33.1161 11.2446 16.2409 0.66773 0.632014 -0.266716 0.288896 +#8068 1721120752533 +SLAM 14.8421 -22.0407 35.1026 -0.563176 0.0726056 0.697484 0.437124 +TTool-pose None 33.1377 11.2643 16.2362 0.667184 0.632318 -0.267454 0.288808 +#8069 1721120752563 +SLAM 14.6442 -22.2516 35.0574 -0.565055 0.0663989 0.695375 0.439041 +TTool-pose None 33.0945 11.2449 16.2981 0.664479 0.637383 -0.263505 0.287538 +#8070 1721120752601 +SLAM 14.7732 -21.9928 35.1726 -0.564205 0.0734284 0.696809 0.436736 +TTool-pose None 33.1331 11.2475 16.2326 0.667824 0.631658 -0.26654 0.289619 +#8071 1721120752633 +SLAM 14.6425 -22.2042 35.1228 -0.564843 0.0687717 0.695273 0.43911 +TTool-pose None 33.1221 11.2733 16.2682 0.665017 0.635799 -0.264378 0.288997 +#8072 1721120752663 +SLAM 14.7435 -22.1606 35.1007 -0.562742 0.0728875 0.696495 0.439208 +TTool-pose None 33.1556 11.2881 16.2152 0.665699 0.632947 -0.267845 0.290492 +#8073 1721120752700 +SLAM 14.7515 -22.0296 35.1738 -0.563282 0.0754253 0.696669 0.437809 +TTool-pose None 33.1551 11.2632 16.1994 0.667429 0.63069 -0.26802 0.29127 +#8074 1721120752731 +SLAM 14.6104 -22.2252 35.1323 -0.564615 0.0697284 0.695045 0.439614 +TTool-pose None 33.1328 11.27 16.2537 0.66487 0.635344 -0.264849 0.289904 +#8075 1721120752764 +SLAM 14.7069 -22.0653 35.1936 -0.564181 0.0734634 0.696135 0.437835 +TTool-pose None 33.1573 11.2576 16.2246 0.667043 0.632077 -0.266484 0.290554 +#8076 1721120752796 +SLAM 14.7017 -22.1129 35.1657 -0.562978 0.0750658 0.696161 0.439068 +TTool-pose None 33.1699 11.2804 16.1904 0.66639 0.631427 -0.268164 0.291921 +#8077 1721120752829 +SLAM 14.5949 -22.2051 35.1404 -0.564683 0.0706239 0.695104 0.43929 +TTool-pose None 33.1324 11.238 16.2471 0.665344 0.634611 -0.265039 0.290248 +#8078 1721120752862 +SLAM 14.6141 -22.0808 35.232 -0.566378 0.0700075 0.695198 0.437053 +TTool-pose None 33.1361 11.2088 16.277 0.667034 0.634212 -0.263142 0.288964 +#8079 1721120752894 +SLAM 14.6647 -22.2086 35.1451 -0.564405 0.0698113 0.695707 0.438822 +TTool-pose None 33.1678 11.2515 16.258 0.665429 0.634958 -0.265178 0.289165 +#8080 1721120752928 +SLAM 14.6202 -22.1895 35.1693 -0.56412 0.0719641 0.695338 0.439426 +TTool-pose None 33.1643 11.2634 16.2217 0.665509 0.633731 -0.266021 0.290894 +#8081 1721120752968 +SLAM 14.7368 -22.0859 35.1827 -0.563145 0.07476 0.696608 0.438197 +TTool-pose None 33.19 11.2606 16.1981 0.666962 0.631291 -0.267968 0.291086 +#8082 1721120753000 +SLAM 14.704 -22.0941 35.2006 -0.563368 0.074755 0.696234 0.438504 +TTool-pose None 33.1901 11.2693 16.1935 0.666773 0.63143 -0.267688 0.291474 +#8083 1721120753033 +SLAM 14.6737 -22.0831 35.214 -0.565028 0.0717599 0.695906 0.437388 +TTool-pose None 33.1662 11.2275 16.2447 0.66705 0.633094 -0.265111 0.289579 +#8084 1721120753070 +SLAM 14.6721 -22.1539 35.1735 -0.564638 0.0706961 0.695872 0.438119 +TTool-pose None 33.1697 11.2352 16.2521 0.666196 0.634088 -0.265209 0.289279 +#8085 1721120753101 +SLAM 14.6007 -22.2276 35.1685 -0.564927 0.0694974 0.695048 0.439244 +TTool-pose None 33.1629 11.2528 16.256 0.665121 0.635367 -0.264466 0.289627 +#8086 1721120753133 +SLAM 14.609 -22.2197 35.1438 -0.562799 0.0744809 0.695352 0.440676 +TTool-pose None 33.1707 11.2824 16.1782 0.66506 0.632462 -0.268074 0.292796 +#8087 1721120753166 +SLAM 14.5508 -22.2794 35.1437 -0.564498 0.0702046 0.69457 0.440438 +TTool-pose None 33.1504 11.2628 16.2413 0.664383 0.635348 -0.265038 0.290839 +#8088 1721120753199 +SLAM 14.5568 -22.1307 35.2265 -0.565436 0.0722729 0.694664 0.438748 +TTool-pose None 33.1409 11.2381 16.2345 0.666266 0.633316 -0.264669 0.291299 +#8089 1721120753231 +SLAM 14.4253 -22.2691 35.1943 -0.566313 0.0689735 0.693219 0.440431 +TTool-pose None 33.1113 11.2456 16.2601 0.664331 0.636267 -0.262648 0.291114 +#8090 1721120753266 +SLAM 14.475 -22.1375 35.2512 -0.566813 0.0706364 0.693721 0.438731 +TTool-pose None 33.1105 11.2271 16.2598 0.666055 0.634485 -0.262672 0.291044 +#8091 1721120753300 +SLAM 14.4432 -22.2509 35.185 -0.565372 0.0712306 0.693414 0.440973 +TTool-pose None 33.1106 11.2692 16.227 0.664389 0.634913 -0.264272 0.29247 +#8092 1721120753336 +SLAM 14.3844 -22.3146 35.1611 -0.566262 0.0684614 0.692718 0.441365 +TTool-pose None 33.0841 11.2605 16.2611 0.663518 0.636986 -0.262487 0.291544 +#8093 1721120753367 +SLAM 14.416 -22.2706 35.1768 -0.566959 0.0673877 0.692949 0.440271 +TTool-pose None 33.079 11.2467 16.2873 0.664126 0.637306 -0.261503 0.290341 +#8094 1721120753402 +SLAM 14.5284 -22.1622 35.1682 -0.565132 0.0721799 0.694259 0.439796 +TTool-pose None 33.0909 11.2607 16.2312 0.665446 0.633785 -0.264899 0.291945 +#8095 1721120753433 +SLAM 14.3636 -22.3523 35.1042 -0.566338 0.0671029 0.69247 0.441864 +TTool-pose None 33.0435 11.2598 16.2743 0.662815 0.638106 -0.26199 0.291138 +#8096 1721120753466 +SLAM 14.4971 -22.1806 35.135 -0.56518 0.0719449 0.693993 0.440194 +TTool-pose None 33.0597 11.2518 16.2333 0.665106 0.634107 -0.264748 0.292157 +#8097 1721120753502 +SLAM 14.5613 -22.1431 35.138 -0.564728 0.0726627 0.694539 0.439792 +TTool-pose None 33.0713 11.2707 16.2281 0.665514 0.633437 -0.265485 0.292014 +#8098 1721120753538 +SLAM 14.3604 -22.2815 35.1312 -0.567036 0.067393 0.692363 0.441092 +TTool-pose None 33.0185 11.2537 16.2806 0.663547 0.637635 -0.261343 0.291085 +#8099 1721120753573 +SLAM 14.1923 -22.4181 35.0501 -0.564109 0.073357 0.691078 0.445882 +TTool-pose None 32.9889 11.3096 16.1509 0.661202 0.635374 -0.26582 0.297255 +#8100 1721120753604 +SLAM 14.4433 -22.2739 35.0937 -0.564972 0.0706235 0.693291 0.441776 +TTool-pose None 33.042 11.2872 16.2328 0.663597 0.635625 -0.264493 0.292521 +#8101 1721120753636 +SLAM 14.4374 -22.2675 35.0863 -0.564877 0.071094 0.693311 0.44179 +TTool-pose None 33.0344 11.2783 16.2274 0.663694 0.635308 -0.264724 0.292781 +#8102 1721120753668 +SLAM 14.42 -22.1873 35.1343 -0.566112 0.0710393 0.693138 0.440488 +TTool-pose None 33.0157 11.2444 16.247 0.664795 0.634884 -0.263423 0.292375 +#8103 1721120753700 +SLAM 14.3366 -22.3391 35.0985 -0.566815 0.0669359 0.691995 0.442022 +TTool-pose None 33.0057 11.2695 16.2876 0.662725 0.638306 -0.261388 0.291448 +#8104 1721120753733 +SLAM 14.4833 -22.1741 35.1407 -0.564882 0.0732534 0.693627 0.440936 +TTool-pose None 33.0465 11.2909 16.2186 0.664864 0.633504 -0.265367 0.293453 +#8105 1721120753766 +SLAM 14.3726 -22.1301 35.2234 -0.567552 0.0708202 0.692343 0.439921 +TTool-pose None 33.013 11.2598 16.2632 0.665351 0.634875 -0.261776 0.292608 +#8106 1721120753797 +SLAM 14.2643 -22.3323 35.151 -0.567991 0.0663222 0.691013 0.442141 +TTool-pose None 32.992 11.2813 16.3032 0.662644 0.638824 -0.259872 0.291853 +#8107 1721120753833 +SLAM 14.2149 -22.3766 35.1256 -0.565157 0.0725659 0.690727 0.445228 +TTool-pose None 33.0047 11.3515 16.1869 0.661624 0.6357 -0.264481 0.29681 +#8108 1721120753866 +SLAM 14.2859 -22.1763 35.2481 -0.569539 0.067063 0.691183 0.439766 +TTool-pose None 32.9883 11.2456 16.3236 0.664767 0.637445 -0.258519 0.291238 +#8109 1721120753906 +SLAM 14.1797 -22.2417 35.2234 -0.569414 0.0676058 0.69024 0.441323 +TTool-pose None 32.9606 11.2457 16.3012 0.663767 0.637698 -0.258668 0.292832 +#8110 1721120753939 +SLAM 14.2875 -22.1951 35.2062 -0.568416 0.0690702 0.691367 0.440617 +TTool-pose None 32.9806 11.2481 16.2937 0.664519 0.636379 -0.260263 0.292583 +#8111 1721120753971 +SLAM 14.1886 -22.4248 35.1048 -0.567725 0.0659891 0.690226 0.443759 +TTool-pose None 32.9683 11.2909 16.3004 0.661349 0.639682 -0.259936 0.292852 +#8112 1721120754002 +SLAM 14.3094 -22.1491 35.2433 -0.568033 0.0709741 0.691457 0.440668 +TTool-pose None 32.995 11.2816 16.2696 0.66492 0.635094 -0.261202 0.293625 +#8113 1721120754034 +SLAM 14.1912 -22.372 35.1451 -0.568425 0.0660291 0.690132 0.443003 +TTool-pose None 32.9644 11.2878 16.3127 0.662004 0.639387 -0.259219 0.292653 +#8114 1721120754066 +SLAM 14.2254 -22.3707 35.1276 -0.566863 0.0689822 0.690553 0.443896 +TTool-pose None 32.9805 11.3203 16.2656 0.661908 0.637676 -0.261711 0.294382 +#8115 1721120754100 +SLAM 14.2656 -22.2273 35.1909 -0.569245 0.0668544 0.690928 0.440579 +TTool-pose None 32.957 11.2437 16.3347 0.664086 0.637899 -0.258726 0.291617 +#8116 1721120754133 +SLAM 14.24 -22.2973 35.1504 -0.567663 0.0689851 0.690733 0.442592 +TTool-pose None 32.9632 11.2864 16.2852 0.662965 0.637191 -0.260919 0.293753 +#8117 1721120754167 +SLAM 14.3492 -22.2178 35.1604 -0.56702 0.0705494 0.691855 0.441416 +TTool-pose None 32.9863 11.2859 16.2788 0.664129 0.635632 -0.262177 0.293383 +#8118 1721120754204 +SLAM 14.2627 -22.2254 35.1868 -0.567958 0.0699591 0.690945 0.441729 +TTool-pose None 32.9639 11.2807 16.2829 0.663882 0.636202 -0.260923 0.293825 +#8119 1721120754236 +SLAM 14.2691 -22.2431 35.1745 -0.567939 0.0693891 0.690981 0.441787 +TTool-pose None 32.9643 11.2807 16.2914 0.66369 0.636609 -0.260787 0.293495 +#8120 1721120754268 +SLAM 14.3095 -22.1721 35.216 -0.567082 0.0726872 0.691377 0.441739 +TTool-pose None 32.9878 11.3115 16.2472 0.664454 0.634318 -0.262643 0.295072 +#8121 1721120754302 +SLAM 14.3807 -22.1317 35.2102 -0.565981 0.0748772 0.692156 0.441564 +TTool-pose None 33.007 11.3247 16.2196 0.664983 0.63271 -0.264488 0.295686 +#8122 1721120754337 +SLAM 14.2458 -22.231 35.1924 -0.568843 0.068076 0.690703 0.441262 +TTool-pose None 32.9533 11.265 16.3126 0.663855 0.637329 -0.259452 0.292743 +#8123 1721120754371 +SLAM 14.3311 -22.1644 35.1956 -0.566224 0.0741836 0.691738 0.442023 +TTool-pose None 32.9907 11.3155 16.2197 0.664509 0.633376 -0.263988 0.295771 +#8124 1721120754404 +SLAM 14.3108 -22.2114 35.1735 -0.567209 0.0710055 0.69148 0.441688 +TTool-pose None 32.9757 11.2891 16.268 0.664076 0.635442 -0.262059 0.294019 +#8125 1721120754441 +SLAM 14.2476 -22.2134 35.2074 -0.569314 0.0674997 0.690679 0.440781 +TTool-pose None 32.9518 11.2568 16.3257 0.664117 0.637547 -0.258803 0.292245 +#8126 1721120754478 +SLAM 14.2166 -22.329 35.1388 -0.565873 0.072592 0.690529 0.444622 +TTool-pose None 32.9756 11.3465 16.2127 0.662172 0.635476 -0.26373 0.296737 +#8127 1721120754517 +SLAM 14.3065 -22.1574 35.2236 -0.567157 0.0728223 0.691384 0.441608 +TTool-pose None 32.9866 11.3099 16.2416 0.664593 0.634178 -0.262605 0.295094 +#8128 1721120754553 +SLAM 14.2289 -22.2937 35.172 -0.567286 0.0701396 0.690527 0.443214 +TTool-pose None 32.9731 11.3224 16.2588 0.66276 0.636642 -0.261601 0.294801 +#8129 1721120754586 +SLAM 14.2742 -22.1752 35.2258 -0.568435 0.0700305 0.691 0.441017 +TTool-pose None 32.9693 11.2814 16.2857 0.664482 0.635891 -0.260461 0.293551 +#8130 1721120754619 +SLAM 14.3385 -22.1424 35.226 -0.567961 0.0707882 0.691637 0.440509 +TTool-pose None 32.9851 11.2863 16.2825 0.664977 0.635152 -0.261249 0.293328 +#8131 1721120754651 +SLAM 14.3037 -22.1617 35.2236 -0.567518 0.071904 0.691341 0.441362 +TTool-pose None 32.9837 11.3012 16.2558 0.664587 0.634718 -0.261973 0.294507 +#8132 1721120754683 +SLAM 14.2346 -22.3157 35.1537 -0.567552 0.0687896 0.690574 0.443012 +TTool-pose None 32.9689 11.309 16.2807 0.662595 0.637486 -0.260955 0.293918 +#8133 1721120754723 +SLAM 14.3799 -22.1162 35.232 -0.566714 0.0735769 0.692078 0.440964 +TTool-pose None 33.0074 11.3186 16.2389 0.665188 0.633387 -0.263366 0.294773 +#8134 1721120754758 +SLAM 14.1377 -22.3662 35.1386 -0.568627 0.0666614 0.689678 0.443354 +TTool-pose None 32.9344 11.277 16.3028 0.661943 0.63911 -0.259126 0.293478 +#8135 1721120754792 +SLAM 14.2609 -22.2828 35.169 -0.567171 0.0700435 0.690845 0.442881 +TTool-pose None 32.98 11.3212 16.2631 0.662961 0.636568 -0.261736 0.294388 +#8136 1721120754827 +SLAM 14.1205 -22.3731 35.1326 -0.568305 0.0675339 0.689554 0.443828 +TTool-pose None 32.9301 11.2829 16.2869 0.661783 0.638695 -0.259684 0.294249 +#8137 1721120754861 +SLAM 14.2398 -22.3038 35.1368 -0.567386 0.0692572 0.690797 0.442805 +TTool-pose None 32.9605 11.2872 16.2759 0.662843 0.637079 -0.261289 0.293944 +#8138 1721120754894 +SLAM 14.1787 -22.3606 35.1336 -0.568271 0.0668418 0.690041 0.443219 +TTool-pose None 32.9459 11.2873 16.3029 0.662039 0.638918 -0.259593 0.293267 +#8139 1721120754927 +SLAM 14.2836 -22.0948 35.2882 -0.569385 0.0699992 0.690995 0.439804 +TTool-pose None 32.9725 11.2752 16.2967 0.66548 0.63547 -0.259478 0.293069 +#8140 1721120754962 +SLAM 14.2874 -22.1583 35.2398 -0.568481 0.0701433 0.691092 0.440795 +TTool-pose None 32.9761 11.2871 16.285 0.664677 0.635728 -0.260459 0.293464 +#8141 1721120755001 +SLAM 14.0419 -22.3405 35.1961 -0.569295 0.0678626 0.688665 0.443889 +TTool-pose None 32.9191 11.2914 16.2789 0.661959 0.638544 -0.258635 0.295103 +#8142 1721120755034 +SLAM 14.1543 -22.3777 35.1268 -0.568605 0.0660725 0.689797 0.443287 +TTool-pose None 32.9357 11.2776 16.3134 0.661835 0.639479 -0.258998 0.293029 +#8143 1721120755067 +SLAM 14.328 -22.1865 35.1873 -0.565719 0.0747778 0.691704 0.442624 +TTool-pose None 32.9977 11.3322 16.2043 0.664154 0.633189 -0.264664 0.296364 +#8144 1721120755100 +SLAM 14.2005 -22.3616 35.1253 -0.568059 0.0668636 0.69027 0.443131 +TTool-pose None 32.9514 11.2873 16.304 0.662078 0.638858 -0.259849 0.293081 +#8145 1721120755140 +SLAM 14.182 -22.3375 35.1553 -0.567477 0.0693331 0.690071 0.443807 +TTool-pose None 32.9598 11.3196 16.2627 0.66215 0.637432 -0.261113 0.294897 +#8146 1721120755182 +SLAM 14.2303 -22.1801 35.2362 -0.568462 0.0706918 0.690589 0.441521 +TTool-pose None 32.9623 11.2874 16.2697 0.664292 0.635647 -0.260561 0.294421 +#8147 1721120755219 +SLAM 14.3054 -22.1442 35.2314 -0.568228 0.0707323 0.69135 0.440623 +TTool-pose None 32.9757 11.2791 16.28 0.664918 0.635249 -0.26092 0.293547 +#8148 1721120755256 +SLAM 14.2597 -22.2763 35.1658 -0.566907 0.0708429 0.690894 0.443016 +TTool-pose None 32.9786 11.3206 16.2515 0.663033 0.636069 -0.262238 0.29486 +#8149 1721120755290 +SLAM 14.3011 -22.2305 35.1712 -0.567874 0.0690754 0.691333 0.441369 +TTool-pose None 32.9714 11.2764 16.2948 0.663902 0.636651 -0.260815 0.2929 +#8150 1721120755322 +SLAM 14.2957 -22.2117 35.1833 -0.568449 0.0683894 0.691273 0.440829 +TTool-pose None 32.9645 11.2608 16.3098 0.664194 0.636925 -0.260024 0.292343 +#8151 1721120755355 +SLAM 14.3104 -22.2229 35.1684 -0.567972 0.0688178 0.691463 0.44108 +TTool-pose None 32.9702 11.2666 16.3004 0.664058 0.636714 -0.26066 0.292548 +#8152 1721120755388 +SLAM 14.2686 -22.2356 35.1778 -0.569057 0.0667714 0.690976 0.440758 +TTool-pose None 32.9539 11.2484 16.33 0.663908 0.638018 -0.258902 0.291604 +#8153 1721120755422 +SLAM 14.318 -22.1949 35.1825 -0.566169 0.0735534 0.691631 0.442368 +TTool-pose None 32.9908 11.3183 16.2194 0.664091 0.633938 -0.263855 0.295623 +#8154 1721120755455 +SLAM 14.3131 -22.2237 35.182 -0.567438 0.0699064 0.691427 0.44165 +TTool-pose None 32.9845 11.3002 16.2745 0.663853 0.636181 -0.261508 0.293415 +#8155 1721120755488 +SLAM 14.3262 -22.1156 35.2397 -0.568723 0.069753 0.691585 0.439772 +TTool-pose None 32.9745 11.2619 16.2959 0.665348 0.635593 -0.26017 0.29249 +#8156 1721120755522 +SLAM 14.364 -22.195 35.1578 -0.566187 0.0723144 0.692167 0.44171 +TTool-pose None 32.9938 11.2996 16.2379 0.664252 0.634515 -0.263567 0.294276 +#8157 1721120755556 +SLAM 14.4028 -22.1152 35.2048 -0.567305 0.0712533 0.692475 0.439962 +TTool-pose None 32.9969 11.2766 16.2693 0.665399 0.634587 -0.262168 0.292776 +#8158 1721120755589 +SLAM 14.4214 -22.1188 35.196 -0.567285 0.0706946 0.692676 0.439761 +TTool-pose None 33.0004 11.273 16.2756 0.665396 0.634883 -0.262061 0.292234 +#8159 1721120755622 +SLAM 14.3788 -22.1597 35.1759 -0.567471 0.0697775 0.69234 0.440197 +TTool-pose None 32.988 11.2613 16.2786 0.664872 0.635687 -0.261566 0.292122 +#8160 1721120755656 +SLAM 14.4244 -22.2409 35.0935 -0.565376 0.0710813 0.692959 0.441707 +TTool-pose None 33.0058 11.2892 16.2413 0.663822 0.635309 -0.264162 0.292997 +#8161 1721120755689 +SLAM 14.4036 -22.264 35.093 -0.565518 0.0703439 0.692731 0.442002 +TTool-pose None 33.0057 11.2964 16.2412 0.663439 0.635933 -0.263779 0.292855 +#8162 1721120755724 +SLAM 14.4792 -22.1455 35.1323 -0.565392 0.0724217 0.693604 0.440454 +TTool-pose None 33.019 11.2793 16.228 0.665072 0.633899 -0.26461 0.292811 +#8163 1721120755757 +SLAM 14.499 -22.1425 35.1167 -0.565756 0.0711729 0.693853 0.439798 +TTool-pose None 33.0126 11.2536 16.252 0.665276 0.634499 -0.263923 0.291666 +#8164 1721120755791 +SLAM 14.4687 -22.1949 35.0915 -0.565782 0.0700899 0.69357 0.440385 +TTool-pose None 33.0051 11.2534 16.2569 0.664577 0.635469 -0.263554 0.29148 +#8165 1721120755824 +SLAM 14.5514 -22.0692 35.1675 -0.565789 0.0721309 0.694288 0.438912 +TTool-pose None 33.0374 11.2693 16.2429 0.666163 0.633496 -0.264217 0.291555 +#8166 1721120755860 +SLAM 14.5497 -22.1099 35.1216 -0.564821 0.0730672 0.69442 0.439794 +TTool-pose None 33.0339 11.2731 16.2205 0.665629 0.633168 -0.265487 0.292332 +#8167 1721120755893 +SLAM 14.5564 -22.0413 35.1821 -0.566641 0.0707409 0.694341 0.437954 +TTool-pose None 33.0306 11.2447 16.2687 0.666615 0.634093 -0.262962 0.290354 +#8168 1721120755925 +SLAM 14.4993 -22.1866 35.1073 -0.565621 0.0699789 0.693788 0.440266 +TTool-pose None 33.025 11.2746 16.2524 0.664611 0.635488 -0.263718 0.291213 +#8169 1721120755959 +SLAM 14.6311 -22.0847 35.1076 -0.564673 0.0723108 0.695243 0.438808 +TTool-pose None 33.0479 11.2626 16.2386 0.666122 0.633276 -0.26554 0.290923 +#8170 1721120755994 +SLAM 14.5788 -22.038 35.1538 -0.565096 0.0738065 0.694748 0.438799 +TTool-pose None 33.0374 11.2617 16.2181 0.666573 0.63228 -0.265456 0.292131 +#8171 1721120756033 +SLAM 14.487 -22.164 35.1128 -0.566464 0.0688075 0.693739 0.439443 +TTool-pose None 33.0092 11.2397 16.2754 0.665021 0.63599 -0.262519 0.290261 +#8172 1721120756068 +SLAM 14.5439 -22.1306 35.1179 -0.566286 0.0689727 0.694287 0.438781 +TTool-pose None 33.0226 11.2408 16.2792 0.665513 0.635603 -0.262823 0.289703 +#8173 1721120756103 +SLAM 14.5588 -22.0983 35.1386 -0.564984 0.0726569 0.694486 0.439549 +TTool-pose None 33.0439 11.2799 16.2197 0.665724 0.633355 -0.265215 0.291956 +#8174 1721120756138 +SLAM 14.542 -22.1787 35.08 -0.564169 0.0724104 0.694423 0.440734 +TTool-pose None 33.0396 11.2861 16.209 0.66469 0.633958 -0.265971 0.292317 +#8175 1721120756172 +SLAM 14.5338 -22.1382 35.104 -0.565758 0.0699241 0.694334 0.439237 +TTool-pose None 33.0216 11.2426 16.2549 0.665356 0.635118 -0.263638 0.290388 +#8176 1721120756207 +SLAM 14.6876 -22.0266 35.1156 -0.563982 0.0739896 0.695969 0.438266 +TTool-pose None 33.0646 11.2641 16.2092 0.666839 0.631885 -0.266812 0.291141 +#8177 1721120756241 +SLAM 14.5002 -22.2179 35.0745 -0.565238 0.0694339 0.693974 0.440551 +TTool-pose None 33.0255 11.2675 16.243 0.66421 0.635951 -0.263982 0.290876 +#8178 1721120756276 +SLAM 14.6507 -22.0811 35.1026 -0.564772 0.0714045 0.695528 0.438378 +TTool-pose None 33.0541 11.2522 16.2431 0.666212 0.633721 -0.265224 0.290033 +#8179 1721120756311 +SLAM 14.4794 -22.2832 35.0435 -0.564437 0.0698322 0.693758 0.441853 +TTool-pose None 33.0298 11.2936 16.2235 0.66326 0.636165 -0.264882 0.291759 +#8180 1721120756345 +SLAM 14.6182 -22.1465 35.0588 -0.563115 0.0739008 0.695353 0.440368 +TTool-pose None 33.057 11.2851 16.1864 0.665181 0.632747 -0.26759 0.292347 +#8181 1721120756379 +SLAM 14.6096 -22.0541 35.1242 -0.565437 0.0713406 0.695203 0.438046 +TTool-pose None 33.0383 11.2321 16.2435 0.666531 0.633664 -0.264481 0.290105 +#8182 1721120756414 +SLAM 14.5379 -22.2369 35.0425 -0.564385 0.0699406 0.694426 0.440852 +TTool-pose None 33.0361 11.2751 16.2307 0.664001 0.635687 -0.265059 0.290952 +#8183 1721120756449 +SLAM 14.6638 -22.0999 35.0839 -0.563401 0.073609 0.695764 0.439403 +TTool-pose None 33.0707 11.2815 16.1969 0.665841 0.632571 -0.267274 0.291511 +#8184 1721120756484 +SLAM 14.609 -22.169 35.0443 -0.563119 0.0733358 0.695304 0.440536 +TTool-pose None 33.054 11.2801 16.1898 0.664916 0.633198 -0.267423 0.292126 +#8185 1721120756518 +SLAM 14.5389 -22.1206 35.1105 -0.565974 0.069617 0.694448 0.438827 +TTool-pose None 33.0216 11.2318 16.2568 0.665603 0.635171 -0.263346 0.289971 +#8186 1721120756552 +SLAM 14.5776 -22.1375 35.0863 -0.564901 0.0708262 0.694878 0.439335 +TTool-pose None 33.0385 11.2503 16.2355 0.665395 0.634504 -0.264842 0.290545 +#8187 1721120756588 +SLAM 14.5339 -22.258 35.0201 -0.563888 0.0704765 0.694464 0.441342 +TTool-pose None 33.0342 11.2779 16.2178 0.663714 0.635496 -0.265722 0.291418 +#8188 1721120756622 +SLAM 14.5546 -22.2115 35.0563 -0.564819 0.0692945 0.694581 0.440153 +TTool-pose None 33.0381 11.2631 16.2448 0.664399 0.635864 -0.264455 0.290201 +#8189 1721120756658 +SLAM 14.5894 -22.0815 35.1087 -0.56527 0.0711858 0.695076 0.438488 +TTool-pose None 33.0349 11.2317 16.236 0.666149 0.633938 -0.264591 0.29028 +#8190 1721120756693 +SLAM 14.6515 -22.1601 35.0336 -0.56418 0.0699879 0.695727 0.439051 +TTool-pose None 33.0507 11.2412 16.2442 0.665277 0.63492 -0.26546 0.289339 +#8191 1721120756730 +SLAM 14.7156 -22.0489 35.0863 -0.563411 0.0736578 0.696407 0.438359 +TTool-pose None 33.0764 11.261 16.1995 0.666604 0.632118 -0.267363 0.290668 +#8192 1721120756766 +SLAM 14.7221 -22.0345 35.08 -0.563235 0.0742338 0.696573 0.438225 +TTool-pose None 33.0732 11.2511 16.192 0.66682 0.631664 -0.267726 0.290823 +#8193 1721120756801 +SLAM 14.698 -22.0948 35.0684 -0.563519 0.0723 0.69622 0.438744 +TTool-pose None 33.0748 11.2636 16.2084 0.665996 0.633198 -0.266849 0.29018 +#8194 1721120756835 +SLAM 14.7173 -21.9709 35.134 -0.565025 0.0719009 0.69645 0.436502 +TTool-pose None 33.0652 11.2182 16.2353 0.66772 0.63264 -0.265226 0.288921 +#8195 1721120756869 +SLAM 14.6791 -22.0413 35.0938 -0.564507 0.0717874 0.69615 0.437668 +TTool-pose None 33.0577 11.2242 16.2236 0.666781 0.633162 -0.265685 0.289525 +#8196 1721120756903 +SLAM 14.655 -22.0311 35.1168 -0.565392 0.0705777 0.695831 0.43723 +TTool-pose None 33.0497 11.2141 16.2443 0.666912 0.633848 -0.264398 0.288898 +#8197 1721120756936 +SLAM 14.6103 -22.1743 35.0485 -0.564317 0.0698068 0.695356 0.439492 +TTool-pose None 33.0524 11.2514 16.2283 0.664934 0.635227 -0.265219 0.289675 +#8198 1721120756972 +SLAM 14.7186 -22.0933 35.0349 -0.563572 0.0715696 0.696621 0.438159 +TTool-pose None 33.0642 11.2256 16.2233 0.666235 0.633459 -0.266646 0.289246 +#8199 1721120757010 +SLAM 14.6614 -22.1158 35.0432 -0.565 0.0687693 0.69598 0.437787 +TTool-pose None 33.0411 11.1994 16.264 0.665987 0.635275 -0.264312 0.287972 +#8200 1721120757049 +SLAM 14.7258 -21.9731 35.133 -0.565239 0.071162 0.696519 0.436236 +TTool-pose None 33.0668 11.2119 16.2475 0.667751 0.633043 -0.264809 0.288347 +#8201 1721120757083 +SLAM 14.6825 -22.0086 35.1194 -0.565487 0.0704104 0.696108 0.436692 +TTool-pose None 33.0523 11.206 16.2525 0.667267 0.633749 -0.26429 0.288393 +#8202 1721120757117 +SLAM 14.6813 -22.0805 35.0649 -0.563403 0.0731197 0.696213 0.438769 +TTool-pose None 33.0657 11.2502 16.1933 0.666172 0.632647 -0.267195 0.290662 +#8203 1721120757156 +SLAM 14.7031 -22.0364 35.0889 -0.563642 0.0734486 0.696413 0.438089 +TTool-pose None 33.0707 11.2443 16.1968 0.666778 0.632162 -0.267069 0.290441 +#8204 1721120757191 +SLAM 14.6325 -22.1357 35.0644 -0.564388 0.0703275 0.695589 0.438949 +TTool-pose None 33.0561 11.2458 16.2279 0.665469 0.63466 -0.265325 0.289594 +#8205 1721120757226 +SLAM 14.7324 -21.9783 35.1225 -0.564739 0.0720015 0.696624 0.436578 +TTool-pose None 33.0697 11.2202 16.2324 0.66765 0.632588 -0.26557 0.28888 +#8206 1721120757260 +SLAM 14.7158 -22.0102 35.0942 -0.563808 0.0735342 0.696575 0.437604 +TTool-pose None 33.068 11.232 16.2015 0.667172 0.631917 -0.266945 0.290185 +#8207 1721120757294 +SLAM 14.6879 -21.988 35.1341 -0.565776 0.0702575 0.696137 0.436296 +TTool-pose None 33.0531 11.2012 16.259 0.667553 0.633706 -0.263954 0.288132 +#8208 1721120757328 +SLAM 14.6892 -21.99 35.1375 -0.566095 0.0694803 0.696101 0.436064 +TTool-pose None 33.0526 11.1968 16.2727 0.667564 0.634154 -0.263405 0.287624 +#8209 1721120757363 +SLAM 14.6349 -22.0457 35.1144 -0.565447 0.0704521 0.695635 0.43749 +TTool-pose None 33.0457 11.2146 16.2431 0.666701 0.634041 -0.26428 0.289069 +#8210 1721120757396 +SLAM 14.666 -22.0364 35.1167 -0.565758 0.0693191 0.695881 0.436879 +TTool-pose None 33.0513 11.2092 16.2634 0.666891 0.634575 -0.263676 0.288007 +#8211 1721120757433 +SLAM 14.6526 -22.127 35.0618 -0.564211 0.0705284 0.695799 0.438811 +TTool-pose None 33.0605 11.2472 16.2259 0.665594 0.634459 -0.26559 0.289503 +#8212 1721120757472 +SLAM 14.6396 -22.0652 35.0917 -0.564633 0.0715819 0.695753 0.438171 +TTool-pose None 33.0488 11.2282 16.2197 0.666386 0.63351 -0.265446 0.289891 +#8213 1721120757506 +SLAM 14.6607 -22.116 35.0694 -0.564295 0.0705199 0.695849 0.438627 +TTool-pose None 33.0628 11.2484 16.2286 0.665736 0.634395 -0.265509 0.289391 +#8214 1721120757540 +SLAM 14.764 -22.0255 35.0861 -0.563414 0.0730184 0.696943 0.437612 +TTool-pose None 33.0889 11.2532 16.2062 0.666975 0.632249 -0.267254 0.289626 +#8215 1721120757574 +SLAM 14.7174 -21.9924 35.1198 -0.564565 0.0722972 0.69647 0.437 +TTool-pose None 33.069 11.2295 16.2232 0.667398 0.63255 -0.265812 0.289324 +#8216 1721120757608 +SLAM 14.633 -22.154 35.0523 -0.564567 0.0692911 0.695572 0.438911 +TTool-pose None 33.0528 11.2418 16.2408 0.665254 0.635354 -0.264847 0.289 +#8217 1721120757637 +#8218 1721120757664 +#8219 1721120757691 +#8220 1721120757722 +#8221 1721120757750 +#8222 1721120757780 +#8223 1721120757810 +#8224 1721120757839 +SLAM 14.3925 -22.691 34.8897 -0.56227 0.0655037 0.692695 0.446918 +TTool-pose None 33.0838 11.3715 16.2284 0.658152 0.641001 -0.265712 0.291986 +#8225 1721120757869 +SLAM 15.2775 -21.5301 35.6468 -0.560282 0.0864243 0.699161 0.435648 +TTool-pose None 33.4535 11.7561 16.0296 0.671264 0.622166 -0.274413 0.294821 +#8226 1721120757900 +SLAM 15.1809 -21.6544 35.5531 -0.560519 0.0844355 0.698552 0.436709 +TTool-pose None 33.402 11.6942 16.0599 0.670055 0.623968 -0.273556 0.29456 +#8227 1721120757930 +SLAM 14.6957 -21.9285 35.2317 -0.565003 0.0748886 0.696161 0.436491 +TTool-pose None 33.1147 11.2315 16.2091 0.668489 0.63061 -0.26604 0.290827 +#8228 1721120757962 +#8229 1721120757991 +#8230 1721120758020 +SLAM 14.3615 -22.3424 35.1334 -0.567094 0.0644164 0.692221 0.441685 +TTool-pose None 33.0443 11.305 16.2745 0.662347 0.639882 -0.26042 0.289709 +#8231 1721120758051 +SLAM 14.4185 -22.5577 34.8423 -0.561546 0.0689411 0.693778 0.44563 +TTool-pose None 33.0304 11.2891 16.1753 0.659877 0.638131 -0.267579 0.292676 +#8232 1721120758082 +SLAM 14.5466 -22.0808 35.2283 -0.568499 0.0645905 0.694285 0.436583 +TTool-pose None 33.0721 11.2194 16.3161 0.66626 0.63778 -0.259311 0.286342 +#8233 1721120758112 +SLAM 14.4107 -21.7288 35.483 -0.570647 0.0722037 0.693143 0.434397 +TTool-pose None 33.0416 11.2031 16.221 0.670103 0.631861 -0.259087 0.290675 +#8234 1721120758141 +SLAM 14.4979 -22.2503 35.1236 -0.566125 0.0655156 0.693915 0.440105 +TTool-pose None 33.0734 11.2888 16.2497 0.663637 0.63846 -0.26196 0.288503 +#8235 1721120758173 +SLAM 14.6069 -21.8084 35.3089 -0.564313 0.0802052 0.695561 0.437394 +TTool-pose None 33.1003 11.2761 16.0833 0.669081 0.627328 -0.268129 0.294625 +#8236 1721120758204 +SLAM 14.3462 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-21.9071 35.1684 -0.56355 0.0756989 0.697218 0.436542 +TTool-pose None 33.1117 11.2223 16.1415 0.668444 0.630006 -0.267894 0.290536 +#8243 1721120758433 +SLAM 14.3101 -22.3279 35.0541 -0.566562 0.0652167 0.692804 0.441336 +TTool-pose None 33.0041 11.1988 16.2224 0.662734 0.639177 -0.261274 0.289612 +#8244 1721120758467 +SLAM 14.4543 -22.0916 35.1039 -0.565927 0.0703323 0.694628 0.438488 +TTool-pose None 33.0124 11.1509 16.1871 0.666024 0.634548 -0.263618 0.290119 +#8245 1721120758501 +SLAM 14.47 -21.9687 35.2254 -0.567091 0.071154 0.694477 0.43709 +TTool-pose None 33.0352 11.1763 16.1885 0.667406 0.633487 -0.262634 0.290157 +#8246 1721120758534 +SLAM 14.326 -22.3015 35.0449 -0.564848 0.0694251 0.693149 0.442348 +TTool-pose None 33.0122 11.2299 16.1538 0.662856 0.636659 -0.264263 0.292159 +#8247 1721120758567 +SLAM 14.4426 -22.0397 35.1766 -0.567229 0.0691782 0.694256 0.437578 +TTool-pose None 33.0189 11.1614 16.2085 0.666565 0.635026 -0.261908 0.289378 +#8248 1721120758603 +SLAM 14.4568 -22.0771 35.1259 -0.565559 0.0715029 0.69458 0.438849 +TTool-pose None 33.0242 11.1809 16.1633 0.666014 0.633883 -0.264316 0.290961 +#8249 1721120758638 +SLAM 14.476 -21.976 35.1747 -0.566883 0.070916 0.694769 0.436933 +TTool-pose None 33.0114 11.1422 16.1923 0.667427 0.633574 -0.26282 0.289748 +#8250 1721120758671 +SLAM 14.6416 -21.8584 35.1962 -0.56761 0.069051 0.696327 0.433796 +TTool-pose None 33.0345 11.1066 16.2497 0.66929 0.633601 -0.261753 0.286333 +#8251 1721120758704 +SLAM 14.4116 -22.1369 35.1079 -0.566555 0.068297 0.694018 0.438964 +TTool-pose None 33.0056 11.1696 16.2027 0.665245 0.636146 -0.26232 0.289582 +#8252 1721120758737 +SLAM 14.4312 -22.0553 35.1495 -0.567137 0.068928 0.694199 0.437827 +TTool-pose None 33.0021 11.1556 16.2082 0.666309 0.635291 -0.261925 0.289373 +#8253 1721120758768 +SLAM 14.6979 -21.7994 35.2302 -0.565245 0.0753088 0.696844 0.435011 +TTool-pose None 33.0781 11.186 16.1549 0.669687 0.629739 -0.265997 0.289995 +#8254 1721120758804 +SLAM 14.4069 -22.1931 35.0799 -0.565527 0.0692102 0.693924 0.440294 +TTool-pose None 33.0148 11.2058 16.1781 0.664379 0.636014 -0.263617 0.290685 +#8255 1721120758836 +SLAM 14.2637 -22.3037 35.0633 -0.567223 0.0650031 0.692345 0.441237 +TTool-pose None 32.9732 11.1899 16.2232 0.662843 0.639314 -0.260472 0.289783 +#8256 1721120758871 +SLAM 14.3907 -22.2023 35.0726 -0.566615 0.0667278 0.693706 0.439621 +TTool-pose None 32.9946 11.1761 16.2206 0.664373 0.637473 -0.261773 0.289163 +#8257 1721120758903 +SLAM 14.3735 -22.196 35.0811 -0.56679 0.066844 0.693538 0.439644 +TTool-pose None 32.9895 11.1748 16.2184 0.664411 0.637412 -0.261603 0.289361 +#8258 1721120758937 +SLAM 14.4485 -22.0411 35.146 -0.565963 0.0717245 0.694393 0.438588 +TTool-pose None 33.0105 11.187 16.1655 0.666316 0.633649 -0.26394 0.291122 +#8259 1721120758970 +SLAM 14.4118 -22.0312 35.1763 -0.567891 0.0683698 0.693887 0.437432 +TTool-pose None 32.9919 11.1531 16.2228 0.666554 0.635545 -0.260951 0.289127 +#8260 1721120759004 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1721120759203 +SLAM 14.5221 -21.9898 35.1423 -0.565452 0.0726897 0.695282 0.437679 +TTool-pose None 33.0265 11.1717 16.1579 0.667142 0.632603 -0.264852 0.290675 +#8267 1721120759237 +SLAM 14.5026 -21.9082 35.212 -0.56852 0.0682801 0.694936 0.434956 +TTool-pose None 33.0021 11.1081 16.2426 0.668392 0.634637 -0.260419 0.287354 +#8268 1721120759271 +SLAM 14.6152 -21.9241 35.1328 -0.564591 0.0744395 0.696386 0.436741 +TTool-pose None 33.0433 11.1594 16.1418 0.668135 0.630995 -0.266368 0.290505 +#8269 1721120759314 +SLAM 14.427 -21.991 35.1975 -0.567227 0.0704928 0.694232 0.437408 +TTool-pose None 33.011 11.1587 16.1823 0.667027 0.634069 -0.262276 0.29008 +#8270 1721120759348 +SLAM 14.5061 -21.9357 35.184 -0.567093 0.0706582 0.695143 0.436108 +TTool-pose None 33.0141 11.1283 16.1961 0.667981 0.633425 -0.262582 0.28901 +#8271 1721120759384 +SLAM 14.5085 -21.9883 35.1445 -0.565397 0.0729453 0.695298 0.437682 +TTool-pose None 33.0291 11.1605 16.1462 0.667197 0.632429 -0.264982 0.29081 +#8272 1721120759419 +SLAM 14.382 -22.1272 35.1232 -0.567204 0.0673082 0.693834 0.43857 +TTool-pose None 33.0002 11.1502 16.2062 0.665363 0.636687 -0.261351 0.288998 +#8273 1721120759453 +SLAM 14.472 -22.0388 35.1163 -0.565136 0.072644 0.695025 0.438502 +TTool-pose None 33.0209 11.1616 16.1368 0.666495 0.63295 -0.265128 0.291153 +#8274 1721120759492 +SLAM 14.6019 -21.9496 35.1245 -0.564865 0.0730047 0.696358 0.436673 +TTool-pose None 33.0456 11.1468 16.1485 0.667857 0.631954 -0.265685 0.289683 +#8275 1721120759526 +SLAM 14.2314 -22.2755 35.0669 -0.567834 0.0642044 0.692457 0.440394 +TTool-pose None 32.9633 11.1346 16.2151 0.663327 0.639543 -0.259634 0.288919 +#8276 1721120759560 +SLAM 14.3991 -21.9848 35.195 -0.567813 0.0692297 0.694238 0.43684 +TTool-pose None 33.0018 11.1191 16.1844 0.66719 0.634722 -0.261321 0.289135 +#8277 1721120759600 +SLAM 14.4437 -21.9828 35.1624 -0.566503 0.0713239 0.69485 0.437232 +TTool-pose None 33.0123 11.1251 16.1534 0.667263 0.6334 -0.263335 0.290038 +#8278 1721120759633 +SLAM 14.3869 -22.0936 35.1424 -0.566964 0.0682477 0.694107 0.438303 +TTool-pose None 33.0139 11.1444 16.1773 0.665765 0.635934 -0.261899 0.289234 +#8279 1721120759666 +SLAM 14.2755 -22.2005 35.1097 -0.568168 0.0645364 0.692971 0.439102 +TTool-pose None 32.9809 11.1205 16.2146 0.664391 0.638816 -0.259457 0.288238 +#8280 1721120759700 +SLAM 14.3899 -21.9492 35.226 -0.568934 0.0677092 0.694207 0.435667 +TTool-pose None 32.9996 11.0846 16.2091 0.667794 0.635329 -0.259735 0.287831 +#8281 1721120759733 +SLAM 14.4822 -21.989 35.1458 -0.565603 0.0721153 0.695378 0.437426 +TTool-pose None 33.0332 11.1339 16.1291 0.667198 0.632898 -0.26455 0.29018 +#8282 1721120759767 +SLAM 14.3341 -22.1477 35.1189 -0.567245 0.0667503 0.693767 0.438708 +TTool-pose None 33.005 11.1222 16.1798 0.665125 0.637121 -0.261141 0.28878 +#8283 1721120759800 +SLAM 14.4358 -22.0244 35.1359 -0.566578 0.0695431 0.694987 0.437203 +TTool-pose None 33.0171 11.1037 16.1575 0.666835 0.634596 -0.262777 0.288911 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0.289153 +#8290 1721120760036 +SLAM 14.2686 -22.2404 35.0553 -0.566571 0.066081 0.693508 0.440087 +TTool-pose None 32.9943 11.1085 16.1483 0.663862 0.638094 -0.261607 0.289116 +#8291 1721120760073 +SLAM 14.3049 -22.0551 35.1592 -0.568519 0.0662093 0.69388 0.43696 +TTool-pose None 32.9873 11.0549 16.179 0.666418 0.636843 -0.259696 0.287711 +#8292 1721120760111 +SLAM 14.429 -21.9985 35.1484 -0.565678 0.0718405 0.695268 0.437551 +TTool-pose None 33.0354 11.1073 16.0977 0.667049 0.633138 -0.264382 0.290152 +#8293 1721120760144 +SLAM 14.4147 -21.9774 35.1522 -0.56618 0.0714901 0.695198 0.437069 +TTool-pose None 33.0208 11.0836 16.1074 0.667376 0.633206 -0.263759 0.289817 +#8294 1721120760177 +SLAM 14.3587 -21.993 35.1732 -0.567441 0.0692547 0.694558 0.43681 +TTool-pose None 33.007 11.069 16.1361 0.667166 0.634675 -0.261753 0.288905 +#8295 1721120760208 +SLAM 14.2541 -22.1587 35.1173 -0.567014 0.0675285 0.693481 0.439341 +TTool-pose None 32.9997 11.1001 16.1259 0.66484 0.636839 -0.26156 0.289678 +#8296 1721120760240 +SLAM 14.3092 -21.9663 35.2107 -0.5694 0.0664021 0.694041 0.435524 +TTool-pose None 32.9859 11.0242 16.1821 0.66762 0.636176 -0.258864 0.287147 +#8297 1721120760271 +SLAM 14.419 -21.9569 35.1606 -0.565282 0.0738971 0.695383 0.437536 +TTool-pose None 33.0339 11.0988 16.0631 0.667528 0.631719 -0.265376 0.291234 +#8298 1721120760306 +SLAM 14.3546 -22.0035 35.156 -0.567327 0.0689959 0.694672 0.436818 +TTool-pose None 33.0042 11.0548 16.1312 0.667076 0.634847 -0.261813 0.288677 +#8299 1721120760337 +SLAM 14.4077 -21.9682 35.1742 -0.567452 0.0686081 0.695134 0.435982 +TTool-pose None 33.0212 11.0566 16.1422 0.667592 0.634778 -0.261636 0.287796 +#8300 1721120760370 +SLAM 14.4027 -21.9136 35.2099 -0.565856 0.0741177 0.695183 0.437074 +TTool-pose None 33.0399 11.1011 16.0584 0.667999 0.631412 -0.264821 0.291326 +#8301 1721120760402 +SLAM 14.1892 -22.227 35.0746 -0.566712 0.0672457 0.693057 0.44044 +TTool-pose None 32.9832 11.0877 16.1099 0.663932 0.637457 -0.26173 0.290246 +#8302 1721120760434 +SLAM 14.2462 -22.0401 35.1754 -0.567884 0.0688092 0.693651 0.437746 +TTool-pose None 32.9891 11.0548 16.1165 0.666442 0.635375 -0.26105 0.289671 +#8303 1721120760466 +SLAM 14.2096 -22.1403 35.1321 -0.568093 0.0660343 0.693237 0.438558 +TTool-pose None 32.9838 11.0561 16.139 0.665165 0.637584 -0.259996 0.288696 +#8304 1721120760497 +SLAM 14.2812 -22.0694 35.1302 -0.567207 0.0684866 0.694164 0.437862 +TTool-pose None 32.9949 11.0457 16.1126 0.666179 0.635607 -0.261725 0.289159 +#8305 1721120760527 +SLAM 14.284 -22.1045 35.1339 -0.567291 0.067205 0.694062 0.438112 +TTool-pose None 33.0104 11.0655 16.1209 0.665678 0.636577 -0.261263 0.288596 +#8306 1721120760557 +SLAM 14.3697 -21.9842 35.1666 -0.566288 0.0712473 0.695091 0.437138 +TTool-pose None 33.0315 11.0647 16.0791 0.66728 0.633403 -0.263567 0.289783 +#8307 1721120760590 +SLAM 14.3422 -22.0294 35.1266 -0.56505 0.0732346 0.69499 0.438571 +TTool-pose None 33.027 11.079 16.0371 0.666584 0.632574 -0.265376 0.291542 +#8308 1721120760626 +SLAM 14.2726 -22.1533 35.0877 -0.566166 0.0683385 0.694194 0.439181 +TTool-pose None 33.0123 11.0677 16.0874 0.665044 0.636186 -0.262754 0.289561 +#8309 1721120760658 +SLAM 14.2919 -21.9864 35.188 -0.567829 0.0688919 0.694403 0.436611 +TTool-pose None 33.0073 11.027 16.1041 0.667269 0.634858 -0.261231 0.288733 +#8310 1721120760688 +SLAM 14.5551 -21.6742 35.2858 -0.56742 0.0734133 0.697106 0.432074 +TTool-pose None 33.0589 10.9974 16.0957 0.671612 0.629941 -0.263266 0.287584 +#8311 1721120760717 +SLAM 14.2061 -22.2019 35.0907 -0.567268 0.0655597 0.693539 0.439219 +TTool-pose None 33.002 11.0479 16.113 0.664449 0.63813 -0.260749 0.28846 +#8312 1721120760748 +SLAM 14.3084 -21.9659 35.1843 -0.566596 0.0717958 0.694816 0.437088 +TTool-pose None 33.0232 11.0348 16.053 0.667501 0.633027 -0.263367 0.290276 +#8313 1721120760778 +SLAM 14.2258 -22.15 35.1153 -0.566838 0.0674941 0.693853 0.438983 +TTool-pose None 33.0136 11.0528 16.0833 0.665063 0.63671 -0.261781 0.28925 +#8314 1721120760810 +SLAM 14.2493 -22.0516 35.1326 -0.565886 0.0719911 0.694414 0.438611 +TTool-pose None 33.0115 11.0352 16.0306 0.666357 0.633474 -0.264095 0.291268 +#8315 1721120760840 +SLAM 14.1283 -22.2726 35.0508 -0.565517 0.0687816 0.69311 0.441653 +TTool-pose None 33.0007 11.0732 16.0334 0.663287 0.636848 -0.263393 0.291554 +#8316 1721120760870 +SLAM 14.2594 -21.9236 35.2597 -0.568566 0.0692365 0.694255 0.435832 +TTool-pose None 33.0239 11.0142 16.0826 0.66802 0.634347 -0.26055 0.288735 +#8317 1721120760901 +SLAM 14.2236 -22.0121 35.1791 -0.567275 0.0701466 0.694192 0.437464 +TTool-pose None 33.0093 11.0085 16.0519 0.666904 0.634328 -0.262124 0.289933 +#8318 1721120760938 +SLAM 14.2559 -21.9944 35.1854 -0.566508 0.0717309 0.694541 0.437648 +TTool-pose None 33.0276 11.0279 16.026 0.667071 0.633293 -0.263402 0.290655 +#8319 1721120760970 +SLAM 14.2088 -22.0082 35.1703 -0.567555 0.0696279 0.694201 0.437171 +TTool-pose None 32.9985 10.9833 16.055 0.66702 0.634574 -0.261693 0.289517 +#8320 1721120761000 +SLAM 14.2428 -22.0132 35.186 -0.567421 0.0690245 0.694443 0.437056 +TTool-pose None 33.0259 11.0053 16.055 0.666927 0.634929 -0.261693 0.288952 +#8321 1721120761030 +SLAM 14.2481 -22.0511 35.1369 -0.565773 0.0712869 0.694735 0.438363 +TTool-pose None 33.0309 11.0223 16.0049 0.666337 0.633845 -0.264059 0.290537 +#8322 1721120761061 +SLAM 14.262 -21.9181 35.2104 -0.567797 0.0699678 0.69492 0.435658 +TTool-pose None 33.017 10.9639 16.0445 0.668225 0.633745 -0.261635 0.288603 +#8323 1721120761096 +SLAM 14.19 -21.9885 35.2054 -0.569151 0.0660845 0.694129 0.435758 +TTool-pose None 33.0023 10.9469 16.0844 0.667335 0.636472 -0.259043 0.286992 +#8324 1721120761132 +SLAM 14.2219 -21.9744 35.1778 -0.567733 0.0689837 0.69468 0.436279 +TTool-pose None 33.0083 10.9519 16.0411 0.667517 0.634658 -0.261392 0.288455 +#8325 1721120761166 +SLAM 14.3193 -21.9885 35.1394 -0.565298 0.0720499 0.695762 0.437221 +TTool-pose None 33.0518 10.998 15.9851 0.667284 0.632843 -0.264896 0.289785 +#8326 1721120761199 +SLAM 14.1337 -22.1151 35.1317 -0.566717 0.0687514 0.693922 0.438836 +TTool-pose None 33.0161 10.9879 16.0006 0.665479 0.635796 -0.262269 0.289862 +#8327 1721120761233 +SLAM 14.3012 -21.9824 35.1376 -0.566275 0.0699161 0.695733 0.436348 +TTool-pose None 33.038 10.9567 16.0103 0.6675 0.633983 -0.263292 0.288251 +#8328 1721120761266 +SLAM 14.2327 -21.9888 35.1609 -0.565991 0.0717409 0.695146 0.437354 +TTool-pose None 33.0373 10.9726 15.9692 0.66721 0.633142 -0.264016 0.290108 +#8329 1721120761300 +SLAM 14.1854 -21.9836 35.1805 -0.568961 0.065762 0.694594 0.435313 +TTool-pose None 33.0024 10.9006 16.0625 0.667542 0.636501 -0.259208 0.286298 +#8330 1721120761334 +SLAM 14.1241 -22.1114 35.1424 -0.568303 0.064726 0.693946 0.437357 +TTool-pose None 33.0123 10.9386 16.0445 0.665713 0.637992 -0.259505 0.286967 +#8331 1721120761368 +SLAM 14.2446 -22.0273 35.142 -0.567503 0.0663225 0.695285 0.436028 +TTool-pose None 33.035 10.9286 16.0347 0.66697 0.63634 -0.26096 0.286396 +#8332 1721120761405 +SLAM 14.1563 -22.1364 35.0973 -0.5673 0.0652388 0.694495 0.437711 +TTool-pose None 33.0202 10.9345 16.024 0.665452 0.63774 -0.260755 0.287 +#8333 1721120761440 +SLAM 14.1497 -22.1008 35.1235 -0.568011 0.064697 0.694455 0.436931 +TTool-pose None 33.0167 10.915 16.0356 0.665969 0.637826 -0.259865 0.286415 +#8334 1721120761478 +SLAM 14.1429 -22.1288 35.0927 -0.566786 0.0667413 0.694569 0.438034 +TTool-pose None 33.0202 10.9286 15.9954 0.665541 0.636833 -0.261719 0.287932 +#8335 1721120761519 +SLAM 14.1634 -21.9578 35.1791 -0.567526 0.0695114 0.694909 0.4361 +TTool-pose None 33.0148 10.8979 15.9787 0.667752 0.634219 -0.261784 0.288522 +#8336 1721120761552 +SLAM 14.218 -22.0273 35.1325 -0.565631 0.0706674 0.695472 0.437479 +TTool-pose None 33.0516 10.9454 15.9429 0.666791 0.6339 -0.26413 0.289307 +#8337 1721120761583 +SLAM 14.1318 -22.0188 35.1586 -0.566891 0.0697435 0.694676 0.43726 +TTool-pose None 33.0237 10.9147 15.9557 0.666891 0.634499 -0.262471 0.289273 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0.285416 +#8356 1721120762224 +SLAM 14.059 -21.943 35.1904 -0.568235 0.0677066 0.695139 0.435094 +TTool-pose None 33.0246 10.7896 15.913 0.668104 0.635065 -0.260578 0.286932 +#8357 1721120762256 +SLAM 14.1181 -21.9633 35.1507 -0.565908 0.0711696 0.695879 0.436389 +TTool-pose None 33.0533 10.83 15.8522 0.667741 0.633134 -0.26404 0.288875 +#8358 1721120762290 +SLAM 13.9988 -22.1538 35.0624 -0.565811 0.0680269 0.69479 0.438744 +TTool-pose None 33.0293 10.8307 15.8598 0.665226 0.636203 -0.263111 0.288782 +#8359 1721120762321 +SLAM 13.9985 -22.0935 35.1347 -0.567907 0.064864 0.694594 0.436823 +TTool-pose None 33.0337 10.8084 15.91 0.666076 0.637664 -0.260039 0.286368 +#8360 1721120762354 +SLAM 14.1453 -21.9006 35.1796 -0.566711 0.070132 0.696285 0.434865 +TTool-pose None 33.0576 10.797 15.8664 0.668678 0.633259 -0.262977 0.287397 +#8361 1721120762386 +SLAM 13.9775 -22.1691 35.0716 -0.567011 0.064845 0.694647 0.437904 +TTool-pose None 33.0299 10.7988 15.8913 0.665169 0.638069 -0.260961 0.286738 +#8362 1721120762418 +SLAM 14.0676 -21.9399 35.1727 -0.567747 0.0678473 0.695659 0.434877 +TTool-pose None 33.036 10.7628 15.8835 0.668225 0.634859 -0.261187 0.286551 +#8363 1721120762451 +SLAM 14.0892 -21.9758 35.1367 -0.566669 0.0686838 0.695962 0.435668 +TTool-pose None 33.0462 10.7795 15.8606 0.667724 0.63456 -0.262573 0.287116 +#8364 1721120762484 +SLAM 14.094 -21.908 35.1783 -0.56727 0.0691057 0.696057 0.434665 +TTool-pose None 33.0462 10.7616 15.8622 0.668636 0.6339 -0.262085 0.286898 +#8365 1721120762526 +SLAM 14.1269 -21.8372 35.21 -0.567249 0.0704465 0.696454 0.43384 +TTool-pose None 33.0551 10.7545 15.8502 0.669568 0.632658 -0.262533 0.287055 +#8366 1721120762561 +SLAM 14.048 -21.919 35.1813 -0.568027 0.0675876 0.695714 0.434464 +TTool-pose None 33.0333 10.7389 15.8708 0.668493 0.63488 -0.260833 0.286201 +#8367 1721120762597 +SLAM 14.0738 -22.0128 35.1089 -0.566504 0.0676625 0.696097 0.435825 +TTool-pose None 33.0497 10.7585 15.8501 0.667322 0.635305 -0.262472 0.286495 +#8368 1721120762630 +SLAM 13.9986 -22.1078 35.0777 -0.565909 0.0677 0.695432 0.437651 +TTool-pose None 33.0477 10.7789 15.8232 0.665939 0.635988 -0.263006 0.287706 +#8369 1721120762667 +SLAM 14.0003 -22.0695 35.1111 -0.566854 0.0665296 0.695407 0.436646 +TTool-pose None 33.0476 10.7625 15.8439 0.666489 0.636418 -0.261702 0.286665 +#8370 1721120762701 +SLAM 14.1508 -21.9238 35.1385 -0.565694 0.070216 0.697068 0.434922 +TTool-pose None 33.0793 10.7577 15.814 0.668511 0.633173 -0.264149 0.286898 +#8371 1721120762740 +SLAM 14.0787 -21.9628 35.1284 -0.565622 0.0705844 0.696495 0.435872 +TTool-pose None 33.066 10.7539 15.7939 0.667918 0.633306 -0.264251 0.287894 +#8372 1721120762774 +SLAM 14.1097 -21.8647 35.1734 -0.566618 0.0704369 0.696828 0.434066 +TTool-pose None 33.0609 10.7203 15.8143 0.669313 0.632724 -0.263228 0.286866 +#8373 1721120762809 +SLAM 14.128 -21.8549 35.1724 -0.566016 0.0716262 0.697066 0.434275 +TTool-pose None 33.0708 10.7316 15.7931 0.669383 0.631974 -0.264212 0.287452 +#8374 1721120762845 +SLAM 14.0382 -21.9759 35.1208 -0.566046 0.0697725 0.696274 0.435805 +TTool-pose None 33.0534 10.7263 15.7961 0.667818 0.633849 -0.263559 0.287564 +#8375 1721120762880 +SLAM 14.0756 -21.8966 35.1551 -0.566656 0.0697948 0.696672 0.434371 +TTool-pose None 33.0547 10.7041 15.8084 0.668935 0.633284 -0.26299 0.286731 +#8376 1721120762914 +SLAM 13.9206 -21.885 35.2302 -0.568266 0.0694808 0.695115 0.434811 +TTool-pose None 33.0306 10.7014 15.7959 0.668771 0.633755 -0.261041 0.287854 +#8377 1721120762951 +SLAM 13.962 -21.9689 35.1496 -0.56806 0.0663673 0.6956 0.434792 +TTool-pose None 33.0287 10.6801 15.8316 0.667945 0.635838 -0.260441 0.285712 +#8378 1721120762983 +SLAM 13.971 -21.8776 35.1909 -0.566749 0.0718086 0.695913 0.435138 +TTool-pose None 33.0416 10.6986 15.756 0.668921 0.632237 -0.263358 0.288731 +#8379 1721120763017 +SLAM 14.0278 -21.9115 35.1583 -0.567406 0.0679716 0.696402 0.434114 +TTool-pose None 33.0475 10.6768 15.8114 0.668753 0.634448 -0.261671 0.285785 +#8380 1721120763050 +SLAM 14.0436 -21.8889 35.1771 -0.567732 0.0674515 0.696551 0.43353 +TTool-pose None 33.0558 10.672 15.8184 0.669081 0.634579 -0.261207 0.285152 +#8381 1721120763084 +SLAM 14.0265 -21.8975 35.1733 -0.566826 0.0695967 0.696496 0.434463 +TTool-pose None 33.0621 10.69 15.7783 0.668843 0.633463 -0.262737 0.286782 +#8382 1721120763121 +SLAM 14.0687 -21.8616 35.1763 -0.567523 0.0679445 0.696942 0.433097 +TTool-pose None 33.0606 10.6601 15.8094 0.669487 0.63406 -0.261612 0.284981 +#8383 1721120763155 +SLAM 13.9765 -21.9735 35.1518 -0.567699 0.0660669 0.696013 0.434647 +TTool-pose None 33.0547 10.6741 15.8076 0.667918 0.635964 -0.26078 0.285184 +#8384 1721120763189 +SLAM 14.0118 -22.0143 35.1063 -0.56646 0.0669257 0.696463 0.435411 +TTool-pose None 33.0671 10.6882 15.7876 0.667418 0.635632 -0.262358 0.285645 +#8385 1721120763223 +SLAM 14.0892 -21.8522 35.1836 -0.566138 0.0708648 0.697296 0.433872 +TTool-pose None 33.0892 10.6888 15.7542 0.669492 0.632332 -0.263903 0.286694 +#8386 1721120763255 +SLAM 14.0146 -21.9829 35.1064 -0.566053 0.0685223 0.696712 0.435294 +TTool-pose None 33.0657 10.6732 15.7638 0.667859 0.634487 -0.263258 0.286333 +#8387 1721120763289 +SLAM 14.0317 -21.9725 35.1327 -0.566683 0.0669228 0.696775 0.434623 +TTool-pose None 33.0803 10.6758 15.7826 0.668013 0.635326 -0.262168 0.285111 +#8388 1721120763322 +SLAM 13.9307 -21.9224 35.1797 -0.567396 0.0688185 0.695918 0.434769 +TTool-pose None 33.0509 10.656 15.7572 0.668505 0.634141 -0.261856 0.286876 +#8389 1721120763362 +SLAM 13.9726 -21.9094 35.171 -0.56656 0.0702225 0.696429 0.434816 +TTool-pose None 33.0664 10.6622 15.7372 0.668715 0.63317 -0.263177 0.287325 +#8390 1721120763395 +SLAM 13.9738 -21.896 35.1796 -0.566611 0.0703703 0.696472 0.434657 +TTool-pose None 33.0684 10.6604 15.7332 0.668873 0.633009 -0.263172 0.287317 +#8391 1721120763429 +SLAM 14.0944 -21.7986 35.1992 -0.566358 0.0712015 0.697694 0.432888 +TTool-pose None 33.0918 10.6488 15.7399 0.670311 0.631715 -0.263821 0.286213 +#8392 1721120763466 +SLAM 13.9734 -21.8559 35.1942 -0.566742 0.0710701 0.696605 0.434159 +TTool-pose None 33.0655 10.6424 15.7247 0.669428 0.63234 -0.263249 0.287425 +#8393 1721120763500 +SLAM 13.9856 -21.9145 35.143 -0.566299 0.0699641 0.696837 0.434544 +TTool-pose None 33.0661 10.6333 15.7313 0.668804 0.633222 -0.263426 0.286775 +#8394 1721120763534 +SLAM 14.0336 -21.83 35.1896 -0.566577 0.0707793 0.697278 0.43334 +TTool-pose None 33.0797 10.6306 15.7312 0.669913 0.632196 -0.263424 0.286451 +#8395 1721120763567 +SLAM 13.9317 -21.9826 35.1289 -0.565984 0.0697105 0.696337 0.435795 +TTool-pose None 33.0694 10.6514 15.7134 0.6678 0.633884 -0.263614 0.28748 +#8396 1721120763601 +SLAM 13.9681 -21.9554 35.1126 -0.56544 0.0707284 0.696871 0.435483 +TTool-pose None 33.07 10.6391 15.6996 0.668207 0.633042 -0.264528 0.28755 +#8397 1721120763635 +SLAM 13.9674 -21.957 35.1118 -0.565419 0.0707448 0.696866 0.435516 +TTool-pose None 33.07 10.6395 15.6991 0.668184 0.633043 -0.264553 0.287577 +#8398 1721120763668 +SLAM 13.8893 -21.995 35.1253 -0.566505 0.0687265 0.696063 0.435712 +TTool-pose None 33.0569 10.627 15.7173 0.66768 0.634541 -0.262766 0.287084 +#8399 1721120763705 +SLAM 13.8963 -21.9063 35.1767 -0.566745 0.0704311 0.696227 0.434865 +TTool-pose None 33.0604 10.6186 15.6976 0.66876 0.633059 -0.263019 0.28761 +#8400 1721120763739 +SLAM 13.9497 -21.8971 35.1589 -0.566313 0.0703962 0.696858 0.434422 +TTool-pose None 33.0721 10.6104 15.6975 0.669004 0.632881 -0.263535 0.286959 +#8401 1721120763776 +SLAM 13.9103 -21.8598 35.1989 -0.567961 0.0682969 0.696463 0.433238 +TTool-pose None 33.0564 10.5766 15.7286 0.669542 0.633901 -0.261198 0.285586 +#8402 1721120763810 +SLAM 13.8743 -21.911 35.1738 -0.567842 0.0677156 0.696186 0.433929 +TTool-pose None 33.0504 10.5734 15.7249 0.668881 0.634568 -0.261121 0.285723 +#8403 1721120763844 +SLAM 14.0327 -21.7637 35.2051 -0.567327 0.0698121 0.697828 0.431629 +TTool-pose None 33.0785 10.5588 15.7229 0.670987 0.632191 -0.26245 0.284832 +#8404 1721120763877 +SLAM 13.8981 -21.9216 35.1475 -0.565825 0.0713873 0.69667 0.435197 +TTool-pose None 33.0713 10.5997 15.6591 0.668636 0.6325 -0.26429 0.287962 +#8405 1721120763910 +SLAM 13.9553 -21.8052 35.2246 -0.567135 0.0704939 0.697106 0.432935 +TTool-pose None 33.0857 10.5849 15.6872 0.670208 0.632252 -0.262748 0.286256 +#8406 1721120763948 +SLAM 13.9117 -21.8642 35.1768 -0.567194 0.0693328 0.696873 0.433419 +TTool-pose None 33.065 10.5557 15.6941 0.669572 0.633236 -0.262332 0.285951 +#8407 1721120763985 +SLAM 13.7971 -22.0182 35.1102 -0.566676 0.0682574 0.695873 0.435865 +TTool-pose None 33.0481 10.5652 15.6762 0.667472 0.634928 -0.262433 0.287013 +#8408 1721120764020 +SLAM 13.8779 -21.8993 35.1707 -0.566084 0.0714423 0.696692 0.434817 +TTool-pose None 33.0789 10.5804 15.6438 0.66896 0.632322 -0.264041 0.287831 +#8409 1721120764052 +SLAM 13.8902 -21.9144 35.1224 -0.565406 0.0720566 0.697044 0.435032 +TTool-pose None 33.0671 10.56 15.6334 0.668865 0.631959 -0.264956 0.288007 +#8410 1721120764086 +SLAM 13.8217 -22.0862 35.0691 -0.565461 0.0680644 0.696275 0.436832 +TTool-pose None 33.0761 10.5875 15.6483 0.666555 0.635388 -0.26368 0.286985 +#8411 1721120764119 +SLAM 13.7889 -21.9574 35.143 -0.566979 0.0689161 0.696074 0.435048 +TTool-pose None 33.0515 10.5384 15.6553 0.668271 0.634168 -0.262333 0.286927 +#8412 1721120764153 +SLAM 13.7268 -22.0014 35.1347 -0.566698 0.0695206 0.695519 0.436204 +TTool-pose None 33.0452 10.5496 15.6328 0.667562 0.634214 -0.262719 0.288124 +#8413 1721120764187 +SLAM 13.8006 -21.9642 35.1277 -0.566136 0.0702876 0.696337 0.435505 +TTool-pose None 33.0605 10.5433 15.6289 0.668178 0.633384 -0.263619 0.287697 +#8414 1721120764221 +SLAM 13.827 -21.9764 35.1026 -0.565585 0.0705342 0.696695 0.435609 +TTool-pose None 33.0659 10.5406 15.6225 0.668088 0.633231 -0.264302 0.287617 +#8415 1721120764254 +SLAM 13.7438 -21.9722 35.1368 -0.566749 0.069685 0.695877 0.43554 +TTool-pose None 33.0477 10.5235 15.6304 0.668086 0.633836 -0.26276 0.2877 +#8416 1721120764288 +SLAM 13.7841 -21.8983 35.1944 -0.567375 0.0696025 0.696166 0.434274 +TTool-pose None 33.066 10.5252 15.64 0.669058 0.63341 -0.26213 0.286952 +#8417 1721120764325 +SLAM 13.6385 -22.0532 35.1293 -0.567893 0.0666634 0.694856 0.436153 +TTool-pose None 33.0301 10.5068 15.6509 0.667025 0.636181 -0.260598 0.286951 +#8418 1721120764359 +SLAM 13.7411 -21.9529 35.1504 -0.566295 0.0711905 0.69598 0.435722 +TTool-pose None 33.0576 10.5276 15.6019 0.668279 0.63287 -0.263661 0.288556 +#8419 1721120764392 +SLAM 13.7481 -22.0156 35.1129 -0.56586 0.0700173 0.696071 0.436332 +TTool-pose None 33.0656 10.5377 15.6031 0.667478 0.633888 -0.263793 0.288056 +#8420 1721120764426 +SLAM 13.7327 -21.9049 35.2035 -0.567438 0.0699615 0.69587 0.434609 +TTool-pose None 33.0642 10.5138 15.617 0.668921 0.633307 -0.262127 0.287503 +#8421 1721120764460 +SLAM 13.7306 -21.8828 35.2228 -0.569183 0.0664757 0.695782 0.433012 +TTool-pose None 33.0517 10.4738 15.6723 0.669402 0.635098 -0.259336 0.284949 +#8422 1721120764493 +SLAM 13.6604 -22.0897 35.1106 -0.566476 0.0680504 0.695256 0.437142 +TTool-pose None 33.0619 10.5338 15.6059 0.666477 0.635574 -0.262498 0.287838 +#8423 1721120764526 +SLAM 13.747 -21.8964 35.1889 -0.567026 0.0705611 0.696221 0.434486 +TTool-pose None 33.0665 10.4986 15.6026 0.669105 0.632831 -0.262765 0.287541 +#8424 1721120764560 +SLAM 13.6435 -21.9992 35.1511 -0.567248 0.0690176 0.695277 0.435955 +TTool-pose None 33.0446 10.495 15.6011 0.667688 0.63448 -0.26198 0.287917 +#8425 1721120764593 +SLAM 13.6165 -21.982 35.1769 -0.568071 0.0680635 0.695019 0.435444 +TTool-pose None 33.0401 10.4805 15.6118 0.667923 0.634958 -0.260831 0.287359 +#8426 1721120764626 +SLAM 13.6927 -21.9861 35.149 -0.566246 0.0705227 0.695865 0.436079 +TTool-pose None 33.0697 10.5108 15.5729 0.667845 0.633463 -0.26351 0.288397 +#8427 1721120764659 +SLAM 13.6339 -21.9636 35.1817 -0.567692 0.0690013 0.695306 0.435332 +TTool-pose None 33.0503 10.4782 15.596 0.668193 0.634261 -0.261522 0.287644 +#8428 1721120764693 +SLAM 13.5376 -22.1735 35.0753 -0.567314 0.065424 0.694426 0.437774 +TTool-pose None 33.0347 10.4842 15.6062 0.665457 0.637642 -0.260784 0.28718 +#8429 1721120764728 +SLAM 13.6816 -21.9511 35.1405 -0.565945 0.0721378 0.696097 0.435834 +TTool-pose None 33.0578 10.4755 15.5491 0.668392 0.632256 -0.264301 0.289054 +#8430 1721120764766 +SLAM 13.6705 -22.0092 35.135 -0.566027 0.0703155 0.695901 0.436338 +TTool-pose None 33.0737 10.4965 15.5547 0.667574 0.633697 -0.263682 0.288352 +#8431 1721120764800 +SLAM 13.6519 -21.995 35.1535 -0.566529 0.0699443 0.695731 0.436017 +TTool-pose None 33.0707 10.486 15.5601 0.66778 0.633843 -0.263039 0.28814 +#8432 1721120764837 +SLAM 13.6808 -21.9134 35.1803 -0.566419 0.0718533 0.696141 0.435196 +TTool-pose None 33.0704 10.472 15.5434 0.668844 0.632214 -0.26374 0.288613 +#8433 1721120764870 +SLAM 13.5849 -22.0429 35.1186 -0.566297 0.0701688 0.695321 0.436936 +TTool-pose None 33.0505 10.4667 15.542 0.667148 0.634051 -0.263286 0.288922 +#8434 1721120764909 +SLAM 13.6354 -22.0021 35.1356 -0.565216 0.0727332 0.695866 0.437048 +TTool-pose None 33.0761 10.4921 15.504 0.667571 0.632307 -0.265184 0.290031 +#8435 1721120764943 +SLAM 13.531 -22.009 35.1639 -0.567593 0.0690329 0.694867 0.436156 +TTool-pose None 33.0419 10.4393 15.5513 0.667598 0.634568 -0.261575 0.2883 +#8436 1721120764980 +SLAM 13.5968 -21.9433 35.1803 -0.567132 0.0706057 0.695584 0.435361 +TTool-pose None 33.0566 10.4374 15.5389 0.668507 0.633161 -0.262585 0.28837 +#8437 1721120765016 +SLAM 13.5274 -21.9633 35.2025 -0.568077 0.0691821 0.694844 0.435538 +TTool-pose None 33.0463 10.4348 15.548 0.668147 0.634241 -0.261116 0.288162 +#8438 1721120765052 +SLAM 13.5819 -22.0714 35.114 -0.565844 0.0699147 0.695533 0.437226 +TTool-pose None 33.0746 10.4654 15.5172 0.666809 0.634317 -0.263709 0.288735 +#8439 1721120765083 +SLAM 13.5693 -21.916 35.2022 -0.567126 0.071682 0.695496 0.435334 +TTool-pose None 33.0578 10.4277 15.5138 0.668803 0.632421 -0.26288 0.289038 +#8440 1721120765113 +SLAM 13.5814 -22.081 35.0852 -0.56514 0.0710052 0.695743 0.437625 +TTool-pose None 33.0704 10.4556 15.4954 0.666702 0.633706 -0.264764 0.289359 +#8441 1721120765143 +SLAM 13.4903 -22.0595 35.1429 -0.567367 0.0683714 0.69477 0.43671 +TTool-pose None 33.0487 10.423 15.5312 0.666997 0.635227 -0.261609 0.288208 +#8442 1721120765173 +SLAM 13.5078 -22.0301 35.1503 -0.568683 0.0656047 0.694934 0.435157 +TTool-pose None 33.0371 10.3841 15.576 0.667573 0.63653 -0.259495 0.2859 +#8443 1721120765209 +SLAM 13.4807 -21.9886 35.1904 -0.567673 0.0697828 0.694751 0.436117 +TTool-pose None 33.0492 10.4163 15.5134 0.667831 0.63405 -0.261688 0.288798 +#8444 1721120765241 +SLAM 13.4918 -21.9942 35.1961 -0.56672 0.0716364 0.694859 0.436883 +TTool-pose None 33.0689 10.4469 15.4804 0.667625 0.633059 -0.2632 0.290075 +#8445 1721120765274 +SLAM 13.4621 -22.0315 35.1646 -0.567353 0.0694941 0.694679 0.436696 +TTool-pose None 33.0492 10.4136 15.5055 0.667297 0.634463 -0.261927 0.28891 +#8446 1721120765305 +SLAM 13.5602 -21.8736 35.2387 -0.568125 0.0703275 0.695597 0.434088 +TTool-pose None 33.0642 10.3923 15.522 0.669486 0.632882 -0.261486 0.287706 +#8447 1721120765336 +SLAM 13.4469 -22.0398 35.1591 -0.566966 0.0703025 0.694644 0.437123 +TTool-pose None 33.0505 10.4146 15.4858 0.667144 0.63407 -0.262546 0.289562 +#8448 1721120765367 +SLAM 13.4889 -21.9661 35.2022 -0.568147 0.068802 0.694987 0.43528 +TTool-pose None 33.0545 10.3912 15.5191 0.668244 0.634397 -0.260957 0.287741 +#8449 1721120765399 +SLAM 13.4207 -21.9923 35.1906 -0.56829 0.0689996 0.694464 0.435896 +TTool-pose None 33.035 10.3749 15.5084 0.667874 0.63452 -0.260796 0.288473 +#8450 1721120765430 +SLAM 13.3522 -22.0692 35.1862 -0.568505 0.0676096 0.693723 0.437012 +TTool-pose None 33.0377 10.3936 15.5057 0.666744 0.635919 -0.260084 0.288648 +#8451 1721120765461 +SLAM 13.4118 -22.106 35.1287 -0.567117 0.0683386 0.694475 0.437507 +TTool-pose None 33.0513 10.3978 15.4898 0.666382 0.635559 -0.261817 0.288711 +#8452 1721120765493 +SLAM 13.4783 -22.0118 35.1598 -0.566024 0.0722674 0.695214 0.437117 +TTool-pose None 33.0692 10.4123 15.4478 0.667519 0.632691 -0.264139 0.290267 +#8453 1721120765523 +SLAM 13.4273 -22.046 35.157 -0.566805 0.0703826 0.694749 0.437152 +TTool-pose None 33.0585 10.3953 15.464 0.667121 0.634019 -0.262748 0.289543 +#8454 1721120765554 +SLAM 13.3448 -22.0852 35.1528 -0.567985 0.0680905 0.69396 0.437236 +TTool-pose None 33.0328 10.3691 15.4875 0.666635 0.63566 -0.260786 0.288838 +#8455 1721120765585 +SLAM 13.4425 -21.9478 35.2136 -0.567736 0.0707138 0.694931 0.435599 +TTool-pose None 33.0564 10.3703 15.4722 0.668451 0.633214 -0.261908 0.288998 +#8456 1721120765615 +SLAM 13.3866 -21.9446 35.2396 -0.568509 0.0700339 0.694378 0.435582 +TTool-pose None 33.0472 10.3643 15.4736 0.668398 0.633704 -0.260848 0.289004 +#8457 1721120765645 +SLAM 13.3577 -22.1661 35.0969 -0.566814 0.0678473 0.694231 0.438363 +TTool-pose None 33.0485 10.3839 15.4682 0.665597 0.63622 -0.261956 0.288939 +#8458 1721120765676 +SLAM 13.2466 -22.0793 35.1926 -0.569269 0.0671081 0.69309 0.4371 +TTool-pose None 33.017 10.3442 15.4885 0.666658 0.63633 -0.259071 0.288853 +#8459 1721120765710 +SLAM 13.3035 -22.0401 35.2076 -0.569445 0.066558 0.693617 0.436118 +TTool-pose None 33.0303 10.3416 15.5003 0.667242 0.636313 -0.258806 0.287775 +#8460 1721120765744 +SLAM 13.3805 -22.015 35.1797 -0.567038 0.0712298 0.694583 0.436977 +TTool-pose None 33.0536 10.3694 15.4378 0.667499 0.633387 -0.262723 0.29008 +#8461 1721120765773 +SLAM 13.3788 -22.0817 35.1439 -0.566253 0.0709281 0.694636 0.437957 +TTool-pose None 33.0663 10.3858 15.423 0.666605 0.633948 -0.263452 0.290248 +#8462 1721120765804 +SLAM 13.4039 -21.9779 35.1829 -0.567445 0.0706083 0.694953 0.43596 +TTool-pose None 33.0501 10.3398 15.4484 0.668124 0.633417 -0.26218 0.289063 +#8463 1721120765841 +SLAM 13.4218 -21.9943 35.1886 -0.566707 0.071513 0.695101 0.436536 +TTool-pose None 33.0755 10.3683 15.4268 0.667839 0.633001 -0.263212 0.289694 +#8464 1721120765876 +SLAM 13.462 -22.0045 35.1639 -0.566067 0.0716324 0.695564 0.436609 +TTool-pose None 33.0848 10.3739 15.4193 0.667726 0.632918 -0.263964 0.289454 +#8465 1721120765907 +SLAM 13.3305 -22.1101 35.1268 -0.566376 0.0703364 0.694428 0.438224 +TTool-pose None 33.0575 10.3602 15.4121 0.666279 0.634461 -0.263132 0.290164 +#8466 1721120765937 +SLAM 13.4129 -22.0058 35.1518 -0.566386 0.0715388 0.69532 0.4366 +TTool-pose None 33.0628 10.3402 15.4137 0.667755 0.632993 -0.263578 0.289574 +#8467 1721120765967 +SLAM 13.3565 -22.0371 35.1586 -0.566937 0.0704458 0.694769 0.436939 +TTool-pose None 33.0569 10.3364 15.4177 0.667309 0.633897 -0.262632 0.289483 +#8468 1721120765997 +SLAM 13.3164 -21.9879 35.199 -0.568407 0.0692241 0.694358 0.435877 +TTool-pose None 33.0369 10.307 15.4407 0.667963 0.634366 -0.260724 0.288671 +#8469 1721120766027 +SLAM 13.2907 -22.1477 35.1212 -0.567769 0.0663268 0.69413 0.437519 +TTool-pose None 33.0498 10.3244 15.4476 0.665941 0.636953 -0.260533 0.287814 +#8470 1721120766057 +SLAM 13.3918 -22.0405 35.1333 -0.566439 0.0703726 0.69528 0.436784 +TTool-pose None 33.0634 10.3284 15.4099 0.66733 0.633859 -0.263192 0.289009 +#8471 1721120766089 +SLAM 13.4177 -21.9986 35.1518 -0.565617 0.0729479 0.695615 0.436894 +TTool-pose None 33.0783 10.3414 15.3756 0.667794 0.63212 -0.264799 0.290276 +#8472 1721120766119 +SLAM 13.4309 -21.9714 35.1514 -0.565907 0.0727263 0.695834 0.436206 +TTool-pose None 33.0712 10.3176 15.3854 0.668272 0.632006 -0.264469 0.289725 +#8473 1721120766150 +SLAM 13.3312 -21.995 35.191 -0.567708 0.0698596 0.694751 0.43606 +TTool-pose None 33.0565 10.305 15.4121 0.667897 0.633977 -0.261674 0.28882 +#8474 1721120766180 +SLAM 13.3657 -22.0441 35.1392 -0.565415 0.0729564 0.695256 0.437724 +TTool-pose None 33.0777 10.3384 15.3577 0.667173 0.632439 -0.264961 0.290863 +#8475 1721120766210 +SLAM 13.3908 -21.9791 35.1691 -0.56639 0.0719209 0.69551 0.43623 +TTool-pose None 33.0727 10.3126 15.3809 0.668118 0.632585 -0.263706 0.289511 +#8476 1721120766241 +SLAM 13.4158 -21.9721 35.174 -0.566288 0.07183 0.695735 0.436018 +TTool-pose None 33.0836 10.3178 15.3816 0.668231 0.632556 -0.263814 0.289214 +#8477 1721120766271 +SLAM 13.2565 -22.0789 35.1366 -0.567956 0.0679116 0.694266 0.436818 +TTool-pose None 33.0323 10.2732 15.4166 0.666884 0.63561 -0.260807 0.288352 +#8478 1721120766302 +SLAM 13.3558 -22.0759 35.0999 -0.565021 0.0726619 0.695391 0.438067 +TTool-pose None 33.0702 10.3225 15.3468 0.666794 0.632757 -0.265301 0.29073 +#8479 1721120766338 +SLAM 13.3897 -21.9895 35.1403 -0.565948 0.0723202 0.695698 0.436437 +TTool-pose None 33.0655 10.2988 15.3676 0.668008 0.632376 -0.264296 0.289682 +#8480 1721120766373 +SLAM 13.3386 -22.0018 35.1717 -0.567378 0.0697057 0.695059 0.436023 +TTool-pose None 33.0599 10.2918 15.3973 0.667837 0.634049 -0.26201 0.288494 +#8481 1721120766408 +SLAM 13.3178 -21.9975 35.1804 -0.567406 0.0702803 0.694886 0.436171 +TTool-pose None 33.0576 10.2888 15.3904 0.667884 0.633722 -0.26212 0.289005 +#8482 1721120766445 +SLAM 13.2869 -22.0416 35.156 -0.566991 0.0705931 0.694624 0.437076 +TTool-pose None 33.0518 10.2951 15.379 0.667257 0.633856 -0.262599 0.289725 +#8483 1721120766483 +SLAM 13.2689 -22.0673 35.1454 -0.567246 0.0696592 0.69444 0.437188 +TTool-pose None 33.0465 10.2885 15.3899 0.666972 0.634545 -0.262051 0.289368 +#8484 1721120766517 +SLAM 13.2878 -22.0192 35.1803 -0.567425 0.0702328 0.694601 0.436606 +TTool-pose None 33.0564 10.292 15.3849 0.667563 0.633931 -0.262049 0.289353 +#8485 1721120766548 +SLAM 13.2519 -22.2079 35.0727 -0.566642 0.0670897 0.694257 0.43866 +TTool-pose None 33.0555 10.3081 15.398 0.665161 0.636843 -0.261922 0.2886 +#8486 1721120766578 +SLAM 13.3009 -22.1463 35.0922 -0.566746 0.0676183 0.694758 0.43765 +TTool-pose None 33.0602 10.2978 15.4021 0.666039 0.636084 -0.262033 0.288149 +#8487 1721120766608 +SLAM 13.3566 -21.9988 35.1587 -0.566273 0.0719891 0.695392 0.436557 +TTool-pose None 33.0705 10.2972 15.3649 0.667884 0.632666 -0.263829 0.289762 +#8488 1721120766642 +SLAM 13.38 -21.982 35.1596 -0.565728 0.0731416 0.695642 0.436674 +TTool-pose None 33.0775 10.3097 15.3474 0.668017 0.631906 -0.264742 0.290282 +#8489 1721120766672 +SLAM 13.3018 -22.1348 35.0963 -0.5671 0.0668842 0.694828 0.437192 +TTool-pose None 33.0582 10.2845 15.4082 0.666226 0.636413 -0.261471 0.2875 +#8490 1721120766702 +SLAM 13.3017 -22.1339 35.0985 -0.566529 0.0682016 0.694854 0.437689 +TTool-pose None 33.065 10.3005 15.3857 0.666132 0.635695 -0.262434 0.288428 +#8491 1721120766738 +SLAM 13.3128 -22.004 35.1759 -0.567526 0.069546 0.694943 0.436041 +TTool-pose None 33.0589 10.2804 15.388 0.667803 0.634172 -0.261799 0.288494 +#8492 1721120766767 +SLAM 13.3875 -22.0135 35.1272 -0.565323 0.0727986 0.695843 0.436936 +TTool-pose None 33.0783 10.3023 15.344 0.667683 0.632223 -0.26509 0.290042 +#8493 1721120766802 +SLAM 13.3029 -22.1396 35.0955 -0.566307 0.0684906 0.694919 0.437827 +TTool-pose None 33.0699 10.3008 15.3786 0.666076 0.635545 -0.262751 0.2886 +#8494 1721120766837 +SLAM 13.305 -21.9879 35.1718 -0.567201 0.0708645 0.695007 0.43615 +TTool-pose None 33.0526 10.2698 15.3716 0.66802 0.633309 -0.26251 0.289243 +#8495 1721120766868 +SLAM 13.3688 -22.0406 35.1277 -0.566085 0.0705297 0.695618 0.436679 +TTool-pose None 33.0772 10.2938 15.3676 0.667394 0.633693 -0.263645 0.288812 +#8496 1721120766899 +SLAM 13.295 -22.1467 35.0768 -0.566062 0.0689248 0.694953 0.438022 +TTool-pose None 33.0614 10.2901 15.372 0.666013 0.635319 -0.263129 0.288899 +#8497 1721120766929 +SLAM 13.3219 -22.1068 35.1159 -0.566701 0.068097 0.695078 0.437125 +TTool-pose None 33.0739 10.2953 15.3874 0.666533 0.635548 -0.262257 0.287987 +#8498 1721120766958 +SLAM 13.4229 -21.9275 35.1734 -0.566428 0.0720078 0.696165 0.435119 +TTool-pose None 33.0783 10.2752 15.3701 0.66894 0.632079 -0.263776 0.288653 +#8499 1721120766990 +SLAM 13.2991 -21.9916 35.1745 -0.567708 0.0697526 0.69493 0.435791 +TTool-pose None 33.0497 10.2576 15.3887 0.668062 0.63394 -0.261667 0.288524 +#8500 1721120767029 +SLAM 13.3093 -22.0436 35.1378 -0.566461 0.0709742 0.695066 0.436999 +TTool-pose None 33.061 10.282 15.3644 0.667334 0.633541 -0.26331 0.289592 +#8501 1721120767063 +SLAM 13.2349 -22.0228 35.1729 -0.567893 0.0698026 0.694304 0.43654 +TTool-pose None 33.0365 10.2585 15.3823 0.667565 0.634218 -0.261408 0.289298 +#8502 1721120767101 +SLAM 13.2929 -21.9799 35.1838 -0.567431 0.070936 0.694873 0.436053 +TTool-pose None 33.0511 10.2659 15.3739 0.668141 0.633232 -0.262276 0.289343 +#8503 1721120767134 +SLAM 13.3124 -22.0128 35.1566 -0.566301 0.0722093 0.695099 0.436951 +TTool-pose None 33.0635 10.2876 15.3507 0.667663 0.632677 -0.263823 0.290253 +#8504 1721120767168 +SLAM 13.3519 -21.966 35.1797 -0.566541 0.0722078 0.69545 0.436081 +TTool-pose None 33.072 10.2844 15.3583 0.66832 0.632339 -0.263622 0.28966 +#8505 1721120767200 +SLAM 13.2386 -22.0486 35.1633 -0.56779 0.0691462 0.694321 0.436751 +TTool-pose None 33.0433 10.2657 15.3843 0.667229 0.634742 -0.261332 0.288992 +#8506 1721120767236 +SLAM 13.2241 -22.2032 35.075 -0.567086 0.0663318 0.694177 0.438329 +TTool-pose None 33.0489 10.2825 15.3956 0.665264 0.637243 -0.261243 0.288096 +#8507 1721120767267 +SLAM 13.348 -22.0484 35.1054 -0.565049 0.0731348 0.695593 0.437631 +TTool-pose None 33.0697 10.2941 15.3312 0.667232 0.632262 -0.265431 0.290684 +#8508 1721120767296 +SLAM 13.3319 -22.0153 35.1323 -0.566705 0.0705394 0.695383 0.436248 +TTool-pose None 33.0535 10.26 15.3739 0.667794 0.633543 -0.262979 0.288822 +#8509 1721120767326 +SLAM 13.3556 -22.0415 35.1059 -0.56526 0.0725919 0.695696 0.437286 +TTool-pose None 33.0693 10.2856 15.3382 0.66737 0.632501 -0.265077 0.290167 +#8510 1721120767356 +SLAM 13.4269 -22.0125 35.1085 -0.564575 0.0735687 0.696375 0.436926 +TTool-pose None 33.091 10.2998 15.3295 0.667778 0.631659 -0.266142 0.290088 +#8511 1721120767386 +SLAM 13.2996 -21.9991 35.1712 -0.567975 0.0687156 0.694974 0.435538 +TTool-pose None 33.0508 10.249 15.3967 0.668012 0.634551 -0.261107 0.287801 +#8512 1721120767417 +SLAM 13.34 -22.1153 35.091 -0.566578 0.0676281 0.695373 0.436889 +TTool-pose None 33.0712 10.277 15.3938 0.666562 0.635762 -0.26229 0.287413 +#8513 1721120767448 +SLAM 13.3723 -22.1029 35.0829 -0.565574 0.0696974 0.695742 0.437277 +TTool-pose None 33.0812 10.2924 15.3683 0.666677 0.634471 -0.263952 0.288478 +#8514 1721120767482 +SLAM 13.3416 -22.0753 35.1114 -0.565642 0.0711026 0.695445 0.437435 +TTool-pose None 33.0776 10.2955 15.352 0.666936 0.633589 -0.264236 0.289558 +#8515 1721120767516 +SLAM 13.4468 -21.8851 35.1904 -0.566666 0.0722247 0.696425 0.434357 +TTool-pose None 33.0803 10.2623 15.3757 0.669573 0.631636 -0.263626 0.288292 +#8516 1721120767550 +SLAM 13.3383 -22.0191 35.1349 -0.56603 0.0720247 0.695433 0.436801 +TTool-pose None 33.0649 10.2786 15.3536 0.667684 0.632728 -0.264094 0.289847 +#8517 1721120767579 +SLAM 13.3129 -22.082 35.1166 -0.565754 0.0713408 0.695156 0.437711 +TTool-pose None 33.0723 10.2954 15.3489 0.666816 0.633544 -0.264149 0.290011 +#8518 1721120767609 +SLAM 13.3351 -22.0705 35.1258 -0.566411 0.0696166 0.6953 0.436909 +TTool-pose None 33.0751 10.2879 15.3737 0.66704 0.634419 -0.263012 0.288611 +#8519 1721120767642 +SLAM 13.4114 -21.8236 35.2594 -0.568552 0.0703712 0.695946 0.432962 +TTool-pose None 33.0719 10.2427 15.4067 0.670361 0.632417 -0.261103 0.28704 +#8520 1721120767678 +SLAM 13.2752 -22.0393 35.1616 -0.568604 0.0666166 0.69465 0.43556 +TTool-pose None 33.045 10.2437 15.4213 0.667538 0.636007 -0.259825 0.286843 +#8521 1721120767708 +SLAM 13.2956 -22.0151 35.1533 -0.56676 0.0712948 0.694996 0.43667 +TTool-pose None 33.0541 10.2697 15.3613 0.667695 0.633206 -0.263082 0.289698 +#8522 1721120767745 +SLAM 13.4311 -21.9489 35.1701 -0.565624 0.0731186 0.69625 0.435843 +TTool-pose None 33.0966 10.2989 15.3467 0.66859 0.63158 -0.264924 0.289505 +#8523 1721120767775 +SLAM 13.4808 -21.8702 35.1891 -0.567198 0.0706427 0.696732 0.433429 +TTool-pose None 33.0807 10.2467 15.4026 0.669903 0.632355 -0.262677 0.286806 +#8524 1721120767808 +SLAM 13.3511 -22.0432 35.1104 -0.565778 0.0714952 0.695603 0.436944 +TTool-pose None 33.0659 10.2776 15.3557 0.667409 0.633132 -0.264228 0.289477 +#8525 1721120767840 +SLAM 13.3443 -21.9974 35.1607 -0.567301 0.0694409 0.695393 0.435633 +TTool-pose None 33.0639 10.2638 15.3888 0.668036 0.634066 -0.26206 0.287949 +#8526 1721120767879 +SLAM 13.3448 -22.1024 35.0849 -0.56557 0.0703115 0.69552 0.437537 +TTool-pose None 33.0732 10.2882 15.3598 0.666649 0.634161 -0.264099 0.289091 +#8527 1721120767910 +SLAM 13.3895 -21.9814 35.1406 -0.565877 0.0722426 0.695957 0.436127 +TTool-pose None 33.0739 10.2779 15.3533 0.6682 0.6323 -0.264381 0.289329 +#8528 1721120767943 +SLAM 13.341 -22.0401 35.1171 -0.566148 0.0708695 0.6955 0.436731 +TTool-pose None 33.0628 10.2717 15.3627 0.667454 0.633487 -0.263659 0.289113 +#8529 1721120767976 +SLAM 13.4146 -21.9743 35.1453 -0.565665 0.0724584 0.696153 0.436054 +TTool-pose None 33.0842 10.2889 15.3513 0.668277 0.632114 -0.264685 0.289281 +#8530 1721120768008 +SLAM 13.3452 -22.0135 35.14 -0.566474 0.0708925 0.695497 0.436309 +TTool-pose None 33.0656 10.27 15.3671 0.667809 0.633318 -0.26333 0.288965 +#8531 1721120768042 +SLAM 13.3487 -22.0623 35.1022 -0.566151 0.070049 0.695546 0.436786 +TTool-pose None 33.0637 10.2727 15.3722 0.667203 0.634064 -0.263433 0.288631 +#8532 1721120768076 +SLAM 13.3763 -21.9836 35.1394 -0.566263 0.0716325 0.695825 0.435939 +TTool-pose None 33.0654 10.2656 15.3656 0.668233 0.632656 -0.263797 0.289005 +#8533 1721120768109 +SLAM 13.3101 -22.1125 35.0942 -0.565811 0.0701499 0.69515 0.437839 +TTool-pose None 33.0686 10.293 15.3567 0.666426 0.634404 -0.263757 0.289385 +#8534 1721120768142 +SLAM 13.289 -22.0639 35.1305 -0.56659 0.0702588 0.694913 0.43719 +TTool-pose None 33.0579 10.28 15.3633 0.667031 0.634108 -0.262957 0.289368 +#8535 1721120768178 +SLAM 13.3722 -22.051 35.1045 -0.565234 0.072092 0.695798 0.43724 +TTool-pose None 33.0775 10.2928 15.3447 0.667272 0.632819 -0.264979 0.289789 +#8536 1721120768214 +SLAM 13.2955 -22.1897 35.0518 -0.5661 0.0674317 0.69498 0.438163 +TTool-pose None 33.064 10.286 15.3835 0.66553 0.636385 -0.262673 0.288079 +#8537 1721120768247 +SLAM 13.2663 -22.1959 35.0692 -0.566975 0.0658136 0.694592 0.437892 +TTool-pose None 33.0588 10.2822 15.4024 0.665427 0.63741 -0.261265 0.287328 +#8538 1721120768282 +SLAM 13.3254 -22.1609 35.055 -0.564948 0.0703965 0.695347 0.438602 +TTool-pose None 33.0758 10.3044 15.3468 0.665818 0.634501 -0.264738 0.289676 +#8539 1721120768319 +SLAM 13.2757 -22.0789 35.1191 -0.566947 0.0692497 0.694813 0.437048 +TTool-pose None 33.0491 10.2645 15.3773 0.666923 0.63475 -0.262293 0.28881 +#8540 1721120768354 +SLAM 13.3174 -22.0433 35.1282 -0.566873 0.0695934 0.69522 0.43644 +TTool-pose None 33.0563 10.2623 15.3795 0.667436 0.634269 -0.26252 0.288475 +#8541 1721120768387 +SLAM 13.3167 -22.0243 35.1555 -0.567275 0.0692285 0.695112 0.43615 +TTool-pose None 33.0616 10.2716 15.3837 0.667608 0.634417 -0.26199 0.288232 +#8542 1721120768418 +SLAM 13.3157 -22.0647 35.12 -0.567387 0.0676993 0.69516 0.436167 +TTool-pose None 33.0541 10.2553 15.4009 0.667214 0.635462 -0.261451 0.287329 +#8543 1721120768446 +SLAM 13.2439 -22.3366 34.9949 -0.565423 0.0655629 0.694464 0.440134 +TTool-pose None 33.0768 10.3157 15.3746 0.663527 0.638405 -0.262768 0.288142 +#8544 1721120768473 +SLAM 13.3413 -21.9191 35.2328 -0.566261 0.0742226 0.695332 0.436295 +TTool-pose None 33.0901 10.3135 15.3188 0.668642 0.631046 -0.264454 0.290976 +#8545 1721120768507 +SLAM 13.4533 -21.6738 35.3989 -0.563679 0.0849857 0.696165 0.436346 +TTool-pose None 33.1664 10.4272 15.1758 0.670922 0.623612 -0.270154 0.296474 +#8546 1721120768541 +SLAM 13.4061 -21.7193 35.3553 -0.56661 0.0777569 0.695929 0.434269 +TTool-pose None 33.1159 10.3204 15.2861 0.671035 0.627845 -0.265148 0.291762 +#8547 1721120768577 +SLAM 13.4238 -21.9327 35.1837 -0.566856 0.0702323 0.696294 0.434645 +TTool-pose None 33.0923 10.2675 15.3712 0.668882 0.633109 -0.262858 0.287362 +#8548 1721120768608 +SLAM 13.5489 -21.8221 35.2237 -0.564119 0.0771748 0.697607 0.434922 +TTool-pose None 33.1484 10.325 15.2797 0.670058 0.628378 -0.267767 0.290463 +#8549 1721120768643 +SLAM 13.1865 -21.8177 35.3809 -0.57076 0.069265 0.693847 0.433604 +TTool-pose None 33.0661 10.2454 15.3681 0.669928 0.633532 -0.258241 0.288179 +#8550 1721120768677 +SLAM 13.2134 -21.9667 35.2071 -0.567403 0.0719259 0.694614 0.436339 +TTool-pose None 33.0546 10.239 15.3178 0.668186 0.632677 -0.262547 0.290207 +#8551 1721120768710 +SLAM 13.238 -22.3588 34.9504 -0.564041 0.0671448 0.694994 0.440832 +TTool-pose None 33.0852 10.2952 15.3163 0.663239 0.637549 -0.264701 0.288932 +#8552 1721120768743 +SLAM 13.2953 -22.0785 35.0936 -0.563645 0.0752366 0.69571 0.438897 +TTool-pose None 33.0926 10.2893 15.2439 0.666655 0.631276 -0.267467 0.292281 +#8553 1721120768776 +SLAM 13.2913 -21.9847 35.1428 -0.567006 0.0700866 0.695657 0.435493 +TTool-pose None 33.0574 10.2033 15.3349 0.668261 0.633558 -0.262579 0.288072 +#8554 1721120768810 +SLAM 13.3429 -22.1618 35.0376 -0.563452 0.0717746 0.696263 0.438848 +TTool-pose None 33.1138 10.287 15.2671 0.665777 0.633592 -0.266778 0.289889 +#8555 1721120768849 +SLAM 13.4664 -21.8992 35.1569 -0.564269 0.0750404 0.697504 0.435267 +TTool-pose None 33.1261 10.2534 15.2651 0.669293 0.629974 -0.267011 0.289461 +#8556 1721120768881 +SLAM 13.1376 -22.3443 34.9805 -0.566422 0.0631184 0.694346 0.439392 +TTool-pose None 33.0597 10.2194 15.3413 0.66356 0.639802 -0.261033 0.286538 +#8557 1721120768918 +SLAM 13.2192 -22.1323 35.0792 -0.565297 0.0703468 0.695356 0.438144 +TTool-pose None 33.0815 10.2266 15.27 0.666184 0.634368 -0.264367 0.289465 +#8558 1721120768952 +SLAM 13.3762 -21.8579 35.1931 -0.565458 0.0747652 0.696963 0.434638 +TTool-pose None 33.1037 10.2018 15.2538 0.669847 0.629967 -0.265643 0.289455 +#8559 1721120768984 +SLAM 13.306 -21.9818 35.1316 -0.564934 0.073522 0.696429 0.436383 +TTool-pose None 33.0966 10.2055 15.2419 0.668207 0.63149 -0.265768 0.289813 +#8560 1721120769013 +SLAM 13.2253 -22.2043 35.0561 -0.564493 0.0693883 0.695638 0.438886 +TTool-pose None 33.1185 10.2387 15.2446 0.665287 0.635274 -0.26496 0.288998 +#8561 1721120769044 +SLAM 13.3241 -22.0821 35.088 -0.566428 0.0660325 0.696627 0.435327 +TTool-pose None 33.1097 10.1744 15.3119 0.66724 0.636199 -0.26216 0.284982 +#8562 1721120769074 +SLAM 13.1852 -21.8968 35.2305 -0.568319 0.0699041 0.695443 0.434149 +TTool-pose None 33.0693 10.1323 15.2741 0.669361 0.633203 -0.261148 0.2876 +#8563 1721120769108 +SLAM 13.114 -22.339 34.9521 -0.563414 0.0691832 0.695171 0.441039 +TTool-pose None 33.0915 10.2026 15.2005 0.663529 0.636224 -0.265941 0.290048 +#8564 1721120769146 +SLAM 13.2002 -22.1277 35.0762 -0.56481 0.0702029 0.695985 0.437797 +TTool-pose None 33.1089 10.1802 15.2087 0.666324 0.634301 -0.264911 0.288791 +#8565 1721120769180 +SLAM 13.1465 -22.172 35.0676 -0.566004 0.0668872 0.695547 0.43747 +TTool-pose None 33.0979 10.1492 15.2363 0.66587 0.636467 -0.262694 0.287087 +#8566 1721120769211 +SLAM 13.2403 -22.0231 35.0803 -0.565098 0.0712847 0.696777 0.435987 +TTool-pose None 33.0901 10.1138 15.2069 0.66794 0.632852 -0.265022 0.288132 +#8567 1721120769246 +SLAM 13.1969 -22.0126 35.0992 -0.564811 0.0731133 0.696451 0.436576 +TTool-pose None 33.0892 10.1178 15.1761 0.667947 0.631838 -0.265783 0.289638 +#8568 1721120769280 +SLAM 13.233 -22.1107 35.0209 -0.563659 0.071928 0.696938 0.437485 +TTool-pose None 33.1037 10.1238 15.175 0.666823 0.632948 -0.266699 0.28896 +#8569 1721120769310 +SLAM 13.1873 -22.0233 35.0752 -0.564847 0.0724079 0.696613 0.436389 +TTool-pose None 33.0814 10.0896 15.1726 0.667905 0.632242 -0.265571 0.289047 +#8570 1721120769343 +SLAM 13.1565 -21.9933 35.1188 -0.566307 0.0703714 0.696274 0.435369 +TTool-pose None 33.0774 10.0706 15.1958 0.668322 0.633281 -0.263459 0.287737 +#8571 1721120769380 +SLAM 13.0698 -22.0919 35.0819 -0.566777 0.0679436 0.695495 0.436388 +TTool-pose None 33.0615 10.0604 15.2054 0.667032 0.635356 -0.262191 0.287311 +#8572 1721120769410 +SLAM 13.2197 -21.9782 35.1029 -0.564124 0.0742926 0.697082 0.436258 +TTool-pose None 33.1074 10.1028 15.133 0.668374 0.630875 -0.266899 0.289727 +#8573 1721120769447 +SLAM 13.1642 -21.9268 35.1777 -0.568753 0.0660876 0.696319 0.432773 +TTool-pose None 33.0768 10.023 15.2526 0.669409 0.635242 -0.259739 0.284243 +#8574 1721120769480 +SLAM 13.1306 -22.1016 35.0481 -0.565886 0.0680599 0.696298 0.436246 +TTool-pose None 33.0792 10.0547 15.1933 0.667035 0.635176 -0.263246 0.286739 +#8575 1721120769513 +SLAM 13.0778 -22.1593 35.047 -0.565776 0.067621 0.695762 0.43731 +TTool-pose None 33.0867 10.075 15.1791 0.666143 0.635897 -0.263164 0.287289 +#8576 1721120769546 +SLAM 13.1507 -21.9056 35.181 -0.566627 0.0717829 0.69645 0.434441 +TTool-pose None 33.0902 10.0549 15.1651 0.669394 0.631967 -0.263547 0.288055 +#8577 1721120769576 +SLAM 13.0745 -22.1805 35.0388 -0.565084 0.0685052 0.695827 0.437963 +TTool-pose None 33.0988 10.0875 15.1546 0.665805 0.635529 -0.264131 0.288 +#8578 1721120769610 +SLAM 13.1239 -21.887 35.1896 -0.567274 0.0711785 0.696293 0.433948 +TTool-pose None 33.0765 10.0293 15.1717 0.669684 0.632208 -0.262691 0.287632 +#8579 1721120769651 +SLAM 13.1655 -21.805 35.1945 -0.566402 0.0747366 0.696865 0.433569 +TTool-pose None 33.0697 10.0173 15.1417 0.670739 0.6296 -0.264651 0.289095 +#8580 1721120769686 +SLAM 13.08 -21.9319 35.1721 -0.567348 0.0704645 0.69592 0.434565 +TTool-pose None 33.0687 10.0264 15.1695 0.66907 0.632945 -0.262367 0.287736 +#8581 1721120769717 +SLAM 13.1825 -21.9048 35.1521 -0.565335 0.0737714 0.697024 0.434871 +TTool-pose None 33.0999 10.0535 15.1286 0.669409 0.630729 -0.265503 0.288936 +#8582 1721120769747 +SLAM 13.0663 -22.163 35.0423 -0.56533 0.0683669 0.695913 0.437531 +TTool-pose None 33.0949 10.0639 15.1523 0.666114 0.635459 -0.263852 0.287691 +#8583 1721120769778 +SLAM 13.1076 -22.0234 35.1006 -0.565135 0.0721298 0.696411 0.436383 +TTool-pose None 33.0935 10.0526 15.1251 0.66788 0.632443 -0.265171 0.289033 +#8584 1721120769812 +SLAM 13.0492 -21.9877 35.1449 -0.567143 0.0696498 0.695789 0.435172 +TTool-pose None 33.0712 10.018 15.1611 0.668396 0.633731 -0.262333 0.287602 +#8585 1721120769843 +SLAM 13.1636 -21.9764 35.1087 -0.564192 0.0744871 0.697037 0.436209 +TTool-pose None 33.1098 10.0619 15.0985 0.668469 0.630727 -0.266876 0.289851 +#8586 1721120769876 +SLAM 13.1246 -21.9498 35.137 -0.565357 0.0732996 0.69665 0.435519 +TTool-pose None 33.0948 10.0404 15.1158 0.668829 0.631312 -0.2653 0.289191 +#8587 1721120769910 +SLAM 13.0745 -21.9854 35.1465 -0.56594 0.071878 0.696154 0.435793 +TTool-pose None 33.0958 10.039 15.1217 0.668354 0.632415 -0.26424 0.288849 +#8588 1721120769946 +SLAM 12.995 -22.1262 35.0801 -0.566809 0.0670756 0.695438 0.436571 +TTool-pose None 33.0772 10.0148 15.1596 0.666679 0.636018 -0.261906 0.286926 +#8589 1721120769978 +SLAM 12.9944 -22.1865 35.0419 -0.565517 0.0682525 0.695505 0.437955 +TTool-pose None 33.089 10.0399 15.1306 0.665808 0.635718 -0.263574 0.288086 +#8590 1721120770009 +SLAM 13.0164 -21.985 35.1477 -0.566678 0.0711857 0.695754 0.435586 +TTool-pose None 33.0747 10.0042 15.1267 0.66843 0.632837 -0.263237 0.288664 +#8591 1721120770041 +SLAM 12.9646 -22.1875 35.0498 -0.566656 0.0659998 0.695239 0.437251 +TTool-pose None 33.0772 10.0127 15.156 0.665889 0.63701 -0.261733 0.286717 +#8592 1721120770077 +SLAM 13.0254 -22.0112 35.1204 -0.565073 0.0737596 0.695998 0.43685 +TTool-pose None 33.0878 10.0272 15.0796 0.667954 0.631525 -0.265634 0.290442 +#8593 1721120770111 +SLAM 13.0075 -22.0983 35.0681 -0.564754 0.0720941 0.695916 0.43767 +TTool-pose None 33.088 10.0257 15.0842 0.666894 0.632968 -0.265487 0.289871 +#8594 1721120770145 +SLAM 13.0867 -22.0292 35.0978 -0.564957 0.0720472 0.696624 0.436288 +TTool-pose None 33.1054 10.0238 15.0972 0.6679 0.632451 -0.26536 0.288794 +#8595 1721120770180 +SLAM 12.9341 -22.1864 35.0634 -0.566198 0.0675826 0.695104 0.437815 +TTool-pose None 33.0859 10.0158 15.123 0.665832 0.636148 -0.262632 0.287941 +#8596 1721120770216 +SLAM 12.9929 -22.0394 35.127 -0.56613 0.0709685 0.69572 0.436387 +TTool-pose None 33.0886 10.0066 15.1043 0.667723 0.633281 -0.263734 0.288876 +#8597 1721120770251 +SLAM 13.0344 -21.9379 35.1893 -0.567512 0.0698567 0.696041 0.434255 +TTool-pose None 33.0918 9.98364 15.1344 0.669157 0.633238 -0.262044 0.287181 +#8598 1721120770290 +SLAM 13.02 -22.0135 35.1243 -0.565252 0.0730968 0.696127 0.436525 +TTool-pose None 33.0968 10.0084 15.0763 0.668043 0.631851 -0.265283 0.289846 +#8599 1721120770323 +SLAM 12.88 -22.2013 35.0258 -0.563459 0.0744119 0.694986 0.440421 +TTool-pose None 33.0776 10.0337 15.0217 0.665323 0.63244 -0.267331 0.292925 +#8600 1721120770357 +SLAM 12.9009 -22.2067 35.0404 -0.565774 0.0683156 0.695024 0.438377 +TTool-pose None 33.0774 10.0011 15.1009 0.665559 0.635858 -0.263263 0.288636 +#8601 1721120770392 +SLAM 13.0079 -22.0071 35.1333 -0.565673 0.0723944 0.696068 0.436191 +TTool-pose None 33.0956 9.99626 15.0806 0.668163 0.632213 -0.264648 0.28936 +#8602 1721120770422 +SLAM 12.8911 -22.0142 35.1654 -0.567239 0.0708776 0.694934 0.436214 +TTool-pose None 33.0673 9.97269 15.0925 0.667983 0.633327 -0.262465 0.289328 +#8603 1721120770452 +SLAM 12.8451 -22.0484 35.1609 -0.56773 0.0696267 0.694504 0.436461 +TTool-pose None 33.0601 9.96396 15.1005 0.667553 0.634297 -0.261552 0.289021 +#8604 1721120770483 +SLAM 12.8257 -22.1013 35.1267 -0.567221 0.0696024 0.6944 0.437291 +TTool-pose None 33.0583 9.96514 15.092 0.66688 0.634623 -0.262055 0.289405 +#8605 1721120770512 +SLAM 12.9502 -22.0442 35.1086 -0.564475 0.0749954 0.695801 0.437727 +TTool-pose None 33.0924 9.99654 15.0279 0.667554 0.63101 -0.266564 0.291627 +#8606 1721120770542 +SLAM 12.9054 -22.1127 35.0836 -0.564843 0.0727945 0.695457 0.438171 +TTool-pose None 33.09 9.9861 15.0374 0.666728 0.6327 -0.26553 0.290797 +#8607 1721120770582 +SLAM 12.8743 -22.2203 35.0304 -0.564731 0.0702457 0.695207 0.439126 +TTool-pose None 33.0923 9.98937 15.0467 0.66537 0.634804 -0.264899 0.289894 +#8608 1721120770613 +SLAM 12.9135 -22.0605 35.0973 -0.564622 0.0744913 0.695687 0.437804 +TTool-pose None 33.0859 9.9723 15.0185 0.667392 0.631391 -0.266258 0.291453 +#8609 1721120770648 +SLAM 12.909 -22.0342 35.124 -0.565611 0.0730519 0.695605 0.436899 +TTool-pose None 33.0839 9.95669 15.0402 0.667816 0.632051 -0.264833 0.290345 +#8610 1721120770681 +SLAM 12.9153 -22.0958 35.0782 -0.56437 0.0738612 0.695775 0.438095 +TTool-pose None 33.0939 9.9727 15.0164 0.666986 0.631923 -0.266353 0.291143 +#8611 1721120770714 +SLAM 12.8322 -22.2661 35.0117 -0.564705 0.0694554 0.694981 0.439642 +TTool-pose None 33.092 9.97798 15.0365 0.664792 0.635544 -0.264672 0.289805 +#8612 1721120770749 +SLAM 12.8586 -22.0244 35.1431 -0.5668 0.0712896 0.695221 0.43626 +TTool-pose None 33.0704 9.92633 15.0537 0.667993 0.633046 -0.263069 0.289373 +#8613 1721120770780 +SLAM 12.886 -22.0022 35.1467 -0.566002 0.0731478 0.695558 0.436451 +TTool-pose None 33.082 9.93754 15.0284 0.668218 0.631825 -0.264451 0.29026 +#8614 1721120770813 +SLAM 12.8253 -22.0747 35.12 -0.567277 0.0690929 0.694992 0.436359 +TTool-pose None 33.0646 9.90926 15.067 0.667423 0.634594 -0.261934 0.288323 +#8615 1721120770845 +SLAM 12.8499 -22.1926 35.0091 -0.563117 0.074513 0.695561 0.439934 +TTool-pose None 33.0874 9.96392 14.9709 0.665648 0.632158 -0.267787 0.292377 +#8616 1721120770877 +SLAM 12.8246 -22.0191 35.1465 -0.566813 0.0715814 0.695145 0.436318 +TTool-pose None 33.0678 9.90853 15.0317 0.668029 0.632872 -0.263128 0.289617 +#8617 1721120770913 +SLAM 12.9083 -22.0616 35.0818 -0.564578 0.073594 0.696121 0.437323 +TTool-pose None 33.0929 9.93327 14.997 0.667501 0.631803 -0.266113 0.290441 +#8618 1721120770947 +SLAM 12.8001 -22.2208 35.0267 -0.565953 0.0676549 0.695073 0.438171 +TTool-pose None 33.0768 9.91269 15.0419 0.665561 0.63623 -0.262899 0.288142 +#8619 1721120770979 +SLAM 12.8546 -22.0671 35.0956 -0.56578 0.0715871 0.69564 0.436868 +TTool-pose None 33.0785 9.90774 15.0167 0.667488 0.633039 -0.264256 0.289473 +#8620 1721120771011 +SLAM 12.8671 -22.0215 35.1203 -0.56519 0.0740542 0.695811 0.436948 +TTool-pose None 33.0873 9.91757 14.9876 0.667977 0.63137 -0.265571 0.290784 +#8621 1721120771044 +SLAM 12.762 -22.2495 35.018 -0.564906 0.0698493 0.694881 0.439479 +TTool-pose None 33.0842 9.92676 14.9968 0.66504 0.635223 -0.264563 0.290041 +#8622 1721120771080 +SLAM 12.8852 -22.151 35.0343 -0.564075 0.0720468 0.696146 0.438189 +TTool-pose None 33.1048 9.92793 14.9847 0.666411 0.633174 -0.2662 0.289876 +#8623 1721120771110 +SLAM 12.8714 -22.113 35.0531 -0.56378 0.074082 0.696087 0.438323 +TTool-pose None 33.1006 9.92788 14.9601 0.666792 0.631835 -0.267061 0.291129 +#8624 1721120771145 +SLAM 12.7898 -22.1162 35.0774 -0.565385 0.0718577 0.695309 0.437861 +TTool-pose None 33.0787 9.89774 14.9839 0.666788 0.633237 -0.264693 0.290252 +#8625 1721120771178 +SLAM 12.8343 -22.0641 35.1021 -0.564807 0.073789 0.695759 0.437571 +TTool-pose None 33.0953 9.91026 14.9626 0.667407 0.631782 -0.265883 0.290912 +#8626 1721120771218 +SLAM 12.821 -22.0105 35.1346 -0.565451 0.0740915 0.69566 0.436844 +TTool-pose None 33.0861 9.89334 14.9646 0.668098 0.631316 -0.265293 0.290875 +#8627 1721120771252 +SLAM 12.775 -22.1093 35.0921 -0.56597 0.0706328 0.695246 0.437403 +TTool-pose None 33.0809 9.88607 14.9868 0.666886 0.63391 -0.263742 0.289422 +#8628 1721120771286 +SLAM 12.8628 -22.0478 35.1109 -0.564994 0.0729191 0.696112 0.436912 +TTool-pose None 33.1077 9.90373 14.9653 0.667683 0.632115 -0.265496 0.289905 +#8629 1721120771318 +SLAM 12.7644 -22.0203 35.148 -0.565827 0.0738989 0.695215 0.437099 +TTool-pose None 33.0815 9.88361 14.9544 0.66792 0.631569 -0.264795 0.291188 +#8630 1721120771352 +SLAM 12.8304 -21.9989 35.1072 -0.565064 0.0747844 0.696044 0.436616 +TTool-pose None 33.0762 9.86157 14.9533 0.668382 0.630734 -0.265933 0.290902 +#8631 1721120771384 +SLAM 12.7682 -22.0676 35.0932 -0.565665 0.0724334 0.695446 0.437185 +TTool-pose None 33.0709 9.85986 14.9638 0.667461 0.632588 -0.264584 0.290219 +#8632 1721120771413 +SLAM 12.9212 -21.9105 35.1851 -0.567089 0.0704647 0.696733 0.433599 +TTool-pose None 33.1098 9.85202 15.0084 0.669721 0.632539 -0.262739 0.286769 +#8633 1721120771448 +SLAM 12.7447 -22.1473 35.0435 -0.565284 0.0710503 0.6954 0.437978 +TTool-pose None 33.0722 9.85313 14.9587 0.666482 0.633825 -0.264583 0.28977 +#8634 1721120771479 +SLAM 12.7991 -22.1228 35.052 -0.563999 0.0735991 0.695964 0.438318 +TTool-pose None 33.0993 9.88107 14.9234 0.666705 0.632171 -0.266685 0.290942 +#8635 1721120771517 +SLAM 12.7617 -22.0715 35.0955 -0.564805 0.0739645 0.695628 0.437752 +TTool-pose None 33.0893 9.86552 14.9213 0.667322 0.631736 -0.265916 0.291177 +#8636 1721120771548 +SLAM 12.7501 -22.0737 35.0888 -0.565709 0.0718772 0.695555 0.437048 +TTool-pose None 33.0753 9.83878 14.9481 0.667423 0.632911 -0.264399 0.28977 +#8637 1721120771581 +SLAM 12.804 -22.0355 35.1079 -0.564617 0.0744377 0.696095 0.437172 +TTool-pose None 33.102 9.86413 14.9154 0.66783 0.631172 -0.266303 0.290882 +#8638 1721120771613 +SLAM 12.7873 -21.9711 35.1541 -0.566772 0.0715685 0.695917 0.43514 +TTool-pose None 33.0843 9.8176 14.962 0.668861 0.632402 -0.263268 0.288592 +#8639 1721120771649 +SLAM 12.5671 -22.4385 34.8901 -0.560902 0.0752582 0.694339 0.444543 +TTool-pose None 33.0866 9.90617 14.8186 0.662189 0.633387 -0.270079 0.295452 +#8640 1721120771681 +SLAM 12.7788 -22.0046 35.1191 -0.565665 0.0729124 0.696076 0.436102 +TTool-pose None 33.0873 9.81996 14.9268 0.668358 0.631826 -0.264801 0.289614 +#8641 1721120771712 +SLAM 12.7651 -22.0764 35.0912 -0.564367 0.0740373 0.696007 0.437702 +TTool-pose None 33.108 9.85064 14.8925 0.667312 0.631644 -0.266436 0.290923 +#8642 1721120771748 +SLAM 12.801 -22.0675 35.0594 -0.564222 0.073719 0.696498 0.437161 +TTool-pose None 33.0981 9.82556 14.9025 0.667597 0.631634 -0.266562 0.290175 +#8643 1721120771778 +SLAM 12.7634 -22.0408 35.0894 -0.564973 0.0734399 0.696161 0.436775 +TTool-pose None 33.0901 9.8122 14.904 0.667912 0.631706 -0.265669 0.290113 +#8644 1721120771817 +SLAM 12.6876 -22.0793 35.1001 -0.5651 0.0734845 0.695473 0.437698 +TTool-pose None 33.0901 9.81841 14.8861 0.667281 0.632055 -0.26546 0.290996 +#8645 1721120771847 +SLAM 12.6355 -22.1142 35.0887 -0.565901 0.0714755 0.695019 0.437716 +TTool-pose None 33.0743 9.79895 14.9022 0.666868 0.633462 -0.264018 0.290189 +#8646 1721120771878 +SLAM 12.6891 -22.0992 35.0708 -0.564573 0.0737484 0.695678 0.438008 +TTool-pose None 33.0884 9.80875 14.8723 0.667049 0.631974 -0.266101 0.291116 +#8647 1721120771911 +SLAM 12.7141 -22.069 35.0915 -0.564287 0.0746939 0.695948 0.437787 +TTool-pose None 33.1034 9.8168 14.8577 0.667407 0.63123 -0.266692 0.291372 +#8648 1721120771944 +SLAM 12.6248 -22.1041 35.0948 -0.566039 0.0712811 0.695103 0.437437 +TTool-pose None 33.0771 9.78205 14.8922 0.667039 0.633488 -0.263834 0.289909 +#8649 1721120771980 +SLAM 12.6548 -22.1359 35.0577 -0.564452 0.0732893 0.695539 0.438461 +TTool-pose None 33.0922 9.79915 14.8582 0.66659 0.632462 -0.266079 0.29113 +#8650 1721120772017 +SLAM 12.5473 -22.19 35.0661 -0.567285 0.0670881 0.694431 0.437553 +TTool-pose None 33.0626 9.75308 14.9227 0.666047 0.63643 -0.261286 0.288045 +#8651 1721120772049 +SLAM 12.6759 -22.078 35.0758 -0.56487 0.0732731 0.695887 0.437372 +TTool-pose None 33.0887 9.77354 14.8599 0.667427 0.632054 -0.265692 0.290448 +#8652 1721120772080 +SLAM 12.6525 -22.055 35.1051 -0.565651 0.0725228 0.695667 0.436837 +TTool-pose None 33.0868 9.76227 14.8666 0.667731 0.632386 -0.264653 0.289975 +#8653 1721120772114 +SLAM 12.5734 -22.0997 35.1074 -0.566828 0.0699551 0.694938 0.436892 +TTool-pose None 33.0739 9.74093 14.8851 0.667201 0.634204 -0.26263 0.289061 +#8654 1721120772146 +SLAM 12.6801 -22.0552 35.0826 -0.564524 0.0742819 0.696174 0.437193 +TTool-pose None 33.0974 9.75873 14.8361 0.667762 0.631281 -0.266366 0.290744 +#8655 1721120772184 +SLAM 12.5773 -22.1542 35.0525 -0.565618 0.0706605 0.69523 0.437879 +TTool-pose None 33.0775 9.73993 14.8583 0.666501 0.634065 -0.264109 0.289633 +#8656 1721120772224 +SLAM 12.5724 -22.1222 35.0856 -0.565836 0.0711201 0.69521 0.437556 +TTool-pose None 33.0862 9.73991 14.849 0.666883 0.633635 -0.264011 0.289785 +#8657 1721120772259 +SLAM 12.5919 -22.1719 35.0336 -0.564615 0.0718692 0.695566 0.438445 +TTool-pose None 33.0922 9.74488 14.829 0.666261 0.633425 -0.26552 0.290296 +#8658 1721120772291 +SLAM 12.6324 -22.2017 35.0019 -0.56327 0.0730109 0.696084 0.439161 +TTool-pose None 33.1124 9.7632 14.8014 0.665843 0.632872 -0.267284 0.290844 +#8659 1721120772322 +SLAM 12.5842 -22.2104 35.0179 -0.564453 0.0708386 0.695647 0.438691 +TTool-pose None 33.1043 9.74159 14.8203 0.665795 0.634213 -0.265409 0.289744 +#8660 1721120772352 +SLAM 12.5349 -22.1755 35.0481 -0.56626 0.0685975 0.695169 0.437475 +TTool-pose None 33.0791 9.70177 14.8534 0.66635 0.635329 -0.262863 0.288343 +#8661 1721120772384 +SLAM 12.5865 -22.1476 35.03 -0.563565 0.0746162 0.695895 0.438814 +TTool-pose None 33.0982 9.72987 14.7794 0.666545 0.631659 -0.267403 0.291762 +#8662 1721120772417 +SLAM 12.6132 -22.093 35.0573 -0.563063 0.0768177 0.696204 0.438588 +TTool-pose None 33.1091 9.73538 14.7555 0.667191 0.630049 -0.268566 0.292699 +#8663 1721120772451 +SLAM 12.5624 -22.1196 35.0497 -0.563953 0.0747743 0.695792 0.438451 +TTool-pose None 33.0933 9.71251 14.7715 0.666902 0.631426 -0.267035 0.291787 +#8664 1721120772482 +SLAM 12.4859 -22.3326 34.9504 -0.563712 0.0701921 0.695143 0.440544 +TTool-pose None 33.098 9.72207 14.7843 0.664189 0.635359 -0.265917 0.290455 +#8665 1721120772513 +SLAM 12.4901 -22.128 35.0782 -0.565746 0.0715533 0.69513 0.437728 +TTool-pose None 33.0821 9.68344 14.7974 0.666858 0.633407 -0.264214 0.290157 +#8666 1721120772548 +SLAM 12.4725 -22.2124 35.0046 -0.564293 0.0725431 0.695163 0.439386 +TTool-pose None 33.0765 9.68929 14.7699 0.665712 0.633332 -0.265983 0.291336 +#8667 1721120772582 +SLAM 12.5021 -22.2683 34.9835 -0.564147 0.0703856 0.695462 0.43945 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0.437176 +TTool-pose None 33.0841 9.56138 14.7392 0.666415 0.635609 -0.262689 0.28773 +#8686 1721120773213 +SLAM 12.4704 -22.1641 35.0128 -0.563967 0.0720249 0.696487 0.437789 +TTool-pose None 33.1174 9.59041 14.6882 0.666676 0.633022 -0.26635 0.289461 +#8687 1721120773247 +SLAM 12.4091 -22.1465 35.0154 -0.563048 0.0760077 0.69604 0.439008 +TTool-pose None 33.0987 9.5898 14.6418 0.666683 0.630767 -0.268336 0.292521 +#8688 1721120773279 +SLAM 12.4309 -22.1402 35.0279 -0.563399 0.0749027 0.69622 0.438463 +TTool-pose None 33.1107 9.58976 14.6532 0.666845 0.631315 -0.267696 0.291553 +#8689 1721120773314 +SLAM 12.4372 -22.099 35.0543 -0.5637 0.0753092 0.69631 0.437862 +TTool-pose None 33.1129 9.57965 14.6528 0.667423 0.630812 -0.267512 0.291486 +#8690 1721120773347 +SLAM 12.3781 -22.1063 35.0525 -0.563881 0.075901 0.695834 0.438284 +TTool-pose None 33.0946 9.56333 14.6449 0.667297 0.63059 -0.267427 0.292332 +#8691 1721120773382 +SLAM 12.3389 -22.1404 35.0499 -0.564234 0.0748553 0.695466 0.438593 +TTool-pose None 33.093 9.5602 14.6492 0.666863 0.631443 -0.266726 0.292125 +#8692 1721120773414 +SLAM 12.3526 -22.1537 35.0307 -0.563273 0.076397 0.695684 0.439216 +TTool-pose None 33.0997 9.5678 14.6281 0.666665 0.630598 -0.268165 0.293081 +#8693 1721120773450 +SLAM 12.2517 -22.2054 35.0326 -0.565092 0.0727324 0.694675 0.439099 +TTool-pose None 33.075 9.53921 14.665 0.666082 0.633129 -0.265151 0.291688 +#8694 1721120773483 +SLAM 12.2782 -22.1979 35.0319 -0.564505 0.0737961 0.694943 0.439253 +TTool-pose None 33.0853 9.54976 14.6528 0.666159 0.63244 -0.266084 0.292158 +#8695 1721120773515 +SLAM 12.2484 -22.1933 35.0224 -0.563089 0.0779537 0.694781 0.440605 +TTool-pose None 33.0786 9.55813 14.6052 0.666033 0.630091 -0.268658 0.295155 +#8696 1721120773551 +SLAM 12.3152 -22.1696 35.0291 -0.563702 0.0759812 0.695366 0.439241 +TTool-pose None 33.0908 9.54679 14.6392 0.666605 0.630913 -0.267568 0.293087 +#8697 1721120773586 +SLAM 12.2377 -22.2983 34.9656 -0.562382 0.0766216 0.694774 0.441751 +TTool-pose None 33.0912 9.56546 14.6036 0.664768 0.631419 -0.269012 0.294844 +#8698 1721120773619 +SLAM 12.215 -22.3565 34.9386 -0.562955 0.0739179 0.694574 0.441797 +TTool-pose None 33.0875 9.55461 14.6265 0.664133 0.633301 -0.26765 0.293472 +#8699 1721120773651 +SLAM 12.2937 -22.2544 34.9792 -0.562939 0.0754832 0.695333 0.440356 +TTool-pose None 33.098 9.5464 14.6265 0.665566 0.63166 -0.268206 0.293256 +#8700 1721120773685 +SLAM 12.2444 -22.2784 34.9755 -0.563124 0.0753025 0.694913 0.440814 +TTool-pose None 33.0894 9.53965 14.622 0.665218 0.631976 -0.267909 0.293636 +#8701 1721120773722 +SLAM 12.1585 -22.2931 35.0036 -0.564704 0.0729596 0.694011 0.440607 +TTool-pose None 33.0737 9.5246 14.6435 0.665 0.633562 -0.26552 0.292881 +#8702 1721120773754 +SLAM 12.2599 -22.2119 35.0055 -0.562446 0.0786218 0.695108 0.440794 +TTool-pose None 33.0924 9.54364 14.5917 0.665971 0.629679 -0.269544 0.295367 +#8703 1721120773785 +SLAM 12.2676 -22.368 34.9079 -0.560832 0.0772911 0.695315 0.442755 +TTool-pose None 33.113 9.56871 14.5787 0.663984 0.631286 -0.270851 0.295211 +#8704 1721120773816 +SLAM 12.2429 -22.2675 34.9838 -0.562279 0.0775523 0.695008 0.441353 +TTool-pose None 33.1008 9.5475 14.5893 0.665274 0.630622 -0.269406 0.295049 +#8705 1721120773847 +SLAM 12.1772 -22.4526 34.8797 -0.561837 0.0741805 0.694514 0.443269 +TTool-pose None 33.0955 9.54582 14.6005 0.662974 0.633656 -0.268855 0.294227 +#8706 1721120773882 +SLAM 12.215 -22.4568 34.851 -0.560443 0.0763962 0.694999 0.443896 +TTool-pose None 33.1029 9.55599 14.573 0.662877 0.632331 -0.270954 0.295369 +#8707 1721120773918 +SLAM 12.1605 -22.3364 34.9527 -0.562427 0.0766308 0.69436 0.442343 +TTool-pose None 33.0844 9.53304 14.5841 0.66435 0.631653 -0.268911 0.295377 +#8708 1721120773953 +SLAM 12.2764 -22.1918 34.995 -0.561864 0.079957 0.695481 0.440706 +TTool-pose None 33.0926 9.52779 14.5726 0.666282 0.628705 -0.270554 0.295815 +#8709 1721120773985 +SLAM 12.2056 -22.4161 34.8879 -0.560528 0.0774697 0.694942 0.443692 +TTool-pose None 33.1095 9.55834 14.5556 0.663308 0.631525 -0.271156 0.295942 +#8710 1721120774018 +SLAM 12.2243 -22.2603 34.9719 -0.562025 0.0784709 0.695053 0.441442 +TTool-pose None 33.091 9.52467 14.5739 0.665404 0.63002 -0.269923 0.295569 +#8711 1721120774049 +SLAM 12.2618 -22.2003 34.9877 -0.561795 0.079974 0.695456 0.440831 +TTool-pose None 33.0906 9.51843 14.5653 0.666186 0.62874 -0.270626 0.295891 +#8712 1721120774082 +SLAM 12.1665 -22.3058 34.9568 -0.56271 0.076414 0.694598 0.441647 +TTool-pose None 33.0794 9.50769 14.5828 0.664839 0.631536 -0.268596 0.294814 +#8713 1721120774115 +SLAM 12.1946 -22.2732 34.968 -0.561667 0.0791425 0.694931 0.44197 +TTool-pose None 33.0925 9.52272 14.5491 0.665139 0.629757 -0.270456 0.29624 +#8714 1721120774151 +SLAM 12.257 -22.2708 34.9432 -0.56126 0.0787947 0.69558 0.441528 +TTool-pose None 33.0994 9.51941 14.557 0.66531 0.629794 -0.270865 0.295401 +#8715 1721120774183 +SLAM 12.2728 -22.2814 34.9326 -0.560556 0.0796753 0.6958 0.441918 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0.44199 +TTool-pose None 33.1048 9.50577 14.5182 0.665194 0.629089 -0.271894 0.29622 +#8722 1721120774434 +SLAM 12.1805 -22.4414 34.8295 -0.559508 0.0783248 0.695381 0.444141 +TTool-pose None 33.1001 9.51043 14.5096 0.663046 0.631069 -0.272491 0.296275 +#8723 1721120774469 +SLAM 12.1872 -22.4677 34.8267 -0.559974 0.0761233 0.695457 0.443817 +TTool-pose None 33.1118 9.50934 14.5235 0.662795 0.63246 -0.27142 0.294849 +#8724 1721120774499 +SLAM 12.1706 -22.3092 34.9247 -0.561287 0.0783076 0.695248 0.442103 +TTool-pose None 33.0917 9.48295 14.5218 0.664777 0.630358 -0.270658 0.295587 +#8725 1721120774533 +SLAM 12.2797 -22.2011 34.9687 -0.561767 0.0781832 0.696245 0.439941 +TTool-pose None 33.1082 9.47336 14.5413 0.666373 0.629598 -0.270271 0.293961 +#8726 1721120774569 +SLAM 12.2491 -22.2878 34.905 -0.560303 0.0793922 0.696134 0.441763 +TTool-pose None 33.1066 9.48331 14.5094 0.665148 0.629432 -0.27208 0.295422 +#8727 1721120774601 +SLAM 12.238 -22.29 34.9134 -0.56025 0.0796078 0.696037 0.441944 +TTool-pose None 33.1115 9.48851 14.501 0.665063 0.629355 -0.27218 0.295685 +#8728 1721120774634 +SLAM 12.1924 -22.3033 34.9225 -0.561424 0.0773188 0.695604 0.441542 +TTool-pose None 33.1004 9.47047 14.5223 0.664953 0.630812 -0.270296 0.294553 +#8729 1721120774666 +SLAM 12.2111 -22.247 34.9478 -0.562012 0.077203 0.695795 0.440513 +TTool-pose None 33.0953 9.45428 14.5322 0.665751 0.630507 -0.269691 0.293954 +#8730 1721120774699 +SLAM 12.1595 -22.2695 34.9561 -0.562389 0.0766535 0.695313 0.440889 +TTool-pose None 33.0923 9.45297 14.5289 0.665398 0.631051 -0.269088 0.294139 +#8731 1721120774733 +SLAM 12.2648 -22.2182 34.9387 -0.560605 0.0801379 0.696428 0.44078 +TTool-pose None 33.1082 9.46346 14.4999 0.666086 0.628545 -0.272017 0.295254 +#8732 1721120774766 +SLAM 12.2527 -22.2766 34.8945 -0.560119 0.0796085 0.696411 0.441522 +TTool-pose None 33.1047 9.4625 14.4964 0.665347 0.629178 -0.272365 0.295251 +#8733 1721120774797 +SLAM 12.2017 -22.2825 34.9222 -0.562042 0.0758949 0.695869 0.440585 +TTool-pose None 33.0957 9.44065 14.5328 0.665373 0.631426 -0.269309 0.293186 +#8734 1721120774828 +SLAM 12.3225 -22.2366 34.9106 -0.560249 0.0788412 0.697107 0.440395 +TTool-pose None 33.1244 9.46143 14.5039 0.665985 0.629253 -0.272118 0.293877 +#8735 1721120774860 +SLAM 12.2237 -22.2463 34.9229 -0.560451 0.0801145 0.696212 0.441322 +TTool-pose None 33.1025 9.45381 14.4837 0.665667 0.628771 -0.272138 0.295606 +#8736 1721120774891 +SLAM 12.206 -22.2455 34.9408 -0.561391 0.0782811 0.695999 0.440792 +TTool-pose None 33.1017 9.44637 14.502 0.66573 0.629854 -0.270648 0.294522 +#8737 1721120774921 +SLAM 12.2371 -22.2626 34.9226 -0.561583 0.0765366 0.696325 0.440339 +TTool-pose None 33.1073 9.44043 14.5189 0.665645 0.630867 -0.270017 0.293123 +#8738 1721120774954 +SLAM 12.1328 -22.3703 34.8765 -0.561425 0.0757484 0.695412 0.442115 +TTool-pose None 33.0904 9.43913 14.5093 0.664143 0.632108 -0.269834 0.294022 +#8739 1721120774986 +SLAM 12.2161 -22.2799 34.8988 -0.560455 0.0790028 0.69625 0.441458 +TTool-pose None 33.1016 9.44524 14.4862 0.665292 0.629582 -0.271835 0.295002 +#8740 1721120775018 +SLAM 12.2517 -22.355 34.8391 -0.559519 0.0779762 0.696684 0.442142 +TTool-pose None 33.1156 9.45581 14.4845 0.664401 0.630505 -0.272565 0.294364 +#8741 1721120775052 +SLAM 12.2818 -22.2326 34.9084 -0.559801 0.0805302 0.696907 0.440974 +TTool-pose None 33.116 9.45159 14.4738 0.665923 0.628313 -0.27301 0.295198 +#8742 1721120775083 +SLAM 12.169 -22.4851 34.7899 -0.559767 0.0750031 0.695954 0.443491 +TTool-pose None 33.1131 9.45635 14.4923 0.662715 0.633078 -0.271391 0.293726 +#8743 1721120775114 +SLAM 12.2232 -22.3448 34.8607 -0.559526 0.0787809 0.696453 0.442355 +TTool-pose None 33.1191 9.45703 14.4686 0.664451 0.630044 -0.272748 0.295069 +#8744 1721120775148 +SLAM 12.2387 -22.3442 34.8498 -0.559344 0.0788201 0.696646 0.442273 +TTool-pose None 33.1187 9.45367 14.4683 0.664493 0.629974 -0.27297 0.294919 +#8745 1721120775182 +SLAM 12.2879 -22.215 34.9105 -0.559251 0.0820075 0.697091 0.441108 +TTool-pose None 33.1202 9.44881 14.4519 0.666112 0.627331 -0.273997 0.295948 +#8746 1721120775216 +SLAM 12.1698 -22.2882 34.8887 -0.559932 0.0805797 0.69604 0.442167 +TTool-pose None 33.0932 9.43168 14.4551 0.665098 0.628766 -0.27277 0.296316 +#8747 1721120775252 +SLAM 12.2149 -22.2867 34.8964 -0.559368 0.0809707 0.696442 0.442176 +TTool-pose None 33.1193 9.45283 14.4445 0.665104 0.628473 -0.273506 0.296245 +#8748 1721120775287 +SLAM 12.1839 -22.3234 34.8735 -0.560035 0.0787764 0.696215 0.442086 +TTool-pose None 33.1054 9.43409 14.4635 0.66472 0.629966 -0.272195 0.295139 +#8749 1721120775318 +SLAM 12.2363 -22.292 34.8743 -0.559935 0.0787159 0.696762 0.44136 +TTool-pose None 33.1123 9.42929 14.4671 0.665213 0.62971 -0.272356 0.294427 +#8750 1721120775352 +SLAM 12.2487 -22.2746 34.8732 -0.559845 0.0791705 0.69692 0.441144 +TTool-pose None 33.1091 9.42246 14.4659 0.665468 0.629309 -0.272594 0.294486 +#8751 1721120775384 +SLAM 12.2252 -22.2492 34.9078 -0.559996 0.0800844 0.696659 0.4412 +TTool-pose None 33.1132 9.42959 14.4527 0.665679 0.628718 -0.272655 0.295215 +#8752 1721120775417 +SLAM 12.1515 -22.3368 34.8719 -0.560009 0.0788373 0.696028 0.442401 +TTool-pose None 33.1042 9.4273 14.4505 0.664505 0.63005 -0.272212 0.29543 +#8753 1721120775450 +SLAM 12.1688 -22.3373 34.8687 -0.560474 0.0772661 0.696221 0.441786 +TTool-pose None 33.1062 9.41664 14.4669 0.664622 0.630895 -0.271334 0.294165 +#8754 1721120775485 +SLAM 12.1842 -22.3152 34.8672 -0.559877 0.0788649 0.696471 0.441867 +TTool-pose None 33.1077 9.41466 14.4482 0.664877 0.629809 -0.272416 0.294917 +#8755 1721120775516 +SLAM 12.1587 -22.3252 34.8769 -0.560286 0.0780747 0.696227 0.441873 +TTool-pose None 33.1085 9.41293 14.4507 0.664735 0.630371 -0.271749 0.294651 +#8756 1721120775550 +SLAM 12.2188 -22.3155 34.8301 -0.558956 0.0801498 0.69696 0.44203 +TTool-pose None 33.1029 9.40458 14.4369 0.664941 0.628951 -0.273773 0.295347 +#8757 1721120775584 +SLAM 12.2154 -22.3067 34.8659 -0.559449 0.0792563 0.696875 0.441702 +TTool-pose None 33.1216 9.41474 14.4369 0.665029 0.629454 -0.273015 0.29478 +#8758 1721120775616 +SLAM 12.154 -22.3089 34.8745 -0.560392 0.0782116 0.696332 0.441548 +TTool-pose None 33.1015 9.39176 14.4478 0.66502 0.630153 -0.271693 0.294528 +#8759 1721120775650 +SLAM 12.2423 -22.2643 34.88 -0.558986 0.0808908 0.697241 0.441414 +TTool-pose None 33.1293 9.4107 14.4179 0.665574 0.6282 -0.273983 0.295325 +#8760 1721120775683 +SLAM 12.1676 -22.2828 34.8902 -0.560079 0.0792097 0.696556 0.441416 +TTool-pose None 33.1123 9.39311 14.4292 0.665318 0.629404 -0.272317 0.294879 +#8761 1721120775715 +SLAM 12.2355 -22.2133 34.9038 -0.559384 0.0813909 0.697293 0.440734 +TTool-pose None 33.1219 9.39008 14.4122 0.666247 0.627608 -0.273721 0.295309 +#8762 1721120775749 +SLAM 12.1732 -22.3283 34.8492 -0.559213 0.0792983 0.696861 0.442016 +TTool-pose None 33.1207 9.38682 14.4094 0.664778 0.629539 -0.273265 0.294933 +#8763 1721120775789 +SLAM 12.2239 -22.2149 34.9013 -0.559627 0.080682 0.697351 0.440465 +TTool-pose None 33.1213 9.3716 14.41 0.666301 0.627995 -0.273288 0.294765 +#8764 1721120775821 +SLAM 12.1384 -22.2917 34.8721 -0.559564 0.0800002 0.696693 0.441708 +TTool-pose None 33.1116 9.36449 14.3957 0.665228 0.628956 -0.273076 0.295336 +#8765 1721120775855 +SLAM 12.1705 -22.3055 34.8351 -0.558149 0.0818654 0.697233 0.442306 +TTool-pose None 33.1199 9.36384 14.3647 0.665047 0.62785 -0.275099 0.29622 +#8766 1721120775888 +SLAM 12.1226 -22.3372 34.8397 -0.559066 0.0793957 0.696891 0.442136 +TTool-pose None 33.1206 9.34821 14.3729 0.664693 0.629513 -0.273445 0.295012 +#8767 1721120775920 +SLAM 12.1156 -22.2767 34.8573 -0.5593 0.080575 0.697013 0.441434 +TTool-pose None 33.1065 9.31682 14.3637 0.665528 0.628441 -0.273546 0.295322 +#8768 1721120775952 +SLAM 12.123 -22.2971 34.8395 -0.558862 0.0802903 0.697312 0.441568 +TTool-pose None 33.118 9.30996 14.3465 0.665295 0.628665 -0.273955 0.294992 +#8769 1721120775985 +SLAM 12.077 -22.3357 34.829 -0.558421 0.080608 0.697079 0.442435 +TTool-pose None 33.1239 9.3096 14.317 0.664683 0.628773 -0.274457 0.295672 +#8770 1721120776017 +SLAM 12.128 -22.299 34.8208 -0.557975 0.0813737 0.697776 0.44176 +TTool-pose None 33.1288 9.29062 14.3079 0.665291 0.627955 -0.275216 0.295336 +#8771 1721120776051 +SLAM 12.0236 -22.3653 34.8049 -0.558821 0.0791891 0.696974 0.442353 +TTool-pose None 33.1129 9.26451 14.3095 0.664449 0.629727 -0.273648 0.294917 +#8772 1721120776083 +SLAM 12.0317 -22.3681 34.8089 -0.558565 0.0790811 0.69722 0.442308 +TTool-pose None 33.1298 9.26322 14.2916 0.664414 0.629768 -0.273913 0.294659 +#8773 1721120776116 +SLAM 12.0383 -22.234 34.8757 -0.559333 0.0811027 0.697369 0.440733 +TTool-pose None 33.1152 9.23067 14.2851 0.666169 0.627801 -0.273705 0.295091 +#8774 1721120776150 +SLAM 12.0039 -22.254 34.8733 -0.558977 0.0817458 0.697213 0.441312 +TTool-pose None 33.1204 9.22597 14.2614 0.665859 0.627576 -0.274221 0.295788 +#8775 1721120776183 +SLAM 11.9697 -22.3361 34.8259 -0.558004 0.0816732 0.69718 0.442608 +TTool-pose None 33.1301 9.22472 14.231 0.66476 0.628094 -0.275186 0.296265 +#8776 1721120776216 +SLAM 11.9313 -22.3162 34.8457 -0.559362 0.0794912 0.696992 0.441585 +TTool-pose None 33.1194 9.18698 14.2451 0.665158 0.629242 -0.273184 0.294783 +#8777 1721120776251 +SLAM 11.9136 -22.3489 34.8166 -0.558423 0.0805639 0.697081 0.442438 +TTool-pose None 33.1228 9.18232 14.2131 0.66467 0.628804 -0.274444 0.295647 +#8778 1721120776284 +SLAM 11.8666 -22.2466 34.9021 -0.560601 0.0794408 0.696641 0.440577 +TTool-pose None 33.1078 9.14494 14.2313 0.666057 0.628937 -0.27186 0.294626 +#8779 1721120776315 +SLAM 11.8233 -22.5241 34.7327 -0.558673 0.075587 0.696649 0.44368 +TTool-pose None 33.129 9.1565 14.2128 0.662561 0.632699 -0.272761 0.29362 +#8780 1721120776349 +SLAM 11.8542 -22.2371 34.8998 -0.559947 0.0806712 0.696946 0.440702 +TTool-pose None 33.1181 9.12264 14.1895 0.666176 0.628115 -0.272905 0.295146 +#8781 1721120776383 +SLAM 11.8193 -22.3401 34.8509 -0.559259 0.0792733 0.696893 0.44191 +TTool-pose None 33.1351 9.12361 14.1675 0.664854 0.629516 -0.273215 0.294856 +#8782 1721120776420 +SLAM 11.6988 -22.3516 34.8634 -0.560651 0.0778872 0.695917 0.441931 +TTool-pose None 33.1041 9.0826 14.1712 0.664701 0.630541 -0.271283 0.294794 +#8783 1721120776454 +SLAM 11.6954 -22.3723 34.8515 -0.559976 0.0784451 0.696105 0.442393 +TTool-pose None 33.1176 9.08129 14.1446 0.664407 0.630312 -0.272149 0.295149 +#8784 1721120776486 +SLAM 11.709 -22.5068 34.7607 -0.55893 0.0758567 0.69656 0.44345 +TTool-pose None 33.1398 9.07934 14.1359 0.662834 0.632438 -0.272563 0.293751 +#8785 1721120776520 +SLAM 11.769 -22.1821 34.9299 -0.560053 0.0819611 0.69711 0.44007 +TTool-pose None 33.1215 9.03944 14.116 0.666967 0.626988 -0.27317 0.295512 +#8786 1721120776554 +SLAM 11.7383 -22.2264 34.9047 -0.559362 0.0824364 0.697084 0.440898 +TTool-pose None 33.128 9.0304 14.0888 0.666386 0.62696 -0.273999 0.296114 +#8787 1721120776587 +SLAM 11.6157 -22.3014 34.8843 -0.560044 0.0807023 0.696146 0.441835 +TTool-pose None 33.1096 9.00427 14.0817 0.665384 0.628555 -0.272704 0.296181 +#8788 1721120776619 +SLAM 11.5486 -22.429 34.8216 -0.559357 0.0792088 0.69582 0.443487 +TTool-pose None 33.1181 9.00037 14.0583 0.663717 0.630198 -0.272949 0.296205 +#8789 1721120776652 +SLAM 11.5851 -22.2448 34.9196 -0.559891 0.082571 0.696256 0.44151 +TTool-pose None 33.1153 8.97463 14.0371 0.666059 0.627143 -0.273383 0.29703 +#8790 1721120776684 +SLAM 11.4533 -22.3801 34.8736 -0.560701 0.0786416 0.695296 0.442711 +TTool-pose None 33.1071 8.95126 14.0359 0.664336 0.630344 -0.271353 0.295973 +#8791 1721120776718 +SLAM 11.3976 -22.5003 34.8031 -0.5609 0.0751227 0.69506 0.44344 +TTool-pose None 33.1034 8.92604 14.0429 0.662951 0.633037 -0.270146 0.294429 +#8792 1721120776757 +SLAM 11.4696 -22.4354 34.8148 -0.558946 0.0798304 0.695965 0.443666 +TTool-pose None 33.1259 8.93671 13.9891 0.663681 0.629825 -0.273557 0.296518 +#8793 1721120776792 +SLAM 11.4797 -22.2479 34.9099 -0.559917 0.08292 0.696131 0.44161 +TTool-pose None 33.1052 8.89842 13.9782 0.666077 0.626947 -0.273435 0.297357 +#8794 1721120776830 +SLAM 11.4468 -22.3969 34.8379 -0.559196 0.0799088 0.696184 0.442991 +TTool-pose None 33.1322 8.90062 13.9585 0.664225 0.629514 -0.273354 0.296145 +#8795 1721120776869 +SLAM 11.3289 -22.5817 34.7356 -0.557901 0.079046 0.695478 0.445879 +TTool-pose None 33.1287 8.89317 13.9212 0.661728 0.631188 -0.274332 0.29727 +#8796 1721120776907 +SLAM 11.3222 -22.3136 34.9126 -0.560684 0.0809129 0.695329 0.442272 +TTool-pose None 33.1081 8.84527 13.9316 0.665218 0.628621 -0.271997 0.297064 +#8797 1721120776948 +SLAM 11.3497 -22.3956 34.8409 -0.559238 0.0806074 0.695951 0.443179 +TTool-pose None 33.1259 8.84028 13.9076 0.664271 0.629116 -0.273471 0.296782 +#8798 1721120776984 +SLAM 11.2218 -22.3561 34.8979 -0.561428 0.0789658 0.694892 0.442367 +TTool-pose None 33.098 8.7926 13.9126 0.664774 0.630023 -0.270645 0.29632 +#8799 1721120777021 +SLAM 11.2461 -22.3895 34.8529 -0.56026 0.0795032 0.695466 0.442848 +TTool-pose None 33.1084 8.78269 13.8848 0.664387 0.62979 -0.272062 0.296387 +#8800 1721120777064 +SLAM 11.2565 -22.4943 34.7815 -0.559198 0.0778374 0.695914 0.443783 +TTool-pose None 33.1301 8.78077 13.8656 0.663135 0.631241 -0.272746 0.295473 +#8801 1721120777096 +SLAM 11.1688 -22.4468 34.8266 -0.560414 0.0779839 0.695223 0.443305 +TTool-pose None 33.1082 8.74576 13.8581 0.663699 0.631014 -0.271454 0.29588 +#8802 1721120777130 +SLAM 11.2095 -22.3245 34.867 -0.559395 0.082937 0.695809 0.442775 +TTool-pose None 33.1051 8.73034 13.8154 0.665164 0.627375 -0.273926 0.298046 +#8803 1721120777162 +SLAM 11.1531 -22.3736 34.8513 -0.560606 0.0791566 0.695549 0.442342 +TTool-pose None 33.1011 8.69602 13.827 0.664717 0.629841 -0.271627 0.295938 +#8804 1721120777196 +SLAM 11.1843 -22.4974 34.7627 -0.55842 0.0789616 0.696273 0.443999 +TTool-pose None 33.1366 8.70803 13.7846 0.663144 0.630521 -0.273895 0.295928 +#8805 1721120777234 +SLAM 11.0582 -22.4156 34.8336 -0.56045 0.0791312 0.695194 0.443101 +TTool-pose None 33.0978 8.65667 13.7841 0.66414 0.630154 -0.271728 0.296473 +#8806 1721120777272 +SLAM 11.0658 -22.4013 34.85 -0.560558 0.0785846 0.695499 0.442584 +TTool-pose None 33.1153 8.64457 13.7681 0.664392 0.630324 -0.271512 0.295744 +#8807 1721120777314 +SLAM 11.0198 -22.4929 34.7841 -0.559254 0.0790835 0.695472 0.444183 +TTool-pose None 33.1177 8.63146 13.7304 0.663168 0.630557 -0.272969 0.296653 +#8808 1721120777346 +SLAM 11.0313 -22.3487 34.8748 -0.560604 0.0797014 0.695691 0.442024 +TTool-pose None 33.1155 8.60029 13.726 0.665082 0.629342 -0.271797 0.296021 +#8809 1721120777379 +SLAM 11.0352 -22.343 34.8527 -0.56013 0.0804835 0.695979 0.442029 +TTool-pose None 33.1079 8.57833 13.7111 0.665202 0.628787 -0.272533 0.296254 +#8810 1721120777412 +SLAM 10.9634 -22.3917 34.8389 -0.558885 0.0829012 0.695593 0.443763 +TTool-pose None 33.1168 8.57675 13.6579 0.664366 0.627768 -0.274404 0.298559 +#8811 1721120777445 +SLAM 10.93 -22.4267 34.8284 -0.560231 0.0787937 0.695508 0.442946 +TTool-pose None 33.1158 8.54599 13.6752 0.664134 0.63031 -0.271903 0.295993 +#8812 1721120777477 +SLAM 10.9343 -22.3747 34.8469 -0.559606 0.0813513 0.695782 0.442843 +TTool-pose None 33.1176 8.53005 13.6429 0.664754 0.628495 -0.273276 0.297198 +#8813 1721120777509 +SLAM 10.8842 -22.3547 34.8716 -0.559869 0.081885 0.69551 0.442841 +TTool-pose None 33.1163 8.51293 13.6195 0.664928 0.628144 -0.273116 0.297697 +#8814 1721120777541 +SLAM 10.7392 -22.5241 34.7955 -0.561531 0.0751131 0.694461 0.443582 +TTool-pose None 33.0967 8.47074 13.6435 0.662939 0.633133 -0.269417 0.294915 +#8815 1721120777575 +SLAM 10.8138 -22.5685 34.7321 -0.559068 0.0773712 0.695536 0.44462 +TTool-pose None 33.1234 8.47805 13.6005 0.662394 0.631885 -0.272696 0.295804 +#8816 1721120777610 +SLAM 10.8482 -22.3594 34.8534 -0.560633 0.0792075 0.695893 0.441757 +TTool-pose None 33.1144 8.44277 13.5999 0.665155 0.629573 -0.27166 0.295492 +#8817 1721120777643 +SLAM 10.8402 -22.4491 34.7836 -0.558701 0.0803664 0.696241 0.443444 +TTool-pose None 33.1303 8.44127 13.5534 0.663939 0.629358 -0.27399 0.296534 +#8818 1721120777676 +SLAM 10.836 -22.0939 35.0011 -0.562286 0.083107 0.695982 0.438789 +TTool-pose None 33.0889 8.38268 13.5746 0.668504 0.625809 -0.271049 0.296491 +#8819 1721120777710 +SLAM 10.7595 -22.3706 34.8558 -0.560203 0.0802018 0.695784 0.442294 +TTool-pose None 33.1224 8.39568 13.5334 0.664952 0.629089 -0.272355 0.296339 +#8820 1721120777743 +SLAM 10.6361 -22.3609 34.8891 -0.561149 0.0805669 0.694767 0.442629 +TTool-pose None 33.1021 8.36679 13.5166 0.664943 0.629025 -0.271351 0.297416 +#8821 1721120777778 +SLAM 10.6217 -22.668 34.6846 -0.557981 0.0777439 0.695299 0.446288 +TTool-pose None 33.1397 8.37536 13.4746 0.661117 0.632241 -0.273867 0.296819 +#8822 1721120777811 +SLAM 10.6189 -22.2406 34.9543 -0.56186 0.0820472 0.694991 0.441099 +TTool-pose None 33.0964 8.31879 13.4865 0.666519 0.627439 -0.271061 0.297503 +#8823 1721120777845 +SLAM 10.4545 -22.3076 34.9736 -0.562983 0.080141 0.693686 0.442071 +TTool-pose None 33.0955 8.29876 13.4625 0.665509 0.629186 -0.269214 0.297751 +#8824 1721120777878 +SLAM 10.3993 -22.2637 35.0211 -0.563083 0.0820285 0.693303 0.442199 +TTool-pose None 33.0978 8.28844 13.4306 0.665901 0.627956 -0.269573 0.299144 +#8825 1721120777913 +SLAM 10.5193 -22.5161 34.7745 -0.559812 0.078923 0.695013 0.444228 +TTool-pose None 33.1106 8.27699 13.4365 0.663179 0.630714 -0.272294 0.296916 +#8826 1721120777946 +SLAM 10.5414 -22.5015 34.7692 -0.557153 0.084528 0.695514 0.445754 +TTool-pose None 33.133 8.29088 13.3635 0.663065 0.627361 -0.27659 0.300285 +#8827 1721120777978 +SLAM 10.4728 -22.3364 34.9151 -0.560826 0.0821414 0.694812 0.442678 +TTool-pose None 33.1177 8.25055 13.3853 0.665251 0.627955 -0.272115 0.29829 +#8828 1721120778014 +SLAM 10.5083 -22.6719 34.6551 -0.555819 0.0818851 0.695829 0.447417 +TTool-pose None 33.1522 8.27197 13.3317 0.661004 0.629755 -0.277265 0.299193 +#8829 1721120778050 +SLAM 10.4311 -22.4751 34.7814 -0.558585 0.0833963 0.694977 0.445012 +TTool-pose None 33.101 8.21597 13.3517 0.663541 0.627914 -0.274756 0.299762 +#8830 1721120778084 +SLAM 10.1858 -22.4647 34.8985 -0.562837 0.0781415 0.692736 0.444101 +TTool-pose None 33.0891 8.17897 13.355 0.663521 0.631351 -0.26868 0.298087 +#8831 1721120778117 +SLAM 10.404 -22.5466 34.7381 -0.558675 0.0803038 0.695292 0.444974 +TTool-pose None 33.1164 8.18204 13.3302 0.662814 0.630012 -0.273866 0.297774 +#8832 1721120778153 +SLAM 10.4112 -22.5342 34.7429 -0.557082 0.0837459 0.695582 0.445883 +TTool-pose None 33.1342 8.18921 13.2797 0.662768 0.627943 -0.27646 0.299844 +#8833 1721120778186 +SLAM 10.3901 -22.6166 34.6859 -0.557052 0.0811852 0.695672 0.446254 +TTool-pose None 33.1359 8.17108 13.2794 0.661861 0.629836 -0.275805 0.298477 +#8834 1721120778218 +SLAM 10.3989 -22.7332 34.6058 -0.555717 0.0797012 0.696147 0.447444 +TTool-pose None 33.16 8.17144 13.2536 0.660424 0.631248 -0.276817 0.297738 +#8835 1721120778257 +SLAM 10.3627 -22.4758 34.7736 -0.558661 0.0818167 0.69563 0.444189 +TTool-pose None 33.1208 8.12187 13.271 0.663756 0.628666 -0.274342 0.298083 +#8836 1721120778296 +SLAM 10.3678 -22.5387 34.7284 -0.557207 0.0824744 0.69601 0.445296 +TTool-pose None 33.1408 8.12359 13.2343 0.662898 0.628582 -0.276048 0.298593 +#8837 1721120778332 +SLAM 10.2305 -22.5882 34.7348 -0.559277 0.0786584 0.694824 0.445243 +TTool-pose None 33.1191 8.09112 13.2491 0.662298 0.631271 -0.272738 0.297289 +#8838 1721120778367 +SLAM 10.3195 -22.3214 34.8546 -0.559498 0.084877 0.695513 0.442741 +TTool-pose None 33.0955 8.06693 13.2422 0.665682 0.626043 -0.274305 0.29934 +#8839 1721120778401 +SLAM 10.2372 -22.5342 34.743 -0.557438 0.0837898 0.695259 0.445935 +TTool-pose None 33.1228 8.07544 13.1883 0.662796 0.627953 -0.276065 0.300126 +#8840 1721120778436 +SLAM 10.2921 -22.7112 34.6077 -0.555815 0.0800722 0.696239 0.447113 +TTool-pose None 33.1539 8.07843 13.178 0.660773 0.630868 -0.276832 0.297756 +#8841 1721120778467 +SLAM 10.2531 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10.1514 -22.5039 34.7089 -0.557952 0.0807907 0.696586 0.443768 +TTool-pose None 33.1259 7.89857 13.0781 0.663696 0.629158 -0.274915 0.296644 +#8860 1721120779063 +SLAM 10.1588 -22.4926 34.7219 -0.55868 0.0790792 0.69673 0.442934 +TTool-pose None 33.1319 7.88774 13.0855 0.663981 0.630028 -0.273728 0.295255 +#8861 1721120779092 +SLAM 10.1168 -22.3914 34.7977 -0.559013 0.0823187 0.69627 0.442647 +TTool-pose None 33.1209 7.8813 13.0647 0.665045 0.627725 -0.274211 0.297311 +#8862 1721120779124 +SLAM 10.181 -22.443 34.7457 -0.557877 0.0814947 0.697132 0.442875 +TTool-pose None 33.1438 7.88548 13.0507 0.664504 0.628316 -0.275259 0.296301 +#8863 1721120779153 +SLAM 10.0977 -22.2158 34.9344 -0.560872 0.0832427 0.696096 0.44039 +TTool-pose None 33.1235 7.86404 13.049 0.667177 0.626287 -0.272545 0.297098 +#8864 1721120779184 +SLAM 10.1594 -22.4091 34.7477 -0.557527 0.083593 0.697099 0.442977 +TTool-pose None 33.1274 7.86098 13.0337 0.664897 0.626907 -0.276181 0.297545 +#8865 1721120779216 +SLAM 10.1337 -22.3353 34.8212 -0.55871 0.0834144 0.696844 0.441921 +TTool-pose None 33.1329 7.85457 13.0277 0.665793 0.626669 -0.274896 0.297231 +#8866 1721120779250 +SLAM 10.1165 -22.422 34.7493 -0.558363 0.0816324 0.696906 0.442594 +TTool-pose None 33.1245 7.83818 13.0315 0.664815 0.628136 -0.274772 0.296438 +#8867 1721120779282 +SLAM 10.0923 -22.514 34.6844 -0.557569 0.0807899 0.696944 0.443689 +TTool-pose None 33.1272 7.82758 13.0194 0.663695 0.629106 -0.275354 0.29635 +#8868 1721120779313 +SLAM 10.0811 -22.3844 34.774 -0.557733 0.084587 0.696769 0.44305 +TTool-pose None 33.1235 7.82482 12.994 0.665121 0.626269 -0.276195 0.298374 +#8869 1721120779344 +SLAM 10.0822 -22.4475 34.7459 -0.558504 0.0804073 0.696982 0.44252 +TTool-pose None 33.1385 7.81282 13.0072 0.664584 0.628948 -0.274305 0.295663 +#8870 1721120779377 +SLAM 9.993 -22.4623 34.7488 -0.559305 0.0798572 0.696213 0.442819 +TTool-pose None 33.1172 7.7898 13.0077 0.664354 0.629486 -0.273233 0.29603 +#8871 1721120779411 +SLAM 9.98994 -22.4216 34.7741 -0.558455 0.0830036 0.696247 0.443259 +TTool-pose None 33.1218 7.79272 12.9774 0.664689 0.627473 -0.27496 0.297946 +#8872 1721120779445 +SLAM 10.0141 -22.5217 34.7056 -0.558233 0.079359 0.696764 0.443394 +TTool-pose None 33.1404 7.78646 12.9805 0.663651 0.629998 -0.274263 0.295563 +#8873 1721120779474 +SLAM 9.9725 -22.3585 34.8244 -0.560107 0.0810654 0.696195 0.441611 +TTool-pose None 33.1185 7.76552 12.9853 0.665645 0.628222 -0.272745 0.296265 +#8874 1721120779505 +SLAM 9.95049 -22.436 34.7805 -0.559175 0.0810017 0.696177 0.442831 +TTool-pose None 33.1294 7.76848 12.9656 0.66461 0.628705 -0.273674 0.296707 +#8875 1721120779542 +SLAM 9.90561 -22.5372 34.7214 -0.559253 0.0785204 0.695883 0.443641 +TTool-pose None 33.1256 7.75896 12.9739 0.663418 0.630722 -0.272873 0.295828 +#8876 1721120779576 +SLAM 9.91777 -22.4716 34.7551 -0.558827 0.0814182 0.695966 0.443525 +TTool-pose None 33.1222 7.75741 12.9604 0.664161 0.628681 -0.274111 0.29736 +#8877 1721120779616 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1721120780399 +SLAM 9.62914 -22.5028 34.8047 -0.5592 0.0825681 0.694766 0.444724 +TTool-pose None 33.1402 7.63937 12.8255 0.663637 0.628397 -0.273877 0.299341 +#8902 1721120780430 +SLAM 9.54279 -22.5691 34.7717 -0.560186 0.0799111 0.694067 0.445058 +TTool-pose None 33.1202 7.61368 12.8393 0.662882 0.630393 -0.27205 0.29848 +#8903 1721120780459 +SLAM 9.5149 -22.6048 34.7472 -0.559741 0.0802344 0.693918 0.445792 +TTool-pose None 33.1171 7.60888 12.8281 0.662365 0.630443 -0.272569 0.29905 +#8904 1721120780489 +SLAM 9.51198 -22.4383 34.8812 -0.562348 0.0794025 0.69371 0.442975 +TTool-pose None 33.1156 7.59406 12.8447 0.66458 0.630018 -0.269662 0.297661 +#8905 1721120780519 +SLAM 9.57508 -22.5618 34.7522 -0.558722 0.0824901 0.694625 0.445557 +TTool-pose None 33.1271 7.6051 12.8092 0.662942 0.628758 -0.27432 0.299716 +#8906 1721120780551 +SLAM 9.5362 -22.5799 34.7457 -0.559068 0.0818345 0.694332 0.445701 +TTool-pose None 33.1198 7.59282 12.8097 0.662728 0.629281 -0.273748 0.299616 +#8907 1721120780585 +SLAM 9.31977 -22.1942 35.1179 -0.565003 0.0844332 0.691653 0.441881 +TTool-pose None 33.0969 7.57944 12.7995 0.667 0.626284 -0.268033 0.301576 +#8908 1721120780623 +SLAM 9.45303 -22.3924 34.8976 -0.561579 0.0836355 0.693316 0.443787 +TTool-pose None 33.0944 7.56969 12.8113 0.664931 0.627419 -0.271543 0.300645 +#8909 1721120780659 +SLAM 9.47932 -22.2136 34.9943 -0.562665 0.0863488 0.693339 0.441851 +TTool-pose None 33.0718 7.55492 12.8202 0.667153 0.624846 -0.271173 0.301415 +#8910 1721120780693 +SLAM 9.49129 -22.481 34.8378 -0.559847 0.0833583 0.694065 0.444855 +TTool-pose None 33.1295 7.57789 12.7757 0.663834 0.627945 -0.273334 0.300348 +#8911 1721120780725 +SLAM 9.49659 -22.3407 34.8834 -0.560215 0.0873087 0.693882 0.443919 +TTool-pose None 33.0806 7.5527 12.7905 0.665533 0.624891 -0.274002 0.302345 +#8912 1721120780766 +SLAM 9.46507 -22.5431 34.8057 -0.56013 0.0809013 0.694029 0.445009 +TTool-pose None 33.135 7.56661 12.7742 0.663156 0.629696 -0.272373 0.299048 +#8913 1721120780799 +SLAM 9.49162 -22.5239 34.802 -0.559502 0.082297 0.694347 0.445048 +TTool-pose None 33.1354 7.56437 12.764 0.66338 0.628727 -0.273436 0.299618 +#8914 1721120780832 +SLAM 9.45521 -22.4461 34.8631 -0.562072 0.0795588 0.693906 0.44299 +TTool-pose None 33.1144 7.53586 12.7967 0.664567 0.629904 -0.270014 0.297613 +#8915 1721120780866 +SLAM 9.48075 -22.5363 34.7872 -0.559941 0.0807408 0.694422 0.444663 +TTool-pose None 33.1306 7.54555 12.7655 0.663338 0.629657 -0.272577 0.298539 +#8916 1721120780899 +SLAM 9.40101 -22.4651 34.8606 -0.5613 0.081618 0.69354 0.444167 +TTool-pose None 33.1148 7.53235 12.7661 0.664116 0.628932 -0.27131 0.29949 +#8917 1721120780938 +SLAM 9.33615 -22.5959 34.7846 -0.560276 0.0809338 0.693174 0.446152 +TTool-pose None 33.1177 7.53027 12.7464 0.662358 0.630138 -0.27211 0.300125 +#8918 1721120780977 +SLAM 9.4949 -22.5517 34.7631 -0.559307 0.0810702 0.694795 0.444818 +TTool-pose None 33.1355 7.53225 12.7508 0.663213 0.629461 -0.273363 0.298512 +#8919 1721120781011 +SLAM 9.4589 -22.5195 34.7927 -0.560077 0.080912 0.694473 0.444381 +TTool-pose None 33.1273 7.51947 12.7503 0.663605 0.629435 -0.272493 0.298492 +#8920 1721120781045 +SLAM 9.40898 -22.6548 34.699 -0.558897 0.0801933 0.694273 0.446305 +TTool-pose None 33.1245 7.51124 12.7363 0.661856 0.630631 -0.273465 0.298961 +#8921 1721120781077 +SLAM 9.47393 -22.548 34.7572 -0.55848 0.0831414 0.694848 0.445392 +TTool-pose None 33.1349 7.51506 12.7219 0.663187 0.628235 -0.274774 0.299857 +#8922 1721120781110 +SLAM 9.40215 -22.6906 34.6792 -0.559263 0.0779185 0.694413 0.446032 +TTool-pose None 33.132 7.49853 12.7349 0.661539 0.632089 -0.272488 0.29747 +#8923 1721120781143 +SLAM 9.3827 -22.4917 34.8343 -0.560558 0.0817417 0.693984 0.444386 +TTool-pose None 33.128 7.49471 12.7231 0.663879 0.628897 -0.272161 0.299319 +#8924 1721120781183 +SLAM 9.36963 -22.3571 34.9083 -0.562236 0.0824665 0.693695 0.442579 +TTool-pose None 33.096 7.46997 12.7426 0.665611 0.627767 -0.27061 0.29925 +#8925 1721120781218 +SLAM 9.21391 -22.5919 34.8058 -0.560726 0.0812296 0.69264 0.446361 +TTool-pose None 33.1146 7.47521 12.6959 0.662346 0.630044 -0.271657 0.300761 +#8926 1721120781256 +SLAM 9.27505 -22.5455 34.8134 -0.562157 0.0782802 0.693148 0.444294 +TTool-pose None 33.1044 7.45746 12.7367 0.663317 0.6313 -0.269468 0.297939 +#8927 1721120781294 +SLAM 9.2203 -22.4076 34.9327 -0.564001 0.0795479 0.692437 0.44284 +TTool-pose None 33.0937 7.44605 12.7381 0.664954 0.629949 -0.267837 0.298619 +#8928 1721120781326 +SLAM 9.24415 -22.3641 34.9665 -0.563268 0.0818005 0.692735 0.442895 +TTool-pose None 33.1123 7.45578 12.7094 0.665368 0.6284 -0.269242 0.299695 +#8929 1721120781358 +SLAM 9.20038 -22.5311 34.8503 -0.562052 0.0798796 0.692689 0.444858 +TTool-pose None 33.1132 7.44537 12.6959 0.663294 0.630432 -0.269948 0.299392 +#8930 1721120781391 +SLAM 9.17965 -22.3929 34.9377 -0.562979 0.082734 0.692284 0.443794 +TTool-pose None 33.0904 7.43359 12.698 0.664908 0.628108 -0.269726 0.300892 +#8931 1721120781423 +SLAM 9.22374 -22.5357 34.8369 -0.560898 0.0816259 0.693068 0.445408 +TTool-pose None 33.1236 7.44771 12.6716 0.66316 0.629402 -0.271653 0.300311 +#8932 1721120781456 +SLAM 9.2168 -22.6601 34.7473 -0.559959 0.0798192 0.693266 0.446606 +TTool-pose None 33.1306 7.44148 12.6673 0.661703 0.631062 -0.27214 0.2996 +#8933 1721120781490 +SLAM 9.29227 -22.473 34.8413 -0.562305 0.0788205 0.693782 0.443021 +TTool-pose None 33.109 7.41543 12.7074 0.664394 0.63043 -0.269557 0.297297 +#8934 1721120781523 +SLAM 9.15652 -22.5035 34.8709 -0.562886 0.0789495 0.692601 0.444106 +TTool-pose None 33.1089 7.40968 12.6799 0.663727 0.630807 -0.268832 0.298644 +#8935 1721120781554 +SLAM 9.25812 -22.7993 34.6238 -0.557763 0.0786966 0.694241 0.448037 +TTool-pose None 33.1519 7.43122 12.6345 0.660055 0.632279 -0.274196 0.298793 +#8936 1721120781589 +SLAM 9.18681 -22.5422 34.8266 -0.560687 0.0819022 0.693151 0.445492 +TTool-pose None 33.1234 7.41193 12.6433 0.663137 0.629236 -0.271954 0.300437 +#8937 1721120781625 +SLAM 9.15983 -22.4862 34.8731 -0.562299 0.0803015 0.692901 0.44414 +TTool-pose None 33.1146 7.3926 12.6548 0.663955 0.62987 -0.269843 0.299203 +#8938 1721120781660 +SLAM 9.18771 -22.5408 34.8073 -0.561691 0.0792616 0.693336 0.444417 +TTool-pose None 33.1079 7.3814 12.66 0.663406 0.630657 -0.270238 0.298404 +#8939 1721120781700 +SLAM 9.20905 -22.5191 34.8173 -0.56032 0.0824385 0.693653 0.445074 +TTool-pose None 33.1219 7.38842 12.627 0.663518 0.628685 -0.272545 0.300215 +#8940 1721120781732 +SLAM 9.13722 -22.5093 34.8459 -0.562533 0.0789237 0.692981 0.443965 +TTool-pose None 33.107 7.36511 12.6479 0.663771 0.63075 -0.269239 0.298299 +#8941 1721120781766 +SLAM 9.16548 -22.6713 34.7117 -0.55978 0.0792836 0.69363 0.446361 +TTool-pose None 33.1221 7.37 12.6213 0.661721 0.631319 -0.272227 0.298939 +#8942 1721120781804 +SLAM 9.24906 -22.4399 34.8528 -0.561607 0.0806764 0.694169 0.442966 +TTool-pose None 33.1186 7.36144 12.6381 0.664795 0.629109 -0.27083 0.298043 +#8943 1721120781837 +SLAM 9.19641 -22.5472 34.7959 -0.561068 0.079235 0.693927 0.444285 +TTool-pose None 33.1264 7.35703 12.6214 0.663403 0.630591 -0.27095 0.297907 +#8944 1721120781869 +SLAM 9.22294 -22.4613 34.8434 -0.561484 0.0804023 0.694123 0.443243 +TTool-pose None 33.1223 7.35086 12.6222 0.664509 0.6294 -0.270873 0.298027 +#8945 1721120781902 +SLAM 9.20625 -22.5593 34.7803 -0.560484 0.0798137 0.694157 0.444559 +TTool-pose None 33.131 7.35211 12.6098 0.663262 0.630276 -0.271734 0.29817 +#8946 1721120781934 +SLAM 9.186 -22.479 34.8508 -0.562329 0.0784265 0.693853 0.442948 +TTool-pose None 33.1257 7.34189 12.6243 0.664351 0.63067 -0.269434 0.296995 +#8947 1721120781973 +SLAM 9.21198 -22.476 34.8353 -0.561463 0.079922 0.694161 0.443298 +TTool-pose None 33.1256 7.3429 12.6139 0.664346 0.629748 -0.27077 0.297749 +#8948 1721120782005 +SLAM 9.10754 -22.5588 34.7994 -0.560897 0.0808414 0.693265 0.445244 +TTool-pose None 33.1146 7.33661 12.5972 0.663084 0.629871 -0.271468 0.299662 +#8949 1721120782038 +SLAM 9.05435 -22.4422 34.9123 -0.563069 0.0808773 0.692479 0.443717 +TTool-pose None 33.1064 7.33131 12.6118 0.664517 0.629348 -0.269156 0.299673 +#8950 1721120782072 +SLAM 9.04943 -22.4306 34.9207 -0.563106 0.0814195 0.692358 0.44376 +TTool-pose None 33.1024 7.33347 12.6144 0.664626 0.628997 -0.269249 0.300084 +#8951 1721120782104 +SLAM 8.94222 -22.5924 34.8368 -0.562351 0.0802946 0.691478 0.446287 +TTool-pose None 33.0979 7.3355 12.6035 0.662405 0.630734 -0.269582 0.301051 +#8952 1721120782137 +SLAM 8.93891 -22.5111 34.908 -0.563427 0.0805417 0.691276 0.445197 +TTool-pose None 33.0996 7.33866 12.6093 0.663412 0.630185 -0.268527 0.300923 +#8953 1721120782171 +SLAM 8.83213 -22.4703 34.961 -0.564794 0.0809201 0.690122 0.445186 +TTool-pose None 33.0765 7.3282 12.6108 0.66371 0.629991 -0.26707 0.30197 +#8954 1721120782205 +SLAM 8.79533 -22.4943 34.9551 -0.565092 0.080411 0.689715 0.445531 +TTool-pose None 33.07 7.3276 12.6172 0.663375 0.630489 -0.266568 0.302109 +#8955 1721120782241 +SLAM 8.7896 -22.7519 34.7692 -0.562868 0.0773258 0.69003 0.448396 +TTool-pose None 33.0822 7.33507 12.6103 0.660201 0.633618 -0.268026 0.301224 +#8956 1721120782273 +SLAM 8.84562 -22.5687 34.9001 -0.564057 0.0792437 0.690321 0.446114 +TTool-pose None 33.0911 7.34288 12.6113 0.662513 0.631466 -0.26739 0.301232 +#8957 1721120782308 +SLAM 8.94523 -22.7306 34.7655 -0.562382 0.0754218 0.691642 0.446844 +TTool-pose None 33.1234 7.35265 12.6089 0.660779 0.63427 -0.268231 0.298384 +#8958 1721120782344 +SLAM 8.8241 -22.5773 34.8813 -0.563933 0.0797943 0.690133 0.446464 +TTool-pose None 33.0743 7.33193 12.6142 0.662378 0.631224 -0.26764 0.301814 +#8959 1721120782381 +SLAM 8.75578 -22.7177 34.816 -0.564421 0.0752587 0.689674 0.447342 +TTool-pose None 33.0836 7.3296 12.6166 0.660668 0.63468 -0.265824 0.29991 +#8960 1721120782420 +SLAM 8.75282 -22.607 34.8763 -0.563907 0.0803381 0.689456 0.447443 +TTool-pose None 33.0651 7.33143 12.6042 0.661797 0.631242 -0.267714 0.302984 +#8961 1721120782452 +SLAM 8.68872 -22.803 34.7657 -0.563178 0.0767962 0.689127 0.449484 +TTool-pose None 33.0784 7.33477 12.5954 0.659318 0.634425 -0.267429 0.301991 +#8962 1721120782485 +SLAM 8.73935 -22.5669 34.924 -0.565008 0.0793633 0.689217 0.446596 +TTool-pose None 33.0694 7.334 12.612 0.662327 0.631622 -0.266293 0.302284 +#8963 1721120782518 +SLAM 8.68674 -22.6898 34.8446 -0.564789 0.076905 0.688877 0.447826 +TTool-pose None 33.0632 7.32786 12.6142 0.660783 0.633772 -0.265787 0.301606 +#8964 1721120782553 +SLAM 8.73148 -22.4693 34.9738 -0.565138 0.082392 0.689009 0.446203 +TTool-pose None 33.0483 7.32715 12.6074 0.663383 0.629409 -0.266958 0.303995 +#8965 1721120782587 +SLAM 8.70563 -22.6244 34.8698 -0.563063 0.0825827 0.689057 0.44871 +TTool-pose None 33.0608 7.3338 12.581 0.66131 0.630172 -0.269124 0.305019 +#8966 1721120782621 +SLAM 8.86939 -22.5081 34.9172 -0.563298 0.08223 0.690569 0.446147 +TTool-pose None 33.0831 7.34121 12.5937 0.663123 0.629407 -0.269015 0.30275 +#8967 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15.9636 -22.67 35.1637 -0.563067 0.0905097 0.679441 0.461652 +TTool-pose None 32.5582 13.6399 17.7634 0.653678 0.629817 -0.269713 0.321267 +#9082 1721120786480 +SLAM 15.8264 -22.5806 35.2682 -0.564682 0.0914836 0.678469 0.460918 +TTool-pose None 32.5443 13.5873 17.7278 0.654675 0.628937 -0.268187 0.322238 +#9083 1721120786512 +SLAM 15.4792 -22.5999 35.307 -0.566463 0.0924737 0.6756 0.462746 +TTool-pose None 32.4413 13.5201 17.6621 0.653775 0.629039 -0.266167 0.325527 +#9084 1721120786543 +SLAM 15.2344 -22.5704 35.4101 -0.568819 0.0920652 0.673148 0.463509 +TTool-pose None 32.3788 13.5103 17.6371 0.653405 0.62971 -0.263258 0.327333 +#9085 1721120786576 +SLAM 15.1392 -22.6146 35.3529 -0.568241 0.0925679 0.67284 0.464564 +TTool-pose None 32.3494 13.4702 17.582 0.652656 0.629746 -0.263918 0.328226 +#9086 1721120786606 +SLAM 15.0695 -22.6118 35.3495 -0.568911 0.0913851 0.672845 0.463971 +TTool-pose None 32.3431 13.3903 17.5697 0.652907 0.630359 -0.262929 0.327341 +#9087 1721120786637 +SLAM 14.752 -22.931 35.3301 -0.571076 0.0826406 0.669715 0.467465 +TTool-pose None 32.3208 13.3944 17.6157 0.648426 0.637772 -0.257812 0.325954 +#9088 1721120786668 +SLAM 14.8133 -22.7747 35.2313 -0.569022 0.0863542 0.672898 0.46472 +TTool-pose None 32.342 13.177 17.4676 0.651153 0.634103 -0.261468 0.324763 +#9089 1721120786700 +SLAM 14.5145 -22.7257 35.3483 -0.571802 0.0855213 0.670597 0.464788 +TTool-pose None 32.2945 13.0986 17.4143 0.651242 0.634807 -0.258033 0.325955 +#9090 1721120786733 +SLAM 14.3059 -22.7361 35.4123 -0.573152 0.0854935 0.66887 0.465618 +TTool-pose None 32.2707 13.0646 17.374 0.650769 0.635192 -0.256353 0.327471 +#9091 1721120786766 +SLAM 13.9575 -22.9211 35.3942 -0.573837 0.0851907 0.665293 0.469934 +TTool-pose None 32.1915 13.0909 17.3312 0.647493 0.637063 -0.254916 0.331431 +#9092 1721120786800 +SLAM 13.7353 -22.9876 35.3861 -0.573615 0.0881242 0.662911 0.473021 +TTool-pose None 32.1232 13.1244 17.2709 0.645808 0.636207 -0.255482 0.335899 +#9093 1721120786838 +SLAM 13.644 -22.961 35.3722 -0.573738 0.0900962 0.661758 0.474115 +TTool-pose None 32.0488 13.144 17.2455 0.64545 0.635267 -0.255669 0.338219 +#9094 1721120786872 +SLAM 13.5668 -22.9403 35.3673 -0.574528 0.0900585 0.660827 0.474463 +TTool-pose None 31.9874 13.1415 17.2489 0.645261 0.635449 -0.254687 0.33898 +#9095 1721120786907 +SLAM 13.4028 -22.942 35.4015 -0.576684 0.0879981 0.658924 0.474881 +TTool-pose None 31.9167 13.131 17.2762 0.644683 0.637088 -0.251595 0.339311 +#9096 1721120786946 +SLAM 13.2379 -22.9251 35.4204 -0.578599 0.0864963 0.657312 0.475061 +TTool-pose None 31.8425 13.0937 17.2838 0.644387 0.638241 -0.248947 0.339657 +#9097 1721120786981 +SLAM 13.2469 -22.9027 35.3642 -0.578492 0.0856522 0.658037 0.47434 +TTool-pose None 31.8197 13.0321 17.2659 0.644731 0.638548 -0.248967 0.33841 +#9098 1721120787016 +SLAM 13.2928 -22.8208 35.364 -0.579102 0.0841806 0.659103 0.472375 +TTool-pose None 31.8201 12.9663 17.2604 0.645955 0.63884 -0.248162 0.336108 +#9099 1721120787048 +SLAM 13.3325 -22.8238 35.2913 -0.578108 0.0834956 0.660489 0.471777 +TTool-pose None 31.8345 12.8995 17.2139 0.646144 0.639055 -0.249242 0.334531 +#9100 1721120787080 +SLAM 13.3602 -22.7588 35.3011 -0.578349 0.0827958 0.661521 0.470157 +TTool-pose None 31.8564 12.8318 17.1881 0.647243 0.638932 -0.249008 0.332811 +#9101 1721120787113 +SLAM 13.4971 -22.7315 35.284 -0.577096 0.0830177 0.663604 0.46872 +TTool-pose None 31.9303 12.7905 17.1613 0.64826 0.638199 -0.250727 0.330942 +#9102 1721120787144 +SLAM 13.5354 -22.7598 35.2584 -0.576129 0.0829179 0.664559 0.468574 +TTool-pose None 31.9762 12.7629 17.1301 0.64824 0.638181 -0.251852 0.330161 +#9103 1721120787180 +SLAM 13.5833 -22.7449 35.2695 -0.575812 0.0826911 0.665491 0.467679 +TTool-pose None 32.0232 12.7305 17.1151 0.64883 0.637986 -0.252284 0.329043 +#9104 1721120787215 +SLAM 13.6495 -22.7796 35.2277 -0.57451 0.0823391 0.666935 0.467287 +TTool-pose None 32.0838 12.6881 17.0787 0.648894 0.638034 -0.253767 0.327682 +#9105 1721120787248 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1721120787662 +SLAM 14.4625 -22.6144 34.8817 -0.563678 0.080157 0.683796 0.45636 +TTool-pose None 32.5854 12.1247 16.6542 0.655174 0.634868 -0.267012 0.310338 +#9118 1721120787695 +SLAM 14.7617 -22.122 35.1485 -0.56682 0.0805034 0.687143 0.44729 +TTool-pose None 32.684 12.0089 16.6993 0.662358 0.631208 -0.264451 0.304692 +#9119 1721120787726 +SLAM 14.6166 -22.4799 34.8752 -0.562565 0.0806535 0.686894 0.452981 +TTool-pose None 32.6665 11.9987 16.5809 0.657634 0.633151 -0.268767 0.30711 +#9120 1721120787761 +SLAM 14.4244 -22.6329 34.8251 -0.56513 0.0728493 0.685482 0.45325 +TTool-pose None 32.6187 11.9 16.6417 0.65583 0.638682 -0.263788 0.303809 +#9121 1721120787799 +SLAM 14.2895 -22.721 34.781 -0.56509 0.0715215 0.68491 0.454375 +TTool-pose None 32.6068 11.8447 16.5952 0.654656 0.640022 -0.263366 0.303888 +#9122 1721120787833 +SLAM 14.2918 -22.7818 34.7241 -0.563242 0.0723677 0.685684 0.455367 +TTool-pose None 32.6447 11.8331 16.5179 0.653884 0.639751 -0.265592 0.304184 +#9123 1721120787869 +SLAM 14.648 -22.1755 35.0109 -0.564955 0.07818 0.689831 0.445922 +TTool-pose None 32.7467 11.7208 16.4968 0.662513 0.632157 -0.266112 0.300913 +#9124 1721120787911 +SLAM 14.5586 -22.4238 34.8455 -0.563536 0.0748267 0.689545 0.448727 +TTool-pose None 32.7352 11.6952 16.4789 0.659424 0.63548 -0.266583 0.300283 +#9125 1721120787943 +SLAM 14.4992 -22.5512 34.7578 -0.561863 0.075155 0.689435 0.450934 +TTool-pose None 32.7387 11.6995 16.4209 0.657654 0.636048 -0.268351 0.301384 +#9126 1721120787982 +SLAM 14.4622 -22.5464 34.7585 -0.562107 0.0748465 0.689356 0.450802 +TTool-pose None 32.7323 11.6725 16.4061 0.657708 0.636217 -0.268007 0.301216 +#9127 1721120788018 +SLAM 14.5256 -22.4653 34.7587 -0.559574 0.0809748 0.690488 0.451161 +TTool-pose None 32.7662 11.6888 16.2959 0.658617 0.632064 -0.272431 0.303996 +#9128 1721120788052 +SLAM 14.4592 -22.5477 34.7028 -0.560559 0.0769793 0.690103 0.451226 +TTool-pose None 32.736 11.6353 16.3335 0.657713 0.634859 -0.270277 0.302042 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0.310202 +#9219 1721120791279 +SLAM 13.0235 -22.6159 35.025 -0.56554 0.0800904 0.683745 0.454139 +TTool-pose None 32.7655 11.0008 15.7432 0.657054 0.63413 -0.265107 0.309504 +#9220 1721120791312 +SLAM 13.0032 -22.6244 35.0211 -0.566129 0.078858 0.683589 0.453857 +TTool-pose None 32.7556 10.9811 15.7603 0.657036 0.634886 -0.264146 0.308813 +#9221 1721120791346 +SLAM 12.9802 -22.7921 34.9238 -0.564867 0.0771149 0.683343 0.456093 +TTool-pose None 32.7619 11.0154 15.7567 0.654776 0.636889 -0.264899 0.308843 +#9222 1721120791378 +SLAM 13.1668 -22.5922 34.991 -0.563754 0.0818797 0.685291 0.45371 +TTool-pose None 32.8037 11.0143 15.722 0.657568 0.632659 -0.267649 0.309237 +#9223 1721120791410 +SLAM 13.1372 -22.6408 34.9708 -0.563387 0.0817591 0.685034 0.454577 +TTool-pose None 32.8046 11.025 15.7104 0.656848 0.633064 -0.267946 0.30968 +#9224 1721120791445 +SLAM 13.0374 -22.7582 34.9321 -0.565146 0.0762084 0.683966 0.454964 +TTool-pose None 32.7746 10.9994 15.7726 0.65542 0.637076 -0.264467 0.307456 +#9225 1721120791477 +SLAM 13.0333 -22.8025 34.8955 -0.564287 0.0767072 0.684068 0.455793 +TTool-pose None 32.7791 11.0051 15.7522 0.654815 0.637022 -0.265488 0.307977 +#9226 1721120791510 +SLAM 13.1195 -22.737 34.9124 -0.564005 0.0775368 0.684959 0.454662 +TTool-pose None 32.7978 11.001 15.7513 0.65582 0.636002 -0.266146 0.30738 +#9227 1721120791545 +SLAM 13.1622 -22.7338 34.885 -0.562393 0.0802574 0.685551 0.455295 +TTool-pose None 32.8117 11.0155 15.7085 0.655807 0.634322 -0.268618 0.308728 +#9228 1721120791578 +SLAM 13.283 -22.5328 34.9887 -0.563897 0.0805089 0.686691 0.451658 +TTool-pose None 32.8287 10.9765 15.7421 0.658757 0.632792 -0.267349 0.306678 +#9229 1721120791613 +SLAM 13.3041 -22.5703 34.9628 -0.563904 0.078921 0.686892 0.451622 +TTool-pose None 32.8345 10.975 15.76 0.658388 0.63386 -0.266937 0.305621 +#9230 1721120791651 +SLAM 13.3101 -22.5343 34.9845 -0.564253 0.0789413 0.686995 0.451026 +TTool-pose None 32.8357 10.9646 15.7606 0.65888 0.633628 -0.266605 0.305333 +#9231 1721120791683 +SLAM 13.3663 -22.5441 34.9633 -0.56319 0.0799731 0.687547 0.451332 +TTool-pose None 32.8549 10.9855 15.7454 0.658763 0.632995 -0.268051 0.305632 +#9232 1721120791721 +SLAM 13.3847 -22.5953 34.9224 -0.561896 0.0809501 0.687778 0.452417 +TTool-pose None 32.8679 11.0102 15.72 0.658026 0.632694 -0.269662 0.306425 +#9233 1721120791758 +SLAM 13.4022 -22.5126 34.9713 -0.5626 0.0815164 0.687924 0.451217 +TTool-pose None 32.8664 10.9947 15.7268 0.659147 0.631869 -0.269129 0.306187 +#9234 1721120791790 +SLAM 13.3797 -22.5643 34.9418 -0.562392 0.0808521 0.687733 0.451887 +TTool-pose None 32.862 10.9974 15.7274 0.658461 0.632576 -0.269127 0.306203 +#9235 1721120791824 +SLAM 13.3786 -22.622 34.9009 -0.561659 0.0807695 0.687764 0.452766 +TTool-pose None 32.8653 11.0091 15.7186 0.657692 0.632943 -0.26985 0.306464 +#9236 1721120791860 +SLAM 13.3051 -22.58 34.9475 -0.563735 0.0788195 0.686997 0.451691 +TTool-pose None 32.8328 10.968 15.7564 0.658289 0.633948 -0.267096 0.305514 +#9237 1721120791891 +SLAM 13.3173 -22.6569 34.9094 -0.563178 0.0775775 0.687042 0.452531 +TTool-pose None 32.8471 10.9924 15.7607 0.657282 0.635097 -0.267323 0.305095 +#9238 1721120791923 +SLAM 13.2849 -22.6781 34.9038 -0.56323 0.077467 0.686726 0.452966 +TTool-pose None 32.8398 10.9936 15.7578 0.656942 0.635346 -0.267191 0.305425 +#9239 1721120791956 +SLAM 13.3537 -22.54 34.9628 -0.563395 0.0798496 0.68746 0.451231 +TTool-pose None 32.8471 10.9753 15.7485 0.658835 0.633049 -0.267796 0.305588 +#9240 1721120791988 +SLAM 13.3831 -22.5272 34.9651 -0.563619 0.0791573 0.687731 0.45066 +TTool-pose None 32.8518 10.9685 15.7632 0.659113 0.633306 -0.267421 0.304784 +#9241 1721120792020 +SLAM 13.3017 -22.6762 34.9054 -0.563416 0.0768012 0.686851 0.452658 +TTool-pose None 32.8437 10.9924 15.7694 0.657028 0.635686 -0.266838 0.304841 +#9242 1721120792051 +SLAM 13.3092 -22.6789 34.9054 -0.5635 0.0763919 0.686896 0.452555 +TTool-pose None 32.8462 10.9937 15.7751 0.657012 0.635928 -0.266647 0.304537 +#9243 1721120792083 +SLAM 13.3702 -22.5809 34.9371 -0.562534 0.0802414 0.687612 0.452003 +TTool-pose None 32.8603 10.9984 15.7337 0.658244 0.633045 -0.268798 0.30599 +#9244 1721120792116 +SLAM 13.434 -22.5075 34.9554 -0.562266 0.0817529 0.688292 0.451029 +TTool-pose None 32.8688 10.9897 15.727 0.659295 0.631617 -0.269588 0.305983 +#9245 1721120792148 +SLAM 13.3844 -22.5175 34.9769 -0.563403 0.0799305 0.687712 0.450822 +TTool-pose None 32.8576 10.9806 15.751 0.659156 0.632833 -0.267849 0.305297 +#9246 1721120792181 +SLAM 13.4404 -22.4812 34.9666 -0.562689 0.0814596 0.688362 0.450448 +TTool-pose None 32.864 10.9759 15.7381 0.659708 0.631609 -0.269091 0.305548 +#9247 1721120792212 +SLAM 13.2618 -22.6876 34.9087 -0.564022 0.075881 0.686443 0.452678 +TTool-pose None 32.8304 10.9817 15.781 0.656866 0.636348 -0.265906 0.304621 +#9248 1721120792246 +SLAM 13.319 -22.6714 34.8982 -0.563074 0.0773622 0.687056 0.452678 +TTool-pose None 32.8467 10.9937 15.7628 0.657106 0.635296 -0.267372 0.305018 +#9249 1721120792277 +SLAM 13.3222 -22.6483 34.9102 -0.563251 0.0775771 0.687101 0.452352 +TTool-pose None 32.8452 10.9873 15.7636 0.657424 0.635031 -0.267259 0.304984 +#9250 1721120792309 +SLAM 13.4384 -22.5546 34.9189 -0.561494 0.0819813 0.688371 0.451828 +TTool-pose None 32.8725 11.0022 15.7161 0.658656 0.631738 -0.270443 0.306354 +#9251 1721120792340 +SLAM 13.383 -22.5289 34.9586 -0.563066 0.0803253 0.687767 0.451088 +TTool-pose None 32.8536 10.9777 15.7442 0.659012 0.632653 -0.268306 0.30558 +#9252 1721120792372 +SLAM 13.3174 -22.6542 34.9186 -0.563742 0.0764312 0.686977 0.452125 +TTool-pose None 32.8457 10.9867 15.7796 0.657372 0.635743 -0.266426 0.304339 +#9253 1721120792404 +SLAM 13.3692 -22.5482 34.9594 -0.563379 0.0793618 0.687572 0.451165 +TTool-pose None 32.8531 10.9801 15.7549 0.65876 0.633355 -0.267695 0.305206 +#9254 1721120792438 +SLAM 13.4218 -22.4756 34.994 -0.563535 0.0801601 0.68806 0.450085 +TTool-pose None 32.8637 10.9761 15.7568 0.659771 0.632391 -0.267832 0.304896 +#9255 1721120792473 +SLAM 13.3892 -22.4837 34.9943 -0.563975 0.0795499 0.68776 0.450101 +TTool-pose None 32.8519 10.9644 15.7644 0.65967 0.632835 -0.267173 0.304774 +#9256 1721120792510 +SLAM 13.3194 -22.5669 34.9672 -0.564704 0.076827 0.687014 0.450797 +TTool-pose None 32.8347 10.9587 15.7908 0.65858 0.634997 -0.265567 0.304036 +#9257 1721120792543 +SLAM 13.386 -22.527 34.9748 -0.563445 0.0795382 0.687698 0.45086 +TTool-pose None 32.8597 10.9839 15.7553 0.659036 0.633117 -0.267697 0.305099 +#9258 1721120792577 +SLAM 13.377 -22.5205 34.963 -0.56351 0.0797179 0.687679 0.450776 +TTool-pose None 32.8453 10.9685 15.7574 0.659152 0.632965 -0.267677 0.305183 +#9259 1721120792612 +SLAM 13.3123 -22.5802 34.9492 -0.563941 0.0782662 0.687026 0.451486 +TTool-pose None 32.8336 10.9665 15.7668 0.65833 0.634254 -0.266739 0.305102 +#9260 1721120792646 +SLAM 13.3146 -22.6513 34.9133 -0.563765 0.0765028 0.686973 0.452089 +TTool-pose None 32.8395 10.9808 15.7808 0.657419 0.635682 -0.266421 0.30437 +#9261 1721120792679 +SLAM 13.3425 -22.5357 34.9812 -0.565142 0.0763495 0.687181 0.450075 +TTool-pose None 32.8333 10.9513 15.8069 0.65905 0.635057 -0.265017 0.303371 +#9262 1721120792710 +SLAM 13.3662 -22.4894 35.0028 -0.563913 0.0801287 0.687419 0.450596 +TTool-pose None 32.8479 10.9819 15.7571 0.659443 0.632633 -0.267342 0.305535 +#9263 1721120792744 +SLAM 13.2382 -22.466 35.0663 -0.565789 0.0792977 0.686043 0.450488 +TTool-pose None 32.8159 10.9635 15.7719 0.659576 0.633245 -0.264999 0.306019 +#9264 1721120792779 +SLAM 13.0308 -22.5671 35.0701 -0.567819 0.0760382 0.683816 0.451879 +TTool-pose None 32.7621 10.9506 15.8051 0.658014 0.636103 -0.26169 0.306304 +#9265 1721120792822 +SLAM 12.8279 -22.781 34.9898 -0.567486 0.074544 0.68175 0.455653 +TTool-pose None 32.7254 10.9803 15.789 0.654806 0.638582 -0.261279 0.308365 +#9266 1721120792855 +SLAM 12.9134 -22.69 35.0099 -0.565399 0.0802934 0.682727 0.455809 +TTool-pose None 32.7517 11.0093 15.7194 0.655852 0.634639 -0.26514 0.31098 +#9267 1721120792889 +SLAM 12.7713 -22.8047 34.9819 -0.566657 0.0768993 0.681217 0.457088 +TTool-pose None 32.7167 11.0013 15.7502 0.654226 0.637505 -0.262684 0.310625 +#9268 1721120792923 +SLAM 12.8575 -22.6731 35.0382 -0.565789 0.081182 0.682134 0.456053 +TTool-pose None 32.7395 11.0076 15.711 0.655944 0.634147 -0.264893 0.312 +#9269 1721120792957 +SLAM 12.7172 -22.7548 35.0544 -0.568308 0.0760865 0.680527 0.456201 +TTool-pose None 32.7095 10.9856 15.7742 0.654898 0.637785 -0.260676 0.310326 +#9270 1721120792991 +SLAM 12.6914 -22.6909 35.1035 -0.569922 0.0749686 0.680214 0.454838 +TTool-pose None 32.6915 10.9517 15.8058 0.655838 0.638081 -0.25868 0.3094 +#9271 1721120793026 +SLAM 12.7234 -22.7325 35.0766 -0.569207 0.0747413 0.680495 0.45535 +TTool-pose None 32.7075 10.9725 15.8022 0.655308 0.638405 -0.259388 0.309263 +#9272 1721120793059 +SLAM 12.8304 -22.6481 35.0973 -0.567819 0.0782407 0.681695 0.454699 +TTool-pose None 32.7408 10.9838 15.7629 0.656486 0.635711 -0.26196 0.310143 +#9273 1721120793094 +SLAM 12.898 -22.6678 35.0599 -0.56671 0.078671 0.682442 0.454888 +TTool-pose None 32.7592 10.9964 15.7515 0.656306 0.635443 -0.263322 0.309921 +#9274 1721120793128 +SLAM 13.0014 -22.5395 35.1202 -0.567405 0.0789228 0.683447 0.452462 +TTool-pose None 32.7782 10.9735 15.7724 0.658252 0.634352 -0.262849 0.308425 +#9275 1721120793160 +SLAM 12.9864 -22.5555 35.109 -0.567275 0.0789307 0.683376 0.452733 +TTool-pose None 32.7757 10.9694 15.7664 0.658038 0.634447 -0.262972 0.308583 +#9276 1721120793195 +SLAM 12.8387 -22.7314 35.0412 -0.568205 0.0744661 0.681836 0.454639 +TTool-pose None 32.7402 10.9659 15.8009 0.655632 0.63827 -0.260544 0.307877 +#9277 1721120793230 +SLAM 12.873 -22.719 35.0346 -0.567203 0.0763648 0.682253 0.45495 +TTool-pose None 32.7534 10.9803 15.7728 0.655748 0.637058 -0.262154 0.308773 +#9278 1721120793264 +SLAM 12.9404 -22.5737 35.1109 -0.568295 0.0769911 0.682895 0.452512 +TTool-pose None 32.7586 10.9498 15.7928 0.657851 0.635726 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-0.262 0.311414 +#9303 1721120794121 +SLAM 12.9416 -22.7776 34.9592 -0.563667 0.0808332 0.683198 0.457149 +TTool-pose None 32.7895 11.0347 15.6842 0.654756 0.634715 -0.267111 0.311447 +#9304 1721120794156 +SLAM 13.0632 -22.7569 34.9415 -0.564381 0.0773589 0.684476 0.454953 +TTool-pose None 32.8103 10.9945 15.7438 0.655612 0.636255 -0.26564 0.307737 +#9305 1721120794190 +SLAM 13.248 -22.5686 34.9757 -0.563799 0.080304 0.686484 0.452131 +TTool-pose None 32.8292 10.9661 15.7348 0.658345 0.633114 -0.26736 0.30689 +#9306 1721120794225 +SLAM 13.4232 -22.481 34.9869 -0.563867 0.079219 0.688158 0.449685 +TTool-pose None 32.8622 10.9542 15.7719 0.659877 0.63289 -0.267251 0.304141 +#9307 1721120794258 +SLAM 13.4069 -22.5864 34.9199 -0.562289 0.0797789 0.688055 0.451716 +TTool-pose None 32.8697 10.9914 15.7382 0.658305 0.633235 -0.268987 0.305299 +#9308 1721120794292 +SLAM 13.5791 -22.5235 34.8829 -0.560592 0.0815986 0.689984 0.450556 +TTool-pose None 32.9026 10.9881 15.7186 0.659362 0.631452 -0.271497 0.304488 +#9309 1721120794326 +SLAM 13.6062 -22.5552 34.8568 -0.559491 0.082389 0.690296 0.451302 +TTool-pose None 32.92 11.0134 15.6929 0.658852 0.631151 -0.272872 0.304986 +#9310 1721120794359 +SLAM 13.551 -22.7432 34.75 -0.559382 0.0777735 0.689799 0.453012 +TTool-pose None 32.908 11.0178 15.7228 0.656433 0.634964 -0.271637 0.303383 +#9311 1721120794396 +SLAM 13.7372 -22.5053 34.8394 -0.559447 0.0809036 0.691711 0.449456 +TTool-pose None 32.9406 10.99 15.7192 0.659825 0.63143 -0.272725 0.302423 +#9312 1721120794430 +SLAM 13.8064 -22.4219 34.8763 -0.560728 0.0789755 0.692311 0.447272 +TTool-pose None 32.943 10.9628 15.7641 0.661122 0.631941 -0.270989 0.300072 +#9313 1721120794463 +SLAM 13.8528 -22.5578 34.7752 -0.558888 0.0777868 0.692839 0.448963 +TTool-pose None 32.9671 11.0008 15.749 0.659322 0.633326 -0.272601 0.299652 +#9314 1721120794496 +SLAM 13.9934 -22.3462 34.8591 -0.561228 0.075682 0.694221 0.444243 +TTool-pose None 32.9684 10.9249 15.823 0.662562 0.632996 -0.269849 0.295664 +#9315 1721120794530 +SLAM 14.0133 -22.3446 34.8617 -0.56045 0.0770683 0.694397 0.444712 +TTool-pose None 32.9841 10.9512 15.7973 0.662458 0.632202 -0.271048 0.2965 +#9316 1721120794564 +SLAM 14.0141 -22.3468 34.8501 -0.560019 0.0778453 0.694501 0.444958 +TTool-pose None 32.9839 10.9504 15.7825 0.662411 0.631749 -0.271715 0.296957 +#9317 1721120794599 +SLAM 13.9633 -22.343 34.8788 -0.561782 0.0748655 0.693877 0.44422 +TTool-pose None 32.9634 10.9302 15.8243 0.662453 0.633569 -0.269011 0.295443 +#9318 1721120794632 +SLAM 13.9717 -22.282 34.937 -0.563107 0.0734311 0.693778 0.442934 +TTool-pose None 32.965 10.9263 15.8517 0.663211 0.634095 -0.267249 0.294209 +#9319 1721120794667 +SLAM 13.9815 -22.2586 34.9503 -0.562771 0.0747418 0.693846 0.443035 +TTool-pose None 32.9698 10.9399 15.8356 0.663423 0.63323 -0.267965 0.294944 +#9320 1721120794701 +SLAM 13.9809 -22.1945 35.0043 -0.563783 0.0746142 0.693696 0.442004 +TTool-pose None 32.9671 10.931 15.8548 0.664282 0.632955 -0.266877 0.294587 +#9321 1721120794735 +SLAM 13.982 -22.1846 35.0207 -0.563166 0.0766835 0.693611 0.442569 +TTool-pose None 32.9772 10.9569 15.8318 0.664309 0.631746 -0.268067 0.296039 +#9322 1721120794773 +SLAM 13.9586 -22.2644 34.9665 -0.562617 0.0762322 0.693466 0.443572 +TTool-pose None 32.971 10.9518 15.8336 0.66339 0.632426 -0.268481 0.296271 +#9323 1721120794811 +SLAM 13.8339 -22.4362 34.902 -0.563028 0.0728657 0.692187 0.445607 +TTool-pose None 32.9463 10.9539 15.8567 0.66112 0.635543 -0.266943 0.296065 +#9324 1721120794846 +SLAM 13.9004 -22.4092 34.8811 -0.56156 0.0756518 0.692956 0.445801 +TTool-pose None 32.9605 10.9675 15.8228 0.661475 0.633656 -0.269321 0.297162 +#9325 1721120794882 +SLAM 13.8707 -22.4053 34.9092 -0.562531 0.0741659 0.692577 0.445416 +TTool-pose None 32.9573 10.9612 15.8421 0.661518 0.63456 -0.267868 0.296448 +#9326 1721120794916 +SLAM 13.8444 -22.4016 34.9224 -0.562877 0.0739998 0.69231 0.445422 +TTool-pose None 32.952 10.9585 15.8426 0.661522 0.634693 -0.267431 0.296551 +#9327 1721120794949 +SLAM 13.9792 -22.2041 34.9906 -0.563073 0.0766642 0.693684 0.442576 +TTool-pose None 32.9662 10.9308 15.8441 0.664285 0.631757 -0.268166 0.295978 +#9328 1721120794983 +SLAM 13.9287 -22.3053 34.9465 -0.561837 0.0775499 0.693215 0.444723 +TTool-pose None 32.971 10.9668 15.8084 0.662776 0.631951 -0.269602 0.29764 +#9329 1721120795022 +SLAM 13.9329 -22.2251 34.9946 -0.563558 0.0758988 0.693231 0.4428 +TTool-pose None 32.9564 10.9231 15.8507 0.664001 0.632391 -0.267397 0.295959 +#9330 1721120795056 +SLAM 13.8699 -22.3083 34.9581 -0.563124 0.0756887 0.692619 0.444345 +TTool-pose None 32.9454 10.9398 15.8369 0.662768 0.633129 -0.267694 0.296875 +#9331 1721120795089 +SLAM 13.9496 -22.2507 34.9832 -0.562628 0.076904 0.69336 0.443608 +TTool-pose None 32.9733 10.9555 15.8261 0.663536 0.631985 -0.26864 0.296744 +#9332 1721120795123 +SLAM 13.8497 -22.2928 34.9845 -0.564306 0.0738026 0.692355 0.443574 +TTool-pose None 32.9381 10.9226 15.8652 0.663017 0.63416 -0.265928 0.295701 +#9333 1721120795156 +SLAM 13.9459 -22.2678 34.97 -0.562407 0.0768761 0.693345 0.443916 +TTool-pose None 32.9722 10.9601 15.8211 0.663273 0.632116 -0.268855 0.296856 +#9334 1721120795191 +SLAM 13.9932 -22.1985 34.9904 -0.562332 0.0780294 0.69385 0.443019 +TTool-pose None 32.9768 10.9527 15.8152 0.664201 0.630969 -0.269321 0.296799 +#9335 1721120795228 +SLAM 13.9581 -22.1921 35.0204 -0.564158 0.074701 0.693404 0.441968 +TTool-pose None 32.9635 10.9251 15.8643 0.664384 0.632901 -0.266477 0.294835 +#9336 1721120795266 +SLAM 13.9393 -22.2715 34.9811 -0.564105 0.0727486 0.693155 0.442751 +TTool-pose None 32.9604 10.9367 15.8776 0.663313 0.634535 -0.265953 0.294205 +#9337 1721120795304 +SLAM 14.0725 -22.0916 35.0312 -0.56333 0.076991 0.694601 0.440752 +TTool-pose None 32.981 10.9269 15.8464 0.66572 0.630816 -0.268123 0.294797 +#9338 1721120795346 +SLAM 13.9677 -22.1317 35.0575 -0.564797 0.0746328 0.693449 0.441092 +TTool-pose None 32.9603 10.9206 15.8698 0.665091 0.632628 -0.265812 0.294427 +#9339 1721120795385 +SLAM 14.0077 -22.1206 35.0578 -0.564384 0.0751867 0.693811 0.440957 +TTool-pose None 32.9741 10.9305 15.866 0.665269 0.632177 -0.266437 0.294427 +#9340 1721120795418 +SLAM 13.8509 -22.23 35.0408 -0.566029 0.0714934 0.692197 0.441999 +TTool-pose None 32.9315 10.9075 15.904 0.66381 0.635179 -0.263503 0.293897 +#9341 1721120795451 +SLAM 13.9302 -22.1825 35.0374 -0.563697 0.0767523 0.693093 0.442693 +TTool-pose None 32.9632 10.9469 15.8343 0.664314 0.631775 -0.267471 0.296502 +#9342 1721120795485 +SLAM 13.879 -22.2321 35.0239 -0.563571 0.0767664 0.692581 0.443651 +TTool-pose None 32.956 10.9541 15.8273 0.663607 0.632143 -0.267531 0.297249 +#9343 1721120795520 +SLAM 13.8015 -22.2635 35.0392 -0.565314 0.0736485 0.691712 0.443317 +TTool-pose None 32.9324 10.9253 15.8747 0.663307 0.634212 -0.264765 0.295982 +#9344 1721120795555 +SLAM 13.8389 -22.2217 35.0512 -0.565361 0.0740362 0.692073 0.442629 +TTool-pose None 32.9362 10.9197 15.8792 0.663911 0.633676 -0.264877 0.295677 +#9345 1721120795590 +SLAM 13.8608 -22.2126 35.0431 -0.564811 0.0751035 0.692335 0.442743 +TTool-pose None 32.9408 10.9248 15.8655 0.664021 0.632971 -0.265772 0.296137 +#9346 1721120795625 +SLAM 13.7841 -22.3537 34.9967 -0.564975 0.0721605 0.691489 0.44434 +TTool-pose None 32.9362 10.9403 15.8821 0.662138 0.635612 -0.264663 0.295688 +#9347 1721120795658 +SLAM 13.817 -22.2445 35.0558 -0.565196 0.0742858 0.691817 0.443198 +TTool-pose None 32.942 10.9345 15.8694 0.66354 0.633726 -0.265077 0.296223 +#9348 1721120795694 +SLAM 13.8076 -22.3334 34.9913 -0.564094 0.074292 0.691774 0.444666 +TTool-pose None 32.9408 10.9539 15.8542 0.66232 0.634254 -0.266196 0.296818 +#9349 1721120795732 +SLAM 13.7952 -22.2691 35.0419 -0.565648 0.0729052 0.691613 0.44317 +TTool-pose None 32.9304 10.9207 15.8867 0.663272 0.634673 -0.264203 0.295575 +#9350 1721120795767 +SLAM 13.8616 -22.2096 35.0497 -0.564955 0.0748821 0.692303 0.442645 +TTool-pose None 32.9421 10.9267 15.8696 0.664056 0.633089 -0.265558 0.295997 +#9351 1721120795809 +SLAM 14.0058 -22.0816 35.0907 -0.565028 0.0755826 0.693681 0.440269 +TTool-pose None 32.9709 10.9141 15.8873 0.665958 0.631664 -0.265871 0.294482 +#9352 1721120795846 +SLAM 13.8555 -22.2417 35.0304 -0.564491 0.0750437 0.692284 0.443241 +TTool-pose None 32.9455 10.9358 15.8584 0.6636 0.633194 -0.266074 0.296331 +#9353 1721120795881 +SLAM 13.7899 -22.3551 34.9937 -0.564594 0.0727537 0.691542 0.444647 +TTool-pose None 32.9397 10.9546 15.8684 0.662013 0.635314 -0.265225 0.296104 +#9354 1721120795918 +SLAM 13.8652 -22.2326 35.0407 -0.563916 0.0763448 0.692354 0.44364 +TTool-pose None 32.9573 10.9606 15.8333 0.663558 0.632442 -0.267031 0.29717 +#9355 1721120795951 +SLAM 13.8478 -22.1812 35.0848 -0.565544 0.0744906 0.69212 0.442246 +TTool-pose None 32.9442 10.9289 15.8708 0.664329 0.633224 -0.264823 0.295755 +#9356 1721120795986 +SLAM 13.8454 -22.1876 35.0834 -0.564937 0.0757463 0.6921 0.442839 +TTool-pose None 32.9505 10.9475 15.848 0.664133 0.632579 -0.265787 0.29671 +#9357 1721120796019 +SLAM 13.783 -22.2202 35.0839 -0.56668 0.0720807 0.691417 0.442291 +TTool-pose None 32.9234 10.9115 15.9013 0.663843 0.63493 -0.262891 0.29491 +#9358 1721120796052 +SLAM 13.7645 -22.3402 34.9947 -0.5636 0.0760473 0.691419 0.445547 +TTool-pose None 32.9363 10.966 15.8213 0.662055 0.63339 -0.267135 0.298409 +#9359 1721120796085 +SLAM 13.7408 -22.38 34.9895 -0.564381 0.0737839 0.691075 0.445473 +TTool-pose None 32.9308 10.9573 15.855 0.661647 0.634935 -0.265662 0.297345 +#9360 1721120796121 +SLAM 13.8732 -22.1424 35.1037 -0.565134 0.0765774 0.692336 0.442074 +TTool-pose None 32.9534 10.9314 15.8607 0.664924 0.631719 -0.265849 0.296716 +#9361 1721120796156 +SLAM 13.7946 -22.2799 35.0245 -0.563695 0.0773736 0.691685 0.444785 +TTool-pose None 32.9412 10.9568 15.8234 0.662957 0.63219 -0.267443 0.298677 +#9362 1721120796190 +SLAM 13.8071 -22.2761 35.0365 -0.563807 0.0771215 0.691736 0.444607 +TTool-pose None 32.9504 10.9624 15.8298 0.663039 0.632296 -0.267267 0.298429 +#9363 1721120796222 +SLAM 13.7081 -22.2948 35.0599 -0.564919 0.0759499 0.69075 0.44493 +TTool-pose None 32.9278 10.9508 15.8367 0.662667 0.633275 -0.265668 0.298604 +#9364 1721120796258 +SLAM 13.7419 -22.3837 34.9909 -0.563805 0.0751718 0.691055 0.446 +TTool-pose None 32.9378 10.9746 15.837 0.661535 0.634175 -0.266631 0.298348 +#9365 1721120796293 +SLAM 13.7752 -22.3239 35.0005 -0.563637 0.076636 0.691514 0.445252 +TTool-pose None 32.9366 10.9544 15.8292 0.662424 0.632874 -0.267274 0.298561 +#9366 1721120796327 +SLAM 13.8161 -22.2267 35.0651 -0.564322 0.0771338 0.691813 0.443831 +TTool-pose None 32.9482 10.9529 15.8356 0.663677 0.632003 -0.266757 0.298084 +#9367 1721120796362 +SLAM 13.7517 -22.2949 35.0427 -0.564788 0.075277 0.691173 0.444553 +TTool-pose None 32.9326 10.9486 15.8486 0.662752 0.633575 -0.265676 0.297771 +#9368 1721120796399 +SLAM 13.8284 -22.1975 35.0794 -0.564562 0.0771151 0.691942 0.443328 +TTool-pose None 32.9489 10.9466 15.8388 0.664071 0.631826 -0.266526 0.297788 +#9369 1721120796434 +SLAM 13.7752 -22.3272 35.0041 -0.563498 0.0767021 0.691497 0.445442 +TTool-pose None 32.9417 10.9668 15.8205 0.662282 0.632898 -0.267431 0.298683 +#9370 1721120796468 +SLAM 13.7616 -22.2797 35.0366 -0.564888 0.075222 0.691328 0.444194 +TTool-pose None 32.9256 10.9344 15.854 0.663012 0.633474 -0.265582 0.29749 +#9371 1721120796504 +SLAM 13.8283 -22.2514 35.0434 -0.564188 0.0763391 0.691945 0.443933 +TTool-pose None 32.9492 10.9538 15.8418 0.663384 0.632577 -0.266692 0.297577 +#9372 1721120796539 +SLAM 13.7097 -22.3053 35.0479 -0.565572 0.0739886 0.690744 0.444439 +TTool-pose None 32.9173 10.9341 15.8654 0.662618 0.634442 -0.264457 0.297306 +#9373 1721120796574 +SLAM 13.9084 -22.2281 35.0353 -0.563163 0.0777753 0.69274 0.443744 +TTool-pose None 32.9738 10.9708 15.8261 0.663735 0.631474 -0.268247 0.29774 +#9374 1721120796610 +SLAM 13.8066 -22.2016 35.0825 -0.565652 0.0749053 0.691687 0.442716 +TTool-pose None 32.9331 10.9233 15.8735 0.66411 0.633136 -0.264766 0.296485 +#9375 1721120796644 +SLAM 13.8246 -22.1949 35.0755 -0.565364 0.0753298 0.691907 0.442667 +TTool-pose None 32.9358 10.9231 15.8678 0.664213 0.632814 -0.265208 0.296547 +#9376 1721120796679 +SLAM 13.8109 -22.2808 35.0288 -0.563957 0.0762963 0.691807 0.444449 +TTool-pose None 32.9481 10.9583 15.8349 0.662966 0.6328 -0.266897 0.29785 +#9377 1721120796714 +SLAM 13.7193 -22.393 34.9892 -0.564832 0.0727689 0.690832 0.445444 +TTool-pose None 32.923 10.9516 15.8672 0.661473 0.635633 -0.264884 0.296932 +#9378 1721120796753 +SLAM 13.7158 -22.4084 34.9863 -0.565328 0.07117 0.690739 0.445217 +TTool-pose None 32.9204 10.9471 15.887 0.661299 0.636649 -0.263917 0.296002 +#9379 1721120796787 +SLAM 13.72 -22.3809 35.004 -0.565167 0.0721644 0.690807 0.445156 +TTool-pose None 32.9253 10.9539 15.871 0.661575 0.635944 -0.26437 0.296496 +#9380 1721120796822 +SLAM 13.7484 -22.2469 35.0751 -0.566239 0.0730838 0.691095 0.443193 +TTool-pose None 32.9195 10.9242 15.8814 0.663385 0.63459 -0.263575 0.29606 +#9381 1721120796856 +SLAM 13.7498 -22.2263 35.0915 -0.566861 0.0721443 0.691092 0.442556 +TTool-pose None 32.9174 10.9123 15.8964 0.663692 0.635002 -0.262677 0.295283 +#9382 1721120796890 +SLAM 13.8173 -22.2048 35.081 -0.565879 0.073613 0.691786 0.442487 +TTool-pose None 32.9357 10.9283 15.8784 0.663979 0.633931 -0.264189 0.29559 +#9383 1721120796925 +SLAM 13.8506 -22.1668 35.0948 -0.565649 0.0745827 0.692133 0.442075 +TTool-pose None 32.9449 10.9299 15.8702 0.664491 0.633098 -0.264743 0.295732 +#9384 1721120796959 +SLAM 13.8495 -22.1328 35.1147 -0.566671 0.0732105 0.692097 0.441052 +TTool-pose None 32.9341 10.9051 15.8982 0.665025 0.633668 -0.263312 0.294585 +#9385 1721120796993 +SLAM 13.7929 -22.2358 35.0689 -0.566176 0.072438 0.691549 0.442671 +TTool-pose None 32.9287 10.9224 15.8889 0.663588 0.634816 -0.263525 0.295163 +#9386 1721120797029 +SLAM 13.8976 -22.0516 35.1597 -0.567264 0.0732485 0.692503 0.439643 +TTool-pose None 32.9433 10.8967 15.9115 0.666134 0.633105 -0.262771 0.293768 +#9387 1721120797066 +SLAM 13.8849 -22.1476 35.0961 -0.565858 0.0738172 0.69246 0.441424 +TTool-pose None 32.9485 10.9237 15.8832 0.664796 0.633366 -0.264362 0.294809 +#9388 1721120797100 +SLAM 13.8474 -22.2644 35.0413 -0.565548 0.0718411 0.692043 0.442798 +TTool-pose None 32.9465 10.9395 15.8921 0.663254 0.63524 -0.264069 0.294513 +#9389 1721120797136 +SLAM 13.8543 -22.2173 35.0545 -0.565651 0.0728121 0.692201 0.442261 +TTool-pose None 32.9397 10.9229 15.8871 0.663906 0.634373 -0.264257 0.294747 +#9390 1721120797176 +SLAM 13.8516 -22.199 35.0589 -0.565548 0.0736281 0.692226 0.44222 +TTool-pose None 32.9361 10.9188 15.8781 0.664129 0.633798 -0.264594 0.295177 +#9391 1721120797213 +SLAM 13.7936 -22.2076 35.0819 -0.566335 0.0727886 0.691593 0.44234 +TTool-pose None 32.9259 10.9157 15.8858 0.66394 0.634453 -0.263466 0.295204 +#9392 1721120797246 +SLAM 13.8944 -22.1373 35.0954 -0.565213 0.0754129 0.692598 0.441762 +TTool-pose None 32.9543 10.935 15.8599 0.664865 0.632388 -0.265483 0.295746 +#9393 1721120797281 +SLAM 13.9278 -22.1553 35.0694 -0.564535 0.0757257 0.692958 0.442014 +TTool-pose None 32.9629 10.9432 15.8535 0.664666 0.632242 -0.266314 0.295759 +#9394 1721120797319 +SLAM 13.8582 -22.145 35.1051 -0.56593 0.0743323 0.692207 0.441641 +TTool-pose None 32.9433 10.9235 15.8758 0.664781 0.633108 -0.264397 0.295369 +#9395 1721120797360 +SLAM 13.8097 -22.1997 35.0883 -0.56623 0.0731132 0.691719 0.442225 +TTool-pose None 32.9335 10.9189 15.8866 0.664091 0.634182 -0.263682 0.295254 +#9396 1721120797393 +SLAM 13.7955 -22.217 35.0749 -0.565917 0.073644 0.691614 0.442701 +TTool-pose None 32.9292 10.9216 15.8773 0.663838 0.633998 -0.264134 0.295814 +#9397 1721120797429 +SLAM 13.9595 -22.1368 35.0661 -0.56447 0.0760897 0.693288 0.441515 +TTool-pose None 32.9659 10.928 15.8646 0.665109 0.631792 -0.266526 0.295534 +#9398 1721120797462 +SLAM 13.9228 -22.2741 34.9886 -0.562505 0.0773419 0.693013 0.444228 +TTool-pose None 32.9757 10.9698 15.8201 0.663179 0.631929 -0.268837 0.297481 +#9399 1721120797492 +SLAM 13.6887 -22.4825 34.9257 -0.564121 0.0722587 0.690674 0.446672 +TTool-pose None 32.9158 10.949 15.8598 0.660349 0.636433 -0.265441 0.297224 +#9400 1721120797524 +SLAM 13.8748 -22.2592 34.997 -0.563005 0.0776861 0.692623 0.444143 +TTool-pose None 32.9542 10.9454 15.8218 0.663401 0.631686 -0.268367 0.297927 +#9401 1721120797555 +SLAM 13.7483 -22.4172 34.9458 -0.563946 0.0733093 0.691294 0.445761 +TTool-pose None 32.9269 10.9455 15.8547 0.661255 0.635349 -0.266003 0.297025 +#9402 1721120797588 +SLAM 13.859 -22.2908 34.9885 -0.564112 0.0743784 0.692407 0.443641 +TTool-pose None 32.9442 10.9274 15.8637 0.663087 0.633787 -0.266293 0.296016 +#9403 1721120797621 +SLAM 13.9566 -22.2509 34.9735 -0.562535 0.0770821 0.693459 0.44354 +TTool-pose None 32.9705 10.9472 15.8296 0.663616 0.631832 -0.268798 0.296746 +#9404 1721120797654 +SLAM 13.9181 -22.2276 35.0013 -0.564559 0.0737589 0.693036 0.442192 +TTool-pose None 32.9462 10.9049 15.882 0.66404 0.633649 -0.265755 0.294653 +#9405 1721120797686 +SLAM 13.9257 -22.2982 34.9465 -0.562846 0.0753342 0.693209 0.443836 +TTool-pose None 32.9585 10.9371 15.8422 0.663006 0.633152 -0.267962 0.29605 +#9406 1721120797718 +SLAM 13.9551 -22.3095 34.9261 -0.562684 0.0746808 0.693526 0.443657 +TTool-pose None 32.9625 10.9329 15.851 0.662946 0.633516 -0.267991 0.295379 +#9407 1721120797752 +SLAM 14.0526 -22.2202 34.9431 -0.561151 0.0788214 0.694571 0.443248 +TTool-pose None 32.9901 10.9533 15.8035 0.664061 0.63046 -0.270843 0.296809 +#9408 1721120797786 +SLAM 14.0372 -22.2248 34.9516 -0.561715 0.0777507 0.694375 0.443029 +TTool-pose None 32.9861 10.9465 15.8194 0.664033 0.63113 -0.269947 0.296262 +#9409 1721120797826 +SLAM 13.9747 -22.3031 34.9238 -0.561943 0.0761449 0.693745 0.444005 +TTool-pose None 32.9731 10.9494 15.8276 0.662956 0.632624 -0.269183 0.296184 +#9410 1721120797863 +SLAM 13.9743 -22.2805 34.9342 -0.561704 0.0774081 0.693759 0.444066 +TTool-pose None 32.9731 10.9531 15.8129 0.663196 0.631778 -0.269777 0.296913 +#9411 1721120797900 +SLAM 14.0047 -22.2299 34.9677 -0.562564 0.0762615 0.693981 0.442828 +TTool-pose None 32.9775 10.9415 15.8373 0.663928 0.632105 -0.268616 0.295629 +#9412 1721120797933 +SLAM 14.0336 -22.1544 35.02 -0.564085 0.0742869 0.69412 0.441006 +TTool-pose None 32.9756 10.9233 15.8772 0.664962 0.632792 -0.266536 0.293709 +#9413 1721120797966 +SLAM 13.9708 -22.1176 35.0549 -0.566253 0.0716381 0.693281 0.439985 +TTool-pose None 32.9306 10.8971 15.9284 0.665332 0.634284 -0.263465 0.292419 +#9414 1721120798004 +SLAM 13.8619 -22.2678 35.0167 -0.566841 0.0693585 0.691432 0.442496 +TTool-pose None 32.8878 10.9632 15.9768 0.663016 0.636861 -0.261965 0.293424 +#9415 1721120798038 +SLAM 14.1331 -22.0244 35.0803 -0.565866 0.0751191 0.69333 0.439825 +TTool-pose None 32.9054 11.0151 16.008 0.66628 0.631842 -0.264837 0.294303 +#9416 1721120798070 +SLAM 14.0905 -22.2139 34.9842 -0.564804 0.0744683 0.692103 0.44322 +TTool-pose None 32.8733 11.1082 16.0421 0.663514 0.633592 -0.265569 0.296126 +#9417 1721120798102 +SLAM 14.2966 -22.2767 34.8944 -0.562761 0.0739028 0.693583 0.4436 +TTool-pose None 32.9109 11.184 16.0789 0.6628 0.634024 -0.267705 0.294874 +#9418 1721120798135 +SLAM 14.428 -22.1982 34.888 -0.560509 0.0788503 0.69487 0.443586 +TTool-pose None 32.9426 11.2268 16.0244 0.663728 0.630543 -0.271546 0.296735 +#9419 1721120798166 +SLAM 14.4437 -22.2707 34.8668 -0.562404 0.071887 0.694767 0.442529 +TTool-pose None 32.9397 11.2065 16.1199 0.663004 0.634942 -0.267674 0.292455 +#9420 1721120798200 +SLAM 14.4733 -22.3017 34.8316 -0.561261 0.0726408 0.695174 0.443219 +TTool-pose None 32.9543 11.2257 16.0925 0.662531 0.634649 -0.269105 0.29285 +#9421 1721120798233 +SLAM 14.636 -22.0141 34.9533 -0.563868 0.0713223 0.696826 0.437492 +TTool-pose None 32.9625 11.136 16.1631 0.666693 0.633372 -0.2663 0.288699 +#9422 1721120798266 +SLAM 14.6722 -22.0784 34.8755 -0.561907 0.0726786 0.697425 0.438836 +TTool-pose None 32.974 11.1577 16.1193 0.665788 0.632894 -0.268766 0.289551 +#9423 1721120798300 +SLAM 14.8138 -22.0156 34.8571 -0.560579 0.0739543 0.699041 0.437748 +TTool-pose None 33.0126 11.1602 16.095 0.666693 0.631519 -0.270691 0.288675 +#9424 1721120798333 +SLAM 14.9828 -21.884 34.8842 -0.560728 0.073323 0.700817 0.434813 +TTool-pose None 33.05 11.1316 16.1171 0.668646 0.630765 -0.270593 0.285884 +#9425 1721120798366 +SLAM 15.0357 -21.8811 34.8517 -0.559605 0.0742957 0.701628 0.434788 +TTool-pose None 33.069 11.1269 16.0869 0.66874 0.630033 -0.272116 0.285831 +#9426 1721120798399 +SLAM 15.0748 -21.8771 34.8499 -0.559635 0.0730014 0.702184 0.434072 +TTool-pose None 33.0914 11.1107 16.0908 0.668922 0.63062 -0.271796 0.284411 +#9427 1721120798430 +SLAM 14.948 -21.9949 34.8256 -0.560608 0.06942 0.701016 0.435288 +TTool-pose None 33.0675 11.0991 16.1048 0.667284 0.63359 -0.269653 0.283696 +#9428 1721120798462 +SLAM 14.8794 -21.9649 34.8844 -0.563338 0.064879 0.700301 0.433612 +TTool-pose None 33.0458 11.0477 16.1629 0.667702 0.636118 -0.26548 0.280973 +#9429 1721120798494 +SLAM 15.0158 -21.7769 34.9479 -0.562699 0.0685469 0.701877 0.431324 +TTool-pose None 33.0826 11.0382 16.1254 0.670187 0.632679 -0.267368 0.281032 +#9430 1721120798529 +SLAM 15.0684 -21.7118 34.9721 -0.562452 0.0695972 0.70252 0.43043 +TTool-pose None 33.1027 11.0331 16.1094 0.671055 0.631591 -0.267994 0.280813 +#9431 1721120798566 +SLAM 15.0527 -21.7162 34.9819 -0.562374 0.0697072 0.702519 0.430514 +TTool-pose None 33.1139 11.0281 16.0926 0.671012 0.631546 -0.268105 0.280909 +#9432 1721120798599 +SLAM 14.9544 -21.7819 34.9794 -0.564298 0.0647288 0.701758 0.430015 +TTool-pose None 33.0936 10.9655 16.1379 0.670353 0.634803 -0.264628 0.278422 +#9433 1721120798635 +SLAM 15.0732 -21.6937 34.9582 -0.561689 0.069961 0.703528 0.42972 +TTool-pose None 33.1363 10.9673 16.0454 0.671533 0.631012 -0.269002 0.280004 +#9434 1721120798672 +SLAM 14.8433 -21.9897 34.8336 -0.560845 0.0671196 0.70173 0.434192 +TTool-pose None 33.1045 10.9722 15.9986 0.667499 0.634709 -0.268853 0.281434 +#9435 1721120798708 +SLAM 14.9271 -21.8046 34.89 -0.560857 0.0698855 0.703076 0.431556 +TTool-pose None 33.1206 10.9135 15.9654 0.670089 0.631768 -0.269783 0.281006 +#9436 1721120798740 +SLAM 14.7758 -21.817 34.9624 -0.561804 0.0708921 0.701519 0.432691 +TTool-pose None 33.1075 10.9276 15.9391 0.669691 0.631604 -0.2689 0.283165 +#9437 1721120798771 +SLAM 14.5978 -21.999 34.909 -0.562845 0.0672052 0.699782 0.434734 +TTool-pose None 33.0668 10.903 15.9714 0.66744 0.634981 -0.266579 0.283121 +#9438 1721120798803 +SLAM 14.4455 -21.9584 35.009 -0.563967 0.0696649 0.698254 0.43535 +TTool-pose None 33.0514 10.9026 15.9411 0.66781 0.63363 -0.265923 0.285883 +#9439 1721120798834 +SLAM 14.0869 -22.1382 35.0631 -0.567181 0.0654249 0.694361 0.438051 +TTool-pose None 32.9885 10.8965 15.9814 0.66524 0.637746 -0.260913 0.287335 +#9440 1721120798866 +SLAM 14.0207 -22.2001 35.0707 -0.566784 0.0664702 0.693658 0.439518 +TTool-pose None 32.9989 10.9202 15.9602 0.664403 0.637613 -0.26152 0.289011 +#9441 1721120798899 +SLAM 14.0139 -22.1273 35.1005 -0.566568 0.0693447 0.693753 0.439202 +TTool-pose None 32.9927 10.9067 15.9315 0.665348 0.635535 -0.262566 0.290465 +#9442 1721120798932 +SLAM 14.0161 -22.034 35.1569 -0.566866 0.071707 0.693759 0.438429 +TTool-pose None 32.9903 10.8987 15.92 0.666555 0.633642 -0.262922 0.291512 +#9443 1721120798962 +SLAM 13.7297 -22.5328 35.0184 -0.566498 0.0642812 0.690778 0.444717 +TTool-pose None 33.0061 10.9572 15.9339 0.660034 0.641157 -0.260783 0.291839 +#9444 1721120798993 +SLAM 13.5771 -22.2167 35.2553 -0.56889 0.0704413 0.690402 0.441302 +TTool-pose None 33.0095 10.8142 15.8436 0.664445 0.635749 -0.260026 0.294328 +#9445 1721120799026 +SLAM 13.4483 -22.3187 35.2047 -0.568109 0.0720037 0.689158 0.443992 +TTool-pose None 32.9727 10.8364 15.8076 0.662791 0.63573 -0.261083 0.297153 +#9446 1721120799059 +SLAM 13.462 -22.3859 35.1698 -0.567324 0.0719157 0.689416 0.444609 +TTool-pose None 32.9962 10.8315 15.8058 0.662211 0.635998 -0.261898 0.297152 +#9447 1721120799091 +SLAM 13.3564 -22.3915 35.1818 -0.568407 0.0713113 0.688382 0.444926 +TTool-pose None 32.9568 10.8118 15.8117 0.661976 0.636585 -0.260472 0.297676 +#9448 1721120799125 +SLAM 13.4333 -22.4908 35.0939 -0.566169 0.071937 0.689153 0.446481 +TTool-pose None 32.9849 10.856 15.789 0.660694 0.636674 -0.263042 0.29807 +#9449 1721120799158 +SLAM 13.3889 -22.4736 35.11 -0.567188 0.0700957 0.689042 0.445652 +TTool-pose None 32.9782 10.812 15.7888 0.660967 0.637639 -0.261472 0.296783 +#9450 1721120799191 +SLAM 13.4776 -22.4044 35.0827 -0.566083 0.0721462 0.690321 0.44475 +TTool-pose None 32.9834 10.7843 15.7584 0.661994 0.635839 -0.263361 0.296683 +#9451 1721120799223 +SLAM 13.9179 -22.1148 35.0359 -0.562504 0.0768827 0.695976 0.439654 +TTool-pose None 33.0715 10.7025 15.671 0.66636 0.630405 -0.269125 0.293311 +#9452 1721120799255 +SLAM 14.2592 -22.0157 34.8822 -0.55578 0.0842537 0.701251 0.438472 +TTool-pose None 33.1859 10.6454 15.4735 0.668019 0.624542 -0.278695 0.293147 +#9453 1721120799286 +SLAM 13.7041 -22.5539 34.7014 -0.559079 0.0683013 0.697265 0.443381 +TTool-pose None 33.1105 10.5177 15.4781 0.660965 0.637531 -0.270397 0.288907 +#9454 1721120799317 +SLAM 13.7413 -22.6351 34.5223 -0.553817 0.0730904 0.699998 0.444913 +TTool-pose None 33.1678 10.4088 15.2758 0.660283 0.634614 -0.277453 0.290203 +#9455 1721120799349 +SLAM 13.7277 -22.3267 34.6852 -0.555288 0.0778099 0.700954 0.440755 +TTool-pose None 33.1721 10.2669 15.2081 0.664701 0.629824 -0.2774 0.290602 +#9456 1721120799381 +SLAM 13.4217 -22.473 34.667 -0.555978 0.0765536 0.69892 0.443326 +TTool-pose None 33.1404 10.1978 15.1342 0.662646 0.631752 -0.276077 0.292365 +#9457 1721120799417 +SLAM 13.2628 -22.3633 34.7869 -0.557508 0.0788214 0.697893 0.442627 +TTool-pose None 33.1279 10.1372 15.0782 0.663958 0.630015 -0.275009 0.294139 +#9458 1721120799448 +SLAM 13.211 -22.4419 34.7382 -0.555937 0.0796708 0.697976 0.444315 +TTool-pose None 33.1451 10.1382 15.0023 0.662713 0.630028 -0.276846 0.295196 +#9459 1721120799480 +SLAM 12.8741 -22.3388 34.9216 -0.560143 0.0790271 0.695283 0.44337 +TTool-pose None 33.1003 10.0344 14.9675 0.663874 0.630317 -0.272024 0.296451 +#9460 1721120799514 +SLAM 12.7012 -22.4958 34.8511 -0.560281 0.0760685 0.69455 0.444858 +TTool-pose None 33.0947 9.95584 14.9287 0.662074 0.63293 -0.270965 0.295877 +#9461 1721120799545 +SLAM 12.457 -22.9544 34.5865 -0.558555 0.0681309 0.693599 0.449772 +TTool-pose None 33.1007 9.89065 14.862 0.656213 0.640171 -0.270352 0.293908 +#9462 1721120799575 +SLAM 12.7751 -22.4203 34.7315 -0.55388 0.085618 0.698391 0.445125 +TTool-pose None 33.1675 9.79534 14.637 0.66328 0.626182 -0.280603 0.298543 +#9463 1721120799607 +SLAM 12.5168 -22.3719 34.7658 -0.554152 0.0880648 0.697761 0.445296 +TTool-pose None 33.1451 9.63994 14.488 0.663797 0.624594 -0.280897 0.300442 +#9464 1721120799639 +SLAM 12.2021 -22.6574 34.6353 -0.556182 0.0773619 0.696612 0.446552 +TTool-pose None 33.1286 9.47545 14.4479 0.660555 0.632507 -0.27577 0.295738 +#9465 1721120799676 +SLAM 11.9667 -22.6393 34.7109 -0.5581 0.0758874 0.695486 0.446167 +TTool-pose None 33.1261 9.37112 14.3689 0.660753 0.633459 -0.27326 0.295584 +#9466 1721120799713 +SLAM 11.7169 -22.4569 34.8853 -0.559998 0.0813626 0.693608 0.445746 +TTool-pose None 33.0879 9.2954 14.2854 0.662717 0.62967 -0.272572 0.299896 +#9467 1721120799745 +SLAM 11.3727 -22.5351 34.9591 -0.56291 0.079671 0.690104 0.447818 +TTool-pose None 33.0369 9.28157 14.2858 0.661216 0.631796 -0.26864 0.302278 +#9468 1721120799776 +SLAM 11.2517 -22.5904 34.9787 -0.563638 0.0792489 0.688792 0.448996 +TTool-pose None 33.0283 9.28774 14.2881 0.660355 0.632586 -0.267588 0.303438 +#9469 1721120799810 +SLAM 11.2524 -22.5703 34.9877 -0.564493 0.0779369 0.688793 0.44815 +TTool-pose None 33.0193 9.26785 14.3101 0.660765 0.633185 -0.26636 0.302374 +#9470 1721120799848 +SLAM 11.2949 -22.5354 35.0052 -0.564591 0.0778319 0.689164 0.447474 +TTool-pose None 33.0284 9.27291 14.3135 0.661245 0.632993 -0.266287 0.301789 +#9471 1721120799879 +SLAM 11.2611 -22.5667 34.9916 -0.563894 0.0791349 0.688894 0.448539 +TTool-pose None 33.0285 9.28204 14.2909 0.660696 0.632495 -0.267313 0.303127 +#9472 1721120799910 +SLAM 11.2338 -22.6024 34.9812 -0.564695 0.0767565 0.688613 0.448376 +TTool-pose None 33.0233 9.27214 14.3128 0.660332 0.634086 -0.265802 0.301921 +#9473 1721120799940 +SLAM 11.291 -22.5411 35.0024 -0.564163 0.0787303 0.689131 0.447906 +TTool-pose None 33.0308 9.28085 14.3017 0.661095 0.632532 -0.266964 0.302486 +#9474 1721120799973 +SLAM 11.2038 -22.5754 35.0091 -0.565901 0.0754765 0.688267 0.447602 +TTool-pose None 33.011 9.25462 14.3331 0.660742 0.634707 -0.264169 0.301152 +#9475 1721120800008 +SLAM 11.249 -22.5761 34.9861 -0.564436 0.0778832 0.688767 0.44827 +TTool-pose None 33.0205 9.27111 14.307 0.660656 0.633266 -0.266399 0.302408 +#9476 1721120800040 +SLAM 11.2649 -22.557 34.9957 -0.564244 0.0786052 0.688905 0.448173 +TTool-pose None 33.0247 9.27568 14.3015 0.66088 0.632728 -0.266813 0.30268 +#9477 1721120800076 +SLAM 11.2436 -22.5947 34.9724 -0.563608 0.0793164 0.688756 0.449076 +TTool-pose None 33.0244 9.28214 14.2867 0.660309 0.63257 -0.267632 0.303532 +#9478 1721120800106 +SLAM 11.232 -22.5277 35.0327 -0.566169 0.0756997 0.688501 0.446866 +TTool-pose None 33.0119 9.25309 14.3368 0.661372 0.634276 -0.263994 0.300829 +#9479 1721120800137 +SLAM 11.2482 -22.6651 34.9316 -0.563549 0.0771421 0.688822 0.449428 +TTool-pose None 33.0313 9.28619 14.2999 0.659498 0.634186 -0.267102 0.302388 +#9480 1721120800171 +SLAM 11.2619 -22.5461 34.9952 -0.564442 0.0785381 0.688885 0.447967 +TTool-pose None 33.0163 9.26735 14.3063 0.661042 0.632701 -0.266591 0.302579 +#9481 1721120800200 +SLAM 11.2437 -22.5328 35.0272 -0.5652 0.0775274 0.68865 0.447549 +TTool-pose None 33.0221 9.26874 14.3128 0.6612 0.633259 -0.265508 0.302017 +#9482 1721120800233 +SLAM 11.2361 -22.5725 34.9968 -0.564281 0.0786206 0.68863 0.448548 +TTool-pose None 33.0235 9.27809 14.2965 0.660616 0.632867 -0.266739 0.30303 +#9483 1721120800273 +SLAM 11.2145 -22.5793 34.9988 -0.565582 0.0758683 0.688375 0.447773 +TTool-pose None 33.0106 9.25834 14.3294 0.660672 0.634493 -0.264619 0.30136 +#9484 1721120800303 +SLAM 11.2608 -22.5908 34.9757 -0.564088 0.077982 0.688889 0.448503 +TTool-pose None 33.0267 9.27805 14.3029 0.660462 0.633275 -0.266798 0.302464 +#9485 1721120800334 +SLAM 11.2249 -22.5956 34.9813 -0.564596 0.0774155 0.688524 0.448523 +TTool-pose None 33.0169 9.27103 14.309 0.660376 0.633692 -0.266071 0.302415 +#9486 1721120800365 +SLAM 11.2308 -22.6018 34.9723 -0.564705 0.0768425 0.688589 0.448385 +TTool-pose None 33.0144 9.26672 14.3162 0.660348 0.634032 -0.265812 0.301991 +#9487 1721120800400 +SLAM 11.2798 -22.5393 34.9971 -0.564223 0.0789153 0.689056 0.447914 +TTool-pose None 33.0221 9.27114 14.3034 0.661144 0.632413 -0.266943 0.302648 +#9488 1721120800433 +SLAM 11.2515 -22.6111 34.9621 -0.564136 0.0774035 0.688811 0.448664 +TTool-pose None 33.0231 9.27629 14.3066 0.660206 0.633734 -0.266578 0.302254 +#9489 1721120800466 +SLAM 11.3273 -22.5223 35.0078 -0.564415 0.0780139 0.689468 0.447195 +TTool-pose None 33.0361 9.27577 14.3146 0.661469 0.63275 -0.266561 0.301566 +#9490 1721120800499 +SLAM 11.2928 -22.5461 34.9896 -0.563703 0.0795933 0.6892 0.448227 +TTool-pose None 33.0285 9.28009 14.2927 0.661011 0.63205 -0.267679 0.303045 +#9491 1721120800530 +SLAM 11.318 -22.5527 34.9749 -0.563757 0.0786447 0.689475 0.447903 +TTool-pose None 33.0298 9.27568 14.302 0.661018 0.63257 -0.267405 0.302187 +#9492 1721120800561 +SLAM 11.2819 -22.5924 34.9621 -0.564166 0.0771204 0.689152 0.448151 +TTool-pose None 33.0258 9.27097 14.3093 0.660513 0.633724 -0.266521 0.301652 +#9493 1721120800593 +SLAM 11.3805 -22.4907 34.9943 -0.56396 0.0786411 0.690098 0.446686 +TTool-pose None 33.035 9.26749 14.309 0.661932 0.632099 -0.26729 0.301271 +#9494 1721120800624 +SLAM 11.4164 -22.5109 34.9586 -0.56294 0.07941 0.690563 0.447119 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0.446368 +TTool-pose None 33.0716 9.21483 14.2254 0.662025 0.631087 -0.270827 0.300025 +#9519 1721120801500 +SLAM 11.5041 -22.5288 34.8805 -0.561153 0.0788673 0.692481 0.446494 +TTool-pose None 33.0736 9.21716 14.2303 0.661723 0.631727 -0.270553 0.299592 +#9520 1721120801534 +SLAM 11.4897 -22.5171 34.8882 -0.561298 0.0792399 0.692351 0.446447 +TTool-pose None 33.0677 9.21055 14.2296 0.661872 0.631462 -0.270489 0.29988 +#9521 1721120801569 +SLAM 11.4621 -22.4944 34.9136 -0.56153 0.0799768 0.692049 0.446492 +TTool-pose None 33.0636 9.21215 14.2222 0.662057 0.63099 -0.270412 0.300534 +#9522 1721120801604 +SLAM 11.5156 -22.4843 34.8891 -0.560934 0.0806081 0.692611 0.446258 +TTool-pose None 33.0632 9.20748 14.2245 0.662297 0.630436 -0.271272 0.300392 +#9523 1721120801637 +SLAM 11.465 -22.5179 34.8986 -0.561957 0.0782163 0.692083 0.446215 +TTool-pose None 33.0621 9.20382 14.2405 0.66188 0.632099 -0.2695 0.299408 +#9524 1721120801673 +SLAM 11.5094 -22.4078 34.9631 -0.56281 0.0787673 0.692406 0.444539 +TTool-pose None 33.0634 9.19571 14.2517 0.663357 0.631099 -0.268831 0.298848 +#9525 1721120801707 +SLAM 11.4426 -22.5472 34.8833 -0.561695 0.0783654 0.691895 0.44681 +TTool-pose None 33.0597 9.20683 14.2339 0.661447 0.632222 -0.269779 0.299855 +#9526 1721120801743 +SLAM 11.4448 -22.5293 34.8957 -0.561386 0.0795598 0.691912 0.446961 +TTool-pose None 33.0632 9.21408 14.2205 0.661591 0.631454 -0.270424 0.300575 +#9527 1721120801777 +SLAM 11.4661 -22.5026 34.9063 -0.561849 0.0789414 0.692083 0.446222 +TTool-pose None 33.061 9.20522 14.2355 0.66204 0.631604 -0.269808 0.299821 +#9528 1721120801810 +SLAM 11.4668 -22.5196 34.8915 -0.56154 0.0790523 0.692161 0.446471 +TTool-pose None 33.063 9.20326 14.2301 0.661842 0.631612 -0.270164 0.299922 +#9529 1721120801844 +SLAM 11.4587 -22.5092 34.8871 -0.561517 0.0792555 0.692254 0.44632 +TTool-pose None 33.0578 9.18624 14.2208 0.661999 0.631412 -0.270258 0.299911 +#9530 1721120801881 +SLAM 11.4971 -22.47 34.8972 -0.560857 0.0809519 0.69272 0.446123 +TTool-pose None 33.0679 9.18872 14.1997 0.662469 0.630145 -0.27146 0.300455 +#9531 1721120801917 +SLAM 11.4357 -22.4609 34.9233 -0.562312 0.0790226 0.692142 0.445533 +TTool-pose None 33.053 9.16575 14.2174 0.662628 0.631297 -0.269369 0.299563 +#9532 1721120801952 +SLAM 11.4509 -22.4811 34.909 -0.561632 0.0796145 0.692312 0.446022 +TTool-pose None 33.063 9.17847 14.2051 0.662323 0.631055 -0.270248 0.299959 +#9533 1721120801987 +SLAM 11.4434 -22.4823 34.9144 -0.56195 0.079008 0.692217 0.445876 +TTool-pose None 33.0624 9.17683 14.2112 0.662323 0.631426 -0.269745 0.29963 +#9534 1721120802021 +SLAM 11.3918 -22.5299 34.9006 -0.56212 0.0782117 0.691748 0.446529 +TTool-pose None 33.0575 9.17477 14.2112 0.661674 0.632236 -0.269284 0.299768 +#9535 1721120802056 +SLAM 11.4534 -22.4616 34.9214 -0.561928 0.0794962 0.692315 0.445666 +TTool-pose None 33.061 9.17436 14.21 0.662594 0.631008 -0.269915 0.299755 +#9536 1721120802090 +SLAM 11.3843 -22.5904 34.8716 -0.56239 0.0757749 0.691697 0.446689 +TTool-pose None 33.0626 9.17449 14.2258 0.660983 0.633969 -0.268329 0.298486 +#9537 1721120802120 +#9538 1721120802149 +#9539 1721120802177 +#9540 1721120802208 +#9541 1721120802237 +#9542 1721120802266 +#9543 1721120802295 +#9544 1721120802333 +#9545 1721120802363 +SLAM 10.427 -22.3479 35.2596 -0.573411 0.0710447 0.685354 0.443218 +TTool-pose None 32.9676 8.79483 14.0495 0.663819 0.636308 -0.254829 0.299043 +#9546 1721120802396 +SLAM 11.2235 -21.6649 35.519 -0.563414 0.0977828 0.692634 0.439615 +TTool-pose None 33.1679 8.98741 13.8166 0.671604 0.616137 -0.273336 0.307451 +#9547 1721120802428 +SLAM 10.9196 -22.0062 35.3232 -0.564966 0.089602 0.690674 0.44244 +TTool-pose None 33.0904 8.87121 13.8556 0.667847 0.62297 -0.269319 0.3054 +#9548 1721120802463 +SLAM 10.9755 -22.1686 35.0994 -0.564984 0.0831756 0.69195 0.441678 +TTool-pose None 33.0322 8.75858 13.9307 0.666835 0.627061 -0.267753 0.300574 +#9549 1721120802496 +SLAM 10.8931 -22.5823 34.8646 -0.561021 0.0801024 0.691975 0.447224 +TTool-pose None 33.0863 8.78723 13.8583 0.661481 0.63117 -0.270952 0.300936 +#9550 1721120802537 +SLAM 10.7604 -22.1371 35.2351 -0.566051 0.0842523 0.690484 0.442402 +TTool-pose None 33.0726 8.74164 13.829 0.666728 0.626667 -0.266747 0.302522 +#9551 1721120802569 +SLAM 10.6481 -22.5404 34.9537 -0.563885 0.0780897 0.690308 0.446555 +TTool-pose None 33.0616 8.70156 13.8158 0.661879 0.632418 -0.267246 0.300757 +#9552 1721120802602 +SLAM 10.7738 -22.6741 34.8154 -0.559378 0.0807456 0.692202 0.448812 +TTool-pose None 33.1184 8.71959 13.7394 0.660244 0.631279 -0.272825 0.301733 +#9553 1721120802634 +SLAM 10.7651 -22.6383 34.835 -0.559163 0.0817658 0.69249 0.448451 +TTool-pose None 33.1283 8.69365 13.7058 0.660728 0.630429 -0.273365 0.301962 +#9554 1721120802667 +SLAM 10.6772 -22.3614 35.0373 -0.561765 0.0854595 0.691717 0.445695 +TTool-pose None 33.1039 8.64279 13.6752 0.664024 0.626945 -0.271617 0.303561 +#9555 1721120802700 +SLAM 10.6763 -21.7512 35.4145 -0.565472 0.0952376 0.691284 0.439655 +TTool-pose None 33.0647 8.58612 13.6403 0.671273 0.618008 -0.270378 0.307032 +#9556 1721120802734 +SLAM 10.6923 -22.2026 35.1475 -0.562358 0.0870862 0.692391 0.443582 +TTool-pose None 33.1351 8.60478 13.6172 0.666038 0.625019 -0.27155 0.30318 +#9557 1721120802766 +SLAM 10.5127 -22.3592 35.0369 -0.562721 0.0845256 0.691289 0.445331 +TTool-pose None 33.0838 8.52907 13.614 0.664198 0.627486 -0.270331 0.303209 +#9558 1721120802800 +SLAM 10.4433 -22.213 35.172 -0.564755 0.0847483 0.690811 0.443452 +TTool-pose None 33.0906 8.50121 13.5855 0.665906 0.626685 -0.268251 0.302965 +#9559 1721120802836 +SLAM 10.5302 -22.1569 35.127 -0.563451 0.087164 0.692026 0.442747 +TTool-pose None 33.0754 8.46095 13.5679 0.666819 0.624687 -0.270405 0.30317 +#9560 1721120802872 +SLAM 10.5447 -22.1838 35.1204 -0.56277 0.0869739 0.692478 0.442946 +TTool-pose None 33.1058 8.45843 13.5382 0.66653 0.624862 -0.271113 0.302811 +#9561 1721120802909 +SLAM 10.6281 -22.7978 34.6536 -0.556954 0.0785197 0.694429 0.448783 +TTool-pose None 33.1577 8.46467 13.5229 0.659346 0.632653 -0.274992 0.298835 +#9562 1721120802940 +SLAM 10.2243 -22.4786 34.9972 -0.565607 0.0765356 0.690253 0.444727 +TTool-pose None 33.0663 8.36419 13.5548 0.66306 0.63283 -0.265056 0.299219 +#9563 1721120802974 +SLAM 10.4015 -22.3315 35.0262 -0.562846 0.0833577 0.692183 0.444004 +TTool-pose None 33.0967 8.37391 13.4962 0.664891 0.62776 -0.270017 0.301397 +#9564 1721120803006 +SLAM 10.2819 -22.4814 34.9719 -0.563323 0.0790204 0.691514 0.445232 +TTool-pose None 33.1075 8.35334 13.4766 0.662992 0.63123 -0.26825 0.299904 +#9565 1721120803037 +SLAM 10.5205 -22.2327 35.0839 -0.561067 0.0865172 0.693836 0.443069 +TTool-pose None 33.1654 8.38198 13.4148 0.66608 0.625137 -0.272916 0.301612 +#9566 1721120803069 +SLAM 10.4178 -22.5938 34.8299 -0.559568 0.0802244 0.693635 0.44645 +TTool-pose None 33.1507 8.33755 13.4194 0.661859 0.630703 -0.272701 0.2995 +#9567 1721120803101 +SLAM 10.2533 -22.5123 34.9087 -0.563563 0.0763742 0.692229 0.444278 +TTool-pose None 33.0983 8.25706 13.4507 0.663053 0.63266 -0.26738 0.297522 +#9568 1721120803134 +SLAM 10.2127 -22.4015 34.979 -0.563367 0.0802291 0.692177 0.443927 +TTool-pose None 33.0967 8.2313 13.3955 0.664246 0.629888 -0.268632 0.299608 +#9569 1721120803173 +SLAM 10.2369 -22.4431 34.9061 -0.562423 0.0800932 0.692853 0.444095 +TTool-pose None 33.0885 8.193 13.3844 0.663954 0.63 -0.269653 0.299103 +#9570 1721120803210 +SLAM 10.3006 -22.5791 34.8136 -0.560242 0.0784987 0.693996 0.44535 +TTool-pose None 33.1415 8.20593 13.3414 0.662325 0.631473 -0.271596 0.297845 +#9571 1721120803246 +SLAM 10.3939 -22.6149 34.6819 -0.556079 0.0848747 0.695352 0.447278 +TTool-pose None 33.1242 8.18417 13.2942 0.661882 0.627675 -0.277746 0.301173 +#9572 1721120803279 +SLAM 10.2013 -22.3624 34.9657 -0.562066 0.0821059 0.693388 0.443343 +TTool-pose None 33.1185 8.14064 13.2979 0.664945 0.62831 -0.270643 0.299562 +#9573 1721120803318 +SLAM 10.2714 -22.526 34.7998 -0.559957 0.0799247 0.694631 0.444464 +TTool-pose None 33.1264 8.11268 13.2942 0.663281 0.630134 -0.272367 0.297851 +#9574 1721120803355 +SLAM 10.2137 -22.7451 34.6344 -0.556073 0.0823038 0.694793 0.448632 +TTool-pose None 33.1391 8.10842 13.2184 0.660265 0.629968 -0.276971 0.300646 +#9575 1721120803389 +SLAM 10.1541 -22.532 34.7921 -0.558153 0.0849311 0.69428 0.44635 +TTool-pose None 33.1226 8.06681 13.1988 0.662884 0.627378 -0.275509 0.301641 +#9576 1721120803422 +SLAM 10.065 -22.4363 34.8944 -0.561415 0.0813377 0.693646 0.443907 +TTool-pose None 33.1152 8.01774 13.2063 0.664252 0.629025 -0.271132 0.299156 +#9577 1721120803454 +SLAM 10.0905 -22.5718 34.7668 -0.558629 0.0821259 0.694532 0.445886 +TTool-pose None 33.1316 8.00164 13.1592 0.6626 0.629132 -0.274301 0.299703 +#9578 1721120803484 +SLAM 10.0191 -22.5814 34.7633 -0.558093 0.0837128 0.694255 0.446693 +TTool-pose None 33.128 7.97518 13.1154 0.662327 0.628344 -0.275236 0.301104 +#9579 1721120803517 +SLAM 9.96085 -22.6746 34.7134 -0.558647 0.0799526 0.694125 0.44689 +TTool-pose None 33.1316 7.94295 13.1112 0.661334 0.631015 -0.27363 0.299155 +#9580 1721120803553 +SLAM 9.96096 -22.5161 34.8123 -0.559303 0.083019 0.694241 0.445329 +TTool-pose None 33.1267 7.91418 13.0883 0.663326 0.628337 -0.27382 0.300208 +#9581 1721120803583 +SLAM 9.85961 -22.6953 34.7014 -0.558195 0.080993 0.693937 0.44756 +TTool-pose None 33.1305 7.88411 13.0496 0.66104 0.630549 -0.274345 0.300133 +#9582 1721120803617 +SLAM 9.74696 -22.3242 35.0128 -0.5645 0.0795335 0.692707 0.441782 +TTool-pose None 33.1088 7.8217 13.0647 0.665786 0.62956 -0.267362 0.298009 +#9583 1721120803647 +SLAM 9.71277 -22.2827 35.0424 -0.56361 0.0828257 0.692727 0.442283 +TTool-pose None 33.1178 7.80546 13.0106 0.666114 0.627473 -0.269171 0.300045 +#9584 1721120803680 +SLAM 9.75834 -22.6007 34.7652 -0.557625 0.0851813 0.694017 0.44737 +TTool-pose None 33.1394 7.80183 12.9457 0.662126 0.627586 -0.276073 0.302359 +#9585 1721120803716 +SLAM 9.6365 -22.6509 34.7721 -0.560414 0.0791821 0.69308 0.446437 +TTool-pose None 33.1263 7.75892 12.9698 0.661734 0.631451 -0.271476 0.299312 +#9586 1721120803750 +SLAM 9.58105 -22.5973 34.8498 -0.561901 0.0778139 0.692718 0.44537 +TTool-pose None 33.1422 7.74559 12.9508 0.662383 0.632033 -0.269538 0.298397 +#9587 1721120803781 +SLAM 9.4174 -22.333 35.0788 -0.566391 0.0792231 0.690796 0.442409 +TTool-pose None 33.0974 7.70307 12.9666 0.665525 0.630115 -0.265074 0.29946 +#9588 1721120803815 +SLAM 9.41122 -22.4388 35.0005 -0.56536 0.0781326 0.691031 0.443554 +TTool-pose None 33.1043 7.69465 12.9549 0.664277 0.631264 -0.265861 0.299112 +#9589 1721120803850 +SLAM 9.54926 -22.6071 34.8002 -0.559281 0.083701 0.69293 0.447266 +TTool-pose None 33.1277 7.70871 12.8907 0.662086 0.628643 -0.273836 0.302283 +#9590 1721120803884 +SLAM 9.5336 -22.6484 34.7629 -0.559031 0.0826454 0.693114 0.447489 +TTool-pose None 33.128 7.68833 12.8757 0.661627 0.629439 -0.27383 0.301638 +#9591 1721120803913 +SLAM 9.44996 -22.6447 34.7718 -0.559716 0.0825414 0.692525 0.447565 +TTool-pose None 33.1098 7.65558 12.8657 0.661647 0.629577 -0.273022 0.302039 +#9592 1721120803943 +SLAM 9.38234 -22.2919 35.0797 -0.56526 0.0817277 0.691484 0.442325 +TTool-pose None 33.1081 7.63444 12.8798 0.666049 0.628321 -0.267013 0.300344 +#9593 1721120803973 +SLAM 9.46662 -22.6152 34.7985 -0.560284 0.0811111 0.692955 0.446449 +TTool-pose None 33.1285 7.63826 12.8526 0.662187 0.630136 -0.272119 0.300497 +#9594 1721120804001 +SLAM 9.42862 -22.6038 34.8119 -0.561135 0.0800191 0.692699 0.445974 +TTool-pose None 33.1204 7.61856 12.854 0.662385 0.630735 -0.270919 0.299888 +#9595 1721120804033 +SLAM 9.43321 -22.7871 34.6662 -0.558701 0.0791929 0.693219 0.448363 +TTool-pose None 33.1336 7.61589 12.826 0.660083 0.632121 -0.273234 0.299944 +#9596 1721120804066 +SLAM 9.46525 -22.5282 34.8401 -0.560645 0.0822866 0.693249 0.445323 +TTool-pose None 33.1236 7.60245 12.8299 0.663349 0.628905 -0.272116 0.300518 +#9597 1721120804103 +SLAM 9.36749 -22.6623 34.7707 -0.559964 0.0812851 0.692626 0.447329 +TTool-pose None 33.1236 7.59144 12.8078 0.661544 0.630352 -0.272443 0.301168 +#9598 1721120804145 +SLAM 9.35545 -22.6303 34.7913 -0.560663 0.0807751 0.692555 0.446654 +TTool-pose None 33.1169 7.57697 12.8112 0.662011 0.630467 -0.271584 0.300677 +#9599 1721120804178 +SLAM 9.31877 -22.6565 34.7876 -0.560621 0.0803877 0.69241 0.447 +TTool-pose None 33.1246 7.56724 12.7936 0.661657 0.630866 -0.271499 0.300695 +#9600 1721120804210 +SLAM 9.3895 -22.5154 34.8568 -0.560076 0.0843407 0.693122 0.445852 +TTool-pose None 33.1307 7.56204 12.7691 0.663387 0.627685 -0.273233 0.301968 +#9601 1721120804242 +SLAM 9.3146 -22.6046 34.8222 -0.560507 0.0814758 0.692743 0.446431 +TTool-pose None 33.1374 7.54299 12.7572 0.662324 0.629892 -0.271961 0.300851 +#9602 1721120804276 +SLAM 9.13612 -22.2728 35.1337 -0.566586 0.0810698 0.690644 0.442062 +TTool-pose None 33.1132 7.5092 12.7659 0.666263 0.628728 -0.265358 0.300481 +#9603 1721120804306 +SLAM 9.27134 -22.4423 34.9257 -0.561918 0.0837607 0.692424 0.444727 +TTool-pose None 33.1157 7.50243 12.7432 0.664331 0.627727 -0.271105 0.301724 +#9604 1721120804335 +SLAM 9.14649 -22.4192 34.9883 -0.564842 0.0794549 0.691436 0.443347 +TTool-pose None 33.1085 7.46758 12.7448 0.664685 0.630257 -0.266811 0.299487 +#9605 1721120804366 +SLAM 9.30693 -22.5846 34.7929 -0.56039 0.0809709 0.693469 0.445542 +TTool-pose None 33.1285 7.47203 12.7205 0.662825 0.629876 -0.272047 0.2997 +#9606 1721120804394 +SLAM 9.28136 -22.3847 34.9693 -0.564255 0.0785288 0.692996 0.441822 +TTool-pose None 33.1295 7.45655 12.7424 0.665471 0.630247 -0.267377 0.297246 +#9607 1721120804427 +SLAM 9.12687 -22.8632 34.6351 -0.559923 0.076364 0.692365 0.448649 +TTool-pose None 33.1217 7.43348 12.7042 0.659345 0.634222 -0.271091 0.299075 +#9608 1721120804458 +SLAM 9.05646 -22.3953 35.0149 -0.56525 0.0800865 0.691097 0.443242 +TTool-pose None 33.1058 7.41829 12.7041 0.664976 0.629805 -0.266519 0.30005 +#9609 1721120804486 +SLAM 9.02158 -22.3861 35.0343 -0.565718 0.0795454 0.690925 0.44301 +TTool-pose None 33.1098 7.4063 12.6905 0.665076 0.630104 -0.265869 0.29978 +#9610 1721120804514 +SLAM 9.12441 -22.6463 34.7748 -0.56017 0.0818189 0.692561 0.447073 +TTool-pose None 33.1205 7.40463 12.6526 0.661893 0.629896 -0.27237 0.301419 +#9611 1721120804543 +SLAM 9.15182 -22.6186 34.7848 -0.56044 0.0810673 0.693004 0.446185 +TTool-pose None 33.1274 7.39008 12.6472 0.662391 0.630069 -0.271956 0.300337 +#9612 1721120804571 +SLAM 9.05678 -22.6607 34.7641 -0.559683 0.0832337 0.692319 0.447795 +TTool-pose None 33.1148 7.3701 12.6185 0.661646 0.629194 -0.273212 0.302666 +#9613 1721120804601 +SLAM 9.05446 -22.4356 34.9228 -0.562436 0.0837024 0.692153 0.444505 +TTool-pose None 33.1023 7.34476 12.6262 0.664553 0.627704 -0.270523 0.301804 +#9614 1721120804632 +SLAM 8.96424 -22.7453 34.7392 -0.560775 0.0786297 0.692015 0.447732 +TTool-pose None 33.129 7.33497 12.5936 0.660708 0.632362 -0.270803 0.300266 +#9615 1721120804662 +SLAM 8.95728 -22.6104 34.8394 -0.561991 0.0802825 0.69181 0.446229 +TTool-pose None 33.1232 7.32501 12.594 0.662391 0.630701 -0.269993 0.300781 +#9616 1721120804691 +SLAM 8.91724 -22.4953 34.926 -0.562965 0.0826491 0.691276 0.445395 +TTool-pose None 33.1081 7.31234 12.5919 0.663724 0.628805 -0.269572 0.302187 +#9617 1721120804719 +SLAM 8.75672 -22.3804 35.0793 -0.567013 0.0796362 0.689651 0.443324 +TTool-pose None 33.1008 7.29068 12.5945 0.665053 0.63023 -0.264388 0.300874 +#9618 1721120804753 +SLAM 8.80602 -22.6209 34.8837 -0.563416 0.0790441 0.690679 0.446405 +TTool-pose None 33.1235 7.29164 12.5668 0.66216 0.631685 -0.26804 0.30097 +#9619 1721120804782 +SLAM 8.917 -22.837 34.6746 -0.558848 0.079711 0.69242 0.449321 +TTool-pose None 33.1524 7.29512 12.524 0.659537 0.632157 -0.273109 0.301181 +#9620 1721120804816 +SLAM 8.71529 -22.4039 35.0416 -0.565893 0.0814943 0.689812 0.444166 +TTool-pose None 33.0942 7.24728 12.5528 0.664747 0.629246 -0.266062 0.30213 +#9621 1721120804850 +SLAM 8.66224 -22.3203 35.1455 -0.566465 0.0832223 0.689381 0.443785 +TTool-pose None 33.1199 7.25237 12.512 0.665531 0.627943 -0.265886 0.30327 +#9622 1721120804882 +SLAM 8.70049 -22.7973 34.7431 -0.561433 0.0787306 0.690681 0.448948 +TTool-pose None 33.1185 7.22835 12.5063 0.659944 0.63281 -0.269965 0.301754 +#9623 1721120804910 +SLAM 8.63081 -22.4839 35.0094 -0.564063 0.0834905 0.689734 0.446239 +TTool-pose None 33.1212 7.22442 12.4718 0.663476 0.628621 -0.268457 0.304102 +#9624 1721120804940 +SLAM 8.76646 -22.7643 34.7222 -0.559793 0.0816734 0.691649 0.448979 +TTool-pose None 33.1218 7.2086 12.4771 0.660415 0.630734 -0.272576 0.302723 +#9625 1721120804970 +SLAM 8.49607 -22.4772 35.0459 -0.567617 0.077715 0.688646 0.444453 +TTool-pose None 33.0974 7.17169 12.4952 0.663837 0.632015 -0.263096 0.300946 +#9626 1721120805000 +SLAM 8.68004 -22.7739 34.741 -0.560423 0.0808518 0.691154 0.449105 +TTool-pose None 33.1254 7.18482 12.4483 0.660211 0.631377 -0.271641 0.302668 +#9627 1721120805037 +SLAM 8.65197 -22.6477 34.8437 -0.562177 0.0810312 0.690898 0.447272 +TTool-pose None 33.1232 7.16373 12.4433 0.661846 0.630615 -0.269875 0.302263 +#9628 1721120805073 +SLAM 8.71607 -22.6133 34.8374 -0.561379 0.0822692 0.6917 0.446807 +TTool-pose None 33.1286 7.15355 12.4296 0.662376 0.629546 -0.27114 0.302201 +#9629 1721120805105 +SLAM 8.52225 -22.5499 34.9268 -0.563776 0.0826116 0.68982 0.446632 +TTool-pose None 33.0957 7.11653 12.4244 0.662933 0.629363 -0.268523 0.303694 +#9630 1721120805136 +SLAM 8.55293 -22.6724 34.8287 -0.56233 0.0807373 0.690597 0.447596 +TTool-pose None 33.1161 7.10699 12.4027 0.66156 0.630952 -0.269594 0.302438 +#9631 1721120805168 +SLAM 8.38519 -22.559 34.9777 -0.566918 0.076458 0.689006 0.445003 +TTool-pose None 33.1064 7.06985 12.4082 0.663024 0.633056 -0.263515 0.300183 +#9632 1721120805203 +SLAM 8.54934 -22.8761 34.6871 -0.560481 0.0768046 0.691537 0.449154 +TTool-pose None 33.1574 7.08255 12.3463 0.659171 0.634152 -0.270525 0.300119 +#9633 1721120805232 +SLAM 8.61733 -22.8096 34.6898 -0.558979 0.0808655 0.692306 0.449127 +TTool-pose None 33.1524 7.07206 12.3278 0.659985 0.631301 -0.273277 0.301843 +#9634 1721120805267 +SLAM 8.47838 -22.7484 34.7611 -0.560508 0.08218 0.690931 0.449102 +TTool-pose None 33.125 7.04378 12.3229 0.660555 0.630475 -0.271884 0.303578 +#9635 1721120805300 +SLAM 8.24214 -22.405 35.112 -0.568515 0.078894 0.688212 0.443768 +TTool-pose None 33.1028 7.00623 12.342 0.664753 0.630982 -0.26244 0.301664 +#9636 1721120805333 +SLAM 8.30386 -22.5939 34.9274 -0.564642 0.0802604 0.689363 0.446673 +TTool-pose None 33.109 6.99605 12.3116 0.662443 0.631025 -0.266933 0.302714 +#9637 1721120805366 +SLAM 8.33383 -22.4618 35.0224 -0.565858 0.0804825 0.68968 0.444599 +TTool-pose None 33.1191 6.98746 12.302 0.664177 0.630106 -0.265802 0.301819 +#9638 1721120805405 +SLAM 8.20608 -22.3053 35.1732 -0.56787 0.0829788 0.688371 0.443603 +TTool-pose None 33.1087 6.96841 12.2778 0.665798 0.628103 -0.264238 0.303793 +#9639 1721120805439 +SLAM 8.27067 -22.4051 35.0664 -0.566656 0.0808549 0.68944 0.443889 +TTool-pose None 33.1145 6.94694 12.2741 0.664897 0.629608 -0.265055 0.301932 +#9640 1721120805474 +SLAM 8.29392 -22.7228 34.7987 -0.56195 0.08073 0.690434 0.448326 +TTool-pose None 33.1239 6.93294 12.2384 0.660971 0.631228 -0.269953 0.302829 +#9641 1721120805511 +SLAM 8.36026 -22.5859 34.8687 -0.563501 0.0798465 0.691066 0.445554 +TTool-pose None 33.1175 6.91212 12.2527 0.662991 0.630805 -0.26823 0.300819 +#9642 1721120805542 +SLAM 8.35508 -22.5623 34.8797 -0.561888 0.0840895 0.691175 0.446641 +TTool-pose None 33.1244 6.91035 12.2134 0.663019 0.628264 -0.271041 0.303545 +#9643 1721120805574 +SLAM 8.29452 -22.7556 34.7575 -0.561825 0.078753 0.691076 0.447845 +TTool-pose None 33.1313 6.88994 12.2103 0.66081 0.632376 -0.269633 0.301063 +#9644 1721120805613 +SLAM 8.28765 -22.7221 34.7746 -0.561681 0.0800688 0.691107 0.447744 +TTool-pose None 33.1281 6.87854 12.1981 0.661191 0.631433 -0.270145 0.301746 +#9645 1721120805647 +SLAM 8.24453 -22.6447 34.8361 -0.562397 0.0815911 0.690695 0.447205 +TTool-pose None 33.119 6.86338 12.188 0.662065 0.630218 -0.269775 0.302701 +#9646 1721120805678 +SLAM 8.31175 -22.5682 34.8691 -0.563098 0.0807902 0.691371 0.445421 +TTool-pose None 33.1215 6.85393 12.196 0.663264 0.630089 -0.268943 0.30108 +#9647 1721120805710 +SLAM 8.34865 -22.8932 34.6197 -0.55814 0.0802374 0.692529 0.449939 +TTool-pose None 33.1605 6.86322 12.1411 0.659112 0.632007 -0.273985 0.301631 +#9648 1721120805745 +SLAM 8.19688 -22.7935 34.7338 -0.561604 0.0786281 0.690901 0.448412 +TTool-pose None 33.1312 6.83233 12.1581 0.660334 0.632676 -0.269796 0.301334 +#9649 1721120805785 +SLAM 8.25497 -22.5735 34.8743 -0.563212 0.0805706 0.69129 0.445442 +TTool-pose None 33.1273 6.82036 12.1615 0.663211 0.630253 -0.268755 0.301023 +#9650 1721120805827 +SLAM 8.25539 -22.5742 34.8737 -0.563225 0.0805096 0.691295 0.445429 +TTool-pose None 33.1273 6.82025 12.1618 0.663207 0.630289 -0.268726 0.300979 +#9651 1721120805870 +SLAM 8.1569 -22.5597 34.9041 -0.563299 0.0824943 0.690489 0.446221 +TTool-pose None 33.1193 6.80222 12.1353 0.663134 0.629256 -0.269075 0.302986 +#9652 1721120805903 +SLAM 8.18855 -22.5985 34.8558 -0.562727 0.0814752 0.691081 0.446215 +TTool-pose None 33.1227 6.78806 12.127 0.662804 0.62992 -0.269465 0.301979 +#9653 1721120805934 +SLAM 7.9639 -22.2964 35.1721 -0.56866 0.0813498 0.688525 0.442652 +TTool-pose None 33.1134 6.77115 12.1163 0.666194 0.628871 -0.263009 0.302397 +#9654 1721120805966 +SLAM 8.14507 -22.5565 34.8951 -0.563155 0.0821358 0.690887 0.445854 +TTool-pose None 33.1246 6.76602 12.1039 0.663292 0.629347 -0.269182 0.302355 +#9655 1721120806000 +SLAM 8.00207 -22.5313 34.9422 -0.563933 0.0840782 0.689503 0.44665 +TTool-pose None 33.1033 6.7444 12.0904 0.663303 0.628377 -0.268715 0.304757 +#9656 1721120806033 +SLAM 7.93091 -22.4907 35.0057 -0.566979 0.0790583 0.688956 0.444549 +TTool-pose None 33.1052 6.72343 12.096 0.664015 0.63111 -0.264163 0.301519 +#9657 1721120806063 +SLAM 7.91326 -22.5546 34.9737 -0.566656 0.0775689 0.689107 0.44499 +TTool-pose None 33.1222 6.71484 12.0757 0.663277 0.632283 -0.264104 0.300735 +#9658 1721120806094 +SLAM 7.80784 -22.4682 35.0699 -0.568965 0.0767952 0.688069 0.443782 +TTool-pose None 33.113 6.69477 12.0715 0.664278 0.632436 -0.261381 0.300583 +#9659 1721120806132 +SLAM 7.87948 -22.5176 34.9935 -0.566831 0.0784263 0.689041 0.444718 +TTool-pose None 33.1159 6.68797 12.0545 0.663713 0.6316 -0.264152 0.301164 +#9660 1721120806165 +SLAM 7.87535 -22.4647 35.0207 -0.566939 0.0797851 0.689064 0.444304 +TTool-pose None 33.1088 6.67283 12.0472 0.664369 0.630516 -0.264419 0.301758 +#9661 1721120806196 +SLAM 7.991 -22.7488 34.7624 -0.561882 0.0795777 0.690913 0.447878 +TTool-pose None 33.1346 6.67094 12.0154 0.661 0.631832 -0.269778 0.30166 +#9662 1721120806227 +SLAM 8.00622 -22.69 34.7946 -0.562316 0.0799844 0.691107 0.446962 +TTool-pose None 33.1318 6.65763 12.0141 0.661831 0.631212 -0.269478 0.301402 +#9663 1721120806261 +SLAM 7.7955 -22.5267 34.9929 -0.567141 0.0777057 0.688965 0.444568 +TTool-pose None 33.1198 6.63031 12.0065 0.663685 0.632045 -0.263627 0.300754 +#9664 1721120806295 +SLAM 7.92997 -22.606 34.866 -0.563384 0.0811007 0.690586 0.44622 +TTool-pose None 33.1235 6.62464 11.9899 0.662802 0.63021 -0.268622 0.30213 +#9665 1721120806328 +SLAM 7.96202 -22.5604 34.8797 -0.563472 0.0814734 0.690967 0.445449 +TTool-pose None 33.1204 6.61363 11.9879 0.663467 0.629653 -0.26869 0.301769 +#9666 1721120806363 +SLAM 7.87719 -22.4578 34.9855 -0.56642 0.0791852 0.690129 0.443419 +TTool-pose None 33.1134 6.59397 11.99 0.664788 0.630546 -0.264939 0.30031 +#9667 1721120806399 +SLAM 7.90522 -22.6115 34.8365 -0.562821 0.0820557 0.690757 0.446492 +TTool-pose None 33.1103 6.58623 11.967 0.66276 0.629639 -0.26948 0.302647 +#9668 1721120806438 +SLAM 7.89942 -22.6089 34.8521 -0.56259 0.082155 0.690962 0.446446 +TTool-pose None 33.1304 6.57963 11.9391 0.662785 0.629542 -0.269772 0.302537 +#9669 1721120806473 +SLAM 7.85928 -22.6765 34.8204 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0.0826294 0.690286 0.443586 +TTool-pose None 33.0958 6.30827 11.7509 0.665408 0.628227 -0.266734 0.302205 +#9688 1721120807115 +SLAM 7.62089 -22.878 34.6377 -0.559714 0.0778733 0.692498 0.448445 +TTool-pose None 33.1788 6.31465 11.6663 0.659843 0.633105 -0.27174 0.299755 +#9689 1721120807144 +SLAM 7.58778 -22.8484 34.6389 -0.560551 0.0780349 0.692037 0.448083 +TTool-pose None 33.1439 6.29435 11.6922 0.660271 0.632894 -0.270868 0.300047 +#9690 1721120807180 +SLAM 7.69887 -22.9254 34.5649 -0.55751 0.0793595 0.693612 0.449207 +TTool-pose None 33.1887 6.30393 11.6445 0.659332 0.63228 -0.274541 0.300068 +#9691 1721120807214 +SLAM 7.30727 -22.4083 35.08 -0.568742 0.078234 0.688794 0.442689 +TTool-pose None 33.1315 6.26804 11.6788 0.665401 0.631011 -0.262111 0.300455 +#9692 1721120807249 +SLAM 7.55521 -22.8424 34.6382 -0.559973 0.0793797 0.692166 0.44837 +TTool-pose None 33.1469 6.26218 11.6561 0.660314 0.632064 -0.271842 0.300821 +#9693 1721120807287 +SLAM 7.49128 -22.5052 34.9134 -0.564989 0.0799766 0.690979 0.443779 +TTool-pose None 33.1257 6.25174 11.677 0.664523 0.630081 -0.266739 0.300279 +#9694 1721120807322 +SLAM 7.6513 -22.755 34.6844 -0.560408 0.0783697 0.693331 0.446198 +TTool-pose None 33.1695 6.25376 11.6396 0.661703 0.631909 -0.271295 0.298579 +#9695 1721120807352 +SLAM 7.48112 -22.5749 34.8622 -0.563888 0.079777 0.691359 0.444621 +TTool-pose None 33.1399 6.23091 11.6454 0.663706 0.630499 -0.26786 0.300211 +#9696 1721120807386 +SLAM 7.46717 -22.693 34.7617 -0.561164 0.0821195 0.691672 0.447148 +TTool-pose None 33.1444 6.21525 11.6101 0.662059 0.629773 -0.271313 0.302266 +#9697 1721120807421 +SLAM 7.40832 -22.5699 34.868 -0.564198 0.0801143 0.690961 0.444786 +TTool-pose None 33.1295 6.19826 11.6241 0.663714 0.630351 -0.26758 0.300754 +#9698 1721120807452 +SLAM 7.44951 -22.7479 34.7075 -0.560534 0.0815742 0.691916 0.44766 +TTool-pose None 33.1416 6.18651 11.5918 0.661459 0.630316 -0.271839 0.301974 +#9699 1721120807485 +SLAM 7.21678 -22.4116 35.0407 -0.567049 0.0816836 0.689159 0.443669 +TTool-pose None 33.121 6.16739 11.5896 0.665317 0.628974 -0.264839 0.302518 +#9700 1721120807518 +SLAM 7.35021 -22.5264 34.9015 -0.564089 0.0819186 0.690856 0.444761 +TTool-pose None 33.1313 6.15982 11.5809 0.664165 0.629106 -0.268168 0.301839 +#9701 1721120807553 +SLAM 7.37458 -22.5702 34.8552 -0.563803 0.0803234 0.691356 0.444636 +TTool-pose None 33.1343 6.14554 11.5765 0.663819 0.630129 -0.268097 0.300528 +#9702 1721120807585 +SLAM 7.24782 -22.724 34.7952 -0.565137 0.0737972 0.690695 0.445101 +TTool-pose None 33.1528 6.12281 11.5507 0.662028 0.634814 -0.26484 0.297486 +#9703 1721120807620 +SLAM 7.19905 -22.3568 35.0752 -0.568075 0.0800233 0.689581 0.442001 +TTool-pose None 33.1295 6.12075 11.5543 0.666255 0.629488 -0.263398 0.300635 +#9704 1721120807653 +SLAM 7.29527 -22.6931 34.7754 -0.562544 0.0798158 0.691314 0.446385 +TTool-pose None 33.1442 6.10717 11.5287 0.662242 0.631109 -0.269231 0.300937 +#9705 1721120807686 +SLAM 7.33184 -22.6608 34.7791 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35.0667 -0.568489 0.0794941 0.689269 0.442052 +TTool-pose None 33.1242 6.00765 11.4593 0.666143 0.629888 -0.262784 0.300581 +#9712 1721120807914 +SLAM 7.20722 -22.6279 34.797 -0.562138 0.0819616 0.691748 0.445834 +TTool-pose None 33.142 6.00168 11.4346 0.663116 0.629407 -0.270293 0.301623 +#9713 1721120807949 +SLAM 7.18663 -22.5937 34.8115 -0.563564 0.0800076 0.691609 0.444603 +TTool-pose None 33.1252 5.9802 11.4454 0.663729 0.630319 -0.268289 0.300154 +#9714 1721120807986 +SLAM 7.15716 -22.5096 34.8832 -0.564607 0.0803899 0.6914 0.443534 +TTool-pose None 33.1273 5.96762 11.4298 0.664749 0.629683 -0.267302 0.300113 +#9715 1721120808022 +SLAM 7.04282 -22.5822 34.8403 -0.562201 0.0858683 0.690529 0.446907 +TTool-pose None 33.1164 5.94541 11.3931 0.663306 0.62717 -0.271111 0.305115 +#9716 1721120808056 +SLAM 7.02855 -22.5239 34.9041 -0.564311 0.0824853 0.690545 0.444855 +TTool-pose None 33.1306 5.93691 11.3847 0.664269 0.628768 -0.26805 0.30242 +#9717 1721120808087 +SLAM 7.31188 -22.8805 34.542 -0.557384 0.0797767 0.694508 0.447904 +TTool-pose None 33.1805 5.93278 11.3395 0.660365 0.631471 -0.274915 0.299157 +#9718 1721120808120 +SLAM 6.92188 -22.3435 35.0826 -0.568006 0.0806074 0.68967 0.441845 +TTool-pose None 33.1408 5.91299 11.3535 0.666503 0.629024 -0.263641 0.300841 +#9719 1721120808152 +SLAM 6.87676 -22.4871 34.9662 -0.566401 0.0807856 0.68953 0.444085 +TTool-pose None 33.127 5.88956 11.3498 0.664701 0.629721 -0.265309 0.301902 +#9720 1721120808185 +SLAM 6.77995 -22.4315 35.0268 -0.568021 0.0804289 0.688657 0.443437 +TTool-pose None 33.1161 5.86775 11.3407 0.665308 0.629782 -0.263431 0.302084 +#9721 1721120808217 +SLAM 6.90943 -22.609 34.8458 -0.562409 0.0847538 0.690445 0.446987 +TTool-pose None 33.1377 5.86717 11.3031 0.663005 0.627974 -0.270585 0.304581 +#9722 1721120808253 +SLAM 6.90257 -22.8404 34.69 -0.563274 0.0740458 0.691262 0.446538 +TTool-pose None 33.1686 5.84134 11.2843 0.660781 0.635126 -0.266887 0.297762 +#9723 1721120808286 +SLAM 6.96142 -22.7987 34.672 -0.561989 0.0774897 0.6918 0.44674 +TTool-pose None 33.1468 5.82685 11.2939 0.661321 0.632804 -0.269225 0.299402 +#9724 1721120808318 +SLAM 6.84954 -22.4709 34.9528 -0.565955 0.0810378 0.690217 0.443541 +TTool-pose None 33.1304 5.81805 11.2893 0.665096 0.629311 -0.265933 0.30134 +#9725 1721120808357 +SLAM 6.93164 -22.5881 34.8238 -0.563784 0.0802882 0.69143 0.44455 +TTool-pose None 33.133 5.8038 11.2814 0.66387 0.630118 -0.268116 0.300421 +#9726 1721120808392 +SLAM 7.02751 -22.8148 34.6125 -0.559647 0.0798028 0.693097 0.447262 +TTool-pose None 33.1533 5.79213 11.2489 0.661176 0.631318 -0.272426 0.299963 +#9727 1721120808428 +SLAM 6.8041 -22.6747 34.7985 -0.56421 0.0782163 0.690754 0.44543 +TTool-pose None 33.1438 5.76862 11.2443 0.662774 0.6319 -0.267016 0.300076 +#9728 1721120808461 +SLAM 6.97286 -22.394 34.9301 -0.564848 0.0824794 0.691939 0.442 +TTool-pose None 33.1209 5.77148 11.2674 0.666411 0.627658 -0.267702 0.300314 +#9729 1721120808495 +SLAM 6.77194 -22.4459 34.9609 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34.7795 -0.56304 0.0802821 0.691591 0.445245 +TTool-pose None 33.1403 5.67383 11.1591 0.663257 0.630362 -0.268895 0.300566 +#9742 1721120808922 +SLAM 6.64189 -22.5151 34.9189 -0.565912 0.0805102 0.690053 0.443947 +TTool-pose None 33.1288 5.67306 11.1685 0.664665 0.62983 -0.265809 0.301315 +#9743 1721120808954 +SLAM 6.72935 -22.5739 34.8486 -0.563749 0.0815615 0.691132 0.444828 +TTool-pose None 33.1421 5.67696 11.1541 0.663979 0.62936 -0.268457 0.301463 +#9744 1721120808988 +SLAM 6.46752 -22.3539 35.1021 -0.569014 0.0817715 0.688093 0.442791 +TTool-pose None 33.1255 5.66957 11.1527 0.666246 0.628656 -0.262699 0.303001 +#9745 1721120809018 +SLAM 6.76014 -22.6762 34.7581 -0.563046 0.0792061 0.691639 0.445355 +TTool-pose None 33.1435 5.67263 11.159 0.66291 0.631139 -0.268601 0.299964 +#9746 1721120809055 +SLAM 6.54645 -22.535 34.9236 -0.564753 0.0846413 0.689114 0.446107 +TTool-pose None 33.1215 5.66506 11.1511 0.663952 0.627816 -0.267976 0.305149 +#9747 1721120809087 +SLAM 6.44318 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6.61571 -22.8124 34.6992 -0.561803 0.0806115 0.690539 0.448369 +TTool-pose None 33.1477 5.65278 11.1337 0.660889 0.631319 -0.270086 0.302702 +#9766 1721120809690 +SLAM 6.62737 -22.5232 34.9388 -0.565792 0.0804317 0.690147 0.443968 +TTool-pose None 33.1543 5.66645 11.1448 0.664613 0.629886 -0.265924 0.301212 +#9767 1721120809724 +SLAM 6.56589 -22.5142 34.9552 -0.566846 0.080006 0.689371 0.443907 +TTool-pose None 33.1368 5.6602 11.1634 0.664699 0.630202 -0.264619 0.301509 +#9768 1721120809757 +SLAM 6.57026 -22.5366 34.9389 -0.563928 0.0852634 0.689674 0.446167 +TTool-pose None 33.1552 5.66263 11.114 0.663944 0.627375 -0.269067 0.305115 +#9769 1721120809792 +SLAM 6.50504 -22.5179 34.9553 -0.56647 0.0822753 0.688723 0.444975 +TTool-pose None 33.1213 5.64915 11.1637 0.664434 0.629063 -0.265527 0.303667 +#9770 1721120809826 +SLAM 6.57358 -22.4793 34.958 -0.565501 0.0841963 0.689379 0.444832 +TTool-pose None 33.1225 5.6544 11.1576 0.664875 0.62765 -0.267133 0.30422 +#9771 1721120809860 +SLAM 6.41777 -22.4955 35.0134 -0.567541 0.0818288 0.687969 0.444861 +TTool-pose None 33.1342 5.64566 11.1417 0.664555 0.629373 -0.264202 0.303917 +#9772 1721120809893 +SLAM 6.39863 -22.6788 34.8286 -0.565429 0.081846 0.687868 0.447693 +TTool-pose None 33.0887 5.62881 11.169 0.662204 0.630387 -0.266342 0.305079 +#9773 1721120809926 +SLAM 6.53966 -22.6598 34.8586 -0.565094 0.0792219 0.689647 0.445848 +TTool-pose None 33.1561 5.64767 11.1289 0.662848 0.631425 -0.26623 0.301608 +#9774 1721120809958 +SLAM 6.71496 -22.8603 34.6433 -0.559479 0.0816577 0.691963 0.448891 +TTool-pose None 33.1783 5.64687 11.0997 0.660429 0.630694 -0.272937 0.302451 +#9775 1721120809994 +SLAM 6.52866 -22.539 34.9302 -0.565416 0.0831098 0.689188 0.44544 +TTool-pose None 33.1296 5.64233 11.1443 0.664155 0.628629 -0.266896 0.303978 +#9776 1721120810029 +SLAM 6.53281 -22.5844 34.9061 -0.565145 0.0817408 0.689454 0.445626 +TTool-pose None 33.1454 5.64309 11.1282 0.663643 0.629624 -0.266839 0.303085 +#9777 1721120810061 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1721120811116 +SLAM 6.64463 -22.787 34.6791 -0.56047 0.0801749 0.692632 0.446885 +TTool-pose None 33.1848 5.54364 11.0094 0.661665 0.630957 -0.271627 0.300369 +#9808 1721120811149 +SLAM 6.3928 -22.6645 34.8307 -0.563644 0.0822646 0.68988 0.44677 +TTool-pose None 33.1512 5.51571 11.0116 0.662728 0.629648 -0.268571 0.303508 +#9809 1721120811181 +SLAM 6.1881 -22.5842 34.94 -0.566359 0.0826344 0.687829 0.44643 +TTool-pose None 33.1315 5.48521 11.004 0.663448 0.629392 -0.265606 0.305072 +#9810 1721120811215 +SLAM 6.28337 -22.6296 34.8587 -0.564892 0.0825552 0.688992 0.446511 +TTool-pose None 33.1257 5.47047 11.0082 0.663165 0.629408 -0.26725 0.304217 +#9811 1721120811250 +SLAM 6.32093 -22.6956 34.8221 -0.562935 0.0824289 0.690162 0.447199 +TTool-pose None 33.1758 5.45861 10.9357 0.662355 0.629671 -0.269378 0.303558 +#9812 1721120811286 +SLAM 6.39034 -22.7735 34.7259 -0.561156 0.0820432 0.69128 0.447777 +TTool-pose None 33.1785 5.43944 10.9204 0.661581 0.630075 -0.271243 0.302746 +#9813 1721120811320 +SLAM 6.1984 -22.5744 34.9128 -0.566145 0.0814491 0.688927 0.445226 +TTool-pose None 33.1363 5.41071 10.9515 0.664002 0.629711 -0.265663 0.30315 +#9814 1721120811352 +SLAM 5.7469 -22.1887 35.3555 -0.573634 0.0841998 0.684123 0.442527 +TTool-pose None 33.1398 5.39449 10.8891 0.66765 0.627097 -0.25804 0.307119 +#9815 1721120811387 +SLAM 5.8051 -22.5076 35.0822 -0.570789 0.0792158 0.68561 0.444818 +TTool-pose None 33.1423 5.35093 10.8846 0.664377 0.631284 -0.259819 0.304121 +#9816 1721120811421 +SLAM 5.69892 -22.3231 35.2253 -0.570941 0.0867124 0.684333 0.445192 +TTool-pose None 33.1217 5.33057 10.8635 0.665969 0.626321 -0.261509 0.30941 +#9817 1721120811458 +SLAM 6.12978 -22.704 34.8175 -0.563773 0.080925 0.689971 0.446712 +TTool-pose None 33.1746 5.32411 10.8294 0.662457 0.630545 -0.268088 0.302664 +#9818 1721120811488 +SLAM 6.09716 -22.5834 34.8885 -0.56478 0.0834406 0.689441 0.445794 +TTool-pose None 33.144 5.30228 10.8438 0.663889 0.628513 -0.267671 0.304117 +#9819 1721120811518 +SLAM 6.23465 -22.8723 34.6032 -0.559471 0.0827832 0.691732 0.44905 +TTool-pose None 33.1558 5.27358 10.8163 0.66059 0.629989 -0.273218 0.303314 +#9820 1721120811550 +SLAM 6.23322 -22.7912 34.6907 -0.560343 0.0821163 0.69213 0.44747 +TTool-pose None 33.1913 5.26094 10.7666 0.661703 0.629861 -0.272213 0.302052 +#9821 1721120811584 +SLAM 6.1099 -22.8913 34.634 -0.56014 0.0810181 0.691485 0.448919 +TTool-pose None 33.1884 5.22215 10.7341 0.660347 0.631175 -0.272022 0.30245 +#9822 1721120811618 +SLAM 5.92089 -22.5259 34.9421 -0.566303 0.0832093 0.688769 0.444943 +TTool-pose None 33.1364 5.20294 10.7713 0.664665 0.628406 -0.265958 0.304148 +#9823 1721120811650 +SLAM 5.93786 -22.5426 34.934 -0.567903 0.0776703 0.689401 0.442921 +TTool-pose None 33.1543 5.18439 10.7529 0.664976 0.631448 -0.262902 0.299787 +#9824 1721120811682 +SLAM 5.5623 -22.3998 35.1409 -0.571564 0.0807611 0.685734 0.443352 +TTool-pose None 33.1405 5.14065 10.7107 0.665931 0.629682 -0.259466 0.304343 +#9825 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1721120812107 +SLAM 5.09866 -22.6042 34.9032 -0.56693 0.0819001 0.688092 0.445435 +TTool-pose None 33.1574 4.63787 10.2731 0.664071 0.629524 -0.264863 0.304088 +#9838 1721120812138 +SLAM 5.02116 -22.9166 34.6522 -0.562384 0.0826347 0.688489 0.45042 +TTool-pose None 33.158 4.57413 10.2227 0.659976 0.630781 -0.26974 0.306107 +#9839 1721120812171 +SLAM 5.32058 -22.8118 34.6231 -0.559786 0.0840829 0.692222 0.447659 +TTool-pose None 33.1717 4.53791 10.1755 0.661969 0.628565 -0.273324 0.303164 +#9840 1721120812203 +SLAM 4.53862 -22.604 35.0108 -0.570795 0.0811958 0.684144 0.446708 +TTool-pose None 33.1524 4.48424 10.1476 0.663491 0.630684 -0.260134 0.307019 +#9841 1721120812237 +SLAM 4.80118 -22.5083 34.9969 -0.570034 0.0787715 0.687553 0.442863 +TTool-pose None 33.1695 4.45498 10.0992 0.665586 0.630774 -0.260756 0.301721 +#9842 1721120812272 +SLAM 5.13391 -22.8335 34.6185 -0.559295 0.0836151 0.692749 0.447545 +TTool-pose None 33.2019 4.37961 10.0064 0.661865 0.628814 -0.273773 0.302472 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9.72311 0.66346 0.628837 -0.265024 0.306693 +#9851 1721120812589 +SLAM 4.22272 -22.693 34.8027 -0.566974 0.0773658 0.689512 0.443991 +TTool-pose None 33.1969 3.91193 9.59739 0.663995 0.632038 -0.263783 0.299945 +#9852 1721120812622 +SLAM 4.05586 -22.6056 34.8749 -0.567668 0.0816707 0.687985 0.444701 +TTool-pose None 33.1673 3.85506 9.58803 0.66465 0.629423 -0.264032 0.303754 +#9853 1721120812657 +SLAM 4.15741 -22.9598 34.5629 -0.561255 0.0800603 0.691002 0.448442 +TTool-pose None 33.208 3.77285 9.48492 0.660619 0.631695 -0.270559 0.302081 +#9854 1721120812698 +SLAM 4.0402 -22.7448 34.7575 -0.566343 0.076504 0.69004 0.444126 +TTool-pose None 33.2115 3.74996 9.44164 0.663592 0.632648 -0.264266 0.299125 +#9855 1721120812728 +SLAM 3.99234 -22.8039 34.6951 -0.564628 0.0782587 0.690352 0.445516 +TTool-pose None 33.2065 3.68798 9.39934 0.662782 0.631926 -0.266543 0.300424 +#9856 1721120812761 +SLAM 4.31705 -23.1725 34.2804 -0.554144 0.0805485 0.695709 0.449917 +TTool-pose None 33.2328 3.59852 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0.0784271 0.690973 0.450285 +TTool-pose None 33.2337 3.0248 8.82933 0.658689 0.633475 -0.27133 0.301874 +#9872 1721120813294 +#9873 1721120813325 +SLAM 3.52244 -23.2311 34.1982 -0.552442 0.0823069 0.6965 0.450467 +TTool-pose None 33.2318 2.93131 8.74571 0.658369 0.630493 -0.280879 0.300077 +#9874 1721120813357 +#9875 1721120813388 +SLAM 1.81215 -22.8287 35.0401 -0.574005 0.0803313 0.678652 0.451107 +TTool-pose None 33.3211 2.87551 8.64702 0.660459 0.63314 -0.255761 0.312138 +#9876 1721120813421 +SLAM 3.07346 -23.1817 34.3326 -0.557992 0.0791029 0.692746 0.44999 +TTool-pose None 33.2288 2.84777 8.68049 0.65877 0.632791 -0.273855 0.300851 +#9877 1721120813454 +SLAM 2.61102 -23.0897 34.5382 -0.564808 0.076263 0.687825 0.449524 +TTool-pose None 33.2388 2.83754 8.66629 0.659385 0.634882 -0.26543 0.302647 +#9878 1721120813483 +SLAM 2.49889 -23.0135 34.6373 -0.564752 0.0797364 0.687306 0.449786 +TTool-pose None 33.2647 2.78428 8.61031 0.660056 0.632621 -0.266366 0.305089 +#9879 1721120813514 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2.00449 -22.5818 34.919 -0.566471 0.0931174 0.684969 0.448617 +TTool-pose None 33.1937 2.45068 8.4279 0.664401 0.623083 -0.267874 0.313846 +#9892 1721120813914 +SLAM 2.4738 -23.1667 34.3373 -0.557791 0.0813165 0.692494 0.450232 +TTool-pose None 33.2299 2.39654 8.30508 0.659116 0.63137 -0.274628 0.302375 +#9893 1721120813942 +SLAM 2.43807 -23.1792 34.3122 -0.558867 0.0793852 0.692119 0.44982 +TTool-pose None 33.2094 2.39002 8.31444 0.659095 0.632578 -0.272955 0.301405 +#9894 1721120813975 +SLAM 2.18698 -23.1086 34.4692 -0.561821 0.0792156 0.689749 0.44981 +TTool-pose None 33.2515 2.38607 8.26308 0.659492 0.632841 -0.269565 0.303032 +#9895 1721120814005 +SLAM 2.31287 -23.1464 34.3819 -0.560277 0.0787081 0.691207 0.449586 +TTool-pose None 33.2312 2.37745 8.26637 0.659305 0.633019 -0.271207 0.301599 +#9896 1721120814032 +#9897 1721120814059 +SLAM 1.15469 -22.7851 35.0579 -0.574734 0.0795882 0.679235 0.449429 +TTool-pose None 33.362 2.35371 8.15542 0.661602 0.633017 -0.254907 0.31066 +#9898 1721120814086 +SLAM 2.21103 -22.915 34.6597 -0.559396 0.0875943 0.69132 0.448865 +TTool-pose None 33.3185 2.2754 8.14876 0.661891 0.626624 -0.274534 0.306247 +#9899 1721120814113 +SLAM 2.44493 -22.9189 34.6025 -0.560415 0.0815926 0.693337 0.445602 +TTool-pose None 33.3104 2.32931 8.17704 0.66294 0.629477 -0.272173 0.300169 +#9900 1721120814141 +SLAM 2.14095 -23.0304 34.5278 -0.562234 0.0795182 0.690438 0.448179 +TTool-pose None 33.2659 2.30209 8.1771 0.660817 0.632009 -0.269333 0.302086 +#9901 1721120814176 +SLAM 2.10354 -23.084 34.4708 -0.56074 0.0808813 0.690579 0.449588 +TTool-pose None 33.2572 2.26246 8.15242 0.659913 0.631564 -0.271241 0.303285 +#9902 1721120814214 +SLAM 2.18421 -22.9281 34.6126 -0.558512 0.087954 0.691966 0.4489 +TTool-pose None 33.3016 2.20418 8.0983 0.661822 0.626346 -0.27562 0.30599 +#9903 1721120814244 +#9904 1721120814281 +SLAM 2.3215 -23.1821 34.2911 -0.556541 0.0807216 0.693946 0.449651 +TTool-pose None 33.2379 2.20121 8.10019 0.659203 0.631477 -0.275943 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0.30187 +#9911 1721120814509 +SLAM 1.86743 -23.0291 34.54 -0.560981 0.082287 0.690604 0.448994 +TTool-pose None 33.2863 2.08277 7.98135 0.660729 0.630383 -0.271386 0.303836 +#9912 1721120814542 +SLAM 2.00854 -22.8259 34.7209 -0.562811 0.0835052 0.691526 0.445043 +TTool-pose None 33.3187 2.09136 8.00816 0.664169 0.628073 -0.269997 0.302354 +#9913 1721120814580 +SLAM 2.13592 -23.0308 34.4559 -0.56009 0.0792024 0.69345 0.446266 +TTool-pose None 33.2682 2.08367 7.99152 0.661815 0.631353 -0.271864 0.298989 +#9914 1721120814612 +#9915 1721120814645 +SLAM 1.42319 -22.9786 34.6998 -0.563626 0.0841322 0.687324 0.450369 +TTool-pose None 33.3359 1.98254 7.86984 0.660558 0.629799 -0.268711 0.307775 +#9916 1721120814680 +SLAM 1.933 -23.234 34.246 -0.559366 0.076081 0.692547 0.44911 +TTool-pose None 33.2138 2.00565 7.94118 0.658856 0.634568 -0.271603 0.298955 +#9917 1721120814715 +SLAM 1.79235 -23.1211 34.3989 -0.559761 0.0803321 0.691681 0.449212 +TTool-pose None 33.2523 1.95245 7.88309 0.659907 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None 27.9796 15.041 16.6906 0.590729 0.726451 0.0239001 0.350233 +#10065 1721120819650 +SLAM -1.37056 -19.2806 39.434 -0.742989 -0.0723209 0.47311 0.467871 +TTool-pose None 27.9181 15.0058 16.6769 0.588838 0.727453 0.0249945 0.351262 +#10066 1721120819683 +SLAM -1.4403 -19.2367 39.4331 -0.743322 -0.0714421 0.472577 0.468017 +TTool-pose None 27.9095 14.997 16.6401 0.588958 0.726907 0.0252032 0.352175 +#10067 1721120819714 +SLAM -1.61898 -19.4541 39.1518 -0.742385 -0.0747119 0.469813 0.47176 +TTool-pose None 27.771 14.9611 16.5825 0.584378 0.730084 0.0262917 0.353152 +#10068 1721120819747 +SLAM -1.75943 -19.5783 38.9848 -0.741608 -0.0752168 0.467892 0.474803 +TTool-pose None 27.6951 14.9461 16.5257 0.581532 0.731386 0.0262441 0.355156 +#10069 1721120819782 +SLAM -1.81167 -19.6323 38.8887 -0.741315 -0.0754425 0.466789 0.476307 +TTool-pose None 27.6292 14.9388 16.5155 0.580098 0.731992 0.0263678 0.35624 +#10070 1721120819815 +SLAM -1.97686 -19.8907 38.4756 -0.739365 -0.0776215 0.463702 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36.2762 -0.728513 -0.080231 0.461847 0.499529 +TTool-pose None 25.9689 14.1816 15.9201 0.559617 0.74355 0.015862 0.365571 +#10083 1721120820252 +SLAM -1.75942 -20.2818 36.1095 -0.726421 -0.0775791 0.462874 0.502038 +TTool-pose None 25.8989 14.1242 15.8368 0.558919 0.743053 0.0122393 0.367784 +#10084 1721120820281 +SLAM -1.76444 -20.2193 36.0284 -0.727951 -0.0797293 0.46175 0.500517 +TTool-pose None 25.7704 14.0613 15.8866 0.559031 0.743621 0.015098 0.366357 +#10085 1721120820317 +SLAM -1.77378 -20.2435 35.8602 -0.726607 -0.0783555 0.461945 0.502503 +TTool-pose None 25.6894 13.9954 15.8102 0.558068 0.743588 0.0130589 0.367967 +#10086 1721120820350 +SLAM -1.7233 -20.1954 35.814 -0.726668 -0.0775138 0.462561 0.501978 +TTool-pose None 25.6396 13.9401 15.8106 0.558927 0.74295 0.0125892 0.367968 +#10087 1721120820382 +SLAM -1.7379 -20.3103 35.5842 -0.725062 -0.0782342 0.461791 0.50489 +TTool-pose None 25.5219 13.8969 15.7736 0.556228 0.744426 0.011408 0.369112 +#10088 1721120820414 +SLAM 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1721120820619 +SLAM -1.63488 -20.1512 35.089 -0.723496 -0.0777829 0.462693 0.506378 +TTool-pose None 25.111 13.6796 15.6036 0.555425 0.744845 0.00924377 0.369537 +#10095 1721120820652 +SLAM -1.62402 -20.105 35.1002 -0.723089 -0.0767569 0.463461 0.506414 +TTool-pose None 25.1213 13.684 15.5498 0.55595 0.744332 0.00814974 0.369808 +#10096 1721120820687 +SLAM -1.71137 -20.2173 34.9255 -0.722359 -0.0787689 0.461955 0.508518 +TTool-pose None 25.0469 13.6481 15.5205 0.553218 0.74618 0.00866459 0.370168 +#10097 1721120820729 +SLAM -1.67363 -20.2273 34.9092 -0.722137 -0.0793808 0.462382 0.508351 +TTool-pose None 25.0404 13.6439 15.5246 0.553196 0.746541 0.00851011 0.369476 +#10098 1721120820766 +SLAM -1.71047 -20.2897 34.8043 -0.720954 -0.0791821 0.462073 0.510337 +TTool-pose None 25.0102 13.6333 15.4721 0.551653 0.747149 0.00728306 0.37058 +#10099 1721120820801 +SLAM -1.69449 -20.305 34.7813 -0.720665 -0.079402 0.462224 0.510574 +TTool-pose None 25.0012 13.631 15.4699 0.55141 0.747393 0.00700594 0.370454 +#10100 1721120820834 +SLAM -1.70071 -20.3215 34.7721 -0.720872 -0.0798746 0.461847 0.51055 +TTool-pose None 24.9914 13.6275 15.492 0.551169 0.747623 0.00753953 0.370339 +#10101 1721120820868 +SLAM -1.74229 -20.387 34.6978 -0.719855 -0.0791982 0.461517 0.512384 +TTool-pose None 24.9852 13.6183 15.4558 0.549923 0.747876 0.00631814 0.3717 +#10102 1721120820899 +SLAM -1.65869 -20.2696 34.8691 -0.720479 -0.0774302 0.462975 0.51046 +TTool-pose None 25.0508 13.6697 15.4693 0.552419 0.746245 0.00579269 0.371286 +#10103 1721120820932 +SLAM -1.68856 -20.395 34.7225 -0.719258 -0.0785467 0.462699 0.512259 +TTool-pose None 25.0285 13.6185 15.4456 0.550512 0.747581 0.00501728 0.371442 +#10104 1721120820965 +SLAM -1.68649 -20.3354 34.8238 -0.720528 -0.079682 0.462412 0.510553 +TTool-pose None 25.0472 13.6577 15.4826 0.551355 0.747578 0.00690113 0.370164 +#10105 1721120821004 +SLAM -1.71897 -20.4619 34.7086 -0.719083 -0.0807243 0.462076 0.512727 +TTool-pose None 25.0411 13.6519 15.4481 0.549166 0.749005 0.00588183 0.370551 +#10106 1721120821041 +SLAM -1.66936 -20.4871 34.746 -0.718056 -0.0798098 0.463317 0.513189 +TTool-pose None 25.1039 13.681 15.4227 0.549406 0.748782 0.00400547 0.37067 +#10107 1721120821077 +SLAM -1.67757 -20.5925 34.6528 -0.71726 -0.0819355 0.462958 0.51429 +TTool-pose None 25.0885 13.6744 15.4214 0.547629 0.750449 0.00410099 0.369928 +#10108 1721120821109 +SLAM -1.6208 -20.5762 34.7288 -0.716771 -0.0808777 0.464304 0.513926 +TTool-pose None 25.1555 13.7029 15.4061 0.548597 0.749836 0.00270273 0.369749 +#10109 1721120821142 +SLAM -1.61637 -20.6842 34.6589 -0.715744 -0.0822464 0.464321 0.515124 +TTool-pose None 25.1662 13.7025 15.4023 0.547113 0.751125 0.00213325 0.369335 +#10110 1721120821172 +SLAM -1.52113 -20.643 34.8274 -0.715881 -0.0813123 0.46591 0.513644 +TTool-pose None 25.269 13.7651 15.4324 0.548963 0.75019 0.00136018 0.368492 +#10111 1721120821209 +SLAM -1.48898 -20.7285 34.8227 -0.715261 -0.0822196 0.466187 0.514112 +TTool-pose None 25.3064 13.7807 15.4595 0.548289 0.750953 0.000953376 0.367943 +#10112 1721120821247 +SLAM -1.47506 -20.8376 34.8012 -0.713681 -0.081862 0.466758 0.515844 +TTool-pose None 25.366 13.8082 15.4372 0.547163 0.751466 -0.00105352 0.368569 +#10113 1721120821277 +SLAM -1.40232 -20.8711 34.9088 -0.713352 -0.0821149 0.468014 0.51512 +TTool-pose None 25.4685 13.8561 15.4643 0.547879 0.751496 -0.00174614 0.367438 +#10114 1721120821306 +SLAM -1.35067 -20.9397 35.0037 -0.712934 -0.0828562 0.468762 0.514901 +TTool-pose None 25.5697 13.9176 15.4999 0.547904 0.751953 -0.0021676 0.366465 +#10115 1721120821336 +SLAM -1.34242 -21.0582 35.0574 -0.712439 -0.0838313 0.46864 0.515538 +TTool-pose None 25.6555 13.974 15.5483 0.546987 0.752771 -0.00227249 0.366153 +#10116 1721120821365 +SLAM -1.36819 -21.2888 34.9766 -0.709586 -0.0828812 0.468647 0.519604 +TTool-pose None 25.7369 14.0197 15.5176 0.544115 0.753739 -0.00563907 0.3684 +#10117 1721120821394 +SLAM -1.09107 -21.0593 35.6018 -0.714194 -0.0824777 0.471303 0.510879 +TTool-pose None 25.9933 14.1595 15.8112 0.551723 0.750493 -0.0018668 0.363717 +#10118 1721120821422 +#10119 1721120821449 +#10120 1721120821481 +#10121 1721120821513 +#10122 1721120821547 +SLAM -1.3819 -22.0758 36.2707 -0.708448 -0.0631083 0.467068 0.525325 +TTool-pose None 26.9091 14.6015 16.2599 0.546851 0.743649 -0.0137056 0.384307 +#10123 1721120821586 +#10124 1721120821617 +SLAM -1.56624 -22.6247 36.4387 -0.704196 -0.057363 0.464915 0.533547 +TTool-pose None 27.2947 14.8335 16.3619 0.541914 0.742916 -0.0194608 0.392387 +#10125 1721120821648 +SLAM -1.18416 -22.7282 36.8339 -0.707292 -0.0618573 0.467611 0.526548 +TTool-pose None 27.5351 14.8875 16.7849 0.546435 0.743403 -0.0155688 0.385302 +#10126 1721120821680 +#10127 1721120821713 +#10128 1721120821747 +#10129 1721120821782 +#10130 1721120821816 +#10131 1721120821849 +#10132 1721120821881 +#10133 1721120821918 +SLAM 1.24339 -23.9533 39.8194 -0.698773 -0.0360676 0.505522 0.504839 +TTool-pose None 30.9455 15.0082 18.1908 0.579614 0.72338 -0.0467471 0.372181 +#10134 1721120821954 +SLAM 1.54926 -24.1751 39.981 -0.696297 -0.0336641 0.509324 0.504606 +TTool-pose None 31.2386 15.0248 18.3211 0.581196 0.72216 -0.0514275 0.371465 +#10135 1721120821983 +SLAM 2.39971 -23.62 41.0099 -0.694825 -0.0144278 0.521871 0.494632 +TTool-pose None 31.9987 15.0347 18.4195 0.597392 0.707381 -0.0635759 0.372327 +#10136 1721120822019 +SLAM 2.58672 -23.6491 41.3859 -0.696911 -0.0157413 0.522759 0.490704 +TTool-pose None 32.2543 15.1081 18.6845 0.600158 0.706783 -0.0611775 0.369406 +#10137 1721120822053 +SLAM 3.0578 -23.6034 41.7787 -0.697449 -0.014016 0.527457 0.484931 +TTool-pose None 32.5822 15.0887 18.9501 0.605843 0.703869 -0.0625916 0.365427 +#10138 1721120822081 +#10139 1721120822119 +SLAM 2.98884 -24.0442 41.8671 -0.694924 -0.00904751 0.524877 0.491429 +TTool-pose None 32.7594 15.2841 19.131 0.602079 0.702991 -0.0662054 0.372633 +#10140 1721120822153 +SLAM 3.88074 -23.3486 42.7466 -0.698269 0.00015162 0.533707 0.47705 +TTool-pose None 33.2098 15.2349 19.5068 0.617343 0.692275 -0.0682793 0.367306 +#10141 1721120822185 +SLAM 3.81962 -23.2685 42.9937 -0.703272 -0.00441172 0.530889 0.472807 +TTool-pose None 33.2134 15.2578 19.8044 0.618778 0.693277 -0.0605357 0.364347 +#10142 1721120822220 +SLAM 4.04787 -22.6927 43.6476 -0.707777 0.0012405 0.533202 0.463408 +TTool-pose None 33.4884 15.2272 19.9951 0.628013 0.686099 -0.0581299 0.362519 +#10143 1721120822254 +SLAM 3.69187 -22.7605 43.6505 -0.709395 0.00201715 0.529446 0.465233 +TTool-pose None 33.4578 15.1974 20.0027 0.626398 0.685991 -0.0555678 0.365905 +#10144 1721120822288 +SLAM 3.44536 -22.3435 44.0432 -0.715342 0.00381312 0.526573 0.459339 +TTool-pose None 33.5117 15.1278 20.1337 0.63099 0.682179 -0.0487895 0.366108 +#10145 1721120822322 +SLAM 2.92015 -22.1907 44.1471 -0.719775 0.00384754 0.520871 0.458916 +TTool-pose None 33.4233 15.0961 20.1424 0.630499 0.681427 -0.0422879 0.369151 +#10146 1721120822356 +SLAM 35.9927 -1.27244 36.0302 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0.586828 0.704768 0.00100571 0.398593 +#10164 1721120822963 +SLAM -1.65139 -23.019 41.3879 -0.733639 -0.019448 0.464236 0.495864 +TTool-pose None 30.8771 14.9248 19.3791 0.585045 0.704683 -0.00150899 0.401356 +#10165 1721120822994 +SLAM -1.6617 -22.9991 41.3423 -0.732959 -0.0188382 0.464234 0.496893 +TTool-pose None 30.8414 14.9525 19.3136 0.584461 0.704703 -0.00245557 0.402166 +#10166 1721120823027 +SLAM -1.79858 -23.0335 41.2357 -0.734368 -0.0218452 0.462016 0.496757 +TTool-pose None 30.7397 14.908 19.3491 0.583091 0.706268 0.000872358 0.401414 +#10167 1721120823060 +SLAM -1.73185 -23.0246 41.2679 -0.73375 -0.0208068 0.462958 0.496838 +TTool-pose None 30.7714 14.9262 19.3379 0.583576 0.705764 -0.000481361 0.401596 +#10168 1721120823091 +SLAM -2.17111 -23.3785 40.7856 -0.734016 -0.0269005 0.457278 0.501392 +TTool-pose None 30.5532 14.7854 19.3197 0.576811 0.71067 0.00389386 0.402698 +#10169 1721120823124 +SLAM -1.87514 -23.3489 40.9767 -0.731042 -0.0221369 0.461333 0.502255 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1721120823740 +SLAM 1.96753 -23.6266 41.5035 -0.701267 0.0219148 0.519084 0.488156 +TTool-pose None 32.4759 13.8044 19.2701 0.613606 0.681203 -0.0678157 0.393438 +#10188 1721120823775 +SLAM 2.29818 -23.5367 41.5943 -0.699788 0.0242841 0.523774 0.485147 +TTool-pose None 32.6129 13.7188 19.262 0.617281 0.67892 -0.0715566 0.390964 +#10189 1721120823808 +SLAM 2.81682 -23.4172 41.701 -0.695857 0.0300172 0.531046 0.482568 +TTool-pose None 32.82 13.6602 19.1815 0.621896 0.674809 -0.0797114 0.389185 +#10190 1721120823842 +SLAM 3.3047 -23.2559 41.8266 -0.693649 0.0334446 0.537556 0.478295 +TTool-pose None 32.9974 13.5699 19.1613 0.626974 0.671442 -0.085015 0.385722 +#10191 1721120823882 +SLAM 3.66385 -23.2575 41.8259 -0.691192 0.0347078 0.542486 0.476191 +TTool-pose None 33.1248 13.4855 19.1443 0.629514 0.67019 -0.0894322 0.382751 +#10192 1721120823915 +SLAM 4.29013 -23.0857 42.015 -0.688027 0.0392181 0.550197 0.471555 +TTool-pose None 33.378 13.4441 19.1383 0.63518 0.665996 -0.0963364 0.379015 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0.363708 +#10199 1721120824154 +SLAM 6.59763 -22.5995 42.6674 -0.676777 0.0533557 0.578649 0.451987 +TTool-pose None 34.4737 13.0587 19.2399 0.656374 0.650761 -0.11993 0.36226 +#10200 1721120824187 +SLAM 7.29633 -22.6056 42.5725 -0.675219 0.0464974 0.585575 0.446116 +TTool-pose None 34.5508 12.9857 19.3901 0.659362 0.653371 -0.121183 0.351556 +#10201 1721120824219 +SLAM 7.55582 -22.3497 42.6848 -0.670892 0.0576779 0.590114 0.445357 +TTool-pose None 34.7371 12.9441 19.1634 0.66319 0.645842 -0.13021 0.355026 +#10202 1721120824252 +SLAM 7.85708 -22.1913 42.7519 -0.669378 0.0589662 0.593724 0.44266 +TTool-pose None 34.8413 12.945 19.1103 0.665732 0.644075 -0.133021 0.352424 +#10203 1721120824285 +SLAM 8.12772 -22.0424 42.7764 -0.668134 0.0602138 0.596966 0.440004 +TTool-pose None 34.9042 12.912 19.0748 0.668196 0.642323 -0.13543 0.350031 +#10204 1721120824319 +SLAM 8.5464 -22.0627 42.6336 -0.664117 0.0611566 0.60217 0.438862 +TTool-pose None 34.9813 12.8601 19.0063 0.66948 0.641458 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0.65118 -0.172575 0.329347 +#10211 1721120824570 +SLAM 11.0203 -24.1925 40.5767 -0.628102 0.0455349 0.631304 0.452626 +TTool-pose None 35.4383 12.8496 18.7701 0.654603 0.658049 -0.181173 0.324899 +#10212 1721120824603 +SLAM 11.4939 -24.9405 39.9377 -0.620246 0.0344694 0.636383 0.4573 +TTool-pose None 35.5281 12.8668 18.7992 0.647572 0.66719 -0.187074 0.3169 +#10213 1721120824642 +SLAM 11.4167 -24.8882 39.8653 -0.617921 0.0406054 0.636783 0.459383 +TTool-pose None 35.4878 12.8498 18.6364 0.647597 0.663911 -0.191455 0.321096 +#10214 1721120824675 +SLAM 11.9206 -24.1638 40.2394 -0.620161 0.0452929 0.641414 0.449374 +TTool-pose None 35.574 12.8134 18.6754 0.656688 0.657023 -0.191411 0.316793 +#10215 1721120824707 +SLAM 12.0867 -24.3108 40.117 -0.618895 0.0406735 0.643493 0.448588 +TTool-pose None 35.6403 12.7559 18.7002 0.655928 0.659794 -0.191739 0.312376 +#10216 1721120824745 +SLAM 12.5275 -24.4191 39.852 -0.612538 0.0428821 0.649364 0.448648 +TTool-pose None 35.7642 12.6882 18.5789 0.656123 0.658322 -0.200154 0.30978 +#10217 1721120824786 +SLAM 12.5492 -24.1509 40.0208 -0.615265 0.042046 0.649584 0.444658 +TTool-pose None 35.7592 12.6411 18.6019 0.659065 0.657363 -0.197071 0.307538 +#10218 1721120824821 +SLAM 12.7814 -24.1365 39.9778 -0.614383 0.039127 0.652287 0.442182 +TTool-pose None 35.8351 12.5821 18.6148 0.660037 0.658335 -0.197588 0.303003 +#10219 1721120824855 +SLAM 12.8343 -24.1366 39.9688 -0.613534 0.0394159 0.653296 0.441845 +TTool-pose None 35.8805 12.5597 18.5755 0.660313 0.658006 -0.198744 0.302359 +#10220 1721120824890 +SLAM 13.0227 -24.024 39.9764 -0.612818 0.0397249 0.655542 0.439478 +TTool-pose None 35.9301 12.5138 18.5612 0.662111 0.656874 -0.199971 0.300071 +#10221 1721120824924 +SLAM 13.1296 -24.0252 39.9519 -0.611587 0.039547 0.657247 0.438661 +TTool-pose None 35.9967 12.4745 18.5173 0.662577 0.656659 -0.201499 0.298483 +#10222 1721120824959 +SLAM 13.0291 -24.1157 39.9033 -0.610467 0.0408064 0.65695 0.440547 +TTool-pose None 36.0061 12.4645 18.4382 0.661454 0.656548 -0.203015 0.30019 +#10223 1721120824992 +SLAM 13.0913 -24.1462 39.8586 -0.607668 0.045373 0.658117 0.442225 +TTool-pose None 36.0567 12.4888 18.3414 0.661276 0.654132 -0.207529 0.302762 +#10224 1721120825026 +SLAM 12.7325 -24.4266 39.8095 -0.607583 0.0454996 0.654806 0.447216 +TTool-pose None 36.0296 12.5251 18.2966 0.657582 0.655981 -0.207093 0.307078 +#10225 1721120825059 +SLAM 12.6582 -24.712 39.5862 -0.601662 0.0527027 0.655138 0.453895 +TTool-pose None 36.0574 12.5863 18.1036 0.654072 0.653657 -0.215456 0.313711 +#10226 1721120825096 +SLAM 12.6669 -24.8681 39.4388 -0.596428 0.060301 0.655989 0.458603 +TTool-pose None 36.0966 12.6428 17.9383 0.652102 0.650265 -0.223232 0.31938 +#10227 1721120825137 +SLAM 12.5957 -25.0738 39.3131 -0.592031 0.0662297 0.655937 0.463529 +TTool-pose None 36.1388 12.696 17.7974 0.649511 0.648047 -0.229432 0.324734 +#10228 1721120825172 +SLAM 12.4494 -25.3634 39.1029 -0.586669 0.0726611 0.655376 0.470129 +TTool-pose None 36.1473 12.7453 17.6244 0.645594 0.646054 -0.236598 0.331314 +#10229 1721120825206 +SLAM 12.4006 -25.5258 38.9928 -0.582529 0.0782562 0.655292 0.474476 +TTool-pose None 36.1777 12.8094 17.4957 0.643233 0.643766 -0.242324 0.336187 +#10230 1721120825239 +SLAM 12.4394 -25.5648 38.8969 -0.578436 0.085099 0.656118 0.477158 +TTool-pose None 36.1927 12.8373 17.3656 0.642409 0.639975 -0.248487 0.340478 +#10231 1721120825274 +SLAM 12.5722 -25.5936 38.8565 -0.575808 0.087641 0.657778 0.477591 +TTool-pose None 36.2667 12.8464 17.3003 0.642407 0.638316 -0.252144 0.34091 +#10232 1721120825309 +SLAM 12.6219 -25.6856 38.74 -0.572573 0.0902878 0.658933 0.479391 +TTool-pose None 36.2997 12.8443 17.2019 0.641286 0.637065 -0.256319 0.342245 +#10233 1721120825344 +SLAM 12.6017 -25.6982 38.7038 -0.570123 0.0946863 0.659207 0.481082 +TTool-pose None 36.317 12.8519 17.0934 0.640727 0.634581 -0.259994 0.345124 +#10234 1721120825380 +SLAM 12.6435 -25.6796 38.7103 -0.568669 0.0975366 0.659622 0.481665 +TTool-pose None 36.3445 12.8787 17.0411 0.640766 0.632778 -0.262282 0.346629 +#10235 1721120825414 +SLAM 12.5434 -25.8155 38.6336 -0.566731 0.0993125 0.658878 0.484595 +TTool-pose None 36.3439 12.912 16.9737 0.638662 0.632564 -0.264517 0.349195 +#10236 1721120825449 +SLAM 12.3997 -25.8744 38.613 -0.565704 0.101966 0.657568 0.487018 +TTool-pose None 36.3199 12.9376 16.9117 0.637247 0.63158 -0.265959 0.352454 +#10237 1721120825482 +SLAM 12.1404 -25.8805 38.6573 -0.566819 0.103414 0.654978 0.488902 +TTool-pose None 36.2529 12.946 16.8859 0.636218 0.631301 -0.264695 0.35575 +#10238 1721120825517 +SLAM 11.8811 -25.8587 38.7229 -0.569352 0.10267 0.652207 0.489819 +TTool-pose None 36.167 12.9483 16.9071 0.635608 0.632233 -0.261411 0.357611 +#10239 1721120825552 +SLAM 11.4292 -25.8354 38.8291 -0.57378 0.100836 0.647308 0.491529 +TTool-pose None 36.0197 12.9627 16.947 0.634301 0.634251 -0.255492 0.360622 +#10240 1721120825589 +SLAM 10.8785 -25.7437 38.9742 -0.578857 0.10087 0.641282 0.493464 +TTool-pose None 35.8317 12.9706 16.9744 0.633246 0.635042 -0.249142 0.365497 +#10241 1721120825621 +SLAM 10.2772 -25.5548 39.2303 -0.58479 0.102854 0.63434 0.49503 +TTool-pose None 35.6561 13.0026 16.9973 0.632925 0.634323 -0.242208 0.371907 +#10242 1721120825654 +SLAM 9.68842 -25.2429 39.5982 -0.592786 0.103718 0.627371 0.49422 +TTool-pose None 35.5042 13.0062 17.0624 0.634343 0.633522 -0.232862 0.376796 +#10243 1721120825690 +SLAM 9.19725 -25.0508 39.836 -0.597927 0.10501 0.622085 0.494436 +TTool-pose None 35.4046 12.9871 17.0675 0.634754 0.632717 -0.226816 0.381121 +#10244 1721120825726 +SLAM 8.76172 -24.974 39.9695 -0.601992 0.104285 0.617862 0.494952 +TTool-pose None 35.3282 12.9376 17.0712 0.634379 0.633401 -0.221539 0.383707 +#10245 1721120825767 +SLAM 8.20588 -25.1336 39.9151 -0.604765 0.100716 0.612994 0.498351 +TTool-pose None 35.2177 12.881 17.0489 0.630913 0.637048 -0.216618 0.386184 +#10246 1721120825802 +SLAM 7.78865 -25.4742 39.7083 -0.60433 0.0973896 0.609536 0.503752 +TTool-pose None 35.142 12.866 17.0083 0.625662 0.641207 -0.215288 0.388582 +#10247 1721120825839 +SLAM 7.29446 -25.9644 39.3503 -0.602822 0.0923736 0.60558 0.51122 +TTool-pose None 35.0296 12.8477 16.9491 0.618191 0.647208 -0.214396 0.391077 +#10248 1721120825880 +SLAM 6.95943 -26.2494 39.0814 -0.600434 0.091248 0.603577 0.516573 +TTool-pose None 34.9618 12.8005 16.8216 0.613296 0.64978 -0.215911 0.393677 +#10249 1721120825913 +SLAM 6.0561 -26.2568 38.9914 -0.605494 0.0881175 0.59477 0.521403 +TTool-pose None 34.6709 12.747 16.7395 0.608555 0.653449 -0.207663 0.39936 +#10250 1721120825949 +SLAM 5.51243 -25.9607 39.1306 -0.609211 0.0937854 0.589231 0.522373 +TTool-pose None 34.4966 12.6628 16.6661 0.609046 0.649754 -0.204017 0.406458 +#10251 1721120825984 +SLAM 4.68828 -25.8039 39.2517 -0.618056 0.0884139 0.580225 0.523 +TTool-pose None 34.2702 12.6123 16.7123 0.60729 0.653436 -0.191235 0.409387 +#10252 1721120826018 +SLAM 3.95379 -25.9856 39.0844 -0.620395 0.0860528 0.573057 0.528499 +TTool-pose None 34.1084 12.5535 16.6701 0.601828 0.656692 -0.186174 0.414545 +#10253 1721120826053 +SLAM 2.49677 -25.9846 38.8883 -0.628774 0.0815516 0.557336 0.536069 +TTool-pose None 33.6694 12.4761 16.616 0.593641 0.66169 -0.171873 0.424463 +#10254 1721120826088 +SLAM 1.751 -25.9537 38.8383 -0.634565 0.0778494 0.548805 0.53859 +TTool-pose None 33.4633 12.4342 16.6461 0.590121 0.664638 -0.162426 0.428467 +#10255 1721120826121 +SLAM 1.08232 -26.0042 38.6949 -0.638031 0.0748258 0.541475 0.54233 +TTool-pose None 33.2828 12.3953 16.6257 0.585654 0.667551 -0.155789 0.432514 +#10256 1721120826155 +SLAM 0.478949 -25.9626 38.5917 -0.64118 0.0738904 0.534767 0.545392 +TTool-pose None 33.1042 12.3526 16.587 0.582258 0.66881 -0.15022 0.4371 +#10257 1721120826190 +SLAM -0.0967615 -25.87 38.4833 -0.643723 0.0744709 0.528297 0.548614 +TTool-pose None 32.9105 12.3146 16.5184 0.57905 0.669079 -0.145729 0.442439 +#10258 1721120826226 +SLAM -0.746603 -25.8611 38.2922 -0.648099 0.0703544 0.520487 0.551463 +TTool-pose None 32.6708 12.2645 16.525 0.57482 0.67228 -0.137579 0.4457 +#10259 1721120826266 +SLAM -1.10801 -25.8128 38.1793 -0.65018 0.06929 0.515968 0.553391 +TTool-pose None 32.5118 12.2483 16.506 0.572412 0.673313 -0.133665 0.448423 +#10260 1721120826306 +SLAM -1.47636 -25.6905 38.0501 -0.651928 0.0699534 0.511404 0.555484 +TTool-pose None 32.3117 12.2153 16.4488 0.57026 0.673215 -0.130552 0.452215 +#10261 1721120826349 +SLAM -1.78981 -25.5931 37.8956 -0.655223 0.0671295 0.506888 0.556095 +TTool-pose None 32.08 12.1754 16.4644 0.568507 0.674961 -0.124892 0.453416 +#10262 1721120826389 +SLAM -2.17861 -25.5472 37.6278 -0.657251 0.0649908 0.501904 0.558471 +TTool-pose None 31.8181 12.1038 16.4297 0.565288 0.676787 -0.1205 0.455901 +#10263 1721120826425 +SLAM -1.91034 -25.2287 37.7421 -0.658456 0.0675336 0.503847 0.554989 +TTool-pose None 31.6966 12.1312 16.4243 0.56922 0.674051 -0.120739 0.454998 +#10264 1721120826459 +SLAM -2.07779 -25.2681 37.4291 -0.659471 0.0636273 0.500823 0.556979 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0.554768 +TTool-pose None 30.9251 12.0701 16.4847 0.56746 0.678927 -0.11725 0.45084 +#10271 1721120826704 +SLAM -1.41281 -25.0117 37.1334 -0.659281 0.0616263 0.505593 0.553106 +TTool-pose None 30.9842 12.0984 16.4948 0.569552 0.677537 -0.118796 0.449887 +#10272 1721120826739 +SLAM -1.53245 -25.0933 36.997 -0.660162 0.0583998 0.504175 0.553699 +TTool-pose None 30.9168 12.0477 16.5166 0.568021 0.679786 -0.116465 0.449039 +#10273 1721120826778 +SLAM -1.28331 -25.0521 37.0936 -0.659199 0.0597244 0.507289 0.551858 +TTool-pose None 30.9904 12.0584 16.5217 0.570342 0.678531 -0.118906 0.44735 +#10274 1721120826812 +SLAM -1.2879 -25.049 37.0823 -0.660147 0.0581434 0.507162 0.55101 +TTool-pose None 30.9735 12.033 16.5471 0.570648 0.679289 -0.117449 0.446193 +#10275 1721120826847 +SLAM -1.11582 -25.0424 37.1395 -0.659893 0.0579065 0.509156 0.549498 +TTool-pose None 31.0211 12.04 16.5734 0.572131 0.679096 -0.118323 0.444353 +#10276 1721120826883 +SLAM -0.794974 -25.0398 37.2068 -0.65713 0.0606657 0.513353 0.548605 +TTool-pose None 31.1194 12.0654 16.5456 0.574104 0.677283 -0.12334 0.44321 +#10277 1721120826918 +SLAM -0.587225 -25.0317 37.2546 -0.656672 0.060371 0.515941 0.546756 +TTool-pose None 31.1736 12.0542 16.5668 0.575912 0.677051 -0.124594 0.44086 +#10278 1721120826954 +SLAM -0.368358 -25.0309 37.3006 -0.655815 0.0603661 0.518829 0.54505 +TTool-pose None 31.242 12.0416 16.5746 0.577692 0.676693 -0.126428 0.438553 +#10279 1721120826991 +SLAM 0.0419294 -25.0402 37.3913 -0.654092 0.0602986 0.524441 0.541747 +TTool-pose None 31.3929 12.006 16.5852 0.581093 0.676023 -0.130009 0.434022 +#10280 1721120827026 +SLAM 0.226999 -25.0737 37.4196 -0.652823 0.0603952 0.527167 0.540619 +TTool-pose None 31.4794 11.9862 16.5798 0.582351 0.675768 -0.132208 0.432063 +#10281 1721120827062 +SLAM 0.482136 -25.0236 37.5554 -0.652477 0.0607056 0.530536 0.537699 +TTool-pose None 31.6003 11.9749 16.5953 0.585258 0.674786 -0.133753 0.429184 +#10282 1721120827099 +SLAM 1.01437 -24.9165 37.79 -0.650577 0.0632955 0.537198 0.533068 +TTool-pose None 31.812 11.9836 16.6059 0.590478 0.671888 -0.138575 0.425031 +#10283 1721120827134 +SLAM 1.14927 -24.9493 37.8655 -0.65019 0.0624589 0.539478 0.531334 +TTool-pose None 31.9367 11.951 16.6123 0.591932 0.671995 -0.139444 0.422547 +#10284 1721120827172 +SLAM 1.11686 -25.0882 37.8433 -0.649939 0.0601023 0.540089 0.531291 +TTool-pose None 32.0329 11.8913 16.6148 0.591405 0.673606 -0.139195 0.420798 +#10285 1721120827205 +SLAM 1.2278 -25.1324 37.9639 -0.650058 0.0587356 0.542193 0.529152 +TTool-pose None 32.1981 11.8543 16.6343 0.59304 0.673909 -0.139337 0.417953 +#10286 1721120827239 +SLAM 1.66441 -25.1142 38.1657 -0.647815 0.0605226 0.548225 0.525473 +TTool-pose None 32.4562 11.8335 16.6287 0.597082 0.67179 -0.144001 0.414008 +#10287 1721120827274 +SLAM 2.07711 -25.2058 38.2272 -0.643372 0.0630801 0.554712 0.523821 +TTool-pose None 32.711 11.7711 16.5621 0.599563 0.669864 -0.151209 0.410964 +#10288 1721120827308 +SLAM 2.49462 -25.1533 38.4202 -0.641084 0.0650702 0.560708 0.519984 +TTool-pose None 32.966 11.7299 16.5226 0.603671 0.667491 -0.155894 0.407039 +#10289 1721120827342 +SLAM 2.60346 -25.448 38.289 -0.636582 0.0642317 0.563251 0.522864 +TTool-pose None 33.1169 11.7453 16.4351 0.601112 0.669195 -0.160928 0.40607 +#10290 1721120827380 +SLAM 3.82352 -25.0081 38.7203 -0.633712 0.0693447 0.577814 0.509638 +TTool-pose None 33.4973 11.6229 16.4595 0.614201 0.661721 -0.169505 0.395089 +#10291 1721120827420 +SLAM 3.4583 -25.283 38.4922 -0.634416 0.0631698 0.575383 0.512309 +TTool-pose None 33.4627 11.5014 16.414 0.610303 0.666743 -0.16632 0.394036 +#10292 1721120827457 +SLAM 3.96729 -25.2787 38.4975 -0.63015 0.0651977 0.582256 0.509547 +TTool-pose None 33.6375 11.4397 16.3464 0.613333 0.664662 -0.173137 0.389889 +#10293 1721120827490 +SLAM 4.42622 -25.2452 38.5248 -0.627286 0.0656626 0.588231 0.506147 +TTool-pose None 33.7897 11.3843 16.3072 0.616425 0.663346 -0.177794 0.385128 +#10294 1721120827526 +SLAM 5.22196 -25.2027 38.485 -0.621445 0.0670074 0.598632 0.500955 +TTool-pose None 34.0144 11.2709 16.2203 0.621189 0.660881 -0.186838 0.377349 +#10295 1721120827562 +SLAM 5.51768 -25.271 38.4127 -0.619339 0.0648003 0.602476 0.499242 +TTool-pose None 34.1005 11.2314 16.2046 0.622048 0.661851 -0.189318 0.37297 +#10296 1721120827599 +SLAM 6.23937 -25.0984 38.4654 -0.614435 0.0691962 0.610897 0.494456 +TTool-pose None 34.2803 11.1987 16.1419 0.627044 0.657317 -0.197657 0.368264 +#10297 1721120827637 +SLAM 6.83795 -24.8928 38.5343 -0.611384 0.0718842 0.617904 0.489118 +TTool-pose None 34.4258 11.1419 16.0995 0.632002 0.653668 -0.20321 0.363225 +#10298 1721120827674 +SLAM 7.1103 -24.948 38.4299 -0.608995 0.0705913 0.621607 0.487593 +TTool-pose None 34.4924 11.0754 16.0745 0.632824 0.654028 -0.206135 0.359477 +#10299 1721120827710 +SLAM 7.02605 -25.2144 38.2013 -0.607086 0.0672233 0.621654 0.490381 +TTool-pose None 34.48 11.0316 16.0327 0.629624 0.657304 -0.207109 0.35856 +#10300 1721120827750 +SLAM 7.60975 -24.8439 38.3958 -0.605202 0.0721497 0.628162 0.483671 +TTool-pose None 34.6272 10.9841 15.9903 0.636197 0.651584 -0.21193 0.354555 +#10301 1721120827786 +SLAM 7.64915 -24.8724 38.3416 -0.604013 0.0721351 0.629247 0.483748 +TTool-pose None 34.6465 10.9486 15.941 0.636067 0.65162 -0.213375 0.353855 +#10302 1721120827822 +SLAM 7.68669 -25.0116 38.2305 -0.602947 0.0699852 0.629882 0.484567 +TTool-pose None 34.6573 10.9339 15.949 0.634811 0.653372 -0.213985 0.352509 +#10303 1721120827854 +SLAM 7.76687 -24.9455 38.2744 -0.60245 0.0715009 0.630754 0.483829 +TTool-pose None 34.6851 10.9405 15.9297 0.635755 0.652076 -0.215116 0.352519 +#10304 1721120827890 +SLAM 7.7898 -24.9671 38.2416 -0.602353 0.0706311 0.631053 0.483688 +TTool-pose None 34.6795 10.9294 15.9368 0.635644 0.652617 -0.215034 0.351768 +#10305 1721120827924 +SLAM 8.24974 -24.8621 38.2537 -0.599386 0.0731135 0.635693 0.48092 +TTool-pose None 34.7772 10.9475 15.9321 0.638289 0.649916 -0.219769 0.34904 +#10306 1721120827963 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1721120828176 +SLAM 9.0035 -24.7687 38.104 -0.595289 0.0718606 0.643231 0.476152 +TTool-pose None 34.8451 10.9487 15.9703 0.641448 0.648989 -0.225179 0.341439 +#10313 1721120828215 +SLAM 9.16646 -24.8941 37.9642 -0.593111 0.0705573 0.644888 0.476823 +TTool-pose None 34.8607 10.9626 15.9826 0.640423 0.650089 -0.22736 0.33982 +#10314 1721120828253 +SLAM 9.61442 -24.6833 38.0382 -0.590159 0.0757207 0.649119 0.473944 +TTool-pose None 34.9559 11.0132 15.9524 0.643723 0.645466 -0.232676 0.338798 +#10315 1721120828290 +SLAM 9.5648 -24.794 37.932 -0.589863 0.0738707 0.648894 0.474912 +TTool-pose None 34.9252 10.9804 15.9616 0.642482 0.647078 -0.232409 0.338261 +#10316 1721120828327 +SLAM 9.72678 -24.7333 37.9565 -0.590158 0.0725361 0.650342 0.472765 +TTool-pose None 34.9543 10.9734 16.0003 0.643842 0.647196 -0.232029 0.335699 +#10317 1721120828360 +SLAM 9.78322 -24.7867 37.9301 -0.590381 0.0698656 0.650823 0.472228 +TTool-pose None 34.9739 10.9723 16.0352 0.643602 0.648813 -0.231145 0.333639 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0.332946 +#10324 1721120828622 +SLAM 10.6344 -24.7738 38.1472 -0.581866 0.0797087 0.659271 0.469511 +TTool-pose None 35.4883 11.0841 15.9724 0.647352 0.6409 -0.244179 0.332392 +#10325 1721120828657 +SLAM 10.2945 -24.8857 38.1513 -0.585709 0.0730794 0.656662 0.469467 +TTool-pose None 35.4443 10.9729 16.006 0.646117 0.645498 -0.237939 0.330415 +#10326 1721120828698 +SLAM 10.3548 -24.8541 38.17 -0.585325 0.0740027 0.657265 0.468958 +TTool-pose None 35.466 10.9712 16.0028 0.646704 0.64467 -0.238704 0.330332 +#10327 1721120828732 +SLAM 10.2866 -24.8767 38.1609 -0.585953 0.0729971 0.656584 0.469285 +TTool-pose None 35.4431 10.9669 16.0105 0.646259 0.645492 -0.237654 0.330354 +#10328 1721120828771 +SLAM 10.2317 -24.9532 38.1331 -0.586573 0.0706164 0.655967 0.469736 +TTool-pose None 35.4354 10.9678 16.0364 0.64537 0.647291 -0.236233 0.329589 +#10329 1721120828812 +SLAM 10.2905 -24.913 38.1299 -0.586793 0.0704145 0.656685 0.468488 +TTool-pose None 35.4352 10.9244 16.0552 0.646299 0.646966 -0.236094 0.328507 +#10330 1721120828848 +SLAM 10.3613 -24.8885 38.1267 -0.584497 0.0746077 0.657414 0.469684 +TTool-pose None 35.46 10.9751 15.988 0.646216 0.64451 -0.23974 0.330848 +#10331 1721120828883 +SLAM 10.3212 -24.8593 38.1696 -0.586452 0.0720246 0.656928 0.468329 +TTool-pose None 35.4491 10.9449 16.0344 0.646797 0.645805 -0.236941 0.329199 +#10332 1721120828917 +SLAM 10.2988 -24.8974 38.1403 -0.586043 0.0721467 0.656765 0.469051 +TTool-pose None 35.4432 10.9495 16.0247 0.646233 0.645983 -0.237358 0.329654 +#10333 1721120828953 +SLAM 10.3018 -24.8969 38.1442 -0.585787 0.0726349 0.656732 0.469342 +TTool-pose None 35.4461 10.9663 16.016 0.646109 0.645755 -0.237749 0.330065 +#10334 1721120828987 +SLAM 10.1899 -25.0294 38.0762 -0.586038 0.0703284 0.655692 0.47083 +TTool-pose None 35.4254 10.9632 16.0291 0.644403 0.647884 -0.236638 0.330027 +#10335 1721120829022 +SLAM 10.2271 -25.0247 38.0537 -0.584488 0.0730294 0.656173 0.471676 +TTool-pose None 35.432 10.9799 15.9878 0.644285 0.64633 -0.239062 0.331556 +#10336 1721120829058 +SLAM 10.056 -25.1219 38.0275 -0.586485 0.0689837 0.654414 0.472249 +TTool-pose None 35.3906 10.9577 16.035 0.643007 0.649336 -0.235551 0.330673 +#10337 1721120829092 +SLAM 10.1786 -24.9241 38.1549 -0.587077 0.0713247 0.655417 0.469768 +TTool-pose None 35.4157 10.9587 16.0372 0.645573 0.646835 -0.235817 0.330386 +#10338 1721120829128 +SLAM 10.2923 -24.8265 38.2019 -0.586212 0.0740871 0.6565 0.468907 +TTool-pose None 35.4441 10.9703 16.0151 0.646849 0.644615 -0.237682 0.330891 +#10339 1721120829165 +SLAM 10.1457 -24.9199 38.1689 -0.586217 0.0738241 0.655113 0.470879 +TTool-pose None 35.4211 10.9847 15.998 0.645266 0.645533 -0.237331 0.332442 +#10340 1721120829200 +SLAM 10.1845 -24.864 38.2066 -0.586458 0.0743688 0.655405 0.470085 +TTool-pose None 35.4295 10.9839 16.0042 0.646038 0.644871 -0.237298 0.332252 +#10341 1721120829236 +SLAM 10.146 -24.8653 38.2166 -0.587375 0.0730807 0.655002 0.469705 +TTool-pose None 35.4185 10.9677 16.0258 0.646093 0.645626 -0.235929 0.331652 +#10342 1721120829270 +SLAM 9.97005 -25.0005 38.1464 -0.587741 0.0712972 0.653425 0.471713 +TTool-pose None 35.3806 10.9585 16.0249 0.644127 0.647596 -0.234743 0.332477 +#10343 1721120829307 +SLAM 10.0825 -24.9083 38.2052 -0.587967 0.0716845 0.654347 0.470092 +TTool-pose None 35.4061 10.966 16.0388 0.645497 0.646732 -0.234807 0.331452 +#10344 1721120829346 +SLAM 10.1075 -24.8741 38.22 -0.587921 0.0722848 0.654611 0.469689 +TTool-pose None 35.4094 10.9614 16.0352 0.645955 0.646173 -0.235075 0.331461 +#10345 1721120829384 +SLAM 10.0704 -24.9202 38.1928 -0.587642 0.0721917 0.654295 0.470493 +TTool-pose None 35.4035 10.9661 16.0278 0.645287 0.64653 -0.235268 0.331929 +#10346 1721120829419 +SLAM 10.0331 -24.9515 38.1729 -0.587273 0.0726538 0.653998 0.471294 +TTool-pose None 35.3975 10.9707 16.0132 0.644751 0.646508 -0.235713 0.332699 +#10347 1721120829454 +SLAM 10.1966 -24.8323 38.2335 -0.58695 0.0741439 0.655453 0.469439 +TTool-pose None 35.4322 10.9779 16.0174 0.646525 0.644794 -0.236746 0.331847 +#10348 1721120829489 +SLAM 10.1876 -24.771 38.2841 -0.587497 0.0747176 0.65535 0.468808 +TTool-pose None 35.4345 10.9735 16.0138 0.647206 0.644179 -0.236333 0.332007 +#10349 1721120829524 +SLAM 10.1051 -24.8755 38.2214 -0.588405 0.0713413 0.654567 0.469288 +TTool-pose None 35.4061 10.9497 16.0526 0.646071 0.646674 -0.234309 0.3308 +#10350 1721120829558 +SLAM 10.0934 -24.8908 38.211 -0.588478 0.0709742 0.654465 0.469395 +TTool-pose None 35.402 10.9458 16.0568 0.645902 0.646965 -0.234111 0.330701 +#10351 1721120829594 +SLAM 10.0257 -24.878 38.2271 -0.5895 0.0701437 0.653814 0.469145 +TTool-pose None 35.3806 10.9268 16.0687 0.645977 0.647457 -0.232712 0.330579 +#10352 1721120829629 +SLAM 10.2034 -24.8524 38.2167 -0.586365 0.0747112 0.655556 0.469937 +TTool-pose None 35.4369 10.9869 16.0047 0.646229 0.644581 -0.237518 0.332287 +#10353 1721120829662 +SLAM 9.9846 -24.9475 38.1913 -0.588738 0.070504 0.653459 0.470539 +TTool-pose None 35.3824 10.9471 16.0483 0.644924 0.647717 -0.233516 0.331556 +#10354 1721120829698 +SLAM 10.1109 -24.8664 38.2256 -0.58781 0.0727108 0.654633 0.469732 +TTool-pose None 35.4112 10.9649 16.0311 0.64602 0.645897 -0.235312 0.331705 +#10355 1721120829733 +SLAM 10.1278 -24.9167 38.1808 -0.585884 0.0750475 0.65489 0.471409 +TTool-pose None 35.4239 10.9998 15.9834 0.645132 0.644891 -0.237967 0.333492 +#10356 1721120829768 +SLAM 10.0495 -24.9553 38.1734 -0.587773 0.0713854 0.654097 0.470727 +TTool-pose None 35.399 10.961 16.0375 0.644914 0.647168 -0.234869 0.331692 +#10357 1721120829808 +SLAM 10.0513 -24.9197 38.1962 -0.58774 0.0723148 0.654125 0.470588 +TTool-pose None 35.4001 10.9633 16.0261 0.645253 0.646485 -0.23517 0.332152 +#10358 1721120829844 +SLAM 10.117 -24.8767 38.2114 -0.587801 0.0723282 0.654779 0.469598 +TTool-pose None 35.4108 10.9511 16.0351 0.646025 0.646107 -0.235241 0.331335 +#10359 1721120829879 +SLAM 10.0839 -24.9847 38.1188 -0.585289 0.0749211 0.654763 0.472344 +TTool-pose None 35.4124 10.9775 15.9678 0.644321 0.645312 -0.238506 0.33386 +#10360 1721120829914 +SLAM 10.1698 -24.849 38.2213 -0.587009 0.0737238 0.655361 0.46956 +TTool-pose None 35.4298 10.9637 16.0102 0.646332 0.645126 -0.23655 0.331716 +#10361 1721120829949 +SLAM 10.2049 -24.9178 38.1635 -0.585925 0.0736187 0.655767 0.470364 +TTool-pose None 35.4401 10.9752 16.0024 0.645583 0.645473 -0.237697 0.33168 +#10362 1721120829984 +SLAM 10.2235 -24.9115 38.152 -0.586015 0.0732136 0.656008 0.469978 +TTool-pose None 35.4353 10.9601 16.0096 0.645787 0.645606 -0.237539 0.331136 +#10363 1721120830019 +SLAM 10.3518 -24.8591 38.1664 -0.585411 0.073917 0.657204 0.468949 +TTool-pose None 35.4625 10.9672 16.0109 0.646697 0.644727 -0.238582 0.330323 +#10364 1721120830055 +SLAM 10.3391 -24.8507 38.1733 -0.585678 0.0736798 0.657133 0.468753 +TTool-pose None 35.4602 10.958 16.0116 0.646814 0.644821 -0.238231 0.330163 +#10365 1721120830093 +SLAM 10.4416 -24.8149 38.1781 -0.584479 0.0755721 0.658108 0.46858 +TTool-pose None 35.4861 10.9788 15.9903 0.647304 0.643439 -0.240164 0.3305 +#10366 1721120830132 +SLAM 10.3588 -24.8287 38.1844 -0.586195 0.0728968 0.657293 0.468004 +TTool-pose None 35.459 10.9453 16.0297 0.647242 0.645084 -0.237518 0.329322 +#10367 1721120830167 +SLAM 10.443 -24.8016 38.1953 -0.584468 0.0759299 0.658037 0.468635 +TTool-pose None 35.4901 10.9938 15.9854 0.647349 0.643216 -0.24026 0.330774 +#10368 1721120830203 +SLAM 10.2891 -24.9297 38.1253 -0.584431 0.0748799 0.656674 0.470758 +TTool-pose None 35.4563 10.9928 15.9761 0.645452 0.644726 -0.239739 0.331919 +#10369 1721120830239 +SLAM 10.3214 -24.8558 38.1764 -0.585975 0.0732791 0.656893 0.46878 +TTool-pose None 35.4546 10.9598 16.02 0.646721 0.645111 -0.237771 0.33011 +#10370 1721120830277 +SLAM 10.233 -24.9314 38.1317 -0.584618 0.0753362 0.656145 0.471189 +TTool-pose None 35.4439 10.9909 15.9687 0.645252 0.644582 -0.239574 0.332707 +#10371 1721120830314 +SLAM 10.2261 -24.8746 38.1841 -0.587691 0.0707875 0.655907 0.468395 +TTool-pose None 35.4257 10.9302 16.0597 0.64655 0.646699 -0.235138 0.329222 +#10372 1721120830349 +SLAM 10.2694 -24.8378 38.2031 -0.586378 0.0737652 0.656359 0.468949 +TTool-pose None 35.4463 10.9614 16.0142 0.646752 0.644853 -0.237396 0.33082 +#10373 1721120830384 +SLAM 10.316 -24.7882 38.2315 -0.587234 0.0726479 0.656719 0.467545 +TTool-pose None 35.4484 10.9443 16.0449 0.647631 0.645106 -0.236284 0.329403 +#10374 1721120830418 +SLAM 10.1574 -24.9228 38.1671 -0.587617 0.0706502 0.655261 0.469413 +TTool-pose None 35.417 10.941 16.0483 0.645726 0.647172 -0.235048 0.329974 +#10375 1721120830452 +SLAM 10.2871 -24.8649 38.178 -0.58562 0.0743481 0.656552 0.469533 +TTool-pose None 35.4518 10.9743 16.0014 0.646377 0.644658 -0.238364 0.33124 +#10376 1721120830485 +SLAM 10.2292 -24.9039 38.1602 -0.585595 0.0741992 0.656029 0.470319 +TTool-pose None 35.4412 10.9774 15.9939 0.645732 0.645053 -0.238246 0.331813 +#10377 1721120830519 +SLAM 10.2917 -24.842 38.1909 -0.585717 0.0746656 0.656604 0.469289 +TTool-pose None 35.4515 10.9707 15.9998 0.646654 0.644353 -0.238365 0.331293 +#10378 1721120830554 +SLAM 10.3289 -24.7984 38.2227 -0.586297 0.0740987 0.656884 0.468261 +TTool-pose None 35.459 10.964 16.0176 0.647357 0.644366 -0.237674 0.330387 +#10379 1721120830592 +SLAM 10.2274 -24.8697 38.1913 -0.586972 0.0723402 0.655918 0.469045 +TTool-pose None 35.4344 10.9545 16.0317 0.646376 0.645872 -0.236307 0.330348 +#10380 1721120830625 +SLAM 10.2856 -24.8333 38.2021 -0.586558 0.0732829 0.656497 0.468605 +TTool-pose None 35.4461 10.9555 16.0248 0.646913 0.645057 -0.237104 0.33032 +#10381 1721120830658 +SLAM 10.2826 -24.8699 38.1762 -0.585409 0.0747121 0.656516 0.469789 +TTool-pose None 35.4534 10.9801 15.9936 0.646251 0.644501 -0.238673 0.331568 +#10382 1721120830691 +SLAM 10.2761 -24.8752 38.1715 -0.585328 0.0748352 0.656466 0.469939 +TTool-pose None 35.4515 10.9804 15.991 0.646158 0.644472 -0.23878 0.331729 +#10383 1721120830726 +SLAM 10.2405 -24.863 38.1917 -0.586524 0.0732222 0.656068 0.469258 +TTool-pose None 35.4395 10.9623 16.0178 0.646392 0.645342 -0.237038 0.330828 +#10384 1721120830762 +SLAM 10.1601 -24.895 38.1876 -0.587941 0.0706622 0.655262 0.469003 +TTool-pose None 35.4166 10.9372 16.0521 0.646075 0.647017 -0.234723 0.329825 +#10385 1721120830799 +SLAM 10.1191 -25.024 38.0982 -0.587127 0.0695622 0.654923 0.470658 +TTool-pose None 35.4071 10.9476 16.0502 0.644444 0.648364 -0.235169 0.330054 +#10386 1721120830835 +SLAM 10.1843 -24.8898 38.1851 -0.587106 0.0721467 0.655513 0.469472 +TTool-pose None 35.4259 10.9553 16.0287 0.646012 0.646166 -0.236038 0.330678 +#10387 1721120830871 +SLAM 10.2431 -24.8903 38.174 -0.586225 0.0731827 0.656095 0.469601 +TTool-pose None 35.4422 10.9664 16.0176 0.64609 0.64549 -0.237336 0.330917 +#10388 1721120830907 +SLAM 10.1808 -24.8566 38.213 -0.587228 0.0729626 0.655457 0.469271 +TTool-pose None 35.4284 10.9547 16.0246 0.646383 0.64554 -0.236134 0.331106 +#10389 1721120830941 +SLAM 10.1469 -24.9 38.1865 -0.586038 0.0747508 0.655213 0.470816 +TTool-pose None 35.4309 10.9794 15.9852 0.645529 0.644875 -0.237792 0.332878 +#10390 1721120830976 +SLAM 10.0469 -24.9543 38.1631 -0.586534 0.0737846 0.654291 0.471633 +TTool-pose None 35.4076 10.9699 15.9895 0.644704 0.645849 -0.236837 0.333271 +#10391 1721120831013 +SLAM 9.99775 -25.0124 38.1465 -0.587872 0.0703398 0.653669 0.471355 +TTool-pose None 35.3939 10.958 16.0377 0.644173 0.648114 -0.234388 0.331626 +#10392 1721120831056 +SLAM 10.1474 -24.8176 38.2531 -0.587605 0.0737927 0.655104 0.469163 +TTool-pose None 35.4265 10.9556 16.0171 0.646711 0.644944 -0.235917 0.331783 +#10393 1721120831094 +SLAM 9.97647 -25.0012 38.1522 -0.587054 0.0725357 0.653559 0.472194 +TTool-pose None 35.3958 10.9732 15.9987 0.644005 0.646919 -0.235814 0.333273 +#10394 1721120831129 +SLAM 10.0462 -24.9687 38.1554 -0.586825 0.0728803 0.654267 0.471444 +TTool-pose None 35.4058 10.9624 16.0043 0.644649 0.6464 -0.236284 0.3327 +#10395 1721120831165 +SLAM 10.0558 -24.8644 38.2377 -0.588211 0.0726244 0.65423 0.469806 +TTool-pose None 35.4061 10.95 16.0235 0.645978 0.645992 -0.234802 0.331962 +#10396 1721120831203 +SLAM 9.91822 -25.0767 38.1068 -0.587547 0.0703888 0.653008 0.472667 +TTool-pose None 35.378 10.9602 16.021 0.64314 0.648563 -0.234598 0.332603 +#10397 1721120831237 +SLAM 10.0469 -24.938 38.186 -0.588647 0.0699991 0.654133 0.469793 +TTool-pose None 35.3963 10.932 16.0592 0.645363 0.647779 -0.233598 0.330522 +#10398 1721120831270 +SLAM 10.0679 -24.9184 38.1985 -0.587967 0.0715732 0.654339 0.470119 +TTool-pose None 35.4075 10.9515 16.0349 0.645449 0.646818 -0.234773 0.331404 +#10399 1721120831304 +SLAM 10.0781 -24.921 38.1938 -0.586607 0.0740846 0.654493 0.471213 +TTool-pose None 35.4201 10.9826 15.9898 0.64511 0.64549 -0.236888 0.333144 +#10400 1721120831340 +SLAM 10.169 -24.8165 38.2583 -0.588081 0.0725527 0.655226 0.468589 +TTool-pose None 35.4298 10.9528 16.0391 0.646885 0.645582 -0.235109 0.330774 +#10401 1721120831374 +SLAM 10.1189 -24.8486 38.2413 -0.589158 0.0702399 0.654748 0.468256 +TTool-pose None 35.4099 10.9247 16.0721 0.646654 0.647051 -0.233269 0.329654 +#10402 1721120831410 +SLAM 10.1842 -24.813 38.2558 -0.588024 0.0725217 0.655384 0.468444 +TTool-pose None 35.4315 10.9504 16.0407 0.646983 0.645548 -0.235188 0.330593 +#10403 1721120831446 +SLAM 10.1521 -24.8247 38.2538 -0.588106 0.072515 0.655079 0.468769 +TTool-pose None 35.4256 10.9519 16.0372 0.64674 0.645676 -0.235044 0.330922 +#10404 1721120831480 +SLAM 10.0893 -24.8703 38.2291 -0.588335 0.0717494 0.654512 0.46939 +TTool-pose None 35.4098 10.9459 16.04 0.646089 0.646434 -0.234485 0.33111 +#10405 1721120831518 +SLAM 10.0912 -24.9013 38.1994 -0.587283 0.0730324 0.65463 0.470345 +TTool-pose None 35.414 10.9587 16.013 0.645579 0.645896 -0.235935 0.332123 +#10406 1721120831552 +SLAM 10.0723 -24.9457 38.1758 -0.587099 0.0725435 0.654421 0.470941 +TTool-pose None 35.4123 10.9686 16.0134 0.644979 0.646447 -0.235942 0.332212 +#10407 1721120831587 +SLAM 10.0158 -24.9664 38.1636 -0.586508 0.0739691 0.653984 0.472062 +TTool-pose None 35.4046 10.977 15.982 0.644417 0.645883 -0.236854 0.333749 +#10408 1721120831621 +SLAM 10.1336 -24.8719 38.211 -0.587196 0.0734404 0.655021 0.469846 +TTool-pose None 35.4211 10.9558 16.0164 0.646058 0.64543 -0.236215 0.331898 +#10409 1721120831657 +SLAM 9.98502 -25.023 38.1173 -0.586481 0.073015 0.65377 0.47254 +TTool-pose None 35.3909 10.9621 15.9914 0.643804 0.646709 -0.23657 0.333531 +#10410 1721120831691 +SLAM 10.067 -24.9159 38.1999 -0.588421 0.0707665 0.654303 0.469723 +TTool-pose None 35.4027 10.9405 16.0511 0.645591 0.647227 -0.234078 0.330818 +#10411 1721120831725 +SLAM 9.88122 -25.0875 38.1054 -0.588364 0.069084 0.65256 0.472463 +TTool-pose None 35.3618 10.9491 16.0452 0.643041 0.649389 -0.233312 0.332087 +#10412 1721120831759 +SLAM 10.0957 -24.8306 38.2506 -0.588529 0.0725673 0.654347 0.469253 +TTool-pose None 35.3967 10.9601 16.0479 0.646419 0.645831 -0.234487 0.331639 +#10413 1721120831794 +SLAM 10.0631 -24.962 38.17 -0.587157 0.072743 0.653834 0.471653 +TTool-pose None 35.3899 11.0133 16.0371 0.644485 0.646579 -0.235823 0.332999 +#10414 1721120831829 +SLAM 9.97092 -25.0262 38.1461 -0.588037 0.0709427 0.652663 0.472452 +TTool-pose None 35.3568 11.0246 16.0694 0.643493 0.648118 -0.234191 0.333077 +#10415 1721120831865 +SLAM 10.1132 -24.8704 38.2375 -0.587844 0.0736719 0.653793 0.470709 +TTool-pose None 35.3838 11.0433 16.0677 0.645511 0.64561 -0.235383 0.333201 +#10416 1721120831901 +SLAM 10.0473 -24.9369 38.196 -0.587698 0.0733955 0.653052 0.471961 +TTool-pose None 35.3602 11.0569 16.0705 0.64446 0.646262 -0.235305 0.334026 +#10417 1721120831936 +SLAM 10.1094 -24.9145 38.1969 -0.58733 0.0740638 0.65349 0.471709 +TTool-pose None 35.3634 11.071 16.0781 0.64479 0.645705 -0.235951 0.334011 +#10418 1721120831973 +SLAM 10.1113 -24.9001 38.2161 -0.587608 0.0740684 0.653308 0.471615 +TTool-pose None 35.3611 11.0864 16.0891 0.644889 0.645673 -0.235636 0.334103 +#10419 1721120832008 +SLAM 10.0566 -25.0057 38.1495 -0.587071 0.0734865 0.652647 0.473286 +TTool-pose None 35.3427 11.1098 16.0941 0.6434 0.646679 -0.235882 0.334855 +#10420 1721120832042 +SLAM 10.1982 -24.8741 38.2326 -0.587512 0.0743407 0.653697 0.471151 +TTool-pose None 35.3681 11.1205 16.1205 0.645307 0.645313 -0.235887 0.333815 +#10421 1721120832079 +SLAM 10.1632 -24.8714 38.2484 -0.587958 0.0743179 0.653123 0.471395 +TTool-pose None 35.3547 11.137 16.1329 0.645154 0.645429 -0.235316 0.33429 +#10422 1721120832115 +SLAM 10.1879 -24.8813 38.2418 -0.588092 0.0738334 0.653132 0.471291 +TTool-pose None 35.3506 11.1475 16.1586 0.645125 0.645723 -0.235045 0.333968 +#10423 1721120832152 +SLAM 10.1311 -24.9118 38.2342 -0.588012 0.0743185 0.652406 0.472319 +TTool-pose None 35.335 11.1713 16.1558 0.644444 0.645774 -0.235117 0.335132 +#10424 1721120832186 +SLAM 10.2478 -24.8243 38.2905 -0.588658 0.0740222 0.653189 0.470475 +TTool-pose None 35.3515 11.1781 16.1973 0.645855 0.645302 -0.234538 0.333728 +#10425 1721120832224 +SLAM 10.226 -24.8975 38.2401 -0.587787 0.074365 0.652903 0.471905 +TTool-pose None 35.3441 11.2051 16.1868 0.644755 0.645584 -0.235457 0.334661 +#10426 1721120832260 +SLAM 10.3258 -24.8544 38.2524 -0.587449 0.0748816 0.653765 0.471051 +TTool-pose None 35.3608 11.2107 16.1965 0.645514 0.644906 -0.236116 0.334039 +#10427 1721120832295 +SLAM 10.136 -25.0921 38.1211 -0.587688 0.0709312 0.651887 0.473956 +TTool-pose None 35.3149 11.2225 16.2189 0.642291 0.648677 -0.234384 0.334169 +#10428 1721120832332 +SLAM 10.3078 -24.9865 38.1647 -0.586461 0.0738268 0.653495 0.472818 +TTool-pose None 35.3549 11.2425 16.1986 0.643791 0.64626 -0.236764 0.334289 +#10429 1721120832368 +SLAM 10.4429 -24.8499 38.2473 -0.586677 0.0751855 0.65457 0.470846 +TTool-pose None 35.3819 11.2527 16.2102 0.645676 0.644606 -0.237142 0.333581 +#10430 1721120832403 +SLAM 10.3658 -24.8637 38.2653 -0.588008 0.0734661 0.653631 0.47076 +TTool-pose None 35.3608 11.2486 16.2428 0.645435 0.645773 -0.235126 0.333215 +#10431 1721120832440 +SLAM 10.3891 -24.8227 38.2947 -0.588254 0.07384 0.653722 0.470268 +TTool-pose None 35.363 11.2553 16.25 0.645932 0.64534 -0.235 0.33318 +#10432 1721120832480 +SLAM 10.4779 -24.8193 38.2713 -0.587436 0.0743783 0.654604 0.46998 +TTool-pose None 35.3772 11.2559 16.2506 0.646213 0.644848 -0.236154 0.332771 +#10433 1721120832517 +SLAM 10.3574 -24.9598 38.1894 -0.587457 0.0723745 0.653507 0.47179 +TTool-pose None 35.3479 11.2551 16.2563 0.644314 0.646887 -0.235351 0.333065 +#10434 1721120832553 +SLAM 10.3276 -25.0273 38.1451 -0.58671 0.0725477 0.653256 0.473038 +TTool-pose None 35.3447 11.2716 16.2405 0.643322 0.647217 -0.236104 0.333806 +#10435 1721120832590 +SLAM 10.3377 -25.0237 38.1421 -0.586308 0.0732862 0.653393 0.473234 +TTool-pose None 35.3482 11.2763 16.2281 0.643319 0.646779 -0.236746 0.334207 +#10436 1721120832627 +SLAM 10.4066 -24.9702 38.1676 -0.586032 0.0742724 0.654036 0.472531 +TTool-pose None 35.3638 11.2795 16.2237 0.644085 0.645841 -0.23743 0.334062 +#10437 1721120832662 +SLAM 10.4501 -24.8644 38.2422 -0.587116 0.074186 0.654391 0.470706 +TTool-pose None 35.3727 11.2607 16.2424 0.645575 0.645243 -0.236381 0.333082 +#10438 1721120832701 +SLAM 10.4237 -24.9194 38.2095 -0.586983 0.0734502 0.654114 0.471372 +TTool-pose None 35.3661 11.2668 16.247 0.644864 0.645989 -0.236254 0.333104 +#10439 1721120832736 +SLAM 10.9396 -26.7056 36.8314 -0.587429 0.0188425 0.655917 0.47365 +TTool-pose None 35.3391 11.1097 17.0346 0.628016 0.68321 -0.219767 0.300713 +#10440 1721120832771 +SLAM 10.3808 -24.862 38.275 -0.588814 0.0717992 0.65354 0.470136 +TTool-pose None 35.356 11.2527 16.2792 0.645571 0.646689 -0.233822 0.332089 +#10441 1721120832804 +SLAM 10.3841 -24.8296 38.2998 -0.588804 0.0726 0.653559 0.47 +TTool-pose None 35.3601 11.2583 16.2692 0.645877 0.646095 -0.234062 0.332483 +#10442 1721120832844 +SLAM 10.4424 -24.8917 38.2211 -0.587507 0.0728073 0.654298 0.470563 +TTool-pose None 35.3635 11.2487 16.264 0.645375 0.646136 -0.23558 0.332305 +#10443 1721120832881 +SLAM 10.4952 -24.8397 38.2565 -0.588154 0.0721286 0.654708 0.469286 +TTool-pose None 35.3731 11.2394 16.2881 0.646248 0.646133 -0.234813 0.331153 +#10444 1721120832919 +SLAM 10.3915 -24.8612 38.2607 -0.588488 0.0723282 0.653734 0.470193 +TTool-pose None 35.3537 11.2434 16.2729 0.64563 0.646344 -0.23434 0.33228 +#10445 1721120832954 +SLAM 10.4009 -24.951 38.1916 -0.587187 0.0725272 0.65388 0.471585 +TTool-pose None 35.3587 11.2643 16.2568 0.644485 0.6467 -0.235741 0.332819 +#10446 1721120832990 +SLAM 10.4701 -24.829 38.2666 -0.587787 0.0734869 0.654511 0.46981 +TTool-pose None 35.3725 11.2497 16.263 0.646153 0.645398 -0.235529 0.332262 +#10447 1721120833025 +SLAM 10.527 -24.8078 38.2741 -0.587652 0.0735374 0.655019 0.469263 +TTool-pose None 35.3849 11.251 16.2699 0.646574 0.645156 -0.23578 0.331734 +#10448 1721120833060 +SLAM 10.4329 -24.8911 38.2254 -0.587823 0.072345 0.654192 0.470385 +TTool-pose None 35.3608 11.2425 16.2726 0.645425 0.64639 -0.235108 0.332047 +#10449 1721120833096 +SLAM 10.4163 -24.9252 38.2076 -0.587082 0.0732043 0.654032 0.471399 +TTool-pose None 35.3641 11.2663 16.2499 0.64479 0.646169 -0.236068 0.33303 +#10450 1721120833133 +SLAM 10.4047 -24.9215 38.209 -0.587485 0.0726346 0.653929 0.471129 +TTool-pose None 35.3572 11.2543 16.2604 0.644893 0.646464 -0.23548 0.332674 +#10451 1721120833170 +SLAM 10.3519 -24.9897 38.1616 -0.586223 0.0741196 0.653549 0.472994 +TTool-pose None 35.3522 11.2764 16.2189 0.643706 0.646121 -0.237097 0.334484 +#10452 1721120833211 +SLAM 10.4428 -24.8241 38.2829 -0.588006 0.0735691 0.654207 0.469947 +TTool-pose None 35.3713 11.2566 16.2595 0.646088 0.645399 -0.235271 0.332571 +#10453 1721120833248 +SLAM 10.3817 -24.9565 38.1879 -0.587329 0.0723786 0.653718 0.471655 +TTool-pose None 35.3524 11.2581 16.2585 0.644407 0.646831 -0.235524 0.332871 +#10454 1721120833286 +SLAM 10.4336 -24.8684 38.2421 -0.587676 0.0732031 0.654202 0.470422 +TTool-pose None 35.364 11.2493 16.2598 0.645599 0.645818 -0.235501 0.332544 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0.333232 +#10461 1721120833542 +SLAM 10.3667 -24.9389 38.2019 -0.587768 0.0721535 0.653586 0.471326 +TTool-pose None 35.3474 11.2468 16.2644 0.644645 0.64687 -0.23499 0.332709 +#10462 1721120833576 +SLAM 10.415 -24.9082 38.2179 -0.587821 0.0721639 0.654011 0.470668 +TTool-pose None 35.3576 11.2459 16.2719 0.645161 0.646619 -0.235024 0.332175 +#10463 1721120833612 +SLAM 10.3255 -24.9933 38.1679 -0.587864 0.0711161 0.653201 0.471897 +TTool-pose None 35.3351 11.2437 16.272 0.64395 0.64779 -0.234522 0.332597 +#10464 1721120833648 +SLAM 10.6193 -24.7123 38.3368 -0.58733 0.0753713 0.655803 0.468279 +TTool-pose None 35.4144 11.2704 16.2563 0.647761 0.643532 -0.236774 0.331866 +#10465 1721120833682 +SLAM 10.3103 -25.0074 38.1505 -0.587081 0.0725325 0.653186 0.472677 +TTool-pose None 35.3349 11.2482 16.2441 0.643632 0.647101 -0.235711 0.333711 +#10466 1721120833715 +SLAM 10.4444 -24.8193 38.2866 -0.588068 0.0735514 0.654208 0.469871 +TTool-pose None 35.3713 11.2568 16.2609 0.646148 0.645383 -0.235204 0.332531 +#10467 1721120833755 +SLAM 10.5102 -24.8079 38.2763 -0.587576 0.0739184 0.654871 0.469504 +TTool-pose None 35.3827 11.2544 16.2618 0.646477 0.644986 -0.235935 0.332144 +#10468 1721120833791 +SLAM 10.3466 -24.9473 38.2044 -0.58819 0.0713798 0.653354 0.471238 +TTool-pose None 35.3429 11.2433 16.2755 0.644556 0.647372 -0.234298 0.332394 +#10469 1721120833828 +SLAM 10.5411 -24.8045 38.2712 -0.587312 0.0740958 0.65518 0.469376 +TTool-pose None 35.3889 11.2553 16.2611 0.646595 0.644811 -0.236313 0.331985 +#10470 1721120833861 +SLAM 10.4374 -24.8463 38.2605 -0.588165 0.072685 0.654196 0.469901 +TTool-pose None 35.3634 11.2441 16.2707 0.645916 0.645986 -0.234859 0.332056 +#10471 1721120833893 +SLAM 10.5632 -24.8161 38.2418 -0.58669 0.0745317 0.655526 0.469602 +TTool-pose None 35.3885 11.2509 16.2475 0.646472 0.644585 -0.237133 0.332079 +#10472 1721120833925 +SLAM 10.5382 -24.7965 38.2678 -0.587484 0.073758 0.655217 0.469162 +TTool-pose None 35.3828 11.2459 16.2609 0.646691 0.644965 -0.236051 0.331685 +#10473 1721120833957 +SLAM 10.5916 -24.8173 38.2316 -0.586698 0.0740392 0.655821 0.469258 +TTool-pose None 35.3906 11.2424 16.2571 0.646614 0.644791 -0.237044 0.331465 +#10474 1721120833989 +SLAM 10.6374 -24.8298 38.2216 -0.587038 0.0723861 0.656149 0.468631 +TTool-pose None 35.396 11.2403 16.2877 0.646712 0.645687 -0.236298 0.330058 +#10475 1721120834022 +SLAM 10.5644 -24.9198 38.1677 -0.586518 0.0720964 0.655518 0.470207 +TTool-pose None 35.3824 11.252 16.2721 0.645377 0.646463 -0.23662 0.330923 +#10476 1721120834054 +SLAM 10.7407 -24.7432 38.2625 -0.586179 0.0747887 0.657153 0.467922 +TTool-pose None 35.4249 11.2569 16.2601 0.647778 0.643767 -0.238039 0.330467 +#10477 1721120834088 +SLAM 10.3647 -28.3435 35.302 -0.588166 -0.0210087 0.647671 0.483882 +TTool-pose None 35.0108 10.6948 17.4621 0.607294 0.71258 -0.204081 0.285779 +#10478 1721120834122 +SLAM 10.7161 -24.8023 38.2124 -0.586002 0.0738505 0.657008 0.468497 +TTool-pose None 35.4117 11.248 16.264 0.647085 0.644617 -0.237927 0.33025 +#10479 1721120834154 +SLAM 10.6487 -24.9215 38.1413 -0.585383 0.0729721 0.656395 0.470264 +TTool-pose None 35.3999 11.2646 16.2558 0.645446 0.645862 -0.238186 0.330839 +#10480 1721120834187 +SLAM 10.7326 -24.8448 38.1741 -0.585188 0.0740777 0.657226 0.46917 +TTool-pose None 35.4164 11.2589 16.2513 0.646546 0.644695 -0.238856 0.330482 +#10481 1721120834222 +SLAM 10.6782 -24.8196 38.2089 -0.586545 0.0726748 0.656632 0.468527 +TTool-pose None 35.4011 11.2439 16.2734 0.646818 0.64544 -0.236973 0.32985 +#10482 1721120834259 +SLAM 10.776 -24.8201 38.1841 -0.584961 0.0745243 0.657631 0.468815 +TTool-pose None 35.427 11.2631 16.2483 0.646908 0.644252 -0.23929 0.330322 +#10483 1721120834291 +SLAM 10.6746 -24.8842 38.1621 -0.586095 0.0720271 0.656624 0.4692 +TTool-pose None 35.3998 11.2466 16.277 0.646094 0.646122 -0.237244 0.329739 +#10484 1721120834326 +SLAM 10.7346 -24.7649 38.2394 -0.586354 0.0736745 0.657149 0.467884 +TTool-pose None 35.4163 11.2486 16.2672 0.647545 0.644515 -0.237547 0.32982 +#10485 1721120834361 +SLAM 10.6791 -24.8735 38.1696 -0.586241 0.0719359 0.656655 0.468991 +TTool-pose None 35.4001 11.2446 16.2803 0.646246 0.646108 -0.237077 0.329587 +#10486 1721120834399 +SLAM 10.6815 -24.8584 38.1747 -0.58642 0.0719041 0.656709 0.468694 +TTool-pose None 35.3974 11.2344 16.2837 0.646483 0.646024 -0.236896 0.32942 +#10487 1721120834432 +SLAM 10.7168 -24.7881 38.2246 -0.586459 0.0731409 0.656983 0.46807 +TTool-pose None 35.4098 11.2445 16.2736 0.647278 0.64495 -0.237259 0.329701 +#10488 1721120834470 +SLAM 10.656 -24.9253 38.1349 -0.585298 0.0728397 0.656484 0.470265 +TTool-pose None 35.4005 11.2652 16.2544 0.645403 0.64595 -0.238252 0.330702 +#10489 1721120834503 +SLAM 10.7082 -24.7831 38.2339 -0.586711 0.0728974 0.656863 0.46796 +TTool-pose None 35.4086 11.2448 16.2781 0.647325 0.64508 -0.236912 0.329603 +#10490 1721120834541 +SLAM 10.7877 -24.7641 38.2164 -0.58569 0.0742934 0.657738 0.46779 +TTool-pose None 35.4226 11.243 16.2626 0.647708 0.644042 -0.238508 0.32973 +#10491 1721120834577 +SLAM 10.5868 -24.9609 38.115 -0.585959 0.0715188 0.655871 0.470501 +TTool-pose None 35.3782 11.2451 16.2683 0.644951 0.646951 -0.237091 0.33046 +#10492 1721120834610 +SLAM 10.6626 -24.8145 38.2176 -0.586373 0.073382 0.656472 0.468857 +TTool-pose None 35.4014 11.2545 16.26 0.646726 0.645079 -0.237316 0.330489 +#10493 1721120834642 +SLAM 10.6166 -24.8973 38.1645 -0.586939 0.0707882 0.656055 0.46913 +TTool-pose None 35.3834 11.2319 16.2932 0.645914 0.646957 -0.235928 0.329398 +#10494 1721120834675 +SLAM 10.7084 -24.7884 38.2339 -0.586669 0.0728415 0.656849 0.468041 +TTool-pose None 35.411 11.2494 16.2774 0.647245 0.645148 -0.236936 0.329611 +#10495 1721120834707 +SLAM 10.6142 -24.9349 38.1293 -0.585501 0.0727317 0.656139 0.470512 +TTool-pose None 35.3886 11.2566 16.2518 0.645205 0.646121 -0.237949 0.330972 +#10496 1721120834741 +SLAM 10.7308 -24.7864 38.219 -0.586145 0.0736142 0.657166 0.468131 +TTool-pose None 35.4134 11.2438 16.2662 0.64732 0.644644 -0.237746 0.329867 +#10497 1721120834774 +SLAM 10.7567 -24.8507 38.1662 -0.584652 0.0746408 0.657464 0.469417 +TTool-pose None 35.4251 11.2709 16.24 0.646445 0.644392 -0.239603 0.330732 +#10498 1721120834806 +SLAM 10.5506 -25.0394 38.0717 -0.585227 0.0715014 0.655502 0.471926 +TTool-pose None 35.3769 11.2714 16.2534 0.643777 0.647479 -0.237752 0.331241 +#10499 1721120834838 +SLAM 10.5433 -25.0162 38.0986 -0.586826 0.0690006 0.655318 0.470566 +TTool-pose None 35.3681 11.2426 16.3018 0.644343 0.648704 -0.235391 0.329425 +#10500 1721120834871 +SLAM 10.7207 -24.8879 38.1406 -0.584436 0.0745885 0.657172 0.470102 +TTool-pose None 35.4157 11.2721 16.2324 0.645884 0.644679 -0.23975 0.331162 +#10501 1721120834903 +SLAM 10.6435 -24.8723 38.1776 -0.587236 0.0704319 0.656274 0.468506 +TTool-pose None 35.3857 11.2259 16.3051 0.646332 0.646971 -0.23557 0.328807 +#10502 1721120834935 +SLAM 10.606 -24.9637 38.1253 -0.586251 0.0706321 0.655923 0.470197 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0.470846 +TTool-pose None 35.3656 11.2494 16.297 0.644152 0.648741 -0.235382 0.329731 +#10509 1721120835171 +SLAM 10.6006 -24.9 38.1625 -0.586821 0.0711403 0.655914 0.469421 +TTool-pose None 35.3794 11.2365 16.2845 0.645769 0.646824 -0.23612 0.329806 +#10510 1721120835234 +SLAM 10.6632 -24.8003 38.2375 -0.587143 0.0721888 0.656412 0.468162 +TTool-pose None 35.4021 11.2447 16.2825 0.647033 0.645647 -0.236187 0.329587 +#10511 1721120835267 +SLAM 10.7819 -24.7952 38.2018 -0.585554 0.073884 0.657649 0.468151 +TTool-pose None 35.4243 11.2517 16.2646 0.647315 0.644453 -0.238513 0.329695 +#10512 1721120835305 +SLAM 10.8254 -24.7257 38.2486 -0.585843 0.0744869 0.658017 0.467176 +TTool-pose None 35.4366 11.2495 16.267 0.648243 0.643683 -0.23846 0.329415 +#10513 1721120835337 +SLAM 10.6317 -24.8368 38.2122 -0.58674 0.0725126 0.656136 0.469003 +TTool-pose None 35.3943 11.2535 16.2701 0.64643 0.645734 -0.236633 0.33028 +#10514 1721120835368 +SLAM 10.7252 -25.3356 37.8568 -0.585222 0.0622699 0.656642 0.471655 +TTool-pose None 35.3937 11.2578 16.4191 0.641607 0.65362 -0.235341 0.325049 +#10515 1721120835393 +SLAM 11.1408 -24.6458 38.6106 -0.582507 0.07906 0.657261 0.47164 +TTool-pose None 35.6498 11.9388 16.1599 0.64562 0.642159 -0.242961 0.334219 +#10516 1721120835419 +#10517 1721120835445 +#10518 1721120835471 +SLAM 10.3009 -25.3854 37.9696 -0.5899 0.0576034 0.652321 0.472415 +TTool-pose None 35.3366 11.2357 16.4538 0.640223 0.65715 -0.228397 0.325615 +#10519 1721120835503 +SLAM 10.7089 -24.8101 38.3338 -0.589218 0.0680302 0.656146 0.466548 +TTool-pose None 35.4549 11.2813 16.3745 0.647407 0.647907 -0.232851 0.326776 +#10520 1721120835532 +SLAM 10.7373 -25.1153 38.0993 -0.586118 0.0663002 0.656503 0.470184 +TTool-pose None 35.4587 11.3183 16.3711 0.643875 0.650371 -0.235569 0.326913 +#10521 1721120835560 +SLAM 25.3059 -7.74967 39.7549 -0.458123 0.489777 0.668088 0.322336 +TTool-pose None 40.0152 12.7229 11.2667 0.753266 0.250622 -0.414414 0.444984 +#10522 1721120835589 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1721120835757 +SLAM 10.54 -25.0334 38.1796 -0.585641 0.0716131 0.655558 0.471318 +TTool-pose None 35.4646 11.2684 16.2439 0.644315 0.647185 -0.237377 0.331038 +#10529 1721120835785 +SLAM 32.3976 0.582 37.8 -0.532998 0.147262 0.826832 0.102835 +TTool-pose None 41.8396 10.1764 18.8143 0.861023 0.412682 -0.286636 0.0683159 +#10530 1721120835813 +SLAM 10.2848 -25.2616 38.0715 -0.589316 0.0615465 0.653142 0.471512 +TTool-pose None 35.3958 11.1796 16.3568 0.641911 0.654148 -0.2303 0.326992 +#10531 1721120835841 +SLAM 10.6448 -24.687 38.4678 -0.58809 0.07362 0.656406 0.466757 +TTool-pose None 35.5306 11.2682 16.2342 0.648562 0.644169 -0.235628 0.329875 +#10532 1721120835868 +SLAM 10.5828 -25.1367 38.1256 -0.585101 0.0690928 0.656231 0.471428 +TTool-pose None 35.5057 11.257 16.2501 0.643536 0.648923 -0.23734 0.329171 +#10533 1721120835896 +SLAM 24.9745 -7.81455 39.9064 -0.464173 0.480365 0.670785 0.322243 +TTool-pose None 39.8767 12.6461 11.4404 0.755824 0.259444 -0.409295 0.440305 +#10534 1721120835925 +SLAM 10.4178 -24.736 38.4404 -0.591181 0.0689142 0.654886 0.465703 +TTool-pose None 35.4694 11.1206 16.2831 0.648461 0.647033 -0.230863 0.327829 +#10535 1721120835957 +SLAM 9.93207 -25.1589 38.2287 -0.593319 0.0603814 0.650389 0.470447 +TTool-pose None 35.364 11.0761 16.3285 0.642778 0.654613 -0.225355 0.327802 +#10536 1721120835994 +SLAM 10.4174 -24.8122 38.3273 -0.58879 0.0712851 0.65569 0.467243 +TTool-pose None 35.4694 11.0745 16.2129 0.647665 0.645953 -0.234122 0.329219 +#10537 1721120836028 +SLAM 10.5207 -24.7332 38.4029 -0.58908 0.0711162 0.656476 0.465796 +TTool-pose None 35.5124 11.1024 16.2207 0.648758 0.645529 -0.23393 0.328031 +#10538 1721120836062 +SLAM 10.4272 -24.9586 38.2456 -0.585349 0.074107 0.655957 0.470739 +TTool-pose None 35.5149 11.16 16.1212 0.645362 0.645267 -0.238454 0.331967 +#10539 1721120836095 +SLAM 10.483 -24.8117 38.3529 -0.58839 0.0708509 0.656397 0.466819 +TTool-pose None 35.5182 11.0923 16.1997 0.647842 0.646079 -0.234541 0.328323 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0.328449 +#10546 1721120836339 +SLAM 10.4686 -24.8421 38.3012 -0.58724 0.0716811 0.65698 0.46732 +TTool-pose None 35.5283 11.0486 16.142 0.647559 0.645678 -0.236055 0.328585 +#10547 1721120836375 +SLAM 10.3057 -25.0147 38.2266 -0.587678 0.0685473 0.655362 0.469506 +TTool-pose None 35.5013 11.0664 16.1522 0.645123 0.648633 -0.234408 0.328735 +#10548 1721120836405 +SLAM 10.4246 -24.9164 38.2809 -0.587519 0.0696414 0.656411 0.468078 +TTool-pose None 35.5284 11.0765 16.1517 0.646486 0.647352 -0.235085 0.328098 +#10549 1721120836440 +SLAM 10.3796 -24.8043 38.3442 -0.588095 0.0718927 0.656219 0.467281 +TTool-pose None 35.514 11.0384 16.126 0.647724 0.645539 -0.235101 0.329216 +#10550 1721120836471 +SLAM 10.467 -24.7838 38.3505 -0.588615 0.0701281 0.656963 0.465849 +TTool-pose None 35.5283 11.0243 16.1652 0.648422 0.646209 -0.234217 0.32715 +#10551 1721120836502 +SLAM 10.5705 -24.7651 38.337 -0.585902 0.0746655 0.658034 0.46705 +TTool-pose None 35.5634 11.0754 16.0952 0.64839 0.643516 -0.238454 0.329457 +#10552 1721120836532 +SLAM 10.6032 -24.6576 38.4023 -0.587476 0.0737443 0.658311 0.464823 +TTool-pose None 35.5589 11.0346 16.1316 0.650014 0.64334 -0.236651 0.327895 +#10553 1721120836570 +SLAM 10.4276 -24.8626 38.3062 -0.587834 0.0702958 0.656598 0.467321 +TTool-pose None 35.5268 11.047 16.1481 0.647263 0.646632 -0.234987 0.328057 +#10554 1721120836604 +SLAM 10.4853 -24.7918 38.3424 -0.588097 0.0707336 0.657133 0.46617 +TTool-pose None 35.5351 11.0367 16.1549 0.648281 0.645907 -0.234947 0.327501 +#10555 1721120836637 +SLAM 10.2225 -25.0677 38.1921 -0.588056 0.0674265 0.654727 0.470081 +TTool-pose None 35.48 11.0428 16.1534 0.644428 0.649616 -0.233582 0.328746 +#10556 1721120836671 +SLAM 10.429 -24.8335 38.3305 -0.587619 0.0714045 0.656606 0.467411 +TTool-pose None 35.5332 11.0601 16.1296 0.647456 0.645908 -0.23552 0.32872 +#10557 1721120836708 +SLAM 10.5517 -24.6376 38.4454 -0.588651 0.0724826 0.657712 0.464383 +TTool-pose None 35.5545 11.0359 16.1453 0.650144 0.644058 -0.234987 0.327422 +#10558 1721120836752 +SLAM 10.7156 -24.5632 38.4567 -0.587824 0.0736013 0.659309 0.462988 +TTool-pose None 35.5854 11.0337 16.1446 0.65141 0.642751 -0.236445 0.326425 +#10559 1721120836784 +SLAM 10.5386 -24.7616 38.344 -0.587562 0.0714841 0.657786 0.465809 +TTool-pose None 35.5479 11.0344 16.1365 0.648698 0.645249 -0.235827 0.327342 +#10560 1721120836819 +SLAM 10.4984 -24.772 38.3415 -0.588193 0.0705114 0.657379 0.465735 +TTool-pose None 35.533 11.0227 16.1509 0.648567 0.645896 -0.234833 0.327039 +#10561 1721120836849 +SLAM 10.5154 -24.7683 38.3472 -0.587265 0.0721789 0.657502 0.466477 +TTool-pose None 35.5459 11.0587 16.1186 0.648333 0.645023 -0.236271 0.328189 +#10562 1721120836882 +SLAM 10.4827 -24.7368 38.3749 -0.589551 0.0687746 0.657087 0.46469 +TTool-pose None 35.5212 11.0104 16.183 0.649051 0.64671 -0.232904 0.325847 +#10563 1721120836913 +SLAM 10.4149 -24.7471 38.3778 -0.589634 0.0693036 0.656484 0.465357 +TTool-pose None 35.5089 11.0124 16.1675 0.648684 0.646605 -0.232855 0.32682 +#10564 1721120836946 +SLAM 10.4482 -24.7042 38.3859 -0.588504 0.0722526 0.656882 0.465776 +TTool-pose None 35.5151 11.027 16.1282 0.649007 0.644737 -0.234914 0.328393 +#10565 1721120836977 +SLAM 10.4406 -24.7495 38.3485 -0.588219 0.0718902 0.656803 0.466304 +TTool-pose None 35.507 11.0273 16.1336 0.648484 0.645176 -0.235086 0.328441 +#10566 1721120837013 +SLAM 10.4363 -24.7039 38.3885 -0.588705 0.072208 0.656609 0.465915 +TTool-pose None 35.5044 11.0378 16.1379 0.648908 0.644825 -0.234645 0.328609 +#10567 1721120837046 +SLAM 10.3359 -24.7909 38.3385 -0.589704 0.0694323 0.655617 0.466471 +TTool-pose None 35.4686 11.0155 16.1726 0.64787 0.646939 -0.232653 0.327916 +#10568 1721120837081 +SLAM 10.334 -24.8663 38.2793 -0.58699 0.073097 0.655693 0.469219 +TTool-pose None 35.4819 11.0748 16.099 0.646435 0.645424 -0.236458 0.331001 +#10569 1721120837114 +SLAM 10.4294 -24.6836 38.4003 -0.588934 0.0725623 0.656387 0.465884 +TTool-pose None 35.4925 11.0459 16.1455 0.649042 0.644578 -0.23447 0.328953 +#10570 1721120837144 +SLAM 10.2528 -24.7855 38.3542 -0.589941 0.0703954 0.654716 0.467291 +TTool-pose None 35.4459 11.0315 16.1586 0.647507 0.6466 -0.232512 0.329399 +#10571 1721120837175 +SLAM 10.2239 -24.8136 38.3463 -0.590562 0.0688614 0.654336 0.467268 +TTool-pose None 35.4363 11.0295 16.1809 0.647191 0.647644 -0.231371 0.328773 +#10572 1721120837207 +SLAM 10.2469 -24.8416 38.3128 -0.58886 0.0712646 0.654629 0.468643 +TTool-pose None 35.4454 11.0619 16.1369 0.64659 0.646494 -0.233838 0.330469 +#10573 1721120837241 +SLAM 10.1784 -24.8377 38.3511 -0.591105 0.0678075 0.653729 0.467585 +TTool-pose None 35.4273 11.0454 16.1925 0.646725 0.648488 -0.230401 0.328706 +#10574 1721120837281 +SLAM 10.16 -24.8181 38.3427 -0.590669 0.0693509 0.653728 0.467911 +TTool-pose None 35.415 11.0334 16.1678 0.646831 0.647556 -0.231283 0.329716 +#10575 1721120837313 +SLAM 10.3006 -24.8149 38.3157 -0.588366 0.0721975 0.655109 0.468451 +TTool-pose None 35.4524 11.0715 16.1301 0.646928 0.645778 -0.234697 0.3306 +#10576 1721120837348 +SLAM 10.1496 -24.7658 38.396 -0.590983 0.0702199 0.65349 0.467716 +TTool-pose None 35.4199 11.0542 16.1583 0.64723 0.6469 -0.231164 0.330303 +#10577 1721120837380 +SLAM 10.1563 -24.7812 38.3707 -0.590747 0.0701897 0.65358 0.467894 +TTool-pose None 35.4118 11.0501 16.1596 0.647065 0.646983 -0.231413 0.330292 +#10578 1721120837414 +SLAM 10.3994 -24.5625 38.4974 -0.590431 0.073082 0.65569 0.464889 +TTool-pose None 35.4709 11.0702 16.1586 0.650074 0.643883 -0.232959 0.329351 +#10579 1721120837445 +SLAM 10.1373 -24.7401 38.41 -0.591499 0.070108 0.653278 0.467377 +TTool-pose None 35.4061 11.0487 16.1708 0.647508 0.646859 -0.230566 0.330256 +#10580 1721120837479 +SLAM 10.1952 -24.7596 38.373 -0.590397 0.0710978 0.653857 0.467811 +TTool-pose None 35.4124 11.0597 16.1599 0.647328 0.646328 -0.23208 0.330589 +#10581 1721120837509 +SLAM 10.077 -24.7763 38.4032 -0.592184 0.0687221 0.652521 0.467773 +TTool-pose None 35.3881 11.0583 16.1897 0.64691 0.647961 -0.229328 0.330131 +#10582 1721120837545 +SLAM 10.2586 -24.7174 38.3832 -0.590253 0.0715909 0.654413 0.467139 +TTool-pose None 35.417 11.0594 16.1653 0.647956 0.645739 -0.232473 0.330234 +#10583 1721120837581 +SLAM 10.3618 -24.6071 38.4611 -0.590581 0.072402 0.655195 0.465501 +TTool-pose None 35.4446 11.0729 16.1761 0.649448 0.644578 -0.23252 0.329536 +#10584 1721120837618 +SLAM 10.1059 -24.727 38.4189 -0.591595 0.0708078 0.652778 0.467849 +TTool-pose None 35.387 11.0714 16.1676 0.647331 0.646563 -0.23057 0.331178 +#10585 1721120837651 +SLAM 10.0993 -24.8375 38.3429 -0.590763 0.0699017 0.652711 0.469127 +TTool-pose None 35.3858 11.0838 16.172 0.646043 0.64764 -0.231144 0.331191 +#10586 1721120837682 +SLAM 10.1239 -24.8207 38.3445 -0.589674 0.0721688 0.653011 0.469736 +TTool-pose None 35.3962 11.1041 16.1358 0.64605 0.646307 -0.23295 0.332513 +#10587 1721120837714 +SLAM 9.95141 -24.9385 38.2748 -0.58986 0.0711344 0.651491 0.471767 +TTool-pose None 35.3527 11.0931 16.1267 0.644236 0.647771 -0.232166 0.333733 +#10588 1721120837749 +SLAM 10.1765 -24.6871 38.431 -0.591511 0.071065 0.6534 0.467047 +TTool-pose None 35.3959 11.0691 16.1778 0.648006 0.646086 -0.230848 0.330594 +#10589 1721120837781 +SLAM 10.1471 -24.654 38.4632 -0.592051 0.071161 0.653085 0.466789 +TTool-pose None 35.3909 11.0687 16.176 0.648276 0.645936 -0.230265 0.330767 +#10590 1721120837816 +SLAM 9.94467 -24.7863 38.3981 -0.592711 0.0691044 0.651217 0.468865 +TTool-pose None 35.3432 11.0628 16.1738 0.646211 0.64812 -0.228643 0.331659 +#10591 1721120837846 +SLAM 9.90289 -24.933 38.305 -0.593148 0.0650833 0.650747 0.46954 +TTool-pose None 35.3258 11.0492 16.2216 0.644693 0.651101 -0.226957 0.329926 +#10592 1721120837886 +SLAM 10.0837 -24.8327 38.3184 -0.589955 0.0715611 0.652761 0.469825 +TTool-pose None 35.3727 11.0819 16.1359 0.645854 0.646759 -0.232445 0.332371 +#10593 1721120837922 +SLAM 10.0632 -24.7524 38.3871 -0.592127 0.0694093 0.652451 0.467841 +TTool-pose None 35.3608 11.0477 16.1804 0.647028 0.647519 -0.229567 0.330599 +#10594 1721120837954 +SLAM 10.1282 -24.7049 38.4069 -0.591737 0.0704702 0.65309 0.467285 +TTool-pose None 35.3757 11.0511 16.172 0.647693 0.646584 -0.23039 0.330557 +#10595 1721120837985 +SLAM 9.91259 -24.9503 38.2737 -0.592063 0.0664685 0.651004 0.470357 +TTool-pose None 35.3266 11.0585 16.1886 0.644327 0.65045 -0.228507 0.330857 +#10596 1721120838018 +SLAM 9.95161 -24.7979 38.3846 -0.592452 0.0690264 0.651391 0.468962 +TTool-pose None 35.347 11.0594 16.1652 0.646094 0.648204 -0.228919 0.331532 +#10597 1721120838052 +SLAM 10.1152 -24.7694 38.357 -0.591516 0.0693394 0.653063 0.467771 +TTool-pose None 35.3703 11.0418 16.1775 0.647011 0.647528 -0.230289 0.330112 +#10598 1721120838085 +SLAM 10.1666 -24.646 38.4311 -0.591198 0.0723234 0.653614 0.466951 +TTool-pose None 35.3878 11.0481 16.143 0.648371 0.64519 -0.231564 0.33113 +#10599 1721120838118 +SLAM 10.1376 -24.7166 38.391 -0.591718 0.0698227 0.653292 0.467123 +TTool-pose None 35.3769 11.0398 16.1725 0.647651 0.646962 -0.230265 0.329985 +#10600 1721120838150 +SLAM 10.1161 -24.8441 38.2928 -0.590846 0.0685592 0.6532 0.46854 +TTool-pose None 35.3675 11.0398 16.1732 0.64616 0.648332 -0.230775 0.329863 +#10601 1721120838180 +SLAM 10.1372 -24.756 38.3501 -0.591874 0.0683185 0.653411 0.466982 +TTool-pose None 35.3683 11.015 16.1878 0.647388 0.647931 -0.229703 0.328988 +#10602 1721120838214 +SLAM 10.1747 -24.7873 38.3179 -0.590925 0.068762 0.653826 0.467538 +TTool-pose None 35.3789 11.0309 16.1719 0.64699 0.64782 -0.230875 0.329169 +#10603 1721120838247 +SLAM 10.2787 -24.7139 38.348 -0.588779 0.0734369 0.65497 0.467932 +TTool-pose None 35.4193 11.0679 16.1015 0.647678 0.64475 -0.234599 0.331206 +#10604 1721120838283 +SLAM 10.2078 -24.7102 38.3631 -0.590995 0.0699122 0.654277 0.466646 +TTool-pose None 35.3917 11.0187 16.1558 0.647975 0.646707 -0.231218 0.329179 +#10605 1721120838318 +SLAM 10.2041 -24.7975 38.2952 -0.589511 0.0706111 0.654375 0.468278 +TTool-pose None 35.3966 11.0404 16.1249 0.646764 0.646815 -0.232943 0.330132 +#10606 1721120838349 +SLAM 10.1433 -24.7482 38.3552 -0.59119 0.0691432 0.653721 0.467293 +TTool-pose None 35.3868 11.025 16.1443 0.6473 0.647475 -0.230693 0.329366 +#10607 1721120838381 +SLAM 10.2219 -24.722 38.3388 -0.590512 0.0700393 0.654632 0.46674 +TTool-pose None 35.3956 11.0065 16.1395 0.647892 0.646646 -0.231813 0.329043 +#10608 1721120838412 +SLAM 10.2256 -24.6831 38.3734 -0.591 0.0699453 0.654602 0.466179 +TTool-pose None 35.3986 11.0081 16.1441 0.648343 0.646509 -0.231285 0.328797 +#10609 1721120838442 +SLAM 10.3038 -24.7245 38.3257 -0.589544 0.0706913 0.65544 0.466732 +TTool-pose None 35.4195 11.0233 16.1277 0.647975 0.646181 -0.233139 0.328858 +#10610 1721120838474 +SLAM 10.1236 -24.8927 38.2377 -0.590026 0.0678383 0.653778 0.468874 +TTool-pose None 35.3794 11.0174 16.1368 0.645644 0.648928 -0.231516 0.329179 +#10611 1721120838505 +SLAM 10.1777 -24.7283 38.3495 -0.59129 0.0686878 0.654229 0.466522 +TTool-pose None 35.3898 10.9974 16.148 0.647785 0.647497 -0.230561 0.328462 +#10612 1721120838535 +SLAM 10.3316 -24.6384 38.3785 -0.590122 0.071077 0.655756 0.465498 +TTool-pose None 35.4252 11.0088 16.126 0.649073 0.645467 -0.232721 0.328391 +#10613 1721120838569 +SLAM 10.1478 -24.9021 38.2187 -0.589303 0.0685839 0.654116 0.469202 +TTool-pose None 35.3859 11.0217 16.1192 0.645517 0.648531 -0.232528 0.329499 +#10614 1721120838600 +SLAM 10.2589 -24.7755 38.2871 -0.589559 0.0697076 0.655178 0.467228 +TTool-pose None 35.408 11.008 16.1243 0.647346 0.647034 -0.232794 0.328663 +#10615 1721120838636 +SLAM 10.2616 -24.7419 38.3053 -0.589997 0.0695455 0.655248 0.466602 +TTool-pose None 35.4052 10.9923 16.1295 0.647825 0.646919 -0.232317 0.328284 +#10616 1721120838668 +SLAM 10.3626 -24.5913 38.4086 -0.590462 0.0710088 0.656079 0.464621 +TTool-pose None 35.4342 10.9995 16.1297 0.649758 0.64519 -0.232417 0.327795 +#10617 1721120838704 +SLAM 10.3171 -24.6549 38.3675 -0.591038 0.0688792 0.65572 0.464716 +TTool-pose None 35.4185 10.9709 16.1562 0.649195 0.646682 -0.231159 0.326859 +#10618 1721120838739 +SLAM 10.2922 -24.7702 38.2675 -0.588209 0.0719852 0.655703 0.467848 +TTool-pose None 35.4181 11.0138 16.084 0.647323 0.645692 -0.234911 0.329841 +#10619 1721120838768 +SLAM 10.0981 -24.8778 38.2686 -0.592492 0.0632733 0.653515 0.466763 +TTool-pose None 35.3728 10.9624 16.2018 0.646307 0.651271 -0.227648 0.32593 +#10620 1721120838799 +SLAM 10.3269 -24.7341 38.3074 -0.588588 0.0716928 0.655992 0.46701 +TTool-pose None 35.4386 11.0133 16.0929 0.647927 0.645584 -0.2345 0.329156 +#10621 1721120838829 +SLAM 10.317 -24.607 38.4045 -0.590126 0.0718948 0.655863 0.465216 +TTool-pose None 35.4372 10.9888 16.1041 0.649496 0.644806 -0.232968 0.328678 +#10622 1721120838861 +SLAM 10.3995 -24.5948 38.4053 -0.590153 0.0708641 0.65663 0.464257 +TTool-pose None 35.4563 10.9845 16.1233 0.649971 0.645143 -0.232796 0.327194 +#10623 1721120838895 +SLAM 10.0989 -24.966 38.1845 -0.589841 0.0661241 0.654071 0.468941 +TTool-pose None 35.3931 10.9664 16.1263 0.645135 0.650109 -0.23127 0.328019 +#10624 1721120838929 +SLAM 10.2061 -24.757 38.3096 -0.590774 0.0678591 0.655178 0.465964 +TTool-pose None 35.4158 10.9351 16.1253 0.647954 0.647837 -0.231033 0.327122 +#10625 1721120838969 +SLAM 10.2178 -24.6612 38.3924 -0.591203 0.0690455 0.655336 0.465023 +TTool-pose None 35.4368 10.9386 16.1048 0.649018 0.646688 -0.230964 0.327335 +#10626 1721120839001 +SLAM 10.1388 -24.7771 38.3106 -0.589266 0.0709948 0.654928 0.467755 +TTool-pose None 35.4346 10.954 16.0417 0.647241 0.646353 -0.233408 0.329773 +#10627 1721120839034 +SLAM 10.1168 -24.7149 38.3605 -0.591829 0.0674708 0.654758 0.465272 +TTool-pose None 35.4211 10.8873 16.1016 0.64848 0.647861 -0.229767 0.326924 +#10628 1721120839068 +SLAM 10.1098 -24.7572 38.3181 -0.591407 0.0670909 0.654942 0.465605 +TTool-pose None 35.4206 10.8668 16.0917 0.648089 0.648235 -0.230124 0.326707 +#10629 1721120839100 +SLAM 10.1785 -24.7097 38.342 -0.590111 0.0697574 0.655837 0.465597 +TTool-pose None 35.4561 10.8774 16.0438 0.64866 0.646399 -0.232374 0.327618 +#10630 1721120839129 +SLAM 10.0536 -24.7979 38.3136 -0.59022 0.0687082 0.654831 0.467028 +TTool-pose None 35.4488 10.8786 16.0218 0.647304 0.647651 -0.231771 0.328253 +#10631 1721120839161 +SLAM 10.021 -24.8004 38.3038 -0.590871 0.0674963 0.65479 0.466439 +TTool-pose None 35.4401 10.8318 16.0291 0.647505 0.648263 -0.230756 0.327362 +#10632 1721120839195 +SLAM 10.1207 -24.6954 38.3457 -0.590083 0.0701337 0.656013 0.465328 +TTool-pose None 35.4674 10.8156 15.9957 0.648959 0.646042 -0.232544 0.327609 +#10633 1721120839230 +SLAM 10.0425 -24.735 38.3392 -0.591029 0.0680285 0.655422 0.465273 +TTool-pose None 35.4598 10.7881 16.0061 0.64855 0.647467 -0.230869 0.326788 +#10634 1721120839263 +SLAM 9.93511 -24.8546 38.2578 -0.588446 0.0713968 0.654815 0.468883 +TTool-pose None 35.4591 10.8224 15.9094 0.6464 0.646485 -0.234332 0.330508 +#10635 1721120839296 +SLAM 10.0029 -24.8177 38.2711 -0.588059 0.0718721 0.655606 0.46819 +TTool-pose None 35.4805 10.8167 15.8971 0.647018 0.645894 -0.235012 0.329972 +#10636 1721120839330 +SLAM 10.0159 -24.7586 38.3029 -0.58973 0.0695272 0.655883 0.466049 +TTool-pose None 35.4753 10.756 15.9356 0.64822 0.646717 -0.232705 0.327626 +#10637 1721120839363 +SLAM 9.88624 -24.7919 38.3163 -0.590147 0.0695225 0.654736 0.467134 +TTool-pose None 35.466 10.7612 15.9118 0.647425 0.647137 -0.232058 0.328826 +#10638 1721120839399 +SLAM 9.91081 -24.8739 38.2362 -0.58679 0.0737213 0.655322 0.469889 +TTool-pose None 35.489 10.7999 15.8237 0.646058 0.645246 -0.236764 0.331866 +#10639 1721120839434 +SLAM 10.109 -24.6569 38.3439 -0.587948 0.0740359 0.657249 0.465681 +TTool-pose None 35.5182 10.7467 15.8599 0.649476 0.643477 -0.236051 0.329122 +#10640 1721120839466 +SLAM 10.0849 -24.5862 38.4224 -0.590039 0.0717843 0.656927 0.463841 +TTool-pose None 35.5204 10.723 15.8959 0.650512 0.644359 -0.233228 0.327357 +#10641 1721120839499 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1721120839696 +SLAM 9.61422 -24.9931 38.1945 -0.590347 0.065959 0.653629 0.468944 +TTool-pose None 35.4582 10.6352 15.8399 0.645136 0.650232 -0.230623 0.328228 +#10648 1721120839732 +SLAM 10.0643 -24.5317 38.4291 -0.589398 0.073207 0.657933 0.463006 +TTool-pose None 35.5501 10.6283 15.8092 0.651448 0.643062 -0.234472 0.327157 +#10649 1721120839766 +SLAM 9.73763 -24.8647 38.2516 -0.588728 0.0704723 0.655133 0.468224 +TTool-pose None 35.4981 10.6388 15.7756 0.646698 0.646872 -0.233846 0.329511 +#10650 1721120839798 +SLAM 9.56813 -24.968 38.2222 -0.590464 0.066484 0.653568 0.468808 +TTool-pose None 35.4703 10.6112 15.8045 0.645386 0.649829 -0.230643 0.328521 +#10651 1721120839832 +SLAM 9.67389 -24.7498 38.3455 -0.590487 0.0703495 0.654744 0.466569 +TTool-pose None 35.4939 10.5926 15.7706 0.6481 0.646371 -0.231949 0.329079 +#10652 1721120839865 +SLAM 9.73147 -24.7244 38.3449 -0.589286 0.0725243 0.655458 0.466752 +TTool-pose None 35.5124 10.5985 15.7371 0.6484 0.644938 -0.233923 0.329902 +#10653 1721120839899 +SLAM 9.69099 -24.7736 38.325 -0.589047 0.0721944 0.65518 0.467493 +TTool-pose None 35.5165 10.6013 15.7245 0.647726 0.645436 -0.234018 0.330185 +#10654 1721120839933 +SLAM 9.66494 -24.7327 38.3537 -0.589977 0.071563 0.655069 0.466574 +TTool-pose None 35.5108 10.5676 15.7322 0.648358 0.645539 -0.232874 0.329552 +#10655 1721120839963 +SLAM 9.60253 -24.7619 38.3501 -0.591044 0.0693378 0.654551 0.466286 +TTool-pose None 35.5013 10.5431 15.751 0.648109 0.646962 -0.231058 0.328525 +#10656 1721120839995 +SLAM 9.49846 -24.8327 38.3056 -0.591234 0.0684069 0.65379 0.467248 +TTool-pose None 35.4807 10.5186 15.7425 0.64715 0.647958 -0.230452 0.328879 +#10657 1721120840029 +SLAM 9.62181 -24.766 38.3347 -0.590127 0.0704453 0.655031 0.466606 +TTool-pose None 35.5158 10.5362 15.7166 0.648063 0.646312 -0.232397 0.328951 +#10658 1721120840063 +SLAM 9.70145 -24.7014 38.3564 -0.589548 0.071994 0.655971 0.465782 +TTool-pose None 35.535 10.523 15.6987 0.649035 0.644939 -0.233605 0.328876 +#10659 1721120840100 +SLAM 9.45491 -24.843 38.2931 -0.591838 0.0669419 0.653778 0.466713 +TTool-pose None 35.4775 10.468 15.737 0.647239 0.648761 -0.229418 0.327843 +#10660 1721120840130 +SLAM 9.51117 -24.9409 38.2288 -0.588757 0.069713 0.654433 0.469279 +TTool-pose None 35.5183 10.5378 15.6685 0.645696 0.647783 -0.233464 0.329957 +#10661 1721120840163 +SLAM 9.5039 -24.9004 38.2389 -0.587883 0.0724203 0.65467 0.469634 +TTool-pose None 35.5219 10.5251 15.6221 0.646028 0.646059 -0.235163 0.331477 +#10662 1721120840199 +SLAM 9.61519 -24.6913 38.3796 -0.590569 0.0706278 0.655611 0.465203 +TTool-pose None 35.5374 10.4737 15.6801 0.649225 0.64567 -0.232112 0.328121 +#10663 1721120840230 +SLAM 9.54564 -24.83 38.2793 -0.588391 0.0722528 0.655288 0.468159 +TTool-pose None 35.5367 10.4923 15.6202 0.647169 0.645631 -0.234721 0.330397 +#10664 1721120840263 +SLAM 9.51315 -24.7912 38.3059 -0.590032 0.0700771 0.655108 0.466674 +TTool-pose None 35.5236 10.444 15.6476 0.647909 0.646586 -0.232405 0.328712 +#10665 1721120840298 +SLAM 9.61879 -24.7023 38.346 -0.588736 0.0732314 0.656303 0.466148 +TTool-pose None 35.5577 10.4534 15.6024 0.648991 0.644218 -0.234843 0.329493 +#10666 1721120840329 +SLAM 9.45551 -24.7754 38.317 -0.590383 0.0700632 0.654978 0.466415 +TTool-pose None 35.5237 10.4026 15.6226 0.648136 0.646505 -0.232019 0.328696 +#10667 1721120840366 +SLAM 9.55499 -24.7361 38.3295 -0.58933 0.071578 0.656049 0.466011 +TTool-pose None 35.5549 10.4127 15.598 0.648733 0.645303 -0.233724 0.328672 +#10668 1721120840401 +SLAM 9.25878 -25.0067 38.1781 -0.590525 0.066006 0.653532 0.468848 +TTool-pose None 35.4948 10.3689 15.6176 0.645237 0.650168 -0.230437 0.328286 +#10669 1721120840437 +SLAM 9.46141 -24.7973 38.2815 -0.58842 0.072552 0.655644 0.467578 +TTool-pose None 35.5475 10.3955 15.5425 0.647693 0.645211 -0.234846 0.330103 +#10670 1721120840470 +SLAM 9.51956 -24.7634 38.2993 -0.588841 0.0715611 0.656256 0.466339 +TTool-pose None 35.5614 10.3781 15.5575 0.648432 0.645427 -0.234257 0.328644 +#10671 1721120840502 +SLAM 9.50928 -24.68 38.3621 -0.590069 0.0711108 0.65623 0.464891 +TTool-pose None 35.5614 10.3508 15.5645 0.649541 0.645214 -0.232875 0.327852 +#10672 1721120840533 +SLAM 9.45497 -24.8414 38.2513 -0.588165 0.0713993 0.655971 0.467618 +TTool-pose None 35.5633 10.371 15.5244 0.647347 0.646002 -0.234842 0.329234 +#10673 1721120840566 +SLAM 9.40432 -24.7983 38.2819 -0.589364 0.0705982 0.655632 0.466704 +TTool-pose None 35.5492 10.3321 15.5331 0.647957 0.646229 -0.233332 0.328662 +#10674 1721120840600 +SLAM 9.48366 -24.688 38.3525 -0.588824 0.0733023 0.656445 0.465825 +TTool-pose None 35.5785 10.3417 15.5021 0.649264 0.64405 -0.234801 0.329313 +#10675 1721120840632 +SLAM 9.2102 -25.0317 38.1569 -0.59042 0.0648425 0.654014 0.468472 +TTool-pose None 35.5202 10.2964 15.5631 0.645217 0.650811 -0.230305 0.327142 +#10676 1721120840666 +SLAM 9.35856 -24.7022 38.3667 -0.591724 0.0683696 0.655449 0.464301 +TTool-pose None 35.5514 10.2689 15.5518 0.649444 0.646885 -0.230263 0.326594 +#10677 1721120840701 +SLAM 9.33239 -24.7618 38.316 -0.589884 0.0707498 0.655501 0.466207 +TTool-pose None 35.5583 10.2822 15.4948 0.648424 0.645951 -0.232822 0.328649 +#10678 1721120840729 +SLAM 9.37842 -24.7362 38.3387 -0.589886 0.0704635 0.656006 0.465538 +TTool-pose None 35.5801 10.2837 15.4898 0.648864 0.645893 -0.232836 0.327883 +#10679 1721120840766 +SLAM 9.44258 -24.6234 38.3976 -0.590268 0.0714029 0.656771 0.463828 +TTool-pose None 35.5921 10.2559 15.4838 0.650446 0.644619 -0.232858 0.327241 +#10680 1721120840801 +SLAM 9.37198 -24.6175 38.4061 -0.591234 0.0703382 0.656291 0.46344 +TTool-pose None 35.5775 10.2199 15.4871 0.65056 0.645215 -0.231481 0.326814 +#10681 1721120840843 +SLAM 9.30176 -24.7589 38.301 -0.588618 0.0727772 0.656027 0.466756 +TTool-pose None 35.5793 10.2405 15.4138 0.648399 0.644753 -0.234782 0.329655 +#10682 1721120840878 +SLAM 9.33115 -24.6235 38.4062 -0.5905 0.0717358 0.656301 0.464147 +TTool-pose None 35.5912 10.2104 15.4355 0.650308 0.644518 -0.232627 0.327877 +#10683 1721120840910 +SLAM 9.42417 -24.5709 38.4128 -0.58979 0.0729603 0.657427 0.463265 +TTool-pose None 35.6111 10.1902 15.4193 0.651225 0.643337 -0.233908 0.327464 +#10684 1721120840947 +SLAM 9.31113 -24.694 38.3469 -0.588341 0.0740853 0.656642 0.466033 +TTool-pose None 35.6107 10.2093 15.3628 0.649256 0.643586 -0.23555 0.329703 +#10685 1721120840983 +SLAM 9.30188 -24.7348 38.3088 -0.587834 0.0738553 0.656824 0.466454 +TTool-pose None 35.6131 10.1934 15.3464 0.648829 0.643888 -0.236035 0.329606 +#10686 1721120841015 +SLAM 9.05046 -24.826 38.2882 -0.592331 0.0654833 0.654572 0.465179 +TTool-pose None 35.5516 10.0963 15.4317 0.648082 0.64918 -0.228652 0.325873 +#10687 1721120841046 +SLAM 9.34154 -24.6791 38.3339 -0.58736 0.0750167 0.657633 0.465725 +TTool-pose None 35.6379 10.1664 15.307 0.649633 0.642813 -0.236997 0.329432 +#10688 1721120841077 +SLAM 9.35298 -24.6306 38.3561 -0.5874 0.075752 0.657927 0.465141 +TTool-pose None 35.6418 10.1466 15.2922 0.650267 0.642092 -0.237218 0.329426 +#10689 1721120841109 +SLAM 9.16938 -24.6906 38.3407 -0.589892 0.0714728 0.656388 0.464838 +TTool-pose None 35.6005 10.0839 15.3286 0.649657 0.644944 -0.233188 0.327931 +#10690 1721120841141 +SLAM 9.15372 -24.7166 38.3385 -0.589107 0.0723839 0.656361 0.46573 +TTool-pose None 35.6186 10.1035 15.2948 0.649132 0.644644 -0.234239 0.32881 +#10691 1721120841173 +SLAM 9.14279 -24.7397 38.3039 -0.587854 0.0742387 0.656577 0.466716 +TTool-pose None 35.6207 10.0944 15.2533 0.648726 0.643727 -0.236075 0.330095 +#10692 1721120841205 +SLAM 9.28032 -24.6111 38.3857 -0.588884 0.0732915 0.657838 0.463781 +TTool-pose None 35.6516 10.0754 15.2815 0.650829 0.643287 -0.235001 0.327567 +#10693 1721120841238 +SLAM 9.00714 -24.7614 38.3121 -0.58997 0.0708097 0.6556 0.46595 +TTool-pose None 35.6009 10.0324 15.2719 0.648645 0.645815 -0.23277 0.328517 +#10694 1721120841270 +SLAM 9.09102 -24.803 38.2671 -0.587112 0.0741511 0.656636 0.46758 +TTool-pose None 35.6379 10.0688 15.2083 0.647971 0.644094 -0.236814 0.330332 +#10695 1721120841301 +SLAM 9.10473 -24.703 38.3308 -0.589974 0.0704495 0.656817 0.464284 +TTool-pose None 35.6255 9.9983 15.2698 0.649828 0.645431 -0.232897 0.326839 +#10696 1721120841336 +SLAM 9.0204 -24.742 38.3311 -0.589138 0.0720319 0.656198 0.465974 +TTool-pose None 35.6359 10.0222 15.2164 0.648859 0.644976 -0.234077 0.328814 +#10697 1721120841371 +SLAM 9.04527 -24.6764 38.3633 -0.588224 0.075013 0.656652 0.466019 +TTool-pose None 35.6497 10.0199 15.1715 0.649489 0.642946 -0.23593 0.330219 +#10698 1721120841403 +SLAM 8.8851 -24.7401 38.3293 -0.589888 0.0720287 0.655427 0.466111 +TTool-pose None 35.6123 9.95762 15.1912 0.648823 0.645047 -0.233165 0.329395 +#10699 1721120841435 +SLAM 8.95558 -24.709 38.3381 -0.588123 0.0751822 0.65627 0.466657 +TTool-pose None 35.6414 9.97956 15.1393 0.649033 0.643069 -0.236007 0.330821 +#10700 1721120841474 +SLAM 8.85201 -24.9516 38.1934 -0.58871 0.0688879 0.655483 0.467992 +TTool-pose None 35.6284 9.95488 15.1807 0.646472 0.647858 -0.233482 0.328273 +#10701 1721120841506 +SLAM 8.6093 -25.0514 38.1665 -0.590317 0.06609 0.653406 0.469275 +TTool-pose None 35.5942 9.9223 15.1767 0.644912 0.650267 -0.230647 0.328583 +#10702 1721120841539 +SLAM 8.91607 -24.7633 38.2975 -0.587866 0.0740507 0.656534 0.46679 +TTool-pose None 35.6547 9.92995 15.1086 0.648623 0.643883 -0.236001 0.330045 +#10703 1721120841570 +SLAM 8.69193 -24.8384 38.2743 -0.590872 0.0688272 0.654616 0.466489 +TTool-pose None 35.6043 9.85894 15.1506 0.647808 0.647381 -0.231101 0.328265 +#10704 1721120841607 +SLAM 8.94622 -24.6383 38.3722 -0.588139 0.0757657 0.65715 0.465303 +TTool-pose None 35.671 9.89579 15.0771 0.650217 0.642162 -0.236322 0.330033 +#10705 1721120841643 +SLAM 8.77991 -24.8651 38.2451 -0.587673 0.0728627 0.655903 0.468106 +TTool-pose None 35.6575 9.89015 15.0625 0.647296 0.645181 -0.235742 0.330302 +#10706 1721120841675 +SLAM 8.72817 -24.8897 38.2064 -0.587408 0.0732085 0.655748 0.468601 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0.466088 +TTool-pose None 35.6741 9.65833 14.9201 0.649141 0.644065 -0.234249 0.329919 +#10719 1721120842103 +SLAM 8.40592 -25.0021 38.1623 -0.587622 0.0715166 0.655025 0.469605 +TTool-pose None 35.6745 9.67359 14.893 0.645798 0.646656 -0.235242 0.330705 +#10720 1721120842134 +SLAM 8.46388 -24.7982 38.2884 -0.588546 0.074022 0.655652 0.467178 +TTool-pose None 35.6812 9.64124 14.8827 0.648382 0.644064 -0.235133 0.330785 +#10721 1721120842166 +SLAM 8.40263 -24.8883 38.2364 -0.588255 0.0729459 0.655237 0.468294 +TTool-pose None 35.6792 9.63828 14.8731 0.647227 0.645208 -0.235045 0.33088 +#10722 1721120842200 +SLAM 8.44614 -24.7257 38.3375 -0.588331 0.0762319 0.655717 0.467002 +TTool-pose None 35.6894 9.62944 14.8428 0.64905 0.642489 -0.235983 0.331932 +#10723 1721120842233 +SLAM 8.46756 -24.8244 38.2708 -0.586466 0.0770088 0.656113 0.46866 +TTool-pose None 35.7124 9.6508 14.8099 0.647793 0.64254 -0.238167 0.332728 +#10724 1721120842267 +SLAM 8.44129 -24.7163 38.339 -0.58916 0.0745601 0.655909 0.465955 +TTool-pose None 35.6891 9.58846 14.8541 0.649512 0.643252 -0.23471 0.330449 +#10725 1721120842300 +SLAM 8.34674 -24.9786 38.1821 -0.585625 0.0760397 0.655339 0.470948 +TTool-pose None 35.7104 9.64462 14.7785 0.64571 0.644037 -0.238595 0.333574 +#10726 1721120842333 +SLAM 8.29916 -24.656 38.4148 -0.591449 0.0730464 0.654755 0.464917 +TTool-pose None 35.6762 9.54602 14.8532 0.650136 0.643939 -0.231733 0.329984 +#10727 1721120842368 +SLAM 8.39404 -24.8522 38.2451 -0.585563 0.0783798 0.656077 0.469611 +TTool-pose None 35.7193 9.61115 14.7482 0.647314 0.64194 -0.239455 0.333891 +#10728 1721120842400 +SLAM 8.21131 -24.8742 38.2607 -0.589722 0.0716606 0.654473 0.467715 +TTool-pose None 35.676 9.52973 14.8177 0.647483 0.645896 -0.233044 0.330451 +#10729 1721120842433 +SLAM 8.23652 -24.9121 38.2349 -0.586844 0.0760152 0.654913 0.470027 +TTool-pose None 35.707 9.57351 14.7426 0.64653 0.643738 -0.237273 0.333508 +#10730 1721120842467 +SLAM 8.037 -25.2278 38.0455 -0.587962 0.0680242 0.653312 0.472077 +TTool-pose None 35.6781 9.5338 14.7888 0.643032 0.649955 -0.233567 0.330816 +#10731 1721120842502 +SLAM 8.14868 -24.9394 38.2067 -0.588309 0.0730577 0.654505 0.469231 +TTool-pose None 35.6842 9.50213 14.7564 0.646539 0.645485 -0.234878 0.331803 +#10732 1721120842534 +SLAM 8.24801 -24.8859 38.2384 -0.586967 0.0756287 0.655537 0.469065 +TTool-pose None 35.7194 9.52134 14.722 0.647186 0.643644 -0.237162 0.332494 +#10733 1721120842569 +SLAM 8.1397 -24.9392 38.213 -0.587169 0.0751132 0.654743 0.470002 +TTool-pose None 35.7071 9.50278 14.7056 0.646355 0.64435 -0.236658 0.333102 +#10734 1721120842600 +SLAM 8.03778 -25.1191 38.1161 -0.586849 0.0721345 0.654011 0.471883 +TTool-pose None 35.7108 9.50562 14.6981 0.644124 0.647071 -0.235998 0.332615 +#10735 1721120842633 +SLAM 8.17379 -24.7956 38.3032 -0.588226 0.0757122 0.655335 0.467754 +TTool-pose None 35.718 9.45873 14.694 0.648333 0.643124 -0.235869 0.332185 +#10736 1721120842671 +SLAM 8.08769 -24.856 38.2704 -0.589633 0.0722034 0.654716 0.467404 +TTool-pose None 35.7009 9.41784 14.7177 0.647851 0.645409 -0.233335 0.330476 +#10737 1721120842704 +SLAM 8.11212 -24.9715 38.1832 -0.58692 0.0740667 0.65523 0.4698 +TTool-pose None 35.7255 9.44768 14.6639 0.646225 0.644981 -0.236711 0.332093 +#10738 1721120842736 +SLAM 8.16179 -24.7817 38.3062 -0.587784 0.0763385 0.655745 0.467633 +TTool-pose None 35.7341 9.4263 14.6496 0.648541 0.642641 -0.236572 0.332212 +#10739 1721120842773 +SLAM 7.98196 -24.8839 38.2544 -0.589492 0.0724787 0.654297 0.468125 +TTool-pose None 35.7001 9.37742 14.6692 0.647354 0.645489 -0.233474 0.331195 +#10740 1721120842805 +SLAM 8.10004 -24.8841 38.2262 -0.586704 0.0762635 0.655639 0.469147 +TTool-pose None 35.7329 9.40197 14.6144 0.647256 0.643236 -0.237625 0.332815 +#10741 1721120842837 +SLAM 8.07391 -24.9184 38.2122 -0.586109 0.0766612 0.655582 0.469905 +TTool-pose None 35.7445 9.40479 14.5879 0.646715 0.643235 -0.238327 0.333367 +#10742 1721120842869 +SLAM 7.99309 -24.8947 38.2264 -0.588846 0.0726745 0.654956 0.467986 +TTool-pose None 35.7121 9.33515 14.636 0.64745 0.64529 -0.234314 0.330801 +#10743 1721120842903 +SLAM 8.11554 -24.8086 38.2597 -0.587211 0.076382 0.65625 0.467638 +TTool-pose None 35.7397 9.34407 14.597 0.648494 0.6426 -0.237264 0.33189 +#10744 1721120842933 +SLAM 7.99486 -24.8766 38.2272 -0.587242 0.0759232 0.655354 0.468927 +TTool-pose None 35.728 9.33189 14.5737 0.647392 0.643398 -0.23693 0.332735 +#10745 1721120842973 +SLAM 7.97795 -24.9118 38.2048 -0.586868 0.0757458 0.655396 0.469365 +TTool-pose None 35.7348 9.32422 14.558 0.646975 0.643674 -0.237267 0.332771 +#10746 1721120843007 +SLAM 7.99925 -24.8329 38.2632 -0.58738 0.0761743 0.655697 0.468235 +TTool-pose None 35.7471 9.31182 14.548 0.647999 0.64297 -0.236928 0.33238 +#10747 1721120843043 +SLAM 7.90322 -24.9361 38.1954 -0.587392 0.0745675 0.655105 0.469305 +TTool-pose None 35.735 9.28328 14.5412 0.646776 0.644465 -0.236349 0.332278 +#10748 1721120843078 +SLAM 7.85431 -24.938 38.1971 -0.586586 0.0765411 0.654874 0.470317 +TTool-pose None 35.7387 9.28284 14.4982 0.646413 0.643482 -0.237672 0.333943 +#10749 1721120843109 +SLAM 7.8253 -24.9679 38.1928 -0.588032 0.0729906 0.654696 0.469322 +TTool-pose None 35.7403 9.25659 14.5261 0.646426 0.645558 -0.235177 0.331667 +#10750 1721120843140 +SLAM 7.87983 -24.9606 38.1987 -0.588334 0.0715149 0.655314 0.468308 +TTool-pose None 35.7582 9.24599 14.5342 0.646862 0.646187 -0.234576 0.330014 +#10751 1721120843172 +SLAM 7.78491 -25.0198 38.1471 -0.586737 0.0743169 0.65481 0.470575 +TTool-pose None 35.7479 9.23517 14.4769 0.645673 0.645096 -0.236885 0.332817 +#10752 1721120843204 +SLAM 7.87005 -24.8823 38.2229 -0.586485 0.0770511 0.655689 0.469222 +TTool-pose None 35.7616 9.22602 14.4553 0.647373 0.642723 -0.238077 0.333258 +#10753 1721120843238 +SLAM 7.69978 -25.1242 38.0839 -0.585103 0.0755424 0.654477 0.472871 +TTool-pose None 35.7599 9.23324 14.4169 0.644051 0.645081 -0.238811 0.334608 +#10754 1721120843272 +SLAM 7.81989 -24.8748 38.228 -0.586788 0.0768305 0.655633 0.468959 +TTool-pose None 35.764 9.18491 14.4325 0.64755 0.642781 -0.237698 0.333071 +#10755 1721120843305 +SLAM 7.72334 -25.0423 38.113 -0.584957 0.0771689 0.655138 0.471873 +TTool-pose None 35.7629 9.18402 14.3876 0.645213 0.643597 -0.239546 0.334703 +#10756 1721120843341 +SLAM 7.71017 -24.889 38.2355 -0.587969 0.0749894 0.654979 0.468691 +TTool-pose None 35.759 9.14255 14.4196 0.647408 0.643961 -0.235859 0.332373 +#10757 1721120843377 +SLAM 7.56682 -24.9634 38.2085 -0.588795 0.073075 0.653869 0.469507 +TTool-pose None 35.7468 9.11813 14.412 0.646376 0.645587 -0.234266 0.332354 +#10758 1721120843412 +SLAM 7.58529 -25.0983 38.112 -0.586154 0.074346 0.654357 0.471925 +TTool-pose None 35.7732 9.14232 14.3642 0.644583 0.645567 -0.237391 0.333655 +#10759 1721120843449 +SLAM 7.59489 -25.0223 38.1413 -0.584946 0.078454 0.654707 0.472273 +TTool-pose None 35.7746 9.12791 14.3152 0.645221 0.64287 -0.239829 0.335881 +#10760 1721120843481 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1721120843682 +SLAM 7.40553 -24.9745 38.1897 -0.587879 0.074344 0.654293 0.469864 +TTool-pose None 35.7805 8.97588 14.2658 0.646335 0.644837 -0.235634 0.332921 +#10767 1721120843715 +SLAM 7.32356 -25.0403 38.1679 -0.588808 0.071479 0.653716 0.469949 +TTool-pose None 35.7823 8.95798 14.2683 0.645633 0.646837 -0.233772 0.331715 +#10768 1721120843749 +SLAM 7.37956 -25.0187 38.1621 -0.586508 0.0756831 0.654535 0.471024 +TTool-pose None 35.8027 8.96568 14.21 0.645647 0.644329 -0.237444 0.333955 +#10769 1721120843786 +SLAM 7.40988 -24.8815 38.251 -0.588236 0.0751347 0.654883 0.468467 +TTool-pose None 35.8013 8.92647 14.2254 0.647642 0.643784 -0.23561 0.332438 +#10770 1721120843817 +SLAM 7.31806 -24.9218 38.2232 -0.588295 0.0749813 0.654319 0.469205 +TTool-pose None 35.7894 8.89749 14.2067 0.647041 0.644167 -0.235397 0.333018 +#10771 1721120843850 +SLAM 7.25133 -25.1437 38.0692 -0.586216 0.0739368 0.654141 0.472211 +TTool-pose None 35.7976 8.89773 14.1725 0.644266 0.645954 -0.237171 0.333678 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0.335154 +#10778 1721120844088 +SLAM 7.09501 -25.2306 38.0039 -0.586033 0.0718922 0.654398 0.472398 +TTool-pose None 35.8245 8.76282 14.0705 0.643588 0.647408 -0.23683 0.332404 +#10779 1721120844122 +SLAM 7.29132 -24.6571 38.376 -0.587385 0.0812482 0.656006 0.466941 +TTool-pose None 35.847 8.74743 14.0249 0.650245 0.639022 -0.238391 0.334558 +#10780 1721120844154 +SLAM 7.04413 -25.0412 38.1328 -0.586508 0.0760138 0.654326 0.471262 +TTool-pose None 35.8258 8.7183 14.012 0.645545 0.644193 -0.237495 0.334377 +#10781 1721120844188 +SLAM 7.07635 -24.916 38.2089 -0.586828 0.077893 0.654791 0.46991 +TTool-pose None 35.8317 8.69432 13.9918 0.647085 0.642414 -0.237789 0.334616 +#10782 1721120844220 +SLAM 6.92932 -25.0742 38.1297 -0.586541 0.075917 0.653791 0.471979 +TTool-pose None 35.8357 8.68449 13.9648 0.64497 0.644527 -0.237329 0.33496 +#10783 1721120844254 +SLAM 6.99148 -25.1108 38.0831 -0.585585 0.0756965 0.654673 0.471978 +TTool-pose None 35.8488 8.66824 13.9525 0.644826 0.644655 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0.644024 -0.235642 0.332723 +#10790 1721120844486 +SLAM 6.81607 -24.9742 38.1984 -0.587531 0.0754133 0.654581 0.469727 +TTool-pose None 35.8777 8.52403 13.846 0.646675 0.644051 -0.236344 0.33328 +#10791 1721120844519 +SLAM 6.75045 -24.9565 38.1958 -0.586942 0.07771 0.654259 0.470538 +TTool-pose None 35.8643 8.49826 13.8097 0.646566 0.642776 -0.237517 0.335115 +#10792 1721120844552 +SLAM 6.69332 -25.0251 38.1552 -0.586084 0.0780547 0.654038 0.471854 +TTool-pose None 35.8722 8.49136 13.7763 0.645554 0.643013 -0.238437 0.335959 +#10793 1721120844586 +SLAM 6.736 -24.952 38.1912 -0.587852 0.0756517 0.654553 0.469327 +TTool-pose None 35.8665 8.44421 13.8081 0.647073 0.643746 -0.23608 0.333285 +#10794 1721120844619 +SLAM 6.65031 -24.9513 38.2129 -0.587926 0.0762835 0.653993 0.469912 +TTool-pose None 35.8737 8.43531 13.7737 0.646787 0.643537 -0.236071 0.334251 +#10795 1721120844652 +SLAM 6.64493 -24.9562 38.2116 -0.587636 0.0764551 0.654211 0.469944 +TTool-pose None 35.8859 8.4204 13.7522 0.646778 0.643425 -0.236455 0.334211 +#10796 1721120844688 +SLAM 6.54063 -25.0783 38.1213 -0.587518 0.0746149 0.653624 0.471202 +TTool-pose None 35.8709 8.38515 13.7423 0.645336 0.645146 -0.235944 0.334042 +#10797 1721120844722 +SLAM 6.58585 -25.0856 38.1233 -0.585054 0.0783362 0.654341 0.472665 +TTool-pose None 35.9104 8.40887 13.6762 0.644899 0.643099 -0.239614 0.336214 +#10798 1721120844756 +SLAM 6.51298 -25.0501 38.1472 -0.586838 0.0763332 0.653876 0.471424 +TTool-pose None 35.8933 8.36125 13.6852 0.64553 0.644043 -0.237163 0.33493 +#10799 1721120844789 +SLAM 6.44147 -25.0525 38.1512 -0.587298 0.0759705 0.65349 0.471445 +TTool-pose None 35.8903 8.33177 13.6682 0.645468 0.644309 -0.236519 0.334997 +#10800 1721120844821 +SLAM 6.47853 -24.9789 38.1845 -0.586397 0.0789451 0.65404 0.471315 +TTool-pose None 35.8969 8.31949 13.6342 0.64622 0.642212 -0.238369 0.33626 +#10801 1721120844855 +SLAM 6.39882 -24.9818 38.1959 -0.587256 0.0780051 0.653517 0.471128 +TTool-pose None 35.8944 8.29024 13.6271 0.646213 0.642802 -0.237135 0.336016 +#10802 1721120844891 +SLAM 6.46391 -24.8783 38.2574 -0.587851 0.0781955 0.654271 0.469303 +TTool-pose None 35.9052 8.26959 13.6204 0.647723 0.642004 -0.236735 0.334917 +#10803 1721120844926 +SLAM 6.26857 -25.1309 38.1153 -0.587118 0.0752283 0.652977 0.472498 +TTool-pose None 35.9092 8.25509 13.5879 0.64445 0.645203 -0.236391 0.335325 +#10804 1721120844967 +SLAM 6.25728 -25.0436 38.1515 -0.588391 0.0749182 0.65305 0.470861 +TTool-pose None 35.8878 8.20362 13.5963 0.645756 0.644831 -0.235032 0.334481 +#10805 1721120845001 +SLAM 6.17047 -24.9546 38.2298 -0.588224 0.0783805 0.652473 0.471305 +TTool-pose None 35.8936 8.19139 13.5424 0.646258 0.642634 -0.236053 0.337015 +#10806 1721120845039 +SLAM 6.13737 -24.9647 38.2242 -0.589918 0.0747131 0.65243 0.46984 +TTool-pose None 35.8896 8.1475 13.559 0.646632 0.644621 -0.233304 0.334404 +#10807 1721120845074 +SLAM 6.30552 -25.0429 38.1462 -0.585105 0.0795804 0.654467 0.472221 +TTool-pose None 35.946 8.18002 13.4807 0.645554 0.642086 -0.239934 0.336666 +#10808 1721120845113 +SLAM 6.21389 -24.9617 38.2022 -0.587316 0.0781256 0.653821 0.470611 +TTool-pose None 35.9239 8.12645 13.4852 0.646648 0.642529 -0.237168 0.33568 +#10809 1721120845146 +SLAM 6.17206 -25.0453 38.1514 -0.588095 0.0744724 0.653756 0.470321 +TTool-pose None 35.9285 8.09666 13.4906 0.646035 0.644926 -0.235346 0.333537 +#10810 1721120845178 +SLAM 6.08336 -25.3869 37.909 -0.584803 0.0728708 0.65358 0.474898 +TTool-pose None 35.9429 8.09532 13.4462 0.641783 0.647645 -0.238182 0.334463 +#10811 1721120845212 +SLAM 6.10125 -25.1303 38.0877 -0.585576 0.0775526 0.653785 0.472918 +TTool-pose None 35.9454 8.07596 13.4101 0.64456 0.64374 -0.238758 0.336247 +#10812 1721120845246 +SLAM 6.06656 -25.0042 38.1821 -0.588369 0.0753151 0.653578 0.470092 +TTool-pose None 35.9367 8.02818 13.4263 0.646447 0.644273 -0.23527 0.334054 +#10813 1721120845284 +SLAM 6.06899 -24.9515 38.2074 -0.588752 0.0756562 0.653819 0.469221 +TTool-pose None 35.9347 7.99579 13.418 0.647239 0.643723 -0.235024 0.333753 +#10814 1721120845317 +SLAM 6.05022 -24.9082 38.2321 -0.588804 0.0766221 0.653884 0.468907 +TTool-pose None 35.9354 7.97112 13.3966 0.647726 0.642949 -0.235255 0.334139 +#10815 1721120845350 +SLAM 5.93646 -25.068 38.1346 -0.588618 0.073776 0.653313 0.470391 +TTool-pose None 35.9396 7.94487 13.3751 0.645854 0.645438 -0.234532 0.333472 +#10816 1721120845383 +SLAM 5.91629 -24.9866 38.2057 -0.589128 0.0747734 0.653308 0.4696 +TTool-pose None 35.953 7.92976 13.3499 0.64676 0.644474 -0.234295 0.333744 +#10817 1721120845417 +SLAM 5.86392 -25.044 38.1659 -0.589606 0.0726206 0.653132 0.469583 +TTool-pose None 35.951 7.89892 13.3453 0.646276 0.645942 -0.23317 0.33263 +#10818 1721120845453 +SLAM 5.89989 -24.9796 38.192 -0.588878 0.0750501 0.653682 0.469351 +TTool-pose None 35.9544 7.88182 13.319 0.646999 0.644187 -0.234699 0.333551 +#10819 1721120845486 +SLAM 5.89725 -25.0403 38.1513 -0.588046 0.0748023 0.653981 0.470016 +TTool-pose None 35.9702 7.87122 13.2956 0.646348 0.644586 -0.235532 0.333455 +#10820 1721120845525 +SLAM 5.76816 -24.9876 38.2082 -0.589982 0.073719 0.652945 0.469202 +TTool-pose None 35.9582 7.8349 13.2885 0.64688 0.64506 -0.233062 0.333242 +#10821 1721120845559 +SLAM 5.7723 -25.3387 37.9331 -0.584658 0.0746315 0.653753 0.474564 +TTool-pose None 35.9827 7.84305 13.2231 0.64247 0.646321 -0.238859 0.335223 +#10822 1721120845591 +SLAM 5.74149 -25.2589 38.0158 -0.587882 0.0702541 0.653505 0.471582 +TTool-pose None 35.9877 7.81038 13.2492 0.643976 0.648258 -0.234321 0.331775 +#10823 1721120845623 +SLAM 5.79787 -25.0025 38.1797 -0.587573 0.0767865 0.654051 0.47019 +TTool-pose None 35.99 7.79698 13.2088 0.646665 0.64329 -0.23658 0.334602 +#10824 1721120845656 +SLAM 5.70297 -25.0342 38.1609 -0.587838 0.0763061 0.653473 0.470741 +TTool-pose None 35.9824 7.76968 13.1877 0.646144 0.643829 -0.236064 0.334935 +#10825 1721120845687 +SLAM 5.72183 -25.0174 38.169 -0.588089 0.0756633 0.653888 0.469954 +TTool-pose None 35.9912 7.74614 13.1803 0.646614 0.643979 -0.235712 0.333986 +#10826 1721120845719 +SLAM 5.65854 -25.0912 38.1211 -0.587212 0.07609 0.653611 0.471365 +TTool-pose None 35.9952 7.73309 13.1519 0.64555 0.644195 -0.236664 0.334952 +#10827 1721120845753 +SLAM 5.48781 -25.0171 38.2113 -0.590262 0.0740082 0.652034 0.470069 +TTool-pose None 35.9808 7.70139 13.1574 0.646309 0.645193 -0.232678 0.334361 +#10828 1721120845786 +SLAM 5.45056 -25.154 38.1051 -0.588841 0.0736296 0.651995 0.471961 +TTool-pose None 35.9801 7.69087 13.1402 0.644624 0.646127 -0.234003 0.334886 +#10829 1721120845824 +SLAM 5.52112 -24.9493 38.2444 -0.590666 0.0743073 0.652506 0.468858 +TTool-pose None 35.9806 7.67407 13.1539 0.647354 0.644545 -0.232446 0.333748 +#10830 1721120845859 +SLAM 5.42892 -24.9299 38.2773 -0.590948 0.0753276 0.651777 0.469354 +TTool-pose None 35.9818 7.66438 13.1296 0.647251 0.644042 -0.232302 0.335018 +#10831 1721120845892 +SLAM 5.44333 -25.0407 38.1873 -0.589984 0.0739493 0.652192 0.470208 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0.472522 +TTool-pose None 35.9891 7.58258 13.0626 0.643842 0.647392 -0.232976 0.334663 +#10838 1721120846114 +SLAM 5.29032 -25.1173 38.1409 -0.588481 0.0758306 0.651807 0.472322 +TTool-pose None 36.005 7.59065 13.0299 0.644861 0.644756 -0.234948 0.336406 +#10839 1721120846147 +SLAM 5.30371 -25.0923 38.1499 -0.589277 0.0745187 0.652027 0.471233 +TTool-pose None 36.0011 7.56991 13.0382 0.645448 0.64526 -0.233819 0.335097 +#10840 1721120846179 +SLAM 5.20612 -25.1973 38.0799 -0.588739 0.0739799 0.651376 0.472887 +TTool-pose None 35.9954 7.55589 13.0206 0.643984 0.646231 -0.23408 0.33586 +#10841 1721120846217 +SLAM 5.17266 -25.1202 38.1427 -0.589621 0.0745958 0.651077 0.472104 +TTool-pose None 35.9934 7.54328 13.0144 0.644824 0.645539 -0.233302 0.336122 +#10842 1721120846250 +SLAM 5.28453 -24.9102 38.2829 -0.590567 0.0765861 0.651978 0.469351 +TTool-pose None 36.0035 7.53952 13.0153 0.647533 0.643176 -0.233081 0.335596 +#10843 1721120846281 +SLAM 5.22724 -25.0426 38.1971 -0.58997 0.0748076 0.651753 0.470698 +TTool-pose None 36.0098 7.5292 13.0019 0.645997 0.644878 -0.233143 0.335247 +#10844 1721120846314 +SLAM 5.24446 -25.0811 38.158 -0.590193 0.0729388 0.652061 0.470286 +TTool-pose None 36.0072 7.51181 13.0107 0.645866 0.646 -0.232452 0.333814 +#10845 1721120846347 +SLAM 5.23259 -25.1204 38.1351 -0.588669 0.0748984 0.652177 0.471725 +TTool-pose None 36.0226 7.51758 12.9744 0.645108 0.645173 -0.234571 0.335396 +#10846 1721120846379 +SLAM 5.15566 -25.0554 38.1826 -0.590117 0.0746733 0.651489 0.470901 +TTool-pose None 36.0046 7.48989 12.9773 0.645819 0.645048 -0.232904 0.335429 +#10847 1721120846412 +SLAM 5.11619 -25.109 38.1522 -0.589521 0.0747332 0.651344 0.471838 +TTool-pose None 36.0128 7.48512 12.9556 0.645056 0.645345 -0.233495 0.335917 +#10848 1721120846441 +SLAM 5.21019 -25.0199 38.2102 -0.590636 0.0733992 0.65219 0.469478 +TTool-pose None 36.0232 7.47551 12.9727 0.646645 0.645394 -0.232158 0.333682 +#10849 1721120846471 +SLAM 5.16744 -24.9935 38.2235 -0.58989 0.0760594 0.651933 0.470349 +TTool-pose None 36.0185 7.46643 12.9438 0.646572 0.643894 -0.233611 0.335705 +#10850 1721120846503 +SLAM 5.07634 -25.147 38.1241 -0.58937 0.0740731 0.651408 0.472043 +TTool-pose None 36.0196 7.4519 12.9312 0.644719 0.645867 -0.233475 0.335573 +#10851 1721120846536 +SLAM 5.0796 -25.0486 38.2048 -0.591267 0.0725455 0.651427 0.469875 +TTool-pose None 36.0235 7.43561 12.9408 0.646179 0.646135 -0.231126 0.333868 +#10852 1721120846568 +SLAM 5.15121 -25.0434 38.17 -0.589267 0.0756178 0.652315 0.470671 +TTool-pose None 36.0206 7.42521 12.916 0.646157 0.644302 -0.234195 0.335313 +#10853 1721120846600 +SLAM 5.15646 -25.3575 37.944 -0.586334 0.0726675 0.652942 0.473918 +TTool-pose None 36.0484 7.42958 12.8899 0.642635 0.647455 -0.236454 0.334421 +#10854 1721120846633 +SLAM 5.13892 -25.0219 38.1819 -0.589033 0.0763372 0.652494 0.4706 +TTool-pose None 36.0273 7.40601 12.8884 0.64637 0.643781 -0.234668 0.335573 +#10855 1721120846666 +SLAM 5.17818 -25.1481 38.0744 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38.0733 -0.587586 0.0746923 0.653002 0.471966 +TTool-pose None 36.0603 7.3354 12.8076 0.644772 0.645379 -0.235772 0.334801 +#10862 1721120846895 +SLAM 5.03347 -25.0477 38.1548 -0.58932 0.0748619 0.652707 0.470183 +TTool-pose None 36.0404 7.30789 12.8163 0.64635 0.644636 -0.234007 0.334428 +#10863 1721120846926 +SLAM 5.04107 -25.2047 38.0373 -0.587616 0.0738355 0.653108 0.471917 +TTool-pose None 36.0531 7.30507 12.8009 0.644598 0.645944 -0.235523 0.334221 +#10864 1721120846957 +SLAM 4.96709 -25.25 38.0106 -0.588475 0.0716673 0.652589 0.471899 +TTool-pose None 36.046 7.28354 12.8015 0.644144 0.647429 -0.233939 0.333334 +#10865 1721120846989 +SLAM 4.94214 -25.3904 37.9101 -0.587925 0.0690565 0.652687 0.472838 +TTool-pose None 36.0545 7.26893 12.7943 0.642703 0.649538 -0.233773 0.332125 +#10866 1721120847025 +SLAM 5.01607 -24.9468 38.2233 -0.589688 0.0762906 0.652963 0.469135 +TTool-pose None 36.0495 7.26852 12.777 0.647548 0.643279 -0.234084 0.33467 +#10867 1721120847057 +SLAM 5.0446 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4.91434 -25.0126 38.1618 -0.590367 0.0720323 0.653809 0.467773 +TTool-pose None 36.0773 7.12413 12.6828 0.647591 0.645679 -0.232365 0.331142 +#10880 1721120847478 +SLAM 4.8073 -24.9691 38.2077 -0.590273 0.0748053 0.652881 0.468751 +TTool-pose None 36.0723 7.11659 12.654 0.647526 0.644159 -0.233058 0.333734 +#10881 1721120847510 +SLAM 4.78255 -25.1494 38.0784 -0.588677 0.073372 0.653019 0.470789 +TTool-pose None 36.0829 7.11055 12.6371 0.645451 0.645862 -0.234301 0.333593 +#10882 1721120847542 +SLAM 4.75151 -25.0756 38.1372 -0.590057 0.0727786 0.652757 0.469516 +TTool-pose None 36.0792 7.09296 12.6379 0.646409 0.645818 -0.232684 0.332953 +#10883 1721120847574 +SLAM 4.71099 -25.2058 38.034 -0.588416 0.0729642 0.652753 0.471547 +TTool-pose None 36.08 7.07804 12.6134 0.644738 0.646416 -0.234398 0.333829 +#10884 1721120847610 +SLAM 4.71447 -25.0413 38.152 -0.589455 0.0750259 0.652703 0.469993 +TTool-pose None 36.0766 7.0694 12.6041 0.64655 0.644456 -0.233915 0.334453 +#10885 1721120847650 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1721120847844 +SLAM 4.64412 -25.0574 38.1413 -0.588241 0.0764742 0.653256 0.470511 +TTool-pose None 36.1098 6.98842 12.5093 0.6464 0.643637 -0.23566 0.335093 +#10892 1721120847877 +SLAM 4.60986 -24.9273 38.2246 -0.589893 0.0769732 0.652921 0.468823 +TTool-pose None 36.0909 6.95736 12.514 0.647977 0.642701 -0.234058 0.334969 +#10893 1721120847912 +SLAM 4.54477 -25.0882 38.1177 -0.589077 0.0748252 0.652741 0.470446 +TTool-pose None 36.1005 6.94324 12.4931 0.646116 0.644754 -0.23425 0.334483 +#10894 1721120847946 +SLAM 4.52555 -25.0913 38.1328 -0.589355 0.0740816 0.652761 0.470186 +TTool-pose None 36.1175 6.936 12.4763 0.646155 0.645168 -0.233762 0.333948 +#10895 1721120847979 +SLAM 4.50191 -24.9698 38.213 -0.590518 0.0754438 0.65235 0.46908 +TTool-pose None 36.0987 6.92559 12.4855 0.647454 0.643852 -0.232884 0.334587 +#10896 1721120848014 +SLAM 4.45706 -25.0237 38.1898 -0.589889 0.0755548 0.652229 0.470021 +TTool-pose None 36.1147 6.91762 12.4574 0.646699 0.644115 -0.233529 0.33509 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0.334884 +#10903 1721120848246 +SLAM 4.2993 -25.0445 38.1739 -0.589325 0.07604 0.652411 0.470398 +TTool-pose None 36.1431 6.79548 12.3348 0.646479 0.643914 -0.234273 0.335384 +#10904 1721120848279 +SLAM 4.23549 -25.1085 38.1231 -0.589385 0.0749393 0.652088 0.470947 +TTool-pose None 36.1352 6.76688 12.3285 0.645785 0.644869 -0.233839 0.335187 +#10905 1721120848312 +SLAM 4.2133 -25.1472 38.0903 -0.589084 0.074532 0.65217 0.471274 +TTool-pose None 36.1371 6.745 12.3139 0.645403 0.645262 -0.234046 0.335022 +#10906 1721120848343 +SLAM 4.23521 -25.2532 38.0125 -0.587372 0.0743411 0.652857 0.472488 +TTool-pose None 36.1607 6.73302 12.2802 0.64426 0.645808 -0.23586 0.334898 +#10907 1721120848374 +SLAM 4.18583 -25.2765 37.9934 -0.587593 0.0734955 0.65273 0.472521 +TTool-pose None 36.1603 6.70449 12.2618 0.644043 0.6464 -0.235374 0.334515 +#10908 1721120848406 +SLAM 4.08982 -25.1452 38.0981 -0.58983 0.0735593 0.651888 0.470884 +TTool-pose None 36.1475 6.67042 12.2561 0.645528 0.645794 -0.232961 0.334513 +#10909 1721120848442 +SLAM 4.11481 -25.0874 38.1396 -0.589649 0.074733 0.652318 0.470331 +TTool-pose None 36.1599 6.65882 12.2332 0.646233 0.644785 -0.23356 0.334679 +#10910 1721120848484 +SLAM 4.07963 -25.0521 38.1596 -0.589927 0.0753152 0.652209 0.470039 +TTool-pose None 36.1559 6.63127 12.2177 0.646629 0.644286 -0.233419 0.334974 +#10911 1721120848517 +SLAM 4.03205 -25.4227 37.8874 -0.58742 0.0705634 0.652597 0.473366 +TTool-pose None 36.1762 6.60405 12.1915 0.642632 0.648702 -0.234693 0.333249 +#10912 1721120848549 +SLAM 3.99827 -24.9878 38.1981 -0.590289 0.0767862 0.651904 0.46977 +TTool-pose None 36.1499 6.57967 12.1805 0.647234 0.643191 -0.233403 0.33592 +#10913 1721120848581 +SLAM 3.99343 -25.0344 38.1703 -0.589519 0.0766522 0.652228 0.470309 +TTool-pose None 36.1681 6.56782 12.1507 0.646716 0.643468 -0.234211 0.335825 +#10914 1721120848617 +SLAM 4.01697 -25.2091 38.0259 -0.587142 0.0761885 0.652967 0.472328 +TTool-pose None 36.1787 6.54769 12.1279 0.644824 0.644486 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0.644777 -0.233685 0.335715 +#10921 1721120848902 +SLAM 3.74123 -25.0019 38.1848 -0.589207 0.0787611 0.652016 0.470646 +TTool-pose None 36.1889 6.3876 11.9914 0.646949 0.642149 -0.235073 0.337297 +#10922 1721120848937 +SLAM 3.74983 -25.0943 38.1264 -0.589261 0.0754876 0.652549 0.470375 +TTool-pose None 36.2107 6.36916 11.975 0.646352 0.64428 -0.23421 0.334967 +#10923 1721120848968 +SLAM 3.68358 -25.3257 37.96 -0.587151 0.073985 0.652591 0.473186 +TTool-pose None 36.2256 6.34445 11.9399 0.64361 0.646305 -0.23593 0.33514 +#10924 1721120849000 +SLAM 3.59845 -25.3938 37.9044 -0.587055 0.073169 0.652167 0.474016 +TTool-pose None 36.218 6.31083 11.9223 0.642752 0.647166 -0.235712 0.335277 +#10925 1721120849030 +SLAM 3.61305 -25.108 38.1118 -0.588873 0.0766703 0.652188 0.471169 +TTool-pose None 36.2141 6.29062 11.9076 0.645998 0.643763 -0.234862 0.336187 +#10926 1721120849059 +SLAM 3.5348 -25.3853 37.9078 -0.586713 0.0740421 0.652265 0.474169 +TTool-pose None 36.2283 6.25643 11.8702 0.642821 0.646622 -0.236323 0.335766 +#10927 1721120849088 +SLAM 3.42865 -25.0621 38.1681 -0.589769 0.0775353 0.651117 0.471389 +TTool-pose None 36.2222 6.23457 11.8446 0.646122 0.643273 -0.233983 0.337498 +#10928 1721120849117 +SLAM 3.45598 -25.2023 38.0464 -0.588879 0.0749489 0.651831 0.471932 +TTool-pose None 36.2249 6.2051 11.8398 0.64498 0.64522 -0.234303 0.33574 +#10929 1721120849150 +SLAM 3.4131 -25.1876 38.0466 -0.587802 0.0777789 0.651725 0.472962 +TTool-pose None 36.2214 6.17881 11.8084 0.644787 0.643652 -0.236162 0.337811 +#10930 1721120849183 +SLAM 3.40981 -25.2285 38.0125 -0.587896 0.0760205 0.652097 0.472619 +TTool-pose None 36.2295 6.15177 11.7909 0.644626 0.644725 -0.23565 0.336427 +#10931 1721120849212 +SLAM 3.38467 -25.0728 38.1276 -0.589397 0.0771655 0.65191 0.470819 +TTool-pose None 36.2265 6.12815 11.7778 0.646438 0.643305 -0.234415 0.336528 +#10932 1721120849248 +SLAM 3.39667 -25.3958 37.875 -0.58541 0.0757546 0.652895 0.474641 +TTool-pose None 36.2493 6.10535 11.7346 0.642761 0.645603 -0.238244 0.336484 +#10933 1721120849281 +SLAM 3.39528 -25.3731 37.9124 -0.585871 0.0747588 0.65323 0.473768 +TTool-pose None 36.2771 6.09269 11.7029 0.643233 0.645967 -0.237567 0.335359 +#10934 1721120849312 +SLAM 3.21468 -25.1276 38.1109 -0.590135 0.0751115 0.651352 0.470998 +TTool-pose None 36.2489 6.05432 11.7064 0.645855 0.644787 -0.232981 0.335809 +#10935 1721120849346 +SLAM 3.27845 -25.3603 37.9098 -0.586745 0.0744223 0.652619 0.473583 +TTool-pose None 36.2605 6.03087 11.6794 0.643374 0.646146 -0.236469 0.335519 +#10936 1721120849380 +SLAM 3.16598 -25.0922 38.1341 -0.589814 0.0765077 0.651458 0.47103 +TTool-pose None 36.2582 6.01141 11.6574 0.64615 0.643841 -0.233719 0.336544 +#10937 1721120849416 +SLAM 3.18152 -25.138 38.0786 -0.58917 0.0762387 0.651898 0.471271 +TTool-pose None 36.2519 5.98188 11.6519 0.645839 0.644101 -0.234383 0.33618 +#10938 1721120849445 +SLAM 3.30096 -25.4947 37.8053 -0.584753 0.0729482 0.654034 0.474322 +TTool-pose None 36.3026 5.97185 11.6013 0.642244 0.647378 -0.238345 0.333979 +#10939 1721120849474 +SLAM 3.12724 -25.2503 37.9917 -0.588012 0.0753063 0.652233 0.472401 +TTool-pose None 36.2675 5.93186 11.5992 0.644627 0.645133 -0.235361 0.335844 +#10940 1721120849506 +SLAM 3.1314 -25.1417 38.0686 -0.589605 0.0745661 0.652381 0.470323 +TTool-pose None 36.267 5.90871 11.5928 0.646193 0.644895 -0.23357 0.334537 +#10941 1721120849534 +SLAM 3.02996 -24.995 38.1833 -0.590616 0.0775282 0.651496 0.469804 +TTool-pose None 36.259 5.88247 11.5677 0.647421 0.642704 -0.233198 0.336634 +#10942 1721120849566 +SLAM 2.98423 -25.2895 37.9761 -0.588152 0.0744412 0.651969 0.472728 +TTool-pose None 36.2891 5.85521 11.5213 0.64417 0.645846 -0.234923 0.335656 +#10943 1721120849597 +SLAM 2.96664 -25.1727 38.0532 -0.589297 0.0753391 0.651874 0.471289 +TTool-pose None 36.2795 5.82635 11.516 0.645612 0.644723 -0.233998 0.33569 +#10944 1721120849633 +SLAM 2.94153 -25.4573 37.8498 -0.586253 0.0734204 0.652541 0.474455 +TTool-pose None 36.3135 5.79953 11.4661 0.642401 0.647141 -0.236667 0.335328 +#10945 1721120849665 +SLAM 2.77509 -24.9864 38.2143 -0.590886 0.0787933 0.650507 0.470624 +TTool-pose None 36.2835 5.77042 11.4547 0.647123 0.642152 -0.233079 0.338342 +#10946 1721120849699 +SLAM 2.83807 -25.2811 37.98 -0.587965 0.0753627 0.651943 0.47285 +TTool-pose None 36.3063 5.74242 11.4273 0.644289 0.64526 -0.235365 0.336245 +#10947 1721120849733 +SLAM 2.7179 -24.9539 38.2199 -0.590903 0.0798256 0.650506 0.470428 +TTool-pose None 36.2761 5.70939 11.423 0.647529 0.641374 -0.233347 0.338854 +#10948 1721120849771 +SLAM 2.69763 -25.1071 38.1133 -0.589284 0.0784608 0.651041 0.471946 +TTool-pose None 36.3013 5.68266 11.3778 0.645876 0.642839 -0.234716 0.338286 +#10949 1721120849801 +SLAM 2.74645 -25.393 37.8708 -0.585786 0.0767721 0.652271 0.474873 +TTool-pose None 36.3097 5.65072 11.3545 0.64287 0.645004 -0.238024 0.33758 +#10950 1721120849830 +SLAM 2.70534 -25.2782 37.9764 -0.588202 0.0750324 0.652051 0.472461 +TTool-pose None 36.322 5.6292 11.3379 0.64453 0.645345 -0.235055 0.335836 +#10951 1721120849862 +SLAM 2.75614 -25.3473 37.8921 -0.586323 0.0758703 0.652953 0.473415 +TTool-pose None 36.3183 5.60102 11.318 0.643827 0.645089 -0.237368 0.336051 +#10952 1721120849898 +SLAM 2.51036 -24.9329 38.2555 -0.592384 0.077714 0.650272 0.469242 +TTool-pose None 36.312 5.57944 11.3003 0.648054 0.642401 -0.231211 0.337365 +#10953 1721120849932 +SLAM 2.61393 -25.4259 37.858 -0.585739 0.0759211 0.652455 0.474815 +TTool-pose None 36.3427 5.547 11.2556 0.642699 0.645561 -0.23787 0.336947 +#10954 1721120849965 +SLAM 2.56928 -25.3502 37.931 -0.587767 0.0738455 0.652277 0.472876 +TTool-pose None 36.3544 5.52616 11.2342 0.643871 0.646298 -0.235206 0.33516 +#10955 1721120849994 +SLAM 2.52535 -25.1668 38.0399 -0.588632 0.0778001 0.651665 0.472009 +TTool-pose None 36.3189 5.49835 11.2402 0.645606 0.6433 -0.235317 0.337506 +#10956 1721120850025 +SLAM 2.43773 -25.091 38.1255 -0.591079 0.075487 0.651079 0.470132 +TTool-pose None 36.3345 5.47729 11.2175 0.646702 0.644226 -0.232075 0.335882 +#10957 1721120850057 +SLAM 2.37312 -25.2238 38.0247 -0.589016 0.0764469 0.651041 0.472611 +TTool-pose None 36.3422 5.44821 11.1786 0.644838 0.644455 -0.234425 0.337392 +#10958 1721120850087 +SLAM 2.40639 -25.0064 38.161 -0.59072 0.078435 0.651111 0.470055 +TTool-pose None 36.3192 5.4301 11.1904 0.64746 0.642181 -0.233268 0.337509 +#10959 1721120850117 +SLAM 2.39333 -25.1253 38.0964 -0.590433 0.0752237 0.65159 0.470277 +TTool-pose None 36.3538 5.41525 11.1531 0.646467 0.644447 -0.232758 0.335437 +#10960 1721120850146 +SLAM 2.32613 -25.0821 38.1283 -0.591006 0.0758532 0.651138 0.470082 +TTool-pose None 36.3488 5.39001 11.1371 0.646825 0.643957 -0.232263 0.336032 +#10961 1721120850175 +SLAM 2.30807 -24.995 38.1859 -0.590867 0.078522 0.651049 0.469942 +TTool-pose None 36.3448 5.37053 11.1213 0.647581 0.642083 -0.233131 0.337558 +#10962 1721120850208 +SLAM 2.29225 -25.3277 37.9284 -0.587871 0.0753861 0.651771 0.473201 +TTool-pose None 36.3597 5.33589 11.0924 0.644014 0.645373 -0.235432 0.336508 +#10963 1721120850237 +SLAM 2.28324 -25.0573 38.1355 -0.58964 0.0788374 0.651514 0.470786 +TTool-pose None 36.3597 5.32728 11.0743 0.646899 0.642158 -0.234556 0.337737 +#10964 1721120850268 +SLAM 2.16711 -24.9603 38.2102 -0.591918 0.0782265 0.65046 0.469485 +TTool-pose None 36.344 5.2982 11.0706 0.647953 0.642133 -0.231865 0.337619 +#10965 1721120850298 +SLAM 2.18012 -25.2085 38.0148 -0.588083 0.0785776 0.651397 0.472934 +TTool-pose None 36.363 5.26631 11.0285 0.645031 0.643102 -0.236034 0.33848 +#10966 1721120850332 +SLAM 2.19764 -25.2742 37.9671 -0.588224 0.0756371 0.652048 0.472339 +TTool-pose None 36.3801 5.24496 11.004 0.644777 0.644889 -0.235201 0.336137 +#10967 1721120850367 +SLAM 2.10673 -25.0088 38.1723 -0.590984 0.0782169 0.650978 0.469945 +TTool-pose None 36.3669 5.22582 10.995 0.647515 0.642294 -0.232913 0.337434 +#10968 1721120850398 +SLAM 1.95812 -25.034 38.1765 -0.591511 0.0779365 0.649994 0.470689 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0.469374 +TTool-pose None 36.4202 4.85854 10.6813 0.647718 0.643159 -0.230629 0.336964 +#10981 1721120850813 +SLAM 1.78636 -25.4967 37.758 -0.583922 0.0768628 0.653808 0.47504 +TTool-pose None 36.4547 4.82269 10.632 0.642586 0.644961 -0.240236 0.336633 +#10982 1721120850844 +SLAM 1.50953 -24.9254 38.2132 -0.591502 0.0810678 0.65021 0.469874 +TTool-pose None 36.4094 4.80697 10.6526 0.648313 0.64033 -0.233025 0.339551 +#10983 1721120850878 +SLAM 1.41223 -24.9977 38.183 -0.59248 0.0777719 0.649858 0.469685 +TTool-pose None 36.43 4.77899 10.6169 0.647734 0.642528 -0.231047 0.337849 +#10984 1721120850909 +SLAM 1.45225 -25.0752 38.1054 -0.590872 0.0780445 0.650673 0.470536 +TTool-pose None 36.4313 4.75019 10.5981 0.647005 0.64263 -0.232918 0.337769 +#10985 1721120850942 +SLAM 1.54969 -25.3454 37.8949 -0.587592 0.075166 0.652557 0.472499 +TTool-pose None 36.4658 4.72437 10.5518 0.644478 0.645256 -0.23581 0.335579 +#10986 1721120850975 +SLAM 1.49209 -25.3793 37.8635 -0.586619 0.0768291 0.652281 0.47382 +TTool-pose None 36.4613 4.6961 10.5369 0.643779 0.644593 -0.237202 0.337211 +#10987 1721120851007 +SLAM 1.31545 -25.0462 38.1302 -0.592486 0.0763746 0.650109 0.469559 +TTool-pose None 36.4353 4.68499 10.5481 0.647486 0.643434 -0.230701 0.336834 +#10988 1721120851042 +SLAM 1.51475 -25.2977 37.9065 -0.586781 0.0778926 0.652793 0.472739 +TTool-pose None 36.4576 4.66092 10.5153 0.644895 0.643469 -0.237439 0.337057 +#10989 1721120851081 +SLAM 1.35487 -25.2216 38.0003 -0.589867 0.0754592 0.651394 0.47122 +TTool-pose None 36.4681 4.64919 10.4937 0.645746 0.644627 -0.233359 0.336062 +#10990 1721120851115 +SLAM 1.38537 -25.2877 37.9312 -0.589125 0.0747939 0.651848 0.471626 +TTool-pose None 36.46 4.63382 10.4975 0.6452 0.645216 -0.234013 0.335525 +#10991 1721120851149 +SLAM 1.34905 -25.371 37.8768 -0.587963 0.0749486 0.651892 0.47299 +TTool-pose None 36.4741 4.61878 10.4701 0.644077 0.645594 -0.235241 0.336096 +#10992 1721120851180 +SLAM 1.45393 -25.4354 37.8087 -0.586258 0.0749597 0.653165 0.473349 +TTool-pose None 36.4807 4.60959 10.4596 0.643645 0.645683 -0.237221 0.335362 +#10993 1721120851211 +SLAM 1.28412 -25.4701 37.7987 -0.586232 0.076232 0.651768 0.475099 +TTool-pose None 36.4778 4.58459 10.4423 0.642601 0.645466 -0.237321 0.337704 +#10994 1721120851241 +SLAM 1.16396 -24.9623 38.1968 -0.593359 0.0772989 0.649787 0.46875 +TTool-pose None 36.4512 4.58725 10.4621 0.648414 0.642518 -0.230008 0.337273 +#10995 1721120851274 +SLAM 1.11322 -25.1082 38.069 -0.592702 0.0755184 0.649557 0.470188 +TTool-pose None 36.4338 4.56307 10.4685 0.646805 0.644256 -0.230132 0.336963 +#10996 1721120851307 +SLAM 1.47806 -25.6155 37.6485 -0.583081 0.075123 0.654468 0.475442 +TTool-pose None 36.4967 4.54409 10.4047 0.641759 0.646275 -0.240727 0.335337 +#10997 1721120851338 +SLAM 1.11343 -25.0908 38.1045 -0.592106 0.0762785 0.650052 0.470133 +TTool-pose None 36.4682 4.54801 10.4173 0.646986 0.643707 -0.231049 0.337036 +#10998 1721120851373 +SLAM 1.21329 -25.1583 38.0437 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38.0316 -0.590522 0.0767807 0.650611 0.471269 +TTool-pose None 36.488 4.44702 10.3298 0.646094 0.643758 -0.232908 0.33737 +#11005 1721120851614 +SLAM 0.90419 -24.9943 38.1793 -0.592961 0.0782903 0.649215 0.469881 +TTool-pose None 36.4775 4.43958 10.3263 0.647751 0.642256 -0.230574 0.338657 +#11006 1721120851643 +SLAM 0.936171 -25.0671 38.1048 -0.592399 0.0769585 0.649707 0.47013 +TTool-pose None 36.4688 4.42745 10.3272 0.647182 0.643247 -0.230873 0.337658 +#11007 1721120851673 +SLAM 1.2893 -25.5136 37.7379 -0.58323 0.0774081 0.654463 0.474899 +TTool-pose None 36.5316 4.40582 10.2598 0.642764 0.64452 -0.241217 0.336437 +#11008 1721120851710 +SLAM 1.21072 -25.5003 37.7602 -0.584559 0.0760443 0.653815 0.474377 +TTool-pose None 36.5328 4.39397 10.2524 0.642958 0.645288 -0.239368 0.335915 +#11009 1721120851746 +SLAM 0.888461 -25.1223 38.0486 -0.591984 0.0767181 0.649643 0.47078 +TTool-pose None 36.4602 4.38803 10.3139 0.646584 0.643646 -0.231213 0.337812 +#11010 1721120851776 +SLAM 1.22485 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1721120855743 +#11130 1721120855772 +#11131 1721120855805 +#11132 1721120855842 +#11133 1721120855879 +#11134 1721120855913 +#11135 1721120855942 +#11136 1721120855977 +#11137 1721120856007 +#11138 1721120856041 +#11139 1721120856077 +#11140 1721120856112 +SLAM 12.0265 -23.8821 40.1954 -0.596148 0.0445553 0.650792 0.468072 +TTool-pose None 35.9611 14.2879 16.4062 0.640563 0.664367 -0.217876 0.317397 +#11141 1721120856141 +SLAM 12.0645 -23.4451 40.5045 -0.600827 0.0544721 0.650245 0.461759 +TTool-pose None 35.9684 14.0412 16.6584 0.648502 0.655446 -0.215926 0.321137 +#11142 1721120856174 +#11143 1721120856210 +#11144 1721120856242 +SLAM 11.7799 -24.289 39.8245 -0.593752 0.0633399 0.645466 0.476257 +TTool-pose None 35.6826 14.0787 16.7878 0.639066 0.654776 -0.224765 0.335066 +#11145 1721120856274 +#11146 1721120856312 +#11147 1721120856344 +SLAM 12.1092 -24.291 39.4929 -0.585988 0.092209 0.647311 0.478649 +TTool-pose None 35.5751 13.7468 16.9889 0.643654 0.635818 -0.241039 0.35111 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0.35161 +#11154 1721120856573 +#11155 1721120856607 +SLAM 12.401 -25.6729 37.5474 -0.568785 0.0966535 0.648698 0.496319 +TTool-pose None 34.834 13.6016 17.3512 0.629015 0.638733 -0.259589 0.35904 +#11156 1721120856642 +SLAM 12.766 -25.298 37.7823 -0.568982 0.103244 0.65169 0.490815 +TTool-pose None 34.9452 13.5768 17.3828 0.634908 0.632184 -0.261814 0.358644 +#11157 1721120856678 +SLAM 12.8191 -24.9143 38.0819 -0.574639 0.100623 0.651741 0.484663 +TTool-pose None 34.9405 13.5218 17.4813 0.639773 0.631929 -0.255547 0.354946 +#11158 1721120856712 +SLAM 12.7876 -24.9453 37.9628 -0.572515 0.103241 0.652646 0.485408 +TTool-pose None 34.9295 13.4223 17.388 0.639553 0.630324 -0.258534 0.356033 +#11159 1721120856745 +SLAM 12.6004 -24.8516 38.05 -0.574082 0.104194 0.651256 0.485221 +TTool-pose None 34.8949 13.3741 17.3375 0.640077 0.629637 -0.256938 0.35746 +#11160 1721120856776 +SLAM 12.5615 -24.6048 38.3492 -0.578598 0.102984 0.650472 0.481149 +TTool-pose None 34.946 13.3383 17.4128 0.643462 0.629107 -0.251965 0.355851 +#11161 1721120856810 +SLAM 12.3737 -24.8097 38.2316 -0.577444 0.102148 0.649551 0.48395 +TTool-pose None 34.9369 13.287 17.359 0.640961 0.630684 -0.252699 0.357051 +#11162 1721120856842 +SLAM 12.202 -25.0418 38.1409 -0.57759 0.0978337 0.648357 0.486263 +TTool-pose None 34.9348 13.2731 17.3654 0.638176 0.634524 -0.251153 0.356327 +#11163 1721120856879 +SLAM 12.2368 -25.3812 37.8869 -0.574 0.0946649 0.649705 0.489331 +TTool-pose None 34.9905 13.2594 17.3209 0.634663 0.637736 -0.254148 0.354738 +#11164 1721120856917 +SLAM 11.9724 -25.4178 37.895 -0.574686 0.0954934 0.647747 0.490958 +TTool-pose None 34.9482 13.2054 17.2634 0.633631 0.637771 -0.253265 0.357145 +#11165 1721120856952 +SLAM 12.0658 -25.1247 38.1048 -0.577776 0.0954964 0.648555 0.486243 +TTool-pose None 34.9724 13.1454 17.3088 0.637674 0.636138 -0.250385 0.354882 +#11166 1721120856985 +SLAM 12.1726 -25.1297 38.0969 -0.577196 0.0944105 0.65037 0.484718 +TTool-pose None 35.0501 13.0764 17.2972 0.63857 0.636318 -0.251058 0.352464 +#11167 1721120857022 +SLAM 12.0162 -25.2914 37.9812 -0.576365 0.092752 0.649699 0.486921 +TTool-pose None 35.0305 13.0349 17.2423 0.636365 0.638244 -0.251291 0.352804 +#11168 1721120857054 +SLAM 12.0822 -25.2106 37.9866 -0.57587 0.0941108 0.650694 0.485916 +TTool-pose None 35.0396 13.0051 17.2073 0.637424 0.636928 -0.252362 0.352508 +#11169 1721120857085 +SLAM 12.0852 -25.231 37.992 -0.576748 0.0915227 0.650865 0.485139 +TTool-pose None 35.0533 12.9796 17.2385 0.637521 0.638453 -0.250828 0.350661 +#11170 1721120857116 +SLAM 12.1855 -25.248 37.96 -0.575632 0.0914448 0.652205 0.484679 +TTool-pose None 35.0996 12.9636 17.219 0.637752 0.638308 -0.2522 0.349518 +#11171 1721120857146 +SLAM 12.2057 -25.1673 38.0131 -0.576346 0.0914621 0.652528 0.483391 +TTool-pose None 35.1094 12.9392 17.2179 0.638841 0.637844 -0.251564 0.348835 +#11172 1721120857177 +SLAM 12.1078 -25.1993 38.0303 -0.577992 0.08846 0.651673 0.483138 +TTool-pose None 35.094 12.9105 17.2517 0.638498 0.639861 -0.24893 0.347654 +#11173 1721120857213 +SLAM 12.1012 -25.193 38.0231 -0.577286 0.0896062 0.652034 0.483284 +TTool-pose None 35.1106 12.8886 17.2068 0.638584 0.639108 -0.250021 0.3481 +#11174 1721120857248 +SLAM 12.0341 -25.2326 38.0044 -0.577401 0.0892832 0.65137 0.4841 +TTool-pose None 35.0899 12.8935 17.2041 0.637878 0.639632 -0.249678 0.348677 +#11175 1721120857280 +SLAM 11.9845 -25.2312 38.012 -0.577475 0.0898822 0.650854 0.484595 +TTool-pose None 35.0759 12.9011 17.1916 0.637637 0.639403 -0.249658 0.349551 +#11176 1721120857317 +SLAM 12.0327 -25.1923 37.9962 -0.576868 0.0911158 0.651373 0.484391 +TTool-pose None 35.068 12.9009 17.1727 0.638027 0.638463 -0.250707 0.349808 +#11177 1721120857350 +SLAM 12.059 -25.1887 37.937 -0.576011 0.0919412 0.651707 0.484805 +TTool-pose None 35.0378 12.9046 17.1493 0.637808 0.638023 -0.251853 0.350188 +#11178 1721120857384 +SLAM 12.0535 -25.199 37.9059 -0.575757 0.0921061 0.651584 0.48524 +TTool-pose None 35.0139 12.9143 17.1461 0.637478 0.638061 -0.252122 0.350524 +#11179 1721120857419 +SLAM 12.0414 -25.2062 37.8329 -0.574895 0.0931908 0.651509 0.486156 +TTool-pose None 34.9625 12.9216 17.1182 0.636922 0.637623 -0.253255 0.351514 +#11180 1721120857450 +SLAM 12.1021 -25.1311 37.7852 -0.574903 0.0932941 0.652103 0.485329 +TTool-pose None 34.9049 12.9061 17.1199 0.637598 0.637251 -0.253401 0.350859 +#11181 1721120857482 +SLAM 12.2566 -25.062 37.6878 -0.573675 0.0940547 0.653696 0.484491 +TTool-pose None 34.8583 12.8988 17.1057 0.638305 0.636384 -0.255161 0.349869 +#11182 1721120857516 +SLAM 12.2386 -25.0583 37.652 -0.574361 0.0925053 0.653238 0.484595 +TTool-pose None 34.7981 12.916 17.1316 0.637934 0.637511 -0.253966 0.349362 +#11183 1721120857548 +SLAM 12.2586 -25.0025 37.6664 -0.575023 0.0924273 0.653184 0.483898 +TTool-pose None 34.7699 12.9169 17.1563 0.638533 0.637328 -0.253277 0.349103 +#11184 1721120857579 +SLAM 12.2731 -24.9987 37.6587 -0.575055 0.0923268 0.653251 0.483788 +TTool-pose None 34.7625 12.918 17.1658 0.638599 0.637358 -0.253232 0.348959 +#11185 1721120857610 +SLAM 12.2242 -24.9466 37.7335 -0.576773 0.0911519 0.652499 0.48298 +TTool-pose None 34.7506 12.9197 17.1994 0.639134 0.637919 -0.251049 0.348532 +#11186 1721120857643 +SLAM 12.2592 -24.9309 37.7471 -0.577158 0.0903845 0.652769 0.482299 +TTool-pose None 34.759 12.9147 17.2215 0.639526 0.638207 -0.250515 0.347665 +#11187 1721120857679 +SLAM 12.1786 -25.0271 37.6644 -0.576773 0.0894928 0.652157 0.483752 +TTool-pose None 34.7222 12.9063 17.2143 0.638137 0.639344 -0.250526 0.348122 +#11188 1721120857711 +SLAM 12.2054 -24.9304 37.7431 -0.577673 0.0900321 0.652272 0.48242 +TTool-pose None 34.7326 12.9007 17.2268 0.639401 0.638508 -0.249802 0.347857 +#11189 1721120857743 +SLAM 12.2284 -24.8947 37.7844 -0.578184 0.0898048 0.652334 0.481766 +TTool-pose None 34.7443 12.908 17.2422 0.639912 0.638438 -0.249244 0.347447 +#11190 1721120857778 +SLAM 12.2239 -24.9536 37.7367 -0.577554 0.089463 0.6524 0.482496 +TTool-pose None 34.744 12.9109 17.2339 0.639195 0.638925 -0.249793 0.347477 +#11191 1721120857813 +SLAM 12.2681 -24.9681 37.6963 -0.576544 0.0903253 0.653 0.48273 +TTool-pose None 34.7517 12.9067 17.2143 0.639112 0.63839 -0.251157 0.347629 +#11192 1721120857850 +SLAM 12.2625 -24.9138 37.7506 -0.577423 0.0901972 0.652804 0.48197 +TTool-pose None 34.7519 12.9053 17.229 0.639768 0.638223 -0.250207 0.347416 +#11193 1721120857885 +SLAM 12.2546 -24.9649 37.7042 -0.576781 0.0900963 0.652853 0.482689 +TTool-pose None 34.7487 12.9062 17.217 0.639115 0.638539 -0.250828 0.347587 +#11194 1721120857920 +SLAM 12.2104 -24.9791 37.7066 -0.577045 0.0898217 0.652443 0.482979 +TTool-pose None 34.7407 12.9035 17.2164 0.63885 0.638842 -0.250406 0.347824 +#11195 1721120857958 +SLAM 12.2421 -25.0125 37.6587 -0.576176 0.0900877 0.652913 0.483332 +TTool-pose None 34.7453 12.8986 17.2043 0.638547 0.638764 -0.251441 0.347776 +#11196 1721120857988 +SLAM 12.2909 -24.9084 37.7585 -0.577025 0.0907444 0.653153 0.48187 +TTool-pose None 34.7737 12.9075 17.2168 0.639935 0.637798 -0.250824 0.347443 +#11197 1721120858017 +SLAM 12.2408 -24.9969 37.6937 -0.576955 0.0891299 0.652782 0.482757 +TTool-pose None 34.7527 12.8971 17.2279 0.638851 0.639233 -0.250378 0.34712 +#11198 1721120858048 +SLAM 12.2663 -24.9936 37.6869 -0.576376 0.0900316 0.653105 0.482844 +TTool-pose None 34.7639 12.8985 17.2124 0.638937 0.638629 -0.251267 0.347432 +#11199 1721120858077 +SLAM 12.2229 -24.9979 37.7051 -0.576335 0.0907651 0.652686 0.483323 +TTool-pose None 34.7667 12.9065 17.1962 0.63873 0.638299 -0.251419 0.34831 +#11200 1721120858114 +SLAM 12.1843 -24.937 37.7844 -0.577862 0.0900522 0.652085 0.482442 +TTool-pose None 34.7626 12.906 17.2219 0.639407 0.638508 -0.24958 0.348006 +#11201 1721120858145 +SLAM 12.2118 -24.9933 37.7139 -0.5763 0.0911097 0.65262 0.483389 +TTool-pose None 34.7704 12.9056 17.1877 0.638755 0.638085 -0.251533 0.348573 +#11202 1721120858177 +SLAM 12.1859 -25.003 37.708 -0.576631 0.0905006 0.652395 0.483412 +TTool-pose None 34.7593 12.8961 17.1958 0.638628 0.638522 -0.250992 0.348397 +#11203 1721120858210 +SLAM 12.1886 -24.9142 37.8046 -0.578252 0.0897766 0.652152 0.481936 +TTool-pose None 34.7669 12.8952 17.2291 0.639778 0.638522 -0.24913 0.34762 +#11204 1721120858244 +SLAM 12.9641 -24.3802 37.9908 -0.567633 0.113312 0.660014 0.478888 +TTool-pose None 35.0811 13.0214 16.8549 0.64631 0.62074 -0.267509 0.354032 +#11205 1721120858288 +SLAM 12.1303 -24.9727 37.7743 -0.577822 0.0899082 0.651802 0.4829 +TTool-pose None 34.7659 12.8866 17.2095 0.63901 0.638773 -0.249521 0.34829 +#11206 1721120858319 +SLAM 12.1232 -25.002 37.7589 -0.577538 0.0899616 0.651769 0.483275 +TTool-pose None 34.77 12.8871 17.2073 0.6387 0.638867 -0.249812 0.34848 +#11207 1721120858350 +SLAM 12.2 -24.952 37.8232 -0.57762 0.0902784 0.652442 0.482208 +TTool-pose None 34.8213 12.8969 17.2114 0.63962 0.63826 -0.249957 0.3478 +#11208 1721120858384 +SLAM 12.1681 -24.9863 37.8554 -0.577974 0.0895737 0.652163 0.482293 +TTool-pose None 34.8529 12.8945 17.2206 0.639423 0.638785 -0.249355 0.34763 +#11209 1721120858416 +SLAM 12.0632 -25.0757 37.8403 -0.577669 0.0896401 0.651419 0.48365 +TTool-pose None 34.8661 12.8826 17.1988 0.638343 0.639229 -0.24952 0.348679 +#11210 1721120858446 +SLAM 12.0891 -25.063 37.8794 -0.577818 0.0896376 0.651678 0.483122 +TTool-pose None 34.9007 12.88 17.205 0.638771 0.639041 -0.249426 0.348305 +#11211 1721120858478 +SLAM 12.0213 -25.1131 37.856 -0.57789 0.0891084 0.651123 0.483882 +TTool-pose None 34.8874 12.8728 17.2012 0.638057 0.639685 -0.249092 0.34867 +#11212 1721120858514 +SLAM 11.9953 -25.1134 37.8569 -0.57808 0.0890439 0.650875 0.484 +TTool-pose None 34.8776 12.8701 17.2007 0.637968 0.639778 -0.248833 0.34885 +#11213 1721120858552 +SLAM 11.9986 -25.0636 37.9097 -0.579027 0.0885492 0.650713 0.483177 +TTool-pose None 34.8788 12.8728 17.2226 0.638591 0.639841 -0.247722 0.348383 +#11214 1721120858586 +SLAM 11.9092 -25.0919 37.9075 -0.579728 0.08766 0.649844 0.483667 +TTool-pose None 34.8536 12.8645 17.2309 0.638063 0.640649 -0.246596 0.348665 +#11215 1721120858617 +SLAM 11.9091 -25.0816 37.9007 -0.579785 0.0877971 0.649887 0.483516 +TTool-pose None 34.8443 12.8522 17.2331 0.63822 0.640501 -0.246587 0.348657 +#11216 1721120858651 +SLAM 11.9726 -25.0838 37.886 -0.578915 0.0885121 0.650572 0.483506 +TTool-pose None 34.8668 12.8613 17.2177 0.638312 0.639984 -0.247793 0.348581 +#11217 1721120858682 +SLAM 12.0065 -25.0468 37.9201 -0.579405 0.0880926 0.650773 0.482725 +TTool-pose None 34.8772 12.8644 17.2346 0.638875 0.639999 -0.247233 0.34792 +#11218 1721120858714 +SLAM 11.9916 -25.0665 37.9074 -0.579435 0.0876952 0.650708 0.48285 +TTool-pose None 34.8751 12.855 17.2368 0.638686 0.640318 -0.247081 0.347787 +#11219 1721120858746 +SLAM 11.9303 -25.0856 37.8989 -0.579713 0.087301 0.650185 0.483292 +TTool-pose None 34.8573 12.8489 17.2314 0.638271 0.640758 -0.246586 0.34809 +#11220 1721120858782 +SLAM 12.0351 -25.0454 37.9082 -0.578964 0.0883222 0.65127 0.482543 +TTool-pose None 34.8916 12.8512 17.2198 0.639029 0.639763 -0.24784 0.347638 +#11221 1721120858814 +SLAM 12.0421 -25.0661 37.8954 -0.578952 0.0877562 0.651325 0.482586 +TTool-pose None 34.8933 12.8509 17.2292 0.638859 0.640168 -0.24771 0.347298 +#11222 1721120858845 +SLAM 12.0388 -25.0554 37.9103 -0.579131 0.0877278 0.651282 0.482435 +TTool-pose None 34.8969 12.851 17.2298 0.638989 0.640136 -0.247514 0.347256 +#11223 1721120858884 +SLAM 12.1179 -25.0388 37.8854 -0.578254 0.0886569 0.652192 0.482086 +TTool-pose None 34.9108 12.8426 17.217 0.639396 0.639347 -0.248832 0.347019 +#11224 1721120858917 +SLAM 12.0238 -25.0724 37.8806 -0.578761 0.0880204 0.651284 0.482822 +TTool-pose None 34.8864 12.8419 17.2159 0.638718 0.640068 -0.247963 0.347561 +#11225 1721120858948 +SLAM 12.0448 -25.0346 37.9229 -0.579504 0.0873705 0.651317 0.482004 +TTool-pose None 34.8941 12.8448 17.2391 0.639279 0.640233 -0.247052 0.346873 +#11226 1721120858982 +SLAM 12.0533 -25.0468 37.9075 -0.57913 0.0876663 0.651447 0.482224 +TTool-pose None 34.8964 12.846 17.2316 0.63914 0.640101 -0.247533 0.34703 +#11227 1721120859014 +SLAM 12.0269 -25.0426 37.9224 -0.579493 0.0874405 0.651147 0.482233 +TTool-pose None 34.8919 12.8475 17.2349 0.639114 0.640269 -0.247046 0.347114 +#11228 1721120859047 +SLAM 11.9886 -25.0809 37.8898 -0.579289 0.0872897 0.650884 0.48286 +TTool-pose None 34.8781 12.8406 17.2278 0.638566 0.640597 -0.247153 0.347441 +#11229 1721120859078 +SLAM 12.0004 -25.0818 37.889 -0.579338 0.0870002 0.650965 0.482746 +TTool-pose None 34.8798 12.8426 17.2337 0.638592 0.640755 -0.247042 0.347181 +#11230 1721120859113 +SLAM 12.0327 -25.0744 37.89 -0.578944 0.0875754 0.651297 0.482667 +TTool-pose None 34.8928 12.847 17.226 0.638752 0.640321 -0.247662 0.347245 +#11231 1721120859146 +SLAM 12.0595 -25.033 37.9209 -0.57919 0.0878393 0.6515 0.482049 +TTool-pose None 34.9019 12.8466 17.2304 0.639324 0.63992 -0.247531 0.347027 +#11232 1721120859180 +SLAM 12.0795 -25.045 37.884 -0.578281 0.0889312 0.651869 0.48244 +TTool-pose None 34.9017 12.8405 17.207 0.639186 0.639289 -0.248812 0.347527 +#11233 1721120859213 +SLAM 12.0901 -25.0397 37.9057 -0.578524 0.0886015 0.651839 0.482251 +TTool-pose None 34.9118 12.8527 17.2173 0.639281 0.639452 -0.248474 0.347293 +#11234 1721120859249 +SLAM 12.0298 -25.1064 37.8545 -0.577886 0.0889095 0.651412 0.483534 +TTool-pose None 34.896 12.8521 17.1957 0.638283 0.639695 -0.249104 0.348231 +#11235 1721120859284 +SLAM 12.0615 -25.0589 37.9026 -0.578511 0.0886468 0.651522 0.482686 +TTool-pose None 34.9072 12.8598 17.215 0.638949 0.639581 -0.248433 0.347698 +#11236 1721120859316 +SLAM 12.0699 -25.0361 37.9171 -0.578582 0.088959 0.651627 0.4824 +TTool-pose None 34.9113 12.8554 17.2121 0.639254 0.639263 -0.248469 0.347695 +#11237 1721120859347 +SLAM 12.057 -25.0367 37.924 -0.5789 0.088502 0.651482 0.482301 +TTool-pose None 34.9088 12.8525 17.22 0.639255 0.639549 -0.247998 0.347504 +#11238 1721120859379 +SLAM 12.0493 -25.0944 37.8677 -0.57831 0.088065 0.651527 0.483027 +TTool-pose None 34.8998 12.8518 17.2129 0.638523 0.640101 -0.248476 0.347493 +#11239 1721120859414 +SLAM 12.0777 -25.0362 37.9128 -0.578947 0.0879365 0.651766 0.481963 +TTool-pose None 34.9099 12.84 17.2265 0.639391 0.639815 -0.247856 0.346865 +#11240 1721120859448 +SLAM 12.1008 -25.0371 37.904 -0.578622 0.0881168 0.652105 0.481863 +TTool-pose None 34.9199 12.8337 17.2187 0.63948 0.639646 -0.248301 0.346694 +#11241 1721120859485 +SLAM 12.1554 -25.0036 37.9331 -0.578521 0.0884849 0.652655 0.48117 +TTool-pose None 34.9486 12.8327 17.2176 0.640099 0.639136 -0.248616 0.346266 +#11242 1721120859521 +SLAM 12.1077 -25.0749 37.8872 -0.578084 0.0880816 0.652405 0.482108 +TTool-pose None 34.9445 12.8229 17.2058 0.639226 0.639746 -0.248889 0.346556 +#11243 1721120859557 +SLAM 12.1553 -25.0698 37.8916 -0.577689 0.088374 0.652978 0.481752 +TTool-pose None 34.9718 12.8168 17.2004 0.639534 0.639404 -0.249482 0.346192 +#11244 1721120859588 +SLAM 12.0884 -25.0679 37.9131 -0.578026 0.0886113 0.652457 0.482009 +TTool-pose None 34.9686 12.8066 17.1856 0.639423 0.639344 -0.249102 0.346782 +#11245 1721120859619 +SLAM 12.1101 -25.0372 37.944 -0.578615 0.0880165 0.652519 0.481329 +TTool-pose None 34.9733 12.8099 17.2057 0.639873 0.639518 -0.248366 0.346155 +#11246 1721120859649 +SLAM 12.0833 -25.0961 37.9024 -0.578092 0.087766 0.652402 0.48216 +TTool-pose None 34.9713 12.8099 17.1929 0.639111 0.639982 -0.248794 0.3464 +#11247 1721120859680 +SLAM 12.0444 -25.1139 37.8793 -0.578097 0.0877188 0.652126 0.482535 +TTool-pose None 34.9524 12.7975 17.1883 0.638806 0.640153 -0.248719 0.346702 +#11248 1721120859714 +SLAM 12.1038 -25.0632 37.9137 -0.578401 0.0877045 0.652544 0.481608 +TTool-pose None 34.9653 12.8034 17.2041 0.63956 0.63983 -0.248499 0.346065 +#11249 1721120859748 +SLAM 12.1478 -25.0728 37.9131 -0.578242 0.087239 0.652957 0.481324 +TTool-pose None 34.9859 12.8066 17.2132 0.639655 0.640041 -0.248617 0.345413 +#11250 1721120859780 +SLAM 12.087 -25.0763 37.9165 -0.578569 0.0872477 0.652433 0.481639 +TTool-pose None 34.9694 12.7982 17.2062 0.639443 0.640159 -0.248184 0.345896 +#11251 1721120859818 +SLAM 12.2081 -25.0046 37.9508 -0.577985 0.0886503 0.653597 0.480505 +TTool-pose None 35.0095 12.803 17.1977 0.640604 0.638763 -0.249392 0.34546 +#11252 1721120859851 +SLAM 12.1439 -25.0906 37.8884 -0.577603 0.087949 0.65316 0.481685 +TTool-pose None 34.9913 12.7937 17.19 0.639476 0.639669 -0.24949 0.345803 +#11253 1721120859882 +SLAM 12.1855 -25.0613 37.913 -0.577679 0.0880228 0.653523 0.48109 +TTool-pose None 35.0088 12.7957 17.1947 0.639967 0.639401 -0.24951 0.345374 +#11254 1721120859912 +SLAM 12.1379 -25.036 37.9397 -0.578539 0.0875707 0.652995 0.480855 +TTool-pose None 34.9899 12.7892 17.2046 0.640131 0.639648 -0.24842 0.3454 +#11255 1721120859949 +SLAM 12.1781 -25.0272 37.9378 -0.578342 0.08762 0.653387 0.480551 +TTool-pose None 35 12.789 17.2072 0.64036 0.639497 -0.248711 0.345044 +#11256 1721120859981 +SLAM 12.1964 -25.015 37.9534 -0.578662 0.0870461 0.653506 0.480107 +TTool-pose None 35.0072 12.7892 17.2199 0.640602 0.639737 -0.24826 0.344476 +#11257 1721120860017 +SLAM 12.1104 -25.0295 37.9604 -0.579458 0.0862251 0.652664 0.48044 +TTool-pose None 34.9822 12.7813 17.2272 0.640226 0.640444 -0.247065 0.344721 +#11258 1721120860047 +SLAM 12.1606 -25.0711 37.9035 -0.578378 0.086461 0.653322 0.480805 +TTool-pose None 34.9922 12.7777 17.2153 0.639889 0.640388 -0.248345 0.344531 +#11259 1721120860079 +SLAM 12.176 -25.0366 37.9292 -0.578472 0.0869139 0.653465 0.480416 +TTool-pose None 35.0003 12.7784 17.2102 0.64031 0.639936 -0.248405 0.344544 +#11260 1721120860112 +SLAM 12.1623 -25.06 37.9225 -0.578778 0.0859184 0.653294 0.48046 +TTool-pose None 34.997 12.7771 17.2253 0.640069 0.640644 -0.247791 0.344119 +#11261 1721120860147 +SLAM 12.1304 -25.0651 37.9235 -0.578939 0.0858773 0.652997 0.480677 +TTool-pose None 34.9883 12.7759 17.2223 0.639905 0.640756 -0.247558 0.344381 +#11262 1721120860177 +#11263 1721120860206 +#11264 1721120860244 +SLAM 38.0153 -0.923455 32.7131 -0.456847 0.220261 0.85425 0.114172 +TTool-pose None 43.7181 10.79 18.5361 0.84878 0.35759 -0.378751 0.0862554 +#11265 1721120860276 +#11266 1721120860312 +SLAM 11.8095 -24.6902 38.3604 -0.587456 0.0845801 0.649265 0.475602 +TTool-pose None 34.9442 12.6734 17.34 0.644361 0.639971 -0.237892 0.344343 +#11267 1721120860345 +#11268 1721120860379 +#11269 1721120860407 +#11270 1721120860445 +SLAM 12.5675 -24.1423 38.8314 -0.591614 0.0783859 0.65504 0.463434 +TTool-pose None 35.2168 12.7778 17.5299 0.652617 0.639748 -0.233111 0.332262 +#11271 1721120860478 +SLAM 11.4188 -25.1898 38.02 -0.585281 0.0790104 0.647093 0.482156 +TTool-pose None 34.8819 12.6096 17.2391 0.63768 0.646147 -0.238078 0.34512 +#11272 1721120860512 +SLAM 12.1711 -24.8104 38.2245 -0.583041 0.0833595 0.654106 0.474616 +TTool-pose None 35.1235 12.6369 17.2649 0.644423 0.640344 -0.242985 0.33995 +#11273 1721120860545 +SLAM 12.0732 -24.3354 38.8157 -0.593909 0.0754288 0.650977 0.466703 +TTool-pose None 35.1385 12.7107 17.4925 0.649576 0.643037 -0.229161 0.334614 +#11274 1721120860578 +#11275 1721120860612 +SLAM 12.2075 -24.6343 38.4416 -0.585099 0.0832023 0.654291 0.471848 +TTool-pose None 35.2031 12.6456 17.2739 0.646725 0.63947 -0.240906 0.338698 +#11276 1721120860649 +SLAM 12.0912 -24.6907 38.4163 -0.585387 0.0826379 0.653498 0.472687 +TTool-pose None 35.1833 12.6124 17.2598 0.645967 0.640176 -0.240302 0.339241 +#11277 1721120860680 +SLAM 11.6755 -24.8832 38.3601 -0.587495 0.0789864 0.649702 0.475918 +TTool-pose None 35.0818 12.5835 17.2608 0.642759 0.643917 -0.236395 0.340996 +#11278 1721120860712 +SLAM 11.9509 -24.7297 38.436 -0.586605 0.0809058 0.652414 0.472975 +TTool-pose None 35.1729 12.5777 17.2611 0.645436 0.641496 -0.238377 0.339116 +#11279 1721120860744 +SLAM 11.3702 -24.8704 38.5424 -0.59302 0.0723294 0.646048 0.475098 +TTool-pose None 35.0421 12.6016 17.3523 0.642213 0.648249 -0.228196 0.339395 +#11280 1721120860776 +SLAM 11.9787 -24.5011 38.729 -0.592675 0.0739593 0.651704 0.467491 +TTool-pose None 35.2098 12.5819 17.4186 0.648496 0.644309 -0.230148 0.333579 +#11281 1721120860814 +SLAM 11.3271 -24.6978 38.6645 -0.595195 0.072344 0.646339 0.471969 +TTool-pose None 35.0596 12.4805 17.3497 0.644831 0.647117 -0.226056 0.338021 +#11282 1721120860848 +SLAM 11.7391 -24.6897 38.5449 -0.589712 0.0774258 0.651097 0.471506 +TTool-pose None 35.1799 12.4811 17.2582 0.646 0.64339 -0.234006 0.337493 +#11283 1721120860880 +SLAM 11.8096 -24.7005 38.5183 -0.589631 0.0758991 0.651949 0.470678 +TTool-pose None 35.1963 12.4574 17.2746 0.646254 0.644121 -0.233832 0.335727 +#11284 1721120860914 +SLAM 11.8528 -24.9435 38.2084 -0.584722 0.0781385 0.653595 0.47414 +TTool-pose None 35.1799 12.3965 17.1771 0.643677 0.643776 -0.239744 0.337169 +#11285 1721120860947 +SLAM 26.7604 -20.2912 33.1543 -0.442425 0.209674 0.78676 0.375907 +TTool-pose None 38.7926 12.3934 15.9946 0.708388 0.497717 -0.42458 0.264773 +#11286 1721120860980 +SLAM 11.9426 -24.8657 38.275 -0.585343 0.0776019 0.654376 0.472381 +TTool-pose None 35.2172 12.3913 17.1992 0.644965 0.643501 -0.239125 0.335666 +#11287 1721120861013 +SLAM 11.8262 -24.9366 38.2484 -0.585808 0.0764696 0.653271 0.473517 +TTool-pose None 35.188 12.3895 17.2013 0.643849 0.644707 -0.238119 0.336211 +#11288 1721120861048 +SLAM 12.018 -24.8573 38.2605 -0.584226 0.0789702 0.655238 0.472341 +TTool-pose None 35.2437 12.3956 17.1759 0.645227 0.642526 -0.240804 0.335832 +#11289 1721120861082 +SLAM 11.9357 -24.8774 38.2645 -0.585121 0.0777867 0.65443 0.47255 +TTool-pose None 35.22 12.3835 17.19 0.644858 0.643433 -0.239411 0.335797 +#11290 1721120861111 +SLAM 11.8937 -24.857 38.3127 -0.586447 0.0762423 0.653855 0.471954 +TTool-pose None 35.2154 12.3825 17.2178 0.645062 0.644294 -0.237528 0.335092 +#11291 1721120861150 +SLAM 11.972 -24.9607 38.1607 -0.583671 0.0775687 0.655186 0.473331 +TTool-pose None 35.2215 12.3617 17.1685 0.644061 0.643838 -0.240963 0.335443 +#11292 1721120861185 +SLAM 11.9086 -24.9742 38.1629 -0.583969 0.0775238 0.654596 0.473788 +TTool-pose None 35.2067 12.3594 17.1634 0.643726 0.644046 -0.240532 0.335996 +#11293 1721120861220 +SLAM 11.9056 -24.8152 38.3572 -0.587027 0.0758463 0.653894 0.471242 +TTool-pose None 35.2265 12.3863 17.2249 0.645568 0.644311 -0.236839 0.334572 +#11294 1721120861252 +SLAM 11.9916 -24.9445 38.1772 -0.583306 0.0784884 0.655418 0.473308 +TTool-pose None 35.2392 12.3687 17.1524 0.64427 0.643193 -0.241632 0.335796 +#11295 1721120861287 +SLAM 11.7844 -24.9952 38.1946 -0.584842 0.0770863 0.653349 0.474503 +TTool-pose None 35.191 12.3652 17.1592 0.643146 0.644631 -0.23928 0.336877 +#11296 1721120861316 +SLAM 11.8994 -24.9347 38.2196 -0.584425 0.0779026 0.654382 0.473459 +TTool-pose None 35.2203 12.3737 17.1616 0.644118 0.643676 -0.240136 0.336237 +#11297 1721120861347 +SLAM 11.8116 -24.9457 38.2497 -0.585032 0.0779008 0.653453 0.473992 +TTool-pose None 35.2116 12.3812 17.1599 0.643762 0.64389 -0.239338 0.337077 +#11298 1721120861384 +SLAM 11.8516 -24.9941 38.176 -0.58267 0.0807528 0.654244 0.475331 +TTool-pose None 35.2295 12.3822 17.0966 0.643197 0.642383 -0.242666 0.338647 +#11299 1721120861421 +SLAM 11.921 -24.8931 38.2664 -0.582909 0.0821467 0.654751 0.474099 +TTool-pose None 35.2675 12.3981 17.0927 0.644516 0.640978 -0.242912 0.338626 +#11300 1721120861451 +SLAM 11.8171 -25.0068 38.1938 -0.582118 0.0821723 0.653981 0.476126 +TTool-pose None 35.2475 12.3999 17.0628 0.642873 0.641694 -0.24356 0.339928 +#11301 1721120861482 +SLAM 11.7135 -25.0543 38.167 -0.582 0.0826484 0.653195 0.477264 +TTool-pose None 35.2256 12.3842 17.0409 0.642091 0.641787 -0.243648 0.341163 +#11302 1721120861514 +SLAM 11.6204 -25.0274 38.2423 -0.584179 0.0802943 0.652073 0.476538 +TTool-pose None 35.2126 12.3798 17.0797 0.642292 0.643181 -0.240581 0.340337 +#11303 1721120861550 +SLAM 11.7492 -25.0136 38.1834 -0.58229 0.0821806 0.653768 0.476207 +TTool-pose None 35.2392 12.354 17.0409 0.642829 0.641723 -0.243346 0.34011 +#11304 1721120861587 +SLAM 11.5411 -25.0675 38.208 -0.584674 0.0789515 0.651593 0.476813 +TTool-pose None 35.1875 12.3418 17.0807 0.641795 0.644211 -0.239612 0.340009 +#11305 1721120861618 +SLAM 11.7039 -25.0275 38.1856 -0.583559 0.0797015 0.653403 0.475574 +TTool-pose None 35.2251 12.3198 17.0756 0.642837 0.643214 -0.24131 0.338724 +#11306 1721120861647 +SLAM 11.6692 -24.9821 38.2755 -0.585304 0.0779732 0.652834 0.474498 +TTool-pose None 35.2384 12.3236 17.1089 0.643413 0.644035 -0.238959 0.337734 +#11307 1721120861683 +SLAM 11.7915 -24.966 38.2335 -0.583298 0.0804807 0.654337 0.474479 +TTool-pose None 35.2703 12.3189 17.0642 0.643853 0.642268 -0.241978 0.338111 +#11308 1721120861716 +SLAM 11.698 -24.9257 38.3104 -0.585162 0.0791688 0.653259 0.473888 +TTool-pose None 35.2569 12.3135 17.089 0.644167 0.642989 -0.239521 0.337891 +#11309 1721120861747 +SLAM 11.4265 -25.1421 38.2075 -0.587335 0.0729578 0.650748 0.475648 +TTool-pose None 35.1786 12.2585 17.1552 0.641456 0.64792 -0.235081 0.336744 +#11310 1721120861780 +SLAM 11.6099 -24.964 38.3074 -0.585694 0.0780953 0.65264 0.474261 +TTool-pose None 35.2509 12.2905 17.0834 0.643663 0.643873 -0.238561 0.337848 +#11311 1721120861814 +SLAM 11.5619 -25.0015 38.2637 -0.584913 0.0790604 0.652587 0.475138 +TTool-pose None 35.2444 12.2663 17.0446 0.643147 0.643522 -0.239605 0.338761 +#11312 1721120861845 +SLAM 11.4831 -25.02 38.3065 -0.586514 0.0764858 0.651677 0.474835 +TTool-pose None 35.2421 12.2645 17.0785 0.642895 0.645201 -0.23709 0.337812 +#11313 1721120861880 +SLAM 11.4843 -24.9947 38.302 -0.586539 0.0766798 0.652025 0.474295 +TTool-pose None 35.242 12.2247 17.0658 0.643365 0.644869 -0.23719 0.33748 +#11314 1721120861914 +SLAM 11.5689 -24.9032 38.3612 -0.586968 0.0768544 0.652961 0.472444 +TTool-pose None 35.2754 12.197 17.0741 0.644884 0.644071 -0.236994 0.33624 +#11315 1721120861948 +SLAM 11.4701 -25.0332 38.2642 -0.585845 0.0764833 0.65256 0.474449 +TTool-pose None 35.2646 12.1788 17.0252 0.643133 0.645045 -0.237942 0.337058 +#11316 1721120861985 +SLAM 11.6224 -24.9645 38.2514 -0.584499 0.0780844 0.654546 0.47311 +TTool-pose None 35.3069 12.1419 16.9879 0.64444 0.643423 -0.240144 0.336096 +#11317 1721120862017 +SLAM 11.4614 -24.9499 38.3212 -0.586915 0.075596 0.65289 0.472811 +TTool-pose None 35.2776 12.1291 17.0126 0.644281 0.645064 -0.236682 0.335711 +#11318 1721120862050 +SLAM 11.4072 -25.0057 38.2676 -0.586476 0.0754894 0.65259 0.473785 +TTool-pose None 35.258 12.118 16.9932 0.643459 0.645489 -0.237034 0.336223 +#11319 1721120862083 +SLAM 11.4573 -25.0101 38.2349 -0.585287 0.0769236 0.653259 0.474104 +TTool-pose None 35.2687 12.1184 16.9649 0.643457 0.644604 -0.238769 0.336697 +#11320 1721120862114 +SLAM 11.467 -24.9778 38.253 -0.58529 0.0776112 0.653333 0.473886 +TTool-pose None 35.2693 12.1207 16.9586 0.643797 0.644054 -0.238972 0.336955 +#11321 1721120862153 +SLAM 11.6074 -24.9483 38.225 -0.583997 0.0788704 0.654762 0.473301 +TTool-pose None 35.2929 12.1233 16.9475 0.644437 0.642947 -0.240912 0.336464 +#11322 1721120862183 +SLAM 11.6694 -24.9479 38.2013 -0.582932 0.0800231 0.655428 0.473499 +TTool-pose None 35.3065 12.1353 16.926 0.644464 0.642207 -0.242437 0.336731 +#11323 1721120862212 +SLAM 11.5261 -24.9785 38.2184 -0.584417 0.0782719 0.653903 0.474069 +TTool-pose None 35.268 12.1348 16.9456 0.643735 0.643651 -0.24015 0.337006 +#11324 1721120862247 +SLAM 11.5083 -25.0026 38.1847 -0.584371 0.0778779 0.653791 0.474346 +TTool-pose None 35.2496 12.1242 16.9487 0.643419 0.644022 -0.240065 0.336963 +#11325 1721120862288 +SLAM 11.5916 -24.923 38.2298 -0.584544 0.0783428 0.654448 0.473148 +TTool-pose None 35.2657 12.1334 16.9562 0.644478 0.643263 -0.240152 0.336325 +#11326 1721120862319 +SLAM 11.4192 -24.9242 38.2812 -0.586885 0.0759999 0.652507 0.473313 +TTool-pose None 35.2175 12.1344 16.9891 0.643991 0.644975 -0.236748 0.336393 +#11327 1721120862348 +SLAM 11.4659 -25.0124 38.1528 -0.585017 0.0764658 0.653207 0.474583 +TTool-pose None 35.1994 12.1309 16.9663 0.642947 0.645087 -0.238902 0.336652 +#11328 1721120862381 +SLAM 11.5551 -24.984 38.1166 -0.584036 0.0777094 0.65416 0.474276 +TTool-pose None 35.1973 12.1256 16.9544 0.643399 0.644103 -0.240429 0.336586 +#11329 1721120862414 +SLAM 11.6263 -24.9201 38.145 -0.584512 0.0772539 0.654559 0.473213 +TTool-pose None 35.1938 12.1426 16.9776 0.644155 0.644029 -0.239903 0.335654 +#11330 1721120862450 +SLAM 11.6826 -24.916 38.1154 -0.584001 0.0774838 0.655028 0.473158 +TTool-pose None 35.1869 12.152 16.9802 0.644206 0.643839 -0.240575 0.33544 +#11331 1721120862482 +SLAM 11.6991 -24.8975 38.1011 -0.584144 0.0772644 0.65501 0.473041 +TTool-pose None 35.1609 12.1628 16.9913 0.644256 0.643949 -0.240366 0.335283 +#11332 1721120862513 +SLAM 11.6296 -24.9054 38.0974 -0.584968 0.0763382 0.65412 0.473405 +TTool-pose None 35.1201 12.1721 17.0086 0.643823 0.644735 -0.239099 0.335508 +#11333 1721120862548 +SLAM 11.6623 -24.9037 38.0645 -0.584709 0.0763258 0.654351 0.473407 +TTool-pose None 35.1009 12.1762 17.016 0.643794 0.644739 -0.239403 0.335343 +#11334 1721120862581 +SLAM 11.708 -24.823 38.1094 -0.585056 0.0770298 0.654549 0.47259 +TTool-pose None 35.0972 12.1947 17.0217 0.644634 0.643962 -0.239289 0.3353 +#11335 1721120862614 +SLAM 11.6449 -24.8819 38.0476 -0.585013 0.076328 0.653926 0.473619 +TTool-pose None 35.0539 12.1938 17.0248 0.64366 0.644823 -0.239012 0.335716 +#11336 1721120862647 +SLAM 11.8021 -24.8332 38.0326 -0.58408 0.077133 0.655393 0.47261 +TTool-pose None 35.0757 12.2009 17.0291 0.64455 0.643876 -0.24047 0.334782 +#11337 1721120862682 +SLAM 11.7336 -24.8233 38.052 -0.585024 0.0764519 0.654581 0.472679 +TTool-pose None 35.0475 12.2026 17.0423 0.644419 0.644389 -0.239167 0.334982 +#11338 1721120862716 +SLAM 11.8128 -24.825 38.0138 -0.583988 0.0772329 0.655412 0.472682 +TTool-pose None 35.0559 12.2076 17.0311 0.64451 0.643832 -0.240595 0.334853 +#11339 1721120862754 +SLAM 11.7168 -24.8523 38.012 -0.584963 0.075897 0.654382 0.473119 +TTool-pose None 35.0219 12.2039 17.0478 0.643934 0.644929 -0.239033 0.334969 +#11340 1721120862784 +SLAM 11.7633 -24.7903 38.0562 -0.585312 0.0762034 0.65468 0.472226 +TTool-pose None 35.0324 12.2116 17.0573 0.644735 0.644396 -0.238827 0.334603 +#11341 1721120862814 +SLAM 11.8477 -24.7687 38.0494 -0.58473 0.0767113 0.655512 0.471711 +TTool-pose None 35.0506 12.2132 17.0567 0.645203 0.643843 -0.239721 0.334124 +#11342 1721120862848 +SLAM 11.8555 -24.7867 38.0219 -0.584135 0.0772353 0.655687 0.472118 +TTool-pose None 35.0495 12.2137 17.0421 0.644961 0.643624 -0.240502 0.334453 +#11343 1721120862881 +SLAM 11.8267 -24.7869 38.0256 -0.584509 0.0768385 0.655436 0.472069 +TTool-pose None 35.0409 12.2039 17.0467 0.644936 0.643885 -0.239964 0.334383 +#11344 1721120862914 +SLAM 11.7521 -24.8154 38.0199 -0.585079 0.0759602 0.654691 0.472538 +TTool-pose None 35.019 12.2008 17.0528 0.644411 0.644672 -0.238996 0.334573 +#11345 1721120862951 +SLAM 11.7862 -24.8055 38.0279 -0.585174 0.0755472 0.654984 0.47208 +TTool-pose None 35.0298 12.2 17.0636 0.64467 0.644785 -0.238842 0.333965 +#11346 1721120862983 +SLAM 11.7453 -24.7875 38.0611 -0.585896 0.0751513 0.654522 0.471889 +TTool-pose None 35.0247 12.1994 17.0698 0.644788 0.645 -0.237911 0.333986 +#11347 1721120863018 +SLAM 11.72 -24.8312 38.0052 -0.58526 0.0754321 0.654527 0.472625 +TTool-pose None 35.0095 12.1823 17.0514 0.644229 0.645069 -0.238632 0.334419 +#11348 1721120863051 +SLAM 11.8337 -24.7882 38.0206 -0.584355 0.0766731 0.655663 0.471971 +TTool-pose None 35.049 12.1961 17.0353 0.644956 0.643957 -0.240118 0.334095 +#11349 1721120863082 +SLAM 11.8098 -24.7728 38.0343 -0.584871 0.0762145 0.655511 0.471616 +TTool-pose None 35.0437 12.1788 17.0391 0.645166 0.64415 -0.23944 0.333806 +#11350 1721120863119 +SLAM 11.7049 -24.7603 38.0748 -0.586143 0.0753944 0.654481 0.4716 +TTool-pose None 35.0233 12.1671 17.0454 0.645096 0.644732 -0.237722 0.334044 +#11351 1721120863148 +SLAM 11.6763 -24.798 38.0439 -0.586234 0.0743618 0.65438 0.471791 +TTool-pose None 35.0151 12.1469 17.0471 0.644698 0.645508 -0.23732 0.333598 +#11352 1721120863185 +SLAM 11.7574 -24.7183 38.0969 -0.58618 0.0751738 0.655233 0.470544 +TTool-pose None 35.05 12.1444 17.0375 0.645859 0.644489 -0.237771 0.333003 +#11353 1721120863218 +SLAM 11.7882 -24.7406 38.0413 -0.584987 0.0761338 0.655919 0.470918 +TTool-pose None 35.0547 12.124 17.004 0.645696 0.643947 -0.23938 0.333215 +#11354 1721120863249 +SLAM 11.8598 -24.6567 38.0968 -0.584814 0.0773954 0.656737 0.469786 +TTool-pose None 35.0905 12.1197 16.9841 0.646864 0.642658 -0.240067 0.332941 +#11355 1721120863285 +SLAM 11.6578 -24.7662 38.0501 -0.585895 0.0749981 0.654964 0.471301 +TTool-pose None 35.0377 12.0926 16.9898 0.645204 0.644885 -0.237956 0.333373 +#11356 1721120863317 +SLAM 11.6973 -24.7741 38.0159 -0.584879 0.0758228 0.65576 0.471324 +TTool-pose None 35.0556 12.0694 16.9571 0.645294 0.644308 -0.239371 0.333301 +#11357 1721120863353 +SLAM 11.8048 -24.6715 38.0794 -0.584648 0.0772425 0.656892 0.469802 +TTool-pose None 35.0996 12.0651 16.9422 0.646798 0.642764 -0.240223 0.332753 +#11358 1721120863393 +SLAM 11.6479 -24.7197 38.0746 -0.585777 0.0756361 0.655554 0.470525 +TTool-pose None 35.0654 12.0394 16.9414 0.645951 0.644157 -0.238371 0.333037 +#11359 1721120863426 +SLAM 11.5548 -24.6601 38.1701 -0.587895 0.074011 0.654559 0.469527 +TTool-pose None 35.0605 12.0275 16.9607 0.646513 0.644938 -0.235577 0.332421 +#11360 1721120863457 +SLAM 11.5856 -24.7113 38.0821 -0.586121 0.075255 0.65545 0.470302 +TTool-pose None 35.0674 11.996 16.9118 0.64606 0.644342 -0.237896 0.332808 +#11361 1721120863489 +SLAM 11.6369 -24.701 38.0556 -0.584967 0.0766546 0.656392 0.4702 +TTool-pose None 35.0888 11.9713 16.8718 0.646376 0.643323 -0.239639 0.332915 +#11362 1721120863524 +SLAM 11.7253 -24.6945 38.0324 -0.583877 0.0773672 0.657574 0.469785 +TTool-pose None 35.1217 11.9555 16.8477 0.646766 0.642654 -0.241169 0.332345 +#11363 1721120863563 +SLAM 11.3661 -24.7045 38.1339 -0.588135 0.0732462 0.654024 0.47009 +TTool-pose None 35.0502 11.9224 16.879 0.645908 0.645674 -0.235014 0.332566 +#11364 1721120863593 +SLAM 11.331 -24.7034 38.1224 -0.587542 0.0744014 0.654166 0.470453 +TTool-pose None 35.0563 11.8961 16.8308 0.645864 0.645011 -0.235966 0.333265 +#11365 1721120863622 +SLAM 11.5577 -24.7004 38.0252 -0.584682 0.0762246 0.657045 0.469711 +TTool-pose None 35.1072 11.8578 16.7856 0.646618 0.643425 -0.239934 0.332034 +#11366 1721120863652 +SLAM 11.6641 -24.6781 37.9684 -0.582481 0.0790948 0.658742 0.469594 +TTool-pose None 35.1353 11.8202 16.7221 0.6472 0.641367 -0.243286 0.332443 +#11367 1721120863682 +SLAM 11.4144 -24.7527 37.9973 -0.584895 0.0753697 0.656407 0.470475 +TTool-pose None 35.0964 11.8023 16.7359 0.645837 0.644299 -0.239355 0.332277 +#11368 1721120863715 +SLAM 11.3562 -24.6756 38.0752 -0.586162 0.0751702 0.656017 0.469474 +TTool-pose None 35.0997 11.7775 16.725 0.64668 0.64409 -0.237942 0.332056 +#11369 1721120863749 +SLAM 11.2293 -24.7533 38.0318 -0.586251 0.074323 0.655196 0.470643 +TTool-pose None 35.0801 11.7471 16.7001 0.645576 0.645106 -0.237453 0.33258 +#11370 1721120863781 +SLAM 11.1598 -24.7072 38.0984 -0.58756 0.0734362 0.654619 0.469952 +TTool-pose None 35.0827 11.7324 16.6965 0.646009 0.645481 -0.235766 0.332213 +#11371 1721120863815 +SLAM 11.1599 -24.7673 38.0389 -0.586485 0.073656 0.655036 0.470679 +TTool-pose None 35.093 11.7123 16.6658 0.645404 0.645579 -0.236998 0.332324 +#11372 1721120863850 +SLAM 11.141 -24.7408 38.0563 -0.58665 0.0739432 0.655165 0.470248 +TTool-pose None 35.101 11.6813 16.6477 0.645823 0.645226 -0.236937 0.332237 +#11373 1721120863885 +SLAM 11.1299 -24.7231 38.0704 -0.586532 0.0745286 0.655301 0.470112 +TTool-pose None 35.1125 11.6657 16.6251 0.646064 0.644775 -0.237247 0.332425 +#11374 1721120863915 +SLAM 11.1302 -24.6932 38.093 -0.586668 0.0746852 0.655511 0.469626 +TTool-pose None 35.1247 11.6488 16.6105 0.64649 0.644489 -0.237196 0.332186 +#11375 1721120863951 +SLAM 11.2284 -24.626 38.1231 -0.586319 0.0754189 0.656647 0.468355 +TTool-pose None 35.1596 11.6341 16.5987 0.647617 0.643505 -0.237976 0.331339 +#11376 1721120863983 +SLAM 10.9681 -24.9846 37.8821 -0.584517 0.0731827 0.654727 0.473621 +TTool-pose None 35.1027 11.6209 16.5568 0.642824 0.646952 -0.238788 0.333372 +#11377 1721120864015 +SLAM 11.0029 -24.7544 38.0605 -0.586682 0.0738837 0.655035 0.470399 +TTool-pose None 35.1233 11.5941 16.5617 0.645695 0.645324 -0.236863 0.332349 +#11378 1721120864048 +SLAM 11.0207 -24.9195 37.9119 -0.583218 0.0760976 0.655734 0.473371 +TTool-pose None 35.144 11.6116 16.4855 0.643621 0.644843 -0.241117 0.334242 +#11379 1721120864083 +SLAM 11.1255 -24.6179 38.1298 -0.586182 0.0761338 0.656673 0.468376 +TTool-pose None 35.1762 11.557 16.523 0.647767 0.643022 -0.23832 0.331737 +#11380 1721120864117 +SLAM 10.9114 -24.793 38.0259 -0.586068 0.0744729 0.654992 0.471131 +TTool-pose None 35.1293 11.5371 16.4969 0.64522 0.645182 -0.23764 0.332991 +#11381 1721120864150 +SLAM 11.0227 -24.698 38.0701 -0.585866 0.0754944 0.6562 0.469535 +TTool-pose None 35.161 11.5222 16.4887 0.646686 0.643885 -0.238368 0.332137 +#11382 1721120864185 +SLAM 10.8895 -24.8831 37.932 -0.586362 0.0712554 0.655322 0.470802 +TTool-pose None 35.1154 11.4563 16.5201 0.64469 0.647253 -0.236501 0.330802 +#11383 1721120864221 +SLAM 10.9537 -24.8512 37.9388 -0.583852 0.0759039 0.656226 0.471935 +TTool-pose None 35.1574 11.4992 16.4267 0.644743 0.644455 -0.240522 0.333254 +#11384 1721120864254 +SLAM 10.8345 -24.7966 38.0004 -0.586072 0.0740676 0.655174 0.470935 +TTool-pose None 35.1285 11.458 16.4427 0.64527 0.645385 -0.237558 0.33256 +#11385 1721120864286 +SLAM 10.9828 -24.694 38.0397 -0.585314 0.0758045 0.656812 0.469317 +TTool-pose None 35.1719 11.446 16.4215 0.646878 0.643579 -0.239132 0.331808 +#11386 1721120864317 +SLAM 10.4962 -25.2267 37.7175 -0.58644 0.0662111 0.652559 0.475259 +TTool-pose None 35.0446 11.3815 16.471 0.639957 0.652331 -0.234431 0.331489 +#11387 1721120864354 +SLAM 10.887 -24.7139 38.026 -0.585352 0.075735 0.656452 0.469785 +TTool-pose None 35.1656 11.4058 16.3782 0.646504 0.643803 -0.239004 0.332194 +#11388 1721120864383 +SLAM 10.9437 -24.7011 38.0129 -0.58502 0.0756344 0.657274 0.469065 +TTool-pose None 35.1822 11.376 16.3737 0.647 0.643593 -0.239472 0.331296 +#11389 1721120864416 +SLAM 10.7856 -24.7361 38.0441 -0.586824 0.0730826 0.655742 0.469361 +TTool-pose None 35.1608 11.3653 16.3878 0.646307 0.645483 -0.236632 0.331013 +#11390 1721120864450 +SLAM 10.8489 -24.8697 37.9052 -0.583355 0.0755404 0.65685 0.47174 +TTool-pose None 35.1858 11.377 16.3203 0.644754 0.644617 -0.241044 0.332542 +#11391 1721120864484 +SLAM 10.8778 -24.63 38.0884 -0.585669 0.076316 0.657191 0.46826 +TTool-pose None 35.2074 11.3329 16.3262 0.647851 0.642842 -0.23899 0.331438 +#11392 1721120864517 +SLAM 10.7129 -24.886 37.8994 -0.584474 0.0740923 0.656151 0.471557 +TTool-pose None 35.1656 11.2994 16.3062 0.644643 0.645562 -0.239371 0.332132 +#11393 1721120864549 +SLAM 10.5997 -24.7593 38.0385 -0.587001 0.0734423 0.655058 0.470038 +TTool-pose None 35.159 11.2791 16.3054 0.645893 0.645496 -0.23642 0.331945 +#11394 1721120864582 +SLAM 10.7161 -24.7445 38.0236 -0.585529 0.0749965 0.656453 0.469682 +TTool-pose None 35.2001 11.2736 16.2779 0.646415 0.644271 -0.238619 0.331734 +#11395 1721120864621 +SLAM 10.6681 -24.7773 38.0249 -0.58606 0.0735023 0.656071 0.469789 +TTool-pose None 35.2029 11.2674 16.2813 0.64601 0.64534 -0.237587 0.331187 +#11396 1721120864655 +SLAM 10.6212 -24.9202 37.8877 -0.58488 0.0726477 0.656201 0.471209 +TTool-pose None 35.1854 11.2108 16.2687 0.644587 0.646424 -0.238564 0.331143 +#11397 1721120864686 +SLAM 10.7117 -24.7027 38.0736 -0.5864 0.073581 0.656848 0.468265 +TTool-pose None 35.2326 11.2289 16.2668 0.647234 0.644722 -0.237417 0.330119 +#11398 1721120864719 +SLAM 10.7509 -24.8348 37.9337 -0.583378 0.075518 0.657806 0.470381 +TTool-pose None 35.248 11.2168 16.2091 0.645797 0.644124 -0.241202 0.331356 +#11399 1721120864755 +SLAM 10.7358 -24.7992 37.963 -0.584 0.0750534 0.657823 0.469659 +TTool-pose None 35.2517 11.1941 16.2061 0.646298 0.644185 -0.240446 0.330809 +#11400 1721120864789 +SLAM 10.5941 -24.8942 37.9107 -0.584672 0.0729648 0.65676 0.470638 +TTool-pose None 35.2218 11.1551 16.2083 0.645087 0.64599 -0.238973 0.330722 +#11401 1721120864824 +SLAM 10.4562 -24.9998 37.869 -0.586228 0.0687684 0.655548 0.471025 +TTool-pose None 35.1946 11.1175 16.2438 0.643873 0.649018 -0.235974 0.329306 +#11402 1721120864855 +SLAM 10.6766 -24.7174 38.0419 -0.585427 0.0742542 0.657722 0.468149 +TTool-pose None 35.2664 11.1395 16.1858 0.647398 0.644197 -0.23876 0.329854 +#11403 1721120864893 +SLAM 10.6574 -24.8748 37.9035 -0.582446 0.0762727 0.658066 0.47105 +TTool-pose None 35.2746 11.144 16.1177 0.645377 0.643836 -0.242403 0.331856 +#11404 1721120864925 +SLAM 10.6771 -24.6875 38.047 -0.584754 0.0758481 0.658272 0.467961 +TTool-pose None 35.2852 11.1016 16.138 0.647874 0.643025 -0.239994 0.33031 +#11405 1721120864962 +SLAM 10.6502 -24.8643 37.9035 -0.58201 0.076792 0.658449 0.470969 +TTool-pose None 35.291 11.1195 16.0772 0.645524 0.643441 -0.243063 0.331855 +#11406 1721120864999 +SLAM 10.5577 -24.7282 38.0403 -0.585261 0.0745784 0.657615 0.468455 +TTool-pose None 35.2816 11.0683 16.1051 0.647227 0.644088 -0.238999 0.330229 +#11407 1721120865032 +SLAM 10.3647 -25.0605 37.8081 -0.585977 0.0669628 0.656152 0.470756 +TTool-pose None 35.2194 10.9921 16.1695 0.643592 0.650134 -0.235832 0.327751 +#11408 1721120865067 +SLAM 10.6022 -24.8545 37.9 -0.581573 0.0775928 0.658763 0.470938 +TTool-pose None 35.3063 11.0642 16.0168 0.645702 0.642871 -0.243788 0.33208 +#11409 1721120865099 +SLAM 10.5043 -24.8999 37.8758 -0.582938 0.0746378 0.658052 0.470723 +TTool-pose None 35.2795 11.0164 16.0401 0.64527 0.64484 -0.241446 0.330813 +#11410 1721120865132 +SLAM 10.5669 -24.7289 37.9942 -0.583421 0.0767909 0.658683 0.468893 +TTool-pose None 35.3052 11.0177 16.0125 0.647262 0.642699 -0.241685 0.330913 +#11411 1721120865163 +SLAM 10.5379 -24.8664 37.8771 -0.58304 0.074133 0.658787 0.469647 +TTool-pose None 35.2918 10.9719 16.0283 0.64598 0.644781 -0.241345 0.329611 +#11412 1721120865193 +SLAM 10.5428 -24.6525 38.0377 -0.584408 0.0764682 0.658924 0.467374 +TTool-pose None 35.3078 10.9515 16.001 0.648444 0.642373 -0.240642 0.329989 +#11413 1721120865232 +SLAM 10.3945 -24.8322 37.9329 -0.584012 0.074472 0.657794 0.469778 +TTool-pose None 35.2848 10.9421 15.9872 0.646062 0.644625 -0.240266 0.330542 +#11414 1721120865262 +SLAM 10.2161 -24.9817 37.8562 -0.585167 0.0705181 0.656275 0.471074 +TTool-pose None 35.2462 10.9067 16.0103 0.644179 0.647825 -0.237687 0.329824 +#11415 1721120865298 +SLAM 10.3556 -24.826 37.94 -0.58438 0.0739619 0.65779 0.469407 +TTool-pose None 35.2893 10.904 15.972 0.646255 0.644842 -0.23975 0.330115 +#11416 1721120865335 +SLAM 10.3223 -24.9582 37.8198 -0.580512 0.0784991 0.657925 0.473263 +TTool-pose None 35.2978 10.946 15.8631 0.644028 0.643095 -0.244943 0.334045 +#11417 1721120865368 +SLAM 10.0366 -25.032 37.8319 -0.586493 0.0683354 0.655136 0.471331 +TTool-pose None 35.2154 10.8303 15.9982 0.643551 0.649433 -0.235503 0.329457 +#11418 1721120865404 +SLAM 10.4855 -24.629 38.0539 -0.583681 0.0780081 0.659379 0.467387 +TTool-pose None 35.3421 10.8916 15.9101 0.648744 0.641309 -0.241894 0.330553 +#11419 1721120865434 +SLAM 10.1236 -24.9959 37.8313 -0.583781 0.073097 0.656379 0.472254 +TTool-pose None 35.2589 10.857 15.9078 0.643787 0.646482 -0.239835 0.331668 +#11420 1721120865468 +SLAM 10.1709 -24.8476 37.9182 -0.583953 0.0756436 0.657025 0.47074 +TTool-pose None 35.2734 10.8359 15.8776 0.645609 0.644188 -0.240504 0.332104 +#11421 1721120865502 +SLAM 10.2029 -24.8249 37.9356 -0.583833 0.0757736 0.657404 0.470338 +TTool-pose None 35.2901 10.8377 15.8678 0.64594 0.643945 -0.240736 0.331764 +#11422 1721120865534 +SLAM 10.0939 -24.86 37.929 -0.585835 0.0721966 0.656459 0.469731 +TTool-pose None 35.2601 10.7864 15.91 0.645704 0.6462 -0.237523 0.330151 +#11423 1721120865570 +SLAM 10.0968 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9.78108 -24.9024 37.9432 -0.58624 0.0737331 0.65439 0.471869 +TTool-pose None 35.238 10.7264 15.8108 0.644481 0.645965 -0.237139 0.333262 +#11430 1721120865790 +SLAM 9.62644 -25.0635 37.852 -0.586869 0.0702882 0.653085 0.473418 +TTool-pose None 35.2073 10.6997 15.8281 0.642471 0.648896 -0.23527 0.332774 +#11431 1721120865820 +SLAM 9.80629 -24.8724 37.9543 -0.586062 0.0741608 0.654934 0.471268 +TTool-pose None 35.2536 10.7002 15.7927 0.645035 0.645446 -0.237547 0.332904 +#11432 1721120865850 +SLAM 9.83978 -24.9221 37.9278 -0.584861 0.074643 0.655328 0.472136 +TTool-pose None 35.2802 10.7285 15.767 0.644372 0.645414 -0.238973 0.333233 +#11433 1721120865885 +SLAM 9.87198 -24.7892 37.9979 -0.58713 0.0728346 0.655783 0.468959 +TTool-pose None 35.268 10.6491 15.8135 0.646582 0.645508 -0.23626 0.330691 +#11434 1721120865917 +SLAM 10.3631 -24.5476 38.0912 -0.582112 0.0822598 0.660424 0.46714 +TTool-pose None 35.4042 10.7404 15.7146 0.649817 0.63827 -0.244857 0.332143 +#11435 1721120865953 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1721120866150 +SLAM 9.72022 -24.8724 37.9511 -0.583962 0.077429 0.655735 0.472234 +TTool-pose None 35.3126 10.6241 15.6298 0.644902 0.643531 -0.24074 0.334573 +#11442 1721120866184 +SLAM 9.71027 -24.8273 37.9757 -0.585766 0.0748227 0.655823 0.470293 +TTool-pose None 35.3017 10.5613 15.6681 0.645925 0.644624 -0.238207 0.332301 +#11443 1721120866217 +SLAM 9.67159 -24.8413 37.9683 -0.585235 0.0757851 0.655699 0.470973 +TTool-pose None 35.306 10.5564 15.6342 0.64559 0.644211 -0.238988 0.33319 +#11444 1721120866253 +SLAM 9.61091 -24.8899 37.9494 -0.586234 0.0730794 0.655258 0.470771 +TTool-pose None 35.2981 10.5281 15.6537 0.645163 0.645999 -0.237133 0.331876 +#11445 1721120866283 +SLAM 9.38649 -25.0949 37.8243 -0.586949 0.0691226 0.653451 0.472985 +TTool-pose None 35.2505 10.4842 15.6633 0.642516 0.649526 -0.234931 0.331692 +#11446 1721120866316 +SLAM 9.59471 -24.7481 38.0382 -0.58783 0.0731217 0.655484 0.468454 +TTool-pose None 35.2972 10.4611 15.6458 0.647108 0.64514 -0.235574 0.33087 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0.330493 +#11453 1721120866551 +SLAM 9.61442 -24.8679 37.9113 -0.583322 0.0771661 0.65713 0.471126 +TTool-pose None 35.3568 10.4235 15.4889 0.645629 0.643279 -0.241586 0.333042 +#11454 1721120866584 +SLAM 9.52291 -24.9192 37.8881 -0.583479 0.0765011 0.656477 0.47195 +TTool-pose None 35.3467 10.4093 15.4732 0.644844 0.644045 -0.241114 0.333425 +#11455 1721120866617 +SLAM 9.49795 -24.8636 37.9294 -0.585005 0.0748972 0.656383 0.470447 +TTool-pose None 35.3398 10.3665 15.4912 0.645752 0.644612 -0.239107 0.332013 +#11456 1721120866651 +SLAM 9.60929 -24.8136 37.9586 -0.584158 0.0761133 0.657477 0.469777 +TTool-pose None 35.3775 10.3857 15.4719 0.646488 0.643512 -0.240516 0.331696 +#11457 1721120866684 +SLAM 9.63533 -24.7352 37.9973 -0.583922 0.0780467 0.657932 0.469115 +TTool-pose None 35.3861 10.3669 15.4453 0.647453 0.64194 -0.241383 0.332231 +#11458 1721120866718 +SLAM 9.5522 -24.7913 37.9615 -0.583969 0.0774554 0.657372 0.469939 +TTool-pose None 35.3714 10.3465 15.4338 0.646678 0.642654 -0.241062 0.332593 +#11459 1721120866753 +SLAM 9.36016 -24.8352 37.9746 -0.587345 0.0719323 0.655604 0.46908 +TTool-pose None 35.3302 10.2859 15.4904 0.646282 0.646171 -0.235753 0.330345 +#11460 1721120866785 +SLAM 9.58889 -24.797 37.9522 -0.584031 0.0762984 0.65798 0.469201 +TTool-pose None 35.3887 10.3196 15.4355 0.646964 0.643166 -0.240795 0.331236 +#11461 1721120866818 +SLAM 9.44314 -24.748 38.0121 -0.58516 0.0771658 0.65673 0.469402 +TTool-pose None 35.3676 10.2992 15.4106 0.647136 0.64268 -0.239652 0.33267 +#11462 1721120866852 +SLAM 9.4016 -24.964 37.8674 -0.583231 0.0758542 0.65653 0.472288 +TTool-pose None 35.3731 10.3254 15.3897 0.644397 0.644605 -0.241194 0.333147 +#11463 1721120866886 +SLAM 9.3675 -24.8483 37.9446 -0.583176 0.0793056 0.656426 0.471933 +TTool-pose None 35.3746 10.3071 15.3427 0.645521 0.642118 -0.242191 0.335047 +#11464 1721120866918 +SLAM 9.2145 -24.8395 37.9826 -0.586397 0.0750104 0.655039 0.470569 +TTool-pose None 35.3389 10.2444 15.3934 0.645819 0.644614 -0.237467 0.333053 +#11465 1721120866951 +SLAM 9.35432 -24.8267 37.9645 -0.584175 0.07769 0.656493 0.470871 +TTool-pose None 35.3775 10.2729 15.3534 0.646039 0.642849 -0.240747 0.333685 +#11466 1721120866986 +SLAM 9.44174 -24.6326 38.0934 -0.586716 0.076237 0.657274 0.466843 +TTool-pose None 35.3874 10.2193 15.4021 0.64902 0.642388 -0.237923 0.330799 +#11467 1721120867019 +SLAM 9.35114 -24.7192 38.0473 -0.585724 0.0771515 0.656608 0.468872 +TTool-pose None 35.3838 10.2312 15.3626 0.647595 0.642504 -0.239054 0.332547 +#11468 1721120867051 +SLAM 9.28816 -24.8056 37.9879 -0.585144 0.0767827 0.656215 0.470206 +TTool-pose None 35.3753 10.2257 15.3455 0.646421 0.643242 -0.239462 0.333112 +#11469 1721120867084 +SLAM 9.19629 -24.8162 37.9995 -0.58718 0.0734757 0.655426 0.469295 +TTool-pose None 35.3548 10.1818 15.3804 0.64649 0.645199 -0.23632 0.331431 +#11470 1721120867118 +SLAM 9.16024 -24.8062 38.0138 -0.585993 0.076533 0.655214 0.470584 +TTool-pose None 35.3642 10.2043 15.325 0.646149 0.643574 -0.238337 0.333804 +#11471 1721120867151 +SLAM 9.19886 -24.7537 38.0449 -0.587641 0.073975 0.655588 0.468412 +TTool-pose None 35.3625 10.1609 15.3725 0.647338 0.644539 -0.236025 0.331269 +#11472 1721120867185 +SLAM 9.12678 -24.8846 37.9533 -0.58476 0.077238 0.655184 0.472042 +TTool-pose None 35.3672 10.2015 15.2922 0.645081 0.643609 -0.239773 0.334774 +#11473 1721120867219 +SLAM 9.0971 -24.8786 37.9686 -0.585029 0.0770964 0.655007 0.471978 +TTool-pose None 35.3711 10.1934 15.2834 0.645121 0.643688 -0.239427 0.334791 +#11474 1721120867252 +SLAM 9.0672 -24.8957 37.9648 -0.585516 0.0759093 0.654864 0.471764 +TTool-pose None 35.3717 10.1736 15.2878 0.645038 0.644428 -0.238575 0.334135 +#11475 1721120867284 +SLAM 9.0667 -24.8856 37.9654 -0.58551 0.0759926 0.655016 0.471548 +TTool-pose None 35.3734 10.1581 15.2797 0.645225 0.644291 -0.238635 0.333996 +#11476 1721120867325 +SLAM 8.97088 -24.9522 37.9403 -0.586725 0.0729788 0.654227 0.471608 +TTool-pose None 35.3594 10.1283 15.3017 0.644538 0.646392 -0.236404 0.332846 +#11477 1721120867359 +SLAM 9.07512 -24.8707 37.9762 -0.58581 0.0754322 0.655302 0.470867 +TTool-pose None 35.3838 10.1324 15.2784 0.645639 0.644425 -0.238231 0.333224 +#11478 1721120867393 +SLAM 9.0176 -24.8178 38.0146 -0.586644 0.0756554 0.654919 0.470324 +TTool-pose None 35.3724 10.1045 15.2681 0.646192 0.64409 -0.237375 0.33341 +#11479 1721120867422 +SLAM 9.04798 -24.8908 37.9545 -0.5842 0.0780879 0.655428 0.472257 +TTool-pose None 35.3958 10.1347 15.2136 0.645071 0.643096 -0.240622 0.335169 +#11480 1721120867453 +SLAM 9.02426 -24.8285 38.0081 -0.585484 0.0773813 0.655252 0.471026 +TTool-pose None 35.3939 10.1068 15.2261 0.64597 0.643149 -0.239095 0.334426 +#11481 1721120867484 +SLAM 8.92935 -24.8699 38.0038 -0.586095 0.0762174 0.654441 0.471584 +TTool-pose None 35.386 10.0996 15.2219 0.645309 0.644165 -0.237992 0.334535 +#11482 1721120867517 +SLAM 9.15407 -24.5462 38.2061 -0.588576 0.07633 0.656402 0.465713 +TTool-pose None 35.4212 10.055 15.2714 0.650085 0.641943 -0.235893 0.331026 +#11483 1721120867550 +SLAM 8.91967 -24.8153 38.0458 -0.586859 0.0758563 0.654597 0.470474 +TTool-pose None 35.3946 10.0658 15.2151 0.646147 0.644014 -0.237151 0.333804 +#11484 1721120867589 +SLAM 8.88217 -24.771 38.0753 -0.587859 0.0753597 0.654394 0.469586 +TTool-pose None 35.3849 10.0289 15.2205 0.646802 0.644042 -0.235959 0.333325 +#11485 1721120867618 +SLAM 8.86599 -24.8785 37.9951 -0.585673 0.0769883 0.654517 0.471876 +TTool-pose None 35.3976 10.0493 15.1701 0.645235 0.643739 -0.238649 0.33503 +#11486 1721120867654 +SLAM 8.84445 -24.818 38.0314 -0.586109 0.0777063 0.654523 0.471209 +TTool-pose None 35.3952 10.021 15.1548 0.645969 0.643011 -0.23841 0.335184 +#11487 1721120867688 +SLAM 8.77266 -24.7791 38.0804 -0.588354 0.0748859 0.653905 0.469722 +TTool-pose None 35.3837 9.98179 15.183 0.646624 0.644427 -0.235228 0.333444 +#11488 1721120867721 +SLAM 8.91194 -24.7105 38.0975 -0.587386 0.0765444 0.655367 0.468629 +TTool-pose None 35.4119 9.97556 15.1701 0.64779 0.642866 -0.23696 0.332967 +#11489 1721120867752 +SLAM 8.77236 -24.8463 38.0337 -0.586701 0.0761049 0.654263 0.471095 +TTool-pose None 35.4071 9.98724 15.1353 0.645715 0.644073 -0.237314 0.334409 +#11490 1721120867785 +SLAM 8.82817 -24.7801 38.052 -0.586509 0.0771983 0.655027 0.470093 +TTool-pose None 35.4131 9.95742 15.1235 0.646742 0.642949 -0.237964 0.334127 +#11491 1721120867818 +SLAM 8.76427 -24.9203 37.9588 -0.58503 0.0771093 0.654702 0.472397 +TTool-pose None 35.4153 9.96807 15.0881 0.644801 0.643836 -0.239368 0.335167 +#11492 1721120867852 +SLAM 8.74889 -24.9417 37.9401 -0.58367 0.0791781 0.65482 0.473573 +TTool-pose None 35.4271 9.9752 15.0386 0.644271 0.64283 -0.241339 0.3367 +#11493 1721120867885 +SLAM 8.78029 -24.7994 38.0346 -0.586309 0.0769225 0.655159 0.470203 +TTool-pose None 35.4222 9.91529 15.0841 0.64657 0.643173 -0.238115 0.33392 +#11494 1721120867919 +SLAM 8.69709 -24.8969 37.9818 -0.585379 0.0771931 0.654593 0.472103 +TTool-pose None 35.4236 9.92376 15.0498 0.645082 0.643677 -0.239018 0.33518 +#11495 1721120867955 +SLAM 8.66167 -24.9044 37.9699 -0.586855 0.0743338 0.654458 0.470915 +TTool-pose None 35.4075 9.86733 15.0829 0.645426 0.645215 -0.2367 0.333199 +#11496 1721120867986 +SLAM 8.61513 -24.9797 37.9242 -0.584931 0.0764934 0.654311 0.473161 +TTool-pose None 35.4224 9.89163 15.0185 0.644047 0.644537 -0.239218 0.335373 +#11497 1721120868021 +SLAM 8.75328 -24.8736 37.9807 -0.584617 0.0776691 0.655768 0.471336 +TTool-pose None 35.4579 9.88085 15.0073 0.645719 0.643048 -0.240152 0.33435 +#11498 1721120868060 +SLAM 8.5689 -24.8668 38.0152 -0.588322 0.0725969 0.654165 0.469761 +TTool-pose None 35.4157 9.80479 15.0572 0.646016 0.645997 -0.234669 0.331974 +#11499 1721120868093 +SLAM 8.56801 -24.897 37.978 -0.586164 0.0759189 0.654506 0.471455 +TTool-pose None 35.4287 9.81333 14.9934 0.64534 0.644322 -0.237852 0.334272 +#11500 1721120868133 +SLAM 8.63251 -24.8075 38.0363 -0.586825 0.0757546 0.655213 0.469674 +TTool-pose None 35.4463 9.79264 14.9976 0.646735 0.643783 -0.237278 0.333019 +#11501 1721120868168 +SLAM 8.56859 -24.9043 37.9564 -0.584662 0.0781236 0.655042 0.472216 +TTool-pose None 35.4465 9.79424 14.9326 0.645156 0.643068 -0.24009 0.33544 +#11502 1721120868198 +SLAM 8.51362 -24.8397 38.0239 -0.587991 0.0735127 0.654579 0.469455 +TTool-pose None 35.435 9.73341 14.9871 0.646452 0.645253 -0.235343 0.332096 +#11503 1721120868232 +SLAM 8.54874 -24.9262 37.9567 -0.583911 0.0787103 0.655275 0.472723 +TTool-pose None 35.4761 9.78591 14.8855 0.644837 0.642838 -0.241057 0.335802 +#11504 1721120868261 +SLAM 8.41453 -24.89 37.9987 -0.586784 0.0754 0.654225 0.471158 +TTool-pose None 35.4465 9.71526 14.9158 0.645498 0.644579 -0.237025 0.334058 +#11505 1721120868292 +SLAM 8.41155 -24.9149 37.9672 -0.585526 0.0769841 0.654581 0.471972 +TTool-pose None 35.4569 9.70052 14.8745 0.645145 0.643774 -0.23881 0.33502 +#11506 1721120868326 +SLAM 8.42282 -24.917 37.9701 -0.584754 0.0779181 0.654961 0.472248 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0.471895 +TTool-pose None 35.5129 9.55553 14.6897 0.646008 0.641404 -0.24018 0.33692 +#11513 1721120868552 +SLAM 8.34996 -24.7614 38.0815 -0.585227 0.0793708 0.656251 0.469622 +TTool-pose None 35.5483 9.53153 14.7025 0.647518 0.64126 -0.240105 0.334337 +#11514 1721120868588 +SLAM 8.14747 -24.8688 38.0274 -0.586447 0.0764415 0.654802 0.470606 +TTool-pose None 35.5198 9.47525 14.6964 0.646152 0.643655 -0.237771 0.334045 +#11515 1721120868621 +SLAM 7.9009 -25.203 37.8266 -0.586226 0.0709818 0.653008 0.474217 +TTool-pose None 35.4985 9.4467 14.6878 0.641967 0.648708 -0.236099 0.333524 +#11516 1721120868656 +SLAM 8.03363 -24.8282 38.0526 -0.586741 0.0775287 0.654465 0.470531 +TTool-pose None 35.5175 9.40872 14.6372 0.646508 0.642893 -0.237711 0.334867 +#11517 1721120868688 +SLAM 7.9913 -24.8034 38.0907 -0.58788 0.0761012 0.654257 0.46963 +TTool-pose None 35.5262 9.38247 14.6362 0.646954 0.643555 -0.236118 0.333859 +#11518 1721120868717 +SLAM 7.85009 -25.1883 37.8298 -0.585223 0.0728217 0.653523 0.474466 +TTool-pose None 35.5263 9.38521 14.6009 0.642145 0.647529 -0.237734 0.334313 +#11519 1721120868750 +SLAM 7.83026 -25.1892 37.8389 -0.585719 0.0715824 0.653607 0.473928 +TTool-pose None 35.5381 9.36138 14.5911 0.642296 0.648182 -0.236901 0.333346 +#11520 1721120868786 +SLAM 7.96654 -24.7849 38.1097 -0.585656 0.0800661 0.654942 0.470796 +TTool-pose None 35.5768 9.36169 14.5151 0.646826 0.641235 -0.239607 0.336078 +#11521 1721120868817 +SLAM 7.75625 -25.1812 37.844 -0.584013 0.0755521 0.653585 0.475445 +TTool-pose None 35.5557 9.33784 14.5003 0.641955 0.646006 -0.239732 0.336193 +#11522 1721120868851 +SLAM 7.73646 -25.077 37.9046 -0.584259 0.077783 0.653667 0.474669 +TTool-pose None 35.552 9.30267 14.471 0.643134 0.644204 -0.240126 0.337115 +#11523 1721120868886 +SLAM 7.71849 -25.0974 37.9023 -0.586462 0.0725753 0.653746 0.472664 +TTool-pose None 35.5555 9.24751 14.5113 0.643596 0.647054 -0.23646 0.333344 +#11524 1721120868917 +SLAM 7.68937 -25.0924 37.9279 -0.586326 0.0728095 0.653769 0.472765 +TTool-pose None 35.5797 9.24287 14.4751 0.643564 0.646929 -0.236668 0.333499 +#11525 1721120868954 +SLAM 7.54121 -25.0488 37.9382 -0.58818 0.0717244 0.652865 0.471876 +TTool-pose None 35.5365 9.15216 14.4697 0.644149 0.647376 -0.234308 0.333168 +#11526 1721120868984 +SLAM 7.74011 -24.9041 38.0013 -0.585109 0.078591 0.65509 0.471517 +TTool-pose None 35.5892 9.166 14.3896 0.645854 0.642499 -0.239779 0.33541 +#11527 1721120869019 +SLAM 7.64435 -24.8964 38.025 -0.586325 0.0771742 0.654493 0.471069 +TTool-pose None 35.5862 9.12859 14.3789 0.645966 0.643326 -0.238038 0.334849 +#11528 1721120869054 +SLAM 7.68996 -24.8086 38.0812 -0.587265 0.0764407 0.65516 0.469085 +TTool-pose None 35.6006 9.0936 14.3778 0.647401 0.643105 -0.237013 0.333224 +#11529 1721120869085 +SLAM 7.54729 -24.8764 38.0582 -0.588265 0.0741279 0.654198 0.469547 +TTool-pose None 35.5931 9.05432 14.3659 0.646561 0.644875 -0.235164 0.332743 +#11530 1721120869118 +SLAM 7.59843 -24.9198 38.0014 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37.9456 -0.585533 0.0743563 0.656497 0.469716 +TTool-pose None 35.6669 8.86528 14.1934 0.646229 0.644719 -0.238444 0.331351 +#11537 1721120869355 +SLAM 7.62082 -24.8181 38.0321 -0.584233 0.0790614 0.657835 0.468694 +TTool-pose None 35.6974 8.86071 14.1383 0.648057 0.641098 -0.241331 0.332716 +#11538 1721120869390 +SLAM 7.63324 -24.9618 37.9118 -0.581922 0.0792078 0.658541 0.47055 +TTool-pose None 35.716 8.84437 14.0949 0.646437 0.641634 -0.243842 0.333005 +#11539 1721120869422 +SLAM 7.61559 -24.9783 37.9149 -0.581614 0.0790552 0.658723 0.4707 +TTool-pose None 35.7391 8.83306 14.0623 0.646251 0.641786 -0.244146 0.332848 +#11540 1721120869454 +SLAM 7.78894 -24.7344 38.0571 -0.581799 0.082324 0.660452 0.467478 +TTool-pose None 35.7702 8.80915 14.0431 0.649543 0.638345 -0.245195 0.332287 +#11541 1721120869485 +SLAM 7.5672 -25.2383 37.7286 -0.580902 0.0734134 0.659134 0.471917 +TTool-pose None 35.757 8.77191 14.0558 0.643836 0.646064 -0.243365 0.329809 +#11542 1721120869521 +SLAM 7.71699 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7.54609 -24.7612 38.0586 -0.582452 0.0806412 0.66081 0.466452 +TTool-pose None 35.8232 8.57861 13.893 0.649982 0.639126 -0.24414 0.330699 +#11549 1721120869753 +SLAM 7.5654 -24.9235 37.9285 -0.579922 0.0807618 0.661544 0.468538 +TTool-pose None 35.8447 8.56788 13.8525 0.648153 0.639759 -0.246868 0.33104 +#11550 1721120869785 +SLAM 7.4741 -24.8205 38.0438 -0.583217 0.0774367 0.660934 0.465863 +TTool-pose None 35.8529 8.51598 13.8615 0.649719 0.64111 -0.242501 0.328573 +#11551 1721120869823 +SLAM 7.45174 -25.0877 37.8468 -0.579649 0.0772278 0.661533 0.469486 +TTool-pose None 35.8829 8.50601 13.7976 0.646525 0.642519 -0.246159 0.329399 +#11552 1721120869853 +SLAM 7.55421 -24.8128 38.0033 -0.580262 0.0813539 0.662701 0.466375 +TTool-pose None 35.8897 8.4583 13.7688 0.649986 0.638547 -0.246907 0.329754 +#11553 1721120869891 +SLAM 7.4107 -24.9948 37.9046 -0.580145 0.0782619 0.661988 0.468059 +TTool-pose None 35.8977 8.41858 13.7451 0.647927 0.64129 -0.246034 0.329134 +#11554 1721120869920 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1721120870120 +SLAM 7.15471 -24.9612 37.9571 -0.578853 0.0811646 0.66302 0.467703 +TTool-pose None 35.9956 8.15858 13.4873 0.648775 0.639136 -0.248337 0.329923 +#11561 1721120870154 +SLAM 7.04753 -25.0291 37.917 -0.58011 0.0776725 0.662525 0.46744 +TTool-pose None 35.9871 8.10305 13.4831 0.648249 0.641457 -0.246007 0.328192 +#11562 1721120870186 +SLAM 6.98976 -25.0236 37.9215 -0.580399 0.0775015 0.662358 0.467346 +TTool-pose None 35.9863 8.06922 13.4582 0.648309 0.641547 -0.245636 0.328176 +#11563 1721120870220 +SLAM 6.86542 -25.0216 37.9451 -0.581602 0.076271 0.661593 0.467137 +TTool-pose None 35.9841 8.02784 13.435 0.648289 0.64234 -0.243933 0.327932 +#11564 1721120870254 +SLAM 6.89677 -24.9921 37.9435 -0.580734 0.0777105 0.662303 0.466974 +TTool-pose None 35.9933 8.00134 13.3972 0.648681 0.641273 -0.245346 0.328193 +#11565 1721120870286 +SLAM 7.03713 -25.0907 37.8413 -0.577634 0.0786879 0.664125 0.468065 +TTool-pose None 36.0326 8.00383 13.3521 0.647755 0.640925 -0.249088 0.327882 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0.327806 +#11572 1721120870524 +SLAM 6.59519 -25.1539 37.8142 -0.57923 0.0770426 0.662166 0.469141 +TTool-pose None 36.013 7.8096 13.2078 0.646699 0.642503 -0.246651 0.328722 +#11573 1721120870554 +SLAM 6.45735 -25.0246 37.9321 -0.58135 0.0778646 0.660902 0.468165 +TTool-pose None 35.9962 7.78407 13.1927 0.647874 0.641636 -0.244501 0.329705 +#11574 1721120870586 +SLAM 6.41411 -25.1263 37.8547 -0.581807 0.0745089 0.660796 0.468292 +TTool-pose None 35.9893 7.75383 13.2012 0.646986 0.643981 -0.243081 0.327919 +#11575 1721120870620 +SLAM 6.52619 -25.0465 37.8966 -0.580624 0.0770981 0.662017 0.467617 +TTool-pose None 36.016 7.75452 13.1707 0.648026 0.64193 -0.245233 0.328287 +#11576 1721120870652 +SLAM 6.51545 -25.0385 37.892 -0.580476 0.0774209 0.662171 0.467528 +TTool-pose None 36.015 7.73124 13.154 0.648158 0.641672 -0.245501 0.328329 +#11577 1721120870687 +SLAM 6.54779 -24.9426 37.952 -0.580688 0.0788857 0.662496 0.466559 +TTool-pose None 36.0177 7.72364 13.1427 0.649283 0.640314 -0.245755 0.328569 +#11578 1721120870720 +SLAM 6.44831 -24.8559 38.0325 -0.58144 0.0809045 0.661595 0.466556 +TTool-pose None 36.0103 7.7136 13.1174 0.649862 0.638956 -0.245384 0.33034 +#11579 1721120870754 +SLAM 6.54522 -24.9834 37.905 -0.580424 0.0781834 0.662713 0.466698 +TTool-pose None 36.0109 7.69862 13.1402 0.648976 0.640837 -0.245868 0.328071 +#11580 1721120870786 +SLAM 6.49698 -25.0101 37.8951 -0.580635 0.0775786 0.662374 0.467018 +TTool-pose None 36.0098 7.69091 13.1335 0.648604 0.641377 -0.245422 0.328086 +#11581 1721120870819 +SLAM 6.46095 -25.0671 37.8633 -0.580848 0.0759807 0.662148 0.467335 +TTool-pose None 36.011 7.68556 13.1339 0.647986 0.642591 -0.244719 0.327454 +#11582 1721120870852 +SLAM 6.55035 -25.2086 37.741 -0.578042 0.0763862 0.663246 0.469188 +TTool-pose None 36.034 7.70374 13.1101 0.64637 0.642931 -0.24787 0.327612 +#11583 1721120870886 +SLAM 6.57395 -25.2498 37.7053 -0.578262 0.0743147 0.663597 0.468754 +TTool-pose None 36.0379 7.69094 13.1196 0.646207 0.644183 -0.247135 0.326025 +#11584 1721120870919 +SLAM 6.58273 -24.9708 37.907 -0.580438 0.0771452 0.66345 0.465804 +TTool-pose None 36.0288 7.67571 13.1171 0.6494 0.641206 -0.245703 0.32663 +#11585 1721120870954 +SLAM 6.65521 -24.9043 37.9419 -0.580389 0.0778745 0.664105 0.464811 +TTool-pose None 36.0367 7.67574 13.1161 0.650331 0.64033 -0.246078 0.326212 +#11586 1721120870986 +SLAM 6.59715 -24.9249 37.9315 -0.580853 0.0772158 0.663632 0.465016 +TTool-pose None 36.0262 7.66147 13.1185 0.650061 0.640871 -0.245337 0.326247 +#11587 1721120871020 +SLAM 6.695 -24.904 37.9293 -0.57988 0.0783429 0.664537 0.46475 +TTool-pose None 36.0398 7.67134 13.1139 0.650439 0.639973 -0.246803 0.326153 +#11588 1721120871056 +SLAM 6.70213 -24.9189 37.9092 -0.578593 0.0803388 0.664723 0.465745 +TTool-pose None 36.0433 7.67527 13.0885 0.650035 0.638949 -0.24869 0.327528 +#11589 1721120871093 +SLAM 6.62526 -24.8745 37.9549 -0.580478 0.0788837 0.66392 0.464793 +TTool-pose None 36.0261 7.65698 13.1082 0.650604 0.639639 -0.246233 0.326908 +#11590 1721120871123 +SLAM 6.5796 -24.9303 37.9255 -0.580391 0.0781619 0.663563 0.465533 +TTool-pose None 36.0256 7.65838 13.1036 0.649854 0.640409 -0.246054 0.327027 +#11591 1721120871159 +SLAM 6.61482 -24.8874 37.9474 -0.580667 0.0782929 0.663841 0.46477 +TTool-pose None 36.0246 7.65367 13.1117 0.650496 0.640038 -0.245864 0.326619 +#11592 1721120871190 +SLAM 6.63833 -24.9222 37.9226 -0.580142 0.0779496 0.664144 0.465051 +TTool-pose None 36.0349 7.65899 13.105 0.650141 0.640363 -0.246355 0.326319 +#11593 1721120871225 +SLAM 6.63401 -24.9614 37.8879 -0.57968 0.0779279 0.664163 0.465603 +TTool-pose None 36.0313 7.65677 13.1034 0.649665 0.640573 -0.24682 0.326501 +#11594 1721120871254 +SLAM 6.63094 -24.8583 37.9808 -0.581625 0.0766758 0.66396 0.463671 +TTool-pose None 36.0348 7.65555 13.1198 0.651031 0.64075 -0.244466 0.325202 +#11595 1721120871293 +SLAM 6.61294 -24.8902 37.9539 -0.580374 0.0787932 0.66384 0.465053 +TTool-pose None 36.0332 7.6612 13.1016 0.650373 0.639796 -0.246299 0.32701 +#11596 1721120871322 +SLAM 6.68466 -25.0682 37.8199 -0.57873 0.0762065 0.664737 0.46625 +TTool-pose None 36.0564 7.67236 13.1037 0.648641 0.641962 -0.247407 0.325364 +#11597 1721120871356 +SLAM 6.67584 -24.9598 37.8823 -0.579266 0.0783624 0.664541 0.465505 +TTool-pose None 36.0368 7.65735 13.1069 0.649803 0.640227 -0.247429 0.326446 +#11598 1721120871386 +SLAM 6.64578 -24.9883 37.8706 -0.580216 0.0760298 0.66425 0.465125 +TTool-pose None 36.032 7.65202 13.1229 0.649614 0.641701 -0.245766 0.325181 +#11599 1721120871421 +SLAM 6.45091 -25.0661 37.8467 -0.582186 0.0727817 0.662492 0.465689 +TTool-pose None 36.0048 7.62489 13.1391 0.648578 0.644181 -0.242534 0.324772 +#11600 1721120871462 +SLAM 6.66038 -24.94 37.9052 -0.5799 0.0778478 0.664273 0.465185 +TTool-pose None 36.0339 7.66503 13.1145 0.649988 0.640476 -0.246596 0.326221 +#11601 1721120871493 +SLAM 6.71417 -24.9011 37.9177 -0.57986 0.0781863 0.664728 0.464527 +TTool-pose None 36.0334 7.66454 13.1198 0.650567 0.639994 -0.246815 0.325846 +#11602 1721120871524 +SLAM 6.69106 -25.092 37.793 -0.578566 0.0758716 0.664764 0.466469 +TTool-pose None 36.0486 7.67399 13.111 0.648372 0.642268 -0.247483 0.325237 +#11603 1721120871554 +SLAM 6.73235 -24.9267 37.9042 -0.579623 0.0777165 0.664882 0.464682 +TTool-pose None 36.0418 7.67465 13.1207 0.650306 0.640366 -0.246952 0.325531 +#11604 1721120871587 +SLAM 6.6927 -24.8612 37.9584 -0.579682 0.0800363 0.664435 0.464854 +TTool-pose None 36.037 7.67628 13.1068 0.650757 0.638851 -0.247452 0.327224 +#11605 1721120871622 +SLAM 6.65795 -24.9153 37.933 -0.579938 0.0784784 0.664185 0.465157 +TTool-pose None 36.04 7.67492 13.1089 0.650169 0.640037 -0.246715 0.32663 +#11606 1721120871654 +SLAM 6.63206 -24.9052 37.9418 -0.580762 0.0774658 0.663908 0.464693 +TTool-pose None 36.0305 7.66593 13.1212 0.650359 0.640576 -0.245549 0.326074 +#11607 1721120871692 +SLAM 6.64873 -24.8922 37.9333 -0.580868 0.0776 0.664009 0.464395 +TTool-pose None 36.0169 7.6548 13.1364 0.65063 0.640374 -0.245499 0.325967 +#11608 1721120871723 +SLAM 6.70913 -24.8906 37.9288 -0.580458 0.0775618 0.664544 0.464149 +TTool-pose None 36.0277 7.66557 13.1375 0.650764 0.640294 -0.246001 0.325478 +#11609 1721120871760 +SLAM 6.62822 -24.8999 37.9422 -0.580798 0.0777531 0.663782 0.464781 +TTool-pose None 36.0233 7.66907 13.1276 0.650367 0.640414 -0.24557 0.326358 +#11610 1721120871790 +SLAM 6.64973 -24.9558 37.8992 -0.579844 0.077932 0.664046 0.465564 +TTool-pose None 36.0309 7.67648 13.1217 0.649714 0.640561 -0.246633 0.32657 +#11611 1721120871820 +SLAM 6.74024 -24.7446 38.0581 -0.581521 0.0784887 0.664647 0.462513 +TTool-pose None 36.0497 7.68873 13.1246 0.652348 0.639071 -0.245201 0.325313 +#11612 1721120871854 +SLAM 6.59033 -24.9132 37.954 -0.581469 0.076381 0.663463 0.464626 +TTool-pose None 36.0305 7.67072 13.126 0.650215 0.64131 -0.244449 0.325743 +#11613 1721120871888 +SLAM 6.59515 -24.83 38.0214 -0.581726 0.0781625 0.663347 0.464173 +TTool-pose None 36.0335 7.68011 13.1218 0.651031 0.639932 -0.244663 0.326664 +#11614 1721120871921 +SLAM 6.55118 -24.9324 37.9462 -0.581442 0.0768509 0.662977 0.465275 +TTool-pose None 36.0209 7.67587 13.1333 0.649836 0.641235 -0.244517 0.326595 +#11615 1721120871954 +SLAM 6.61171 -24.9224 37.9409 -0.581441 0.0763779 0.663449 0.46468 +TTool-pose None 36.0218 7.6791 13.1492 0.65017 0.641332 -0.244474 0.325771 +#11616 1721120871988 +SLAM 6.45913 -25.0542 37.8877 -0.583231 0.0715272 0.661955 0.46534 +TTool-pose None 36.0075 7.67594 13.1795 0.648635 0.64493 -0.241021 0.324297 +#11617 1721120872020 +SLAM 6.4915 -24.9356 37.9791 -0.585387 0.0705873 0.66162 0.463248 +TTool-pose None 35.9904 7.69339 13.2382 0.650207 0.644832 -0.238505 0.3232 +#11618 1721120872055 +SLAM 6.28316 -25.2556 37.7922 -0.585893 0.0649225 0.659262 0.466785 +TTool-pose None 35.9559 7.72697 13.2936 0.646104 0.650017 -0.235934 0.322928 +#11619 1721120872087 +SLAM 6.38438 -25.748 37.4527 -0.582905 0.0575158 0.659352 0.471347 +TTool-pose None 35.975 7.85562 13.3779 0.640356 0.656643 -0.236826 0.320306 +#11620 1721120872122 +SLAM 6.39846 -24.7898 38.1924 -0.592611 0.0659799 0.656897 0.46146 +TTool-pose None 35.8897 7.92079 13.5249 0.651076 0.647445 -0.228949 0.323136 +#11621 1721120872154 +SLAM 6.39033 -25.0447 38.0665 -0.595672 0.0556206 0.654925 0.461686 +TTool-pose None 35.8475 8.0259 13.7262 0.648446 0.654565 -0.222446 0.318586 +#11622 1721120872186 +SLAM 6.36114 -25.9292 37.4706 -0.58978 0.0470311 0.653272 0.472422 +TTool-pose None 35.8481 8.2234 13.8366 0.63734 0.664223 -0.22558 0.318804 +#11623 1721120872220 +SLAM 6.90942 -25.1631 37.9791 -0.590454 0.0616105 0.656139 0.465886 +TTool-pose None 35.8411 8.39268 13.9418 0.646361 0.65202 -0.229751 0.322834 +#11624 1721120872254 +SLAM 7.17686 -24.6817 38.3097 -0.589549 0.0753195 0.656415 0.464627 +TTool-pose None 35.8237 8.58713 13.9892 0.650755 0.642243 -0.234623 0.330028 +#11625 1721120872289 +SLAM 7.52477 -24.6966 38.2587 -0.591137 0.0687822 0.657941 0.461455 +TTool-pose None 35.7991 8.68411 14.1913 0.651667 0.645515 -0.231449 0.324026 +#11626 1721120872326 +SLAM 7.69165 -25.107 37.9393 -0.587945 0.0634666 0.658469 0.465522 +TTool-pose None 35.7821 8.81475 14.2908 0.64689 0.650574 -0.233283 0.322158 +#11627 1721120872356 +SLAM 8.29932 -24.8687 37.9724 -0.586989 0.0644222 0.662433 0.460952 +TTool-pose None 35.7705 8.9361 14.4405 0.650521 0.64817 -0.235269 0.318221 +#11628 1721120872389 +SLAM 8.573 -24.7548 38.0005 -0.58616 0.0669433 0.663335 0.46035 +TTool-pose None 35.7411 9.08129 14.5359 0.651547 0.646215 -0.236999 0.318814 +#11629 1721120872423 +#11630 1721120872453 +#11631 1721120872487 +#11632 1721120872520 +#11633 1721120872556 +#11634 1721120872592 +#11635 1721120872624 +SLAM 10.532 -23.9485 38.638 -0.589047 0.0799538 0.664038 0.453524 +TTool-pose None 35.6484 10.4012 15.7346 0.66026 0.634833 -0.237811 0.323123 +#11636 1721120872660 +SLAM 9.72383 -24.8364 38.2335 -0.591358 0.0666107 0.654941 0.465737 +TTool-pose None 35.4438 10.5367 15.8778 0.647859 0.648608 -0.230037 0.326481 +#11637 1721120872693 +SLAM 10.5656 -24.4315 38.387 -0.583919 0.0823789 0.661155 0.463818 +TTool-pose None 35.59 10.8154 15.8261 0.652565 0.63698 -0.243196 0.330445 +#11638 1721120872721 +SLAM 10.425 -24.6562 38.2848 -0.587618 0.0730905 0.65837 0.464662 +TTool-pose None 35.4828 10.8576 16.0365 0.649985 0.643727 -0.236334 0.32742 +#11639 1721120872755 +SLAM 10.2398 -24.9931 38.0936 -0.590802 0.0623457 0.655131 0.466765 +TTool-pose None 35.3575 10.8938 16.2492 0.645912 0.651863 -0.229415 0.324286 +#11640 1721120872789 +SLAM 10.6342 -24.6515 38.2787 -0.59069 0.0675642 0.657394 0.462984 +TTool-pose None 35.3825 11.0088 16.3253 0.650148 0.64691 -0.231457 0.32429 +#11641 1721120872823 +SLAM 10.6818 -24.9054 38.0905 -0.589022 0.0657488 0.656564 0.466534 +TTool-pose None 35.3278 11.1297 16.4187 0.646811 0.64944 -0.232479 0.325172 +#11642 1721120872856 +SLAM 10.5646 -25.0639 38.037 -0.59029 0.0626544 0.653936 0.469043 +TTool-pose None 35.2516 11.2414 16.5281 0.644195 0.652499 -0.229791 0.326152 +#11643 1721120872888 +SLAM 10.7585 -24.7417 38.2628 -0.594692 0.0608268 0.654388 0.463052 +TTool-pose None 35.2319 11.2378 16.7013 0.648702 0.651565 -0.224864 0.322498 +#11644 1721120872930 +SLAM 10.8346 -25.0093 38.0706 -0.588011 0.0679563 0.65451 0.470363 +TTool-pose None 35.2555 11.4599 16.5955 0.644343 0.649362 -0.233735 0.329306 +#11645 1721120872961 +SLAM 10.8388 -24.9148 38.1644 -0.587036 0.0729256 0.653997 0.471549 +TTool-pose None 35.2645 11.5661 16.5425 0.6446 0.646413 -0.236029 0.332952 +#11646 1721120872992 +SLAM 10.9632 -24.8353 38.1768 -0.586763 0.0737261 0.655192 0.470103 +TTool-pose None 35.2757 11.5521 16.5527 0.645891 0.645322 -0.236767 0.332039 +#11647 1721120873023 +SLAM 11.025 -24.8538 38.1283 -0.585379 0.0751744 0.65601 0.470458 +TTool-pose None 35.2865 11.5434 16.5304 0.645848 0.644437 -0.238734 0.332434 +#11648 1721120873054 +SLAM 11.1471 -24.8371 38.1189 -0.584133 0.0765524 0.657158 0.470183 +TTool-pose None 35.319 11.5612 16.5208 0.646282 0.643365 -0.240603 0.33232 +#11649 1721120873088 +SLAM 10.9221 -24.7955 38.2439 -0.587449 0.0740816 0.654701 0.469874 +TTool-pose None 35.2876 11.5639 16.5473 0.646221 0.645011 -0.236076 0.332495 +#11650 1721120873122 +SLAM 11.0815 -24.7516 38.2049 -0.585659 0.0761619 0.656622 0.469095 +TTool-pose None 35.317 11.5402 16.5155 0.64717 0.643261 -0.238847 0.332059 +#11651 1721120873156 +SLAM 10.7404 -24.9985 38.0999 -0.5887 0.0679861 0.653731 0.47058 +TTool-pose None 35.2444 11.4478 16.5801 0.644246 0.649438 -0.232893 0.329942 +#11652 1721120873189 +SLAM 11.0189 -24.6402 38.2947 -0.586173 0.0775709 0.657006 0.467684 +TTool-pose None 35.3563 11.458 16.4386 0.648654 0.641783 -0.238794 0.332062 +#11653 1721120873225 +SLAM 10.8398 -25.2471 37.8359 -0.582483 0.0703027 0.656616 0.473949 +TTool-pose None 35.3283 11.3988 16.4022 0.641641 0.648978 -0.240398 0.330541 +#11654 1721120873258 +SLAM 11.4889 -24.4613 38.1771 -0.581329 0.0814724 0.664125 0.462986 +TTool-pose None 35.4848 11.2448 16.2857 0.652705 0.63721 -0.246123 0.327548 +#11655 1721120873290 +SLAM 10.7556 -24.9599 37.9888 -0.583905 0.0724191 0.657954 0.470008 +TTool-pose None 35.3637 11.2033 16.2502 0.645357 0.646104 -0.239827 0.329347 +#11656 1721120873326 +SLAM 10.7142 -24.9953 37.9822 -0.5826 0.0742802 0.65817 0.471033 +TTool-pose None 35.4018 11.1871 16.1789 0.644908 0.64519 -0.24171 0.330643 +#11657 1721120873357 +SLAM 10.3967 -25.0663 37.9793 -0.584631 0.0724122 0.655705 0.472244 +TTool-pose None 35.3477 11.1075 16.1607 0.643705 0.646964 -0.238651 0.33174 +#11658 1721120873392 +SLAM 10.1761 -25.3652 37.8053 -0.583513 0.0696745 0.653983 0.476408 +TTool-pose None 35.3232 11.1101 16.1318 0.639676 0.650344 -0.238654 0.332921 +#11659 1721120873430 +SLAM 10.214 -25.0787 38.038 -0.586685 0.0696348 0.654692 0.471519 +TTool-pose None 35.3661 11.0237 16.1405 0.643756 0.648627 -0.23559 0.330579 +#11660 1721120873461 +SLAM 10.3105 -24.8552 38.1979 -0.587 0.0725684 0.656169 0.468622 +TTool-pose None 35.4328 10.9822 16.0821 0.646761 0.645559 -0.236392 0.330145 +#11661 1721120873493 +SLAM 10.0701 -25.301 37.9012 -0.584809 0.0678725 0.654926 0.473777 +TTool-pose None 35.417 10.9329 16.0348 0.641381 0.650618 -0.237027 0.330255 +#11662 1721120873527 +SLAM 10.2251 -24.984 38.0726 -0.583492 0.0752001 0.657509 0.470706 +TTool-pose None 35.4942 10.8633 15.9032 0.645479 0.644465 -0.24094 0.331503 +#11663 1721120873561 +SLAM 10.5528 -24.9209 38.0127 -0.577226 0.0832945 0.661684 0.471218 +TTool-pose None 35.6085 10.881 15.73 0.646429 0.638956 -0.250305 0.333374 +#11664 1721120873593 +SLAM 9.64852 -25.6001 37.6492 -0.582641 0.0654171 0.654353 0.47757 +TTool-pose None 35.4202 10.6983 15.7958 0.637594 0.653634 -0.238386 0.330654 +#11665 1721120873626 +SLAM 9.91509 -25.2601 37.8374 -0.584809 0.0648848 0.657586 0.470498 +TTool-pose None 35.4852 10.5706 15.8112 0.643139 0.651413 -0.236698 0.325468 +#11666 1721120873658 +SLAM 9.88149 -25.0219 38.0022 -0.585818 0.0684476 0.657839 0.46838 +TTool-pose None 35.4991 10.5232 15.7377 0.645785 0.648234 -0.236745 0.326541 +#11667 1721120873692 +SLAM 10.1056 -24.7926 38.096 -0.584293 0.0736845 0.660378 0.465911 +TTool-pose None 35.5502 10.5036 15.6762 0.648854 0.643711 -0.240256 0.326841 +#11668 1721120873725 +SLAM 9.9217 -24.958 38.0209 -0.584337 0.0716504 0.658778 0.468432 +TTool-pose None 35.5266 10.5126 15.6593 0.646416 0.646045 -0.239333 0.327743 +#11669 1721120873763 +SLAM 9.8366 -24.837 38.1029 -0.585923 0.0727302 0.657988 0.467392 +TTool-pose None 35.4935 10.4795 15.6571 0.647642 0.644961 -0.23788 0.328515 +#11670 1721120873796 +SLAM 9.90848 -24.8443 38.0734 -0.583832 0.0757926 0.658762 0.468431 +TTool-pose None 35.5128 10.5083 15.6132 0.647408 0.643216 -0.241005 0.330116 +#11671 1721120873827 +SLAM 9.6614 -24.8503 38.104 -0.588889 0.0687134 0.656416 0.466483 +TTool-pose None 35.4339 10.4029 15.7098 0.647601 0.647412 -0.233432 0.326957 +#11672 1721120873858 +SLAM 9.79396 -24.8406 38.0675 -0.584109 0.0765037 0.657892 0.469193 +TTool-pose None 35.4789 10.4898 15.5834 0.647029 0.643026 -0.240756 0.33141 +#11673 1721120873891 +SLAM 9.65788 -24.872 38.0394 -0.585385 0.0745533 0.656809 0.469433 +TTool-pose None 35.4322 10.4473 15.5902 0.646482 0.644476 -0.23871 0.331141 +#11674 1721120873921 +SLAM 9.45507 -25.039 37.9636 -0.587215 0.0690704 0.65482 0.470764 +TTool-pose None 35.3858 10.4337 15.6308 0.644244 0.648739 -0.234919 0.329883 +#11675 1721120873959 +SLAM 9.57022 -24.8911 38.0459 -0.584811 0.0761658 0.655991 0.471032 +TTool-pose None 35.4265 10.482 15.5434 0.645599 0.643963 -0.239581 0.333227 +#11676 1721120873993 +SLAM 9.66418 -24.7141 38.1581 -0.586554 0.0756879 0.6568 0.467802 +TTool-pose None 35.4377 10.4518 15.5735 0.648132 0.643119 -0.237842 0.331177 +#11677 1721120874025 +SLAM 9.47321 -25.0444 37.935 -0.586471 0.0696632 0.655282 0.470961 +TTool-pose None 35.3881 10.4214 15.6036 0.644173 0.648394 -0.235931 0.329978 +#11678 1721120874061 +SLAM 9.60708 -24.7596 38.0975 -0.586875 0.0740362 0.656715 0.467784 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0.468164 +TTool-pose None 35.446 10.1554 15.3608 0.646904 0.645366 -0.238873 0.328454 +#11685 1721120874295 +SLAM 9.11057 -24.9531 37.903 -0.587409 0.0683506 0.656309 0.468548 +TTool-pose None 35.3985 10.0306 15.325 0.645784 0.648401 -0.234809 0.327606 +#11686 1721120874326 +SLAM 9.26594 -24.8659 37.8942 -0.582941 0.0757929 0.659055 0.469128 +TTool-pose None 35.4707 10.0052 15.16 0.646784 0.643454 -0.241962 0.330175 +#11687 1721120874360 +SLAM 9.0548 -24.7646 37.9878 -0.58596 0.0732895 0.658192 0.466972 +TTool-pose None 35.4631 9.87323 15.1079 0.648109 0.644423 -0.238039 0.328533 +#11688 1721120874392 +SLAM 8.53659 -25.3112 37.6292 -0.584127 0.0682135 0.655029 0.474424 +TTool-pose None 35.4097 9.76414 15.0033 0.640901 0.650612 -0.237831 0.33062 +#11689 1721120874426 +SLAM 8.37645 -25.0003 37.8962 -0.588865 0.0675935 0.654341 0.469582 +TTool-pose None 35.4216 9.63011 14.9662 0.64493 0.649334 -0.232734 0.328919 +#11690 1721120874459 +SLAM 8.52646 -24.9101 37.8822 -0.582336 0.079619 0.657145 0.471916 +TTool-pose None 35.4963 9.62016 14.7527 0.645528 0.641877 -0.243266 0.334719 +#11691 1721120874493 +SLAM 8.25615 -24.8923 37.935 -0.585698 0.075546 0.655514 0.470692 +TTool-pose None 35.4762 9.50385 14.7249 0.645792 0.644279 -0.238418 0.333076 +#11692 1721120874528 +SLAM 8.20998 -25.0357 37.8461 -0.585512 0.071559 0.655927 0.470973 +TTool-pose None 35.5067 9.44625 14.6973 0.644555 0.64709 -0.237565 0.330622 +#11693 1721120874565 +SLAM 7.96202 -25.0366 37.8552 -0.587375 0.0700305 0.654468 0.470912 +TTool-pose None 35.476 9.34211 14.6517 0.64439 0.648148 -0.234961 0.330731 +#11694 1721120874594 +SLAM 7.96601 -25.0047 37.8572 -0.585674 0.0730878 0.65538 0.471298 +TTool-pose None 35.506 9.30139 14.5612 0.644706 0.646177 -0.237725 0.331995 +#11695 1721120874627 +SLAM 7.86913 -25.0162 37.8456 -0.586322 0.0716307 0.655285 0.470848 +TTool-pose None 35.508 9.22387 14.5202 0.644746 0.647014 -0.23664 0.331059 +#11696 1721120874660 +SLAM 7.93181 -24.7576 38.0212 -0.58566 0.0779853 0.656417 0.469081 +TTool-pose None 35.5527 9.19786 14.4248 0.647634 0.642013 -0.239314 0.333232 +#11697 1721120874694 +SLAM 7.75402 -24.8943 37.9456 -0.584807 0.0778552 0.655492 0.471455 +TTool-pose None 35.5546 9.157 14.3621 0.645692 0.64297 -0.239958 0.334691 +#11698 1721120874726 +SLAM 7.46333 -25.0064 37.9086 -0.588027 0.0717569 0.653373 0.471359 +TTool-pose None 35.5209 9.05677 14.3763 0.644543 0.647158 -0.234574 0.332642 +#11699 1721120874758 +SLAM 7.4889 -24.8345 38.0176 -0.586397 0.0785993 0.654075 0.471324 +TTool-pose None 35.5493 9.04668 14.2802 0.646128 0.642451 -0.23828 0.336043 +#11700 1721120874789 +SLAM 7.27864 -25.0104 37.9116 -0.585858 0.0772559 0.652845 0.473914 +TTool-pose None 35.5399 8.99732 14.2308 0.64374 0.64432 -0.238203 0.3371 +#11701 1721120874828 +SLAM 7.25502 -25.2202 37.7852 -0.585604 0.0718373 0.653118 0.474705 +TTool-pose None 35.5696 8.97684 14.233 0.641747 0.648294 -0.23699 0.33412 +#11702 1721120874861 +SLAM 7.07795 -25.0468 37.9113 -0.588294 0.0729202 0.651892 0.472895 +TTool-pose None 35.5366 8.88642 14.2081 0.643672 0.646946 -0.234336 0.334904 +#11703 1721120874892 +SLAM 7.25395 -24.8975 37.9952 -0.586518 0.0772309 0.653952 0.471571 +TTool-pose None 35.5908 8.88669 14.1432 0.64561 0.643479 -0.237751 0.335444 +#11704 1721120874924 +SLAM 7.19468 -24.9589 37.9276 -0.584682 0.079216 0.654182 0.4732 +TTool-pose None 35.5951 8.84354 14.0704 0.644666 0.64269 -0.240203 0.337023 +#11705 1721120874960 +SLAM 7.24009 -24.8988 37.94 -0.583627 0.0813557 0.655267 0.472636 +TTool-pose None 35.6147 8.79769 14.0131 0.645525 0.640992 -0.242075 0.337274 +#11706 1721120874991 +SLAM 7.17383 -24.9045 37.9371 -0.58319 0.0821241 0.655288 0.473015 +TTool-pose None 35.6271 8.75445 13.9583 0.645377 0.640597 -0.242731 0.337836 +#11707 1721120875025 +SLAM 6.85107 -25.18 37.7898 -0.585065 0.074664 0.653005 0.475088 +TTool-pose None 35.6025 8.68223 13.9567 0.64211 0.646503 -0.238308 0.335954 +#11708 1721120875059 +SLAM 6.8717 -25.0397 37.8997 -0.585742 0.0759396 0.653621 0.473202 +TTool-pose None 35.6325 8.64675 13.916 0.643955 0.644949 -0.238108 0.33555 +#11709 1721120875093 +SLAM 6.80458 -24.7948 38.0641 -0.586906 0.080137 0.653351 0.471435 +TTool-pose None 35.625 8.59675 13.8558 0.646468 0.641454 -0.238048 0.337456 +#11710 1721120875126 +SLAM 6.68617 -24.935 37.9586 -0.586153 0.0790284 0.652944 0.47312 +TTool-pose None 35.6184 8.54151 13.8218 0.644821 0.642822 -0.238419 0.337741 +#11711 1721120875157 +SLAM 6.48521 -25.0526 37.9022 -0.586224 0.0780819 0.651563 0.47509 +TTool-pose None 35.6109 8.5048 13.785 0.643066 0.644201 -0.237804 0.338893 +#11712 1721120875190 +SLAM 6.4649 -25.0926 37.8772 -0.586615 0.0759898 0.651837 0.474569 +TTool-pose None 35.6242 8.46193 13.7753 0.642988 0.645443 -0.236881 0.33732 +#11713 1721120875224 +SLAM 6.35797 -25.4359 37.6308 -0.585398 0.0696927 0.651695 0.477227 +TTool-pose None 35.6337 8.41927 13.7549 0.639222 0.650679 -0.236298 0.334815 +#11714 1721120875267 +SLAM 6.45643 -24.9562 37.9423 -0.585566 0.0801432 0.652792 0.473869 +TTool-pose None 35.6444 8.38936 13.67 0.64446 0.642326 -0.23929 0.338758 +#11715 1721120875305 +SLAM 6.30826 -25.0707 37.8779 -0.587181 0.0752068 0.651942 0.473851 +TTool-pose None 35.6354 8.329 13.6718 0.643402 0.645722 -0.236113 0.336533 +#11716 1721120875341 +SLAM 6.36235 -24.9849 37.9317 -0.58645 0.0775665 0.652844 0.473132 +TTool-pose None 35.6621 8.30957 13.6256 0.644479 0.64383 -0.237692 0.336984 +#11717 1721120875376 +SLAM 6.1954 -25.1395 37.83 -0.586577 0.0748331 0.651903 0.47471 +TTool-pose None 35.6518 8.2589 13.6 0.642587 0.646282 -0.236609 0.336668 +#11718 1721120875407 +SLAM 6.1685 -25.1046 37.8464 -0.587484 0.073741 0.652107 0.473479 +TTool-pose None 35.6526 8.20152 13.5878 0.643352 0.646587 -0.235428 0.335444 +#11719 1721120875439 +SLAM 6.13718 -25.0926 37.8482 -0.585856 0.0770228 0.652377 0.474599 +TTool-pose None 35.6689 8.1798 13.5175 0.643151 0.644733 -0.238044 0.337547 +#11720 1721120875471 +SLAM 6.03908 -25.0045 37.929 -0.586641 0.0785463 0.651826 0.474136 +TTool-pose None 35.6749 8.14263 13.4747 0.64396 0.643539 -0.237567 0.338618 +#11721 1721120875501 +SLAM 5.92631 -25.2389 37.7761 -0.588008 0.0704412 0.651429 0.474262 +TTool-pose None 35.6775 8.0755 13.4952 0.641958 0.64913 -0.233829 0.334319 +#11722 1721120875532 +SLAM 5.97912 -25.4362 37.6073 -0.584119 0.0713266 0.652773 0.47708 +TTool-pose None 35.7128 8.06411 13.4256 0.639631 0.649487 -0.238269 0.334952 +#11723 1721120875563 +SLAM 5.97768 -24.9732 37.9494 -0.588529 0.0741912 0.652802 0.471147 +TTool-pose None 35.7108 7.99672 13.4117 0.645366 0.645435 -0.234639 0.334345 +#11724 1721120875594 +SLAM 5.9176 -24.9878 37.9419 -0.586303 0.0784256 0.652826 0.473199 +TTool-pose None 35.7316 7.98224 13.3283 0.644626 0.643266 -0.238077 0.33751 +#11725 1721120875625 +SLAM 5.87312 -24.9472 37.9559 -0.586269 0.0796239 0.652867 0.472983 +TTool-pose None 35.7274 7.93483 13.2945 0.645085 0.642367 -0.238452 0.338081 +#11726 1721120875658 +SLAM 5.89455 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-25.1356 37.9421 -0.588848 0.0766575 0.648474 0.476301 +TTool-pose None 35.7576 7.70459 13.0938 0.642004 0.645674 -0.234129 0.340657 +#11733 1721120875909 +SLAM 5.15249 -25.0876 37.9532 -0.588929 0.0770184 0.649072 0.475327 +TTool-pose None 35.7538 7.67501 13.0919 0.642861 0.64507 -0.234272 0.340088 +#11734 1721120875943 +SLAM 5.13051 -25.0059 38.0366 -0.59017 0.076611 0.648965 0.473999 +TTool-pose None 35.7709 7.66513 13.0789 0.643902 0.64488 -0.232883 0.339431 +#11735 1721120875977 +SLAM 4.99854 -25.2149 37.8869 -0.588886 0.0752433 0.648217 0.476829 +TTool-pose None 35.7637 7.63601 13.0571 0.641244 0.646833 -0.233641 0.340227 +#11736 1721120876010 +SLAM 5.07818 -25.2753 37.8341 -0.586212 0.0775322 0.649323 0.478252 +TTool-pose None 35.7941 7.64499 13.0137 0.640463 0.645743 -0.237202 0.341301 +#11737 1721120876043 +SLAM 5.08704 -25.3769 37.7435 -0.587134 0.0724801 0.649689 0.477415 +TTool-pose None 35.7873 7.61042 13.0377 0.63994 0.648893 -0.234931 0.337859 +#11738 1721120876076 +SLAM 4.97843 -25.0148 38.0114 -0.588988 0.0798487 0.648432 0.475661 +TTool-pose None 35.762 7.58923 12.9992 0.643302 0.643262 -0.23487 0.34226 +#11739 1721120876111 +SLAM 5.06299 -25.0249 37.9986 -0.590194 0.0757934 0.649338 0.473589 +TTool-pose None 35.7729 7.57154 13.0279 0.64402 0.645286 -0.232706 0.338555 +#11740 1721120876148 +SLAM 5.01408 -25.0172 38.0076 -0.590125 0.0765385 0.649049 0.473951 +TTool-pose None 35.7729 7.55977 13.0072 0.643917 0.644911 -0.232925 0.339314 +#11741 1721120876182 +SLAM 5.11275 -24.9397 38.0469 -0.590741 0.075898 0.649971 0.472021 +TTool-pose None 35.7779 7.54884 13.0208 0.645311 0.644643 -0.23231 0.33759 +#11742 1721120876213 +SLAM 5.10604 -25.1008 37.93 -0.588329 0.0763876 0.65017 0.474671 +TTool-pose None 35.791 7.56435 12.9924 0.643162 0.645245 -0.234925 0.33873 +#11743 1721120876243 +SLAM 5.04943 -25.3771 37.741 -0.586638 0.0729556 0.649991 0.47754 +TTool-pose None 35.8039 7.57106 12.9833 0.639917 0.648606 -0.235626 0.33797 +#11744 1721120876278 +SLAM 5.01458 -25.1505 37.9043 -0.5882 0.0764322 0.649468 0.475784 +TTool-pose None 35.7865 7.55502 12.9763 0.642295 0.645624 -0.234924 0.339655 +#11745 1721120876313 +SLAM 4.99257 -25.1048 37.9401 -0.589001 0.0762493 0.649257 0.47511 +TTool-pose None 35.7824 7.54554 12.9773 0.642845 0.645515 -0.234022 0.339443 +#11746 1721120876346 +SLAM 4.97013 -25.1266 37.9313 -0.590001 0.0739181 0.649048 0.474522 +TTool-pose None 35.7797 7.53716 12.9928 0.642809 0.646904 -0.232314 0.338036 +#11747 1721120876378 +SLAM 4.92496 -25.0805 37.9704 -0.590804 0.074324 0.648525 0.474174 +TTool-pose None 35.7699 7.52974 12.999 0.64325 0.646514 -0.23151 0.338495 +#11748 1721120876408 +SLAM 4.94149 -25.3829 37.7585 -0.588837 0.0698542 0.648979 0.476674 +TTool-pose None 35.7929 7.54531 13.0031 0.640004 0.650437 -0.232325 0.336568 +#11749 1721120876444 +SLAM 4.98677 -24.9818 38.0393 -0.591431 0.0749064 0.648933 0.472741 +TTool-pose None 35.7737 7.53607 13.0085 0.644564 0.645598 -0.231123 0.338007 +#11750 1721120876475 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1721120876867 +SLAM 5.01837 -25.0816 37.9525 -0.589526 0.0749723 0.649852 0.473847 +TTool-pose None 35.795 7.51119 12.9672 0.643557 0.645928 -0.233256 0.337833 +#11763 1721120876896 +SLAM 4.99517 -25.236 37.8336 -0.588979 0.072162 0.649866 0.474943 +TTool-pose None 35.792 7.49882 12.9737 0.641951 0.648234 -0.233019 0.336631 +#11764 1721120876926 +SLAM 5.14851 -24.9073 38.0655 -0.590074 0.0765292 0.650991 0.471344 +TTool-pose None 35.8095 7.51028 12.9661 0.645934 0.643949 -0.233367 0.336995 +#11765 1721120876958 +SLAM 5.09773 -25.2064 37.8478 -0.588402 0.072494 0.650914 0.474172 +TTool-pose None 35.8122 7.50397 12.9665 0.642583 0.647711 -0.233908 0.335813 +#11766 1721120876991 +SLAM 5.20727 -24.9893 37.9857 -0.588171 0.0772585 0.651768 0.47253 +TTool-pose None 35.8173 7.51081 12.9505 0.645027 0.643854 -0.235652 0.337323 +#11767 1721120877029 +SLAM 5.20677 -25.043 37.9359 -0.588234 0.0756345 0.651899 0.472534 +TTool-pose None 35.811 7.49476 12.9591 0.644627 0.644963 -0.23516 0.336311 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0.335328 +#11774 1721120877266 +SLAM 5.2145 -24.9696 37.9832 -0.589864 0.073817 0.652048 0.47058 +TTool-pose None 35.8065 7.4702 12.968 0.64583 0.645506 -0.233031 0.334436 +#11775 1721120877299 +SLAM 5.29132 -24.9535 37.9889 -0.588429 0.0760107 0.652798 0.470986 +TTool-pose None 35.8242 7.48826 12.9484 0.645935 0.644135 -0.235248 0.335324 +#11776 1721120877328 +SLAM 5.23818 -25.0731 37.8955 -0.589453 0.0717079 0.652388 0.47095 +TTool-pose None 35.8037 7.45692 12.9859 0.644976 0.647069 -0.23292 0.333137 +#11777 1721120877358 +SLAM 5.21603 -25.0322 37.9347 -0.588707 0.0744147 0.652189 0.471737 +TTool-pose None 35.8115 7.47443 12.9542 0.644982 0.645507 -0.234399 0.335116 +#11778 1721120877394 +SLAM 5.19857 -25.0924 37.889 -0.587986 0.0745354 0.652104 0.472733 +TTool-pose None 35.8103 7.47514 12.9485 0.644175 0.64578 -0.235144 0.335619 +#11779 1721120877426 +SLAM 5.13253 -25.1408 37.8671 -0.588501 0.0731521 0.651512 0.473125 +TTool-pose None 35.806 7.46922 12.9536 0.643571 0.646878 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0.643546 0.64453 -0.23599 0.338622 +#11798 1721120878068 +SLAM 4.59571 -25.2585 37.7966 -0.587533 0.0738797 0.650701 0.475327 +TTool-pose None 35.8655 7.14829 12.6466 0.641955 0.647179 -0.235133 0.337183 +#11799 1721120878098 +SLAM 4.60104 -25.061 37.9413 -0.588416 0.077045 0.65078 0.473621 +TTool-pose None 35.8689 7.12985 12.6236 0.64415 0.64441 -0.235146 0.338291 +#11800 1721120878133 +SLAM 4.5723 -25.3638 37.7111 -0.586614 0.072355 0.651253 0.475939 +TTool-pose None 35.8826 7.09884 12.6068 0.641012 0.648423 -0.23574 0.336161 +#11801 1721120878165 +SLAM 4.61127 -25.3939 37.6873 -0.586197 0.0711437 0.652024 0.475579 +TTool-pose None 35.9044 7.08319 12.5814 0.640947 0.649103 -0.235974 0.334804 +#11802 1721120878198 +SLAM 4.40298 -25.044 37.966 -0.589088 0.0773533 0.649929 0.473902 +TTool-pose None 35.8756 7.04585 12.5425 0.644067 0.644317 -0.23438 0.339156 +#11803 1721120878232 +SLAM 4.3607 -25.2058 37.8544 -0.588724 0.0739133 0.650053 0.474734 +TTool-pose None 35.8889 7.01579 12.5309 0.642531 0.646961 -0.233808 0.337425 +#11804 1721120878262 +SLAM 4.38008 -25.4668 37.6435 -0.585023 0.073457 0.650973 0.478107 +TTool-pose None 35.9103 7.00231 12.4861 0.639452 0.64844 -0.237594 0.337791 +#11805 1721120878294 +SLAM 4.29668 -25.4725 37.6533 -0.585233 0.0736013 0.65051 0.478458 +TTool-pose None 35.9169 6.97793 12.4583 0.639234 0.648475 -0.237328 0.338323 +#11806 1721120878327 +SLAM 4.4113 -25.1016 37.8895 -0.587126 0.0782237 0.651284 0.474335 +TTool-pose None 35.8972 6.95339 12.4642 0.64377 0.643844 -0.236879 0.338883 +#11807 1721120878362 +SLAM 4.17859 -25.1975 37.8502 -0.588592 0.075088 0.649669 0.475239 +TTool-pose None 35.8935 6.905 12.4316 0.64242 0.646346 -0.234193 0.338547 +#11808 1721120878393 +SLAM 4.28081 -25.4089 37.6674 -0.585317 0.0739032 0.651362 0.477148 +TTool-pose None 35.9217 6.88765 12.3962 0.64034 0.647789 -0.237504 0.337422 +#11809 1721120878425 +SLAM 4.19911 -25.0895 37.8942 -0.587463 0.0790925 0.650489 0.474863 +TTool-pose None 35.8951 6.84772 12.3736 0.643604 0.643454 -0.236619 0.34012 +#11810 1721120878459 +SLAM 4.12518 -25.0457 37.9479 -0.588876 0.0778876 0.650064 0.473894 +TTool-pose None 35.9056 6.82218 12.3533 0.644186 0.643946 -0.234771 0.339364 +#11811 1721120878494 +SLAM 4.05989 -25.3599 37.7183 -0.587566 0.0723755 0.6502 0.476202 +TTool-pose None 35.9189 6.79038 12.337 0.640899 0.648526 -0.234571 0.336996 +#11812 1721120878525 +SLAM 4.10492 -25.5125 37.6006 -0.584028 0.074107 0.651246 0.478851 +TTool-pose None 35.9532 6.78837 12.2814 0.638941 0.64825 -0.238832 0.33825 +#11813 1721120878561 +SLAM 4.0155 -25.1924 37.8514 -0.587521 0.0765926 0.650259 0.475516 +TTool-pose None 35.9384 6.75601 12.268 0.642483 0.645402 -0.235816 0.339103 +#11814 1721120878596 +SLAM 3.87872 -25.1937 37.8467 -0.588288 0.0767213 0.649272 0.475896 +TTool-pose None 35.9181 6.70699 12.2552 0.642287 0.64547 -0.234877 0.339995 +#11815 1721120878628 +SLAM 3.90086 -25.4538 37.6566 -0.586147 0.0729983 0.650207 0.477843 +TTool-pose None 35.9511 6.69228 12.2253 0.639647 0.648678 -0.236176 0.337959 +#11816 1721120878665 +SLAM 3.7445 -25.2022 37.8516 -0.588481 0.0769831 0.648678 0.476425 +TTool-pose None 35.9262 6.65517 12.2011 0.641956 0.64549 -0.234633 0.340749 +#11817 1721120878698 +SLAM 3.7964 -24.9686 38.0163 -0.589972 0.0791362 0.649172 0.473547 +TTool-pose None 35.9305 6.63346 12.1862 0.64486 0.642986 -0.23383 0.340554 +#11818 1721120878728 +SLAM 3.69372 -25.1291 37.9034 -0.58965 0.0763501 0.648793 0.474922 +TTool-pose None 35.9336 6.59621 12.1634 0.643074 0.645389 -0.2333 0.339747 +#11819 1721120878761 +SLAM 3.63137 -25.1939 37.8644 -0.589779 0.0746431 0.648628 0.475258 +TTool-pose None 35.943 6.57045 12.1398 0.642398 0.646679 -0.232656 0.339014 +#11820 1721120878793 +SLAM 3.60159 -24.9018 38.0781 -0.591571 0.0788969 0.648253 0.47285 +TTool-pose None 35.9358 6.54752 12.1153 0.64548 0.64292 -0.231958 0.340784 +#11821 1721120878828 +SLAM 3.59746 -25.1594 37.8784 -0.587945 0.0788075 0.648984 0.476371 +TTool-pose None 35.9562 6.52639 12.0701 0.642402 0.644215 -0.235745 0.341556 +#11822 1721120878862 +SLAM 3.55689 -25.2515 37.8052 -0.58753 0.0773478 0.64903 0.47706 +TTool-pose None 35.9583 6.49639 12.0542 0.641467 0.645457 -0.235765 0.340953 +#11823 1721120878903 +SLAM 3.46119 -25.2086 37.8417 -0.589159 0.0761204 0.648361 0.476156 +TTool-pose None 35.9502 6.4606 12.0428 0.642011 0.645993 -0.233641 0.340375 +#11824 1721120878934 +SLAM 3.61371 -25.6058 37.5189 -0.583187 0.0744087 0.650832 0.48039 +TTool-pose None 35.9987 6.4582 11.9895 0.637734 0.648592 -0.239673 0.339278 +#11825 1721120878968 +SLAM 3.63054 -25.7971 37.408 -0.582127 0.070104 0.651742 0.481089 +TTool-pose None 36.0565 6.44734 11.9452 0.636 0.651748 -0.239703 0.33645 +#11826 1721120878998 +SLAM 3.41215 -25.2977 37.7688 -0.587115 0.0769118 0.649152 0.477476 +TTool-pose None 35.9817 6.38724 11.9521 0.640997 0.645899 -0.236085 0.340777 +#11827 1721120879029 +SLAM 3.37837 -25.5004 37.62 -0.58552 0.0744666 0.649463 0.479394 +TTool-pose None 36.0002 6.36682 11.9214 0.638745 0.648238 -0.237066 0.339884 +#11828 1721120879059 +SLAM 3.35593 -25.5706 37.5655 -0.584993 0.073551 0.649603 0.479989 +TTool-pose None 36.0071 6.34718 11.9033 0.638001 0.649068 -0.237365 0.339487 +#11829 1721120879092 +SLAM 3.34024 -25.5137 37.6152 -0.584637 0.0755295 0.649713 0.479967 +TTool-pose None 36.0204 6.33317 11.869 0.63848 0.647705 -0.238302 0.340531 +#11830 1721120879126 +SLAM 3.22148 -25.2173 37.8379 -0.587679 0.0789282 0.648417 0.477451 +TTool-pose None 35.9931 6.29395 11.8603 0.641564 0.644526 -0.235929 0.342417 +#11831 1721120879158 +SLAM 3.19732 -25.1855 37.8586 -0.588123 0.0788065 0.64846 0.476865 +TTool-pose None 35.995 6.26692 11.8425 0.642031 0.644401 -0.235456 0.3421 +#11832 1721120879198 +SLAM 3.08616 -25.278 37.7863 -0.588241 0.0773633 0.647801 0.477852 +TTool-pose None 35.9842 6.22733 11.8315 0.640914 0.645752 -0.234798 0.3421 +#11833 1721120879230 +SLAM 3.04927 -25.3013 37.7732 -0.588287 0.0765438 0.647913 0.477775 +TTool-pose None 35.9963 6.19583 11.8026 0.640775 0.646283 -0.234546 0.341528 +#11834 1721120879262 +SLAM 2.99088 -25.3667 37.7336 -0.587416 0.0765517 0.647971 0.478765 +TTool-pose None 36.0156 6.16396 11.7568 0.639926 0.646625 -0.235436 0.341862 +#11835 1721120879299 +SLAM 3.10409 -25.0312 37.9721 -0.589247 0.0797863 0.649039 0.474521 +TTool-pose None 36.0268 6.13937 11.734 0.644198 0.642889 -0.234716 0.34138 +#11836 1721120879332 +SLAM 3.31868 -25.6857 37.3986 -0.57922 0.0783123 0.65273 0.481991 +TTool-pose None 36.059 6.09773 11.6728 0.637065 0.646423 -0.245127 0.340774 +#11837 1721120879365 +SLAM 2.9824 -25.42 37.6645 -0.585819 0.0764044 0.649578 0.478568 +TTool-pose None 36.0465 6.04058 11.6551 0.639901 0.646621 -0.237334 0.340602 +#11838 1721120879396 +SLAM 3.11335 -25.6918 37.4242 -0.581301 0.0752727 0.651889 0.481107 +TTool-pose None 36.0801 6.00541 11.6026 0.637208 0.648222 -0.242022 0.339304 +#11839 1721120879429 +SLAM 2.90836 -24.9281 38.0263 -0.591776 0.0774782 0.649061 0.471719 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0.480307 +TTool-pose None 36.1115 5.71168 11.3635 0.638873 0.644841 -0.244193 0.341058 +#11846 1721120879662 +SLAM 2.70796 -25.3858 37.6423 -0.584281 0.0778854 0.651707 0.477312 +TTool-pose None 36.1148 5.66806 11.3371 0.641106 0.645114 -0.239733 0.339511 +#11847 1721120879695 +SLAM 2.80826 -25.5551 37.4929 -0.581938 0.0756043 0.653589 0.477967 +TTool-pose None 36.1444 5.62731 11.2928 0.639805 0.646854 -0.24183 0.337156 +#11848 1721120879728 +SLAM 2.60652 -25.2872 37.7124 -0.58404 0.0808795 0.651816 0.476962 +TTool-pose None 36.1304 5.57368 11.2495 0.642092 0.642934 -0.240831 0.341004 +#11849 1721120879765 +SLAM 2.54053 -25.1445 37.8277 -0.586274 0.0803937 0.651592 0.474602 +TTool-pose None 36.1372 5.52339 11.2171 0.644017 0.642443 -0.238403 0.340002 +#11850 1721120879805 +SLAM 2.54205 -25.2014 37.7687 -0.585482 0.0795946 0.652348 0.474676 +TTool-pose None 36.1464 5.47047 11.1781 0.643691 0.642998 -0.239132 0.339056 +#11851 1721120879838 +SLAM 2.49989 -25.3029 37.6853 -0.584355 0.0787605 0.652838 0.47553 +TTool-pose None 36.161 5.41063 11.1289 0.642716 0.643859 -0.240133 0.338564 +#11852 1721120879869 +SLAM 2.49341 -25.4075 37.5976 -0.5828 0.0780711 0.653714 0.476349 +TTool-pose None 36.1823 5.35473 11.0737 0.64176 0.644595 -0.241682 0.337872 +#11853 1721120879898 +SLAM 2.38707 -25.4884 37.5327 -0.581146 0.0796007 0.65363 0.478226 +TTool-pose None 36.1925 5.28779 11.011 0.640514 0.644205 -0.243748 0.339494 +#11854 1721120879930 +SLAM 2.13695 -25.202 37.7776 -0.586761 0.0789413 0.651331 0.474602 +TTool-pose None 36.1752 5.2302 10.9888 0.643706 0.643445 -0.237456 0.339358 +#11855 1721120879962 +SLAM 2.21714 -25.2804 37.7083 -0.585106 0.0778641 0.653026 0.474494 +TTool-pose None 36.2077 5.18416 10.9314 0.643371 0.644104 -0.239166 0.337538 +#11856 1721120879996 +SLAM 1.95823 -24.9772 37.9453 -0.587868 0.0834437 0.650657 0.473386 +TTool-pose None 36.1819 5.11859 10.8914 0.645849 0.639938 -0.237448 0.341915 +#11857 1721120880029 +SLAM 2.05638 -25.1891 37.7683 -0.586226 0.078533 0.652786 0.47333 +TTool-pose None 36.2135 5.06097 10.8426 0.644543 0.64324 -0.238176 0.337647 +#11858 1721120880061 +SLAM 2.28438 -25.6386 37.3768 -0.577284 0.0793686 0.656791 0.478613 +TTool-pose None 36.2685 4.99683 10.7455 0.639764 0.644402 -0.248191 0.337308 +#11859 1721120880094 +SLAM 1.86347 -25.1864 37.775 -0.584427 0.08272 0.652565 0.475145 +TTool-pose None 36.2397 4.93375 10.7171 0.64399 0.641011 -0.241103 0.340851 +#11860 1721120880126 +SLAM 1.88799 -25.3885 37.5994 -0.581854 0.0808373 0.654038 0.476598 +TTool-pose None 36.2602 4.86257 10.6567 0.642154 0.642776 -0.243466 0.339308 +#11861 1721120880159 +SLAM 1.86953 -25.5107 37.4983 -0.580419 0.0791557 0.655073 0.477208 +TTool-pose None 36.2863 4.79144 10.5841 0.641126 0.644113 -0.244647 0.337864 +#11862 1721120880195 +SLAM 1.73694 -25.4102 37.5684 -0.580051 0.0837459 0.654355 0.477857 +TTool-pose None 36.2782 4.71737 10.5388 0.641703 0.641205 -0.246141 0.341198 +#11863 1721120880228 +SLAM 1.78361 -25.3234 37.6453 -0.581237 0.081654 0.655677 0.474957 +TTool-pose None 36.3181 4.66473 10.47 0.643566 0.641592 -0.244642 0.338025 +#11864 1721120880263 +SLAM 1.98702 -25.7403 37.2538 -0.572954 0.0822992 0.659452 0.47966 +TTool-pose None 36.3463 4.57572 10.3861 0.639202 0.642656 -0.253858 0.337488 +#11865 1721120880301 +SLAM 1.57244 -25.1296 37.8162 -0.585107 0.0793446 0.65531 0.471087 +TTool-pose None 36.3522 4.52757 10.3391 0.646372 0.641824 -0.240034 0.335524 +#11866 1721120880333 +SLAM 2.20556 -25.9424 37.0909 -0.569562 0.0762707 0.664529 0.477686 +TTool-pose None 36.4633 4.43399 10.1828 0.638853 0.645918 -0.256566 0.32978 +#11867 1721120880362 +SLAM 1.7252 -25.4328 37.502 -0.577519 0.0817985 0.659329 0.474412 +TTool-pose None 36.3772 4.34615 10.2126 0.643639 0.641185 -0.249139 0.335361 +#11868 1721120880394 +SLAM 1.79411 -25.607 37.3248 -0.573744 0.0821142 0.661418 0.476028 +TTool-pose None 36.3921 4.25089 10.1398 0.642056 0.641456 -0.253413 0.334673 +#11869 1721120880429 +SLAM 1.32269 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1.34504 -25.7976 37.1031 -0.565956 0.0849761 0.6673 0.476637 +TTool-pose None 36.5332 3.49266 9.46628 0.641366 0.639447 -0.263104 0.332353 +#11876 1721120880661 +SLAM 1.05214 -25.6357 37.2484 -0.569142 0.0855541 0.665638 0.475062 +TTool-pose None 36.5329 3.36821 9.37997 0.643103 0.63858 -0.259773 0.333283 +#11877 1721120880694 +SLAM 0.683849 -25.6002 37.3271 -0.573683 0.0803367 0.663729 0.473178 +TTool-pose None 36.5643 3.25238 9.25401 0.643808 0.6416 -0.253435 0.330994 +#11878 1721120880727 +SLAM 0.935972 -25.5861 37.2529 -0.567123 0.0874715 0.668132 0.473624 +TTool-pose None 36.5752 3.08501 9.13322 0.644423 0.636648 -0.262788 0.332064 +#11879 1721120880761 +#11880 1721120880793 +#11881 1721120880826 +#11882 1721120880862 +#11883 1721120880897 +#11884 1721120880927 +#11885 1721120880960 +#11886 1721120880993 +#11887 1721120881033 +#11888 1721120881062 +#11889 1721120881093 +#11890 1721120881128 +#11891 1721120881158 +#11892 1721120881195 +#11893 1721120881227 +#11894 1721120881260 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-20.5968 41.3798 -0.615766 0.0395271 0.659838 0.428817 +TTool-pose None 35.1912 16.2445 18.7295 0.670104 0.652841 -0.197449 0.292701 +#11933 1721120882562 +SLAM 15.8275 -21.0015 41.1498 -0.612618 0.0425 0.659108 0.43413 +TTool-pose None 35.1898 16.1508 18.6306 0.666826 0.652935 -0.201593 0.297125 +#11934 1721120882594 +SLAM 15.7725 -21.0982 41.0848 -0.61013 0.0530051 0.659882 0.435303 +TTool-pose None 35.298 15.9187 18.5525 0.668675 0.646363 -0.20747 0.303237 +#11935 1721120882629 +SLAM 15.6085 -21.7879 40.5809 -0.604101 0.0550908 0.659048 0.444616 +TTool-pose None 35.2026 15.8674 18.4514 0.661872 0.648519 -0.214298 0.308767 +#11936 1721120882662 +SLAM 15.8313 -21.955 40.4037 -0.602055 0.0567274 0.6609 0.444436 +TTool-pose None 35.241 15.7531 18.5887 0.662274 0.647316 -0.217225 0.308382 +#11937 1721120882698 +SLAM 16.0783 -22.1775 39.9119 -0.591827 0.0744591 0.666049 0.447856 +TTool-pose None 35.3416 15.4367 18.3291 0.663396 0.63645 -0.233766 0.316396 +#11938 1721120882729 +SLAM 16.3122 -22.5312 39.2695 -0.58503 0.0785654 0.670034 0.450135 +TTool-pose None 35.2396 15.1417 18.3328 0.662027 0.634352 -0.242579 0.316845 +#11939 1721120882763 +SLAM 16.359 -22.8955 38.921 -0.580933 0.0760855 0.670773 0.454744 +TTool-pose None 35.1795 15.1927 18.2901 0.657524 0.637701 -0.246214 0.316695 +#11940 1721120882804 +SLAM 16.6162 -23.1014 38.4451 -0.574204 0.0802115 0.675126 0.456137 +TTool-pose None 35.1739 15.0071 18.193 0.656724 0.635192 -0.254944 0.316492 +#11941 1721120882836 +SLAM 16.6247 -23.1581 38.2962 -0.573874 0.0798987 0.675852 0.455531 +TTool-pose None 35.1209 14.8607 18.246 0.657057 0.635157 -0.255315 0.31557 +#11942 1721120882869 +SLAM 16.7181 -23.1052 38.1657 -0.570976 0.0880546 0.678314 0.454007 +TTool-pose None 35.1671 14.6177 18.1837 0.659817 0.628872 -0.260886 0.317834 +#11943 1721120882900 +SLAM 16.5166 -23.1814 38.3474 -0.574789 0.0818741 0.675866 0.454005 +TTool-pose None 35.1868 14.6459 18.2816 0.658791 0.63325 -0.25493 0.316096 +#11944 1721120882932 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1721120883138 +SLAM 15.2128 -23.973 37.8321 -0.57082 0.0903907 0.67064 0.465011 +TTool-pose None 35.0127 13.8932 17.8793 0.652122 0.631515 -0.260347 0.32874 +#11951 1721120883167 +SLAM 42.1647 1.5032 30.2354 -0.4159 0.197715 0.88324 0.0884916 +TTool-pose None 46.4409 11.7547 18.3978 0.839608 0.352164 -0.405891 0.0331519 +#11952 1721120883196 +#11953 1721120883228 +#11954 1721120883265 +SLAM 15.7742 -24.529 37.1161 -0.560313 0.0878012 0.67898 0.466182 +TTool-pose None 35.1984 13.635 17.8623 0.649257 0.633297 -0.271654 0.321755 +#11955 1721120883298 +SLAM 41.8459 0.966581 31.5311 -0.417891 0.23557 0.871477 0.10199 +TTool-pose None 47.0275 12.0294 17.4054 0.843077 0.333504 -0.414765 0.0693766 +#11956 1721120883333 +SLAM 15.9336 -24.5486 36.8764 -0.554271 0.0944536 0.683439 0.46559 +TTool-pose None 35.3024 13.4064 17.6474 0.650429 0.628203 -0.280233 0.322017 +#11957 1721120883361 +#11958 1721120883395 +SLAM 16.1625 -23.4095 37.8918 -0.568851 0.0881334 0.684507 0.447315 +TTool-pose None 35.4884 13.2803 17.8668 0.664485 0.626097 -0.264051 0.310895 +#11959 1721120883432 +#11960 1721120883462 +SLAM 16.1917 -23.4255 37.6993 -0.566143 0.0873619 0.687661 0.446063 +TTool-pose None 35.5229 13.0596 17.6951 0.664842 0.626005 -0.267079 0.307711 +#11961 1721120883495 +#11962 1721120883530 +#11963 1721120883568 +SLAM 15.5791 -24.4625 36.7542 -0.554597 0.0855502 0.687869 0.46037 +TTool-pose None 35.3913 12.7661 17.2314 0.652228 0.632301 -0.278259 0.311903 +#11964 1721120883600 +SLAM 15.5642 -24.0407 36.9677 -0.557382 0.0890527 0.688888 0.454784 +TTool-pose None 35.3817 12.5805 17.1733 0.657614 0.62786 -0.276582 0.311054 +#11965 1721120883632 +SLAM 15.2577 -24.0415 37.0799 -0.560923 0.0856456 0.686433 0.454797 +TTool-pose None 35.3279 12.5099 17.1754 0.657292 0.630376 -0.271712 0.310936 +#11966 1721120883669 +SLAM 15.3397 -24.1322 36.9568 -0.558459 0.0855636 0.688296 0.455029 +TTool-pose None 35.3854 12.4441 17.1098 0.656746 0.6304 -0.274465 0.309622 +#11967 1721120883701 +SLAM 15.3274 -24.0783 36.9571 -0.558278 0.0864019 0.689083 0.4539 +TTool-pose None 35.4007 12.3503 17.0623 0.657754 0.629373 -0.274998 0.309098 +#11968 1721120883736 +SLAM 15.3996 -24.0244 36.9466 -0.557479 0.0868229 0.690733 0.452291 +TTool-pose None 35.4529 12.263 17.011 0.658918 0.628409 -0.276171 0.307529 +#11969 1721120883771 +SLAM 15.1938 -24.0819 37.0051 -0.5596 0.0831143 0.689443 0.452336 +TTool-pose None 35.4526 12.1927 17.0012 0.658289 0.631071 -0.272829 0.306404 +#11970 1721120883806 +SLAM 15.1588 -24.0224 37.0543 -0.56016 0.0829903 0.689783 0.451145 +TTool-pose None 35.4768 12.1252 16.9643 0.659212 0.630713 -0.272282 0.305639 +#11971 1721120883838 +SLAM 14.6767 -24.4014 36.9522 -0.561277 0.0779235 0.685874 0.456588 +TTool-pose None 35.4005 12.0997 16.93 0.654112 0.636363 -0.26915 0.307657 +#11972 1721120883872 +SLAM 15.0606 -24.0135 37.0771 -0.560792 0.0812444 0.690281 0.449916 +TTool-pose None 35.5137 11.991 16.8979 0.659771 0.63145 -0.271244 0.303831 +#11973 1721120883905 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1721120884100 +SLAM 13.9904 -24.1894 37.3284 -0.569158 0.0743544 0.681709 0.453655 +TTool-pose None 35.3662 11.8184 16.8094 0.656457 0.638003 -0.259527 0.307532 +#11980 1721120884135 +SLAM 14.4006 -24.2787 37.0998 -0.563105 0.0776221 0.686117 0.454017 +TTool-pose None 35.4694 11.8382 16.7518 0.656191 0.635648 -0.267264 0.306348 +#11981 1721120884168 +SLAM 14.1977 -24.4676 37.0531 -0.56333 0.0754023 0.684343 0.45678 +TTool-pose None 35.4499 11.8503 16.736 0.653624 0.63825 -0.266134 0.307407 +#11982 1721120884206 +SLAM 14.5084 -23.9533 37.2915 -0.5642 0.0813698 0.687719 0.449556 +TTool-pose None 35.5277 11.7483 16.7067 0.660553 0.63139 -0.267438 0.305626 +#11983 1721120884237 +SLAM 14.2446 -24.0592 37.3083 -0.56629 0.0779722 0.685684 0.450636 +TTool-pose None 35.4894 11.6889 16.7079 0.659206 0.634229 -0.26407 0.305584 +#11984 1721120884270 +SLAM 14.0387 -24.1446 37.2773 -0.56757 0.0756807 0.684423 0.451334 +TTool-pose None 35.4449 11.5996 16.7 0.658291 0.63612 -0.261939 0.305458 +#11985 1721120884302 +SLAM 13.4306 -24.7865 37.0235 -0.569357 0.0640437 0.679057 0.458925 +TTool-pose None 35.3356 11.5777 16.7317 0.649915 0.647038 -0.25597 0.305522 +#11986 1721120884334 +SLAM 13.6475 -24.5628 37.0818 -0.566492 0.070965 0.68218 0.456816 +TTool-pose None 35.4233 11.5416 16.593 0.652899 0.641418 -0.261349 0.306455 +#11987 1721120884368 +SLAM 13.8657 -24.4959 36.9957 -0.560925 0.079311 0.685428 0.457451 +TTool-pose None 35.5075 11.5373 16.4096 0.653771 0.635739 -0.269814 0.309087 +#11988 1721120884401 +SLAM 14.1345 -24.0383 37.1918 -0.560787 0.0855052 0.68888 0.451278 +TTool-pose None 35.5897 11.428 16.3202 0.659823 0.62908 -0.272195 0.307761 +#11989 1721120884443 +SLAM 13.8367 -24.2285 37.137 -0.564915 0.0748254 0.686887 0.451064 +TTool-pose None 35.5227 11.2885 16.3967 0.657908 0.636471 -0.264778 0.303092 +#11990 1721120884481 +SLAM 13.3219 -24.6186 36.983 -0.566582 0.0677975 0.683082 0.455837 +TTool-pose None 35.4339 11.1974 16.365 0.65282 0.643181 -0.260511 0.303628 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0.306955 +#11997 1721120884706 +SLAM 12.4263 -24.8915 36.8038 -0.563043 0.0731486 0.680654 0.462971 +TTool-pose None 35.3983 10.831 15.82 0.648408 0.642174 -0.265174 0.311092 +#11998 1721120884734 +SLAM 12.9213 -24.4245 36.9894 -0.563578 0.0747475 0.686038 0.454032 +TTool-pose None 35.5164 10.7107 15.8219 0.65552 0.637629 -0.265975 0.304781 +#11999 1721120884762 +SLAM 12.3147 -24.8386 36.8398 -0.568687 0.0605283 0.681405 0.456748 +TTool-pose None 35.4059 10.5381 15.872 0.650517 0.648527 -0.256026 0.300998 +#12000 1721120884795 +SLAM 12.5941 -24.6684 36.8197 -0.561829 0.0727789 0.685744 0.456954 +TTool-pose None 35.5232 10.5256 15.6253 0.652618 0.640026 -0.26714 0.304968 +#12001 1721120884833 +SLAM 12.0481 -24.6782 36.8992 -0.567206 0.0676555 0.682139 0.456493 +TTool-pose None 35.4227 10.3091 15.5826 0.652381 0.643562 -0.259686 0.304471 +#12002 1721120884865 +SLAM 12.1988 -24.6976 36.8327 -0.562793 0.0715004 0.684918 0.457208 +TTool-pose None 35.5257 10.2951 15.4203 0.65224 0.641037 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0.627568 -0.271097 0.313125 +#12009 1721120885103 +SLAM 10.9119 -24.7792 36.8213 -0.5637 0.0721906 0.683106 0.45869 +TTool-pose None 35.5444 9.47226 14.6788 0.651444 0.641191 -0.26466 0.307187 +#12010 1721120885132 +SLAM 11.19 -24.7314 36.7035 -0.557035 0.0801373 0.687607 0.458787 +TTool-pose None 35.6381 9.39397 14.4852 0.652427 0.635504 -0.274297 0.308465 +#12011 1721120885163 +SLAM 10.5092 -25.7367 36.0872 -0.556558 0.0602462 0.683697 0.468158 +TTool-pose None 35.5947 9.22991 14.4291 0.640254 0.652572 -0.268482 0.303404 +#12012 1721120885203 +SLAM 10.2467 -25.4591 36.3128 -0.559925 0.0621645 0.682999 0.464899 +TTool-pose None 35.5788 9.04252 14.2994 0.643684 0.65019 -0.265565 0.303824 +#12013 1721120885237 +SLAM 10.3873 -25.2861 36.5047 -0.558383 0.0644268 0.685869 0.462213 +TTool-pose None 35.7546 9.01502 14.1104 0.646064 0.64755 -0.268244 0.302053 +#12014 1721120885264 +SLAM 10.2804 -25.6635 36.0111 -0.553902 0.0614949 0.687504 0.465562 +TTool-pose None 35.6728 8.7732 14.0173 0.642137 0.650592 -0.272137 0.300402 +#12015 1721120885298 +SLAM 10.0457 -25.225 36.3685 -0.558231 0.0659441 0.686835 0.460746 +TTool-pose None 35.6609 8.59184 13.8892 0.64753 0.645949 -0.268991 0.301679 +#12016 1721120885332 +SLAM 9.86754 -25.2319 36.3394 -0.557075 0.0680868 0.687122 0.461406 +TTool-pose None 35.6656 8.44666 13.7377 0.64743 0.644701 -0.270804 0.30294 +#12017 1721120885370 +SLAM 9.35296 -25.167 36.5275 -0.561086 0.0672345 0.683923 0.461423 +TTool-pose None 35.6609 8.29754 13.5997 0.647771 0.645483 -0.266016 0.304783 +#12018 1721120885402 +SLAM 9.30706 -25.6366 36.0878 -0.55478 0.0644366 0.685966 0.466388 +TTool-pose None 35.6967 8.16896 13.4494 0.642428 0.648979 -0.271851 0.303516 +#12019 1721120885438 +SLAM 9.44442 -23.6996 37.3205 -0.565174 0.093649 0.686597 0.447652 +TTool-pose None 35.5662 7.95152 13.3627 0.665054 0.622275 -0.269581 0.312601 +#12020 1721120885467 +SLAM 9.2333 -24.7196 36.6407 -0.558165 0.0799699 0.687857 0.457066 +TTool-pose None 35.6595 7.84423 13.2212 0.653823 0.635002 -0.27316 0.30755 +#12021 1721120885498 +SLAM 8.6087 -24.5186 36.9319 -0.563244 0.0824799 0.683459 0.456986 +TTool-pose None 35.6248 7.68797 13.0684 0.655225 0.633509 -0.268031 0.312126 +#12022 1721120885532 +SLAM 8.57049 -23.5294 37.6009 -0.569848 0.0947383 0.682973 0.447041 +TTool-pose None 35.5918 7.5652 12.9877 0.666392 0.621496 -0.264558 0.315583 +#12023 1721120885565 +SLAM 8.36744 -24.88 36.6456 -0.559865 0.0790796 0.684476 0.460207 +TTool-pose None 35.6608 7.45942 12.8794 0.65152 0.63692 -0.270657 0.310669 +#12024 1721120885607 +SLAM 8.02148 -24.2331 37.1898 -0.567167 0.0858773 0.681492 0.454439 +TTool-pose None 35.6179 7.34046 12.7977 0.658474 0.63037 -0.264677 0.314499 +#12025 1721120885638 +SLAM 7.8246 -24.1802 37.263 -0.572913 0.0761169 0.680764 0.450042 +TTool-pose None 35.6081 7.20154 12.7908 0.660053 0.635546 -0.256049 0.307836 +#12026 1721120885673 +SLAM 7.84442 -23.9146 37.3982 -0.56913 0.0896183 0.681807 0.450776 +TTool-pose None 35.6266 7.14032 12.6347 0.66234 0.626456 -0.263745 0.314985 +#12027 1721120885704 +SLAM 7.89087 -25.2003 36.4054 -0.55708 0.0744451 0.685759 0.462443 +TTool-pose None 35.7357 7.05644 12.4932 0.648291 0.640801 -0.272365 0.307936 +#12028 1721120885732 +SLAM 7.41203 -24.1182 37.2946 -0.56829 0.0877158 0.680927 0.45353 +TTool-pose None 35.6504 6.92455 12.4044 0.65974 0.628805 -0.263945 0.315593 +#12029 1721120885766 +SLAM 7.21387 -24.0736 37.3067 -0.570904 0.0848787 0.680191 0.451891 +TTool-pose None 35.6086 6.79019 12.3638 0.660604 0.630216 -0.260407 0.313905 +#12030 1721120885798 +SLAM 6.98894 -24.1768 37.2811 -0.571355 0.0826559 0.679381 0.452949 +TTool-pose None 35.63 6.70537 12.2707 0.659336 0.632168 -0.259212 0.313634 +#12031 1721120885831 +SLAM 6.95331 -23.766 37.544 -0.573026 0.0901616 0.679179 0.449698 +TTool-pose None 35.609 6.63694 12.2156 0.663766 0.625823 -0.259507 0.316757 +#12032 1721120885865 +SLAM 6.98123 -24.6342 36.8925 -0.565969 0.0783495 0.681825 0.456787 +TTool-pose None 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None 35.6726 6.17942 11.821 0.656759 0.636003 -0.25669 0.313361 +#12039 1721120886099 +SLAM 6.30947 -24.6152 36.9331 -0.566456 0.0802055 0.68093 0.457198 +TTool-pose None 35.7029 6.12448 11.7475 0.654943 0.635289 -0.263754 0.312744 +#12040 1721120886132 +SLAM 5.99908 -24.4747 37.0922 -0.570333 0.0796393 0.678694 0.455797 +TTool-pose None 35.686 6.03406 11.69 0.656349 0.635295 -0.259308 0.313499 +#12041 1721120886169 +SLAM 5.66073 -23.6165 37.7241 -0.577997 0.0928925 0.674449 0.449898 +TTool-pose None 35.5868 5.95663 11.6789 0.664874 0.624215 -0.254394 0.321719 +#12042 1721120886207 +SLAM 5.96097 -24.4817 37.0424 -0.568827 0.0799363 0.680437 0.455029 +TTool-pose None 35.7113 5.87515 11.5509 0.656798 0.63473 -0.261203 0.312129 +#12043 1721120886240 +SLAM 5.85045 -24.2576 37.2085 -0.56973 0.0835732 0.680538 0.45309 +TTool-pose None 35.7262 5.77445 11.4344 0.659247 0.631529 -0.2613 0.313376 +#12044 1721120886272 +SLAM 6.34445 -25.2771 36.2586 -0.55355 0.0767247 0.688689 0.461955 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15.8249 17.5677 0.617088 0.667645 -0.263962 0.32202 +#12108 1721120888407 +SLAM 16.4255 -24.8859 36.6875 -0.556679 0.0572221 0.672648 0.484128 +TTool-pose None 34.5876 15.657 17.9082 0.62731 0.660668 -0.265417 0.315392 +#12109 1721120888437 +SLAM 16.6135 -25.1876 36.17 -0.551611 0.0595313 0.676274 0.484597 +TTool-pose None 34.5825 15.3341 17.9942 0.626856 0.659052 -0.271764 0.314267 +#12110 1721120888466 +SLAM 16.6949 -25.3121 36.0747 -0.550035 0.0617981 0.677891 0.483845 +TTool-pose None 34.6827 15.1664 18.0527 0.627808 0.657167 -0.274279 0.314131 +#12111 1721120888507 +SLAM 16.523 -25.7046 35.6366 -0.546086 0.0614909 0.678353 0.487695 +TTool-pose None 34.6254 14.9376 18.0045 0.624178 0.65861 -0.278124 0.314961 +#12112 1721120888540 +SLAM 16.5624 -25.6755 35.5327 -0.545318 0.0625297 0.680826 0.484968 +TTool-pose None 34.6739 14.6605 17.9883 0.626434 0.656847 -0.279655 0.312798 +#12113 1721120888568 +SLAM 16.6184 -25.8639 35.2256 -0.543874 0.0571307 0.68349 0.483507 +TTool-pose None 34.699 14.3628 18.0342 0.625893 0.659842 -0.279993 0.307223 +#12114 1721120888599 +#12115 1721120888633 +SLAM 15.7832 -25.7467 35.4181 -0.546056 0.0622628 0.680524 0.484596 +TTool-pose None 34.6527 13.9851 17.6054 0.626762 0.656927 -0.278801 0.312736 +#12116 1721120888668 +SLAM 15.9501 -25.3176 35.9341 -0.550007 0.0640997 0.682836 0.47657 +TTool-pose None 34.9129 13.8676 17.5956 0.633963 0.652864 -0.275908 0.309273 +#12117 1721120888700 +SLAM 15.445 -26.0731 35.3947 -0.544938 0.0584134 0.680438 0.486451 +TTool-pose None 34.8524 13.7536 17.4252 0.624143 0.66015 -0.278748 0.311229 +#12118 1721120888733 +SLAM 15.765 -25.3632 35.7117 -0.545423 0.0692243 0.686795 0.475431 +TTool-pose None 35.0229 13.3766 17.2572 0.635458 0.648719 -0.282592 0.308891 +#12119 1721120888767 +SLAM 15.8324 -25.3963 35.5542 -0.541541 0.0713651 0.690025 0.474875 +TTool-pose None 35.1157 13.2025 17.0758 0.63581 0.646831 -0.287575 0.307524 +#12120 1721120888807 +SLAM 15.7726 -25.2326 35.7186 -0.543749 0.0716871 0.690966 0.470919 +TTool-pose None 35.1922 12.9876 17.0503 0.639218 0.645221 -0.28567 0.30561 +#12121 1721120888838 +SLAM 15.8282 -24.6085 36.1289 -0.548176 0.0779082 0.693288 0.461286 +TTool-pose None 35.2705 12.6695 17.0086 0.648669 0.637513 -0.283431 0.303952 +#12122 1721120888869 +SLAM 15.8191 -24.153 36.5253 -0.551433 0.0858111 0.694044 0.454819 +TTool-pose None 35.3745 12.459 16.9837 0.655898 0.629769 -0.282474 0.305471 +#12123 1721120888898 +SLAM 15.6731 -24.0525 36.5818 -0.55109 0.0906604 0.694074 0.454249 +TTool-pose None 35.3811 12.3197 16.8619 0.657436 0.626205 -0.284127 0.30795 +#12124 1721120888935 +#12125 1721120888971 +SLAM 15.7131 -23.9893 36.5444 -0.553147 0.0809196 0.697903 0.447674 +TTool-pose None 35.4853 11.9249 16.8277 0.660161 0.630365 -0.279996 0.297218 +#12126 1721120889010 +SLAM 15.1989 -24.0266 36.7047 -0.55818 0.0785259 0.693074 0.449352 +TTool-pose None 35.3629 11.8699 16.845 0.659119 0.63294 -0.273556 0.300044 +#12127 1721120889041 +SLAM 14.9178 -24.4631 36.5179 -0.558281 0.0699595 0.690944 0.453898 +TTool-pose None 35.3396 11.861 16.8493 0.653631 0.640554 -0.27074 0.298438 +#12128 1721120889074 +SLAM 15.2938 -24.2203 36.4724 -0.552205 0.0809644 0.696187 0.451484 +TTool-pose None 35.4761 11.7887 16.6393 0.657259 0.631799 -0.280704 0.29993 +#12129 1721120889105 +SLAM 15.0826 -24.11 36.5814 -0.55613 0.0774973 0.694823 0.449372 +TTool-pose None 35.4108 11.6675 16.6548 0.658535 0.633537 -0.2756 0.298189 +#12130 1721120889138 +SLAM 15.0876 -23.93 36.689 -0.557441 0.0776477 0.695713 0.446333 +TTool-pose None 35.4388 11.5675 16.6127 0.660978 0.632295 -0.274446 0.296478 +#12131 1721120889169 +SLAM 15.0003 -24.2337 36.4594 -0.551808 0.081751 0.69595 0.452192 +TTool-pose None 35.4694 11.6121 16.4327 0.656875 0.631521 -0.281282 0.300812 +#12132 1721120889203 +SLAM 14.8103 -24.112 36.5488 -0.555936 0.0775086 0.695099 0.449182 +TTool-pose None 35.4057 11.4395 16.4583 0.658646 0.633444 -0.275839 0.297921 +#12133 1721120889236 +SLAM 14.7041 -24.1785 36.4472 -0.555685 0.0748966 0.695587 0.449181 +TTool-pose None 35.3839 11.3138 16.3865 0.657948 0.635202 -0.27544 0.296082 +#12134 1721120889270 +SLAM 14.898 -23.9501 36.4353 -0.553137 0.0798369 0.698864 0.44638 +TTool-pose None 35.429 11.2216 16.2443 0.660825 0.630583 -0.279846 0.295413 +#12135 1721120889302 +SLAM 15.1285 -23.8001 36.3576 -0.550072 0.0831277 0.702643 0.443626 +TTool-pose None 35.4913 11.1024 16.1228 0.663134 0.627054 -0.28436 0.293432 +#12136 1721120889342 +SLAM 14.4223 -24.3285 36.2079 -0.556419 0.06434 0.697329 0.447204 +TTool-pose None 35.3523 10.9078 16.2046 0.65676 0.641586 -0.271977 0.288036 +#12137 1721120889371 +SLAM 14.6156 -24.3256 36.0638 -0.55059 0.0708622 0.700569 0.448366 +TTool-pose None 35.4266 10.9032 16.0155 0.656701 0.637315 -0.280161 0.289806 +#12138 1721120889403 +SLAM 14.5386 -24.1294 36.2153 -0.551273 0.0744762 0.700753 0.446651 +TTool-pose None 35.4491 10.8355 15.909 0.658977 0.634223 -0.280511 0.291083 +#12139 1721120889435 +SLAM 14.7759 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13.9446 -23.5914 36.5438 -0.55137 0.088643 0.701579 0.442629 +TTool-pose None 35.4794 10.3113 15.3248 0.665414 0.622964 -0.284391 0.296938 +#12146 1721120889670 +SLAM 13.7253 -23.8507 36.3674 -0.550636 0.0844458 0.701096 0.445122 +TTool-pose None 35.4513 10.1976 15.2567 0.662477 0.626791 -0.283936 0.295882 +#12147 1721120889702 +SLAM 13.6346 -23.7368 36.4477 -0.551686 0.0844592 0.701404 0.44333 +TTool-pose None 35.4638 10.0921 15.175 0.663938 0.626125 -0.282922 0.294989 +#12148 1721120889736 +SLAM 12.9167 -24.4767 36.1217 -0.558657 0.0586412 0.696195 0.446963 +TTool-pose None 35.3301 9.84269 15.3165 0.65576 0.645441 -0.267912 0.285497 +#12149 1721120889769 +SLAM 13.1598 -24.2821 36.1154 -0.552365 0.0711713 0.700068 0.446914 +TTool-pose None 35.4216 9.82133 15.0907 0.658115 0.63663 -0.27839 0.289811 +#12150 1721120889802 +SLAM 12.6767 -24.8985 35.7939 -0.550225 0.0640926 0.697298 0.454884 +TTool-pose None 35.4078 9.75845 14.9621 0.650137 0.644455 -0.278125 0.290777 +#12151 1721120889838 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1721120890036 +SLAM 12.4588 -23.3995 36.4224 -0.543526 0.103473 0.706288 0.441622 +TTool-pose None 35.5279 8.84954 13.8833 0.668336 0.611869 -0.296812 0.301262 +#12158 1721120890072 +SLAM 11.895 -23.5886 36.4693 -0.549217 0.0925556 0.703143 0.442022 +TTool-pose None 35.4911 8.65626 13.8283 0.666441 0.619908 -0.287817 0.297729 +#12159 1721120890107 +SLAM 11.6932 -24.894 35.4767 -0.541311 0.0712366 0.704612 0.453244 +TTool-pose None 35.5129 8.51889 13.7642 0.651715 0.638431 -0.290124 0.2888 +#12160 1721120890137 +SLAM 11.3228 -24.5129 35.8341 -0.545438 0.0776565 0.702475 0.450551 +TTool-pose None 35.4715 8.35785 13.6223 0.656007 0.633271 -0.287491 0.293051 +#12161 1721120890178 +SLAM 11.4024 -24.7519 35.5265 -0.539292 0.0795498 0.705217 0.453326 +TTool-pose None 35.5002 8.24998 13.4868 0.653423 0.632695 -0.294531 0.293079 +#12162 1721120890210 +SLAM 11.4027 -24.7504 35.5276 -0.539351 0.0794572 0.705217 0.453272 +TTool-pose None 35.4999 8.24935 13.488 0.653449 0.63274 -0.294447 0.293007 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1721120892873 +#12244 1721120892904 +#12245 1721120892939 +#12246 1721120892970 +#12247 1721120893004 +#12248 1721120893039 +#12249 1721120893069 +#12250 1721120893106 +#12251 1721120893138 +#12252 1721120893169 +#12253 1721120893203 +SLAM 18.1405 -24.5346 35.9754 -0.538425 0.0845388 0.696104 0.467323 +TTool-pose None 35.2926 14.6649 17.8586 0.644248 0.634761 -0.29534 0.307756 +#12254 1721120893241 +SLAM 18.5747 -23.8996 36.251 -0.541668 0.0953104 0.69942 0.456424 +TTool-pose None 35.3663 14.4016 18.102 0.655421 0.623305 -0.295568 0.30736 +#12255 1721120893273 +SLAM 18.6311 -23.8571 36.0796 -0.541925 0.0986899 0.700346 0.453974 +TTool-pose None 35.2582 14.1581 18.2595 0.658048 0.620023 -0.296342 0.307642 +#12256 1721120893310 +SLAM 18.8707 -23.4645 36.1006 -0.542634 0.106648 0.703408 0.446532 +TTool-pose None 35.2602 13.8374 18.3622 0.665391 0.611595 -0.298131 0.306986 +#12257 1721120893342 +#12258 1721120893370 +#12259 1721120893404 +SLAM 17.8591 -24.511 35.8429 -0.54153 0.0964482 0.694719 0.463474 +TTool-pose None 35.0911 14.0185 18.1884 0.650484 0.625287 -0.295265 0.314045 +#12260 1721120893441 +SLAM 17.8943 -24.68 35.5743 -0.53694 0.0990374 0.695984 0.466361 +TTool-pose None 35.0751 14.0188 18.069 0.648181 0.624342 -0.30067 0.315559 +#12261 1721120893474 +SLAM 18.495 -24.3228 35.7008 -0.537421 0.0968316 0.700971 0.458739 +TTool-pose None 35.2596 14.0332 18.1819 0.653361 0.622899 -0.300409 0.307874 +#12262 1721120893508 +SLAM 18.3973 -24.8646 35.2064 -0.531537 0.0933951 0.701402 0.465597 +TTool-pose None 35.2156 14.0386 18.0848 0.646471 0.627566 -0.305344 0.30809 +#12263 1721120893538 +SLAM 18.805 -25.019 34.9093 -0.526592 0.0899011 0.705804 0.465252 +TTool-pose None 35.3508 14.0621 18.0738 0.644983 0.629476 -0.309931 0.302682 +#12264 1721120893573 +SLAM 18.8036 -25.3318 34.5811 -0.521822 0.0898792 0.706459 0.469617 +TTool-pose None 35.3393 14.0978 17.9924 0.640864 0.630852 -0.314661 0.303683 +#12265 1721120893605 +SLAM 18.622 -25.479 34.4269 -0.520407 0.0921231 0.704532 0.47363 +TTool-pose None 35.2003 14.1591 17.9553 0.638165 0.630776 -0.316317 0.307782 +#12266 1721120893646 +SLAM 18.8492 -25.2377 34.3222 -0.517713 0.0992062 0.706883 0.471643 +TTool-pose None 35.148 14.1512 17.8839 0.640799 0.624925 -0.321189 0.309195 +#12267 1721120893684 +SLAM 19.0556 -24.6939 34.6403 -0.52145 0.102416 0.70806 0.465029 +TTool-pose None 35.1471 14.1463 17.9152 0.647139 0.6204 -0.318605 0.307772 +#12268 1721120893716 +SLAM 19.2081 -24.3295 34.837 -0.523793 0.103995 0.709466 0.459874 +TTool-pose None 35.1755 14.0855 17.9321 0.651719 0.617446 -0.316948 0.305752 +#12269 1721120893745 +SLAM 18.7405 -24.0299 35.2837 -0.533152 0.101178 0.704905 0.45675 +TTool-pose None 35.0246 13.9459 18.0252 0.655076 0.618826 -0.306354 0.306583 +#12270 1721120893773 +#12271 1721120893803 +#12272 1721120893838 +#12273 1721120893875 +SLAM 17.5696 -23.4468 36.5228 -0.550522 0.0884908 0.69687 0.451073 +TTool-pose None 35.1299 13.7499 17.705 0.659141 0.626399 -0.284536 0.303497 +#12274 1721120893906 +SLAM 18.3692 -23.7159 36.2203 -0.533875 0.104054 0.705012 0.455091 +TTool-pose None 35.6503 14.0025 17.313 0.657077 0.61623 -0.306403 0.307482 +#12275 1721120893941 +SLAM 16.5756 -24.6853 35.7513 -0.542709 0.0892578 0.692862 0.466307 +TTool-pose None 35.0118 13.2737 17.4599 0.646864 0.631404 -0.291874 0.312449 +#12276 1721120893972 +#12277 1721120894013 +SLAM 17.348 -24.198 35.5725 -0.537413 0.0915738 0.704199 0.454868 +TTool-pose None 35.2494 12.8931 17.2857 0.654931 0.624975 -0.299507 0.301132 +#12278 1721120894048 +#12279 1721120894085 +SLAM 16.8186 -24.2671 35.8769 -0.54746 0.072248 0.701478 0.450552 +TTool-pose None 35.2943 12.5525 17.3673 0.654964 0.637063 -0.28382 0.290731 +#12280 1721120894119 +SLAM 16.7161 -23.6879 36.2837 -0.5495 0.0829208 0.702534 0.444544 +TTool-pose None 35.3698 12.3516 17.1417 0.66233 0.627531 -0.284866 0.293741 +#12281 1721120894151 +SLAM 16.326 -23.7843 36.375 -0.554527 0.074179 0.700246 0.443455 +TTool-pose None 35.3319 12.1377 17.1757 0.661723 0.633331 -0.277072 0.290088 +#12282 1721120894183 +SLAM 16.4503 -23.4549 36.4457 -0.551121 0.0841076 0.704112 0.439793 +TTool-pose None 35.4529 11.948 16.9017 0.666291 0.624901 -0.28376 0.291447 +#12283 1721120894215 +SLAM 16.4129 -23.1911 36.5959 -0.546221 0.0997947 0.704944 0.441291 +TTool-pose None 35.5484 12.0035 16.526 0.668178 0.614447 -0.292974 0.30012 +#12284 1721120894245 +SLAM 15.3587 -24.2521 36.1395 -0.555515 0.0666026 0.696999 0.448509 +TTool-pose None 35.225 11.6499 16.8285 0.656269 0.640533 -0.273486 0.290066 +#12285 1721120894277 +SLAM 15.1922 -24.1163 36.1854 -0.553461 0.0749001 0.697531 0.448911 +TTool-pose None 35.2353 11.5296 16.591 0.657799 0.634967 -0.277964 0.294552 +#12286 1721120894312 +SLAM 15.1799 -24.2669 36.0099 -0.553007 0.0681574 0.698919 0.448387 +TTool-pose None 35.2441 11.3915 16.5635 0.656371 0.639293 -0.276731 0.289493 +#12287 1721120894343 +SLAM 15.2591 -23.7687 36.2681 -0.5555 0.0717776 0.700971 0.441482 +TTool-pose None 35.2701 11.2267 16.4765 0.662676 0.634218 -0.275514 0.287441 +#12288 1721120894375 +SLAM 15.0913 -24.2827 35.9438 -0.551471 0.0673336 0.700628 0.447735 +TTool-pose None 35.2956 11.2202 16.3777 0.656381 0.639498 -0.278289 0.287514 +#12289 1721120894409 +SLAM 15.2386 -23.7478 36.1875 -0.550485 0.0797371 0.703282 0.442722 +TTool-pose None 35.3461 11.1173 16.1971 0.663005 0.629024 -0.283104 0.290708 +#12290 1721120894440 +SLAM 14.7914 -24.1137 36.1118 -0.554321 0.0674718 0.699668 0.445692 +TTool-pose None 35.2766 11.0417 16.2428 0.658347 0.638752 -0.275318 0.287537 +#12291 1721120894472 +SLAM 14.7798 -23.9272 36.1844 -0.552941 0.0745638 0.700571 0.444854 +TTool-pose None 35.2897 10.9825 16.1089 0.660562 0.633541 -0.278827 0.290594 +#12292 1721120894505 +SLAM 14.9804 -23.5709 36.3603 -0.550891 0.0848611 0.702741 0.442123 +TTool-pose None 35.3703 10.9935 15.9793 0.664774 0.625315 -0.284015 0.293767 +#12293 1721120894538 +SLAM 14.6444 -23.6577 36.4231 -0.553737 0.0817608 0.699998 0.443501 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0.44487 +TTool-pose None 35.245 10.5333 15.6607 0.661742 0.630351 -0.280052 0.293655 +#12300 1721120894774 +SLAM 13.9866 -24.2605 35.937 -0.55288 0.0671262 0.699833 0.447271 +TTool-pose None 35.2401 10.4418 15.6969 0.656889 0.639535 -0.276698 0.28781 +#12301 1721120894806 +SLAM 14.1627 -23.6932 36.226 -0.550519 0.083126 0.702506 0.443288 +TTool-pose None 35.3118 10.4052 15.4703 0.663449 0.626947 -0.28389 0.293406 +#12302 1721120894837 +SLAM 13.8092 -24.3731 35.7907 -0.549729 0.0695012 0.700772 0.449317 +TTool-pose None 35.2489 10.2853 15.4806 0.655521 0.638564 -0.280672 0.289234 +#12303 1721120894871 +SLAM 13.6059 -24.0356 36.0722 -0.553596 0.0719084 0.699984 0.445403 +TTool-pose None 35.2324 10.1432 15.3898 0.65959 0.635597 -0.277344 0.289726 +#12304 1721120894904 +SLAM 13.6918 -23.6933 36.2273 -0.552925 0.0790203 0.702004 0.441837 +TTool-pose None 35.271 10.0435 15.2539 0.663855 0.6293 -0.280269 0.290919 +#12305 1721120894942 +SLAM 14.034 -23.2789 36.3013 -0.550673 0.0862841 0.706466 0.436143 +TTool-pose None 35.332 9.92389 15.1388 0.66935 0.621905 -0.2851 0.289531 +#12306 1721120894977 +SLAM 13.4032 -24.9903 35.2063 -0.543557 0.0608343 0.703185 0.454286 +TTool-pose None 35.2827 9.85606 15.1016 0.648609 0.645999 -0.284718 0.284304 +#12307 1721120895006 +SLAM 13.1601 -24.9761 35.2395 -0.544629 0.060343 0.702543 0.454061 +TTool-pose None 35.2669 9.71196 14.9885 0.648823 0.646307 -0.283414 0.284419 +#12308 1721120895041 +SLAM 12.8485 -24.9027 35.3703 -0.549979 0.0532261 0.700938 0.450972 +TTool-pose None 35.2342 9.51632 14.9566 0.650023 0.650169 -0.27576 0.280365 +#12309 1721120895073 +SLAM 13.2586 -24.4417 35.4655 -0.53905 0.0805313 0.706704 0.45112 +TTool-pose None 35.3552 9.54074 14.588 0.655222 0.631129 -0.295254 0.291705 +#12310 1721120895106 +SLAM 12.9529 -24.6445 35.369 -0.542797 0.0687761 0.705505 0.450449 +TTool-pose None 35.3155 9.34092 14.59 0.653355 0.639073 -0.288078 0.285705 +#12311 1721120895138 +SLAM 12.8978 -22.8879 36.5644 -0.550534 0.101232 0.704835 0.435742 +TTool-pose None 35.2753 9.19323 14.328 0.673182 0.611471 -0.288965 0.298899 +#12312 1721120895182 +SLAM 13.1126 -23.5243 36.0148 -0.537787 0.103142 0.709402 0.443729 +TTool-pose None 35.4344 9.18961 14.0726 0.66575 0.612568 -0.302891 0.299514 +#12313 1721120895211 +#12314 1721120895241 +SLAM 12.1747 -22.982 36.6068 -0.554938 0.0890658 0.704501 0.433347 +TTool-pose None 35.3013 8.69436 13.9523 0.672705 0.61912 -0.281254 0.29148 +#12315 1721120895279 +SLAM 12.6328 -22.6399 36.4582 -0.543789 0.112909 0.709827 0.433233 +TTool-pose None 35.3107 8.59349 13.7145 0.676472 0.601928 -0.299368 0.300601 +#12316 1721120895317 +SLAM 11.735 -22.8302 36.6477 -0.548419 0.109164 0.703945 0.437928 +TTool-pose None 35.2863 8.43518 13.4874 0.673093 0.606741 -0.293016 0.304743 +#12317 1721120895349 +SLAM 11.9501 -24.9403 34.9087 -0.531913 0.0742806 0.711006 0.453895 +TTool-pose None 35.3916 8.29354 13.4781 0.650348 0.635985 -0.301203 0.285921 +#12318 1721120895381 +SLAM 11.7017 -25.2988 34.5873 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34.7169 -0.525875 0.0829653 0.712673 0.456803 +TTool-pose None 35.3638 7.30308 12.5644 0.649305 0.630807 -0.30978 0.290571 +#12325 1721120895628 +SLAM 10.5713 -24.1723 35.4577 -0.535961 0.0893883 0.710786 0.446697 +TTool-pose None 35.3182 7.16701 12.5014 0.660037 0.623095 -0.301288 0.291955 +#12326 1721120895658 +SLAM 10.1941 -25.4272 34.5762 -0.529893 0.065381 0.711095 0.457474 +TTool-pose None 35.4028 7.02862 12.3339 0.645069 0.643277 -0.300691 0.282075 +#12327 1721120895692 +SLAM 10.3898 -24.7553 34.9075 -0.526951 0.0882184 0.713262 0.453649 +TTool-pose None 35.3392 6.92642 12.2405 0.653084 0.62604 -0.310232 0.291927 +#12328 1721120895724 +SLAM 10.0536 -24.5706 35.1563 -0.532264 0.0864607 0.711029 0.451284 +TTool-pose None 35.3178 6.80918 12.1706 0.655352 0.626681 -0.304205 0.291807 +#12329 1721120895757 +SLAM 10.0894 -24.6766 35.0827 -0.52941 0.0848546 0.713125 0.451639 +TTool-pose None 35.4116 6.74553 12.0116 0.654169 0.627712 -0.30688 0.289435 +#12330 1721120895787 +SLAM 9.86505 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9.28285 -24.7744 34.771 -0.521276 0.0969829 0.715501 0.45489 +TTool-pose None 35.2935 5.89089 11.3603 0.653201 0.620094 -0.318446 0.295492 +#12337 1721120896007 +SLAM 8.95551 -24.6489 34.9277 -0.525113 0.0958771 0.713874 0.453263 +TTool-pose None 35.2629 5.73373 11.2659 0.654857 0.620497 -0.314165 0.295562 +#12338 1721120896045 +SLAM 8.17434 -23.1908 36.3249 -0.546908 0.104784 0.705206 0.438857 +TTool-pose None 35.1917 5.61248 11.1854 0.671184 0.610058 -0.293597 0.301755 +#12339 1721120896080 +#12340 1721120896109 +SLAM 8.15162 -23.9064 35.6027 -0.532412 0.107074 0.710683 0.447216 +TTool-pose None 35.2192 5.25452 10.8533 0.663183 0.610879 -0.309424 0.30197 +#12341 1721120896138 +#12342 1721120896171 +#12343 1721120896205 +#12344 1721120896240 +#12345 1721120896273 +#12346 1721120896306 +#12347 1721120896339 +#12348 1721120896375 +#12349 1721120896411 +#12350 1721120896444 +#12351 1721120896474 +#12352 1721120896513 +#12353 1721120896543 +#12354 1721120896578 +#12355 1721120896609 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None 34.4506 13.9889 17.6448 0.637958 0.658837 -0.282785 0.280845 +#12403 1721120898215 +#12404 1721120898248 +SLAM 17.8822 -24.7153 34.1242 -0.523568 0.0676546 0.709429 0.466916 +TTool-pose None 34.7297 13.5325 16.9755 0.637583 0.645021 -0.307269 0.287971 +#12405 1721120898280 +SLAM 18.0283 -24.0709 34.489 -0.530173 0.0674019 0.712714 0.454326 +TTool-pose None 34.7899 13.1154 17.068 0.647929 0.640678 -0.301223 0.280864 +#12406 1721120898321 +SLAM 17.8343 -24.1595 34.4615 -0.529738 0.0703149 0.7124 0.454884 +TTool-pose None 34.8015 12.9302 17.0089 0.648205 0.638905 -0.302432 0.282962 +#12407 1721120898352 +SLAM 17.6159 -23.8257 34.8251 -0.535133 0.0720545 0.711097 0.450312 +TTool-pose None 34.7961 12.7613 16.993 0.652947 0.636283 -0.297406 0.283294 +#12408 1721120898382 +SLAM 16.997 -23.7757 35.1422 -0.541319 0.0747163 0.705826 0.450777 +TTool-pose None 34.6932 12.5781 16.9918 0.654395 0.635091 -0.291264 0.288959 +#12409 1721120898414 +SLAM 17.1239 -23.5564 35.2478 -0.541096 0.0797362 0.707925 0.446878 +TTool-pose None 34.78 12.4373 16.9603 0.658435 0.630102 -0.293165 0.288781 +#12410 1721120898446 +SLAM 17.0791 -23.1193 35.5342 -0.543442 0.0884741 0.708519 0.441411 +TTool-pose None 34.8073 12.2356 16.8954 0.664915 0.62209 -0.293258 0.291203 +#12411 1721120898477 +#12412 1721120898507 +#12413 1721120898543 +SLAM 16.6999 -23.0618 35.5183 -0.548126 0.0757222 0.709865 0.435794 +TTool-pose None 34.7752 11.7068 16.7658 0.666527 0.628788 -0.28523 0.28091 +#12414 1721120898579 +SLAM 16.5879 -22.8201 35.6891 -0.546272 0.0881447 0.709912 0.435709 +TTool-pose None 34.8183 11.6654 16.5371 0.66937 0.620177 -0.290486 0.28783 +#12415 1721120898608 +SLAM 15.7053 -24.202 35.2475 -0.549883 0.0569825 0.701762 0.449345 +TTool-pose None 34.7404 11.6589 16.7167 0.652207 0.647002 -0.277073 0.281323 +#12416 1721120898646 +SLAM 16.5813 -22.7879 35.6119 -0.53831 0.101256 0.713236 0.437338 +TTool-pose None 34.9866 11.521 16.1007 0.669946 0.611304 -0.302363 0.293199 +#12417 1721120898679 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1721120899274 +#12436 1721120899309 +#12437 1721120899344 +#12438 1721120899378 +#12439 1721120899408 +#12440 1721120899442 +SLAM 11.9437 -25.3545 33.829 -0.522112 0.0662284 0.714898 0.460362 +TTool-pose None 34.9968 8.13938 13.2259 0.64171 0.643271 -0.309104 0.280654 +#12441 1721120899483 +SLAM 12.0313 -22.0905 36.06 -0.545905 0.111557 0.712444 0.426574 +TTool-pose None 34.7468 7.86316 13.2256 0.681207 0.600264 -0.297175 0.295358 +#12442 1721120899514 +SLAM 11.5495 -23.8166 34.9798 -0.535172 0.0879736 0.713242 0.444001 +TTool-pose None 34.8457 7.69941 13.0272 0.661472 0.622915 -0.302018 0.288309 +#12443 1721120899546 +SLAM 11.0148 -24.5843 34.5852 -0.533872 0.0723109 0.711366 0.451343 +TTool-pose None 34.902 7.55045 12.8518 0.652041 0.636435 -0.298766 0.283609 +#12444 1721120899578 +#12445 1721120899611 +SLAM 10.9024 -24.7311 34.3767 -0.526653 0.0785103 0.71426 0.454208 +TTool-pose None 34.96 7.31778 12.5303 0.650209 0.632855 -0.308016 0.285926 +#12446 1721120899643 +SLAM 10.3559 -23.7712 35.2221 -0.541571 0.0851267 0.708901 0.443748 +TTool-pose None 34.793 7.09616 12.541 0.662101 0.625199 -0.294287 0.289914 +#12447 1721120899677 +SLAM 9.71145 -24.5027 34.8313 -0.542158 0.0694132 0.70581 0.450642 +TTool-pose None 34.7888 6.904 12.4057 0.653271 0.638678 -0.288939 0.285909 +#12448 1721120899709 +SLAM 10.672 -22.7934 35.7288 -0.539167 0.106596 0.71345 0.434656 +TTool-pose None 34.8581 6.93866 12.2316 0.673226 0.606576 -0.302888 0.29496 +#12449 1721120899752 +SLAM 9.57032 -23.7668 35.3215 -0.545289 0.081855 0.706595 0.44349 +TTool-pose None 34.7611 6.67739 12.1776 0.662116 0.627568 -0.289362 0.289716 +#12450 1721120899793 +SLAM 10.5196 -24.7174 34.0406 -0.518042 0.0897374 0.718899 0.454713 +TTool-pose None 34.8622 6.63182 12.0009 0.650941 0.624732 -0.320152 0.288784 +#12451 1721120899826 +SLAM 8.96631 -23.0805 35.9495 -0.555312 0.0868543 0.702482 0.436582 +TTool-pose None 34.7009 6.43724 11.9994 0.669931 0.621972 -0.28003 0.292975 +#12452 1721120899858 +SLAM 10.1228 -24.7314 34.1314 -0.518155 0.0892878 0.718658 0.455054 +TTool-pose None 34.9184 6.39621 11.7058 0.65061 0.625186 -0.319887 0.288842 +#12453 1721120899892 +SLAM 9.34956 -23.7549 35.1851 -0.53971 0.0859746 0.710843 0.442746 +TTool-pose None 34.8059 6.23121 11.7074 0.662696 0.624088 -0.296634 0.28855 +#12454 1721120899921 +#12455 1721120899953 +SLAM 9.56693 -24.5765 34.2534 -0.522612 0.0861675 0.717885 0.451767 +TTool-pose None 34.8488 5.97802 11.4337 0.653091 0.626348 -0.314576 0.286545 +#12456 1721120899986 +SLAM 8.33586 -23.8555 35.2752 -0.54702 0.0773741 0.706191 0.442806 +TTool-pose None 34.7398 5.78494 11.4026 0.661773 0.630448 -0.286338 0.287237 +#12457 1721120900022 +SLAM 8.88006 -24.4094 34.4676 -0.527573 0.090085 0.713897 0.451556 +TTool-pose None 34.7373 5.66159 11.2868 0.655163 0.623969 -0.310208 0.291728 +#12458 1721120900056 +SLAM 7.41273 -23.123 36.0289 -0.55904 0.0853768 0.699171 0.43743 +TTool-pose None 34.6706 5.51676 11.1821 0.669546 0.623536 -0.275402 0.294911 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1721120902614 +SLAM 18.655 -21.1512 37.5292 -0.562746 0.0300163 0.705872 0.429139 +TTool-pose None 35.0146 15.2159 17.052 0.661048 0.657433 -0.256433 0.254781 +#12536 1721120902646 +#12537 1721120902682 +#12538 1721120902709 +SLAM 18.1523 -22.5682 36.1697 -0.546857 0.0591043 0.706844 0.444775 +TTool-pose None 34.8743 14.2282 16.9248 0.655567 0.643556 -0.281431 0.277056 +#12539 1721120902742 +SLAM 18.0936 -22.9753 35.7122 -0.543989 0.0581985 0.706989 0.448169 +TTool-pose None 34.745 14.0301 17.038 0.652398 0.645346 -0.284066 0.277685 +#12540 1721120902781 +SLAM 17.8655 -23.2568 35.5222 -0.543082 0.0573913 0.705218 0.452146 +TTool-pose None 34.6471 13.9764 17.0342 0.649154 0.647422 -0.284489 0.280013 +#12541 1721120902815 +SLAM 17.9062 -23.2157 35.4989 -0.543604 0.0595816 0.706093 0.449863 +TTool-pose None 34.6578 13.8008 17.119 0.651483 0.645074 -0.284726 0.27978 +#12542 1721120902845 +SLAM 17.9405 -23.3836 35.1769 -0.538869 0.0659992 0.708318 0.451166 +TTool-pose None 34.654 13.5784 17.0519 0.651425 0.640971 -0.291599 0.282264 +#12543 1721120902881 +SLAM 17.7321 -23.4275 35.1697 -0.540846 0.0661585 0.707028 0.450799 +TTool-pose None 34.5861 13.397 17.1093 0.652079 0.640849 -0.289496 0.283194 +#12544 1721120902915 +SLAM 17.647 -23.4787 35.0732 -0.539939 0.070101 0.707195 0.451028 +TTool-pose None 34.5553 13.2363 17.1018 0.652785 0.638222 -0.291538 0.2854 +#12545 1721120902957 +SLAM 18.0191 -23.3529 34.9431 -0.534895 0.0811712 0.711557 0.448314 +TTool-pose None 34.6783 13.106 17.0687 0.656656 0.629279 -0.30023 0.287364 +#12546 1721120902987 +SLAM 16.9171 -23.6147 35.2873 -0.546196 0.0758697 0.699977 0.453813 +TTool-pose None 34.3729 13.0062 17.2411 0.653312 0.635831 -0.285874 0.295105 +#12547 1721120903025 +SLAM 34.0184 -4.51992 34.3792 -0.497078 0.154594 0.836588 0.17068 +TTool-pose None 40.4808 11.9583 18.9669 0.824156 0.441394 -0.33913 0.101358 +#12548 1721120903058 +SLAM 16.9512 -23.4594 35.2482 -0.544239 0.0848824 0.701891 0.451606 +TTool-pose None 34.3848 12.792 17.1618 0.656843 0.628697 -0.290583 0.297942 +#12549 1721120903091 +SLAM 16.8209 -23.6725 35.1012 -0.542085 0.0858286 0.701599 0.454463 +TTool-pose None 34.3805 12.729 17.0987 0.654637 0.629052 -0.292941 0.299736 +#12550 1721120903123 +SLAM 16.6939 -23.4406 35.3154 -0.547038 0.0826352 0.701144 0.449797 +TTool-pose None 34.3665 12.549 17.1457 0.658065 0.629682 -0.287066 0.29657 +#12551 1721120903153 +SLAM 16.4364 -23.5423 35.2845 -0.550867 0.0732909 0.699794 0.448845 +TTool-pose None 34.2879 12.3639 17.2071 0.657023 0.63588 -0.280452 0.29194 +#12552 1721120903184 +SLAM 16.761 -22.86 35.4671 -0.547611 0.089835 0.705112 0.44144 +TTool-pose None 34.3979 12.1974 16.9313 0.665935 0.621438 -0.288977 0.294527 +#12553 1721120903212 +#12554 1721120903243 +#12555 1721120903281 +SLAM 16.0075 -23.5797 34.9017 -0.543017 0.0801262 0.70389 0.450834 +TTool-pose None 34.2682 11.8668 16.5275 0.656015 0.631551 -0.290792 0.293489 +#12556 1721120903314 +SLAM 16.2368 -22.9906 35.0987 -0.546969 0.0792176 0.707858 0.439872 +TTool-pose None 34.2841 11.5689 16.5368 0.664323 0.628004 -0.287113 0.285929 +#12557 1721120903344 +SLAM 15.7057 -23.818 34.7682 -0.545923 0.0641953 0.703963 0.449759 +TTool-pose None 34.2672 11.5828 16.4685 0.653182 0.642083 -0.283435 0.283988 +#12558 1721120903382 +SLAM 15.9622 -23.3247 34.8274 -0.544084 0.0733929 0.708867 0.442826 +TTool-pose None 34.3047 11.3455 16.3073 0.660243 0.632965 -0.288541 0.282982 +#12559 1721120903410 +#12560 1721120903444 +SLAM 15.8482 -22.7224 35.1001 -0.54371 0.0873363 0.71139 0.436665 +TTool-pose None 34.3408 11.0362 15.9592 0.668053 0.620952 -0.293042 0.286627 +#12561 1721120903479 +SLAM 15.872 -22.4928 35.0732 -0.540357 0.097785 0.713499 0.435169 +TTool-pose None 34.3367 10.8865 15.7541 0.671029 0.612949 -0.299435 0.290275 +#12562 1721120903510 +SLAM 14.9942 -23.6174 34.7488 -0.547565 0.0634372 0.70621 0.444314 +TTool-pose None 34.2355 10.7571 15.9459 0.657174 0.640507 -0.281879 0.27985 +#12563 1721120903546 +SLAM 14.9247 -23.0267 35.1303 -0.550825 0.0716817 0.707102 0.437561 +TTool-pose None 34.2443 10.5835 15.7967 0.664692 0.632415 -0.281029 0.281351 +#12564 1721120903581 +SLAM 14.4269 -23.3593 34.9825 -0.555113 0.0589441 0.704153 0.438799 +TTool-pose None 34.1334 10.3127 15.8248 0.661153 0.64175 -0.272682 0.276715 +#12565 1721120903614 +SLAM 14.4109 -23.1474 35.0524 -0.552739 0.0680677 0.705759 0.437894 +TTool-pose None 34.1633 10.227 15.6257 0.663832 0.635107 -0.277903 0.280417 +#12566 1721120903648 +SLAM 14.6505 -23.5909 34.5735 -0.541668 0.0719577 0.709781 0.444555 +TTool-pose None 34.2807 10.2889 15.4149 0.658217 0.634476 -0.290685 0.282122 +#12567 1721120903684 +SLAM 14.9971 -22.2365 35.3431 -0.540415 0.1054 0.713333 0.433589 +TTool-pose None 34.4026 10.2759 15.0432 0.673927 0.607052 -0.301311 0.293993 +#12568 1721120903713 +SLAM 14.1415 -23.7104 34.5891 -0.545622 0.0641468 0.707697 0.444238 +TTool-pose None 34.2322 9.99776 15.2983 0.657087 0.639875 -0.284235 0.279115 +#12569 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11.441 0.65317 0.623468 -0.313298 0.293959 +#12595 1721120904613 +#12596 1721120904646 +#12597 1721120904678 +#12598 1721120904715 +#12599 1721120904746 +#12600 1721120904778 +#12601 1721120904815 +#12602 1721120904844 +#12603 1721120904880 +#12604 1721120904911 +#12605 1721120904943 +#12606 1721120904976 +#12607 1721120905014 +#12608 1721120905052 +#12609 1721120905084 +#12610 1721120905114 +#12611 1721120905144 +#12612 1721120905180 +#12613 1721120905213 +#12614 1721120905244 +#12615 1721120905277 +#12616 1721120905310 +#12617 1721120905347 +#12618 1721120905381 +#12619 1721120905415 +#12620 1721120905466 +#12621 1721120905495 +#12622 1721120905522 +#12623 1721120905549 +#12624 1721120905580 +#12625 1721120905611 +#12626 1721120905644 +#12627 1721120905680 +#12628 1721120905718 +#12629 1721120905746 +#12630 1721120905778 +#12631 1721120905814 +#12632 1721120905849 +#12633 1721120905884 +#12634 1721120905912 +#12635 1721120905945 +#12636 1721120905977 +#12637 1721120906012 +#12638 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14.2886 -23.1887 34.9117 -0.556687 0.0665652 0.698296 0.44503 +TTool-pose None 33.689 10.7523 15.9712 0.658957 0.639232 -0.272476 0.28778 +#12719 1721120908750 +#12720 1721120908787 +SLAM 13.8827 -23.7728 34.3704 -0.551255 0.0628451 0.698532 0.451909 +TTool-pose None 33.6249 10.4512 15.7448 0.65214 0.644173 -0.276921 0.288048 +#12721 1721120908826 +SLAM 13.5669 -22.9897 35.0879 -0.564161 0.0605313 0.695996 0.440054 +TTool-pose None 33.5813 10.2191 15.7592 0.662069 0.641692 -0.262831 0.284103 +#12722 1721120908860 +SLAM 14.4234 -22.251 35.2871 -0.548352 0.0989911 0.704947 0.438818 +TTool-pose None 33.8962 10.4964 15.2403 0.670111 0.614132 -0.290613 0.298745 +#12723 1721120908891 +SLAM 14.2383 -22.6504 35.0274 -0.548579 0.0883807 0.704507 0.441498 +TTool-pose None 33.8513 10.3854 15.2773 0.665703 0.622517 -0.287532 0.294188 +#12724 1721120908924 +SLAM 13.7912 -22.641 35.1229 -0.55744 0.0757174 0.701186 0.438024 +TTool-pose None 33.703 10.1222 15.4047 0.666461 0.630262 -0.274664 0.288205 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None 33.4773 6.98984 12.4332 0.662994 0.632031 -0.264482 0.301557 +#12779 1721120910764 +SLAM 8.03274 -22.3549 35.6889 -0.571443 0.0852911 0.685766 0.44261 +TTool-pose None 33.4668 6.97279 12.3529 0.66757 0.626289 -0.260826 0.306588 +#12780 1721120910796 +SLAM 8.29222 -23.2564 34.8514 -0.560449 0.0777332 0.690195 0.451094 +TTool-pose None 33.4637 6.88438 12.3792 0.657984 0.634288 -0.270611 0.302352 +#12781 1721120910829 +SLAM 8.13869 -22.5365 35.4728 -0.566518 0.086798 0.688377 0.444591 +TTool-pose None 33.4925 6.88611 12.2639 0.665828 0.625823 -0.266652 0.306316 +#12782 1721120910865 +SLAM 8.39991 -23.5224 34.5452 -0.554966 0.0766658 0.69317 0.453486 +TTool-pose None 33.4906 6.78767 12.2808 0.655147 0.63567 -0.276291 0.300467 +#12783 1721120910899 +SLAM 8.22128 -23.4906 34.5897 -0.558209 0.0726481 0.692094 0.451808 +TTool-pose None 33.4633 6.69245 12.2653 0.655842 0.637906 -0.271746 0.298349 +#12784 1721120910931 +SLAM 8.77702 -22.0758 35.5111 -0.560106 0.0992014 0.695661 0.438743 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0.441836 +TTool-pose None 33.5089 5.96238 11.5514 0.667795 0.624993 -0.266342 0.303987 +#12797 1721120911370 +SLAM 7.12943 -23.1426 34.9376 -0.557852 0.0843824 0.692124 0.450161 +TTool-pose None 33.5776 5.91067 11.4123 0.659933 0.629253 -0.275346 0.304345 +#12798 1721120911402 +SLAM 6.85341 -22.619 35.3939 -0.566281 0.0872761 0.68868 0.444329 +TTool-pose None 33.5244 5.85929 11.4294 0.666102 0.62538 -0.267066 0.306264 +#12799 1721120911435 +SLAM 7.12837 -23.8957 34.2249 -0.550494 0.0767958 0.694283 0.457198 +TTool-pose None 33.5322 5.74305 11.4274 0.651765 0.636797 -0.280975 0.301093 +#12800 1721120911470 +SLAM 6.82907 -22.815 35.2126 -0.565474 0.0814472 0.689923 0.444536 +TTool-pose None 33.5271 5.76211 11.3793 0.664408 0.629405 -0.266493 0.302164 +#12801 1721120911501 +SLAM 6.61576 -22.6392 35.4199 -0.569135 0.0807578 0.688238 0.442597 +TTool-pose None 33.5441 5.73474 11.3072 0.666152 0.629275 -0.26232 0.302249 +#12802 1721120911538 +SLAM 6.94274 -23.3806 34.6762 -0.557437 0.0785302 0.692851 0.450616 +TTool-pose None 33.5278 5.66955 11.3402 0.658087 0.6334 -0.274272 0.300685 +#12803 1721120911570 +SLAM 6.57407 -22.831 35.2453 -0.567022 0.0801476 0.688612 0.444832 +TTool-pose None 33.5265 5.66659 11.293 0.664087 0.630483 -0.264367 0.302491 +#12804 1721120911599 +SLAM 6.37206 -22.2611 35.7694 -0.573408 0.0852986 0.686092 0.439552 +TTool-pose None 33.555 5.69143 11.2178 0.670047 0.625149 -0.258856 0.305174 +#12805 1721120911632 +#12806 1721120911661 +SLAM 6.64794 -23.3968 34.7513 -0.558692 0.0790427 0.691002 0.451809 +TTool-pose None 33.5461 5.59213 11.2459 0.657531 0.63359 -0.272868 0.302773 +#12807 1721120911691 +SLAM 7.38387 -23.5217 34.3331 -0.5437 0.0981905 0.697465 0.45639 +TTool-pose None 33.5028 5.61693 11.3573 0.656464 0.621436 -0.294012 0.3104 +#12808 1721120911721 +SLAM 6.7878 -23.4518 34.6138 -0.555562 0.0811258 0.692939 0.452333 +TTool-pose None 33.5297 5.54442 11.2372 0.657198 0.632212 -0.276887 0.302727 +#12809 1721120911756 +#12810 1721120911785 +SLAM 6.37592 -22.6641 35.3936 -0.56849 0.0822534 0.688198 0.443212 +TTool-pose None 33.5448 5.54767 11.155 0.665988 0.628471 -0.263382 0.303358 +#12811 1721120911827 +SLAM 7.0405 -24.051 33.9746 -0.543498 0.0825057 0.697357 0.459886 +TTool-pose None 33.5404 5.46762 11.1871 0.650088 0.633553 -0.289986 0.303013 +#12812 1721120911866 +SLAM 6.47049 -23.2186 34.8926 -0.561717 0.0781063 0.69057 0.448873 +TTool-pose None 33.5401 5.47279 11.1447 0.659884 0.633219 -0.269489 0.301454 +#12813 1721120911896 +SLAM 6.68389 -23.3854 34.6727 -0.557447 0.0782485 0.693079 0.450301 +TTool-pose None 33.5414 5.4614 11.1521 0.658247 0.633467 -0.274219 0.30024 +#12814 1721120911926 +SLAM 6.48655 -23.0493 35.0007 -0.561566 0.0829043 0.690756 0.447913 +TTool-pose None 33.5344 5.45697 11.1179 0.661755 0.629562 -0.270984 0.303664 +#12815 1721120911956 +SLAM 6.74894 -23.0215 34.9191 -0.558404 0.0858073 0.693301 0.447386 +TTool-pose None 33.5307 5.46627 11.1295 0.662385 0.627206 -0.275349 0.30324 +#12816 1721120911985 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0.622785 -0.276625 0.291424 +#12915 1721120915301 +SLAM 13.1008 -22.0881 35.5834 -0.563276 0.0771997 0.700585 0.431208 +TTool-pose None 33.7373 9.66473 14.8952 0.672577 0.626805 -0.269015 0.286859 +#12916 1721120915335 +SLAM 12.7555 -21.9965 35.7579 -0.567065 0.0771313 0.697801 0.430769 +TTool-pose None 33.694 9.58066 14.8478 0.673432 0.62687 -0.264744 0.288681 +#12917 1721120915369 +SLAM 12.8814 -21.7937 35.8681 -0.565874 0.0826446 0.69926 0.428942 +TTool-pose None 33.7566 9.58405 14.7757 0.67593 0.622312 -0.267654 0.290021 +#12918 1721120915402 +SLAM 12.882 -22.6205 35.1817 -0.555026 0.0829887 0.700922 0.440191 +TTool-pose None 33.753 9.56333 14.6792 0.666358 0.626056 -0.279076 0.293332 +#12919 1721120915434 +SLAM 12.8573 -21.9881 35.6611 -0.56105 0.0867142 0.700571 0.432323 +TTool-pose None 33.7721 9.50865 14.6412 0.673815 0.620658 -0.273881 0.292666 +#12920 1721120915473 +SLAM 12.494 -22.7944 35.1 -0.558973 0.0737636 0.698919 0.440024 +TTool-pose None 33.6663 9.33507 14.68 0.66477 0.632481 -0.272262 0.289528 +#12921 1721120915507 +SLAM 12.8691 -22.3618 35.2958 -0.553992 0.0892165 0.702567 0.437645 +TTool-pose None 33.7924 9.43784 14.4973 0.669538 0.620711 -0.282016 0.29464 +#12922 1721120915541 +SLAM 12.636 -22.3198 35.373 -0.559919 0.0808905 0.700724 0.434666 +TTool-pose None 33.7121 9.29814 14.5868 0.67054 0.625522 -0.27349 0.290183 +#12923 1721120915578 +SLAM 12.5061 -22.3726 35.3811 -0.559868 0.0816514 0.699736 0.436177 +TTool-pose None 33.7064 9.29259 14.5445 0.669646 0.625615 -0.273622 0.291919 +#12924 1721120915613 +SLAM 12.3132 -22.7664 35.1203 -0.559127 0.0758453 0.698432 0.440246 +TTool-pose None 33.6479 9.22604 14.584 0.665165 0.631167 -0.272616 0.291152 +#12925 1721120915646 +SLAM 12.6086 -22.4002 35.3259 -0.556555 0.086734 0.70063 0.437997 +TTool-pose None 33.7364 9.34995 14.4923 0.669089 0.622699 -0.278492 0.294815 +#12926 1721120915681 +SLAM 12.2622 -22.3281 35.5142 -0.561788 0.0836275 0.697254 0.437306 +TTool-pose None 33.681 9.30014 14.5068 0.66962 0.624829 -0.271869 0.295285 +#12927 1721120915716 +SLAM 12.3578 -22.8637 35.0952 -0.557438 0.0756827 0.698589 0.442163 +TTool-pose None 33.6982 9.32152 14.5519 0.663489 0.631957 -0.27431 0.291674 +#12928 1721120915752 +SLAM 12.1591 -22.7226 35.228 -0.561432 0.0750386 0.69665 0.440275 +TTool-pose None 33.6264 9.24112 14.5863 0.665288 0.63185 -0.269801 0.292011 +#12929 1721120915789 +SLAM 12.4001 -22.599 35.2341 -0.558216 0.0815558 0.698785 0.439822 +TTool-pose None 33.6743 9.30118 14.5426 0.666764 0.627064 -0.275157 0.293959 +#12930 1721120915821 +SLAM 12.2715 -22.5596 35.3534 -0.559773 0.0816031 0.697331 0.440142 +TTool-pose None 33.6839 9.33375 14.5187 0.666785 0.627246 -0.273388 0.295175 +#12931 1721120915856 +SLAM 12.2949 -22.4471 35.3903 -0.560163 0.083156 0.697735 0.438713 +TTool-pose None 33.6695 9.29853 14.5092 0.668252 0.625632 -0.273466 0.295208 +#12932 1721120915890 +SLAM 12.1499 -22.675 35.2515 -0.559729 0.0794137 0.697095 0.440971 +TTool-pose None 33.6511 9.23873 14.4953 0.665636 0.629068 -0.272803 0.294429 +#12933 1721120915922 +SLAM 12.144 -22.4472 35.4462 -0.561041 0.0822959 0.697004 0.438914 +TTool-pose None 33.6822 9.25806 14.4396 0.668028 0.626347 -0.272238 0.295336 +#12934 1721120915954 +SLAM 11.9687 -22.6478 35.2998 -0.563746 0.0733937 0.695956 0.438691 +TTool-pose None 33.6053 9.11451 14.5283 0.666348 0.632448 -0.266887 0.290975 +#12935 1721120915991 +SLAM 12.362 -22.5867 35.2297 -0.556103 0.0840368 0.699798 0.44042 +TTool-pose None 33.7228 9.25746 14.3884 0.666623 0.625495 -0.278115 0.294838 +#12936 1721120916028 +SLAM 11.9547 -22.528 35.3877 -0.563107 0.0777257 0.696072 0.438581 +TTool-pose None 33.6246 9.12889 14.4505 0.667432 0.629431 -0.268753 0.293307 +#12937 1721120916060 +SLAM 11.9908 -22.4162 35.4413 -0.562717 0.0812302 0.69628 0.438115 +TTool-pose None 33.6215 9.14675 14.4268 0.668585 0.626839 -0.270138 0.294957 +#12938 1721120916093 +SLAM 12.3621 -22.5779 35.2147 -0.555998 0.0841855 0.699951 0.440281 +TTool-pose None 33.7125 9.24165 14.382 0.666743 0.625332 -0.278283 0.294756 +#12939 1721120916126 +SLAM 11.9628 -22.3949 35.4367 -0.567334 0.0720476 0.695929 0.43431 +TTool-pose None 33.5604 9.03789 14.5667 0.669658 0.631769 -0.262825 0.288534 +#12940 1721120916158 +SLAM 12.3443 -22.2116 35.4944 -0.561207 0.0841316 0.698731 0.435595 +TTool-pose None 33.6686 9.26095 14.4517 0.670879 0.623761 -0.272793 0.293829 +#12941 1721120916191 +SLAM 12.1995 -22.0879 35.6259 -0.56458 0.0838186 0.696682 0.434577 +TTool-pose None 33.6079 9.26618 14.4983 0.67203 0.623739 -0.268982 0.294757 +#12942 1721120916224 +SLAM 11.9672 -22.5471 35.3441 -0.56663 0.0717403 0.694308 0.437859 +TTool-pose None 33.5 9.19764 14.6547 0.666939 0.633377 -0.263248 0.290911 +#12943 1721120916258 +SLAM 12.2002 -22.4779 35.3455 -0.561494 0.0814603 0.696102 0.439922 +TTool-pose None 33.5708 9.34482 14.5616 0.667165 0.627346 -0.271427 0.29591 +#12944 1721120916298 +SLAM 12.5512 -22.303 35.324 -0.555738 0.0927407 0.699452 0.439684 +TTool-pose None 33.6428 9.4132 14.4609 0.669207 0.619221 -0.280766 0.299682 +#12945 1721120916335 +SLAM 13.2038 -22.3132 35.063 -0.548949 0.0930458 0.706457 0.43694 +TTool-pose None 33.7755 9.42261 14.4424 0.670137 0.617494 -0.288646 0.293614 +#12946 1721120916368 +SLAM 12.9653 -21.931 35.3586 -0.547113 0.110553 0.705065 0.437412 +TTool-pose None 33.7971 9.36651 14.1523 0.673555 0.605486 -0.29483 0.30447 +#12947 1721120916401 +SLAM 12.5531 -22.3255 35.1132 -0.552877 0.092324 0.703475 0.436951 +TTool-pose None 33.6617 9.04953 14.2904 0.670602 0.618234 -0.28409 0.295436 +#12948 1721120916441 +SLAM 12.144 -22.5223 35.1707 -0.556723 0.0834309 0.700557 0.43854 +TTool-pose None 33.6659 8.98295 14.2435 0.667915 0.625184 -0.277421 0.293222 +#12949 1721120916474 +SLAM 12.1631 -22.5394 35.1939 -0.555322 0.08501 0.700808 0.439611 +TTool-pose None 33.7156 9.03612 14.1826 0.667319 0.62446 -0.279306 0.294332 +#12950 1721120916509 +SLAM 11.8014 -22.5532 35.2981 -0.559588 0.0823482 0.697498 0.439974 +TTool-pose None 33.6479 8.95721 14.2006 0.667062 0.62666 -0.273802 0.295409 +#12951 1721120916541 +SLAM 11.9246 -22.4602 35.355 -0.55585 0.0908967 0.698607 0.441268 +TTool-pose None 33.7191 9.03957 14.0899 0.667646 0.621131 -0.28005 0.299879 +#12952 1721120916572 +SLAM 11.5911 -22.5695 35.3562 -0.559192 0.0857456 0.696142 0.44197 +TTool-pose None 33.6568 8.93084 14.0958 0.666404 0.625124 -0.274938 0.299074 +#12953 1721120916601 +SLAM 11.7555 -22.487 35.3563 -0.555527 0.0915404 0.698265 0.44208 +TTool-pose None 33.7245 8.95515 13.9809 0.667167 0.620999 -0.280502 0.300798 +#12954 1721120916634 +SLAM 11.92 -22.2971 35.3693 -0.557537 0.088484 0.700479 0.436636 +TTool-pose None 33.7076 8.82044 14.0397 0.670639 0.621007 -0.277939 0.295386 +#12955 1721120916662 +SLAM 11.6448 -22.9878 34.963 -0.553826 0.079829 0.699349 0.444765 +TTool-pose None 33.7176 8.78691 13.9759 0.662097 0.629981 -0.279216 0.294443 +#12956 1721120916692 +SLAM 11.3597 -22.6344 35.2802 -0.560205 0.0808803 0.696889 0.440425 +TTool-pose None 33.6533 8.66026 13.9666 0.666466 0.627875 -0.27269 0.2952 +#12957 1721120916724 +SLAM 11.5066 -22.694 35.1481 -0.554871 0.0869156 0.699074 0.442559 +TTool-pose None 33.6955 8.66886 13.8579 0.665601 0.624321 -0.280043 0.297798 +#12958 1721120916753 +SLAM 11.5613 -22.3678 35.3415 -0.554345 0.095295 0.699858 0.440248 +TTool-pose None 33.7219 8.65386 13.7507 0.669191 0.617614 -0.282907 0.301017 +#12959 1721120916783 +SLAM 11.5656 -22.6175 35.1127 -0.554729 0.0858869 0.701019 0.439854 +TTool-pose None 33.7015 8.53118 13.8113 0.667267 0.623925 -0.280173 0.29476 +#12960 1721120916816 +SLAM 10.9982 -22.3647 35.4906 -0.5605 0.0896293 0.696148 0.439527 +TTool-pose None 33.6622 8.44851 13.6829 0.669301 0.621553 -0.274647 0.300312 +#12961 1721120916845 +SLAM 10.8678 -24.6979 33.5861 -0.543993 0.054894 0.698694 0.461395 +TTool-pose None 33.6439 8.2643 13.7628 0.641884 0.652819 -0.281871 0.286818 +#12962 1721120916875 +SLAM 11.1544 -22.6741 35.1067 -0.552222 0.0915531 0.700381 0.442872 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0.0808728 0.696376 0.453741 +TTool-pose None 33.6471 7.64364 13.0265 0.655261 0.632637 -0.282789 0.300576 +#12970 1721120917159 +SLAM 9.94673 -23.462 34.6091 -0.549741 0.0814585 0.698203 0.45129 +TTool-pose None 33.6829 7.59834 12.9656 0.657131 0.631241 -0.283609 0.298647 +#12971 1721120917192 +SLAM 9.40558 -22.6915 35.3982 -0.562464 0.0846974 0.692794 0.443279 +TTool-pose None 33.6517 7.50982 12.8779 0.665688 0.626536 -0.270855 0.30143 +#12972 1721120917225 +SLAM 9.50734 -21.9407 35.9328 -0.56414 0.0989572 0.693321 0.437332 +TTool-pose None 33.7169 7.54965 12.7263 0.673624 0.614444 -0.272991 0.306723 +#12973 1721120917256 +SLAM 9.6669 -23.4489 34.6571 -0.548131 0.0852658 0.698236 0.452491 +TTool-pose None 33.7281 7.43134 12.7172 0.656938 0.629027 -0.286263 0.301205 +#12974 1721120917288 +SLAM 9.54411 -21.9813 35.7682 -0.560203 0.103323 0.695495 0.437932 +TTool-pose None 33.6973 7.38927 12.6198 0.673623 0.611467 -0.278438 0.307781 +#12975 1721120917319 +SLAM 9.11811 -22.9092 35.1627 -0.558898 0.0843775 0.694388 0.445353 +TTool-pose None 33.6561 7.18885 12.6108 0.663583 0.627398 -0.27462 0.300874 +#12976 1721120917348 +SLAM 8.78481 -22.248 35.7653 -0.568061 0.0876533 0.691193 0.438036 +TTool-pose None 33.6507 7.11532 12.5256 0.670989 0.622688 -0.265702 0.302237 +#12977 1721120917379 +SLAM 8.57628 -23.2411 35.0194 -0.55975 0.0786794 0.691821 0.449303 +TTool-pose None 33.6441 6.98612 12.4558 0.659426 0.632899 -0.271825 0.301029 +#12978 1721120917409 +SLAM 8.2884 -22.6378 35.5706 -0.567944 0.0817072 0.689169 0.442504 +TTool-pose None 33.6442 6.91881 12.3694 0.666291 0.628535 -0.263932 0.302078 +#12979 1721120917439 +SLAM 8.77495 -23.4012 34.7618 -0.548851 0.0900001 0.696134 0.453938 +TTool-pose None 33.7187 6.90854 12.2273 0.65715 0.626404 -0.286504 0.305944 +#12980 1721120917469 +SLAM 7.88177 -21.5601 36.4292 -0.579141 0.0913108 0.68558 0.431553 +TTool-pose None 33.64 6.8013 12.1911 0.677994 0.618055 -0.254451 0.305778 +#12981 1721120917499 +SLAM 8.28907 -22.6495 35.4316 -0.565492 0.0812904 0.692304 0.440824 +TTool-pose None 33.6519 6.67944 12.1937 0.667057 0.628029 -0.266772 0.298927 +#12982 1721120917528 +SLAM 8.81417 -23.7368 34.3176 -0.542366 0.0866866 0.700575 0.455543 +TTool-pose None 33.7291 6.62989 12.0396 0.654108 0.628912 -0.292741 0.301377 +#12983 1721120917558 +SLAM 7.98066 -23.4831 34.7733 -0.557307 0.0753421 0.693305 0.450622 +TTool-pose None 33.6588 6.43997 12.0037 0.657259 0.635561 -0.273589 0.298549 +#12984 1721120917590 +SLAM 8.08991 -23.9407 34.3002 -0.548496 0.0761827 0.696434 0.45643 +TTool-pose None 33.6807 6.34699 11.9069 0.651856 0.636794 -0.28313 0.298874 +#12985 1721120917623 +SLAM 7.71995 -22.2444 35.7474 -0.566652 0.0928426 0.690885 0.439276 +TTool-pose None 33.6587 6.33631 11.8043 0.671146 0.61956 -0.268484 0.305842 +#12986 1721120917660 +SLAM 8.39736 -23.9674 34.0925 -0.539397 0.0842695 0.701997 0.457328 +TTool-pose None 33.744 6.2329 11.704 0.651705 0.63108 -0.295243 0.299605 +#12987 1721120917694 +SLAM 7.11277 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-0.61715 0.0641467 0.603685 0.500575 +TTool-pose None -21.8732 13.2785 14.6975 0.620731 0.662787 -0.191644 0.372314 +#14030 1721120952453 +SLAM 20.6977 6.03333 -5.59127 -0.616999 0.0642982 0.603415 0.501066 +TTool-pose None -21.8887 13.2641 14.6764 0.620355 0.662852 -0.191771 0.372758 +#14031 1721120952488 +SLAM 20.7311 6.03202 -5.56358 -0.617721 0.0636944 0.602087 0.501851 +TTool-pose None -21.9422 13.2285 14.6583 0.619552 0.663512 -0.190527 0.373557 +#14032 1721120952521 +SLAM 20.6554 6.0331 -5.64519 -0.616529 0.0649391 0.603046 0.502007 +TTool-pose None -21.9357 13.2275 14.6189 0.619719 0.662743 -0.192335 0.373717 +#14033 1721120952554 +SLAM 20.6655 6.03756 -5.63518 -0.617653 0.0645681 0.602614 0.501191 +TTool-pose None -21.9571 13.2039 14.6181 0.620329 0.662699 -0.190986 0.373477 +#14034 1721120952586 +SLAM 20.6997 6.09624 -5.58076 -0.617876 0.0627399 0.601634 0.502324 +TTool-pose None -22.0069 13.1704 14.6109 0.618912 0.664314 -0.189975 0.373474 +#14035 1721120952621 +SLAM 20.7265 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1721120953031 +SLAM 20.4976 6.26313 -5.70701 -0.616634 0.0614344 0.604756 0.500258 +TTool-pose None -21.9953 13.0897 14.5701 0.620292 0.664525 -0.191649 0.369936 +#14048 1721120953065 +SLAM 20.4558 6.24941 -5.75526 -0.616205 0.0622727 0.605507 0.499775 +TTool-pose None -21.9765 13.0926 14.5644 0.620904 0.663802 -0.192516 0.369756 +#14049 1721120953104 +SLAM 20.4751 6.25238 -5.73452 -0.616439 0.0619702 0.605162 0.499941 +TTool-pose None -21.9843 13.0924 14.5668 0.620691 0.664059 -0.192104 0.369866 +#14050 1721120953138 +SLAM 20.5094 6.25227 -5.69665 -0.617186 0.0614702 0.60462 0.499737 +TTool-pose None -21.9917 13.0918 14.5776 0.620748 0.664315 -0.191068 0.369849 +#14051 1721120953170 +SLAM 20.4906 6.25506 -5.7167 -0.616483 0.0617234 0.604811 0.500343 +TTool-pose None -21.9931 13.0916 14.5647 0.620293 0.664361 -0.191899 0.3701 +#14052 1721120953202 +SLAM 20.5025 6.25089 -5.70534 -0.617016 0.0615555 0.604615 0.499943 +TTool-pose None -21.9958 13.0866 14.5719 0.620594 0.66433 -0.191263 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-22.0203 13.0849 14.5744 0.620018 0.664854 -0.18969 0.370813 +#14077 1721120954047 +SLAM 20.5094 6.21153 -5.70691 -0.617056 0.0622594 0.604048 0.500491 +TTool-pose None -22.0031 13.0857 14.5534 0.620317 0.664038 -0.191283 0.370957 +#14078 1721120954079 +SLAM 20.5692 6.22781 -5.64094 -0.617688 0.061088 0.602903 0.501236 +TTool-pose None -22.0342 13.0774 14.5607 0.6194 0.66507 -0.19001 0.371295 +#14079 1721120954111 +SLAM 20.5329 6.22093 -5.68246 -0.617352 0.0617676 0.603748 0.50055 +TTool-pose None -22.0111 13.086 14.5626 0.620146 0.664385 -0.190765 0.370888 +#14080 1721120954144 +SLAM 20.5969 6.2291 -5.61342 -0.61805 0.060661 0.602381 0.501469 +TTool-pose None -22.0472 13.0739 14.5656 0.6191 0.665429 -0.189387 0.37147 +#14081 1721120954178 +SLAM 20.5652 6.20169 -5.65446 -0.618136 0.0617362 0.603133 0.500327 +TTool-pose None -22.018 13.0882 14.5675 0.620337 0.664316 -0.189808 0.371182 +#14082 1721120954210 +SLAM 20.5655 6.21189 -5.64979 -0.61789 0.0614803 0.603067 0.500742 +TTool-pose None -22.0232 13.0838 14.565 0.619919 0.664634 -0.189964 0.371232 +#14083 1721120954242 +SLAM 20.5936 6.22331 -5.61771 -0.618453 0.0607615 0.602671 0.500611 +TTool-pose None -22.0332 13.0772 14.579 0.619852 0.665065 -0.189085 0.371021 +#14084 1721120954275 +SLAM 20.5098 6.19134 -5.71648 -0.617089 0.0627321 0.604063 0.500373 +TTool-pose None -21.998 13.0928 14.5536 0.620537 0.663678 -0.191391 0.371177 +#14085 1721120954311 +SLAM 20.6506 6.22281 -5.55931 -0.618612 0.0601357 0.601362 0.502063 +TTool-pose None -22.0663 13.0778 14.5692 0.618472 0.665973 -0.188403 0.372042 +#14086 1721120954346 +SLAM 20.5802 6.19355 -5.64342 -0.618045 0.0617201 0.602748 0.500905 +TTool-pose None -22.0271 13.0885 14.5637 0.619846 0.664524 -0.189796 0.371637 +#14087 1721120954380 +SLAM 20.457 6.15751 -5.78169 -0.615924 0.0642935 0.604668 0.50088 +TTool-pose None -21.9826 13.1027 14.5234 0.620491 0.662812 -0.193172 0.371879 +#14088 1721120954414 +SLAM 20.5983 6.18214 -5.62716 -0.618147 0.0617947 0.602261 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-0.618736 0.0600244 0.600867 0.502516 +TTool-pose None -22.0784 13.0744 14.5625 0.618062 0.666197 -0.188118 0.372465 +#14101 1721120954845 +SLAM 20.5575 6.19579 -5.66507 -0.617428 0.0620184 0.603038 0.50128 +TTool-pose None -22.0236 13.0891 14.552 0.619599 0.66446 -0.190579 0.371763 +#14102 1721120954877 +SLAM 20.6251 6.21359 -5.58451 -0.618383 0.0606614 0.601861 0.501684 +TTool-pose None -22.0488 13.0831 14.5666 0.618924 0.665495 -0.188917 0.371885 +#14103 1721120954910 +SLAM 20.632 6.20868 -5.58087 -0.61864 0.0606186 0.601644 0.501631 +TTool-pose None -22.0561 13.077 14.5665 0.61896 0.665501 -0.18859 0.37198 +#14104 1721120954943 +SLAM 20.5854 6.20184 -5.63406 -0.617921 0.0614761 0.60255 0.501326 +TTool-pose None -22.0353 13.0848 14.5589 0.619428 0.664833 -0.189798 0.37178 +#14105 1721120954976 +SLAM 20.625 6.21623 -5.58465 -0.618722 0.0605088 0.601944 0.501184 +TTool-pose None -22.0474 13.0774 14.5751 0.619309 0.665423 -0.188552 0.371557 +#14106 1721120955010 +SLAM 20.5667 6.19262 -5.65415 -0.617687 0.0619068 0.602799 0.501262 +TTool-pose None -22.0279 13.0856 14.5521 0.61959 0.664524 -0.190224 0.371845 +#14107 1721120955043 +SLAM 20.5685 6.19276 -5.65378 -0.617706 0.0618688 0.602733 0.501322 +TTool-pose None -22.0315 13.0832 14.5516 0.619529 0.66457 -0.190176 0.371889 +#14108 1721120955075 +SLAM 20.6476 6.2227 -5.55831 -0.619092 0.0599936 0.601463 0.501367 +TTool-pose None -22.0611 13.0695 14.5782 0.619027 0.665825 -0.187905 0.371635 +#14109 1721120955113 +SLAM 20.57 6.20119 -5.64967 -0.618259 0.061558 0.603066 0.500277 +TTool-pose None -22.0191 13.0828 14.5738 0.620335 0.664417 -0.189615 0.371103 +#14110 1721120955147 +SLAM 20.6031 6.20476 -5.61415 -0.618338 0.0610935 0.602195 0.501285 +TTool-pose None -22.0446 13.0779 14.5637 0.61937 0.665069 -0.189175 0.371771 +#14111 1721120955182 +SLAM 20.6666 6.237 -5.53349 -0.61925 0.0594591 0.601266 0.50147 +TTool-pose None -22.0653 13.0715 14.5868 0.618803 0.666217 -0.187537 0.37149 +#14112 1721120955216 +SLAM 20.554 6.1665 -5.67842 -0.617607 0.0626515 0.60273 0.501351 +TTool-pose None -22.031 13.0835 14.5368 0.619705 0.664052 -0.190504 0.372354 +#14113 1721120955250 +SLAM 20.6788 6.2338 -5.5226 -0.619184 0.0594168 0.600882 0.502018 +TTool-pose None -22.0766 13.0709 14.5789 0.61833 0.666431 -0.187493 0.371917 +#14114 1721120955285 +SLAM 20.6263 6.21992 -5.5851 -0.618648 0.0604606 0.601908 0.501324 +TTool-pose None -22.0519 13.0771 14.5734 0.619178 0.665504 -0.188603 0.371604 +#14115 1721120955318 +SLAM 20.6881 6.23688 -5.51364 -0.619505 0.0591795 0.600775 0.501778 +TTool-pose None -22.08 13.0673 14.5859 0.618474 0.666504 -0.187072 0.371758 +#14116 1721120955351 +SLAM 20.5338 6.19047 -5.68855 -0.617521 0.0623752 0.60357 0.500481 +TTool-pose None -22.007 13.0896 14.5562 0.620363 0.663948 -0.190727 0.371328 +#14117 1721120955388 +SLAM 20.577 6.20093 -5.64028 -0.617883 0.0615709 0.60268 0.501205 +TTool-pose None -22.031 13.0839 14.5576 0.619554 0.664728 -0.189898 0.371706 +#14118 1721120955421 +SLAM 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1721120955624 +SLAM 20.6416 6.20646 -5.57166 -0.619041 0.0605001 0.601508 0.501315 +TTool-pose None -22.0578 13.0751 14.5719 0.619201 0.665466 -0.188116 0.371881 +#14125 1721120955657 +SLAM 20.644 6.19902 -5.5719 -0.619067 0.0605994 0.601332 0.501481 +TTool-pose None -22.0628 13.072 14.5673 0.619087 0.665454 -0.188073 0.372113 +#14126 1721120955690 +SLAM 20.5787 6.18926 -5.64381 -0.61802 0.0617454 0.602546 0.501176 +TTool-pose None -22.0343 13.0803 14.5557 0.619625 0.664598 -0.189776 0.371883 +#14127 1721120955724 +SLAM 20.5948 6.18684 -5.6268 -0.618207 0.0615823 0.602219 0.501358 +TTool-pose None -22.0401 13.0806 14.5563 0.619433 0.664766 -0.189456 0.372066 +#14128 1721120955759 +SLAM 20.6273 6.19904 -5.58915 -0.618359 0.0609141 0.60152 0.502091 +TTool-pose None -22.0609 13.0762 14.5546 0.618645 0.665461 -0.188927 0.372403 +#14129 1721120955793 +SLAM 20.586 6.18012 -5.63764 -0.618145 0.0618446 0.602337 0.50126 +TTool-pose None -22.0363 13.0815 14.5531 0.619582 0.664557 -0.189625 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13.0783 14.5586 0.619057 0.66506 -0.188422 0.372691 +#14148 1721120956447 +SLAM 20.6513 6.1752 -5.57542 -0.618858 0.0610443 0.600976 0.502112 +TTool-pose None -22.0703 13.0743 14.5569 0.618668 0.66537 -0.188322 0.372835 +#14149 1721120956480 +SLAM 20.6166 6.16164 -5.61301 -0.618666 0.0618107 0.601713 0.501372 +TTool-pose None -22.0459 13.0825 14.556 0.619486 0.664607 -0.18893 0.372529 +#14150 1721120956514 +SLAM 20.5528 6.14818 -5.67148 -0.617624 0.063174 0.602936 0.501018 +TTool-pose None -22.0039 13.1076 14.5376 0.620119 0.663586 -0.190692 0.372399 +#14151 1721120956548 +SLAM 20.7351 6.2312 -5.47678 -0.619307 0.0587234 0.599391 0.503727 +TTool-pose None -22.1275 13.0547 14.5671 0.616709 0.667468 -0.186776 0.373109 +#14152 1721120956580 +SLAM 20.6148 6.17596 -5.60641 -0.618271 0.0615489 0.601673 0.501939 +TTool-pose None -22.0497 13.0814 14.5497 0.618936 0.664983 -0.189241 0.372616 +#14153 1721120956614 +SLAM 20.6865 6.20201 -5.52324 -0.619031 0.0600132 0.600329 0.502796 +TTool-pose None -22.0866 13.0717 14.5592 0.617826 0.666292 -0.187678 0.372908 +#14154 1721120956649 +SLAM 20.674 6.19176 -5.54415 -0.619058 0.0603804 0.600504 0.502511 +TTool-pose None -22.0851 13.0687 14.5572 0.618162 0.665948 -0.187804 0.372903 +#14155 1721120956681 +SLAM 20.662 6.20126 -5.54824 -0.619078 0.0603297 0.600998 0.501901 +TTool-pose None -22.0667 13.0756 14.5675 0.618664 0.665777 -0.187897 0.372328 +#14156 1721120956713 +SLAM 20.6525 6.191 -5.5623 -0.618936 0.0606826 0.601036 0.501988 +TTool-pose None -22.0668 13.0748 14.5598 0.61868 0.665571 -0.188154 0.372541 +#14157 1721120956751 +SLAM 20.6107 6.1819 -5.61104 -0.618019 0.0614749 0.601616 0.502326 +TTool-pose None -22.0579 13.0756 14.5432 0.618587 0.665168 -0.189458 0.372754 +#14158 1721120956789 +SLAM 20.5727 6.17806 -5.65085 -0.617558 0.0621224 0.602478 0.501781 +TTool-pose None -22.0336 13.0852 14.5429 0.619206 0.664556 -0.190334 0.372371 +#14159 1721120956821 +SLAM 20.6154 6.18052 -5.60605 -0.618237 0.0614322 0.601643 0.50203 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0.600694 0.502393 +TTool-pose None -22.0728 13.0743 14.5422 0.618621 0.664966 -0.188492 0.373548 +#14166 1721120957060 +SLAM 20.6595 6.15771 -5.57122 -0.618538 0.0613651 0.600522 0.503009 +TTool-pose None -22.0799 13.0766 14.5405 0.61799 0.66546 -0.188619 0.373648 +#14167 1721120957094 +SLAM 20.6569 6.14653 -5.57756 -0.618563 0.0616321 0.600498 0.502973 +TTool-pose None -22.0787 13.0774 14.5373 0.618089 0.665267 -0.188666 0.373804 +#14168 1721120957133 +SLAM 20.7337 6.15788 -5.49303 -0.620265 0.0602654 0.599405 0.502347 +TTool-pose None -22.0976 13.0737 14.5687 0.618284 0.665944 -0.186268 0.373479 +#14169 1721120957168 +SLAM 20.6924 6.12963 -5.54515 -0.619597 0.0614362 0.599921 0.502414 +TTool-pose None -22.0836 13.0773 14.5504 0.618523 0.66519 -0.187418 0.373852 +#14170 1721120957202 +SLAM 20.6779 6.13634 -5.56053 -0.618994 0.0615616 0.600173 0.502841 +TTool-pose None -22.0819 13.0799 14.5442 0.618188 0.665261 -0.188127 0.373923 +#14171 1721120957233 +SLAM 20.763 6.14798 -5.46698 -0.620422 0.0600621 0.598657 0.503069 +TTool-pose None -22.1162 13.0699 14.5639 0.617623 0.666319 -0.185855 0.374109 +#14172 1721120957266 +SLAM 20.7234 6.12835 -5.51295 -0.619779 0.0610768 0.59927 0.503011 +TTool-pose None -22.0981 13.0778 14.5495 0.617928 0.665628 -0.18696 0.374284 +#14173 1721120957299 +SLAM 20.7082 6.11893 -5.53234 -0.619711 0.0614881 0.599595 0.502656 +TTool-pose None -22.0876 13.0815 14.5495 0.618333 0.665233 -0.187234 0.374181 +#14174 1721120957333 +SLAM 20.6402 6.10274 -5.61053 -0.618687 0.0628172 0.600769 0.502352 +TTool-pose None -22.0611 13.0883 14.5336 0.618919 0.664254 -0.188958 0.374084 +#14175 1721120957366 +SLAM 20.6778 6.11579 -5.56636 -0.619021 0.0620077 0.600058 0.502891 +TTool-pose None -22.0799 13.0833 14.5384 0.618261 0.664975 -0.188201 0.374273 +#14176 1721120957405 +SLAM 20.6478 6.10279 -5.60317 -0.618674 0.0626978 0.600528 0.50267 +TTool-pose None -22.0691 13.0848 14.5305 0.61862 0.664441 -0.188873 0.374289 +#14177 1721120957443 +SLAM 20.6646 6.10337 -5.58566 -0.619059 0.0624314 0.600287 0.502518 +TTool-pose None -22.073 13.0839 14.5376 0.618685 0.664563 -0.188345 0.374232 +#14178 1721120957474 +SLAM 20.6612 6.10747 -5.58808 -0.618729 0.0624573 0.600332 0.502867 +TTool-pose None -22.0733 13.0871 14.533 0.618393 0.664669 -0.188697 0.374349 +#14179 1721120957510 +SLAM 20.7255 6.09115 -5.52705 -0.620022 0.0619023 0.599023 0.502903 +TTool-pose None -22.1 13.082 14.5398 0.618234 0.665028 -0.186892 0.37488 +#14180 1721120957544 +SLAM 20.7067 6.08704 -5.55075 -0.619695 0.062231 0.599243 0.503004 +TTool-pose None -22.0995 13.0783 14.532 0.618229 0.664847 -0.187375 0.374967 +#14181 1721120957580 +SLAM 20.7546 6.10622 -5.49085 -0.620317 0.0612407 0.598643 0.503074 +TTool-pose None -22.1076 13.085 14.5488 0.617922 0.665526 -0.186303 0.374804 +#14182 1721120957613 +SLAM 20.6852 6.10502 -5.5627 -0.619326 0.0621263 0.599902 0.502686 +TTool-pose None -22.0809 13.0837 14.5398 0.618467 0.664819 -0.187888 0.374366 +#14183 1721120957646 +SLAM 20.6078 6.09031 -5.64781 -0.618106 0.0635682 0.601309 0.502326 +TTool-pose None -22.0464 13.0947 14.524 0.619126 0.663749 -0.189901 0.374162 +#14184 1721120957679 +SLAM 20.6755 6.10579 -5.5742 -0.618923 0.0622754 0.599989 0.503059 +TTool-pose None -22.0825 13.0835 14.5326 0.618186 0.664852 -0.188359 0.374535 +#14185 1721120957712 +SLAM 20.6163 6.09148 -5.63996 -0.61813 0.0634561 0.601127 0.502529 +TTool-pose None -22.0521 13.0945 14.5231 0.618926 0.663892 -0.189798 0.37429 +#14186 1721120957746 +SLAM 20.6498 6.09907 -5.60495 -0.618512 0.0627815 0.600428 0.502979 +TTool-pose None -22.0733 13.0853 14.5268 0.618379 0.664492 -0.189035 0.374516 +#14187 1721120957781 +SLAM 20.6796 6.09551 -5.58641 -0.61906 0.0625184 0.59988 0.502991 +TTool-pose None -22.0927 13.0814 14.532 0.618307 0.664662 -0.188264 0.37472 +#14188 1721120957815 +SLAM 20.7211 6.098 -5.53106 -0.620104 0.0618142 0.59939 0.502377 +TTool-pose None -22.0885 13.0867 14.5529 0.618657 0.66491 -0.18688 0.374397 +#14189 1721120957849 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-0.187978 0.37365 +#14201 1721120958281 +SLAM 20.6015 6.12364 -5.64047 -0.617799 0.0629107 0.60138 0.502701 +TTool-pose None -22.0545 13.0848 14.5208 0.618637 0.664326 -0.190037 0.373876 +#14202 1721120958315 +SLAM 20.6815 6.13937 -5.5519 -0.618976 0.0613709 0.599883 0.503233 +TTool-pose None -22.092 13.071 14.5363 0.617808 0.665521 -0.188014 0.374144 +#14203 1721120958350 +SLAM 20.6827 6.14637 -5.54858 -0.619183 0.0612615 0.600126 0.5027 +TTool-pose None -22.0825 13.0781 14.5472 0.618232 0.665413 -0.187837 0.373726 +#14204 1721120958385 +SLAM 20.6633 6.14327 -5.5687 -0.618671 0.0615692 0.600311 0.503073 +TTool-pose None -22.081 13.0756 14.5362 0.617991 0.66534 -0.188491 0.373925 +#14205 1721120958419 +SLAM 20.6835 6.15578 -5.54265 -0.619523 0.0609251 0.600168 0.502273 +TTool-pose None -22.0826 13.07 14.555 0.61851 0.66549 -0.187408 0.373344 +#14206 1721120958452 +SLAM 20.6377 6.15124 -5.59092 -0.619013 0.0616999 0.601173 0.501605 +TTool-pose None -22.0552 13.0799 14.5533 0.619265 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-0.200695 0.360319 +#14336 1721120963038 +SLAM 22.8404 11.7427 -13.5818 -0.61107 0.0651055 0.617287 0.491234 +TTool-pose None -31.2237 13.9728 14.7974 0.628551 0.659014 -0.201436 0.360529 +#14337 1721120963074 +SLAM 22.9119 11.74 -13.5242 -0.611678 0.0645793 0.61632 0.491761 +TTool-pose None -31.2441 13.9708 14.7991 0.628007 0.659549 -0.200436 0.361057 +#14338 1721120963110 +SLAM 22.9996 11.7386 -13.4619 -0.612625 0.0638122 0.615184 0.492105 +TTool-pose None -31.2753 13.962 14.809 0.62756 0.660179 -0.198982 0.361486 +#14339 1721120963145 +SLAM 22.9377 11.7059 -13.5128 -0.611459 0.0652438 0.615707 0.492712 +TTool-pose None -31.2508 13.9817 14.7741 0.627389 0.659431 -0.200701 0.362198 +#14340 1721120963180 +SLAM 23.0043 11.6904 -13.4746 -0.61263 0.0646271 0.614903 0.492344 +TTool-pose None -31.272 13.9672 14.7945 0.627573 0.65971 -0.199145 0.36223 +#14341 1721120963214 +SLAM 23.1164 11.6904 -13.3889 -0.613623 0.0636897 0.613351 0.493165 +TTool-pose None -31.3129 13.9558 14.7986 0.626689 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-31.467 13.9272 14.8088 0.623359 0.663465 -0.18976 0.367648 +#14354 1721120963695 +SLAM 23.6625 11.5426 -13.0041 -0.618883 0.0613469 0.605384 0.49672 +TTool-pose None -31.4777 13.9238 14.8015 0.623266 0.663343 -0.189514 0.368153 +#14355 1721120963733 +SLAM 23.6355 11.5225 -13.0318 -0.61854 0.0619507 0.605671 0.496722 +TTool-pose None -31.4651 13.9297 14.794 0.623414 0.662942 -0.190109 0.368318 +#14356 1721120963770 +SLAM 23.6508 11.5205 -13.017 -0.618635 0.0618818 0.605456 0.496874 +TTool-pose None -31.4672 13.932 14.7929 0.623271 0.663038 -0.189939 0.368474 +#14357 1721120963808 +SLAM 23.6357 11.493 -13.0401 -0.618558 0.062428 0.605546 0.496793 +TTool-pose None -31.4606 13.9323 14.787 0.623478 0.662643 -0.190199 0.368702 +#14358 1721120963841 +SLAM 23.615 11.4849 -13.0662 -0.618385 0.0627703 0.605782 0.496677 +TTool-pose None -31.4586 13.932 14.7831 0.623659 0.662375 -0.190532 0.368705 +#14359 1721120963875 +SLAM 23.6266 11.4695 -13.0634 -0.618667 0.0628602 0.605586 0.496553 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-0.619505 0.0616479 0.604811 0.496605 +TTool-pose None -31.4823 13.9236 14.8004 0.623449 0.663089 -0.188828 0.368653 +#14372 1721120964328 +SLAM 23.6663 11.4976 -13.0141 -0.618971 0.0620613 0.60515 0.496807 +TTool-pose None -31.4718 13.929 14.7903 0.623379 0.662888 -0.189575 0.36875 +#14373 1721120964361 +SLAM 23.749 11.5035 -12.9444 -0.620011 0.0611 0.604138 0.49686 +TTool-pose None -31.4962 13.9207 14.8066 0.623103 0.663536 -0.187986 0.368865 +#14374 1721120964413 +SLAM 23.6977 11.4935 -12.9982 -0.619386 0.061861 0.60472 0.496838 +TTool-pose None -31.4879 13.9244 14.7927 0.623308 0.663026 -0.188987 0.368923 +ACIM-activate-component Cut#2 +#14375 1721120964453 +SLAM 23.7527 11.4972 -12.9469 -0.619976 0.0612206 0.604054 0.496992 +TTool-pose None -31.4996 13.9211 14.8039 0.623024 0.6635 -0.188036 0.369038 +#14376 1721120964489 +SLAM 23.7639 11.4889 -12.9416 -0.620255 0.0611827 0.603901 0.496834 +TTool-pose None -31.5021 13.9188 14.807 0.62315 0.663466 -0.187703 0.369055 +#14377 1721120964524 +SLAM 23.7933 11.5061 -12.9043 -0.620369 0.0606413 0.603538 0.497199 +TTool-pose None -31.5094 13.9165 14.8107 0.622707 0.663954 -0.187337 0.369112 +#14378 1721120964561 +SLAM 23.7512 11.4866 -12.9499 -0.619818 0.0614385 0.603935 0.497306 +TTool-pose None -31.501 13.9189 14.7952 0.622815 0.663462 -0.188229 0.369359 +#14379 1721120964597 +SLAM 23.7817 11.4933 -12.9196 -0.619869 0.0611357 0.603478 0.497834 +TTool-pose None -31.5124 13.9172 14.7923 0.622296 0.663845 -0.187972 0.369677 +#14380 1721120964634 +SLAM 23.7466 11.4826 -12.9538 -0.619257 0.0617841 0.60379 0.498138 +TTool-pose None -31.5062 13.921 14.7756 0.6222 0.663522 -0.18886 0.369966 +#14381 1721120964680 +SLAM 23.8093 11.4864 -12.9021 -0.620426 0.0609211 0.603169 0.497541 +TTool-pose None -31.519 13.916 14.8003 0.622493 0.663879 -0.187268 0.369641 +#14382 1721120964717 +SLAM 23.8644 11.4884 -12.8556 -0.621274 0.0602029 0.602523 0.497353 +TTool-pose None -31.5335 13.9075 14.8168 0.622475 0.664283 -0.186035 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-0.186038 0.369833 +ACIM-activate-component Cut#3 +#14389 1721120965002 +SLAM 23.8123 11.4414 -12.9172 -0.620517 0.061624 0.602904 0.497662 +TTool-pose None -31.5187 13.9156 14.7884 0.622575 0.663443 -0.187313 0.370264 +#14390 1721120965045 +SLAM 23.8653 11.4751 -12.8593 -0.621207 0.0604879 0.602451 0.49749 +TTool-pose None -31.5321 13.9121 14.8105 0.622434 0.664138 -0.186168 0.369831 +#14391 1721120965083 +SLAM 23.8332 11.4737 -12.8821 -0.620602 0.0609413 0.602834 0.497726 +TTool-pose None -31.5194 13.9211 14.7997 0.622346 0.663924 -0.18701 0.369937 +#14392 1721120965115 +SLAM 23.8657 11.4629 -12.8622 -0.621081 0.0607633 0.60235 0.497736 +TTool-pose None -31.5318 13.9149 14.8022 0.622297 0.664038 -0.18635 0.370149 +#14393 1721120965147 +SLAM 23.8293 11.4625 -12.8906 -0.62055 0.0611698 0.602768 0.497842 +TTool-pose None -31.5216 13.918 14.7927 0.622307 0.663811 -0.187113 0.370156 +#14394 1721120965180 +SLAM 23.8459 11.4738 -12.876 -0.620853 0.0607864 0.602655 0.497648 +TTool-pose None -31.5278 13.9158 14.8021 0.622375 0.663998 -0.186665 0.369933 +#14395 1721120965211 +SLAM 23.8316 11.4553 -12.8953 -0.620918 0.0611065 0.602797 0.497355 +TTool-pose None -31.5214 13.9134 14.8022 0.622703 0.663681 -0.18673 0.369917 +#14396 1721120965244 +SLAM 23.8871 11.4934 -12.8359 -0.621425 0.0599594 0.602223 0.497556 +TTool-pose None -31.5425 13.9065 14.8178 0.622244 0.664513 -0.185734 0.369695 +#14397 1721120965276 +SLAM 23.8714 11.4741 -12.8547 -0.6213 0.0604349 0.602378 0.497468 +TTool-pose None -31.5334 13.9118 14.8121 0.622439 0.664165 -0.18604 0.369839 +#14398 1721120965307 +SLAM 23.78 11.4509 -12.9386 -0.620252 0.0617363 0.603427 0.497345 +TTool-pose None -31.5055 13.9198 14.791 0.622865 0.663265 -0.187748 0.369873 +#14399 1721120965339 +SLAM 23.8409 11.461 -12.8862 -0.62098 0.0609288 0.602687 0.497433 +TTool-pose None -31.5259 13.9114 14.8041 0.622593 0.663826 -0.186587 0.369914 +#14400 1721120965371 +SLAM 23.7583 11.4434 -12.9595 -0.620239 0.0619811 0.603752 0.496936 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0.602997 0.497362 +TTool-pose None -31.5199 13.9142 14.8127 0.622485 0.664236 -0.186663 0.369319 +#14407 1721120965597 +SLAM 23.8476 11.5082 -12.853 -0.620716 0.0602092 0.602735 0.497791 +TTool-pose None -31.5261 13.9157 14.8069 0.622103 0.664439 -0.186655 0.369601 +#14408 1721120965628 +SLAM 23.8533 11.5055 -12.8503 -0.620808 0.0601605 0.602653 0.497782 +TTool-pose None -31.5284 13.913 14.809 0.6221 0.664467 -0.186527 0.369621 +#14409 1721120965662 +SLAM 23.9053 11.5286 -12.7979 -0.620688 0.0595857 0.601844 0.498979 +TTool-pose None -31.5553 13.9102 14.7985 0.620946 0.665262 -0.186273 0.370258 +#14410 1721120965695 +SLAM 23.8964 11.5052 -12.8158 -0.621143 0.0598223 0.602038 0.49815 +TTool-pose None -31.5447 13.9098 14.8093 0.621708 0.664813 -0.185933 0.369959 +#14411 1721120965727 +SLAM 23.8193 11.4945 -12.8833 -0.620295 0.0607335 0.602996 0.497937 +TTool-pose None -31.5201 13.9158 14.7973 0.622112 0.664143 -0.187301 0.369792 +#14412 1721120965759 +SLAM 23.8995 11.5059 -12.8117 -0.621034 0.0598492 0.601973 0.498361 +TTool-pose None -31.5457 13.912 14.8059 0.621537 0.664868 -0.186034 0.370096 +#14413 1721120965793 +SLAM 23.8429 11.5041 -12.855 -0.620495 0.0603647 0.602725 0.498061 +TTool-pose None -31.5239 13.9168 14.8008 0.621916 0.66443 -0.186922 0.369799 +#14414 1721120965826 +SLAM 23.8693 11.512 -12.836 -0.620436 0.0601506 0.602277 0.498702 +TTool-pose None -31.5432 13.9119 14.794 0.621322 0.664793 -0.186804 0.370204 +#14415 1721120965858 +SLAM 23.8715 11.5051 -12.8392 -0.620488 0.0602426 0.602217 0.498698 +TTool-pose None -31.5454 13.9109 14.7929 0.62135 0.664728 -0.186763 0.370294 +#14416 1721120965888 +SLAM 23.8486 11.5038 -12.8544 -0.620415 0.0604179 0.602632 0.498267 +TTool-pose None -31.5292 13.9186 14.7975 0.621756 0.664465 -0.186995 0.369967 +#14417 1721120965919 +SLAM 23.8214 11.5084 -12.8756 -0.620239 0.0605116 0.603051 0.497968 +TTool-pose None -31.5199 13.9178 14.8012 0.622028 0.664305 -0.187307 0.36964 +#14418 1721120965950 +SLAM 23.8324 11.5052 -12.868 -0.620424 0.0604334 0.60288 0.497954 +TTool-pose None -31.5241 13.9151 14.8019 0.622022 0.664349 -0.187054 0.369699 +#14419 1721120965982 +SLAM 23.7986 11.5058 -12.8988 -0.61974 0.0608894 0.603188 0.498377 +TTool-pose None -31.5223 13.9153 14.7865 0.621777 0.664198 -0.187956 0.369925 +#14420 1721120966015 +SLAM 23.8254 11.5057 -12.8736 -0.620244 0.0605457 0.602913 0.498124 +TTool-pose None -31.5247 13.915 14.796 0.621907 0.664334 -0.187277 0.369807 +#14421 1721120966045 +SLAM 23.8397 11.5094 -12.8618 -0.620538 0.060292 0.602791 0.497935 +TTool-pose None -31.5284 13.9131 14.8033 0.622003 0.664436 -0.186874 0.369667 +#14422 1721120966075 +SLAM 23.7862 11.4752 -12.912 -0.620061 0.0613632 0.603409 0.497651 +TTool-pose None -31.5006 13.9263 14.7903 0.622511 0.663625 -0.187827 0.369784 +#14423 1721120966108 +SLAM 23.8204 11.5129 -12.878 -0.620138 0.0604935 0.602979 0.498182 +TTool-pose None -31.5275 13.9125 14.7955 0.621842 0.664391 -0.187386 0.369756 +#14424 1721120966139 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1721120966338 +SLAM 23.8849 11.5308 -12.8122 -0.621078 0.059465 0.602248 0.498019 +TTool-pose None -31.543 13.9065 14.8121 0.621725 0.665011 -0.185947 0.369567 +#14431 1721120966370 +SLAM 23.8826 11.5408 -12.8095 -0.621024 0.0592721 0.602284 0.498066 +TTool-pose None -31.5444 13.9015 14.8144 0.621634 0.665158 -0.185954 0.36945 +#14432 1721120966403 +SLAM 23.8157 11.5311 -12.8685 -0.620309 0.0600985 0.603129 0.497835 +TTool-pose None -31.5225 13.9092 14.8033 0.622033 0.664537 -0.187135 0.3693 +#14433 1721120966435 +SLAM 23.8168 11.5328 -12.8665 -0.620701 0.0599043 0.603253 0.497221 +TTool-pose None -31.5169 13.9093 14.8156 0.622502 0.664452 -0.186714 0.368876 +#14434 1721120966472 +SLAM 23.7797 11.5408 -12.8917 -0.619918 0.0602841 0.603646 0.497674 +TTool-pose None -31.5096 13.9134 14.8008 0.622211 0.664366 -0.187717 0.369015 +#14435 1721120966507 +SLAM 23.7729 11.5384 -12.9015 -0.620058 0.0603155 0.603786 0.497326 +TTool-pose None -31.5074 13.9124 14.8053 0.622512 0.664223 -0.187619 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-0.187631 0.36801 +#14442 1721120966743 +SLAM 23.7391 11.5749 -12.9139 -0.619897 0.0599318 0.604447 0.496769 +TTool-pose None -31.4959 13.9127 14.8165 0.622874 0.664297 -0.187838 0.367955 +#14443 1721120966775 +SLAM 23.6722 11.5648 -12.9729 -0.619224 0.0607064 0.605293 0.496485 +TTool-pose None -31.4742 13.9175 14.8079 0.623302 0.66369 -0.188959 0.367752 +#14444 1721120966812 +SLAM 23.6977 11.5659 -12.9532 -0.619485 0.0604544 0.604947 0.496612 +TTool-pose None -31.4843 13.9141 14.8103 0.623135 0.663898 -0.188534 0.367876 +#14445 1721120966845 +SLAM 23.6922 11.5763 -12.9516 -0.619288 0.0603748 0.605033 0.496763 +TTool-pose None -31.4829 13.9151 14.809 0.622985 0.664007 -0.188732 0.367832 +#14446 1721120966878 +SLAM 23.6954 11.5858 -12.9462 -0.619391 0.0601423 0.605056 0.496633 +TTool-pose None -31.4843 13.9131 14.8148 0.623035 0.664118 -0.188565 0.367634 +#14447 1721120966909 +SLAM 23.6391 11.593 -12.9837 -0.618858 0.0604664 0.605919 0.496207 +TTool-pose None -31.4583 13.9205 14.8177 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13.9181 14.8349 0.626314 0.662736 -0.195022 0.361125 +#14454 1721120967149 +SLAM 23.1601 11.829 -13.266 -0.614663 0.0604647 0.612881 0.492859 +TTool-pose None -31.3357 13.9114 14.8193 0.626139 0.662681 -0.195386 0.361334 +#14455 1721120967181 +SLAM 22.9885 11.8244 -13.4063 -0.613285 0.0619407 0.615188 0.491517 +TTool-pose None -31.2814 13.9213 14.8107 0.627583 0.661234 -0.197772 0.36018 +#14456 1721120967212 +SLAM 22.9019 11.8573 -13.455 -0.612548 0.0619849 0.61648 0.49081 +TTool-pose None -31.2514 13.9213 14.8173 0.628149 0.660966 -0.198842 0.359095 +#14457 1721120967244 +SLAM 22.7901 11.9438 -13.5048 -0.611036 0.061631 0.618039 0.49078 +TTool-pose None -31.2328 13.9165 14.8104 0.628027 0.661207 -0.200642 0.357859 +#14458 1721120967283 +SLAM 22.5444 11.9821 -13.6763 -0.60909 0.0628418 0.621398 0.488799 +TTool-pose None -31.1591 13.9205 14.8069 0.629877 0.659707 -0.20376 0.355607 +#14459 1721120967322 +SLAM 22.2796 12.1342 -13.8094 -0.606645 0.0623047 0.625179 0.487085 +TTool-pose None -31.0981 13.9073 14.8132 0.631016 0.659473 -0.206959 0.352156 +#14460 1721120967359 +SLAM 21.8709 12.2274 -14.0473 -0.603048 0.0636778 0.630665 0.484293 +TTool-pose None -30.9674 13.9112 14.8055 0.633427 0.657548 -0.212248 0.348255 +#14461 1721120967397 +SLAM 21.5109 12.3868 -14.2505 -0.600167 0.063614 0.635976 0.480923 +TTool-pose None -30.8737 13.9152 14.8296 0.635922 0.656365 -0.216325 0.343396 +#14462 1721120967435 +SLAM 21.1055 12.5668 -14.4228 -0.59641 0.063378 0.641767 0.477926 +TTool-pose None -30.7362 13.9268 14.8448 0.637969 0.655398 -0.221308 0.338227 +#14463 1721120967474 +SLAM 20.6324 12.7463 -14.6437 -0.592265 0.0633548 0.648248 0.474323 +TTool-pose None -30.5949 13.9197 14.8608 0.640459 0.654029 -0.22685 0.332449 +#14464 1721120967509 +SLAM 20.0091 12.8082 -15.0082 -0.586913 0.0664962 0.655981 0.469894 +TTool-pose None -30.4132 13.9265 14.8304 0.644225 0.650149 -0.234719 0.327277 +#14465 1721120967550 +SLAM 19.559 12.8829 -15.2289 -0.584428 0.0671354 0.662045 0.464363 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0.447703 +TTool-pose None -29.3594 13.9038 14.8809 0.659206 0.638579 -0.262787 0.297515 +#14472 1721120967794 +SLAM 17.0439 13.3384 -15.9959 -0.562672 0.0699673 0.693327 0.444751 +TTool-pose None -29.216 13.8788 14.8697 0.660944 0.637144 -0.266658 0.293257 +#14473 1721120967831 +SLAM 16.2774 13.4118 -16.2406 -0.556523 0.0714879 0.702109 0.438424 +TTool-pose None -28.9434 13.8387 14.8454 0.664949 0.633235 -0.274544 0.285274 +#14474 1721120967867 +SLAM 15.9653 13.4987 -16.2697 -0.554078 0.0706383 0.706049 0.43532 +TTool-pose None -28.7947 13.8264 14.8576 0.666546 0.632405 -0.277297 0.280687 +#14475 1721120967903 +SLAM 15.5257 13.4015 -16.4588 -0.549797 0.0746852 0.710303 0.433145 +TTool-pose None -28.6418 13.8262 14.7802 0.668415 0.628513 -0.283297 0.278987 +#14476 1721120967940 +SLAM 15.2152 13.4915 -16.4758 -0.548705 0.0721015 0.714398 0.428207 +TTool-pose None -28.4914 13.7553 14.8481 0.671027 0.628156 -0.28416 0.272559 +#14477 1721120967975 +SLAM 15.0409 13.5556 -16.4011 -0.546451 0.0714878 0.716711 0.427325 +TTool-pose None -28.3373 13.7808 14.8349 0.67109 0.628056 -0.286539 0.27013 +#14478 1721120968009 +SLAM 14.9459 13.5944 -16.3106 -0.543142 0.0724142 0.717731 0.429669 +TTool-pose None -28.2193 13.841 14.7705 0.669107 0.628175 -0.290278 0.27078 +#14479 1721120968047 +SLAM 14.5709 13.4619 -16.4605 -0.543001 0.0729785 0.721864 0.422772 +TTool-pose None -28.0509 13.7349 14.8247 0.674012 0.624914 -0.290999 0.265324 +#14480 1721120968086 +SLAM 14.359 13.306 -16.5306 -0.53942 0.0778219 0.723375 0.423907 +TTool-pose None -27.9223 13.7799 14.7179 0.67381 0.621853 -0.296132 0.267348 +#14481 1721120968126 +SLAM 14.2826 13.3506 -16.4729 -0.540905 0.0744276 0.724726 0.420302 +TTool-pose None -27.8436 13.6923 14.8009 0.675699 0.622749 -0.293812 0.263013 +#14482 1721120968164 +SLAM 14.2027 13.3088 -16.4546 -0.538363 0.0769462 0.725067 0.422519 +TTool-pose None -27.7752 13.7417 14.7111 0.674346 0.621787 -0.297131 0.265028 +#14483 1721120968199 +SLAM 14.0854 13.3138 -16.4577 -0.537746 0.0766468 0.726171 0.421462 +TTool-pose None -27.7254 13.7065 14.7026 0.674878 0.621501 -0.297781 0.263607 +#14484 1721120968235 +SLAM 13.9855 13.3864 -16.4375 -0.537479 0.0748421 0.727323 0.420138 +TTool-pose None -27.6966 13.659 14.718 0.675272 0.622146 -0.297663 0.261195 +#14485 1721120968277 +SLAM 13.8204 13.2909 -16.5384 -0.534947 0.0785634 0.728513 0.420629 +TTool-pose None -27.6513 13.6944 14.6401 0.675403 0.61964 -0.301367 0.262568 +#14486 1721120968318 +SLAM 13.9551 13.4359 -16.4038 -0.536624 0.0743283 0.727739 0.420602 +TTool-pose None -27.6746 13.6662 14.7097 0.674659 0.622625 -0.298431 0.260762 +#14487 1721120968356 +SLAM 13.8849 13.371 -16.4661 -0.536048 0.0759283 0.728272 0.420127 +TTool-pose None -27.6576 13.6692 14.6908 0.675286 0.621298 -0.299504 0.261074 +#14488 1721120968392 +SLAM 13.9922 13.3875 -16.4167 -0.537321 0.0747939 0.727223 0.420523 +TTool-pose None -27.6851 13.6601 14.7131 0.674966 0.622329 -0.297802 0.261392 +#14489 1721120968427 +SLAM 14.1927 13.4113 -16.3167 -0.538748 0.0737503 0.725256 0.422275 +TTool-pose None -27.7207 13.6871 14.7258 0.673765 0.623877 -0.295879 0.262982 +#14490 1721120968464 +SLAM 14.3204 13.3903 -16.2786 -0.539736 0.0737884 0.723719 0.42364 +TTool-pose None -27.759 13.6952 14.7203 0.673021 0.624496 -0.294736 0.264702 +#14491 1721120968499 +SLAM 14.5775 13.3166 -16.2127 -0.541369 0.0746255 0.720515 0.426859 +TTool-pose None -27.8313 13.7198 14.6998 0.671311 0.625389 -0.292986 0.268849 +#14492 1721120968535 +SLAM 14.6102 13.2117 -16.2704 -0.543234 0.0752275 0.719926 0.425375 +TTool-pose None -27.8548 13.6794 14.7238 0.672834 0.624496 -0.29119 0.269071 +#14493 1721120968572 +SLAM 14.6983 13.228 -16.2643 -0.544278 0.074533 0.718898 0.425903 +TTool-pose None -27.9177 13.6648 14.737 0.672478 0.625258 -0.28983 0.26966 +#14494 1721120968610 +SLAM 14.848 13.317 -16.1927 -0.545423 0.0727076 0.717632 0.426886 +TTool-pose None -27.9812 13.6854 14.7607 0.671529 0.62698 -0.288025 0.269959 +#14495 1721120968651 +SLAM 14.8734 13.3031 -16.2445 -0.546417 0.072668 0.717185 0.426373 +TTool-pose None -28.0432 13.6595 14.7716 0.672051 0.626862 -0.286952 0.270077 +#14496 1721120968686 +SLAM 14.936 13.3142 -16.24 -0.546686 0.0728061 0.71654 0.427088 +TTool-pose None -28.0793 13.6827 14.7662 0.671636 0.627083 -0.286648 0.270917 +#14497 1721120968721 +SLAM 15.0015 13.2923 -16.2612 -0.547256 0.0732218 0.715738 0.427632 +TTool-pose None -28.1272 13.6881 14.7677 0.671465 0.627065 -0.286095 0.271966 +#14498 1721120968756 +SLAM 15.1987 13.276 -16.2131 -0.54897 0.0729112 0.713697 0.428897 +TTool-pose None -28.1908 13.7119 14.7843 0.670799 0.627912 -0.284037 0.273811 +#14499 1721120968791 +SLAM 15.3173 13.2228 -16.238 -0.549811 0.0739451 0.712342 0.429894 +TTool-pose None -28.2526 13.7378 14.7852 0.670511 0.627678 -0.283313 0.275797 +#14500 1721120968825 +SLAM 15.651 13.3465 -16.0843 -0.552753 0.0702614 0.709513 0.431414 +TTool-pose None -28.3644 13.761 14.8634 0.668988 0.63098 -0.27896 0.276399 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-0.278881 0.282553 +#14507 1721120969121 +SLAM 16.1009 13.3865 -16.5111 -0.554879 0.0741279 0.705394 0.434781 +TTool-pose None -28.9573 13.9296 14.9159 0.667956 0.629872 -0.27737 0.282952 +#14508 1721120969157 +SLAM 16.0415 13.4278 -16.5767 -0.554025 0.0743446 0.706292 0.434374 +TTool-pose None -28.9821 13.9456 14.9238 0.668161 0.629508 -0.278412 0.282253 +#14509 1721120969195 +SLAM 16.175 13.4871 -16.5684 -0.555011 0.0733448 0.705141 0.435155 +TTool-pose None -29.0777 13.962 14.9501 0.667511 0.630562 -0.276987 0.282838 +#14510 1721120969232 +SLAM 16.2192 13.4663 -16.5605 -0.555149 0.0737293 0.704519 0.43592 +TTool-pose None -29.0932 13.9681 14.9399 0.667089 0.630622 -0.276876 0.28381 +#14511 1721120969267 +SLAM 16.2872 13.4294 -16.5491 -0.556011 0.0739464 0.703654 0.436182 +TTool-pose None -29.1126 13.9675 14.9388 0.667096 0.630632 -0.275948 0.284674 +#14512 1721120969306 +SLAM 16.4254 13.4501 -16.4706 -0.557085 0.0729071 0.702242 0.437262 +TTool-pose None -29.1443 13.9731 14.9521 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13.9726 14.9353 0.665725 0.631747 -0.273485 0.287776 +#14519 1721120969552 +SLAM 16.5837 13.3984 -16.422 -0.55864 0.0729209 0.700364 0.438286 +TTool-pose None -29.1845 13.9757 14.9568 0.665747 0.63233 -0.272558 0.287322 +#14520 1721120969590 +SLAM 16.5442 13.3885 -16.4462 -0.557908 0.0735782 0.700474 0.438932 +TTool-pose None -29.1888 13.9677 14.9309 0.665341 0.632106 -0.273502 0.287861 +#14521 1721120969625 +SLAM 16.5781 13.3828 -16.4366 -0.558453 0.0733457 0.700236 0.438657 +TTool-pose None -29.1932 13.9708 14.9448 0.665562 0.632182 -0.27285 0.2878 +#14522 1721120969659 +SLAM 16.5645 13.3608 -16.4547 -0.558841 0.0734827 0.700509 0.437704 +TTool-pose None -29.1808 13.971 14.9576 0.666338 0.631725 -0.272528 0.287312 +#14523 1721120969698 +SLAM 16.5447 13.3781 -16.4506 -0.558499 0.0733434 0.700696 0.437864 +TTool-pose None -29.1762 13.9682 14.9524 0.666135 0.631865 -0.272863 0.287156 +#14524 1721120969735 +SLAM 16.5333 13.3555 -16.4668 -0.558686 0.0736742 0.700882 0.437272 +TTool-pose None -29.1657 13.9735 14.9563 0.666671 0.631412 -0.272788 0.286981 +#14525 1721120969772 +SLAM 16.5339 13.3517 -16.4702 -0.558588 0.0738266 0.700816 0.437477 +TTool-pose None -29.1694 13.9737 14.9516 0.666549 0.631386 -0.272922 0.287195 +#14526 1721120969806 +SLAM 16.4997 13.3518 -16.4836 -0.558352 0.0739528 0.701296 0.436987 +TTool-pose None -29.1525 13.9787 14.9551 0.666893 0.631089 -0.273259 0.286726 +#14527 1721120969841 +SLAM 16.4624 13.345 -16.51 -0.557728 0.0744862 0.701499 0.437367 +TTool-pose None -29.156 13.9734 14.9387 0.666662 0.630846 -0.274071 0.287024 +#14528 1721120969877 +SLAM 16.4176 13.3292 -16.4872 -0.557694 0.074338 0.702049 0.436553 +TTool-pose None -29.0977 13.9664 14.9433 0.667198 0.630614 -0.274135 0.286223 +#14529 1721120969911 +SLAM 16.5368 13.3687 -16.3658 -0.558818 0.0725461 0.700592 0.437756 +TTool-pose None -29.1098 13.9419 14.9458 0.666057 0.632379 -0.272303 0.286738 +#14530 1721120969952 +SLAM 16.6025 13.3801 -16.2561 -0.56002 0.0709421 0.699514 0.438207 +TTool-pose None -29.0943 13.8945 14.9418 0.665506 0.633713 -0.270486 0.28679 +#14531 1721120969991 +SLAM 16.6191 13.3549 -16.1831 -0.560162 0.0709497 0.698565 0.439535 +TTool-pose None -29.0729 13.8634 14.8899 0.664579 0.634253 -0.270217 0.287999 +#14532 1721120970031 +SLAM 16.6912 13.2508 -16.1685 -0.558976 0.0740317 0.696452 0.443868 +TTool-pose None -29.1072 13.888 14.771 0.662075 0.633846 -0.271994 0.292953 +#14533 1721120970069 +SLAM 16.8683 13.2765 -16.051 -0.562252 0.0710073 0.69491 0.442641 +TTool-pose None -29.1305 13.8484 14.8444 0.662675 0.635574 -0.267602 0.291892 +#14534 1721120970102 +SLAM 16.9297 13.2533 -16.0314 -0.562515 0.0712496 0.693968 0.443744 +TTool-pose None -29.1546 13.8449 14.8316 0.66198 0.635866 -0.267269 0.293138 +#14535 1721120970134 +SLAM 17.0502 13.2363 -15.9803 -0.563681 0.0708518 0.692443 0.444709 +TTool-pose None -29.1938 13.8385 14.8311 0.661349 0.636581 -0.265753 0.294389 +#14536 1721120970171 +SLAM 17.1203 13.2415 -15.9401 -0.564716 0.07007 0.691779 0.444553 +TTool-pose None -29.2067 13.8347 14.849 0.661409 0.637099 -0.264384 0.294366 +#14537 1721120970206 +SLAM 17.1847 13.2748 -15.8903 -0.565697 0.0687696 0.691224 0.444373 +TTool-pose None -29.223 13.8237 14.8716 0.661343 0.637954 -0.262938 0.293957 +#14538 1721120970241 +SLAM 17.0794 13.2088 -15.9742 -0.564219 0.0712287 0.691977 0.444693 +TTool-pose None -29.1993 13.845 14.8182 0.661535 0.636346 -0.265243 0.294937 +#14539 1721120970279 +SLAM 17.2275 13.3588 -15.8156 -0.566796 0.0664972 0.691175 0.443393 +TTool-pose None -29.2216 13.815 14.9075 0.661616 0.639149 -0.261166 0.292317 +#14540 1721120970318 +SLAM 17.2247 13.3999 -15.7948 -0.567258 0.0654265 0.69138 0.442642 +TTool-pose None -29.2202 13.8034 14.925 0.661945 0.639593 -0.26042 0.291266 +#14541 1721120970353 +SLAM 17.195 13.3843 -15.8208 -0.566956 0.0660919 0.691582 0.442614 +TTool-pose None -29.2179 13.8093 14.9078 0.662097 0.639119 -0.260946 0.291491 +#14542 1721120970390 +SLAM 17.1855 13.4076 -15.8161 -0.567914 0.0648602 0.691843 0.441157 +TTool-pose None -29.2181 13.7766 14.94 0.66296 0.639411 -0.259653 0.290035 +#14543 1721120970427 +SLAM 17.1464 13.4102 -15.8305 -0.567562 0.0650134 0.692339 0.44081 +TTool-pose None -29.2016 13.7797 14.9396 0.663201 0.639152 -0.260127 0.28963 +#14544 1721120970466 +SLAM 17.1917 13.4395 -15.7902 -0.56772 0.0643781 0.691909 0.441375 +TTool-pose None -29.2122 13.7845 14.9436 0.662649 0.639814 -0.259724 0.289793 +#14545 1721120970503 +SLAM 17.1827 13.4301 -15.8021 -0.567418 0.0648098 0.691953 0.44163 +TTool-pose None -29.2122 13.7913 14.9343 0.662537 0.639611 -0.260162 0.290107 +#14546 1721120970541 +SLAM 16.9791 13.323 -15.964 -0.564506 0.0687695 0.693769 0.441913 +TTool-pose None -29.1618 13.8197 14.8713 0.662951 0.63691 -0.264515 0.291167 +#14547 1721120970574 +SLAM 16.73 13.1816 -16.1591 -0.558936 0.0750035 0.695559 0.445154 +TTool-pose None -29.1075 13.878 14.7486 0.661388 0.6337 -0.272178 0.294647 +#14548 1721120970610 +SLAM 16.7492 13.0288 -16.2321 -0.558207 0.0785695 0.694743 0.446726 +TTool-pose None -29.1134 13.9175 14.6945 0.661041 0.631867 -0.273785 0.297859 +#14549 1721120970641 +SLAM 16.806 12.9074 -16.2665 -0.558678 0.0805349 0.693682 0.447435 +TTool-pose None -29.1277 13.9265 14.6742 0.661089 0.630837 -0.273694 0.300013 +#14550 1721120970673 +SLAM 16.729 12.9584 -16.2758 -0.558417 0.0796003 0.694272 0.447012 +TTool-pose None -29.1331 13.8775 14.6671 0.661124 0.631291 -0.273787 0.298894 +#14551 1721120970705 +SLAM 16.7869 13.2178 -16.0582 -0.556108 0.0767268 0.693379 0.451756 +TTool-pose None -29.1513 13.9089 14.5822 0.656601 0.635006 -0.275192 0.299704 +#14552 1721120970743 +SLAM 16.856 13.2055 -16.0832 -0.562123 0.0729493 0.691944 0.447112 +TTool-pose None -29.2732 13.7128 14.652 0.659917 0.63604 -0.26785 0.296861 +#14553 1721120970781 +SLAM 17.1893 13.0898 -16.0152 -0.568138 0.0719829 0.688405 0.445124 +TTool-pose None -29.371 13.7108 14.7083 0.661967 0.636196 -0.260937 0.298118 +#14554 1721120970820 +SLAM 17.4582 13.25 -15.7485 -0.567629 0.0689444 0.685382 0.450883 +TTool-pose None -29.4248 13.7383 14.691 0.656909 0.640509 -0.260143 0.300757 +#14555 1721120970857 +SLAM 17.2136 13.2073 -15.9088 -0.56316 0.0725432 0.687624 0.452505 +TTool-pose None -29.3801 13.762 14.6207 0.656024 0.638503 -0.266031 0.301804 +#14556 1721120970900 +SLAM 17.0837 13.0929 -16.0408 -0.562653 0.0752126 0.688875 0.450795 +TTool-pose None -29.3421 13.7725 14.6011 0.657884 0.635993 -0.267482 0.30177 +#14557 1721120970932 +SLAM 16.979 13.1161 -16.0835 -0.562466 0.0747601 0.690188 0.449091 +TTool-pose None -29.3169 13.747 14.6187 0.658987 0.635616 -0.267746 0.299917 +#14558 1721120970965 +SLAM 16.9613 13.1775 -16.0456 -0.562732 0.0733388 0.690752 0.448125 +TTool-pose None -29.294 13.7424 14.6428 0.659368 0.636209 -0.267165 0.298333 +#14559 1721120970994 +SLAM 16.9748 13.1905 -16.0241 -0.562394 0.0733762 0.690548 0.448856 +TTool-pose None -29.2939 13.7536 14.6293 0.658796 0.636457 -0.267487 0.298779 +#14560 1721120971025 +SLAM 17.0673 13.1526 -16.0058 -0.562922 0.0738121 0.689354 0.449958 +TTool-pose None -29.3252 13.7625 14.6228 0.658179 0.636625 -0.266894 0.300311 +#14561 1721120971057 +SLAM 16.9995 13.0457 -16.0933 -0.561205 0.0772137 0.689555 0.451221 +TTool-pose None -29.3084 13.8024 14.5581 0.65787 0.63473 -0.269606 0.302572 +#14562 1721120971090 +SLAM 17.0647 13.0581 -16.0639 -0.562782 0.0757665 0.689008 0.450337 +TTool-pose None -29.3321 13.7709 14.5982 0.658378 0.635442 -0.267526 0.301815 +#14563 1721120971131 +SLAM 17.1699 13.086 -16.0019 -0.563674 0.0747224 0.687911 0.451073 +TTool-pose None -29.3653 13.771 14.6094 0.657701 0.636485 -0.266165 0.302296 +#14564 1721120971168 +SLAM 17.1522 13.1244 -15.9847 -0.56361 0.0739191 0.688246 0.450774 +TTool-pose None -29.3564 13.7616 14.6206 0.657707 0.636909 -0.266057 0.301483 +#14565 1721120971205 +SLAM 17.0713 13.1318 -16.0187 -0.562769 0.0743096 0.689129 0.450411 +TTool-pose None -29.3346 13.7607 14.6117 0.657953 0.636459 -0.267152 0.300928 +#14566 1721120971242 +SLAM 17.063 13.1261 -16.0351 -0.563195 0.0741659 0.689257 0.449706 +TTool-pose None -29.3393 13.7499 14.6221 0.658492 0.636299 -0.266701 0.300487 +#14567 1721120971276 +SLAM 16.9918 13.0966 -16.0821 -0.563501 0.0744423 0.690256 0.447741 +TTool-pose None -29.3049 13.7441 14.6418 0.66004 0.635347 -0.266618 0.299175 +#14568 1721120971307 +SLAM 17.065 13.1393 -16.026 -0.564209 0.0732078 0.689481 0.448247 +TTool-pose None -29.3327 13.7343 14.6512 0.659457 0.63642 -0.26544 0.299228 +#14569 1721120971345 +SLAM 16.9581 13.1227 -16.0853 -0.563606 0.0738465 0.690709 0.447008 +TTool-pose None -29.2988 13.7295 14.6512 0.660436 0.635465 -0.266413 0.29823 +#14570 1721120971384 +SLAM 16.9951 13.2388 -15.9994 -0.563781 0.0714998 0.690762 0.447087 +TTool-pose None -29.299 13.7298 14.679 0.659803 0.637095 -0.265587 0.296885 +#14571 1721120971420 +SLAM 17.035 13.2646 -15.9616 -0.56399 0.0708115 0.690192 0.447812 +TTool-pose None -29.3174 13.7167 14.6757 0.659129 0.637859 -0.265097 0.297181 +#14572 1721120971456 +SLAM 17.0736 13.2676 -15.9606 -0.565637 0.069804 0.689968 0.446236 +TTool-pose None -29.3385 13.6958 14.7101 0.66025 0.637994 -0.263106 0.29617 +#14573 1721120971493 +SLAM 17.0272 13.2606 -15.9756 -0.56601 0.0696402 0.690612 0.44479 +TTool-pose None -29.3114 13.6881 14.7222 0.66131 0.637547 -0.262774 0.295058 +#14574 1721120971530 +SLAM 17.1008 13.3367 -15.8961 -0.566616 0.0677632 0.690055 0.445173 +TTool-pose None -29.3285 13.6834 14.7453 0.660631 0.638997 -0.261546 0.294534 +#14575 1721120971565 +SLAM 17.1641 13.3022 -15.8852 -0.567164 0.0681345 0.689095 0.445904 +TTool-pose None -29.3546 13.6812 14.7335 0.660273 0.639063 -0.260951 0.295719 +#14576 1721120971595 +SLAM 17.2219 13.3084 -15.8502 -0.567958 0.0675193 0.688662 0.445657 +TTool-pose None -29.3583 13.688 14.7522 0.660402 0.639418 -0.259904 0.295586 +#14577 1721120971627 +SLAM 17.1926 13.3152 -15.8631 -0.56723 0.0678333 0.688818 0.446294 +TTool-pose None -29.3609 13.6845 14.736 0.659919 0.639425 -0.260758 0.295896 +#14578 1721120971658 +SLAM 17.0894 13.284 -15.9353 -0.566306 0.0690622 0.689836 0.445706 +TTool-pose None -29.3381 13.6851 14.7188 0.660537 0.638317 -0.262196 0.295639 +#14579 1721120971690 +SLAM 17.0908 13.3218 -15.9115 -0.566528 0.0681304 0.690054 0.445229 +TTool-pose None -29.3312 13.6811 14.7376 0.660673 0.638767 -0.261739 0.294766 +#14580 1721120971722 +SLAM 16.9964 13.3082 -15.9596 -0.565806 0.0688061 0.690924 0.444695 +TTool-pose None -29.3092 13.6702 14.7213 0.661135 0.638062 -0.262793 0.294318 +#14581 1721120971756 +SLAM 16.9176 13.2866 -16.0004 -0.565233 0.0695662 0.691589 0.444271 +TTool-pose None -29.2884 13.6627 14.702 0.661557 0.637352 -0.263688 0.294108 +#14582 1721120971786 +SLAM 16.952 13.32 -15.954 -0.565622 0.0686558 0.691294 0.444377 +TTool-pose None -29.2895 13.6604 14.7088 0.6613 0.638029 -0.262992 0.293843 +#14583 1721120971817 +SLAM 16.994 13.353 -15.9143 -0.565739 0.0679999 0.69086 0.445003 +TTool-pose None -29.3025 13.6628 14.7092 0.660692 0.638727 -0.262624 0.294022 +#14584 1721120971848 +SLAM 16.9566 13.3193 -15.9493 -0.565603 0.0686805 0.691126 0.444659 +TTool-pose None -29.2945 13.6559 14.7012 0.661099 0.638123 -0.262994 0.294087 +#14585 1721120971877 +SLAM 16.9998 13.3631 -15.9077 -0.566119 0.0674824 0.690794 0.444701 +TTool-pose None -29.309 13.6471 14.7187 0.66083 0.638974 -0.262081 0.293657 +#14586 1721120971909 +SLAM 16.8785 13.2887 -16.0116 -0.565179 0.0695457 0.69189 0.443875 +TTool-pose None -29.2812 13.6489 14.6939 0.661831 0.637205 -0.26378 0.293727 +#14587 1721120971940 +SLAM 16.9824 13.3176 -15.9462 -0.565918 0.0686502 0.69076 0.444831 +TTool-pose None -29.3123 13.6542 14.6973 0.661011 0.638228 -0.262611 0.2944 +#14588 1721120971971 +SLAM 16.9526 13.3313 -15.9469 -0.565893 0.0682918 0.691227 0.444192 +TTool-pose None -29.2953 13.6492 14.7085 0.661378 0.638213 -0.262604 0.293612 +#14589 1721120972003 +SLAM 16.9848 13.3399 -15.9272 -0.566266 0.0679128 0.690943 0.444216 +TTool-pose None -29.3021 13.6506 14.7159 0.661314 0.638497 -0.262075 0.29361 +#14590 1721120972038 +SLAM 16.963 13.341 -15.9356 -0.566265 0.0678569 0.691261 0.443731 +TTool-pose None -29.2919 13.649 14.7216 0.661651 0.638341 -0.262106 0.293162 +#14591 1721120972070 +SLAM 17.0392 13.3791 -15.8754 -0.566827 0.066776 0.690534 0.44431 +TTool-pose None -29.3101 13.6502 14.7334 0.661029 0.639329 -0.261122 0.293292 +#14592 1721120972107 +SLAM 16.9373 13.3232 -15.9635 -0.565882 0.0684669 0.691347 0.443991 +TTool-pose None -29.2969 13.6442 14.7071 0.661567 0.638015 -0.262681 0.293548 +#14593 1721120972140 +SLAM 17.0049 13.3438 -15.9147 -0.566884 0.0674259 0.690807 0.443713 +TTool-pose None -29.3048 13.644 14.729 0.661639 0.638655 -0.261287 0.293237 +#14594 1721120972178 +SLAM 16.9799 13.3329 -15.9328 -0.566859 0.0676287 0.691141 0.443194 +TTool-pose None -29.2939 13.6444 14.733 0.662064 0.638309 -0.261417 0.292913 +#14595 1721120972209 +SLAM 16.9782 13.3427 -15.9272 -0.566907 0.0673491 0.691199 0.443085 +TTool-pose None -29.2926 13.6396 14.7384 0.662077 0.638457 -0.261298 0.292669 +#14596 1721120972244 +SLAM 16.8201 13.2046 -16.0882 -0.564282 0.072093 0.692104 0.444276 +TTool-pose None -29.2736 13.6742 14.6434 0.662068 0.635597 -0.26544 0.295178 +#14597 1721120972276 +SLAM 16.9305 13.3331 -15.9581 -0.566295 0.0679284 0.691627 0.443111 +TTool-pose None -29.285 13.6395 14.7266 0.662123 0.638046 -0.262148 0.2927 +#14598 1721120972307 +SLAM 16.956 13.3509 -15.9332 -0.566518 0.0674563 0.691447 0.443179 +TTool-pose None -29.2868 13.6428 14.7334 0.661982 0.638403 -0.261761 0.292587 +#14599 1721120972342 +SLAM 16.8643 13.3376 -15.9923 -0.565862 0.0681315 0.692414 0.442404 +TTool-pose None -29.2694 13.6365 14.7269 0.662625 0.637605 -0.26276 0.291975 +#14600 1721120972377 +SLAM 16.7767 13.3448 -16.0317 -0.565221 0.0683812 0.693406 0.441629 +TTool-pose None -29.2474 13.6309 14.7236 0.663157 0.637095 -0.263625 0.2911 +#14601 1721120972413 +SLAM 16.7914 13.4096 -15.9928 -0.565529 0.0669432 0.69347 0.441355 +TTool-pose None -29.2535 13.6216 14.7431 0.663025 0.63797 -0.262912 0.290125 +#14602 1721120972445 +SLAM 16.7293 13.4038 -16.025 -0.564904 0.0675463 0.694208 0.440904 +TTool-pose None -29.2317 13.6335 14.7346 0.663417 0.637351 -0.263825 0.289761 +#14603 1721120972476 +SLAM 16.5885 13.3805 -16.1106 -0.563859 0.0685744 0.69566 0.439794 +TTool-pose None -29.2018 13.6218 14.7239 0.664331 0.636157 -0.265383 0.288866 +#14604 1721120972511 +SLAM 16.6153 13.4414 -16.0642 -0.564105 0.0672265 0.695552 0.439855 +TTool-pose None -29.2087 13.6154 14.7396 0.663971 0.637104 -0.264735 0.288197 +#14605 1721120972542 +SLAM 16.5772 13.4715 -16.0636 -0.563709 0.0669109 0.696077 0.439582 +TTool-pose None -29.1957 13.6165 14.7408 0.664027 0.637186 -0.265123 0.287529 +#14606 1721120972574 +SLAM 16.6437 13.5168 -16.0041 -0.564592 0.0654739 0.695613 0.439399 +TTool-pose None -29.2047 13.6153 14.7662 0.663911 0.638127 -0.26375 0.286972 +#14607 1721120972604 +SLAM 16.6261 13.4895 -16.0328 -0.564782 0.0659108 0.69569 0.438967 +TTool-pose None -29.2075 13.6074 14.7623 0.664364 0.637668 -0.26369 0.287001 +#14608 1721120972637 +SLAM 16.6108 13.5264 -16.0187 -0.564635 0.0652613 0.69597 0.43881 +TTool-pose None -29.2027 13.6031 14.7691 0.664284 0.638035 -0.263694 0.286364 +#14609 1721120972668 +SLAM 16.5634 13.5422 -16.0335 -0.564048 0.065387 0.696417 0.438837 +TTool-pose None -29.1969 13.6007 14.7571 0.664212 0.637931 -0.264391 0.286121 +#14610 1721120972702 +SLAM 16.4752 13.5403 -16.0763 -0.563256 0.0658998 0.697384 0.438241 +TTool-pose None -29.1735 13.5999 14.7496 0.664657 0.637304 -0.265477 0.285479 +#14611 1721120972741 +SLAM 16.4668 13.5351 -16.0854 -0.563619 0.0657685 0.697524 0.43757 +TTool-pose None -29.1713 13.5936 14.7576 0.665156 0.63714 -0.265085 0.285044 +#14612 1721120972773 +SLAM 16.4624 13.5512 -16.0857 -0.563791 0.0653684 0.697547 0.437373 +TTool-pose None -29.1808 13.5813 14.7611 0.665218 0.637338 -0.264799 0.284721 +#14613 1721120972806 +SLAM 16.4513 13.5252 -16.0968 -0.562602 0.066951 0.697432 0.438845 +TTool-pose None -29.174 13.6198 14.7151 0.664403 0.636804 -0.266449 0.286279 +#14614 1721120972842 +SLAM 16.4573 13.588 -16.0597 -0.563577 0.064815 0.697736 0.437429 +TTool-pose None -29.1707 13.5877 14.7634 0.665 0.637723 -0.264887 0.284287 +#14615 1721120972882 +SLAM 16.5374 13.6337 -15.9959 -0.564757 0.0631186 0.697174 0.437051 +TTool-pose None -29.1831 13.5813 14.7989 0.664997 0.638773 -0.26312 0.283577 +#14616 1721120972916 +SLAM 16.5111 13.5803 -16.0335 -0.563263 0.0654114 0.697079 0.438789 +TTool-pose None -29.179 13.6193 14.7417 0.664137 0.637854 -0.265289 0.285633 +#14617 1721120972949 +SLAM 16.5659 13.6307 -15.9818 -0.564778 0.0632119 0.6968 0.437606 +TTool-pose None -29.1906 13.5872 14.7923 0.664627 0.638935 -0.263075 0.284118 +#14618 1721120972981 +SLAM 16.4925 13.5732 -16.0576 -0.564256 0.0646403 0.697312 0.437256 +TTool-pose None -29.1864 13.5771 14.7723 0.665178 0.637806 -0.264084 0.28443 +#14619 1721120973014 +SLAM 16.6018 13.6519 -15.9523 -0.565341 0.0624042 0.696531 0.437424 +TTool-pose None -29.197 13.5819 14.8084 0.664626 0.639434 -0.262232 0.283779 +#14620 1721120973045 +SLAM 16.5526 13.6282 -15.9879 -0.564718 0.0632862 0.696922 0.437479 +TTool-pose None -29.1869 13.5851 14.7903 0.66473 0.638831 -0.263174 0.284022 +#14621 1721120973080 +SLAM 16.5535 13.6424 -15.9841 -0.565038 0.0627663 0.696976 0.437055 +TTool-pose None -29.1909 13.5741 14.8021 0.664942 0.639026 -0.262705 0.28352 +#14622 1721120973117 +SLAM 16.5063 13.65 -15.9988 -0.564452 0.0630203 0.697492 0.436953 +TTool-pose None -29.1763 13.5786 14.793 0.664996 0.638783 -0.263447 0.283251 +#14623 1721120973155 +SLAM 16.4594 13.6538 -16.0239 -0.564261 0.0630566 0.698 0.436382 +TTool-pose None -29.17 13.5697 14.7935 0.665385 0.638518 -0.263719 0.28268 +#14624 1721120973187 +SLAM 16.425 13.6468 -16.0481 -0.564421 0.0630814 0.698404 0.435525 +TTool-pose None -29.1634 13.561 14.7991 0.666027 0.638162 -0.263615 0.282068 +#14625 1721120973221 +SLAM 16.3677 13.6228 -16.0957 -0.564222 0.0636577 0.698825 0.435024 +TTool-pose None -29.1634 13.5443 14.7886 0.666507 0.63756 -0.264037 0.281899 +#14626 1721120973252 +SLAM 16.4168 13.6878 -16.0235 -0.564478 0.0622588 0.698642 0.435188 +TTool-pose None -29.1554 13.5592 14.8076 0.666057 0.638581 -0.263352 0.281291 +#14627 1721120973286 +SLAM 16.4186 13.6505 -16.0439 -0.563971 0.0635104 0.698408 0.436039 +TTool-pose None -29.1593 13.5788 14.779 0.665707 0.638058 -0.2642 0.282511 +#14628 1721120973325 +SLAM 16.3161 13.5956 -16.13 -0.563217 0.064957 0.699227 0.435487 +TTool-pose None -29.1479 13.5633 14.7589 0.66637 0.636821 -0.26549 0.28253 +#14629 1721120973365 +SLAM 16.4877 13.6969 -15.9858 -0.565169 0.0616556 0.6979 0.435567 +TTool-pose None -29.1743 13.5578 14.8177 0.665729 0.639176 -0.262374 0.281632 +#14630 1721120973401 +SLAM 16.3999 13.5985 -16.0904 -0.56434 0.0641397 0.698419 0.435452 +TTool-pose None -29.1668 13.5575 14.7806 0.666347 0.637416 -0.264001 0.282638 +#14631 1721120973436 +SLAM 16.5092 13.6828 -15.9763 -0.565147 0.0619325 0.697672 0.435921 +TTool-pose None -29.1704 13.569 14.8147 0.665546 0.639132 -0.262446 0.282095 +#14632 1721120973472 +SLAM 16.4622 13.639 -16.0277 -0.564447 0.0632225 0.697898 0.436281 +TTool-pose None -29.1703 13.5668 14.7904 0.665529 0.638375 -0.263562 0.282811 +#14633 1721120973503 +SLAM 16.4668 13.6372 -16.0278 -0.564678 0.0631392 0.697912 0.435973 +TTool-pose None -29.1692 13.5682 14.7959 0.665761 0.638318 -0.263304 0.282634 +#14634 1721120973541 +SLAM 16.5091 13.6386 -16.0071 -0.564879 0.0630995 0.697383 0.436563 +TTool-pose None -29.183 13.5741 14.7896 0.665358 0.638594 -0.263017 0.283226 +#14635 1721120973588 +SLAM 16.5362 13.7005 -15.9567 -0.565659 0.0612479 0.697416 0.435762 +TTool-pose None -29.1817 13.5586 14.8259 0.665553 0.639555 -0.26169 0.281825 +#14636 1721120973622 +SLAM 16.4102 13.6467 -16.0548 -0.564572 0.0630006 0.6985 0.435186 +TTool-pose None -29.1639 13.5518 14.7972 0.666269 0.638087 -0.263449 0.281821 +#14637 1721120973654 +SLAM 16.4614 13.7175 -15.9836 -0.565197 0.0612623 0.698304 0.434938 +TTool-pose None -29.1623 13.5565 14.8237 0.666076 0.639187 -0.262284 0.280867 +#14638 1721120973686 +SLAM 16.4478 13.7315 -15.9827 -0.565165 0.0610064 0.698499 0.434703 +TTool-pose None -29.1592 13.5533 14.8271 0.666171 0.639261 -0.262269 0.280487 +#14639 1721120973717 +SLAM 16.4327 13.752 -15.9794 -0.564856 0.0608321 0.698661 0.434868 +TTool-pose None -29.1589 13.5526 14.8233 0.665961 0.639429 -0.262558 0.280331 +#14640 1721120973750 +SLAM 16.3358 13.7179 -16.0516 -0.564323 0.0617508 0.699593 0.433932 +TTool-pose None -29.1432 13.5393 14.8153 0.666793 0.638404 -0.263488 0.279818 +#14641 1721120973787 +SLAM 16.3384 13.737 -16.0343 -0.564326 0.0613973 0.69967 0.433852 +TTool-pose None -29.1363 13.5445 14.8191 0.666756 0.638609 -0.263393 0.279526 +#14642 1721120973823 +SLAM 16.3247 13.7415 -16.0376 -0.564266 0.0612724 0.699835 0.433682 +TTool-pose None -29.1327 13.539 14.8226 0.666834 0.638621 -0.26344 0.279268 +#14643 1721120973860 +SLAM 16.3379 13.7569 -16.0238 -0.564226 0.0610587 0.699694 0.433993 +TTool-pose None -29.1384 13.5414 14.8206 0.666551 0.638889 -0.263402 0.279369 +#14644 1721120973892 +SLAM 16.369 13.7732 -15.9998 -0.564635 0.060515 0.699428 0.433965 +TTool-pose None -29.145 13.5407 14.829 0.666486 0.639264 -0.262792 0.279238 +#14645 1721120973924 +SLAM 16.3179 13.7498 -16.0362 -0.564217 0.0611866 0.699925 0.433613 +TTool-pose None -29.1312 13.54 14.8215 0.666854 0.638648 -0.263477 0.279125 +#14646 1721120973956 +SLAM 16.3115 13.7423 -16.0475 -0.564118 0.0613897 0.699904 0.433747 +TTool-pose None -29.1368 13.5353 14.8167 0.666797 0.638561 -0.263634 0.279311 +#14647 1721120973988 +SLAM 16.3251 13.7494 -16.0341 -0.564319 0.0611199 0.699829 0.433645 +TTool-pose None -29.1351 13.5372 14.8226 0.666828 0.638711 -0.263341 0.27917 +#14648 1721120974019 +SLAM 16.3495 13.7498 -16.0224 -0.564631 0.0609351 0.699582 0.433663 +TTool-pose None -29.1405 13.5374 14.8265 0.666813 0.638858 -0.262935 0.279251 +#14649 1721120974054 +SLAM 16.3677 13.7638 -16.0035 -0.564828 0.0605402 0.699444 0.433684 +TTool-pose None -29.142 13.5378 14.8319 0.666721 0.639143 -0.262602 0.279132 +#14650 1721120974088 +SLAM 16.3258 13.7527 -16.0331 -0.56458 0.0608698 0.699871 0.433272 +TTool-pose None -29.1349 13.5324 14.8301 0.667065 0.638741 -0.263006 0.27885 +#14651 1721120974122 +SLAM 16.3748 13.7607 -16.0054 -0.565228 0.0603672 0.699396 0.433265 +TTool-pose None -29.1456 13.533 14.8389 0.667032 0.639109 -0.262135 0.278905 +#14652 1721120974156 +SLAM 16.3489 13.7675 -16.0146 -0.564784 0.0605089 0.699628 0.43345 +TTool-pose None -29.1429 13.5319 14.8316 0.666873 0.639066 -0.262662 0.278889 +#14653 1721120974190 +SLAM 16.4163 13.8011 -15.9599 -0.565694 0.059283 0.699098 0.433288 +TTool-pose None -29.1516 13.5311 14.8541 0.666795 0.63987 -0.261306 0.278506 +#14654 1721120974222 +SLAM 16.3696 13.7804 -15.9956 -0.565486 0.0597515 0.699598 0.432688 +TTool-pose None -29.1395 13.5269 14.8537 0.667315 0.639301 -0.261718 0.278178 +#14655 1721120974254 +SLAM 16.2638 13.6914 -16.102 -0.564413 0.0622559 0.700321 0.432565 +TTool-pose None -29.1273 13.5295 14.8116 0.667911 0.637513 -0.263631 0.279045 +#14656 1721120974284 +SLAM 16.4027 13.7928 -15.9731 -0.565615 0.0594957 0.699189 0.433215 +TTool-pose None -29.1519 13.5279 14.8504 0.666891 0.639694 -0.26146 0.278534 +#14657 1721120974316 +SLAM 16.3048 13.7452 -16.0473 -0.564575 0.061071 0.700067 0.432934 +TTool-pose None -29.1306 13.5314 14.8259 0.667358 0.638468 -0.263093 0.278692 +#14658 1721120974348 +SLAM 16.3628 13.7795 -16.0001 -0.565351 0.0598925 0.699616 0.432816 +TTool-pose None -29.141 13.5271 14.8477 0.667242 0.639251 -0.2619 0.278296 +#14659 1721120974379 +SLAM 16.2579 13.7317 -16.0784 -0.563976 0.0617515 0.700457 0.432987 +TTool-pose None -29.1237 13.5331 14.8104 0.667412 0.638001 -0.263953 0.278819 +#14660 1721120974411 +SLAM 16.2976 13.8036 -16.0141 -0.564865 0.0596015 0.700383 0.432249 +TTool-pose None -29.1232 13.5164 14.8508 0.667494 0.639189 -0.262412 0.277347 +#14661 1721120974442 +SLAM 16.2675 13.7677 -16.0169 -0.564866 0.0601068 0.700357 0.43222 +TTool-pose None -29.105 13.4999 14.8273 0.66765 0.638839 -0.262554 0.277646 +#14662 1721120974474 +SLAM 16.1874 13.7108 -16.0637 -0.564242 0.0613853 0.700723 0.432261 +TTool-pose None -29.0862 13.4781 14.7913 0.667869 0.637965 -0.263608 0.278131 +#14663 1721120974506 +SLAM 16.1352 13.6578 -16.0781 -0.564499 0.0619989 0.701069 0.431276 +TTool-pose None -29.0471 13.4647 14.7772 0.668769 0.637164 -0.26356 0.277849 +#14664 1721120974541 +SLAM 16.2666 13.7276 -15.9333 -0.565599 0.0598367 0.699431 0.432799 +TTool-pose None -29.0661 13.4464 14.7718 0.667276 0.639295 -0.261605 0.278392 +#14665 1721120974575 +SLAM 16.2562 13.7351 -15.8916 -0.565755 0.0593547 0.699198 0.433037 +TTool-pose None -29.0501 13.4215 14.7508 0.667001 0.639723 -0.261276 0.278377 +#14666 1721120974609 +SLAM 16.2596 13.6983 -15.8761 -0.564674 0.0608079 0.698481 0.435397 +TTool-pose None -29.0502 13.4292 14.6841 0.665551 0.639651 -0.262714 0.280654 +#14667 1721120974646 +SLAM 16.3222 13.7001 -15.8276 -0.565984 0.0597235 0.697664 0.435155 +TTool-pose None -29.0621 13.3999 14.6966 0.665626 0.640348 -0.260951 0.280531 +#14668 1721120974677 +SLAM 16.3085 13.6248 -15.8585 -0.565343 0.0615824 0.697345 0.436239 +TTool-pose None -29.056 13.408 14.654 0.665255 0.639507 -0.262102 0.282255 +#14669 1721120974709 +SLAM 16.3098 13.6271 -15.8568 -0.565402 0.0614885 0.697345 0.436177 +TTool-pose None -29.0563 13.4065 14.6561 0.665283 0.639547 -0.262014 0.282177 +#14670 1721120974741 +SLAM 16.4379 13.6278 -15.7804 -0.567017 0.060314 0.695702 0.436867 +TTool-pose None -29.0917 13.3807 14.6635 0.664711 0.640697 -0.259801 0.282962 +#14671 1721120974773 +SLAM 16.3415 13.6505 -15.8107 -0.566191 0.0603702 0.696708 0.436328 +TTool-pose None -29.0714 13.37 14.6524 0.664992 0.6404 -0.260799 0.282054 +#14672 1721120974805 +SLAM 16.4743 13.7308 -15.6874 -0.566764 0.0584576 0.695267 0.438138 +TTool-pose None -29.1028 13.3709 14.6573 0.663267 0.642443 -0.259468 0.282698 +#14673 1721120974840 +SLAM 16.3699 13.624 -15.8163 -0.566858 0.0605 0.696308 0.436081 +TTool-pose None -29.0839 13.3632 14.6548 0.6653 0.640246 -0.260098 0.282324 +#14674 1721120974871 +SLAM 16.3965 13.6371 -15.7821 -0.566469 0.0605506 0.695996 0.437076 +TTool-pose None -29.0799 13.3811 14.6414 0.664545 0.640596 -0.260471 0.282966 +#14675 1721120974904 +SLAM 16.3022 13.6896 -15.8001 -0.56622 0.0594804 0.697212 0.435606 +TTool-pose None -29.0591 13.353 14.6613 0.665274 0.640706 -0.26058 0.280894 +#14676 1721120974936 +SLAM 16.2497 13.6913 -15.8131 -0.565569 0.0597926 0.697634 0.435734 +TTool-pose None -29.045 13.3473 14.6443 0.665171 0.640515 -0.261394 0.280817 +#14677 1721120974971 +SLAM 16.2604 13.6849 -15.8137 -0.566079 0.0596156 0.69761 0.435133 +TTool-pose None -29.0445 13.3465 14.6553 0.665626 0.640416 -0.260815 0.280499 +#14678 1721120975008 +SLAM 16.2505 13.6756 -15.8244 -0.565935 0.0598642 0.697643 0.435233 +TTool-pose None -29.0453 13.3437 14.6503 0.665601 0.640283 -0.261038 0.280658 +#14679 1721120975041 +SLAM 16.2134 13.7067 -15.8198 -0.565537 0.0595288 0.6982 0.434903 +TTool-pose None -29.0282 13.3492 14.6527 0.665688 0.640353 -0.261423 0.279929 +#14680 1721120975077 +SLAM 16.2445 13.7392 -15.7838 -0.565293 0.059024 0.697784 0.435957 +TTool-pose None -29.0414 13.3468 14.6469 0.664765 0.641106 -0.261476 0.28035 +#14681 1721120975107 +SLAM 16.3528 13.7646 -15.7201 -0.566019 0.0581718 0.696634 0.436967 +TTool-pose None -29.0715 13.3533 14.6547 0.663921 0.642124 -0.260333 0.281086 +#14682 1721120975138 +SLAM 16.2889 13.7049 -15.7877 -0.566127 0.0592061 0.697308 0.435611 +TTool-pose None -29.0525 13.3475 14.6562 0.665183 0.640887 -0.260609 0.280668 +#14683 1721120975170 +SLAM 16.2761 13.7246 -15.7791 -0.565899 0.0589075 0.697466 0.435695 +TTool-pose None -29.0484 13.344 14.6566 0.665009 0.64111 -0.260778 0.280413 +#14684 1721120975199 +SLAM 16.3214 13.7368 -15.7527 -0.56603 0.0586936 0.69691 0.436442 +TTool-pose None -29.0655 13.3483 14.6515 0.664438 0.641563 -0.260509 0.280984 +#14685 1721120975230 +SLAM 16.2705 13.69 -15.8033 -0.565929 0.0596247 0.69742 0.435632 +TTool-pose None -29.0492 13.3472 14.6477 0.665252 0.640605 -0.260947 0.280836 +#14686 1721120975262 +SLAM 16.2411 13.6867 -15.8191 -0.565743 0.0597778 0.697769 0.435292 +TTool-pose None -29.04 13.3464 14.6481 0.665508 0.640355 -0.261228 0.280538 +#14687 1721120975298 +SLAM 16.218 13.6807 -15.8346 -0.565324 0.060183 0.697949 0.435492 +TTool-pose None -29.0376 13.3485 14.6382 0.665412 0.640143 -0.261799 0.280719 +#14688 1721120975330 +SLAM 16.2612 13.7088 -15.797 -0.565756 0.0593396 0.697564 0.435664 +TTool-pose None -29.0471 13.3452 14.6499 0.665127 0.6408 -0.261061 0.280579 +#14689 1721120975362 +SLAM 16.2858 13.721 -15.7767 -0.566083 0.0588468 0.697362 0.43563 +TTool-pose None -29.0507 13.3422 14.6595 0.665067 0.641134 -0.260557 0.280428 +#14690 1721120975394 +SLAM 16.2882 13.6804 -15.7993 -0.565522 0.0602525 0.697183 0.436452 +TTool-pose None -29.0511 13.3697 14.6313 0.664774 0.640495 -0.261515 0.281689 +#14691 1721120975426 +SLAM 16.2089 13.6688 -15.8447 -0.56525 0.0604107 0.698031 0.435426 +TTool-pose None -29.0338 13.3479 14.6377 0.665509 0.639959 -0.26195 0.280765 +#14692 1721120975457 +SLAM 16.261 13.6813 -15.8088 -0.565267 0.060328 0.697491 0.43628 +TTool-pose None -29.0416 13.3675 14.6308 0.66488 0.640361 -0.261839 0.281441 +#14693 1721120975488 +SLAM 16.2405 13.6431 -15.8417 -0.565519 0.0608427 0.697587 0.435729 +TTool-pose None -29.0406 13.3556 14.6292 0.665448 0.639806 -0.26174 0.281455 +#14694 1721120975520 +SLAM 16.279 13.6429 -15.8228 -0.565214 0.0611602 0.697098 0.436859 +TTool-pose None -29.0507 13.3725 14.6158 0.664681 0.640035 -0.26208 0.282431 +#14695 1721120975552 +SLAM 16.3487 13.6945 -15.7635 -0.566526 0.0591437 0.696549 0.436313 +TTool-pose None -29.0701 13.3469 14.6547 0.664723 0.641233 -0.260081 0.281456 +#14696 1721120975586 +SLAM 16.2739 13.6525 -15.8195 -0.565632 0.0605895 0.697271 0.436121 +TTool-pose None -29.0462 13.3609 14.633 0.665117 0.64014 -0.26151 0.281691 +#14697 1721120975619 +SLAM 16.271 13.6436 -15.8305 -0.566006 0.0604316 0.697306 0.435603 +TTool-pose None -29.0495 13.3477 14.6431 0.665499 0.640055 -0.261085 0.281374 +#14698 1721120975653 +SLAM 16.3882 13.6637 -15.7562 -0.566161 0.0601519 0.695961 0.437586 +TTool-pose None -29.0759 13.3732 14.63 0.66403 0.641053 -0.260668 0.282958 +#14699 1721120975688 +SLAM 16.3095 13.6507 -15.8032 -0.566477 0.0599948 0.69701 0.435524 +TTool-pose None -29.0496 13.3532 14.6541 0.665507 0.640341 -0.260437 0.281307 +#14700 1721120975719 +SLAM 16.3067 13.6579 -15.8033 -0.565775 0.0603458 0.696813 0.436703 +TTool-pose None -29.0626 13.353 14.6323 0.664657 0.640546 -0.261234 0.282109 +#14701 1721120975751 +SLAM 16.2722 13.6212 -15.8415 -0.565866 0.0609428 0.697169 0.435932 +TTool-pose None -29.0518 13.3487 14.6339 0.66538 0.639839 -0.261358 0.281896 +#14702 1721120975783 +SLAM 16.349 13.6363 -15.7946 -0.566096 0.060668 0.696303 0.437055 +TTool-pose None -29.0712 13.3635 14.6277 0.664538 0.640489 -0.260929 0.282802 +#14703 1721120975817 +SLAM 16.292 13.6265 -15.8276 -0.566376 0.06046 0.697107 0.435436 +TTool-pose None -29.0492 13.3474 14.6506 0.66568 0.639988 -0.260687 0.28147 +#14704 1721120975848 +SLAM 16.3135 13.6265 -15.8141 -0.566526 0.0604 0.696827 0.435699 +TTool-pose None -29.054 13.3489 14.6473 0.665498 0.640142 -0.26048 0.281742 +#14705 1721120975879 +SLAM 16.268 13.5741 -15.8602 -0.566336 0.0614313 0.697184 0.435228 +TTool-pose None -29.0391 13.345 14.6383 0.666081 0.63925 -0.261017 0.281893 +#14706 1721120975917 +SLAM 16.385 13.6032 -15.7777 -0.56694 0.0606085 0.695941 0.436545 +TTool-pose None -29.0603 13.3612 14.6392 0.665009 0.640365 -0.259996 0.282834 +#14707 1721120975958 +SLAM 16.4192 13.5753 -15.778 -0.566872 0.0612739 0.695317 0.437534 +TTool-pose None -29.0776 13.3655 14.6202 0.664469 0.640315 -0.260175 0.284054 +#14708 1721120975991 +SLAM 16.3854 13.5431 -15.8146 -0.567593 0.0612202 0.695744 0.435925 +TTool-pose None -29.0672 13.3417 14.6419 0.665709 0.639737 -0.259475 0.283089 +#14709 1721120976022 +SLAM 16.4137 13.5591 -15.7915 -0.567482 0.0610769 0.695423 0.4366 +TTool-pose None -29.0753 13.3507 14.6359 0.665172 0.640101 -0.259505 0.283501 +#14710 1721120976054 +SLAM 16.4434 13.5922 -15.7583 -0.567886 0.060153 0.695156 0.436629 +TTool-pose None -29.0851 13.3417 14.6464 0.664963 0.640752 -0.258789 0.283174 +#14711 1721120976091 +SLAM 16.3544 13.5374 -15.8302 -0.567184 0.0616066 0.695959 0.436059 +TTool-pose None -29.0628 13.34 14.6285 0.665657 0.639511 -0.260034 0.283208 +#14712 1721120976123 +SLAM 16.4171 13.5527 -15.7788 -0.567495 0.061147 0.695212 0.436912 +TTool-pose None -29.0726 13.3453 14.6234 0.66497 0.640179 -0.259484 0.283816 +#14713 1721120976155 +SLAM 16.426 13.5435 -15.7675 -0.567565 0.0611708 0.694867 0.437364 +TTool-pose None -29.0771 13.3316 14.611 0.664662 0.64035 -0.259373 0.284255 +#14714 1721120976188 +SLAM 16.3893 13.4789 -15.8016 -0.567544 0.0623139 0.694768 0.437389 +TTool-pose None -29.0703 13.3117 14.5802 0.664945 0.639591 -0.259709 0.284995 +#14715 1721120976222 +SLAM 16.3637 13.4735 -15.7823 -0.56766 0.0621437 0.694682 0.437398 +TTool-pose None -29.0559 13.2856 14.5589 0.66491 0.639715 -0.259529 0.284963 +#14716 1721120976258 +SLAM 16.4253 13.4642 -15.7264 -0.568775 0.0614736 0.693439 0.438017 +TTool-pose None -29.0768 13.2468 14.5374 0.664446 0.640469 -0.258024 0.285718 +#14717 1721120976297 +SLAM 16.3958 13.417 -15.7286 -0.569036 0.0620486 0.693302 0.437813 +TTool-pose None -29.0571 13.2251 14.5089 0.664782 0.640013 -0.257902 0.286069 +#14718 1721120976340 +SLAM 16.4314 13.4074 -15.68 -0.567331 0.06347 0.692049 0.441787 +TTool-pose None -29.0727 13.2425 14.4215 0.662058 0.640571 -0.259883 0.289329 +#14719 1721120976378 +SLAM 16.2649 13.2688 -15.8056 -0.565716 0.0672422 0.692977 0.441845 +TTool-pose None -29.0299 13.2401 14.3379 0.662776 0.637974 -0.262737 0.290842 +#14720 1721120976411 +SLAM 16.3149 13.3656 -15.7051 -0.567485 0.0637637 0.692186 0.441331 +TTool-pose None -29.0586 13.1545 14.3625 0.662486 0.640198 -0.259829 0.289223 +#14721 1721120976443 +SLAM 16.313 13.3844 -15.6609 -0.568072 0.0628691 0.691903 0.441148 +TTool-pose None -29.0511 13.1235 14.3493 0.662464 0.640755 -0.258932 0.288842 +#14722 1721120976479 +SLAM 16.257 13.3149 -15.6988 -0.568007 0.0641396 0.691759 0.441275 +TTool-pose None -29.0455 13.0895 14.3023 0.662699 0.639948 -0.259341 0.289727 +#14723 1721120976518 +SLAM 16.1198 13.1716 -15.7967 -0.566133 0.0681266 0.692218 0.442365 +TTool-pose None -29.0023 13.0946 14.2047 0.662691 0.637606 -0.262454 0.2921 +#14724 1721120976552 +SLAM 16.356 13.2697 -15.5588 -0.5685 0.0643291 0.689418 0.444266 +TTool-pose None -29.0308 13.0628 14.2159 0.660653 0.64104 -0.258555 0.292677 +#14725 1721120976586 +SLAM 16.0217 12.9587 -15.8517 -0.567781 0.0703712 0.691796 0.440558 +TTool-pose None -28.9451 13.0008 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-29.0152 12.9596 14.152 0.664384 0.636584 -0.255607 0.296523 +#14732 1721120976823 +SLAM 16.4663 12.8028 -15.6666 -0.57232 0.07022 0.685904 0.443908 +TTool-pose None -29.0369 12.9869 14.1278 0.662962 0.637094 -0.255797 0.298443 +#14733 1721120976855 +SLAM 16.3603 12.6038 -15.8387 -0.572358 0.0740513 0.68646 0.442374 +TTool-pose None -29.0257 12.9751 14.0975 0.665062 0.63389 -0.25691 0.299638 +#14734 1721120976887 +SLAM 16.5466 12.6176 -15.7552 -0.573152 0.0733974 0.684689 0.444196 +TTool-pose None -29.0671 13.0135 14.1198 0.663675 0.635092 -0.255652 0.301239 +#14735 1721120976920 +SLAM 16.5272 12.4938 -15.8879 -0.574626 0.0747455 0.685248 0.441195 +TTool-pose None -29.08 13.0025 14.1763 0.66639 0.633046 -0.254596 0.300445 +#14736 1721120976953 +SLAM 16.4829 12.4244 -15.9884 -0.573822 0.0768012 0.686214 0.440386 +TTool-pose None -29.0661 13.0537 14.1959 0.667392 0.631293 -0.256131 0.300607 +#14737 1721120976986 +SLAM 16.5241 12.5254 -15.945 -0.572561 0.0759692 0.686868 0.441151 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-15.9308 -0.565137 0.0712603 0.692727 0.442347 +TTool-pose None -28.9965 13.1377 14.2336 0.663372 0.635432 -0.264423 0.293513 +#14762 1721120977822 +SLAM 16.0394 13.0345 -15.9542 -0.564602 0.0714894 0.693549 0.441704 +TTool-pose None -28.9718 13.1426 14.2333 0.663818 0.634992 -0.265149 0.2928 +#14763 1721120977857 +SLAM 16.1659 13.1478 -15.8317 -0.565001 0.0691326 0.692367 0.443421 +TTool-pose None -29.007 13.1476 14.2464 0.662027 0.637294 -0.263914 0.292971 +#14764 1721120977892 +SLAM 15.9381 12.9965 -16.0275 -0.562848 0.0735959 0.694361 0.442322 +TTool-pose None -28.9557 13.1642 14.1885 0.663657 0.633724 -0.26764 0.293645 +#14765 1721120977924 +SLAM 16.0156 13.1202 -15.9197 -0.564017 0.0703217 0.694144 0.441706 +TTool-pose None -28.9611 13.1538 14.2413 0.66343 0.635754 -0.265503 0.291702 +#14766 1721120977955 +SLAM 15.8934 13.0168 -16.0368 -0.561953 0.0739242 0.694866 0.442612 +TTool-pose None -28.944 13.1785 14.1732 0.6634 0.633573 -0.268715 0.293574 +#14767 1721120977989 +SLAM 15.9757 13.1513 -15.9306 -0.563524 0.0699363 0.694529 0.441791 +TTool-pose None -28.9669 13.1355 14.2413 0.663198 0.636023 -0.265952 0.291234 +#14768 1721120978025 +SLAM 15.9289 13.1212 -15.9703 -0.56286 0.0710461 0.694874 0.441918 +TTool-pose None -28.9588 13.1434 14.2205 0.663296 0.635289 -0.266989 0.291664 +#14769 1721120978060 +SLAM 15.9246 13.126 -15.9699 -0.562755 0.071038 0.694904 0.442006 +TTool-pose None -28.9594 13.1434 14.2178 0.663215 0.635325 -0.267098 0.291671 +#14770 1721120978097 +SLAM 15.9551 13.1328 -15.9465 -0.561128 0.0722889 0.694194 0.444976 +TTool-pose None -28.9739 13.1817 14.1627 0.661152 0.635584 -0.269002 0.294033 +#14771 1721120978141 +SLAM 15.9453 13.1518 -15.9484 -0.563073 0.0703104 0.694737 0.441979 +TTool-pose None -28.9681 13.1351 14.2271 0.663093 0.635823 -0.266546 0.291368 +#14772 1721120978177 +SLAM 16.1025 13.2595 -15.8106 -0.564077 0.0675802 0.693243 0.443468 +TTool-pose None -29.0073 13.1326 14.251 0.661457 0.638315 -0.264543 0.291465 +#14773 1721120978208 +SLAM 15.9622 13.1577 -15.9288 -0.562087 0.0710886 0.694462 0.44354 +TTool-pose None -28.9652 13.171 14.1965 0.662023 0.635871 -0.26773 0.292608 +#14774 1721120978238 +SLAM 15.9924 13.157 -15.915 -0.561774 0.0714103 0.693935 0.444707 +TTool-pose None -28.98 13.1782 14.1778 0.661216 0.636105 -0.268063 0.293621 +#14775 1721120978273 +SLAM 15.8609 13.0999 -16.0154 -0.561175 0.0728237 0.69531 0.443084 +TTool-pose None -28.9505 13.1684 14.1733 0.662663 0.634467 -0.269263 0.292803 +#14776 1721120978307 +SLAM 16.0336 13.2312 -15.8533 -0.562632 0.0692874 0.693935 0.443958 +TTool-pose None -28.98 13.1688 14.218 0.661335 0.637284 -0.266595 0.292124 +#14777 1721120978342 +SLAM 15.8775 13.0926 -16.0039 -0.56023 0.0737884 0.694931 0.444711 +TTool-pose None -28.9516 13.1978 14.1397 0.661593 0.634415 -0.270438 0.294248 +#14778 1721120978376 +SLAM 15.8873 13.1143 -15.996 -0.561993 0.0719079 0.695145 0.442456 +TTool-pose None -28.9565 13.153 14.1945 0.663002 0.634877 -0.268151 0.292163 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-0.268316 0.291573 +#14791 1721120978842 +SLAM 15.9935 13.221 -15.8824 -0.561773 0.070119 0.694105 0.444648 +TTool-pose None -28.9842 13.1682 14.192 0.660926 0.636954 -0.267726 0.292737 +#14792 1721120978878 +SLAM 15.8919 13.1531 -15.9713 -0.562133 0.0710331 0.695303 0.44217 +TTool-pose None -28.9525 13.1519 14.2087 0.663004 0.635362 -0.267785 0.29144 +#14793 1721120978912 +SLAM 15.9376 13.1182 -15.9577 -0.561241 0.0725237 0.694491 0.444332 +TTool-pose None -28.9584 13.1894 14.1664 0.661694 0.635173 -0.268996 0.293706 +#14794 1721120978945 +SLAM 16.1127 13.1525 -15.8618 -0.563829 0.0699436 0.692915 0.44393 +TTool-pose None -28.9993 13.1642 14.227 0.6617 0.63689 -0.265415 0.293231 +#14795 1721120978983 +SLAM 16.1264 12.93 -16.0371 -0.565389 0.0732216 0.692631 0.441855 +TTool-pose None -29.03 13.1597 14.2558 0.664266 0.63392 -0.264701 0.294512 +#14796 1721120979022 +SLAM 16.1747 12.7444 -16.1819 -0.563156 0.0787664 0.691997 0.444738 +TTool-pose None -29.0593 13.2704 14.2207 0.663263 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-0.272279 0.321598 +#15002 1721120985846 +SLAM 17.3674 10.9354 -14.1581 -0.559734 0.0963613 0.681894 0.460905 +TTool-pose None -26.8709 14.2408 14.2659 0.655157 0.625346 -0.27503 0.322479 +#15003 1721120985885 +SLAM 17.4127 10.8 -14.2783 -0.561349 0.0986507 0.681471 0.459078 +TTool-pose None -26.9171 14.265 14.2933 0.657275 0.623134 -0.273943 0.323377 +#15004 1721120985916 +SLAM 17.2596 10.8386 -14.3596 -0.561546 0.0976382 0.683819 0.455549 +TTool-pose None -26.8794 14.2133 14.3483 0.659683 0.622465 -0.273867 0.319803 +#15005 1721120985949 +SLAM 17.2014 11.0046 -14.2907 -0.558022 0.0969902 0.684452 0.459054 +TTool-pose None -26.8668 14.2636 14.2728 0.656437 0.624109 -0.277338 0.320288 +#15006 1721120985986 +SLAM 17.0231 11.3525 -14.2097 -0.556246 0.0909738 0.6882 0.456831 +TTool-pose None -26.8039 14.2221 14.354 0.6564 0.627288 -0.278127 0.31339 +#15007 1721120986023 +SLAM 16.9867 11.4349 -14.2041 -0.554321 0.09052 0.688278 0.459138 +TTool-pose None -26.8366 14.2096 14.3184 0.654301 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-26.8783 14.027 14.6174 0.660982 0.628168 -0.267346 0.311368 +#15026 1721120986660 +SLAM 17.2705 11.0545 -14.2484 -0.565393 0.0884501 0.685649 0.44988 +TTool-pose None -26.8604 14.0131 14.6102 0.662213 0.626736 -0.267828 0.311225 +#15027 1721120986697 +SLAM 17.2828 11.0475 -14.247 -0.566153 0.0880572 0.685582 0.449103 +TTool-pose None -26.8633 13.9993 14.6277 0.662792 0.626733 -0.266941 0.310759 +#15028 1721120986731 +SLAM 17.3834 11.0617 -14.1848 -0.567776 0.0866484 0.684502 0.448977 +TTool-pose None -26.8919 13.9827 14.6554 0.662764 0.627723 -0.264746 0.3107 +#15029 1721120986764 +SLAM 17.307 10.9928 -14.2587 -0.568265 0.0877691 0.685528 0.446568 +TTool-pose None -26.8542 13.9779 14.6707 0.664863 0.626025 -0.264706 0.309672 +#15030 1721120986797 +SLAM 17.3013 10.9137 -14.3011 -0.568977 0.0888716 0.685402 0.445635 +TTool-pose None -26.8512 13.9703 14.6721 0.665906 0.624932 -0.264256 0.310023 +#15031 1721120986832 +SLAM 17.2556 10.8177 -14.3872 -0.569337 0.0906976 0.685571 0.444547 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-0.560503 0.0854052 0.679158 0.46614 +TTool-pose None -26.9552 13.6765 14.0185 0.648734 0.63493 -0.270845 0.320268 +#15050 1721120987517 +SLAM 16.8323 11.3503 -13.8674 -0.560616 0.0845256 0.681854 0.462212 +TTool-pose None -26.8865 13.567 14.0144 0.651477 0.63402 -0.27096 0.31638 +#15051 1721120987548 +SLAM 16.9207 11.5671 -13.6561 -0.562171 0.0787057 0.680532 0.463299 +TTool-pose None -26.9318 13.4715 14.0233 0.649444 0.638484 -0.267577 0.314454 +#15052 1721120987582 +SLAM 16.363 11.2812 -14.0399 -0.555783 0.0893375 0.684519 0.463204 +TTool-pose None -26.7983 13.4766 13.7846 0.651214 0.630872 -0.277543 0.317508 +#15053 1721120987619 +SLAM 16.4121 11.3104 -13.9449 -0.557978 0.0869264 0.683326 0.462786 +TTool-pose None -26.8145 13.3927 13.7816 0.651261 0.632472 -0.274499 0.316872 +#15054 1721120987653 +SLAM 16.3172 11.2517 -13.9737 -0.557838 0.0878667 0.683595 0.462379 +TTool-pose None -26.7837 13.3422 13.7404 0.651771 0.631663 -0.274939 0.317054 +#15055 1721120987686 +SLAM 16.2523 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1721120988091 +SLAM 15.1653 11.5348 -13.7027 -0.560026 0.0770802 0.687011 0.456558 +TTool-pose None -26.5384 12.4222 13.2378 0.653744 0.636863 -0.270357 0.306343 +#15068 1721120988125 +SLAM 14.9215 11.4571 -13.8164 -0.559003 0.0792647 0.688993 0.454445 +TTool-pose None -26.4742 12.3685 13.1754 0.655699 0.634495 -0.272304 0.305349 +#15069 1721120988164 +SLAM 15.2072 11.782 -13.4457 -0.55909 0.0719645 0.685687 0.460513 +TTool-pose None -26.5447 12.3533 13.1757 0.649384 0.641832 -0.269649 0.305867 +#15070 1721120988199 +SLAM 14.9024 11.6003 -13.7086 -0.558132 0.0765026 0.688733 0.456381 +TTool-pose None -26.4835 12.3145 13.1433 0.653454 0.63709 -0.272374 0.304697 +#15071 1721120988231 +SLAM 15.0765 11.7196 -13.5298 -0.562007 0.0710908 0.687149 0.454884 +TTool-pose None -26.5115 12.2565 13.2172 0.653739 0.640366 -0.266711 0.302213 +#15072 1721120988261 +SLAM 15.1351 11.6808 -13.5035 -0.560829 0.0727357 0.685929 0.457911 +TTool-pose None -26.5217 12.2914 13.1663 0.651758 0.640381 -0.268163 0.305165 +#15073 1721120988293 +SLAM 15.0597 11.4588 -13.6491 -0.560689 0.077792 0.685748 0.457521 +TTool-pose None -26.5067 12.2996 13.0964 0.653306 0.636788 -0.269683 0.308022 +#15074 1721120988324 +SLAM 15.152 11.5096 -13.5731 -0.563739 0.0743224 0.685074 0.455355 +TTool-pose None -26.5271 12.2424 13.1681 0.65446 0.638444 -0.26554 0.305732 +#15075 1721120988355 +SLAM 15.1636 11.3362 -13.6606 -0.563345 0.0786161 0.684128 0.456543 +TTool-pose None -26.5344 12.2809 13.1067 0.654609 0.635973 -0.266977 0.309296 +#15076 1721120988386 +SLAM 15.1267 11.2393 -13.7312 -0.56289 0.0812599 0.684277 0.456417 +TTool-pose None -26.5205 12.3105 13.0752 0.655296 0.634102 -0.268187 0.310635 +#15077 1721120988420 +SLAM 15.0662 11.3213 -13.7023 -0.562175 0.0794892 0.68531 0.456059 +TTool-pose None -26.494 12.2832 13.0985 0.655021 0.635134 -0.268587 0.308754 +#15078 1721120988451 +SLAM 15.1021 11.3231 -13.6978 -0.564376 0.078033 0.685198 0.453756 +TTool-pose None -26.5084 12.2536 13.1438 0.656663 0.635326 -0.265948 0.307147 +#15079 1721120988482 +SLAM 15.0422 11.2749 -13.7339 -0.562122 0.0806787 0.685427 0.45574 +TTool-pose None -26.4837 12.2939 13.0812 0.655545 0.634196 -0.268987 0.309222 +#15080 1721120988513 +SLAM 14.9957 11.2647 -13.7537 -0.56038 0.082135 0.68561 0.457348 +TTool-pose None -26.4743 12.3137 13.0367 0.654471 0.633747 -0.271168 0.31051 +#15081 1721120988544 +SLAM 15.021 11.3763 -13.6746 -0.56111 0.0791101 0.68592 0.456521 +TTool-pose None -26.4685 12.2962 13.0801 0.654435 0.635521 -0.269653 0.30827 +#15082 1721120988576 +SLAM 15.0172 11.4108 -13.6599 -0.561266 0.0783409 0.686228 0.455998 +TTool-pose None -26.4634 12.298 13.0932 0.654651 0.635848 -0.269333 0.307417 +#15083 1721120988607 +SLAM 14.9208 11.2915 -13.7753 -0.559668 0.0819086 0.686526 0.456886 +TTool-pose None -26.4592 12.2975 13.0364 0.654654 0.633686 -0.271969 0.309545 +#15084 1721120988642 +SLAM 14.9866 11.2884 -13.7607 -0.561987 0.0804225 0.686067 0.45499 +TTool-pose None -26.4811 12.2714 13.0848 0.656016 0.63407 -0.269155 0.308333 +#15085 1721120988677 +SLAM 15.0739 11.4388 -13.6317 -0.560878 0.0779887 0.685363 0.457834 +TTool-pose None -26.5 12.2965 13.0844 0.65315 0.636787 -0.269486 0.308529 +#15086 1721120988709 +SLAM 15.1018 11.4247 -13.6267 -0.563137 0.0765138 0.685206 0.455538 +TTool-pose None -26.5073 12.2497 13.1319 0.654795 0.637 -0.266778 0.306949 +#15087 1721120988741 +SLAM 15.2691 11.5023 -13.4912 -0.562382 0.0754847 0.682941 0.460022 +TTool-pose None -26.5563 12.2845 13.0985 0.651108 0.639414 -0.266878 0.309676 +#15088 1721120988773 +SLAM 15.0528 11.3213 -13.7129 -0.562309 0.0794686 0.685387 0.455783 +TTool-pose None -26.4989 12.2739 13.0954 0.655238 0.635046 -0.268459 0.308583 +#15089 1721120988807 +SLAM 15.1503 11.5216 -13.5592 -0.563684 0.0739696 0.684998 0.455594 +TTool-pose None -26.5269 12.231 13.1656 0.654186 0.638775 -0.265484 0.305676 +#15090 1721120988844 +SLAM 15.0205 11.4845 -13.6485 -0.562257 0.07578 0.686468 0.454849 +TTool-pose None -26.4948 12.2391 13.1446 0.654995 0.637186 -0.267664 0.305362 +#15091 1721120988883 +SLAM 15.0467 11.4887 -13.6186 -0.561537 0.0761509 0.685918 0.456503 +TTool-pose None -26.4969 12.2537 13.1192 0.653766 0.637547 -0.268403 0.306589 +#15092 1721120988922 +SLAM 15.2233 11.6378 -13.4405 -0.561953 0.0726918 0.684085 0.459295 +TTool-pose None -26.5411 12.2645 13.1338 0.65088 0.641005 -0.266718 0.306991 +#15093 1721120988958 +SLAM 15.0833 11.5198 -13.5887 -0.562839 0.0745974 0.685725 0.455444 +TTool-pose None -26.5084 12.2332 13.1502 0.654338 0.63825 -0.266629 0.305451 +#15094 1721120988998 +SLAM 15.0586 11.505 -13.6007 -0.560719 0.0762552 0.685562 0.458023 +TTool-pose None -26.5066 12.2561 13.1013 0.652553 0.638031 -0.269196 0.307472 +#15095 1721120989032 +SLAM 15.1421 11.5629 -13.5446 -0.563761 0.072964 0.685169 0.455405 +TTool-pose None -26.5327 12.2133 13.1758 0.654081 0.639386 -0.265153 0.30491 +#15096 1721120989072 +SLAM 15.2583 11.7445 -13.3555 -0.562636 0.0696711 0.684202 0.458754 +TTool-pose None -26.538 12.2445 13.1787 0.650602 0.642871 -0.2652 0.304983 +#15097 1721120989116 +SLAM 15.1073 11.552 -13.5606 -0.562871 0.0737028 0.685463 0.455943 +TTool-pose None -26.5198 12.2203 13.1599 0.653747 0.639054 -0.266304 0.305319 +#15098 1721120989150 +SLAM 15.1326 11.5938 -13.5118 -0.561452 0.0739722 0.685264 0.457944 +TTool-pose None -26.5091 12.2703 13.1332 0.652137 0.639586 -0.267774 0.306363 +#15099 1721120989185 +SLAM 15.0903 11.5637 -13.5504 -0.56182 0.074178 0.685666 0.456856 +TTool-pose None -26.5033 12.2435 13.1416 0.653046 0.639038 -0.267527 0.305783 +#15100 1721120989221 +SLAM 15.2438 11.6965 -13.3904 -0.562537 0.0707547 0.684111 0.458844 +TTool-pose None -26.54 12.2417 13.1645 0.6508 0.642169 -0.265591 0.305701 +#15101 1721120989259 +SLAM 15.153 11.6105 -13.4975 -0.563317 0.072016 0.685077 0.456242 +TTool-pose None -26.5272 12.2093 13.1764 0.653158 0.640335 -0.265319 0.30475 +#15102 1721120989293 +SLAM 14.9466 11.5631 -13.6557 -0.559537 0.076046 0.687343 0.456831 +TTool-pose None -26.4923 12.2613 13.1131 0.653211 0.637648 -0.270614 0.305617 +#15103 1721120989332 +SLAM 15.1728 11.7608 -13.3895 -0.563307 0.068471 0.685392 0.456327 +TTool-pose None -26.5189 12.19 13.2148 0.652182 0.642766 -0.26438 0.30253 +#15104 1721120989369 +SLAM 15.125 11.6309 -13.517 -0.560623 0.0737655 0.685143 0.459171 +TTool-pose None -26.5386 12.2579 13.1203 0.651058 0.640165 -0.268528 0.306789 +#15105 1721120989406 +SLAM 15.0093 11.5605 -13.602 -0.561273 0.0747083 0.686779 0.455768 +TTool-pose None -26.4842 12.2453 13.1429 0.653906 0.638226 -0.268405 0.304871 +#15106 1721120989445 +SLAM 15.0048 11.5644 -13.6074 -0.561271 0.0744688 0.686679 0.455962 +TTool-pose None -26.4965 12.2243 13.1441 0.653702 0.638464 -0.268324 0.30488 +#15107 1721120989483 +SLAM 15.1922 11.6608 -13.4596 -0.562062 0.0721596 0.684522 0.458594 +TTool-pose None -26.5493 12.2453 13.1445 0.651279 0.641097 -0.266531 0.306111 +#15108 1721120989521 +SLAM 15.1019 11.6394 -13.5071 -0.563584 0.0712525 0.686087 0.454512 +TTool-pose None -26.5031 12.2048 13.1997 0.654277 0.640187 -0.264998 0.302936 +#15109 1721120989556 +SLAM 15.0518 11.6578 -13.543 -0.560646 0.073173 0.686262 0.457566 +TTool-pose None -26.52 12.2416 13.1367 0.652099 0.63994 -0.268523 0.305044 +#15110 1721120989592 +SLAM 14.8635 11.5639 -13.6971 -0.559968 0.0755076 0.688583 0.45452 +TTool-pose None -26.467 12.2309 13.142 0.65484 0.637128 -0.270229 0.303548 +#15111 1721120989628 +SLAM 15.0359 11.6986 -13.5274 -0.562479 0.0707151 0.687005 0.454577 +TTool-pose None -26.5053 12.1947 13.2024 0.653936 0.640523 -0.266107 0.301988 +#15112 1721120989664 +SLAM 15.0909 11.6836 -13.5106 -0.56422 0.0701176 0.686462 0.453332 +TTool-pose None -26.5169 12.1904 13.2202 0.654943 0.640521 -0.264096 0.301573 +#15113 1721120989699 +SLAM 15.0214 11.6293 -13.5699 -0.561815 0.0729315 0.686781 0.455387 +TTool-pose None -26.5034 12.2213 13.1606 0.653813 0.639308 -0.267363 0.303717 +#15114 1721120989733 +SLAM 15.0993 11.731 -13.4652 -0.562298 0.0702815 0.686374 0.455821 +TTool-pose None -26.506 12.2251 13.1953 0.652882 0.641295 -0.266067 0.302664 +#15115 1721120989774 +SLAM 15.2019 11.8008 -13.3636 -0.563553 0.0679227 0.685467 0.455993 +TTool-pose None -26.5196 12.223 13.2239 0.65232 0.643018 -0.263989 0.302038 +#15116 1721120989808 +SLAM 15.0631 11.6164 -13.5599 -0.56277 0.0724598 0.686377 0.454892 +TTool-pose None -26.5129 12.2114 13.1817 0.654191 0.639479 -0.266205 0.303557 +#15117 1721120989843 +SLAM 15.0712 11.5665 -13.5808 -0.563143 0.0733525 0.68616 0.454614 +TTool-pose None -26.5111 12.2178 13.1754 0.654677 0.638783 -0.266044 0.304117 +#15118 1721120989877 +SLAM 15.1811 11.542 -13.5077 -0.564492 0.0729615 0.684657 0.45527 +TTool-pose None -26.5181 12.2239 13.17 0.654281 0.639369 -0.264333 0.305228 +#15119 1721120989910 +SLAM 15.1158 11.5673 -13.5684 -0.56562 0.071577 0.685806 0.452349 +TTool-pose None -26.5313 12.1712 13.223 0.656234 0.639213 -0.262987 0.30251 +#15120 1721120989944 +SLAM 15.1279 11.5281 -13.5583 -0.565442 0.0725485 0.685581 0.452759 +TTool-pose None -26.5089 12.1969 13.2057 0.656157 0.638708 -0.263404 0.303381 +#15121 1721120989978 +SLAM 14.9702 11.431 -13.69 -0.561986 0.0771671 0.686796 0.454455 +TTool-pose None -26.4764 12.2422 13.1214 0.655596 0.636075 -0.268374 0.305763 +#15122 1721120990014 +SLAM 14.8556 11.4301 -13.7607 -0.56209 0.0771004 0.688354 0.451973 +TTool-pose None -26.4559 12.2149 13.1399 0.657417 0.635149 -0.268495 0.303663 +#15123 1721120990050 +SLAM 14.8907 11.508 -13.6927 -0.562081 0.075386 0.68817 0.452553 +TTool-pose None -26.4581 12.2139 13.1512 0.656558 0.636541 -0.268 0.303042 +#15124 1721120990085 +SLAM 14.6282 11.3674 -13.9228 -0.560871 0.0791572 0.691249 0.448701 +TTool-pose None -26.3999 12.2045 13.1464 0.660149 0.632393 -0.270737 0.301489 +#15125 1721120990120 +SLAM 14.7385 11.4355 -13.8187 -0.55987 0.0785668 0.68985 0.452194 +TTool-pose None -26.4208 12.2451 13.1168 0.657303 0.634127 -0.271372 0.303488 +#15126 1721120990155 +SLAM 14.9687 11.6768 -13.5726 -0.562729 0.0712978 0.688165 0.452418 +TTool-pose None -26.4701 12.2124 13.212 0.655708 0.639291 -0.266201 0.30067 +#15127 1721120990191 +SLAM 14.8332 11.4738 -13.7624 -0.561708 0.0765481 0.689116 0.451379 +TTool-pose None -26.4447 12.2329 13.16 0.657659 0.63527 -0.268845 0.302573 +#15128 1721120990227 +SLAM 15.0564 11.6118 -13.5756 -0.566006 0.0703736 0.687098 0.45009 +TTool-pose None -26.5014 12.1654 13.2588 0.657636 0.639155 -0.262459 0.300036 +#15129 1721120990265 +SLAM 14.8922 11.4524 -13.7284 -0.561838 0.0768623 0.688444 0.452189 +TTool-pose None -26.4383 12.2567 13.1574 0.657163 0.635383 -0.268698 0.303544 +#15130 1721120990300 +SLAM 15.2313 11.6273 -13.448 -0.566853 0.0691896 0.684774 0.452742 +TTool-pose None -26.5299 12.1712 13.2559 0.6555 0.64104 -0.260903 0.302039 +#15131 1721120990338 +SLAM 15.3822 11.6963 -13.3068 -0.565464 0.0686569 0.682742 0.457602 +TTool-pose None -26.5564 12.2233 13.2148 0.651583 0.64324 -0.261826 0.305027 +#15132 1721120990381 +SLAM 15.3221 11.6175 -13.4096 -0.568702 0.0684547 0.68372 0.452127 +TTool-pose None -26.5537 12.1703 13.2694 0.656012 0.641378 -0.258654 0.302144 +#15133 1721120990419 +SLAM 15.4003 11.624 -13.3475 -0.569744 0.0677259 0.682831 0.452268 +TTool-pose None -26.5568 12.1803 13.2736 0.655857 0.641971 -0.257249 0.302419 +#15134 1721120990454 +SLAM 15.3509 11.6034 -13.3779 -0.567913 0.0694474 0.68328 0.45363 +TTool-pose None -26.5374 12.2141 13.2377 0.655056 0.641262 -0.259664 0.303597 +#15135 1721120990490 +SLAM 15.4034 11.6048 -13.3746 -0.571865 0.0667385 0.682969 0.449522 +TTool-pose None -26.569 12.14 13.3157 0.657899 0.641649 -0.254832 0.300709 +#15136 1721120990527 +SLAM 15.2332 11.4083 -13.5599 -0.567895 0.0736299 0.684237 0.451546 +TTool-pose None -26.5151 12.2102 13.2178 0.657659 0.63761 -0.26101 0.304506 +#15137 1721120990564 +SLAM 15.394 11.4715 -13.4428 -0.568843 0.0714306 0.682151 0.453856 +TTool-pose None -26.5708 12.1919 13.229 0.655522 0.64005 -0.259099 0.305626 +#15138 1721120990598 +SLAM 15.3863 11.5311 -13.4118 -0.56924 0.069714 0.682665 0.452852 +TTool-pose None -26.5591 12.1775 13.2628 0.655875 0.640835 -0.258296 0.303897 +#15139 1721120990633 +SLAM 15.2508 11.4077 -13.5433 -0.566476 0.0743291 0.683711 0.454005 +TTool-pose None -26.5222 12.2213 13.191 0.655834 0.638038 -0.262558 0.306212 +#15140 1721120990668 +SLAM 15.3893 11.4262 -13.4622 -0.566978 0.0736966 0.681757 0.456413 +TTool-pose None -26.5693 12.2301 13.1763 0.653961 0.639431 -0.261557 0.308164 +#15141 1721120990702 +SLAM 15.3735 11.4337 -13.4675 -0.568805 0.0721687 0.682297 0.453567 +TTool-pose None -26.5599 12.1909 13.2245 0.655919 0.639435 -0.259368 0.305833 +#15142 1721120990741 +SLAM 15.2649 11.3843 -13.5574 -0.567272 0.0742909 0.683521 0.453302 +TTool-pose None -26.5328 12.2081 13.2026 0.656451 0.637824 -0.261711 0.306062 +#15143 1721120990777 +SLAM 15.3498 11.3818 -13.5078 -0.567713 0.0741141 0.682291 0.45463 +TTool-pose None -26.555 12.216 13.1908 0.655484 0.638484 -0.261018 0.307347 +#15144 1721120990811 +SLAM 15.3619 11.3661 -13.5158 -0.568961 0.0735492 0.682245 0.453229 +TTool-pose None -26.5605 12.1937 13.2159 0.656541 0.638373 -0.259589 0.306529 +#15145 1721120990845 +SLAM 15.3753 11.3118 -13.5268 -0.568153 0.0753238 0.68176 0.454677 +TTool-pose None -26.5561 12.2242 13.1808 0.655814 0.637701 -0.260823 0.308433 +#15146 1721120990881 +SLAM 15.5144 11.3443 -13.4217 -0.569519 0.0736213 0.680111 0.455715 +TTool-pose None -26.5821 12.2223 13.1951 0.654794 0.639321 -0.258695 0.309038 +#15147 1721120990916 +SLAM 15.8322 11.3196 -13.2431 -0.57273 0.0717383 0.675842 0.458336 +TTool-pose None -26.6581 12.2142 13.2085 0.652773 0.641748 -0.254201 0.312001 +#15148 1721120990954 +SLAM 16.0117 11.3884 -13.0966 -0.574729 0.0687273 0.67392 0.459124 +TTool-pose None -26.6934 12.2046 13.2481 0.651656 0.644167 -0.250997 0.311942 +#15149 1721120990990 +SLAM 15.7534 11.1322 -13.3918 -0.574289 0.0745672 0.676593 0.454811 +TTool-pose None -26.6316 12.191 13.2241 0.656309 0.638521 -0.253539 0.311744 +#15150 1721120991026 +SLAM 15.9484 11.3207 -13.1633 -0.574102 0.070555 0.67447 0.458824 +TTool-pose None -26.6732 12.2103 13.2287 0.652274 0.642791 -0.252244 0.312484 +#15151 1721120991065 +SLAM 15.8812 11.3271 -13.2077 -0.573601 0.0707834 0.675248 0.458271 +TTool-pose None -26.6697 12.1958 13.2257 0.652685 0.642403 -0.252949 0.311853 +#15152 1721120991102 +SLAM 15.8299 11.3896 -13.1958 -0.572351 0.0702581 0.675949 0.458881 +TTool-pose None -26.6564 12.1982 13.2155 0.651941 0.642946 -0.254186 0.311285 +#15153 1721120991142 +SLAM 15.7445 11.3818 -13.2596 -0.573134 0.06995 0.677323 0.455915 +TTool-pose None -26.6358 12.1722 13.2486 0.654169 0.642035 -0.253538 0.30901 +#15154 1721120991184 +SLAM 15.5399 11.2854 -13.4263 -0.56958 0.0745952 0.679444 0.456476 +TTool-pose None -26.584 12.2195 13.181 0.654484 0.638959 -0.258796 0.310358 +#15155 1721120991221 +SLAM 15.4921 11.3944 -13.4083 -0.56936 0.0724478 0.680519 0.455494 +TTool-pose None -26.5814 12.2007 13.2111 0.654639 0.640023 -0.258595 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-0.562355 0.0702486 0.688858 0.451992 +TTool-pose None -29.0805 13.2232 13.2989 0.655697 0.639814 -0.266392 0.299408 +#20461 1721121188336 +SLAM 15.9141 13.7489 -15.3029 -0.565816 0.0668408 0.687852 0.449715 +TTool-pose None -29.1256 13.1511 13.3721 0.656969 0.641384 -0.261768 0.297328 +#20462 1721121188369 +SLAM 15.9933 13.8317 -15.2175 -0.565041 0.0659579 0.68667 0.452617 +TTool-pose None -29.1691 13.1559 13.3372 0.654503 0.643088 -0.26212 0.298774 +#20463 1721121188407 +SLAM 15.8268 13.6425 -15.4192 -0.563396 0.0711787 0.687356 0.452835 +TTool-pose None -29.1646 13.1504 13.2398 0.655465 0.639568 -0.265368 0.301344 +#20464 1721121188446 +SLAM 15.8945 13.77 -15.3067 -0.563536 0.0688429 0.686489 0.454336 +TTool-pose None -29.1998 13.1378 13.2244 0.653779 0.641745 -0.264431 0.301203 +#20465 1721121188482 +SLAM 15.8417 13.7693 -15.3268 -0.564142 0.068523 0.686482 0.453641 +TTool-pose None -29.2156 13.0832 13.1988 0.654293 0.641717 -0.263727 0.300764 +#20466 1721121188517 +SLAM 15.6963 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-1.35406 -0.686883 0.0417615 0.425038 0.588039 +TTool-pose None -29.6416 12.6189 12.5292 0.520048 0.693822 -0.0547279 0.495105 +#20523 1721121190418 +SLAM 29.1478 4.30776 0.163871 -0.699772 0.0279631 0.403052 0.58914 +TTool-pose None -29.9228 12.4001 12.7003 0.510092 0.700201 -0.0284882 0.498675 +#20524 1721121190453 +SLAM 29.3072 3.43219 0.578749 -0.700951 0.034333 0.387914 0.597504 +TTool-pose None -29.9752 12.293 12.45 0.500851 0.696588 -0.0228259 0.513185 +#20525 1721121190487 +SLAM 29.6138 2.7601 1.38948 -0.703601 0.0339742 0.369615 0.605951 +TTool-pose None -30.1402 12.1723 12.2563 0.488438 0.696772 -0.0120289 0.525128 +#20526 1721121190520 +SLAM 29.9062 2.10567 2.29756 -0.706511 0.0316147 0.350146 0.614199 +TTool-pose None -30.3212 11.9975 12.0858 0.474903 0.697816 0.000406449 0.53618 +#20527 1721121190553 +SLAM 30.0823 1.55211 3.07027 -0.709066 0.0296899 0.334131 0.620242 +TTool-pose None -30.4224 11.8551 11.9441 0.464123 0.698262 0.0109663 0.544857 +#20528 1721121190586 +SLAM 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-0.00902695 -0.00970882 0.667199 +TTool-pose None -30.8832 9.15468 9.52833 0.248639 0.64935 0.251589 0.673209 +#20570 1721121192095 +SLAM 26.484 -10.2066 19.2787 -0.744301 -0.00916662 -0.00977969 0.66771 +TTool-pose None -30.8877 9.1516 9.52378 0.248086 0.649581 0.251235 0.673321 +#20571 1721121192132 +SLAM 26.4796 -10.2119 19.2769 -0.744313 -0.00909561 -0.00977529 0.667698 +TTool-pose None -30.883 9.15245 9.52639 0.248123 0.649533 0.25122 0.67336 +#20572 1721121192169 +SLAM 26.485 -10.1953 19.2938 -0.744696 -0.00921619 -0.00978391 0.667269 +TTool-pose None -30.8891 9.15403 9.52731 0.248467 0.649468 0.251637 0.67314 +#20573 1721121192205 +SLAM 26.4823 -10.2067 19.2687 -0.744373 -0.00902165 -0.00965874 0.667633 +TTool-pose None -30.8823 9.15134 9.52439 0.248278 0.649504 0.251178 0.673346 +#20574 1721121192242 +SLAM 26.4814 -10.1988 19.2942 -0.744797 -0.00911146 -0.00973656 0.667158 +TTool-pose None -30.8841 9.15808 9.53156 0.248632 0.649381 0.251669 0.673151 +#20575 1721121192278 +SLAM 26.4839 -10.2006 19.2697 -0.744314 -0.00915347 -0.00963333 0.667698 +TTool-pose None -30.8835 9.14969 9.52333 0.248192 0.649618 0.251148 0.673279 +#20576 1721121192315 +SLAM 26.4821 -10.2012 19.2694 -0.7443 -0.00917735 -0.00967864 0.667712 +TTool-pose None -30.8829 9.14675 9.52244 0.248143 0.649623 0.251172 0.673284 +#20577 1721121192350 +SLAM 26.4853 -10.1881 19.2897 -0.744716 -0.00928152 -0.00965963 0.667247 +TTool-pose None -30.886 9.15232 9.52867 0.248542 0.649545 0.251598 0.673053 +#20578 1721121192387 +SLAM 26.485 -10.1891 19.2955 -0.74482 -0.00927626 -0.00970506 0.66713 +TTool-pose None -30.887 9.15336 9.53104 0.248622 0.649488 0.251727 0.67303 +#20579 1721121192427 +SLAM 26.4877 -10.1853 19.2898 -0.744603 -0.00944224 -0.00966647 0.667371 +TTool-pose None -30.8888 9.14824 9.52891 0.248373 0.649685 0.251547 0.672999 +#20580 1721121192465 +SLAM 26.4849 -10.1764 19.3133 -0.745356 -0.00936405 -0.00967793 0.66653 +TTool-pose None -30.8867 9.15416 9.54054 0.249154 0.649358 0.252259 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9.1476 9.5402 0.2493 0.649391 0.252312 0.672653 +#20587 1721121192739 +SLAM 26.4841 -10.1631 19.3084 -0.745977 -0.00915488 -0.00942134 0.665842 +TTool-pose None -30.8785 9.15333 9.54773 0.250005 0.649086 0.252625 0.672569 +#20588 1721121192778 +SLAM 26.4822 -10.1631 19.3279 -0.74602 -0.00934533 -0.00963889 0.665788 +TTool-pose None -30.883 9.15361 9.54912 0.249856 0.649117 0.252871 0.672502 +#20589 1721121192814 +SLAM 26.4874 -10.1612 19.3122 -0.745726 -0.00938433 -0.0095413 0.666118 +TTool-pose None -30.8854 9.14879 9.54305 0.249606 0.649282 0.252536 0.672561 +#20590 1721121192851 +SLAM 26.4837 -10.1562 19.3183 -0.746002 -0.00939068 -0.00952603 0.665809 +TTool-pose None -30.8814 9.14794 9.54766 0.249892 0.64919 0.252796 0.672446 +#20591 1721121192889 +SLAM 26.4884 -10.1447 19.3181 -0.746151 -0.00944829 -0.00934133 0.665644 +TTool-pose None -30.8812 9.14964 9.55123 0.250138 0.649235 0.25284 0.672294 +#20592 1721121192930 +SLAM 26.4887 -10.1402 19.3336 -0.746465 -0.00945652 -0.00938473 0.665291 +TTool-pose None -30.883 9.15431 9.55591 0.250428 0.64911 0.253176 0.67218 +#20593 1721121192969 +SLAM 26.4872 -10.1507 19.3279 -0.746397 -0.00933127 -0.0094109 0.665368 +TTool-pose None -30.8819 9.15415 9.55748 0.250382 0.649047 0.253085 0.672293 +#20594 1721121193007 +SLAM 26.4895 -10.1596 19.3182 -0.745998 -0.00933278 -0.00945421 0.665816 +TTool-pose None -30.8852 9.15305 9.55176 0.24995 0.64918 0.252726 0.672461 +#20595 1721121193046 +SLAM 26.4886 -10.1545 19.3268 -0.746298 -0.00933123 -0.00945168 0.66548 +TTool-pose None -30.8844 9.15375 9.5564 0.250256 0.64907 0.253015 0.672344 +#20596 1721121193086 +SLAM 26.4863 -10.1497 19.321 -0.746123 -0.00945866 -0.00945303 0.665673 +TTool-pose None -30.8821 9.14773 9.55113 0.250039 0.649214 0.252889 0.672333 +#20597 1721121193124 +SLAM 26.506 -10.1351 19.2844 -0.745839 -0.00935779 -0.00861587 0.666005 +TTool-pose None -30.8788 9.1601 9.55843 0.25029 0.649539 0.252038 0.672246 +#20598 1721121193163 +SLAM 26.5081 -10.1397 19.2774 -0.74551 -0.00943932 -0.00864782 0.666371 +TTool-pose None -30.8818 9.15694 9.55461 0.249912 0.649699 0.251767 0.672333 +#20599 1721121193198 +SLAM 26.502 -10.1329 19.2877 -0.745993 -0.00930634 -0.00869648 0.665832 +TTool-pose None -30.8769 9.15835 9.55514 0.250414 0.649422 0.252222 0.672243 +#20600 1721121193236 +SLAM 26.5066 -10.1397 19.2498 -0.745442 -0.00915185 -0.00837052 0.666455 +TTool-pose None -30.872 9.15623 9.55048 0.250103 0.649636 0.251425 0.672451 +#20601 1721121193274 +SLAM 26.4974 -10.1244 19.3201 -0.746455 -0.00957453 -0.00889549 0.665307 +TTool-pose None -30.8785 9.15761 9.5656 0.250678 0.649355 0.25289 0.671959 +#20602 1721121193311 +SLAM 26.5056 -10.0907 19.3119 -0.746719 -0.00976955 -0.00870375 0.665011 +TTool-pose None -30.8816 9.1445 9.55557 0.251 0.649447 0.253087 0.671675 +#20603 1721121193348 +SLAM 26.5024 -10.1704 19.2845 -0.745082 -0.00941558 -0.00885766 0.666847 +TTool-pose None -30.8818 9.16533 9.56316 0.249359 0.649769 0.25148 0.672579 +#20604 1721121193389 +SLAM 26.5011 -10.1295 19.3121 -0.746085 -0.00967501 -0.00892563 0.66572 +TTool-pose None -30.883 9.15379 9.56196 0.250252 0.649544 0.252584 0.67205 +#20605 1721121193429 +SLAM 26.5081 -10.1069 19.3004 -0.746 -0.00987473 -0.00867879 0.665816 +TTool-pose None -30.8834 9.14802 9.55521 0.250252 0.649786 0.252408 0.671882 +#20606 1721121193466 +SLAM 26.5002 -10.1076 19.3304 -0.74661 -0.00978507 -0.00886392 0.665131 +TTool-pose None -30.8809 9.1569 9.56472 0.250787 0.649443 0.25309 0.671758 +#20607 1721121193509 +SLAM 26.5084 -10.1396 19.2701 -0.745076 -0.009664 -0.00867853 0.666853 +TTool-pose None -30.883 9.15051 9.54916 0.249382 0.649989 0.251441 0.672371 +#20608 1721121193546 +SLAM 26.4992 -10.1592 19.2789 -0.745364 -0.00931167 -0.00874762 0.666535 +TTool-pose None -30.8754 9.16234 9.56014 0.249744 0.649638 0.251647 0.6725 +#20609 1721121193584 +SLAM 26.5065 -10.1271 19.2638 -0.74548 -0.00951354 -0.00863022 0.666404 +TTool-pose None -30.8794 9.14303 9.54362 0.249869 0.649763 0.251751 0.672293 +#20610 1721121193623 +SLAM 26.507 -10.1565 19.2649 -0.744868 -0.00951605 -0.00876829 0.667087 +TTool-pose None -30.8837 9.15256 9.54923 0.249164 0.649941 0.251247 0.672571 +#20611 1721121193662 +SLAM 26.5024 -10.1363 19.2976 -0.745911 -0.00942938 -0.00877082 0.665921 +TTool-pose None -30.8796 9.16137 9.55903 0.250247 0.649505 0.252232 0.672222 +#20612 1721121193704 +SLAM 26.5037 -10.1242 19.2814 -0.745681 -0.00961039 -0.00870377 0.666177 +TTool-pose None -30.879 9.14759 9.54904 0.249997 0.649726 0.252026 0.672178 +#20613 1721121193744 +SLAM 26.5005 -10.1314 19.2899 -0.746207 -0.00917203 -0.00861893 0.665595 +TTool-pose None -30.8732 9.16402 9.55805 0.25072 0.649285 0.252334 0.672219 +#20614 1721121193789 +SLAM 26.5066 -10.1505 19.2792 -0.745114 -0.00963647 -0.00883583 0.666809 +TTool-pose None -30.8856 9.15196 9.55381 0.249335 0.649905 0.251571 0.672422 +#20615 1721121193829 +SLAM 26.5026 -10.1295 19.3104 -0.746415 -0.00930617 -0.00877404 0.665357 +TTool-pose None -30.88 9.16587 9.56299 0.250795 0.649241 0.252682 0.672103 +#20616 1721121193867 +SLAM 26.5004 -10.1395 19.294 -0.745744 -0.00947398 -0.00884592 0.666106 +TTool-pose None -30.8797 9.15706 9.55539 0.250018 0.649569 0.252134 0.672282 +#20617 1721121193912 +SLAM 26.5008 -10.1307 19.3055 -0.745624 -0.00984337 -0.00899393 0.666233 +TTool-pose None -30.8847 9.14975 9.55291 0.24969 0.649796 0.252237 0.672145 +#20618 1721121193953 +SLAM 26.4981 -10.1468 19.3142 -0.745816 -0.00962173 -0.00910333 0.66602 +TTool-pose None -30.8848 9.15683 9.56131 0.249888 0.649549 0.252419 0.672243 +#20619 1721121193989 +SLAM 26.4956 -10.1432 19.3096 -0.745767 -0.0096706 -0.00915041 0.666074 +TTool-pose None -30.8835 9.14994 9.55571 0.249794 0.649581 0.252419 0.672246 +#20620 1721121194027 +SLAM 26.4974 -10.149 19.3348 -0.746028 -0.00982527 -0.00937041 0.665776 +TTool-pose None -30.8918 9.15042 9.56807 0.249877 0.649509 0.252867 0.672117 +#20621 1721121194066 +SLAM 26.4939 -10.1459 19.3419 -0.746687 -0.00975178 -0.00937347 0.665038 +TTool-pose None -30.8883 9.14223 9.58158 0.250566 0.64922 0.253483 0.671907 +#20622 1721121194103 +SLAM 26.4962 -10.1793 19.2844 -0.745957 -0.00942781 -0.00920581 0.665863 +TTool-pose None -30.8845 9.12417 9.58165 0.25003 0.649339 0.252558 0.67234 +#20623 1721121194139 +SLAM 26.4872 -10.1916 19.2983 -0.746341 -0.00918455 -0.0093157 0.665435 +TTool-pose None -30.8784 9.13248 9.59143 0.250429 0.649007 0.252919 0.672376 +#20624 1721121194180 +SLAM 26.4965 -10.1813 19.2935 -0.746245 -0.00966869 -0.00929038 0.665536 +TTool-pose None -30.8874 9.11007 9.59891 0.250195 0.649358 0.252973 0.672105 +#20625 1721121194223 +SLAM 26.4977 -10.2069 19.249 -0.745562 -0.00937339 -0.00905997 0.666309 +TTool-pose None -30.8813 9.10592 9.59816 0.249735 0.649499 0.252061 0.672482 +#20626 1721121194264 +SLAM 26.4966 -10.208 19.2932 -0.746457 -0.00971624 -0.00939638 0.665297 +TTool-pose None -30.8902 9.09403 9.62859 0.25033 0.649274 0.253263 0.672026 +#20627 1721121194302 +SLAM 26.5037 -10.2373 19.2674 -0.74655 -0.00953797 -0.00925862 0.665196 +TTool-pose None -30.8928 9.07603 9.65638 0.250564 0.649174 0.253204 0.672058 +#20628 1721121194339 +SLAM 26.5013 -10.2582 19.2302 -0.746461 -0.00947204 -0.00919375 0.665299 +TTool-pose None -30.8875 9.04515 9.67052 0.250534 0.649187 0.253053 0.672113 +#20629 1721121194378 +SLAM 26.508 -10.2889 19.2026 -0.745445 -0.00948639 -0.00923696 0.666435 +TTool-pose None -30.895 9.04113 9.66771 0.249474 0.649553 0.252101 0.672512 +#20630 1721121194416 +SLAM 26.5014 -10.3048 19.2258 -0.746194 -0.00947039 -0.00946776 0.665594 +TTool-pose None -30.8948 9.03191 9.69619 0.250097 0.649191 0.252971 0.672303 +#20631 1721121194454 +SLAM 26.5046 -10.3945 19.1714 -0.746313 -0.00909374 -0.00937223 0.665467 +TTool-pose None -30.8937 8.98546 9.77134 0.250395 0.64894 0.252899 0.672461 +#20632 1721121194489 +SLAM 26.515 -10.3979 19.1202 -0.74587 -0.00940842 -0.00916958 0.665962 +TTool-pose None -30.8977 8.94083 9.77861 0.24997 0.649371 0.252443 0.672375 +#20633 1721121194527 +SLAM 26.5127 -10.4204 19.1115 -0.745446 -0.0093014 -0.00932411 0.666436 +TTool-pose None -30.8993 8.94073 9.7766 0.249479 0.649406 0.252095 0.672654 +#20634 1721121194565 +SLAM 26.513 -10.4313 19.1456 -0.746456 -0.00908989 -0.00938923 0.665307 +TTool-pose None -30.9018 8.95065 9.80803 0.250531 0.64888 0.253047 0.672413 +#20635 1721121194604 +SLAM 26.5127 -10.4632 19.1389 -0.747632 -0.00872844 -0.00935623 0.66399 +TTool-pose None -30.8999 8.92349 9.85855 0.251859 0.648229 0.254047 0.672168 +#20636 1721121194648 +SLAM 26.5172 -10.4904 19.0646 -0.746063 -0.00901593 -0.00917515 0.665751 +TTool-pose None -30.8982 8.88728 9.85321 0.250286 0.64905 0.252502 0.672545 +#20637 1721121194696 +SLAM 26.5174 -10.5034 19.0543 -0.745489 -0.00920225 -0.0092157 0.666391 +TTool-pose None -30.8995 8.88238 9.85484 0.24962 0.649364 0.252034 0.672665 +#20638 1721121194737 +SLAM 26.5146 -10.4986 19.0833 -0.746269 -0.00904942 -0.00940394 0.665517 +TTool-pose None -30.9021 8.88783 9.86017 0.250345 0.648918 0.252861 0.672516 +#20639 1721121194775 +SLAM 26.5304 -10.5013 19.0385 -0.746134 -0.00886685 -0.00878651 0.665679 +TTool-pose None -30.9004 8.88072 9.87468 0.250641 0.649061 0.25227 0.672489 +#20640 1721121194813 +SLAM 26.5401 -10.487 18.9625 -0.745571 -0.0090494 -0.00790863 0.666317 +TTool-pose None -30.8852 8.85129 9.88397 0.250547 0.64968 0.251217 0.672321 +#20641 1721121194853 +SLAM 26.5433 -10.4866 18.9752 -0.745926 -0.00898555 -0.00796189 0.665921 +TTool-pose None -30.89 8.85417 9.88971 0.250893 0.649492 0.251574 0.672239 +#20642 1721121194889 +SLAM 26.54 -10.5001 19.0128 -0.746733 -0.00894899 -0.00829582 0.665012 +TTool-pose None -30.8962 8.85382 9.91307 0.251521 0.64906 0.252561 0.672052 +#20643 1721121194928 +SLAM 26.541 -10.516 18.9779 -0.746371 -0.00876269 -0.00815142 0.665422 +TTool-pose None -30.8926 8.84274 9.9138 0.2513 0.649124 0.252054 0.672264 +#20644 1721121194966 +SLAM 26.5316 -10.5271 18.9655 -0.746065 -0.00864764 -0.0081343 0.665767 +TTool-pose None -30.8825 8.84443 9.91096 0.251037 0.649168 0.251708 0.672449 +#20645 1721121195004 +SLAM 26.5366 -10.5089 18.9865 -0.746442 -0.0089564 -0.00816095 0.66534 +TTool-pose None -30.8887 8.84067 9.91719 0.251305 0.649218 0.252194 0.672119 +#20646 1721121195039 +SLAM 26.5352 -10.5047 18.9966 -0.746747 -0.00885834 -0.00811589 0.665 +TTool-pose None -30.8862 8.84851 9.92067 0.251673 0.649059 0.252428 0.672047 +#20647 1721121195074 +SLAM 26.5366 -10.5064 18.9903 -0.746304 -0.00904895 -0.00815312 0.665493 +TTool-pose None -30.8886 8.84491 9.9155 0.251141 0.649329 0.252087 0.672112 +#20648 1721121195114 +SLAM 26.5381 -10.4934 19.033 -0.746623 -0.00952976 -0.00848061 0.665125 +TTool-pose None -30.8997 8.84349 9.92115 0.251114 0.649406 0.25277 0.671792 +#20649 1721121195152 +SLAM 26.5396 -10.4933 19.0263 -0.74661 -0.00943828 -0.00835986 0.665143 +TTool-pose None -30.8978 8.84641 9.92164 0.251203 0.649394 0.252648 0.671816 +#20650 1721121195189 +SLAM 26.5404 -10.5016 18.9975 -0.745993 -0.00937723 -0.00826374 0.665836 +TTool-pose None -30.8956 8.84201 9.91141 0.250655 0.649614 0.251967 0.672064 +#20651 1721121195228 +SLAM 26.5387 -10.4909 19.0249 -0.746657 -0.00938186 -0.00830082 0.665091 +TTool-pose None -30.8953 8.84895 9.92079 0.251304 0.649361 0.252636 0.671814 +#20652 1721121195274 +SLAM 26.5356 -10.4937 18.9957 -0.746457 -0.00917385 -0.00804326 0.665322 +TTool-pose None -30.8848 8.84596 9.91793 0.251323 0.64939 0.252206 0.671941 +#20653 1721121195314 +SLAM 26.536 -10.4809 19.0305 -0.746905 -0.00940627 -0.00819753 0.664814 +TTool-pose None -30.89 8.85156 9.92417 0.251611 0.64932 0.252819 0.67167 +#20654 1721121195353 +SLAM 26.5388 -10.4861 19.0208 -0.746666 -0.00937563 -0.00816707 0.665083 +TTool-pose None -30.8918 8.85105 9.92168 0.251397 0.649399 0.252557 0.671773 +#20655 1721121195391 +SLAM 26.5398 -10.4851 19.0084 -0.746246 -0.00954219 -0.0081704 0.665552 +TTool-pose None -30.8928 8.84353 9.91433 0.250916 0.649657 0.252207 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8.84379 9.90944 0.250876 0.649727 0.251509 0.672044 +#20662 1721121195667 +SLAM 26.5459 -10.4917 18.9835 -0.745813 -0.00938745 -0.00790394 0.666043 +TTool-pose None -30.8913 8.849 9.91188 0.250687 0.649808 0.251562 0.672016 +#20663 1721121195713 +SLAM 26.5468 -10.4761 19.0141 -0.746307 -0.0096349 -0.00799966 0.665484 +TTool-pose None -30.8953 8.85098 9.91929 0.251053 0.649752 0.252187 0.6717 +#20664 1721121195756 +SLAM 26.5537 -10.4717 18.9378 -0.745362 -0.00934828 -0.00732114 0.666554 +TTool-pose None -30.8827 8.84503 9.89945 0.250598 0.650145 0.250735 0.672032 +#20665 1721121195795 +SLAM 26.5666 -10.4748 18.8796 -0.743818 -0.00950618 -0.00676295 0.668281 +TTool-pose None -30.88 8.84811 9.88559 0.249324 0.650994 0.24893 0.672355 +#20666 1721121195841 +SLAM 26.5663 -10.4901 18.8965 -0.743978 -0.00940135 -0.00688929 0.668103 +TTool-pose None -30.8834 8.85811 9.89691 0.249442 0.650827 0.249132 0.672398 +#20667 1721121195879 +SLAM 26.5676 -10.4883 18.8655 -0.743583 -0.00930669 -0.00671834 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-0.00693658 0.665488 +TTool-pose None -30.8825 8.85126 9.91951 0.251776 0.649975 0.251439 0.671493 +#20697 1721121197058 +SLAM 26.5653 -10.4416 18.9563 -0.746178 -0.00952987 -0.00694951 0.665642 +TTool-pose None -30.8847 8.8493 9.91871 0.251594 0.650087 0.251348 0.671486 +#20698 1721121197100 +SLAM 26.5674 -10.4382 18.957 -0.746025 -0.00964911 -0.00692353 0.665813 +TTool-pose None -30.8862 8.85046 9.91725 0.251416 0.650228 0.251222 0.671464 +#20699 1721121197141 +SLAM 26.5654 -10.4474 18.9375 -0.745869 -0.00944096 -0.00685974 0.665991 +TTool-pose None -30.8821 8.84697 9.91421 0.251363 0.650175 0.250959 0.671634 +#20700 1721121197186 +SLAM 26.5665 -10.4431 18.9551 -0.746065 -0.009574 -0.00699002 0.665768 +TTool-pose None -30.8871 8.84754 9.91686 0.25144 0.650143 0.251278 0.671516 +#20701 1721121197224 +SLAM 26.5655 -10.4451 18.952 -0.746017 -0.00953307 -0.00696335 0.665823 +TTool-pose None -30.8852 8.84873 9.91671 0.25142 0.650144 0.251201 0.671552 +#20702 1721121197261 +SLAM 26.5664 -10.4478 18.9339 -0.745732 -0.00947432 -0.00685145 0.666144 +TTool-pose None -30.8829 8.84621 9.91218 0.251218 0.650249 0.250832 0.671664 +#20703 1721121197300 +SLAM 26.5633 -10.4466 18.9413 -0.745968 -0.00944967 -0.00689654 0.665879 +TTool-pose None -30.881 8.84603 9.91525 0.251438 0.650132 0.251082 0.671601 +#20704 1721121197337 +SLAM 26.5644 -10.4485 18.9288 -0.745805 -0.00936679 -0.00678552 0.666064 +TTool-pose None -30.879 8.84665 9.91293 0.251367 0.650176 0.250825 0.671681 +#20705 1721121197376 +SLAM 26.5637 -10.4453 18.9445 -0.745897 -0.00952171 -0.00692149 0.665957 +TTool-pose None -30.8822 8.84709 9.91418 0.251328 0.650195 0.251054 0.671592 +#20706 1721121197412 +SLAM 26.5644 -10.4437 18.9503 -0.746071 -0.00947805 -0.00691377 0.665763 +TTool-pose None -30.8828 8.85015 9.91664 0.251524 0.650106 0.251204 0.671549 +#20707 1721121197447 +SLAM 26.5618 -10.4416 18.9583 -0.746295 -0.00946362 -0.00690257 0.665512 +TTool-pose None -30.88 8.85291 9.92155 0.251762 0.650019 0.251409 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-0.745639 -0.00959142 -0.00672688 0.666247 +TTool-pose None -30.8816 8.84427 9.91114 0.251164 0.650399 0.250702 0.671588 +#20726 1721121198170 +SLAM 26.5644 -10.4423 18.9409 -0.745828 -0.00960121 -0.00690318 0.666034 +TTool-pose None -30.8824 8.84298 9.91302 0.251244 0.650277 0.251001 0.671564 +#20727 1721121198207 +SLAM 26.5604 -10.4494 18.9236 -0.745497 -0.00951748 -0.00693295 0.666405 +TTool-pose None -30.8789 8.83754 9.9042 0.250917 0.650334 0.250672 0.671753 +#20728 1721121198246 +SLAM 26.5673 -10.4448 18.9235 -0.745584 -0.0094702 -0.00673892 0.66631 +TTool-pose None -30.8806 8.84544 9.90891 0.251138 0.650338 0.250615 0.671688 +#20729 1721121198290 +SLAM 26.5677 -10.4402 18.9398 -0.745849 -0.00960224 -0.00681707 0.666011 +TTool-pose None -30.8834 8.84492 9.91534 0.251318 0.650299 0.250967 0.671528 +#20730 1721121198335 +SLAM 26.5674 -10.4431 18.9304 -0.745672 -0.0095655 -0.00679343 0.66621 +TTool-pose None -30.8823 8.84323 9.91189 0.251165 0.650348 0.250768 0.671612 +#20731 1721121198372 +SLAM 26.5666 -10.4456 18.9174 -0.745529 -0.00945838 -0.0066939 0.666372 +TTool-pose None -30.8785 8.84337 9.90905 0.251114 0.650366 0.250529 0.671703 +#20732 1721121198409 +SLAM 26.5661 -10.4417 18.9314 -0.745704 -0.00957114 -0.00679853 0.666174 +TTool-pose None -30.8811 8.84296 9.91148 0.251192 0.650338 0.250804 0.671598 +#20733 1721121198444 +SLAM 26.5701 -10.4348 18.9371 -0.745672 -0.00976483 -0.00679606 0.666206 +TTool-pose None -30.8852 8.84146 9.91246 0.2511 0.650473 0.250837 0.671489 +#20734 1721121198480 +SLAM 26.5677 -10.4345 18.9622 -0.746192 -0.00972373 -0.00694041 0.665623 +TTool-pose None -30.887 8.84692 9.92114 0.251553 0.650208 0.251421 0.671358 +#20735 1721121198518 +SLAM 26.5654 -10.4457 18.9383 -0.74582 -0.00945701 -0.00685751 0.666046 +TTool-pose None -30.8821 8.84878 9.91203 0.251309 0.650204 0.250916 0.671642 +#20736 1721121198558 +SLAM 26.5666 -10.4414 18.9419 -0.745797 -0.00963289 -0.00688427 0.666068 +TTool-pose None -30.8841 8.84423 9.91349 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-0.746147 -0.00896527 -0.00403713 0.665708 +TTool-pose None -30.4775 9.00797 9.81322 0.253515 0.650721 0.249249 0.670932 +#20876 1721121203822 +SLAM 26.2322 -10.2206 18.976 -0.746818 -0.00913076 -0.00418816 0.664953 +TTool-pose None -30.4797 9.01438 9.8272 0.254052 0.650529 0.250053 0.670616 +#20877 1721121203857 +SLAM 26.2308 -10.2212 18.9716 -0.746701 -0.00921134 -0.00427253 0.665082 +TTool-pose None -30.4805 9.00629 9.82353 0.253856 0.650595 0.250021 0.670638 +#20878 1721121203892 +SLAM 26.2341 -10.2237 18.9573 -0.746204 -0.00944434 -0.00425676 0.665637 +TTool-pose None -30.4834 8.99628 9.82069 0.253288 0.65093 0.249606 0.670682 +#20879 1721121203928 +SLAM 26.2352 -10.2291 18.9438 -0.746165 -0.00905294 -0.00407848 0.665687 +TTool-pose None -30.4794 9.00846 9.81555 0.253481 0.650756 0.249322 0.670884 +#20880 1721121203970 +SLAM 26.2329 -10.2244 18.975 -0.746556 -0.00926391 -0.00432239 0.665244 +TTool-pose None -30.4842 9.00908 9.82286 0.253662 0.650665 0.24993 0.670678 +#20881 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0.652296 -0.231207 0.296645 +#21242 1721121217155 +SLAM 18.4858 13.1024 -13.4852 -0.589391 0.0483947 0.670727 0.447662 +TTool-pose None -28.4212 13.6028 14.6539 0.656414 0.653849 -0.229561 0.298012 +#21243 1721121217186 +SLAM 18.5528 13.0848 -13.3441 -0.59025 0.0473839 0.669171 0.448966 +TTool-pose None -28.3892 13.5701 14.6226 0.655257 0.655056 -0.228118 0.299014 +#21244 1721121217222 +SLAM 18.3354 12.9643 -13.4608 -0.589766 0.0494764 0.670876 0.446827 +TTool-pose None -28.2979 13.5054 14.5755 0.657368 0.652811 -0.229519 0.298214 +#21245 1721121217264 +SLAM 18.4016 12.9934 -13.3327 -0.591014 0.0476514 0.669367 0.447638 +TTool-pose None -28.3022 13.4563 14.5534 0.656394 0.65438 -0.22744 0.298515 +#21246 1721121217297 +SLAM 18.481 13.0055 -13.2198 -0.592167 0.0464067 0.667658 0.448795 +TTool-pose None -28.3194 13.4193 14.5217 0.655307 0.655691 -0.225593 0.299426 +#21247 1721121217339 +SLAM 18.2255 12.8799 -13.3888 -0.591175 0.0494737 0.670309 0.445814 +TTool-pose None -28.2106 13.4011 14.4792 0.658261 0.652456 -0.227968 0.29821 +#21248 1721121217377 +SLAM 18.6567 13.0448 -13.0104 -0.594447 0.0436291 0.664116 0.451309 +TTool-pose None -28.3858 13.3364 14.4738 0.652882 0.65857 -0.221806 0.30123 +#21249 1721121217409 +SLAM 18.3869 12.9026 -13.2338 -0.59236 0.0479135 0.666867 0.449557 +TTool-pose None -28.3005 13.332 14.4089 0.655177 0.654989 -0.225711 0.301155 +#21250 1721121217443 +SLAM 18.5122 12.9937 -13.0758 -0.593878 0.0448867 0.665144 0.450418 +TTool-pose None -28.3361 13.2995 14.4227 0.653844 0.657376 -0.222947 0.30091 +#21251 1721121217476 +SLAM 18.3459 12.9307 -13.1912 -0.592692 0.0470136 0.666473 0.449799 +TTool-pose None -28.3007 13.2746 14.3625 0.654781 0.655691 -0.225034 0.300995 +#21252 1721121217510 +SLAM 18.1912 12.925 -13.2645 -0.591678 0.0478374 0.667761 0.449137 +TTool-pose None -28.2713 13.2393 14.3158 0.6554 0.654859 -0.226543 0.300327 +#21253 1721121217540 +SLAM 18.1999 12.9794 -13.1934 -0.592338 0.0462114 0.667039 0.44951 +TTool-pose None -28.2874 13.1897 14.2921 0.654739 0.656104 -0.225256 0.30002 +#21254 1721121217574 +SLAM 18.0213 12.9554 -13.2876 -0.591044 0.0475264 0.668357 0.449119 +TTool-pose None -28.2602 13.1431 14.2283 0.655264 0.655042 -0.227205 0.299723 +#21255 1721121217604 +SLAM 18.0181 13.0146 -13.2194 -0.591789 0.0458336 0.667816 0.449117 +TTool-pose None -28.2705 13.0948 14.2052 0.654871 0.656188 -0.22584 0.299106 +#21256 1721121217638 +SLAM 18.0212 13.0054 -13.1823 -0.591041 0.0465359 0.666894 0.451395 +TTool-pose None -28.2811 13.0872 14.13 0.653296 0.656586 -0.226667 0.301047 +#21257 1721121217669 +SLAM 17.9873 12.9948 -13.1984 -0.591131 0.0464773 0.666668 0.451616 +TTool-pose None -28.297 13.0365 14.1053 0.653124 0.656713 -0.226518 0.301255 +#21258 1721121217702 +SLAM 17.8306 12.9219 -13.3304 -0.589438 0.0491055 0.66875 0.450472 +TTool-pose None -28.2321 13.0662 14.0891 0.65453 0.654472 -0.229397 0.300901 +#21259 1721121217735 +SLAM 17.9135 12.8462 -13.3224 -0.589828 0.0503048 0.666984 0.452443 +TTool-pose None -28.2791 13.0525 14.0461 0.653431 0.654448 -0.229052 0.303596 +#21260 1721121217771 +SLAM 17.9049 12.8748 -13.3178 -0.589442 0.0499116 0.667352 0.452447 +TTool-pose None -28.2729 13.06 14.0607 0.653281 0.654701 -0.229395 0.303113 +#21261 1721121217803 +SLAM 17.9385 12.8035 -13.3641 -0.589339 0.0517241 0.666563 0.45354 +TTool-pose None -28.3091 13.0728 14.026 0.65295 0.653911 -0.229903 0.305143 +#21262 1721121217835 +SLAM 18.0851 12.9488 -13.2433 -0.589939 0.0485738 0.665336 0.454906 +TTool-pose None -28.3811 13.0789 14.0714 0.651123 0.656558 -0.22814 0.304684 +#21263 1721121217868 +SLAM 17.8748 12.7752 -13.5877 -0.589279 0.0534108 0.667672 0.451787 +TTool-pose None -28.4083 13.0633 14.0523 0.65471 0.652103 -0.23065 0.304674 +#21264 1721121217899 +SLAM 18.1781 13.065 -13.3493 -0.589627 0.0481775 0.665009 0.455831 +TTool-pose None -28.5619 13.1144 14.1042 0.650289 0.65717 -0.228285 0.305037 +#21265 1721121217933 +SLAM 17.9933 13.0456 -13.6058 -0.587496 0.0511868 0.667966 0.453927 +TTool-pose None -28.5785 13.1647 14.1089 0.652323 0.654369 -0.231878 0.304003 +#21266 1721121217966 +SLAM 17.7618 12.9601 -13.9391 -0.588969 0.0530156 0.671718 0.446207 +TTool-pose None -28.5814 13.1383 14.199 0.65871 0.650182 -0.231523 0.299449 +#21267 1721121217999 +SLAM 18.1136 13.1965 -13.7358 -0.587312 0.0506054 0.667815 0.454453 +TTool-pose None -28.792 13.2294 14.1649 0.651753 0.654955 -0.231869 0.303972 +#21268 1721121218031 +SLAM 18.1983 13.312 -13.7396 -0.589009 0.0484499 0.668113 0.452046 +TTool-pose None -28.8596 13.2704 14.2502 0.653133 0.655508 -0.229537 0.301573 +#21269 1721121218070 +SLAM 17.9712 13.3492 -13.9943 -0.585938 0.0508746 0.671256 0.451114 +TTool-pose None -28.8946 13.2983 14.2355 0.654168 0.653438 -0.233942 0.300434 +#21270 1721121218105 +SLAM 17.961 13.4659 -14.0678 -0.585519 0.0499884 0.671971 0.450692 +TTool-pose None -28.985 13.313 14.2617 0.654192 0.653853 -0.23423 0.299253 +#21271 1721121218138 +SLAM 17.8349 13.6135 -14.2295 -0.58396 0.0498394 0.674438 0.449043 +TTool-pose None -29.0595 13.3565 14.2876 0.655199 0.653257 -0.236191 0.296796 +#21272 1721121218175 +SLAM 17.6835 13.8006 -14.4394 -0.581371 0.0498802 0.67683 0.448799 +TTool-pose None -29.1982 13.3786 14.2875 0.655093 0.653046 -0.239249 0.295041 +#21273 1721121218210 +SLAM 17.5614 14.0015 -14.5712 -0.580585 0.0480557 0.679332 0.446229 +TTool-pose None -29.2832 13.3933 14.3445 0.656386 0.653222 -0.23991 0.291211 +#21274 1721121218244 +SLAM 17.3009 13.9987 -14.8502 -0.57872 0.0505628 0.682723 0.443187 +TTool-pose None -29.3027 13.4115 14.3413 0.659074 0.650276 -0.243089 0.289088 +#21275 1721121218276 +SLAM 17.3458 14.0765 -14.8645 -0.578885 0.0497879 0.682423 0.443523 +TTool-pose None -29.3799 13.4224 14.3491 0.658636 0.650933 -0.242645 0.28898 +#21276 1721121218310 +SLAM 17.2674 14.064 -14.9877 -0.577868 0.0512639 0.683347 0.443258 +TTool-pose None -29.4147 13.4321 14.3373 0.659108 0.649803 -0.244266 0.28908 +#21277 1721121218342 +SLAM 17.1711 14.0561 -15.1266 -0.57736 0.0524021 0.684701 0.441696 +TTool-pose None -29.442 13.4415 14.3469 0.660492 0.648401 -0.245324 0.288171 +#21278 1721121218374 +SLAM 17.2271 14.1615 -15.1149 -0.577493 0.0509764 0.684448 0.442079 +TTool-pose None -29.5135 13.4535 14.3694 0.65984 0.649511 -0.24473 0.28767 +#21279 1721121218406 +SLAM 17.2536 14.1956 -15.1612 -0.577677 0.0509099 0.684268 0.442126 +TTool-pose None -29.5823 13.4592 14.3752 0.659811 0.649581 -0.244495 0.287778 +#21280 1721121218440 +SLAM 17.1881 14.1711 -15.2745 -0.577457 0.0520724 0.685264 0.440732 +TTool-pose None -29.6 13.4752 14.3851 0.661114 0.648241 -0.245209 0.287202 +#21281 1721121218472 +SLAM 17.3523 14.2345 -15.1918 -0.578557 0.0506413 0.683602 0.442036 +TTool-pose None -29.6718 13.4921 14.4005 0.659912 0.64976 -0.243411 0.288061 +#21282 1721121218504 +SLAM 17.297 14.2089 -15.2817 -0.578126 0.0517814 0.684418 0.441203 +TTool-pose None -29.6799 13.5088 14.4045 0.660777 0.64865 -0.24431 0.287819 +#21283 1721121218535 +SLAM 17.3057 14.2092 -15.3234 -0.578073 0.0521543 0.684255 0.441482 +TTool-pose None -29.7227 13.5067 14.3999 0.66067 0.64851 -0.24445 0.288261 +#21284 1721121218569 +SLAM 17.3632 14.2576 -15.3074 -0.578456 0.051291 0.683747 0.44187 +TTool-pose None -29.7707 13.5065 14.414 0.660199 0.649256 -0.243728 0.288272 +#21285 1721121218602 +SLAM 17.4083 14.267 -15.3017 -0.57952 0.0507079 0.683557 0.440835 +TTool-pose None -29.7858 13.5164 14.442 0.660923 0.649275 -0.24243 0.287663 +#21286 1721121218634 +SLAM 17.3703 14.2566 -15.3318 -0.579156 0.0511635 0.684013 0.440553 +TTool-pose None -29.7762 13.5201 14.4394 0.661207 0.648844 -0.243006 0.287495 +#21287 1721121218672 +SLAM 17.448 14.2965 -15.2727 -0.579859 0.0499377 0.683169 0.441078 +TTool-pose None -29.8046 13.5107 14.4529 0.660576 0.649899 -0.241796 0.287585 +#21288 1721121218710 +SLAM 17.361 14.2992 -15.3135 -0.579132 0.0503407 0.684259 0.440296 +TTool-pose None -29.7739 13.516 14.4514 0.661165 0.64929 -0.242824 0.286739 +#21289 1721121218745 +SLAM 17.2769 14.3589 -15.3238 -0.578592 0.0494962 0.685365 0.439382 +TTool-pose None -29.7541 13.5041 14.4618 0.661527 0.649466 -0.243293 0.285101 +#21290 1721121218779 +SLAM 16.9818 14.3214 -15.5113 -0.575922 0.0519366 0.688449 0.437783 +TTool-pose None -29.6966 13.4929 14.4228 0.663009 0.647087 -0.247206 0.283696 +#21291 1721121218812 +SLAM 16.8339 14.3989 -15.5379 -0.574772 0.0511494 0.690346 0.436399 +TTool-pose None -29.6547 13.4865 14.4297 0.663637 0.647005 -0.248425 0.281337 +#21292 1721121218845 +SLAM 16.7214 14.4698 -15.5413 -0.574016 0.0501206 0.691726 0.435327 +TTool-pose None -29.6211 13.4703 14.436 0.664022 0.647225 -0.24909 0.279325 +#21293 1721121218878 +SLAM 16.4375 14.4286 -15.6851 -0.571798 0.0520136 0.694781 0.433151 +TTool-pose None -29.5332 13.4597 14.411 0.665794 0.64498 -0.252342 0.277373 +#21294 1721121218910 +SLAM 16.3593 14.4607 -15.663 -0.571144 0.051536 0.695649 0.432678 +TTool-pose None -29.4847 13.4542 14.4033 0.665908 0.645076 -0.252991 0.276282 +#21295 1721121218944 +SLAM 16.1553 14.3527 -15.7888 -0.569673 0.0542034 0.697358 0.43154 +TTool-pose None -29.4202 13.4341 14.3542 0.667239 0.642761 -0.255509 0.27615 +#21296 1721121218974 +SLAM 16.103 14.4069 -15.7427 -0.56959 0.0527911 0.697937 0.430888 +TTool-pose None -29.3847 13.408 14.3613 0.667304 0.643434 -0.255255 0.274653 +#21297 1721121219007 +SLAM 16.0487 14.3879 -15.743 -0.569312 0.0530874 0.698112 0.430935 +TTool-pose None -29.3627 13.3832 14.3321 0.667312 0.643241 -0.255651 0.274717 +#21298 1721121219038 +SLAM 16.1584 14.4327 -15.6352 -0.570221 0.0515936 0.696759 0.432104 +TTool-pose None -29.3803 13.3738 14.3293 0.666202 0.644759 -0.254104 0.275288 +#21299 1721121219070 +SLAM 16.1229 14.347 -15.6837 -0.570479 0.053082 0.696854 0.431429 +TTool-pose None -29.3608 13.3712 14.3064 0.667126 0.643504 -0.254285 0.27582 +#21300 1721121219101 +SLAM 16.2676 14.4881 -15.5201 -0.571228 0.0498119 0.695378 0.433204 +TTool-pose None -29.4008 13.3581 14.3278 0.66507 0.646442 -0.252362 0.27568 +#21301 1721121219133 +SLAM 16.2483 14.448 -15.5513 -0.571481 0.0503567 0.695403 0.432769 +TTool-pose None -29.4002 13.3438 14.3213 0.665566 0.645915 -0.252264 0.275809 +#21302 1721121219166 +SLAM 16.1554 14.3922 -15.6299 -0.570827 0.0517969 0.696383 0.431886 +TTool-pose None -29.3728 13.3468 14.3109 0.666499 0.644564 -0.253489 0.275593 +#21303 1721121219198 +SLAM 16.1872 14.4092 -15.6021 -0.571271 0.0511676 0.696071 0.431876 +TTool-pose None -29.3794 13.3424 14.3196 0.666395 0.645001 -0.252805 0.275449 +#21304 1721121219228 +SLAM 16.2933 14.4437 -15.5328 -0.572634 0.0496463 0.694848 0.432217 +TTool-pose None -29.4162 13.3231 14.3361 0.665923 0.646219 -0.25079 0.27558 +#21305 1721121219259 +SLAM 16.2921 14.4035 -15.5541 -0.571836 0.0512895 0.694782 0.433188 +TTool-pose None -29.409 13.3632 14.3021 0.665574 0.64548 -0.252092 0.276966 +#21306 1721121219290 +SLAM 16.1537 14.3506 -15.6587 -0.571952 0.0518379 0.696261 0.430586 +TTool-pose None -29.3795 13.3216 14.3198 0.667592 0.644062 -0.25232 0.275194 +#21307 1721121219321 +SLAM 16.227 14.4134 -15.5801 -0.57233 0.0504193 0.695595 0.431328 +TTool-pose None -29.3928 13.3263 14.3315 0.666727 0.645328 -0.251428 0.275141 +#21308 1721121219351 +SLAM 16.2412 14.4606 -15.5483 -0.571775 0.049887 0.695348 0.432524 +TTool-pose None -29.4092 13.3233 14.321 0.665652 0.646142 -0.251815 0.275479 +#21309 1721121219384 +SLAM 16.1092 14.4197 -15.6262 -0.570597 0.0513297 0.696706 0.431722 +TTool-pose None -29.3683 13.3253 14.3001 0.666454 0.644798 -0.25363 0.275023 +#21310 1721121219416 +SLAM 16.0686 14.3783 -15.6549 -0.571193 0.0515403 0.69701 0.430417 +TTool-pose None -29.3502 13.3021 14.3024 0.667523 0.644155 -0.253113 0.274413 +#21311 1721121219448 +SLAM 16.0526 14.4022 -15.6234 -0.570561 0.0513648 0.696975 0.431332 +TTool-pose None -29.34 13.2966 14.2801 0.666736 0.644614 -0.253712 0.274695 +#21312 1721121219482 +SLAM 16.0668 14.39 -15.5719 -0.569734 0.052317 0.696624 0.432874 +TTool-pose None -29.3063 13.3372 14.2314 0.665784 0.644566 -0.254802 0.276107 +#21313 1721121219513 +SLAM 16.0205 14.4201 -15.5368 -0.571008 0.0501681 0.69709 0.430695 +TTool-pose None -29.2752 13.2708 14.2672 0.666921 0.645174 -0.252912 0.273665 +#21314 1721121219546 +SLAM 15.8948 14.334 -15.6035 -0.570072 0.0520288 0.697755 0.430637 +TTool-pose None -29.2372 13.2368 14.2141 0.667342 0.643864 -0.25451 0.274243 +#21315 1721121219577 +SLAM 16.0312 14.4482 -15.4049 -0.572072 0.0481666 0.696388 0.430648 +TTool-pose None -29.2269 13.2129 14.2467 0.66655 0.646539 -0.251131 0.272986 +#21316 1721121219611 +SLAM 15.7787 14.2956 -15.5761 -0.569882 0.0521815 0.698344 0.429915 +TTool-pose None -29.158 13.1904 14.1671 0.667869 0.643458 -0.254825 0.273621 +#21317 1721121219643 +SLAM 15.846 14.3353 -15.475 -0.569786 0.0515008 0.697218 0.431948 +TTool-pose None -29.1614 13.1907 14.1295 0.666226 0.644736 -0.254585 0.274839 +#21318 1721121219676 +SLAM 15.787 14.2959 -15.4956 -0.570951 0.0509388 0.697522 0.429981 +TTool-pose None -29.1405 13.1266 14.1388 0.667632 0.644367 -0.253251 0.27352 +#21319 1721121219708 +SLAM 16.0598 14.4407 -15.2431 -0.572204 0.0475685 0.694156 0.434128 +TTool-pose None -29.2133 13.1242 14.1194 0.663924 0.648356 -0.250532 0.275615 +#21320 1721121219740 +SLAM 15.8494 14.3923 -15.3512 -0.571764 0.0482883 0.696509 0.430848 +TTool-pose None -29.1401 13.0909 14.1279 0.666398 0.646525 -0.251502 0.273049 +#21321 1721121219774 +SLAM 15.8372 14.3924 -15.3322 -0.572015 0.0479481 0.696267 0.430943 +TTool-pose None -29.1384 13.0612 14.11 0.666272 0.646802 -0.25111 0.273063 +#21322 1721121219806 +SLAM 15.8216 14.3973 -15.3122 -0.571522 0.0481824 0.696225 0.43164 +TTool-pose None -29.1259 13.0643 14.083 0.665773 0.646906 -0.251685 0.273504 +#21323 1721121219842 +SLAM 15.6947 14.2858 -15.4212 -0.571383 0.0502218 0.697237 0.429953 +TTool-pose None -29.0889 13.0404 14.0584 0.667515 0.644854 -0.252557 0.273298 +#21324 1721121219879 +SLAM 15.696 14.3237 -15.3822 -0.571269 0.0494096 0.697154 0.430333 +TTool-pose None -29.0853 13.0289 14.0557 0.667006 0.645545 -0.252426 0.273034 +#21325 1721121219916 +SLAM 15.7762 14.3213 -15.3183 -0.57009 0.0506334 0.695819 0.4339 +TTool-pose None -29.1007 13.0704 13.9881 0.664641 0.646122 -0.253837 0.276111 +#21326 1721121219953 +SLAM 15.7164 14.2543 -15.3721 -0.569608 0.0522003 0.696077 0.433935 +TTool-pose None -29.0869 13.0617 13.9542 0.664979 0.645068 -0.254828 0.276851 +#21327 1721121219984 +SLAM 15.6817 14.2996 -15.3495 -0.570379 0.0504455 0.696643 0.432217 +TTool-pose None -29.0685 13.028 13.9884 0.665828 0.645579 -0.253589 0.274747 +#21328 1721121220017 +SLAM 15.6509 14.2613 -15.3786 -0.571274 0.0503415 0.696751 0.430871 +TTool-pose None -29.0648 12.9882 13.9949 0.666882 0.645143 -0.252645 0.27408 +#21329 1721121220049 +SLAM 15.6445 14.2507 -15.3672 -0.57192 0.0498943 0.696667 0.430201 +TTool-pose None -29.0551 12.9634 13.9975 0.667324 0.645199 -0.251832 0.273618 +#21330 1721121220081 +SLAM 15.5933 14.1638 -15.4096 -0.569843 0.0532455 0.6967 0.432495 +TTool-pose None -29.0272 13.0096 13.9128 0.666323 0.643797 -0.25497 0.276444 +#21331 1721121220114 +SLAM 15.6955 14.242 -15.3038 -0.57188 0.0500288 0.695516 0.432096 +TTool-pose None -29.0601 12.9525 13.9522 0.66601 0.645879 -0.251769 0.275272 +#21332 1721121220147 +SLAM 15.6433 14.1977 -15.3315 -0.570996 0.0515185 0.695917 0.432446 +TTool-pose None -29.0304 12.9713 13.9187 0.666048 0.644986 -0.253174 0.275988 +#21333 1721121220185 +SLAM 15.7856 14.3204 -15.1688 -0.573015 0.0475327 0.694519 0.432479 +TTool-pose None -29.0562 12.9365 13.9656 0.665202 0.64775 -0.249728 0.274686 +#21334 1721121220217 +SLAM 15.7571 14.2508 -15.2085 -0.57207 0.0495925 0.694309 0.433833 +TTool-pose None -29.0536 12.9421 13.912 0.664678 0.646884 -0.251289 0.276571 +#21335 1721121220249 +SLAM 15.7812 14.2483 -15.1877 -0.573205 0.0487399 0.693968 0.432976 +TTool-pose None -29.0563 12.9164 13.9267 0.66521 0.647157 -0.249817 0.275984 +#21336 1721121220282 +SLAM 15.7317 14.1727 -15.2592 -0.573949 0.0495199 0.694271 0.431414 +TTool-pose None -29.0527 12.8815 13.93 0.66664 0.646038 -0.249316 0.275607 +#21337 1721121220315 +SLAM 15.8578 14.2439 -15.141 -0.573872 0.0484123 0.692917 0.433812 +TTool-pose None -29.0744 12.9114 13.9194 0.664613 0.647744 -0.248893 0.276878 +#21338 1721121220349 +SLAM 15.7816 14.1263 -15.2548 -0.574204 0.0503708 0.693496 0.432223 +TTool-pose None -29.0627 12.8903 13.9119 0.666334 0.645811 -0.249202 0.27698 +#21339 1721121220388 +SLAM 15.7709 14.1242 -15.2589 -0.573982 0.050523 0.693693 0.432182 +TTool-pose None -29.0537 12.8972 13.9136 0.666375 0.645683 -0.249502 0.27691 +#21340 1721121220424 +SLAM 15.9309 14.2159 -15.1166 -0.573984 0.0489812 0.691947 0.435148 +TTool-pose None -29.0905 12.9253 13.9047 0.663831 0.647911 -0.248817 0.278432 +#21341 1721121220459 +SLAM 15.8313 14.0962 -15.2429 -0.574025 0.0511948 0.692794 0.433487 +TTool-pose None -29.072 12.9081 13.8927 0.665635 0.645766 -0.249539 0.278461 +#21342 1721121220495 +SLAM 15.8427 14.1013 -15.2324 -0.573814 0.0512853 0.692646 0.433991 +TTool-pose None -29.0741 12.9153 13.886 0.665271 0.6459 -0.249764 0.278819 +#21343 1721121220529 +SLAM 15.8278 14.0836 -15.2457 -0.572919 0.0523545 0.692701 0.434957 +TTool-pose None -29.0682 12.9363 13.8597 0.664752 0.645536 -0.25101 0.27978 +#21344 1721121220562 +SLAM 15.9249 14.1712 -15.1558 -0.575365 0.0487284 0.691891 0.433436 +TTool-pose None -29.1011 12.8831 13.928 0.665171 0.647449 -0.247304 0.277653 +#21345 1721121220596 +SLAM 15.8063 14.0709 -15.2687 -0.573517 0.0521072 0.69298 0.433752 +TTool-pose None -29.0654 12.9185 13.8758 0.665627 0.645241 -0.250356 0.278963 +#21346 1721121220629 +SLAM 16.0133 14.2389 -15.0738 -0.576352 0.0467039 0.690922 0.433894 +TTool-pose None -29.1324 12.8626 13.9484 0.664412 0.649024 -0.245553 0.277345 +#21347 1721121220662 +SLAM 15.894 14.1017 -15.2031 -0.573005 0.0520901 0.691723 0.43643 +TTool-pose None -29.098 12.9351 13.8422 0.663636 0.646311 -0.250714 0.280905 +#21348 1721121220696 +SLAM 15.807 14.0844 -15.2594 -0.573829 0.0516047 0.693071 0.433255 +TTool-pose None -29.0621 12.9144 13.8871 0.665886 0.64539 -0.249898 0.27841 +#21349 1721121220735 +SLAM 15.8168 14.0937 -15.2485 -0.573877 0.0514124 0.693002 0.433324 +TTool-pose None -29.0629 12.9171 13.8892 0.665791 0.645548 -0.249783 0.278375 +#21350 1721121220770 +SLAM 15.963 14.2311 -15.0864 -0.574464 0.0484086 0.691653 0.435045 +TTool-pose None -29.0925 12.927 13.9118 0.66381 0.648272 -0.248111 0.278269 +#21351 1721121220804 +SLAM 15.8275 14.1222 -15.2235 -0.573853 0.0508752 0.693008 0.433411 +TTool-pose None -29.06 12.9226 13.8956 0.665578 0.64594 -0.249651 0.278092 +#21352 1721121220838 +SLAM 15.8253 14.1044 -15.2341 -0.573241 0.0517445 0.692875 0.43433 +TTool-pose None -29.0629 12.935 13.8724 0.665077 0.645704 -0.250522 0.279054 +#21353 1721121220875 +SLAM 16.0005 14.2673 -15.0485 -0.575145 0.0471805 0.691343 0.434772 +TTool-pose None -29.1033 12.9147 13.9327 0.663756 0.649009 -0.247001 0.277666 +#21354 1721121220915 +SLAM 15.7862 14.0657 -15.2817 -0.573839 0.0519503 0.693285 0.432858 +TTool-pose None -29.0569 12.9124 13.8866 0.666266 0.644998 -0.250017 0.278301 +#21355 1721121220953 +SLAM 15.9652 14.2449 -15.081 -0.575178 0.0475192 0.691736 0.434066 +TTool-pose None -29.0942 12.9075 13.9363 0.66436 0.6485 -0.24712 0.277305 +#21356 1721121220986 +SLAM 15.9792 14.2504 -15.0737 -0.575186 0.0473654 0.691475 0.434487 +TTool-pose None -29.1063 12.8986 13.9335 0.664017 0.648773 -0.247031 0.277568 +#21357 1721121221019 +SLAM 15.8831 14.1371 -15.1929 -0.574221 0.0502874 0.692251 0.434199 +TTool-pose None -29.0872 12.9079 13.8977 0.664903 0.646668 -0.248997 0.278603 +#21358 1721121221053 +SLAM 15.9361 14.1288 -15.1691 -0.573524 0.0511225 0.691382 0.436404 +TTool-pose None -29.108 12.9279 13.862 0.663459 0.64697 -0.249848 0.280578 +#21359 1721121221086 +SLAM 15.8305 14.0756 -15.2536 -0.57331 0.0521031 0.692608 0.43462 +TTool-pose None -29.0763 12.9168 13.8693 0.664977 0.645586 -0.250521 0.279569 +#21360 1721121221119 +SLAM 15.8478 14.105 -15.2305 -0.573555 0.0513265 0.692512 0.434543 +TTool-pose None -29.0819 12.9113 13.8816 0.664853 0.646084 -0.250026 0.279156 +#21361 1721121221151 +SLAM 15.9644 14.1958 -15.1178 -0.57537 0.0482311 0.691508 0.434097 +TTool-pose None -29.1069 12.8892 13.9312 0.664561 0.648048 -0.247102 0.277897 +#21362 1721121221184 +SLAM 15.855 14.1419 -15.1989 -0.574245 0.0500253 0.692745 0.433411 +TTool-pose None -29.0685 12.9066 13.913 0.665397 0.646525 -0.248961 0.277786 +#21363 1721121221217 +SLAM 16.0223 14.2545 -15.0462 -0.574966 0.0474667 0.690929 0.435635 +TTool-pose None -29.1163 12.9091 13.9237 0.663193 0.649159 -0.247216 0.278469 +#21364 1721121221249 +SLAM 15.9736 14.2024 -15.1023 -0.574431 0.048926 0.691367 0.435485 +TTool-pose None -29.1035 12.9196 13.9049 0.663634 0.648104 -0.24826 0.278949 +#21365 1721121221281 +SLAM 15.9155 14.1493 -15.1717 -0.575645 0.0488777 0.692011 0.432856 +TTool-pose None -29.0947 12.8771 13.9351 0.665664 0.647127 -0.247074 0.277426 +#21366 1721121221314 +SLAM 15.9195 14.1607 -15.1543 -0.574352 0.0497095 0.691975 0.434533 +TTool-pose None -29.0863 12.916 13.9063 0.664522 0.647194 -0.248654 0.278596 +#21367 1721121221347 +SLAM 15.9543 14.155 -15.1428 -0.575141 0.0492566 0.691558 0.434204 +TTool-pose None -29.0981 12.9026 13.9179 0.664738 0.647398 -0.247648 0.278502 +#21368 1721121221379 +SLAM 16.0282 14.2323 -15.0569 -0.575764 0.0472908 0.690921 0.434611 +TTool-pose None -29.1135 12.898 13.9409 0.663985 0.648898 -0.246336 0.27797 +#21369 1721121221418 +SLAM 15.9373 14.1563 -15.1462 -0.57416 0.0499766 0.691738 0.435133 +TTool-pose None -29.0894 12.9252 13.8981 0.664141 0.647249 -0.2489 0.279156 +#21370 1721121221455 +SLAM 16.0453 14.223 -15.0465 -0.573934 0.0490402 0.690496 0.437505 +TTool-pose None -29.1177 12.9472 13.8832 0.662149 0.648819 -0.248689 0.280431 +#21371 1721121221487 +SLAM 15.9459 14.1797 -15.1371 -0.576204 0.0477831 0.691841 0.432506 +TTool-pose None -29.0967 12.8691 13.9584 0.665685 0.647739 -0.246148 0.27677 +#21372 1721121221520 +SLAM 15.9558 14.1357 -15.1478 -0.574607 0.0501603 0.691503 0.434895 +TTool-pose None -29.0913 12.927 13.898 0.664422 0.647051 -0.24846 0.279339 +#21373 1721121221553 +SLAM 15.9335 14.142 -15.1579 -0.574738 0.0497937 0.691782 0.434321 +TTool-pose None -29.0891 12.9113 13.9096 0.664749 0.647069 -0.248254 0.2787 +#21374 1721121221585 +SLAM 15.9417 14.1478 -15.1562 -0.575939 0.0487208 0.691769 0.43287 +TTool-pose None -29.0952 12.8813 13.9401 0.66565 0.647251 -0.24669 0.277514 +#21375 1721121221619 +SLAM 15.8894 14.0985 -15.2099 -0.574458 0.0508327 0.692138 0.434003 +TTool-pose None -29.0838 12.9081 13.8981 0.665225 0.646236 -0.248897 0.278926 +#21376 1721121221655 +SLAM 15.8785 14.0949 -15.2163 -0.574909 0.0505207 0.692393 0.433036 +TTool-pose None -29.0741 12.9023 13.9147 0.665891 0.646073 -0.248372 0.278181 +#21377 1721121221690 +SLAM 16.0718 14.2368 -15.0282 -0.575205 0.0477275 0.690382 0.436157 +TTool-pose None -29.1214 12.9229 13.9215 0.662923 0.649207 -0.246972 0.279219 +#21378 1721121221724 +SLAM 15.9115 14.039 -15.233 -0.575218 0.0514936 0.691835 0.433402 +TTool-pose None -29.084 12.9068 13.9023 0.665939 0.645586 -0.248264 0.279292 +#21379 1721121221766 +SLAM 16.0394 14.1557 -15.0976 -0.576192 0.0484454 0.690574 0.434468 +TTool-pose None -29.1189 12.89 13.9337 0.664464 0.648091 -0.246188 0.278838 +#21380 1721121221804 +SLAM 15.9361 14.0715 -15.2026 -0.575292 0.0507141 0.69157 0.433818 +TTool-pose None -29.0947 12.8975 13.9095 0.665437 0.646277 -0.247923 0.279192 +#21381 1721121221837 +SLAM 16.0381 14.1395 -15.1044 -0.574981 0.0498465 0.690448 0.436113 +TTool-pose None -29.1176 12.9255 13.8946 0.663512 0.647768 -0.247839 0.280392 +#21382 1721121221871 +SLAM 15.9665 14.0569 -15.1826 -0.574154 0.0521719 0.6911 0.435897 +TTool-pose None -29.0908 12.9494 13.8629 0.664196 0.646093 -0.249466 0.281194 +#21383 1721121221911 +SLAM 16.0127 14.0731 -15.1594 -0.574898 0.0512868 0.690483 0.435999 +TTool-pose None -29.1181 12.9249 13.8746 0.66398 0.646758 -0.248354 0.281161 +#21384 1721121221950 +SLAM 15.9431 14.0355 -15.2106 -0.574373 0.052347 0.691361 0.435173 +TTool-pose None -29.0867 12.9384 13.8708 0.664792 0.645694 -0.249326 0.280825 +#21385 1721121221983 +SLAM 16.0823 14.1767 -15.0515 -0.575773 0.0484777 0.690119 0.435742 +TTool-pose None -29.1183 12.9174 13.9183 0.663504 0.648565 -0.246571 0.279683 +#21386 1721121222017 +SLAM 15.9904 14.0829 -15.1637 -0.575664 0.0503572 0.690972 0.434318 +TTool-pose None -29.1035 12.9063 13.9087 0.66503 0.646734 -0.247353 0.27961 +#21387 1721121222051 +SLAM 15.9853 14.1029 -15.1565 -0.57552 0.0500414 0.69102 0.434469 +TTool-pose None -29.1072 12.9014 13.9087 0.664816 0.646999 -0.247415 0.27945 +#21388 1721121222085 +SLAM 15.9117 14.0477 -15.2126 -0.574109 0.0521363 0.691545 0.435254 +TTool-pose None -29.0853 12.9197 13.8632 0.664641 0.645856 -0.249562 0.280602 +#21389 1721121222119 +SLAM 16.0164 14.2108 -15.0567 -0.574449 0.0486426 0.690733 0.436497 +TTool-pose None -29.1068 12.9178 13.8946 0.662832 0.648701 -0.248072 0.279634 +#21390 1721121222152 +SLAM 15.7527 14.0576 -15.2722 -0.572675 0.0526831 0.693277 0.434321 +TTool-pose None -29.0418 12.9094 13.8477 0.665263 0.645048 -0.251436 0.279307 +#21391 1721121222186 +SLAM 15.7596 14.0984 -15.2467 -0.572671 0.0518841 0.69324 0.434482 +TTool-pose None -29.0484 12.9033 13.8523 0.664929 0.645647 -0.251201 0.278932 +#21392 1721121222219 +SLAM 15.8767 14.1787 -15.1429 -0.574438 0.0490449 0.69209 0.434312 +TTool-pose None -29.0816 12.8757 13.8929 0.664508 0.647551 -0.248385 0.278038 +#21393 1721121222252 +SLAM 15.7879 14.0816 -15.2435 -0.573344 0.0517963 0.692879 0.434181 +TTool-pose None -29.0566 12.8971 13.8573 0.665212 0.645614 -0.250431 0.279023 +#21394 1721121222286 +SLAM 15.7935 14.0911 -15.2296 -0.572959 0.0518031 0.692832 0.434763 +TTool-pose None -29.0531 12.9034 13.8538 0.664745 0.645827 -0.250825 0.279289 +#21395 1721121222318 +SLAM 15.897 14.1806 -15.1225 -0.57412 0.0491526 0.691961 0.434925 +TTool-pose None -29.0731 12.8914 13.893 0.664056 0.647712 -0.248728 0.278434 +#21396 1721121222351 +SLAM 15.9639 14.1281 -15.1264 -0.575516 0.0493022 0.690988 0.434611 +TTool-pose None -29.0999 12.8727 13.8975 0.664509 0.647548 -0.247198 0.279098 +#21397 1721121222384 +SLAM 16.0076 14.1891 -15.0546 -0.574814 0.048611 0.690646 0.436158 +TTool-pose None -29.0972 12.8985 13.8914 0.663115 0.648602 -0.247673 0.279546 +#21398 1721121222417 +SLAM 16.0026 14.1493 -15.0818 -0.574429 0.0497123 0.690473 0.436815 +TTool-pose None -29.1026 12.9027 13.8691 0.662897 0.648116 -0.248373 0.28057 +#21399 1721121222450 +SLAM 15.9336 14.0976 -15.149 -0.5739 0.0511236 0.691201 0.436196 +TTool-pose None -29.0833 12.9109 13.8564 0.663659 0.646902 -0.249435 0.280627 +#21400 1721121222490 +SLAM 15.8985 14.0672 -15.1862 -0.57461 0.0511319 0.69156 0.434688 +TTool-pose None -29.0766 12.888 13.8693 0.664838 0.64632 -0.248751 0.279784 +#21401 1721121222525 +SLAM 15.9734 14.1071 -15.125 -0.574431 0.0506385 0.69055 0.436583 +TTool-pose None -29.1061 12.8949 13.8511 0.663319 0.647405 -0.248654 0.280964 +#21402 1721121222562 +SLAM 15.9081 14.1033 -15.1606 -0.574652 0.0504555 0.691513 0.434786 +TTool-pose None -29.0806 12.8879 13.8726 0.664587 0.646812 -0.248502 0.279462 +#21403 1721121222595 +SLAM 15.9336 14.155 -15.1065 -0.574242 0.0497128 0.691333 0.435699 +TTool-pose None -29.078 12.9005 13.871 0.663673 0.647657 -0.248683 0.279516 +#21404 1721121222631 +SLAM 15.7911 14.0264 -15.2641 -0.573855 0.0523851 0.692694 0.433728 +TTool-pose None -29.0505 12.8862 13.8567 0.665766 0.645062 -0.25005 0.279321 +#21405 1721121222671 +SLAM 15.8365 14.0835 -15.2049 -0.573654 0.0514767 0.69229 0.434747 +TTool-pose None -29.0594 12.8976 13.8573 0.664761 0.646071 -0.249938 0.279482 +#21406 1721121222704 +SLAM 15.8743 14.0869 -15.1826 -0.57356 0.0515345 0.691747 0.435728 +TTool-pose None -29.0727 12.9019 13.846 0.664062 0.646424 -0.24998 0.280291 +#21407 1721121222738 +SLAM 15.8345 14.0521 -15.2322 -0.57439 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-0.573804 0.0529086 0.69125 0.43603 +TTool-pose None -29.0682 12.925 13.8302 0.664255 0.64564 -0.250064 0.281566 +#21414 1721121222979 +SLAM 16.047 14.1834 -15.0349 -0.575658 0.0481109 0.690132 0.435913 +TTool-pose None -29.1077 12.8841 13.9 0.663264 0.648873 -0.246582 0.279527 +#21415 1721121223016 +SLAM 16.0946 14.2002 -15.0005 -0.57555 0.0478911 0.689399 0.437239 +TTool-pose None -29.1304 12.8811 13.886 0.662237 0.649548 -0.24653 0.280442 +#21416 1721121223115 +SLAM 16.1035 14.247 -14.9631 -0.574593 0.0476744 0.689278 0.438709 +TTool-pose None -29.1338 12.8964 13.8686 0.660991 0.650241 -0.247436 0.280977 +#21417 1721121223149 +SLAM 15.9956 14.1644 -15.0734 -0.575451 0.0485239 0.690549 0.435481 +TTool-pose None -29.1036 12.8673 13.8928 0.663661 0.648415 -0.246976 0.2793 +#21418 1721121223181 +SLAM 15.9876 14.137 -15.0968 -0.575283 0.0492316 0.690506 0.435693 +TTool-pose None -29.1072 12.8686 13.8805 0.663683 0.648022 -0.247353 0.279827 +#21419 1721121223220 +SLAM 15.9696 14.1867 -15.0634 -0.573843 0.0492884 0.690931 0.436909 +TTool-pose None -29.0845 12.907 13.8669 0.662634 0.64841 -0.248916 0.28003 +#21420 1721121223254 +SLAM 15.958 14.1334 -15.1043 -0.57371 0.050507 0.690878 0.437028 +TTool-pose None -29.0865 12.9108 13.8502 0.662866 0.64764 -0.249405 0.280826 +#21421 1721121223287 +SLAM 15.8904 14.0431 -15.157 -0.572521 0.052847 0.691395 0.437493 +TTool-pose None -29.0417 12.9298 13.8148 0.663014 0.646212 -0.25139 0.281997 +#21422 1721121223321 +SLAM 15.9669 14.0425 -15.1319 -0.573575 0.0520376 0.690198 0.438099 +TTool-pose None -29.0895 12.8892 13.8197 0.662499 0.647044 -0.249902 0.282623 +#21423 1721121223354 +SLAM 16.0532 14.1605 -15.0114 -0.573622 0.0497926 0.68963 0.439192 +TTool-pose None -29.0973 12.9119 13.8392 0.6611 0.648982 -0.249113 0.282149 +#21424 1721121223387 +SLAM 16.1511 14.082 -15.011 -0.57568 0.0497831 0.688632 0.438065 +TTool-pose None -29.1091 12.9007 13.8772 0.662183 0.648626 -0.246848 0.28242 +#21425 1721121223421 +SLAM 16.1615 13.9464 -15.0888 -0.57618 0.0522113 0.688377 0.437525 +TTool-pose None -29.1027 12.9179 13.8668 0.663305 0.646811 -0.247011 0.283806 +#21426 1721121223459 +SLAM 16.118 13.8875 -15.148 -0.574907 0.0543286 0.688729 0.438386 +TTool-pose None -29.0911 12.9459 13.835 0.663095 0.645687 -0.248993 0.285122 +#21427 1721121223498 +SLAM 16.2537 14.0449 -14.9828 -0.575743 0.0505432 0.687474 0.43971 +TTool-pose None -29.1281 12.9296 13.8712 0.661213 0.648782 -0.246844 0.284334 +#21428 1721121223532 +SLAM 16.0802 13.9782 -15.1588 -0.572631 0.0544209 0.689037 0.440862 +TTool-pose None -29.133 12.9582 13.8012 0.66103 0.646518 -0.251407 0.285917 +#21429 1721121223565 +SLAM 16.1209 14.2396 -15.0511 -0.573437 0.0491364 0.689435 0.439813 +TTool-pose None -29.1904 12.9361 13.8775 0.660447 0.64966 -0.249082 0.282147 +#21430 1721121223606 +SLAM 15.9377 14.2368 -15.1858 -0.571979 0.0505 0.691735 0.437942 +TTool-pose None -29.1667 12.9495 13.8729 0.661973 0.647934 -0.251306 0.280561 +#21431 1721121223640 +SLAM 15.9345 14.254 -15.168 -0.57199 0.0500789 0.691816 0.437848 +TTool-pose None -29.1588 12.9476 13.8765 0.661927 0.648177 -0.251181 0.28022 +#21432 1721121223672 +SLAM 15.945 14.3041 -15.1438 -0.572641 0.0486042 0.691971 0.436916 +TTool-pose None -29.1642 12.9348 13.9094 0.662276 0.648814 -0.250096 0.278885 +#21433 1721121223710 +SLAM 15.7451 14.0464 -15.3842 -0.570296 0.0554188 0.693496 0.436755 +TTool-pose None -29.1071 12.9752 13.8166 0.663938 0.644092 -0.254719 0.281687 +#21434 1721121223749 +SLAM 15.9632 14.2038 -15.1785 -0.572949 0.0505134 0.691653 0.4368 +TTool-pose None -29.1468 12.9614 13.8904 0.662929 0.647509 -0.250299 0.280182 +#21435 1721121223785 +SLAM 15.9152 14.1705 -15.2143 -0.571994 0.0516141 0.691939 0.437469 +TTool-pose None -29.1375 12.9566 13.8676 0.662621 0.647001 -0.251646 0.280878 +#21436 1721121223818 +SLAM 15.8371 14.0776 -15.321 -0.572163 0.0533702 0.692676 0.435869 +TTool-pose None -29.1258 12.9487 13.862 0.664273 0.645191 -0.252086 0.280745 +#21437 1721121223852 +SLAM 15.8026 13.9586 -15.4041 -0.572719 0.0552726 0.692832 0.434651 +TTool-pose None -29.112 12.9424 13.8538 0.665739 0.643453 -0.252086 0.281261 +#21438 1721121223885 +SLAM 15.9773 14.0185 -15.2703 -0.574159 0.0529855 0.69095 0.43603 +TTool-pose None -29.1481 12.9314 13.8803 0.664323 0.645604 -0.249679 0.281827 +#21439 1721121223918 +SLAM 16.1505 14.0361 -15.1495 -0.574441 0.0525371 0.689012 0.438771 +TTool-pose None -29.1684 12.968 13.8704 0.662267 0.647018 -0.24899 0.284027 +#21440 1721121223954 +SLAM 16.0627 13.9201 -15.2609 -0.574099 0.0549871 0.689823 0.437643 +TTool-pose None -29.1408 12.9719 13.8543 0.663702 0.644913 -0.250171 0.284429 +#21441 1721121223987 +SLAM 16.1138 13.8033 -15.305 -0.576669 0.0554638 0.689208 0.435165 +TTool-pose None -29.1451 12.9465 13.8871 0.665951 0.643709 -0.247568 0.284177 +#21442 1721121224022 +SLAM 16.0524 13.4606 -15.5281 -0.577925 0.061287 0.689199 0.432725 +TTool-pose None -29.1189 12.947 13.8539 0.669426 0.638873 -0.247943 0.286593 +#21443 1721121224060 +SLAM 16.3539 13.3182 -15.4363 -0.582354 0.0613785 0.685885 0.43204 +TTool-pose None -29.1512 12.9725 13.8914 0.6705 0.638713 -0.242913 0.288737 +#21444 1721121224098 +SLAM 16.4837 12.9502 -15.5589 -0.587219 0.0649885 0.68394 0.427992 +TTool-pose None -29.1511 12.9446 13.9254 0.674933 0.634828 -0.238587 0.29058 +#21445 1721121224130 +SLAM 16.5143 12.4644 -15.7914 -0.589874 0.0726976 0.682722 0.425034 +TTool-pose None -29.1255 12.976 13.8918 0.679343 0.628511 -0.237788 0.294668 +#21446 1721121224162 +SLAM 16.4733 11.9433 -16.0739 -0.593771 0.0796581 0.68216 0.419223 +TTool-pose None -29.0976 12.939 13.8937 0.685657 0.621542 -0.235489 0.296666 +#21447 1721121224203 +SLAM 16.4604 11.4739 -16.3082 -0.596857 0.0864754 0.681379 0.414737 +TTool-pose None -29.0743 12.9421 13.8793 0.690831 0.615144 -0.233922 0.299228 +#21448 1721121224238 +SLAM 16.4437 11.127 -16.4663 -0.598873 0.091447 0.68084 0.411637 +TTool-pose None -29.0459 12.9419 13.8696 0.694416 0.610519 -0.232998 0.30112 +#21449 1721121224274 +SLAM 16.5735 10.9155 -16.4867 -0.602307 0.0931174 0.679222 0.408915 +TTool-pose None -29.0465 12.9445 13.9009 0.69707 0.608343 -0.229538 0.30205 +#21450 1721121224306 +SLAM 16.6391 10.7046 -16.5381 -0.604755 0.0952499 0.678146 0.406592 +TTool-pose None -29.0416 12.9363 13.918 0.699437 0.605976 -0.227312 0.303018 +#21451 1721121224342 +SLAM 16.6058 10.4143 -16.6742 -0.605326 0.100326 0.677656 0.405337 +TTool-pose None -29.0213 12.9584 13.8771 0.701544 0.601968 -0.227928 0.305665 +#21452 1721121224377 +SLAM 16.6895 10.2989 -16.6731 -0.608442 0.100063 0.676861 0.402051 +TTool-pose None -29.0177 12.9294 13.9344 0.704066 0.600858 -0.224372 0.304679 +#21453 1721121224411 +SLAM 16.6655 10.1012 -16.7647 -0.608609 0.103712 0.676553 0.401392 +TTool-pose None -29.0018 12.9544 13.9034 0.70537 0.598062 -0.22507 0.306643 +#21454 1721121224452 +SLAM 16.7168 9.97565 -16.7868 -0.609099 0.105819 0.675416 0.402013 +TTool-pose None -29.0139 12.9674 13.8763 0.705459 0.596869 -0.224936 0.308858 +#21455 1721121224491 +SLAM 16.75 9.90951 -16.7957 -0.611643 0.105043 0.675323 0.398494 +TTool-pose None -29.0065 12.9334 13.9335 0.707955 0.595996 -0.221936 0.306995 +#21456 1721121224526 +SLAM 16.7665 9.89459 -16.7906 -0.611433 0.105558 0.675057 0.39913 +TTool-pose None -29.0064 12.9485 13.9228 0.707611 0.595899 -0.222268 0.307734 +#21457 1721121224564 +SLAM 16.6421 9.86529 -16.8727 -0.611197 0.105941 0.676561 0.396837 +TTool-pose None -28.98 12.9238 13.9387 0.709262 0.594672 -0.222772 0.305936 +#21458 1721121224600 +SLAM 16.7006 9.94988 -16.7978 -0.611139 0.104496 0.676186 0.397947 +TTool-pose None -28.982 12.9349 13.9469 0.708165 0.596137 -0.222443 0.305865 +#21459 1721121224635 +SLAM 16.6767 9.86642 -16.8485 -0.610341 0.106748 0.675879 0.399095 +TTool-pose None -28.9897 12.9507 13.9023 0.707804 0.595036 -0.223848 0.307815 +#21460 1721121224673 +SLAM 16.7479 9.89785 -16.7948 -0.611109 0.10569 0.675283 0.39921 +TTool-pose None -28.9978 12.9523 13.9198 0.707556 0.595835 -0.222681 0.307687 +#21461 1721121224713 +SLAM 16.7764 9.8967 -16.7912 -0.612181 0.104761 0.674996 0.398296 +TTool-pose None -29.018 12.9173 13.9455 0.708075 0.59612 -0.22124 0.306978 +#21462 1721121224750 +SLAM 16.8703 9.85803 -16.738 -0.613015 0.105206 0.674026 0.398539 +TTool-pose None -29.0061 12.9576 13.9459 0.708079 0.595928 -0.220331 0.307994 +#21463 1721121224783 +SLAM 16.7739 9.7779 -16.8404 -0.612989 0.106227 0.674753 0.397074 +TTool-pose None -29.0136 12.908 13.9495 0.70932 0.594608 -0.220684 0.307436 +#21464 1721121224817 +SLAM 16.8268 9.72367 -16.8214 -0.61379 0.106873 0.674218 0.396573 +TTool-pose None -28.9995 12.9355 13.9537 0.70988 0.593965 -0.219904 0.307945 +#21465 1721121224850 +SLAM 16.8638 9.68459 -16.8141 -0.614506 0.107088 0.673644 0.396382 +TTool-pose None -29.007 12.9287 13.9548 0.71012 0.593749 -0.219107 0.308376 +#21466 1721121224884 +SLAM 16.8371 9.54828 -16.8836 -0.615723 0.108591 0.67377 0.393862 +TTool-pose None -28.9935 12.9152 13.9696 0.712297 0.591672 -0.218134 0.308039 +#21467 1721121224917 +SLAM 16.8961 9.42727 -16.8867 -0.615552 0.111266 0.672527 0.395503 +TTool-pose None -28.9933 12.9613 13.9243 0.711739 0.590492 -0.218852 0.311072 +#21468 1721121224951 +SLAM 16.8255 9.31448 -16.9671 -0.615639 0.113048 0.673134 0.393827 +TTool-pose None -28.9701 12.9565 13.9263 0.713291 0.588549 -0.219244 0.310921 +#21469 1721121224986 +SLAM 16.7826 9.18048 -17.0477 -0.61722 0.114135 0.673446 0.390491 +TTool-pose None -28.9621 12.9222 13.9512 0.715952 0.586418 -0.217769 0.309866 +#21470 1721121225021 +SLAM 16.8051 9.10154 -17.0703 -0.618118 0.114895 0.672871 0.389837 +TTool-pose None -28.9762 12.9058 13.9503 0.716638 0.585626 -0.216893 0.310393 +#21471 1721121225055 +SLAM 30.6224 11.1655 21.2975 0.249315 -0.333472 0.258718 0.87161 +TTool-pose None -35.2584 8.47199 15.0832 -0.397473 0.753767 -0.487282 0.190575 +#21472 1721121225091 +SLAM 16.8135 9.00707 -17.0832 -0.617257 0.11744 0.672385 0.391281 +TTool-pose None -28.9547 12.9572 13.9104 0.716123 0.584438 -0.218413 0.312749 +#21473 1721121225128 +SLAM 16.7891 9.03251 -17.1012 -0.618881 0.115441 0.673107 0.388053 +TTool-pose None -28.9594 12.8986 13.9706 0.718038 0.584506 -0.216187 0.309759 +#21474 1721121225162 +SLAM 16.8498 9.02305 -17.0697 -0.618987 0.115733 0.672177 0.389409 +TTool-pose None -28.9764 12.9096 13.9518 0.717181 0.584874 -0.216055 0.311141 +#21475 1721121225199 +SLAM 16.88 9.03024 -17.0486 -0.619003 0.115691 0.671878 0.389912 +TTool-pose None -28.9776 12.9222 13.9501 0.716828 0.585115 -0.216 0.31154 +#21476 1721121225236 +SLAM 16.7886 9.01445 -17.1083 -0.618426 0.116092 0.672876 0.388985 +TTool-pose None -28.9653 12.9026 13.9528 0.717504 0.584436 -0.216831 0.310679 +#21477 1721121225274 +SLAM 16.7628 8.91241 -17.1457 -0.617768 0.118607 0.672705 0.389568 +TTool-pose None -28.9452 12.9378 13.9134 0.717588 0.582909 -0.218145 0.312429 +#21478 1721121225316 +SLAM 16.8407 8.91715 -17.1123 -0.619804 0.11702 0.672126 0.387809 +TTool-pose None -28.965 12.9082 13.9591 0.718617 0.583312 -0.215437 0.311188 +#21479 1721121225349 +SLAM 16.8724 8.84597 -17.1222 -0.620349 0.117985 0.671388 0.387923 +TTool-pose None -28.9783 12.9049 13.9462 0.718787 0.582692 -0.214986 0.312268 +#21480 1721121225383 +SLAM 16.8703 8.80348 -17.1317 -0.621089 0.118144 0.67161 0.386304 +TTool-pose None -28.9576 12.9067 13.9695 0.719985 0.581909 -0.21421 0.3115 +#21481 1721121225416 +SLAM 16.8186 8.71595 -17.1931 -0.620916 0.119705 0.671849 0.385683 +TTool-pose None -28.9511 12.9001 13.9574 0.720727 0.58055 -0.214788 0.311922 +#21482 1721121225451 +SLAM 16.8355 8.7046 -17.1868 -0.621721 0.119193 0.671951 0.384367 +TTool-pose None -28.9413 12.8937 13.989 0.721578 0.580364 -0.21377 0.310997 +#21483 1721121225485 +SLAM 16.8546 8.59528 -17.21 -0.621847 0.121288 0.671198 0.384822 +TTool-pose None -28.9427 12.9137 13.9575 0.721719 0.579088 -0.214049 0.312855 +#21484 1721121225520 +SLAM 16.7921 8.59887 -17.2453 -0.622152 0.120703 0.672233 0.382703 +TTool-pose None -28.9244 12.891 13.9897 0.723062 0.578606 -0.213655 0.310905 +#21485 1721121225555 +SLAM 16.8906 8.60801 -17.1891 -0.622483 0.120696 0.670789 0.384693 +TTool-pose None -28.9569 12.9042 13.9621 0.72173 0.579457 -0.213159 0.312751 +#21486 1721121225593 +SLAM 16.8634 8.63567 -17.1933 -0.622638 0.119914 0.671428 0.383571 +TTool-pose None -28.9434 12.8941 13.9867 0.722342 0.579534 -0.212857 0.311398 +#21487 1721121225628 +SLAM 16.918 8.63737 -17.1592 -0.622905 0.11987 0.670834 0.384191 +TTool-pose None -28.9472 12.9108 13.9847 0.721931 0.57983 -0.212496 0.312048 +#21488 1721121225664 +SLAM 16.8009 8.55195 -17.253 -0.62163 0.122158 0.671659 0.384094 +TTool-pose None -28.931 12.9109 13.9504 0.72238 0.578166 -0.214533 0.3127 +#21489 1721121225700 +SLAM 16.8734 8.63293 -17.1921 -0.623245 0.119479 0.671439 0.382701 +TTool-pose None -28.9452 12.8835 14.0036 0.722888 0.579479 -0.212069 0.310771 +#21490 1721121225734 +SLAM 16.9493 8.61511 -17.1577 -0.623309 0.120061 0.670033 0.384873 +TTool-pose None -28.9791 12.8905 13.965 0.721535 0.579988 -0.212015 0.312995 +#21491 1721121225769 +SLAM 16.8483 8.58485 -17.2182 -0.621917 0.121491 0.671162 0.38471 +TTool-pose None -28.9459 12.9115 13.9507 0.721843 0.578898 -0.214014 0.312942 +#21492 1721121225803 +SLAM 16.8934 8.60548 -17.1833 -0.622693 0.120602 0.67097 0.384068 +TTool-pose None -28.9422 12.9142 13.9751 0.722152 0.579262 -0.212915 0.312304 +#21493 1721121225839 +SLAM 16.8283 8.52519 -17.2366 -0.622121 0.122326 0.671379 0.383733 +TTool-pose None -28.9204 12.9192 13.9561 0.722699 0.577902 -0.213993 0.312823 +#21494 1721121225878 +SLAM 16.9295 8.58857 -17.1635 -0.623288 0.120365 0.670405 0.384162 +TTool-pose None -28.9512 12.8969 13.9781 0.722083 0.579475 -0.21214 0.312597 +#21495 1721121225914 +SLAM 16.7805 8.60285 -17.2383 -0.62165 0.120877 0.672249 0.383433 +TTool-pose None -28.9164 12.8912 13.9788 0.722564 0.578786 -0.214264 0.311309 +#21496 1721121225949 +SLAM 16.8462 8.55585 -17.2208 -0.622321 0.121552 0.671103 0.384139 +TTool-pose None -28.9398 12.897 13.957 0.722275 0.57862 -0.213566 0.312765 +#21497 1721121225983 +SLAM 16.9442 8.61868 -17.1447 -0.623053 0.120082 0.670252 0.384899 +TTool-pose None -28.9567 12.9029 13.9713 0.721503 0.579982 -0.212327 0.312869 +#21498 1721121226018 +SLAM 16.844 8.54726 -17.219 -0.621173 0.122757 0.670886 0.385988 +TTool-pose None -28.9349 12.9328 13.9208 0.721178 0.578539 -0.215121 0.31438 +#21499 1721121226054 +SLAM 16.8632 8.57562 -17.1996 -0.622098 0.121472 0.671036 0.384642 +TTool-pose None -28.9328 12.916 13.9552 0.721899 0.578885 -0.213794 0.312987 +#21500 1721121226089 +SLAM 16.8449 8.5704 -17.2027 -0.621812 0.121737 0.671113 0.384886 +TTool-pose None -28.9261 12.915 13.9442 0.721766 0.578798 -0.214185 0.313187 +#21501 1721121226125 +SLAM 16.9482 8.67155 -17.0865 -0.622743 0.119259 0.670231 0.385693 +TTool-pose None -28.9318 12.9029 13.9626 0.720764 0.58089 -0.212485 0.312779 +#21502 1721121226161 +SLAM 16.685 8.54733 -17.2428 -0.620382 0.122623 0.672794 0.383977 +TTool-pose None -28.8498 12.9049 13.9285 0.722461 0.577773 -0.216143 0.312133 +#21503 1721121226196 +SLAM 16.9648 8.7144 -16.9871 -0.622312 0.118494 0.670081 0.386884 +TTool-pose None -28.8722 12.9123 13.9538 0.719756 0.581923 -0.21278 0.312981 +#21504 1721121226229 +SLAM 16.8928 8.71856 -17.0141 -0.62195 0.118408 0.670973 0.385943 +TTool-pose None -28.8485 12.8971 13.9602 0.720354 0.581583 -0.213246 0.311918 +#21505 1721121226262 +SLAM 16.8325 8.7173 -17.0425 -0.622168 0.117984 0.671623 0.38459 +TTool-pose None -28.8403 12.8613 13.9701 0.721204 0.581312 -0.212956 0.310653 +#21506 1721121226295 +SLAM 16.7936 8.7041 -17.0475 -0.619709 0.120338 0.671182 0.38858 +TTool-pose None -28.8393 12.9027 13.8746 0.718785 0.581309 -0.216235 0.313985 +#21507 1721121226329 +SLAM 16.5972 8.72539 -17.1467 -0.619177 0.119928 0.673158 0.386128 +TTool-pose None -28.8284 12.8315 13.8662 0.720334 0.580556 -0.21691 0.311349 +#21508 1721121226365 +SLAM 16.4858 8.77184 -17.1923 -0.61853 0.119531 0.674139 0.385577 +TTool-pose None -28.8346 12.7942 13.8407 0.720574 0.580591 -0.217629 0.310224 +#21509 1721121226400 +SLAM 16.6118 8.89313 -17.1026 -0.619854 0.116833 0.672608 0.386948 +TTool-pose None -28.9082 12.7597 13.835 0.71917 0.58308 -0.215378 0.310382 +#21510 1721121226438 +SLAM 16.4275 8.85631 -17.2264 -0.617041 0.119416 0.674228 0.387835 +TTool-pose None -28.8915 12.7735 13.7818 0.718887 0.581601 -0.219281 0.311083 +#21511 1721121226473 +SLAM 16.5807 9.03825 -17.0974 -0.617674 0.115985 0.673174 0.389696 +TTool-pose None -28.9366 12.781 13.8123 0.716933 0.584797 -0.217675 0.310725 +#21512 1721121226508 +SLAM 16.3203 8.86332 -17.359 -0.615404 0.120645 0.675369 0.38807 +TTool-pose None -28.9412 12.7764 13.7672 0.718848 0.58081 -0.221499 0.311078 +#21513 1721121226546 +SLAM 16.4799 8.97163 -17.2952 -0.615993 0.11888 0.674242 0.389638 +TTool-pose None -29.0067 12.8138 13.7976 0.717453 0.582718 -0.220331 0.311561 +#21514 1721121226583 +SLAM 16.2648 8.80487 -17.5463 -0.614272 0.123103 0.676249 0.38756 +TTool-pose None -29.0218 12.823 13.7778 0.719615 0.578847 -0.22341 0.311598 +#21515 1721121226620 +SLAM 16.3205 8.84077 -17.5855 -0.614938 0.122402 0.676071 0.387034 +TTool-pose None -29.09 12.8309 13.8102 0.719885 0.57913 -0.222487 0.311109 +#21516 1721121226655 +SLAM 16.4985 8.9477 -17.5249 -0.616843 0.119693 0.674978 0.386759 +TTool-pose None -29.1653 12.8446 13.8721 0.719664 0.58095 -0.219632 0.310255 +#21517 1721121226688 +SLAM 16.6422 9.10868 -17.4323 -0.616884 0.117365 0.674408 0.388399 +TTool-pose None -29.2005 12.9027 13.9112 0.718052 0.583273 -0.218993 0.31008 +#21518 1721121226723 +SLAM 16.6114 9.09149 -17.5001 -0.616227 0.11849 0.674859 0.388317 +TTool-pose None -29.2212 12.9327 13.9063 0.718293 0.582439 -0.220032 0.310353 +#21519 1721121226756 +SLAM 16.6233 9.13136 -17.5254 -0.617234 0.117117 0.675174 0.386581 +TTool-pose None -29.2562 12.9111 13.9485 0.71927 0.582685 -0.218608 0.30863 +#21520 1721121226791 +SLAM 16.6721 9.18663 -17.535 -0.617424 0.116545 0.674975 0.386799 +TTool-pose None -29.3046 12.9342 13.9592 0.719014 0.583181 -0.218243 0.308548 +#21521 1721121226825 +SLAM 16.5589 9.12353 -17.6441 -0.617302 0.117554 0.676226 0.384498 +TTool-pose None -29.3003 12.9149 13.9711 0.720786 0.5815 -0.21872 0.307245 +#21522 1721121226862 +SLAM 16.5737 9.11762 -17.6627 -0.617383 0.117792 0.676174 0.384386 +TTool-pose None -29.3165 12.928 13.9768 0.72092 0.581287 -0.21868 0.307362 +#21523 1721121226898 +SLAM 16.7073 9.20614 -17.5985 -0.618666 0.115586 0.675244 0.384626 +TTool-pose None -29.3668 12.9294 14.0185 0.72039 0.582954 -0.216643 0.306889 +#21524 1721121226933 +SLAM 16.5362 9.11867 -17.7792 -0.617977 0.117261 0.677076 0.381998 +TTool-pose None -29.3801 12.8983 14.0332 0.722475 0.580655 -0.217956 0.305411 +#21525 1721121226967 +SLAM 16.5727 9.0498 -17.8237 -0.616717 0.120086 0.676413 0.384325 +TTool-pose None -29.4063 12.9754 13.9909 0.721393 0.579642 -0.219983 0.30843 +#21526 1721121227002 +SLAM 16.6417 9.14374 -17.7889 -0.616979 0.118463 0.676616 0.38405 +TTool-pose None -29.4178 13.0115 14.0429 0.721257 0.580667 -0.219326 0.307282 +#21527 1721121227037 +SLAM 16.5386 9.14256 -17.8977 -0.615608 0.119425 0.67776 0.383936 +TTool-pose None -29.4442 13.0103 14.0385 0.721422 0.579919 -0.221183 0.306977 +#21528 1721121227074 +SLAM 16.6447 9.20054 -17.8687 -0.61632 0.118333 0.676867 0.384705 +TTool-pose None -29.5017 13.0215 14.0548 0.720729 0.581024 -0.220058 0.307325 +#21529 1721121227110 +SLAM 16.5696 9.11397 -17.9813 -0.615596 0.120592 0.67734 0.384329 +TTool-pose None -29.5234 13.0335 14.0307 0.721401 0.579268 -0.221433 0.308075 +#21530 1721121227143 +SLAM 16.4155 9.11809 -18.095 -0.614424 0.121127 0.679361 0.382466 +TTool-pose None -29.512 13.0301 14.0481 0.722673 0.578078 -0.22303 0.306169 +#21531 1721121227178 +SLAM 16.4466 9.21331 -18.078 -0.614177 0.11989 0.679546 0.382922 +TTool-pose None -29.5356 13.0498 14.0678 0.722081 0.579134 -0.223037 0.305564 +#21532 1721121227213 +SLAM 16.5245 9.28833 -18.0392 -0.614913 0.118343 0.679103 0.383009 +TTool-pose None -29.5693 13.0551 14.0918 0.721758 0.58027 -0.221816 0.305059 +#21533 1721121227252 +SLAM 16.449 9.21911 -18.1278 -0.614004 0.120311 0.67961 0.382956 +TTool-pose None -29.5767 13.0668 14.0671 0.722131 0.57885 -0.223334 0.305766 +#21534 1721121227288 +SLAM 16.4593 9.24963 -18.127 -0.613919 0.11991 0.679882 0.382733 +TTool-pose None -29.5774 13.0843 14.0867 0.722189 0.579035 -0.223357 0.305262 +#21535 1721121227321 +SLAM 16.5119 9.31707 -18.076 -0.614087 0.118732 0.679798 0.382981 +TTool-pose None -29.5738 13.1052 14.1091 0.721786 0.579969 -0.222888 0.304783 +#21536 1721121227355 +SLAM 16.3455 9.2477 -18.1977 -0.613125 0.120263 0.681235 0.381487 +TTool-pose None -29.5627 13.0738 14.0931 0.723033 0.57824 -0.22443 0.303981 +#21537 1721121227389 +SLAM 16.3222 9.22494 -18.2192 -0.613154 0.12063 0.681438 0.380963 +TTool-pose None -29.5588 13.072 14.0918 0.723466 0.577759 -0.224497 0.303814 +#21538 1721121227429 +SLAM 16.2275 9.30645 -18.2277 -0.611629 0.120149 0.682688 0.381328 +TTool-pose None -29.5329 13.0779 14.0834 0.722977 0.578218 -0.226192 0.302848 +#21539 1721121227463 +SLAM 16.272 9.39886 -18.1592 -0.611961 0.118313 0.68262 0.381492 +TTool-pose None -29.5271 13.0785 14.1031 0.722506 0.579582 -0.225388 0.301961 +#21540 1721121227499 +SLAM 16.3541 9.48548 -18.0919 -0.612555 0.116476 0.681935 0.382326 +TTool-pose None -29.5546 13.068 14.1166 0.721605 0.581236 -0.224242 0.30179 +#21541 1721121227534 +SLAM 16.2169 9.37957 -18.2047 -0.611834 0.118652 0.683005 0.380901 +TTool-pose None -29.5361 13.0569 14.0948 0.722964 0.579089 -0.225636 0.301624 +#21542 1721121227567 +SLAM 16.1993 9.42815 -18.1964 -0.611434 0.118032 0.683357 0.381103 +TTool-pose None -29.5337 13.0556 14.0985 0.722657 0.5796 -0.225967 0.301129 +#21543 1721121227600 +SLAM 16.1873 9.44081 -18.1896 -0.610443 0.118703 0.683395 0.382413 +TTool-pose None -29.5241 13.0835 14.0728 0.721825 0.579666 -0.227239 0.302041 +#21544 1721121227635 +SLAM 16.175 9.43115 -18.1969 -0.610439 0.118847 0.683361 0.382435 +TTool-pose None -29.5272 13.0733 14.0642 0.72184 0.579574 -0.227275 0.302153 +#21545 1721121227668 +SLAM 16.2064 9.50138 -18.1438 -0.611398 0.116661 0.683397 0.381512 +TTool-pose None -29.5241 13.0424 14.1004 0.722084 0.580732 -0.225691 0.300528 +#21546 1721121227702 +SLAM 16.305 9.55577 -18.0706 -0.611663 0.115871 0.682555 0.382833 +TTool-pose None -29.5333 13.0724 14.1024 0.721048 0.581855 -0.225149 0.301251 +#21547 1721121227739 +SLAM 16.1574 9.4883 -18.1687 -0.610526 0.11752 0.683905 0.381734 +TTool-pose None -29.5059 13.0608 14.0873 0.722036 0.580206 -0.226906 0.300745 +#21548 1721121227777 +SLAM 16.121 9.45188 -18.2054 -0.610456 0.118189 0.684098 0.381294 +TTool-pose None -29.508 13.0528 14.078 0.722469 0.579548 -0.227154 0.300787 +#21549 1721121227818 +SLAM 16.1828 9.50387 -18.1488 -0.610694 0.117218 0.68373 0.381872 +TTool-pose None -29.5064 13.0682 14.091 0.721894 0.58048 -0.226636 0.300761 +#21550 1721121227862 +SLAM 16.2685 9.54241 -18.0912 -0.61122 0.116376 0.682825 0.382906 +TTool-pose None -29.527 13.0719 14.0911 0.721066 0.581522 -0.225784 0.301373 +#21551 1721121227896 +SLAM 16.2304 9.56499 -18.0993 -0.610945 0.116016 0.683437 0.382361 +TTool-pose None -29.5127 13.0688 14.1021 0.72133 0.581535 -0.226052 0.300516 +#21552 1721121227928 +SLAM 16.2308 9.55214 -18.1041 -0.611114 0.116116 0.683407 0.382115 +TTool-pose None -29.5127 13.0665 14.1035 0.721533 0.581365 -0.225883 0.300484 +#21553 1721121227962 +SLAM 16.3172 9.60991 -18.0452 -0.611885 0.114655 0.682582 0.382795 +TTool-pose None -29.541 13.0553 14.1157 0.720831 0.582693 -0.224615 0.300547 +#21554 1721121227995 +SLAM 16.2216 9.51631 -18.1114 -0.611007 0.116827 0.68345 0.381992 +TTool-pose None -29.4964 13.0787 14.098 0.72176 0.580812 -0.226173 0.300791 +#21555 1721121228031 +SLAM 16.1192 9.57056 -18.167 -0.610197 0.116058 0.68459 0.38148 +TTool-pose None -29.512 13.036 14.1051 0.72186 0.581112 -0.226983 0.299358 +#21556 1721121228065 +SLAM 16.1197 9.57079 -18.1666 -0.6102 0.116053 0.684586 0.381484 +TTool-pose None -29.512 13.0362 14.1052 0.721856 0.581116 -0.226977 0.29936 +#21557 1721121228101 +SLAM 16.111 9.54681 -18.17 -0.611062 0.11589 0.684863 0.379651 +TTool-pose None -29.4917 13.0365 14.1221 0.723136 0.580467 -0.225987 0.29828 +#21558 1721121228142 +SLAM 16.0277 9.4529 -18.249 -0.609612 0.118686 0.685103 0.380684 +TTool-pose None -29.488 13.0539 14.0682 0.722903 0.578919 -0.228286 0.300098 +#21559 1721121228175 +SLAM 16.0163 9.47678 -18.2446 -0.609537 0.118202 0.685333 0.380542 +TTool-pose None -29.4851 13.0463 14.0758 0.722888 0.579194 -0.228274 0.299612 +#21560 1721121228209 +SLAM 16.1631 9.58824 -18.1294 -0.611207 0.115183 0.684327 0.380599 +TTool-pose None -29.5069 13.0379 14.1206 0.72236 0.58137 -0.225624 0.298676 +#21561 1721121228247 +SLAM 16.0846 9.52067 -18.1861 -0.609879 0.117362 0.684882 0.381064 +TTool-pose None -29.4817 13.0661 14.087 0.72239 0.580014 -0.227664 0.299691 +#21562 1721121228278 +SLAM 16.259 9.64907 -18.0579 -0.61184 0.113909 0.68346 0.381521 +TTool-pose None -29.5256 13.0453 14.1282 0.721523 0.582669 -0.224551 0.298976 +#21563 1721121228316 +SLAM 16.0782 9.56723 -18.1675 -0.609279 0.117114 0.684872 0.382118 +TTool-pose None -29.4855 13.0715 14.0672 0.721569 0.580623 -0.22828 0.30002 +#21564 1721121228355 +SLAM 15.8521 9.46093 -18.3299 -0.608384 0.11902 0.686833 0.379425 +TTool-pose None -29.4662 13.0206 14.0536 0.723696 0.578113 -0.229858 0.298533 +#21565 1721121228389 +SLAM 16.0692 9.62304 -18.1486 -0.610381 0.115045 0.685389 0.380054 +TTool-pose None -29.4801 13.0335 14.1102 0.722615 0.581213 -0.226591 0.297627 +#21566 1721121228423 +SLAM 15.8598 9.4611 -18.3152 -0.608315 0.119143 0.686736 0.379672 +TTool-pose None -29.4569 13.0307 14.047 0.723551 0.578132 -0.229957 0.298774 +#21567 1721121228457 +SLAM 15.9947 9.53391 -18.2127 -0.608781 0.117931 0.685463 0.3816 +TTool-pose None -29.4729 13.0568 14.0462 0.722044 0.579818 -0.22907 0.299833 +#21568 1721121228490 +SLAM 16.0833 9.62788 -18.1276 -0.609917 0.115504 0.685145 0.3811 +TTool-pose None -29.4723 13.0572 14.0895 0.721968 0.581329 -0.227205 0.298505 +#21569 1721121228523 +SLAM 15.9668 9.57708 -18.2237 -0.609403 0.116431 0.686063 0.379987 +TTool-pose None -29.4805 13.0196 14.0802 0.722865 0.580191 -0.22806 0.297893 +#21570 1721121228555 +SLAM 16.0028 9.63118 -18.1728 -0.609264 0.115677 0.685962 0.38062 +TTool-pose None -29.4679 13.0401 14.0867 0.722263 0.580986 -0.228034 0.297824 +#21571 1721121228587 +SLAM 16.0399 9.68257 -18.1412 -0.610448 0.11378 0.685947 0.379319 +TTool-pose None -29.4771 13.0138 14.1269 0.722839 0.581782 -0.226254 0.296225 +#21572 1721121228621 +SLAM 15.9377 9.58754 -18.2414 -0.609736 0.11583 0.686468 0.378902 +TTool-pose None -29.4836 12.9961 14.0956 0.723494 0.580154 -0.227571 0.296809 +#21573 1721121228652 +SLAM 16.0362 9.69081 -18.1383 -0.609896 0.114125 0.685892 0.380202 +TTool-pose None -29.4778 13.0251 14.1111 0.722268 0.581906 -0.226953 0.296838 +#21574 1721121228684 +SLAM 15.7948 9.53467 -18.3271 -0.607847 0.117951 0.687678 0.379089 +TTool-pose None -29.4557 13.0083 14.0594 0.723638 0.578702 -0.230267 0.297214 +#21575 1721121228715 +SLAM 16.035 9.68129 -18.1522 -0.610368 0.113894 0.685829 0.379628 +TTool-pose None -29.492 13.0046 14.1169 0.722649 0.581833 -0.226363 0.296504 +#21576 1721121228746 +SLAM 16.1348 9.75898 -18.0611 -0.610381 0.112772 0.685012 0.381414 +TTool-pose None -29.4955 13.0323 14.1193 0.721206 0.58338 -0.22603 0.297231 +#21577 1721121228778 +SLAM 16.1616 9.76577 -18.0494 -0.610081 0.113061 0.684576 0.382589 +TTool-pose None -29.5093 13.0439 14.1021 0.72045 0.583674 -0.226406 0.298203 +#21578 1721121228808 +SLAM 16.1225 9.70708 -18.1012 -0.609565 0.114426 0.684444 0.38324 +TTool-pose None -29.5276 13.0287 14.0707 0.720259 0.582987 -0.227297 0.299328 +#21579 1721121228838 +SLAM 16.1487 9.79849 -18.0376 -0.609351 0.11293 0.684814 0.383364 +TTool-pose None -29.5 13.0534 14.0991 0.719827 0.584078 -0.22721 0.298303 +#21580 1721121228872 +SLAM 16.1857 9.85472 -18.0025 -0.609205 0.112174 0.684397 0.384561 +TTool-pose None -29.5203 13.0521 14.0914 0.71884 0.585111 -0.227165 0.298694 +#21581 1721121228904 +SLAM 15.8642 9.73528 -18.2134 -0.606414 0.115713 0.687325 0.382696 +TTool-pose None -29.4708 13.0363 14.0477 0.72059 0.581773 -0.23133 0.2978 +#21582 1721121228937 +SLAM 16.0248 9.92206 -18.0474 -0.606911 0.112397 0.686271 0.384783 +TTool-pose None -29.4825 13.0607 14.0712 0.71851 0.584991 -0.229918 0.297614 +#21583 1721121228968 +SLAM 15.9882 9.99144 -18.0312 -0.606379 0.111396 0.686878 0.384828 +TTool-pose None -29.4711 13.0535 14.0768 0.718205 0.585693 -0.230316 0.296659 +#21584 1721121229000 +SLAM 15.8931 9.96845 -18.0878 -0.606094 0.111751 0.687731 0.383651 +TTool-pose None -29.4626 13.0258 14.0717 0.719047 0.584935 -0.230779 0.295752 +#21585 1721121229035 +SLAM 15.8518 10.0028 -18.0776 -0.605537 0.111428 0.688302 0.3836 +TTool-pose None -29.4384 13.0291 14.0696 0.718952 0.585122 -0.231364 0.295155 +#21586 1721121229068 +SLAM 15.8699 9.99392 -18.0514 -0.605788 0.111415 0.687926 0.383881 +TTool-pose None -29.4314 13.0243 14.0582 0.718786 0.585259 -0.231054 0.295531 +#21587 1721121229099 +SLAM 15.6683 9.80877 -18.2011 -0.603826 0.115861 0.689043 0.383654 +TTool-pose None -29.3921 13.0233 13.9839 0.719707 0.582006 -0.234373 0.297098 +#21588 1721121229134 +SLAM 15.7905 9.87841 -18.0847 -0.605895 0.112932 0.68815 0.382867 +TTool-pose None -29.3883 12.9922 14.0315 0.719813 0.583772 -0.231311 0.295772 +#21589 1721121229168 +SLAM 15.7321 9.65354 -18.1778 -0.606023 0.116722 0.68768 0.38237 +TTool-pose None -29.3747 12.9802 13.9796 0.720987 0.580918 -0.232028 0.297965 +#21590 1721121229207 +SLAM 15.6507 9.50029 -18.2711 -0.605895 0.119226 0.688005 0.381215 +TTool-pose None -29.3591 12.9663 13.9629 0.722288 0.578669 -0.232775 0.298608 +#21591 1721121229249 +SLAM 15.8982 9.48066 -18.1592 -0.609118 0.117688 0.685352 0.381336 +TTool-pose None -29.4079 12.957 13.9928 0.722202 0.579883 -0.228627 0.299662 +#21592 1721121229281 +SLAM 15.9753 9.36033 -18.1671 -0.610867 0.118648 0.684254 0.380212 +TTool-pose None -29.4199 12.9511 14.0029 0.723334 0.578774 -0.226809 0.300459 +#21593 1721121229314 +SLAM 16.0463 9.27489 -18.1335 -0.611795 0.119584 0.68366 0.379493 +TTool-pose None -29.3808 12.9906 14.0194 0.724106 0.577833 -0.225939 0.301067 +#21594 1721121229346 +SLAM 16.1108 9.12104 -18.1835 -0.613072 0.121402 0.682211 0.379464 +TTool-pose None -29.4301 12.9644 14.0074 0.724631 0.576575 -0.22482 0.303048 +#21595 1721121229380 +SLAM 15.9655 8.94585 -18.3121 -0.61252 0.124357 0.683264 0.377498 +TTool-pose None -29.3958 12.9475 13.9951 0.726518 0.573645 -0.226185 0.303074 +#21596 1721121229415 +SLAM 16.0538 8.78678 -18.3297 -0.614675 0.12576 0.682147 0.375546 +TTool-pose None -29.4011 12.9553 14.0166 0.728315 0.571868 -0.223988 0.30375 +#21597 1721121229446 +SLAM 16.1503 8.72711 -18.2858 -0.616188 0.125731 0.68118 0.374831 +TTool-pose None -29.3926 12.961 14.0402 0.728923 0.571613 -0.222202 0.304084 +#21598 1721121229485 +SLAM 16.0047 8.51901 -18.4491 -0.615005 0.130291 0.681604 0.374445 +TTool-pose None -29.398 12.9639 13.9734 0.73001 0.568209 -0.224587 0.306099 +#21599 1721121229522 +SLAM 16.0513 8.64551 -18.3666 -0.615627 0.12742 0.681795 0.374063 +TTool-pose None -29.3861 12.9479 14.016 0.729735 0.570082 -0.223255 0.304241 +#21600 1721121229564 +SLAM 15.9767 8.67198 -18.3801 -0.61353 0.128564 0.682537 0.375761 +TTool-pose None -29.3562 12.988 13.9797 0.728644 0.569961 -0.225938 0.3051 +#21601 1721121229598 +SLAM 16.0877 8.66024 -18.294 -0.614825 0.127858 0.681369 0.376003 +TTool-pose None -29.3435 12.9897 13.992 0.728456 0.57059 -0.224238 0.305627 +#21602 1721121229632 +SLAM 15.9072 8.50582 -18.4213 -0.61423 0.130411 0.682761 0.373565 +TTool-pose None -29.3024 12.9593 13.9754 0.730551 0.567729 -0.225563 0.30498 +#21603 1721121229663 +SLAM 15.9487 8.64537 -18.3724 -0.61443 0.127824 0.682443 0.374711 +TTool-pose None -29.3504 12.9186 13.9815 0.729276 0.570051 -0.224746 0.304301 +#21604 1721121229701 +SLAM 16.048 8.86227 -18.2332 -0.61373 0.12485 0.682018 0.377624 +TTool-pose None -29.3548 12.9479 13.9858 0.726649 0.573381 -0.224847 0.304256 +#21605 1721121229735 +SLAM 16.0938 9.06589 -18.1579 -0.613213 0.121843 0.68187 0.379707 +TTool-pose None -29.3989 12.9328 13.9865 0.724573 0.576373 -0.224739 0.30363 +#21606 1721121229767 +SLAM 16.0738 9.27812 -18.0798 -0.611897 0.119011 0.682911 0.380856 +TTool-pose None -29.3783 12.9483 14.0044 0.723077 0.57882 -0.225642 0.301866 +#21607 1721121229801 +SLAM 16.0432 9.27852 -18.0772 -0.608832 0.121678 0.682609 0.38544 +TTool-pose None -29.3672 13.0183 13.9141 0.720257 0.578831 -0.229675 0.305525 +#21608 1721121229837 +SLAM 16.0637 9.40803 -18.0337 -0.610121 0.118097 0.683193 0.383474 +TTool-pose None -29.3796 12.9702 13.983 0.720948 0.580535 -0.227445 0.30231 +#21609 1721121229875 +SLAM 16.1646 9.46224 -17.9771 -0.60843 0.119144 0.681132 0.389458 +TTool-pose None -29.4515 13.0008 13.8857 0.716953 0.5823 -0.229418 0.306895 +#21610 1721121229915 +SLAM 16.0845 9.59619 -17.9572 -0.608645 0.11607 0.683152 0.3865 +TTool-pose None -29.4044 12.979 13.9602 0.718323 0.583203 -0.228619 0.302538 +#21611 1721121229947 +SLAM 16.0509 9.62786 -17.9725 -0.608363 0.115748 0.683606 0.386238 +TTool-pose None -29.4087 12.9753 13.9604 0.718404 0.58331 -0.228893 0.301933 +#21612 1721121229981 +SLAM 16.0067 9.66967 -17.9556 -0.60805 0.115125 0.684638 0.385087 +TTool-pose None -29.3593 12.9973 13.9824 0.719016 0.583248 -0.229173 0.300378 +#21613 1721121230016 +SLAM 15.9637 9.67306 -18.0025 -0.607795 0.115127 0.684745 0.385298 +TTool-pose None -29.3968 12.9581 13.9691 0.718848 0.58333 -0.229466 0.300396 +#21614 1721121230052 +SLAM 15.9214 9.6052 -18.0645 -0.60745 0.116642 0.685001 0.384932 +TTool-pose None -29.3988 12.9674 13.9572 0.719389 0.582107 -0.230226 0.300893 +#21615 1721121230086 +SLAM 15.8175 9.56042 -18.1156 -0.606446 0.117963 0.686169 0.384031 +TTool-pose None -29.3519 12.9856 13.9506 0.72018 0.580772 -0.231741 0.300415 +#21616 1721121230121 +SLAM 15.895 9.53844 -18.1007 -0.60765 0.117649 0.685357 0.383673 +TTool-pose None -29.3772 12.9814 13.9663 0.720476 0.580871 -0.230264 0.300653 +#21617 1721121230154 +SLAM 16.0194 9.56186 -18.0131 -0.608264 0.117023 0.684403 0.384595 +TTool-pose None -29.3656 13.0223 13.985 0.71978 0.581717 -0.229362 0.301371 +#21618 1721121230189 +SLAM 15.9807 9.51911 -18.0704 -0.608901 0.117115 0.684666 0.383089 +TTool-pose None -29.3853 12.9837 13.9971 0.720878 0.581027 -0.228689 0.300586 +#21619 1721121230226 +SLAM 15.9232 9.45713 -18.1263 -0.606919 0.119919 0.684627 0.385428 +TTool-pose None -29.388 13.0199 13.9309 0.719704 0.580011 -0.231556 0.303161 +#21620 1721121230267 +SLAM 16.0857 9.6462 -17.9517 -0.607468 0.1167 0.683753 0.387099 +TTool-pose None -29.3819 13.0683 13.9562 0.717938 0.582987 -0.230126 0.302726 +#21621 1721121230308 +SLAM 15.9289 9.64502 -18.0303 -0.605704 0.118395 0.685082 0.386998 +TTool-pose None -29.3634 13.0899 13.8961 0.718194 0.581713 -0.232589 0.302689 +#21622 1721121230343 +SLAM 16.3614 10.0234 -17.6656 -0.608794 0.111293 0.681392 0.390754 +TTool-pose None -29.4534 13.146 13.9118 0.714403 0.588342 -0.227175 0.30296 +#21623 1721121230378 +SLAM 16.1357 9.9157 -17.7536 -0.607416 0.114305 0.683252 0.388776 +TTool-pose None -29.3562 13.1662 13.8413 0.716275 0.58537 -0.229578 0.302481 +#21624 1721121230418 +SLAM 15.9809 10.0361 -17.7355 -0.605116 0.114341 0.685054 0.38918 +TTool-pose None -29.2879 13.2169 13.7797 0.715778 0.585456 -0.232286 0.301423 +#21625 1721121230455 +SLAM 16.2642 10.5366 -17.4236 -0.606139 0.10631 0.68283 0.393747 +TTool-pose None -29.4082 13.2363 13.7717 0.710989 0.593002 -0.22903 0.300494 +#21626 1721121230490 +SLAM 16.0312 10.3164 -17.6447 -0.605358 0.11177 0.684365 0.39076 +TTool-pose None -29.3791 13.2727 13.6761 0.714165 0.587924 -0.231349 0.301166 +#21627 1721121230528 +SLAM 15.821 10.2439 -17.7812 -0.603274 0.115379 0.68601 0.390048 +TTool-pose None -29.3483 13.3208 13.5832 0.715224 0.585048 -0.234649 0.3017 +#21628 1721121230562 +SLAM 15.7808 10.1806 -17.793 -0.603246 0.117451 0.686002 0.389487 +TTool-pose None -29.3125 13.3732 13.5168 0.71605 0.583362 -0.235169 0.302601 +#21629 1721121230599 +SLAM 15.9691 10.3422 -17.608 -0.604552 0.114509 0.68444 0.391084 +TTool-pose None -29.3238 13.4159 13.516 0.714462 0.58613 -0.232902 0.302759 +#21630 1721121230634 +SLAM 16.1013 10.4645 -17.5337 -0.606164 0.113716 0.683216 0.39096 +TTool-pose None -29.3795 13.5181 13.4577 0.714537 0.586674 -0.230826 0.30312 +#21631 1721121230668 +SLAM 16.0344 10.4502 -17.5657 -0.604474 0.115668 0.683786 0.392006 +TTool-pose None -29.3536 13.5742 13.4059 0.714078 0.585707 -0.233208 0.304245 +#21632 1721121230701 +SLAM 16.2869 10.6779 -17.2982 -0.605948 0.11161 0.681897 0.394191 +TTool-pose None -29.3505 13.6478 13.4151 0.711845 0.589499 -0.230446 0.304258 +#21633 1721121230735 +SLAM 16.2269 10.8639 -17.2305 -0.603431 0.110554 0.682658 0.397022 +TTool-pose None -29.3379 13.6869 13.356 0.709418 0.591357 -0.233032 0.304353 +#21634 1721121230770 +SLAM 16.3948 11.2155 -16.972 -0.603396 0.10557 0.681779 0.399932 +TTool-pose None -29.3545 13.7636 13.342 0.706297 0.596038 -0.231767 0.303442 +#21635 1721121230804 +SLAM 16.4395 11.3361 -16.8807 -0.604545 0.103377 0.681482 0.399275 +TTool-pose None -29.3593 13.7767 13.3318 0.70637 0.597314 -0.229937 0.302153 +#21636 1721121230838 +SLAM 16.5881 11.2204 -16.7622 -0.604718 0.106958 0.679437 0.401549 +TTool-pose None -29.2849 13.9332 13.2258 0.705622 0.595783 -0.230432 0.306518 +#21637 1721121230872 +SLAM 16.8125 11.1959 -16.5725 -0.607127 0.107267 0.676463 0.40285 +TTool-pose None -29.2657 14.017 13.1503 0.705018 0.596166 -0.227564 0.309294 +#21638 1721121230907 +SLAM 16.5853 11.0254 -16.6832 -0.603599 0.113982 0.677103 0.405227 +TTool-pose None -29.1867 14.087 12.933 0.704505 0.59239 -0.233122 0.313557 +#21639 1721121230939 +SLAM 16.9791 11.5639 -16.2027 -0.607207 0.103315 0.674841 0.406467 +TTool-pose None -29.2264 14.1669 13.0151 0.701613 0.600408 -0.22632 0.309745 +#21640 1721121230974 +SLAM 16.6859 11.3428 -16.4989 -0.607955 0.107272 0.677066 0.400581 +TTool-pose None -29.2158 14.1056 12.9706 0.706673 0.595239 -0.226721 0.30792 +#21641 1721121231008 +SLAM 16.5177 11.1511 -16.6569 -0.60759 0.11132 0.678303 0.397929 +TTool-pose None -29.16 14.1223 12.9206 0.70937 0.591307 -0.228232 0.308177 +#21642 1721121231045 +SLAM 16.5264 11.0073 -16.6423 -0.606107 0.114784 0.677648 0.400315 +TTool-pose None -29.091 14.1765 12.8593 0.708335 0.589851 -0.230631 0.311549 +#21643 1721121231084 +SLAM 16.6542 10.9494 -16.526 -0.606973 0.114358 0.676328 0.401356 +TTool-pose None -29.0421 14.1757 12.8942 0.707602 0.590602 -0.229444 0.312666 +#21644 1721121231117 +SLAM 17.1066 10.902 -16.2447 -0.613093 0.109536 0.672054 0.400578 +TTool-pose None -29.0593 14.1184 13.0686 0.707633 0.593766 -0.221105 0.312611 +#21645 1721121231150 +SLAM 17.7666 10.9573 -15.8229 -0.620173 0.102609 0.665775 0.401995 +TTool-pose None -29.1414 14.0938 13.2671 0.705654 0.599269 -0.210894 0.313638 +#21646 1721121231185 +#21647 1721121231220 +SLAM 17.4523 10.2291 -16.3081 -0.615936 0.113035 0.667303 0.403179 +TTool-pose None -29.0817 13.8732 13.3303 0.706811 0.592445 -0.218304 0.318887 +#21648 1721121231253 +SLAM 17.338 10.3372 -16.3122 -0.617535 0.109996 0.668913 0.398881 +TTool-pose None -29.0608 13.8037 13.3685 0.709276 0.592812 -0.215977 0.31428 +#21649 1721121231287 +SLAM 17.1551 10.2955 -16.4188 -0.615677 0.111295 0.670708 0.398378 +TTool-pose None -29.0231 13.766 13.356 0.709762 0.59167 -0.218537 0.313562 +#21650 1721121231322 +SLAM 17.2055 10.4992 -16.293 -0.614566 0.10855 0.670896 0.40053 +TTool-pose None -29.0159 13.8041 13.3654 0.707572 0.594457 -0.219116 0.312836 +#21651 1721121231355 +SLAM 17.0673 10.5862 -16.3146 -0.611766 0.108769 0.672523 0.402026 +TTool-pose None -28.9795 13.8194 13.3287 0.706342 0.594875 -0.222427 0.312482 +#21652 1721121231392 +SLAM 17.0924 10.6864 -16.2277 -0.610919 0.107588 0.671992 0.404512 +TTool-pose None -28.9865 13.8158 13.2895 0.704271 0.596709 -0.223008 0.313246 +#21653 1721121231430 +SLAM 16.9089 10.6884 -16.3226 -0.609466 0.108256 0.673583 0.403879 +TTool-pose None -28.9728 13.7675 13.2557 0.704735 0.595955 -0.224939 0.312257 +#21654 1721121231465 +SLAM 16.9173 10.7954 -16.2396 -0.609057 0.106668 0.673537 0.404993 +TTool-pose None -28.9621 13.7677 13.2387 0.703566 0.597511 -0.22499 0.31188 +#21655 1721121231497 +SLAM 16.8551 10.8113 -16.2429 -0.609098 0.106114 0.67434 0.40374 +TTool-pose None -28.93 13.75 13.2498 0.704321 0.597379 -0.224896 0.310492 +#21656 1721121231531 +SLAM 16.8812 10.8421 -16.1913 -0.610494 0.10439 0.674139 0.402415 +TTool-pose None -28.9219 13.7168 13.277 0.704982 0.598056 -0.222917 0.309112 +#21657 1721121231570 +SLAM 16.794 10.6605 -16.2232 -0.611513 0.106371 0.674292 0.400084 +TTool-pose None -28.8384 13.6726 13.2544 0.707138 0.595733 -0.222302 0.309117 +#21658 1721121231609 +SLAM 16.9697 10.6946 -16.0583 -0.612775 0.104999 0.672109 0.402183 +TTool-pose None -28.8417 13.6842 13.2412 0.705478 0.59758 -0.220345 0.310742 +#21659 1721121231653 +SLAM 16.6491 10.4831 -16.2978 -0.610759 0.109532 0.67475 0.39961 +TTool-pose None -28.7696 13.6335 13.1896 0.708103 0.593322 -0.223954 0.31035 +#21660 1721121231691 +SLAM 16.8654 10.8992 -16.0171 -0.611134 0.10216 0.673403 0.403246 +TTool-pose None -28.8464 13.6418 13.2269 0.703955 0.599959 -0.221579 0.308729 +#21661 1721121231729 +SLAM 16.848 11.2473 -15.8655 -0.608009 0.0980295 0.674218 0.407609 +TTool-pose None -28.8629 13.6617 13.2022 0.699677 0.604553 -0.224043 0.307709 +#21662 1721121231764 +SLAM 16.7444 11.5941 -15.7939 -0.605287 0.0932425 0.67599 0.409844 +TTool-pose None -28.9018 13.6206 13.2101 0.696738 0.608713 -0.225976 0.304745 +#21663 1721121231802 +SLAM 16.6563 11.9369 -15.6945 -0.603039 0.0880148 0.677661 0.41155 +TTool-pose None -28.9255 13.5768 13.234 0.694078 0.612951 -0.227239 0.301362 +#21664 1721121231837 +SLAM 16.6043 12.321 -15.5361 -0.599524 0.0835095 0.679224 0.415033 +TTool-pose None -28.9246 13.6206 13.2256 0.690179 0.61737 -0.230016 0.299177 +#21665 1721121231871 +SLAM 16.3579 12.8824 -15.4148 -0.594649 0.0759493 0.683091 0.417147 +TTool-pose None -28.9388 13.5782 13.2449 0.686291 0.623243 -0.233656 0.293055 +#21666 1721121231906 +SLAM 16.365 13.252 -15.223 -0.591779 0.0710035 0.683789 0.420937 +TTool-pose None -28.9626 13.6046 13.2477 0.682035 0.628054 -0.235435 0.291288 +#21667 1721121231942 +SLAM 16.1056 13.1431 -15.4173 -0.588491 0.0750856 0.686085 0.421104 +TTool-pose None -28.9196 13.5976 13.174 0.682578 0.625242 -0.240329 0.292069 +#21668 1721121231977 +SLAM 16.2117 13.2332 -15.3152 -0.587647 0.0740756 0.684808 0.424525 +TTool-pose None -28.9598 13.6146 13.1499 0.679798 0.627293 -0.240786 0.293778 +#21669 1721121232014 +SLAM 16.2209 13.1711 -15.3392 -0.586995 0.0758403 0.684456 0.425682 +TTool-pose None -28.9577 13.6381 13.1169 0.679345 0.626541 -0.241913 0.295499 +#21670 1721121232049 +SLAM 16.2397 13.1286 -15.3555 -0.588843 0.0751506 0.68439 0.423353 +TTool-pose None -28.9553 13.6078 13.164 0.681043 0.626128 -0.239766 0.294214 +#21671 1721121232083 +SLAM 16.4605 13.2028 -15.189 -0.590397 0.0728682 0.682021 0.425404 +TTool-pose None -29.0001 13.6222 13.1796 0.679182 0.628563 -0.237192 0.295408 +#21672 1721121232118 +SLAM 16.3838 13.032 -15.3295 -0.591214 0.0754391 0.682472 0.423092 +TTool-pose None -28.9869 13.5947 13.1762 0.681572 0.625906 -0.237095 0.295622 +#21673 1721121232154 +SLAM 16.3931 12.9311 -15.3575 -0.590637 0.0780683 0.682033 0.424128 +TTool-pose None -28.9671 13.6378 13.127 0.681431 0.624521 -0.238369 0.297847 +#21674 1721121232190 +SLAM 16.4734 12.936 -15.3188 -0.591616 0.0772669 0.68106 0.424473 +TTool-pose None -28.9962 13.6226 13.14 0.681094 0.625238 -0.236989 0.298214 +#21675 1721121232228 +SLAM 16.4621 12.9344 -15.3228 -0.592214 0.0768268 0.681419 0.42314 +TTool-pose None -28.9806 13.6203 13.1646 0.681999 0.625016 -0.236281 0.297171 +#21676 1721121232266 +SLAM 16.5726 13.062 -15.1936 -0.592321 0.074387 0.680384 0.425089 +TTool-pose None -29.0118 13.6266 13.1741 0.680006 0.627467 -0.235365 0.297297 +#21677 1721121232301 +SLAM 16.4329 12.9936 -15.306 -0.590901 0.0766404 0.681728 0.424511 +TTool-pose None -28.982 13.6295 13.1423 0.68083 0.625656 -0.23766 0.297403 +#21678 1721121232339 +SLAM 16.4887 13.1083 -15.2213 -0.591719 0.0738137 0.681413 0.424376 +TTool-pose None -29.0044 13.6084 13.1792 0.680303 0.627548 -0.235977 0.295959 +#21679 1721121232377 +SLAM 16.4695 13.1191 -15.2198 -0.592158 0.0732639 0.681768 0.423289 +TTool-pose None -28.991 13.6015 13.1951 0.680986 0.627493 -0.235406 0.294956 +#21680 1721121232412 +SLAM 16.7019 13.183 -15.0546 -0.594554 0.0706336 0.679272 0.424388 +TTool-pose None -29.0406 13.6051 13.2255 0.679792 0.629796 -0.231816 0.295645 +#21681 1721121232446 +SLAM 16.8362 13.1076 -15.0073 -0.597169 0.0703431 0.677846 0.423044 +TTool-pose None -29.0419 13.6094 13.2619 0.680952 0.629524 -0.228772 0.295926 +#21682 1721121232480 +SLAM 16.9727 12.8919 -15.0402 -0.60074 0.0721387 0.675783 0.420981 +TTool-pose None -29.0601 13.5905 13.2759 0.683243 0.627567 -0.225195 0.297544 +#21683 1721121232514 +SLAM 17.0981 12.7184 -15.0452 -0.603045 0.0740313 0.673963 0.420274 +TTool-pose None -29.0654 13.6005 13.2726 0.68445 0.626052 -0.223016 0.299594 +#21684 1721121232551 +SLAM 16.9291 12.3174 -15.3293 -0.602404 0.081969 0.6748 0.418372 +TTool-pose None -29.0039 13.6126 13.1978 0.687723 0.61986 -0.225969 0.30275 +#21685 1721121232587 +SLAM 17.1602 12.3126 -15.2084 -0.606607 0.0792551 0.6725 0.416523 +TTool-pose None -29.0452 13.592 13.2774 0.68876 0.621054 -0.220427 0.30203 +#21686 1721121232623 +SLAM 16.9739 12.0803 -15.417 -0.605622 0.0840843 0.674003 0.414575 +TTool-pose None -28.989 13.5876 13.2346 0.691238 0.616942 -0.222972 0.302927 +#21687 1721121232664 +SLAM 17.0757 12.1634 -15.3167 -0.606098 0.0823267 0.673048 0.415781 +TTool-pose None -29.0111 13.598 13.2459 0.689997 0.618646 -0.221871 0.303089 +#21688 1721121232700 +SLAM 17.2007 12.2573 -15.2135 -0.606748 0.0802123 0.671594 0.417593 +TTool-pose None -29.0672 13.5852 13.2518 0.688249 0.62084 -0.220418 0.30364 +#21689 1721121232742 +SLAM 17.1213 12.1775 -15.2919 -0.605523 0.0826472 0.672342 0.417693 +TTool-pose None -29.0362 13.6135 13.2186 0.688665 0.619192 -0.222487 0.304549 +#21690 1721121232780 +SLAM 17.2369 12.1621 -15.2223 -0.605314 0.083007 0.670614 0.420692 +TTool-pose None -29.067 13.6229 13.1871 0.686595 0.620158 -0.222584 0.307181 +#21691 1721121232814 +SLAM 17.0523 11.7563 -15.5094 -0.60657 0.089372 0.67189 0.415511 +TTool-pose None -28.9929 13.5935 13.1767 0.691937 0.613721 -0.223087 0.307756 +#21692 1721121232850 +SLAM 17.1275 11.6121 -15.5237 -0.607731 0.0915816 0.670807 0.415083 +TTool-pose None -28.9811 13.6305 13.1646 0.69287 0.612052 -0.222276 0.309564 +#21693 1721121232886 +SLAM 17.0332 11.2617 -15.7278 -0.610626 0.0957254 0.671419 0.408865 +TTool-pose None -28.9222 13.5927 13.2017 0.698491 0.606712 -0.220281 0.308868 +#21694 1721121232920 +SLAM 17.2025 11.0143 -15.7462 -0.614917 0.097477 0.668969 0.406023 +TTool-pose None -28.9463 13.5734 13.2332 0.701253 0.604409 -0.215751 0.310321 +#21695 1721121232954 +SLAM 17.2271 10.7321 -15.8222 -0.617225 0.100754 0.668229 0.402929 +TTool-pose None -28.8985 13.5682 13.2519 0.704357 0.600902 -0.213959 0.31134 +#21696 1721121232989 +SLAM 17.3322 10.4453 -15.8698 -0.620099 0.10421 0.666205 0.400985 +TTool-pose None -28.8965 13.5712 13.2429 0.706716 0.597741 -0.211422 0.313806 +#21697 1721121233022 +SLAM 17.1442 10.0713 -16.0895 -0.619351 0.111362 0.667267 0.398445 +TTool-pose None -28.8032 13.5948 13.1828 0.710017 0.591703 -0.21412 0.315964 +#21698 1721121233054 +SLAM 17.3069 10.0597 -15.9696 -0.622108 0.109546 0.665605 0.397431 +TTool-pose None -28.8013 13.5829 13.2307 0.710526 0.592581 -0.210438 0.315647 +#21699 1721121233085 +SLAM 17.2311 9.89635 -16.0591 -0.624135 0.110554 0.666157 0.393024 +TTool-pose None -28.7666 13.5203 13.2674 0.71395 0.590067 -0.208476 0.313927 +#21700 1721121233116 +SLAM 17.0733 9.71904 -16.1753 -0.623065 0.114295 0.666997 0.392226 +TTool-pose None -28.7108 13.51 13.2052 0.715238 0.587111 -0.210655 0.315081 +#21701 1721121233152 +SLAM 17.2061 9.91759 -16.0007 -0.624224 0.110102 0.666223 0.392899 +TTool-pose None -28.72 13.5163 13.2435 0.713944 0.590331 -0.208273 0.313578 +#21702 1721121233183 +SLAM 16.9332 9.81432 -16.1633 -0.623561 0.111838 0.669274 0.388248 +TTool-pose None -28.6295 13.4763 13.2528 0.717481 0.587167 -0.209727 0.310456 +#21703 1721121233219 +SLAM 16.9724 9.98079 -16.054 -0.622945 0.109299 0.669102 0.39025 +TTool-pose None -28.6344 13.4786 13.2469 0.715505 0.589771 -0.209793 0.310039 +#21704 1721121233251 +SLAM 16.7432 9.81277 -16.2312 -0.620577 0.113929 0.670601 0.390127 +TTool-pose None -28.5941 13.4727 13.1564 0.716423 0.586459 -0.213701 0.311529 +#21705 1721121233283 +SLAM 16.5558 9.73663 -16.3361 -0.619781 0.115423 0.672456 0.387754 +TTool-pose None -28.5368 13.4433 13.1445 0.718311 0.584406 -0.215116 0.310061 +#21706 1721121233319 +SLAM 16.4971 9.74328 -16.3252 -0.618615 0.115953 0.672848 0.388774 +TTool-pose None -28.5024 13.4449 13.1104 0.717634 0.584447 -0.216584 0.310529 +#21707 1721121233354 +SLAM 16.7176 9.91499 -16.085 -0.620142 0.112121 0.670735 0.39111 +TTool-pose None -28.5107 13.4652 13.1226 0.715321 0.588128 -0.213769 0.310867 +#21708 1721121233386 +SLAM 16.5523 9.77156 -16.1877 -0.619641 0.114466 0.671914 0.389196 +TTool-pose None -28.4524 13.4225 13.0961 0.717106 0.585679 -0.214998 0.31053 +#21709 1721121233417 +SLAM 16.6548 9.93178 -16.0366 -0.62187 0.109481 0.671361 0.388029 +TTool-pose None -28.4573 13.3622 13.1691 0.71699 0.588698 -0.211252 0.307644 +#21710 1721121233450 +SLAM 16.4079 9.78579 -16.2107 -0.620967 0.11204 0.673719 0.384642 +TTool-pose None -28.3956 13.313 13.1593 0.719794 0.585473 -0.213084 0.30598 +#21711 1721121233484 +SLAM 16.5811 9.97567 -16.0082 -0.62097 0.109111 0.672064 0.388358 +TTool-pose None -28.4126 13.3544 13.1438 0.716614 0.589082 -0.212237 0.307105 +#21712 1721121233518 +SLAM 16.4433 10.0128 -16.0429 -0.61895 0.109725 0.673717 0.388544 +TTool-pose None -28.3624 13.3703 13.117 0.716463 0.588703 -0.214799 0.306403 +#21713 1721121233551 +SLAM 16.1925 9.93612 -16.2227 -0.61855 0.110652 0.67632 0.384374 +TTool-pose None -28.336 13.2909 13.1307 0.719477 0.58629 -0.215689 0.303324 +#21714 1721121233583 +SLAM 15.901 9.88098 -16.3709 -0.615388 0.113378 0.679392 0.383236 +TTool-pose None -28.2543 13.2922 13.0866 0.720574 0.583847 -0.220138 0.302231 +#21715 1721121233615 +SLAM 15.7116 9.86283 -16.4396 -0.612275 0.115757 0.681284 0.384151 +TTool-pose None -28.186 13.3235 13.0269 0.720191 0.582509 -0.224341 0.302638 +#21716 1721121233645 +SLAM 15.6626 10.012 -16.3885 -0.613541 0.111587 0.682935 0.380414 +TTool-pose None -28.1465 13.2842 13.1145 0.721918 0.583854 -0.222049 0.297575 +#21717 1721121233676 +SLAM 15.542 9.97703 -16.4355 -0.611277 0.113788 0.683783 0.381882 +TTool-pose None -28.1105 13.301 13.0503 0.7212 0.582894 -0.225179 0.298843 +#21718 1721121233707 +SLAM 15.3777 9.90224 -16.5194 -0.609651 0.11593 0.685093 0.381488 +TTool-pose None -28.0659 13.2865 13.0071 0.721773 0.581191 -0.2276 0.298943 +#21719 1721121233739 +SLAM 15.2986 9.90858 -16.5385 -0.60989 0.115171 0.686061 0.379592 +TTool-pose None -28.0392 13.2498 13.026 0.722904 0.580915 -0.227217 0.29703 +#21720 1721121233775 +SLAM 15.135 9.93052 -16.5971 -0.61003 0.113739 0.688396 0.37555 +TTool-pose None -27.9869 13.1962 13.0815 0.725304 0.580179 -0.226864 0.292855 +#21721 1721121233807 +SLAM 15.2231 10.0224 -16.4484 -0.609212 0.113134 0.687468 0.378747 +TTool-pose None -27.9462 13.2554 13.0382 0.722957 0.581955 -0.22759 0.294565 +#21722 1721121233839 +SLAM 15.1077 9.9358 -16.5155 -0.608367 0.114755 0.688065 0.378534 +TTool-pose None -27.9254 13.2129 13.005 0.723369 0.580711 -0.228961 0.29495 +#21723 1721121233875 +SLAM 15.0442 9.90501 -16.5403 -0.608602 0.114847 0.688823 0.376744 +TTool-pose None -27.8926 13.1975 13.0172 0.724607 0.579882 -0.228762 0.293691 +#21724 1721121233906 +SLAM 15.1015 9.94988 -16.4975 -0.608946 0.113908 0.688054 0.377878 +TTool-pose None -27.9217 13.1852 13.0103 0.72368 0.581036 -0.228109 0.294205 +#21725 1721121233941 +SLAM 15.0448 9.95965 -16.5044 -0.60948 0.112888 0.688938 0.375706 +TTool-pose None -27.892 13.156 13.0417 0.724958 0.580825 -0.227316 0.292078 +#21726 1721121233977 +SLAM 15.0908 9.97194 -16.4516 -0.607626 0.114632 0.687929 0.380005 +TTool-pose None -27.8909 13.2158 12.9617 0.722283 0.581408 -0.229756 0.295617 +#21727 1721121234008 +SLAM 14.8847 9.83395 -16.6225 -0.607614 0.116343 0.690163 0.375426 +TTool-pose None -27.8536 13.1662 12.9921 0.725707 0.578242 -0.230302 0.293003 +#21728 1721121234042 +SLAM 14.9336 9.90866 -16.5482 -0.607601 0.115231 0.689967 0.376151 +TTool-pose None -27.8369 13.1948 12.9951 0.724983 0.579331 -0.230047 0.292846 +#21729 1721121234073 +SLAM 15.0213 9.97244 -16.4711 -0.60884 0.113225 0.68914 0.37627 +TTool-pose None -27.8534 13.1782 13.0154 0.724592 0.580816 -0.228131 0.292371 +#21730 1721121234104 +SLAM 15.0305 9.9131 -16.48 -0.609395 0.113745 0.688522 0.376348 +TTool-pose None -27.8647 13.1457 13.0011 0.72471 0.580501 -0.227591 0.29312 +#21731 1721121234135 +SLAM 14.8913 9.83334 -16.5621 -0.60897 0.114935 0.690093 0.373788 +TTool-pose None -27.8118 13.1289 13.0126 0.726628 0.578555 -0.228435 0.29156 +#21732 1721121234167 +SLAM 14.9122 9.7876 -16.5366 -0.607767 0.117056 0.689356 0.37644 +TTool-pose None -27.792 13.1748 12.9496 0.725204 0.578186 -0.23025 0.2944 +#21733 1721121234206 +SLAM 15.0205 9.90964 -16.4139 -0.608913 0.113964 0.688642 0.376841 +TTool-pose None -27.795 13.167 12.9852 0.724382 0.580548 -0.228193 0.293373 +#21734 1721121234237 +SLAM 15.1073 9.95389 -16.3356 -0.609554 0.112845 0.687746 0.377777 +TTool-pose None -27.7995 13.1729 12.9887 0.723576 0.581749 -0.227154 0.293789 +#21735 1721121234269 +SLAM 14.9314 9.78903 -16.4948 -0.60783 0.116827 0.689119 0.376841 +TTool-pose None -27.7693 13.1748 12.948 0.724893 0.578521 -0.230112 0.294615 +#21736 1721121234304 +SLAM 15.0437 9.81626 -16.4371 -0.609393 0.115297 0.687852 0.377103 +TTool-pose None -27.8076 13.1519 12.9683 0.724546 0.579744 -0.227917 0.29477 +#21737 1721121234337 +SLAM 15.0276 9.80524 -16.4448 -0.609241 0.115556 0.688069 0.376873 +TTool-pose None -27.7963 13.1563 12.9691 0.72474 0.57946 -0.228162 0.294661 +#21738 1721121234367 +SLAM 15.2108 9.93154 -16.2698 -0.610087 0.113013 0.686361 0.379382 +TTool-pose None -27.8035 13.1849 12.9767 0.722593 0.582335 -0.226506 0.295543 +#21739 1721121234398 +SLAM 15.2026 9.89737 -16.2917 -0.610499 0.113271 0.686433 0.378511 +TTool-pose None -27.8023 13.1768 12.9861 0.723273 0.581791 -0.226108 0.295255 +#21740 1721121234430 +SLAM 15.1996 9.76415 -16.3532 -0.610796 0.115526 0.685786 0.378523 +TTool-pose None -27.8174 13.1644 12.9597 0.723786 0.580231 -0.226262 0.296948 +#21741 1721121234462 +SLAM 15.3325 9.9171 -16.2215 -0.611698 0.112235 0.68495 0.379568 +TTool-pose None -27.8352 13.1739 12.9973 0.722455 0.582997 -0.224416 0.296172 +#21742 1721121234493 +SLAM 15.2853 9.81467 -16.2862 -0.611545 0.114115 0.685109 0.378968 +TTool-pose None -27.8262 13.1686 12.9823 0.723253 0.581426 -0.225043 0.296836 +#21743 1721121234525 +SLAM 15.348 9.85201 -16.237 -0.611639 0.113558 0.684487 0.380104 +TTool-pose None -27.8358 13.1839 12.9801 0.722379 0.582303 -0.224764 0.297455 +#21744 1721121234557 +SLAM 15.2167 9.67803 -16.3803 -0.611515 0.116451 0.685387 0.3778 +TTool-pose None -27.8193 13.1534 12.9679 0.72454 0.579292 -0.22564 0.297417 +#21745 1721121234588 +SLAM 15.3475 9.80634 -16.258 -0.612487 0.113583 0.684534 0.378646 +TTool-pose None -27.8321 13.1665 13.004 0.723443 0.58168 -0.223817 0.2968 +#21746 1721121234618 +SLAM 15.2936 9.678 -16.3386 -0.612098 0.116145 0.684505 0.378549 +TTool-pose None -27.8313 13.1589 12.9719 0.724028 0.579842 -0.224855 0.298186 +#21747 1721121234649 +SLAM 15.0905 9.45363 -16.525 -0.611306 0.120305 0.686295 0.375274 +TTool-pose None -27.7763 13.1477 12.9589 0.727032 0.575504 -0.22682 0.297792 +#21748 1721121234680 +SLAM 15.3503 9.64735 -16.299 -0.611842 0.117151 0.683855 0.379825 +TTool-pose None -27.8095 13.2037 12.956 0.723365 0.579679 -0.225336 0.299745 +#21749 1721121234711 +SLAM 15.2821 9.54568 -16.3744 -0.611979 0.118586 0.68443 0.37812 +TTool-pose None -27.7922 13.1862 12.9631 0.72483 0.577948 -0.225552 0.299388 +#21750 1721121234740 +SLAM 15.4117 9.53756 -16.2919 -0.611507 0.119649 0.682527 0.38197 +TTool-pose None -27.8079 13.2349 12.9106 0.722427 0.578839 -0.226202 0.302966 +#21751 1721121234772 +SLAM 15.2873 9.36961 -16.4447 -0.611996 0.121751 0.683471 0.378821 +TTool-pose None -27.8079 13.1789 12.9267 0.725035 0.576031 -0.226198 0.302089 +#21752 1721121234812 +SLAM 15.1855 9.20302 -16.565 -0.611856 0.1245 0.684045 0.377112 +TTool-pose None -27.7948 13.1541 12.9165 0.726744 0.573364 -0.227017 0.302443 +#21753 1721121234842 +SLAM 15.4485 9.34803 -16.3537 -0.613103 0.121673 0.681583 0.380453 +TTool-pose None -27.8183 13.2065 12.9266 0.724025 0.576809 -0.224804 0.304061 +#21754 1721121234873 +SLAM 15.449 9.25496 -16.3816 -0.613525 0.123098 0.681429 0.379591 +TTool-pose None -27.8009 13.218 12.9267 0.724944 0.575449 -0.224643 0.304569 +#21755 1721121234904 +SLAM 15.4481 9.15162 -16.4408 -0.613619 0.124889 0.680697 0.380165 +TTool-pose None -27.8361 13.1947 12.8991 0.72494 0.574438 -0.224893 0.306299 +#21756 1721121234934 +SLAM 15.6225 9.26462 -16.2908 -0.614713 0.12243 0.679272 0.381744 +TTool-pose None -27.8446 13.2273 12.9219 0.72346 0.576862 -0.222997 0.306627 +#21757 1721121234964 +SLAM 15.5601 9.13691 -16.3854 -0.614875 0.124381 0.67943 0.380569 +TTool-pose None -27.8523 13.1973 12.9131 0.724675 0.574993 -0.22327 0.30707 +#21758 1721121234994 +SLAM 15.6705 9.18453 -16.306 -0.616083 0.122805 0.678506 0.380775 +TTool-pose None -27.8634 13.2044 12.9394 0.724313 0.576213 -0.221481 0.306934 +#21759 1721121235025 +SLAM 15.6476 9.11534 -16.3534 -0.615454 0.124519 0.678266 0.381664 +TTool-pose None -27.8764 13.2034 12.9095 0.724016 0.575374 -0.222563 0.308422 +#21760 1721121235058 +SLAM 15.6149 9.0682 -16.3865 -0.615389 0.125356 0.67857 0.380953 +TTool-pose None -27.8634 13.2051 12.9095 0.724664 0.574481 -0.222849 0.308359 +#21761 1721121235089 +SLAM 15.854 9.24712 -16.183 -0.617132 0.12133 0.676663 0.382823 +TTool-pose None -27.8911 13.2348 12.9501 0.722709 0.57814 -0.219821 0.308284 +#21762 1721121235128 +SLAM 15.7645 9.05152 -16.3102 -0.616694 0.12513 0.676773 0.382112 +TTool-pose None -27.8861 13.2257 12.909 0.723946 0.575158 -0.221192 0.309973 +#21763 1721121235162 +SLAM 15.8319 9.09228 -16.267 -0.618139 0.123305 0.676396 0.381036 +TTool-pose None -27.9002 13.2091 12.9514 0.724417 0.57601 -0.219116 0.308764 +#21764 1721121235192 +SLAM 15.8763 9.08938 -16.2465 -0.6188 0.122924 0.675912 0.380946 +TTool-pose None -27.91 13.2054 12.9612 0.724453 0.57625 -0.218245 0.308847 +#21765 1721121235224 +SLAM 15.8782 9.16705 -16.1973 -0.61735 0.122686 0.676196 0.382865 +TTool-pose None -27.8849 13.2497 12.9448 0.722983 0.577209 -0.219851 0.309363 +#21766 1721121235256 +SLAM 15.9522 9.15195 -16.1704 -0.618874 0.121883 0.675372 0.382117 +TTool-pose None -27.906 13.2312 12.9693 0.723449 0.577481 -0.217882 0.309159 +#21767 1721121235289 +SLAM 16.0734 9.20583 -16.084 -0.619463 0.120749 0.673952 0.384024 +TTool-pose None -27.9376 13.2394 12.9636 0.721963 0.579095 -0.216844 0.310341 +#21768 1721121235320 +SLAM 16.0346 9.11263 -16.1563 -0.619826 0.122051 0.673989 0.382959 +TTool-pose None -27.9507 13.2133 12.9595 0.722989 0.577735 -0.216736 0.310562 +#21769 1721121235350 +SLAM 16.0534 9.10845 -16.1428 -0.620145 0.121969 0.673808 0.382788 +TTool-pose None -27.9471 13.218 12.9627 0.723114 0.577725 -0.216343 0.310565 +#21770 1721121235382 +SLAM 16.1096 9.1245 -16.1135 -0.620625 0.121409 0.673093 0.383446 +TTool-pose None -27.9712 13.211 12.9636 0.722588 0.578404 -0.215614 0.311032 +#21771 1721121235412 +SLAM 16.1057 9.0911 -16.1269 -0.620587 0.122101 0.672972 0.3835 +TTool-pose None -27.9699 13.215 12.9535 0.722692 0.57794 -0.215806 0.311518 +#21772 1721121235444 +SLAM 16.0765 9.09253 -16.1386 -0.620717 0.12185 0.673578 0.382303 +TTool-pose None -27.9504 13.2145 12.974 0.723463 0.577611 -0.21565 0.310444 +#21773 1721121235474 +SLAM 16.1472 9.17582 -16.0673 -0.620861 0.120277 0.673109 0.383393 +TTool-pose None -27.9606 13.2237 12.9885 0.722404 0.57918 -0.215087 0.310379 +#21774 1721121235505 +SLAM 16.0217 8.97502 -16.2091 -0.6191 0.125151 0.673436 0.384105 +TTool-pose None -27.945 13.2342 12.9154 0.722797 0.576029 -0.218219 0.313132 +#21775 1721121235536 +SLAM 16.0871 9.02616 -16.17 -0.620599 0.12306 0.672972 0.383174 +TTool-pose None -27.9745 13.2021 12.9551 0.723115 0.577128 -0.216013 0.311899 +#21776 1721121235568 +SLAM 16.2281 9.01533 -16.0816 -0.620353 0.124111 0.670921 0.386813 +TTool-pose None -27.9928 13.2597 12.9015 0.720833 0.577922 -0.216358 0.315456 +#21777 1721121235599 +SLAM 16.1941 8.99321 -16.113 -0.621004 0.123716 0.671514 0.38486 +TTool-pose None -27.9836 13.2336 12.9358 0.722135 0.577386 -0.215584 0.313985 +#21778 1721121235630 +SLAM 16.3132 9.17271 -15.9691 -0.621534 0.120219 0.671105 0.385825 +TTool-pose None -27.9823 13.2599 12.9783 0.720786 0.580257 -0.214147 0.312771 +#21779 1721121235664 +SLAM 16.3063 9.15733 -15.979 -0.6217 0.120341 0.67116 0.385424 +TTool-pose None -27.9806 13.255 12.9817 0.721098 0.580005 -0.213993 0.312625 +#21780 1721121235696 +SLAM 16.2963 9.05429 -16.0395 -0.622878 0.121272 0.670913 0.383657 +TTool-pose None -27.9972 13.2218 12.9911 0.722587 0.57862 -0.212856 0.312529 +#21781 1721121235728 +SLAM 16.2376 9.01425 -16.0781 -0.621375 0.123053 0.671273 0.384894 +TTool-pose None -27.9804 13.2418 12.9539 0.722002 0.577872 -0.214994 0.313801 +#21782 1721121235759 +SLAM 16.1936 8.93987 -16.1255 -0.621609 0.124177 0.671668 0.383465 +TTool-pose None -27.9609 13.24 12.9567 0.723227 0.57648 -0.21502 0.313522 +#21783 1721121235790 +SLAM 16.25 9.07332 -16.0457 -0.622497 0.120967 0.671812 0.382795 +TTool-pose None -27.9646 13.2272 13.0107 0.723081 0.578465 -0.21329 0.311375 +#21784 1721121235820 +SLAM 16.1918 8.85586 -16.1654 -0.622603 0.124812 0.671396 0.382118 +TTool-pose None -27.9718 13.21 12.9675 0.72435 0.575475 -0.214016 0.313462 +#21785 1721121235858 +SLAM 16.2023 8.78078 -16.1797 -0.622467 0.126402 0.670928 0.382639 +TTool-pose None -27.9656 13.2276 12.9452 0.724312 0.574574 -0.214492 0.314874 +#21786 1721121235890 +SLAM 16.3533 8.85901 -16.0419 -0.623445 0.124687 0.669702 0.383756 +TTool-pose None -27.9557 13.272 12.9628 0.723271 0.576267 -0.212895 0.315259 +#21787 1721121235922 +SLAM 16.3227 8.72392 -16.1117 -0.623882 0.126756 0.669547 0.382636 +TTool-pose None -27.9536 13.2604 12.9525 0.724491 0.57434 -0.212855 0.316001 +#21788 1721121235953 +SLAM 16.2167 8.57166 -16.2296 -0.62393 0.129164 0.670285 0.380454 +TTool-pose None -27.9368 13.235 12.9484 0.726468 0.571717 -0.2134 0.315851 +#21789 1721121235983 +SLAM 16.3983 8.63083 -16.1068 -0.625594 0.127262 0.668378 0.381716 +TTool-pose None -27.9712 13.2453 12.9652 0.725343 0.573612 -0.210929 0.31666 +#21790 1721121236017 +SLAM 16.3336 8.50518 -16.1837 -0.626221 0.128922 0.668876 0.379251 +TTool-pose None -27.948 13.2307 12.9733 0.727398 0.571402 -0.210626 0.31614 +#21791 1721121236054 +SLAM 16.3912 8.57494 -16.1161 -0.626395 0.127651 0.668593 0.379892 +TTool-pose None -27.9419 13.249 12.9862 0.726718 0.572573 -0.210122 0.315923 +#21792 1721121236095 +SLAM 16.3618 8.51564 -16.156 -0.626499 0.128582 0.668757 0.379116 +TTool-pose None -27.9369 13.2433 12.9847 0.72744 0.571588 -0.210224 0.315976 +#21793 1721121236135 +SLAM 16.3292 8.4464 -16.2093 -0.627042 0.129281 0.668829 0.377853 +TTool-pose None -27.9472 13.2136 12.9876 0.728475 0.570563 -0.209766 0.315748 +#21794 1721121236172 +SLAM 16.3277 8.44944 -16.1951 -0.626286 0.129938 0.668854 0.378836 +TTool-pose None -27.928 13.246 12.9689 0.727889 0.570509 -0.210777 0.316524 +#21795 1721121236208 +SLAM 16.3662 8.49853 -16.1708 -0.627341 0.128192 0.668635 0.378071 +TTool-pose None -27.9535 13.2152 12.9989 0.728128 0.571427 -0.209167 0.315383 +#21796 1721121236246 +SLAM 16.5036 8.64001 -16.0275 -0.627486 0.125939 0.667636 0.380345 +TTool-pose None -27.9563 13.2604 13.0074 0.726135 0.573983 -0.208417 0.315834 +#21797 1721121236277 +SLAM 16.4107 8.53525 -16.1355 -0.627361 0.127693 0.668157 0.37905 +TTool-pose None -27.9669 13.2249 12.9931 0.727364 0.572195 -0.208995 0.315867 +#21798 1721121236307 +SLAM 16.2922 8.52124 -16.2199 -0.627285 0.12755 0.669672 0.376543 +TTool-pose None -27.9559 13.1844 13.0188 0.729027 0.57123 -0.209165 0.313658 +#21799 1721121236342 +SLAM 16.1828 8.49479 -16.2796 -0.625652 0.129091 0.670776 0.376768 +TTool-pose None -27.9252 13.199 12.991 0.729072 0.570222 -0.211457 0.313851 +#21800 1721121236374 +SLAM 16.4929 8.77624 -15.994 -0.626477 0.124339 0.668017 0.381864 +TTool-pose None -27.9739 13.2641 12.9953 0.724704 0.575744 -0.209235 0.315374 +#21801 1721121236412 +SLAM 16.3316 8.68316 -16.1362 -0.626091 0.125763 0.669602 0.379246 +TTool-pose None -27.9646 13.2147 13.0026 0.726749 0.573628 -0.210124 0.313928 +#21802 1721121236445 +SLAM 16.2228 8.67444 -16.2005 -0.624389 0.127036 0.670698 0.379691 +TTool-pose None -27.9479 13.2222 12.9743 0.726586 0.5729 -0.212434 0.314078 +#21803 1721121236478 +SLAM 16.3903 8.93824 -16.0048 -0.625102 0.122005 0.669873 0.381619 +TTool-pose None -27.9687 13.2421 13.0192 0.72429 0.577268 -0.210417 0.312738 +#21804 1721121236509 +SLAM 16.3976 8.97321 -15.9972 -0.62452 0.121945 0.669579 0.383101 +TTool-pose None -27.9924 13.2429 12.9934 0.723227 0.577931 -0.21104 0.313556 +#21805 1721121236539 +SLAM 16.4142 9.05056 -15.9553 -0.624055 0.120985 0.669604 0.38412 +TTool-pose None -27.9937 13.2558 12.9895 0.722298 0.579031 -0.211347 0.31346 +#21806 1721121236570 +SLAM 16.3884 9.16329 -15.9367 -0.62371 0.118971 0.670389 0.383941 +TTool-pose None -27.9983 13.2394 13.0147 0.721971 0.580365 -0.211339 0.311747 +#21807 1721121236605 +SLAM 16.152 9.03386 -16.1291 -0.621869 0.122156 0.672491 0.382246 +TTool-pose None -27.9746 13.2061 12.9813 0.723656 0.577388 -0.21433 0.311324 +#21808 1721121236637 +SLAM 16.3618 9.27652 -15.9345 -0.6225 0.117772 0.67055 0.385987 +TTool-pose None -28.0447 13.2155 12.9884 0.72023 0.582054 -0.212441 0.311875 +#21809 1721121236672 +SLAM 16.2738 9.34801 -15.9575 -0.621108 0.117295 0.671838 0.386135 +TTool-pose None -28.029 13.2168 12.9863 0.719922 0.582432 -0.214009 0.310805 +#21810 1721121236703 +SLAM 16.4065 9.62317 -15.7703 -0.620916 0.112691 0.671252 0.388825 +TTool-pose None -28.0502 13.2448 13.0105 0.717074 0.586782 -0.213085 0.309839 +#21811 1721121236739 +SLAM 16.2812 9.576 -15.8524 -0.618705 0.115123 0.672273 0.38987 +TTool-pose None -28.0268 13.2631 12.9563 0.716711 0.58549 -0.216236 0.31094 +#21812 1721121236775 +SLAM 16.3971 9.8187 -15.6945 -0.618715 0.110864 0.671735 0.392012 +TTool-pose None -28.0565 13.2761 12.9824 0.714314 0.589362 -0.215157 0.309885 +#21813 1721121236810 +SLAM 16.3841 9.88215 -15.6818 -0.617588 0.110526 0.671796 0.393774 +TTool-pose None -28.0726 13.2779 12.9583 0.712936 0.590318 -0.216338 0.310417 +#21814 1721121236844 +SLAM 16.238 9.81414 -15.8093 -0.617779 0.111165 0.673453 0.390451 +TTool-pose None -28.0592 13.2268 12.9852 0.715378 0.588483 -0.216434 0.308206 +#21815 1721121236880 +SLAM 16.3496 9.97696 -15.6652 -0.617351 0.108841 0.672768 0.392956 +TTool-pose None -28.0598 13.2764 12.9877 0.713109 0.591145 -0.216287 0.308471 +#21816 1721121236914 +SLAM 16.373 9.98327 -15.6763 -0.618733 0.10756 0.672437 0.3917 +TTool-pose None -28.1001 13.2238 13.0173 0.713801 0.591532 -0.214402 0.307443 +#21817 1721121236946 +SLAM 16.2331 9.92223 -15.7711 -0.616696 0.109991 0.673781 0.391928 +TTool-pose None -28.0647 13.2393 12.9788 0.714018 0.589903 -0.217391 0.307973 +#21818 1721121236986 +SLAM 16.3479 10.0418 -15.648 -0.61704 0.107817 0.672901 0.393498 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0.673815 0.39337 +TTool-pose None -28.0806 13.235 12.9571 0.712959 0.590448 -0.218487 0.308605 +#21837 1721121237664 +SLAM 16.3442 10.0819 -15.6394 -0.616138 0.107617 0.672788 0.395157 +TTool-pose None -28.0929 13.2599 12.972 0.711221 0.592898 -0.21734 0.308727 +#21838 1721121237697 +SLAM 16.2611 9.97817 -15.7357 -0.615614 0.109717 0.67324 0.394626 +TTool-pose None -28.0905 13.2411 12.9495 0.712009 0.591205 -0.218478 0.309353 +#21839 1721121237731 +SLAM 16.398 10.1304 -15.5873 -0.616194 0.106745 0.672333 0.396079 +TTool-pose None -28.1009 13.2706 12.9769 0.710394 0.593889 -0.217021 0.30895 +#21840 1721121237762 +SLAM 16.3511 10.0905 -15.6264 -0.615238 0.108175 0.672638 0.396659 +TTool-pose None -28.0898 13.2827 12.95 0.710232 0.593122 -0.218461 0.309784 +#21841 1721121237800 +SLAM 16.2116 9.95417 -15.7787 -0.615801 0.10982 0.673924 0.393136 +TTool-pose None -28.0798 13.2259 12.9688 0.713075 0.590514 -0.218361 0.308302 +#21842 1721121237836 +SLAM 16.3558 10.0549 -15.652 -0.616068 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-0.615882 0.107827 0.673489 0.394305 +TTool-pose None -28.0787 13.2552 12.977 0.711835 0.592392 -0.217745 0.307998 +#21849 1721121238074 +SLAM 16.3148 10.1148 -15.6313 -0.615203 0.107761 0.673186 0.395896 +TTool-pose None -28.0773 13.2794 12.9546 0.710665 0.59309 -0.218453 0.308853 +#21850 1721121238105 +SLAM 16.231 10.114 -15.6891 -0.61513 0.107539 0.674283 0.394201 +TTool-pose None -28.0693 13.2514 12.9749 0.71178 0.592535 -0.218587 0.307252 +#21851 1721121238142 +SLAM 16.1742 10.1017 -15.7241 -0.614125 0.108452 0.674706 0.394792 +TTool-pose None -28.0643 13.2526 12.949 0.711489 0.59213 -0.219966 0.307722 +#21852 1721121238178 +SLAM 16.1928 10.0827 -15.7186 -0.613341 0.109624 0.674046 0.39681 +TTool-pose None -28.0778 13.2707 12.9027 0.710288 0.592142 -0.221056 0.309688 +#21853 1721121238214 +SLAM 16.0846 10.1263 -15.7612 -0.61371 0.108085 0.67596 0.393391 +TTool-pose None -28.0419 13.2396 12.9621 0.712336 0.59179 -0.220455 0.306059 +#21854 1721121238251 +SLAM 15.9015 9.9725 -15.9333 -0.612397 0.111567 0.677387 0.392008 +TTool-pose None -28.0214 13.2176 12.9257 0.71394 0.588759 -0.222887 0.306409 +#21855 1721121238286 +SLAM 16.0179 10.1385 -15.7931 -0.613189 0.10811 0.676763 0.392814 +TTool-pose None -28.0312 13.2306 12.961 0.712693 0.591521 -0.221114 0.305274 +#21856 1721121238324 +SLAM 15.7621 9.90891 -16.0339 -0.611257 0.113361 0.678711 0.390981 +TTool-pose None -27.9967 13.2087 12.9048 0.714931 0.587051 -0.224702 0.306046 +#21857 1721121238358 +SLAM 15.8399 9.93478 -15.97 -0.610556 0.113819 0.677542 0.393959 +TTool-pose None -28.0106 13.2457 12.8597 0.712926 0.587968 -0.225485 0.308382 +#21858 1721121238395 +SLAM 15.9085 10.0599 -15.8815 -0.612304 0.110071 0.677706 0.392025 +TTool-pose None -28.0078 13.2275 12.9382 0.71359 0.589806 -0.222659 0.305372 +#21859 1721121238430 +SLAM 15.8346 9.94251 -15.964 -0.611771 0.112605 0.678146 0.391375 +TTool-pose None -27.9855 13.2353 12.9124 0.714544 0.587756 -0.2239 0.306188 +#21860 1721121238466 +SLAM 15.8867 9.94391 -15.9394 -0.612432 0.112105 0.677475 0.391647 +TTool-pose None -28.0045 13.2236 12.9187 0.714308 0.588232 -0.222986 0.30649 +#21861 1721121238505 +SLAM 15.8907 9.90171 -15.9529 -0.612861 0.112593 0.677341 0.391066 +TTool-pose None -28.0012 13.2222 12.9208 0.714851 0.587656 -0.222613 0.306601 +#21862 1721121238541 +SLAM 15.9699 9.90933 -15.9087 -0.613654 0.112069 0.676413 0.391579 +TTool-pose None -28.0197 13.2255 12.9243 0.714455 0.588254 -0.221521 0.307169 +#21863 1721121238576 +SLAM 15.8198 9.75161 -16.0473 -0.614175 0.114084 0.678117 0.387211 +TTool-pose None -27.9656 13.199 12.9553 0.717924 0.585016 -0.221567 0.305224 +#21864 1721121238617 +SLAM 15.9011 9.72942 -16.0052 -0.6136 0.11543 0.67673 0.390138 +TTool-pose None -27.9827 13.2407 12.9024 0.716167 0.585299 -0.222412 0.308181 +#21865 1721121238652 +SLAM 15.952 9.78859 -15.9627 -0.615292 0.112892 0.6766 0.388436 +TTool-pose None -27.9978 13.2036 12.9594 0.716927 0.586387 -0.219906 0.306137 +#21866 1721121238686 +SLAM 15.8488 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1721121239304 +SLAM 16.0369 9.87068 -15.8758 -0.615841 0.111131 0.676012 0.389099 +TTool-pose None -28.0023 13.2173 12.9781 0.716136 0.587905 -0.21882 0.305855 +#21885 1721121239333 +SLAM 16.0486 9.89101 -15.8573 -0.614926 0.11169 0.675844 0.390673 +TTool-pose None -27.9998 13.2512 12.9509 0.715103 0.588161 -0.219961 0.306959 +#21886 1721121239364 +SLAM 15.8986 9.76812 -15.9874 -0.614496 0.11384 0.677342 0.388126 +TTool-pose None -27.9632 13.2293 12.9532 0.717275 0.58558 -0.221085 0.306016 +#21887 1721121239396 +SLAM 16.0186 9.8513 -15.8962 -0.615025 0.112168 0.675976 0.390153 +TTool-pose None -28.006 13.2289 12.9505 0.715572 0.587611 -0.219979 0.306908 +#21888 1721121239430 +SLAM 16.0397 9.92226 -15.8479 -0.61487 0.111043 0.676027 0.39063 +TTool-pose None -28.0002 13.241 12.957 0.714985 0.588593 -0.219885 0.306458 +#21889 1721121239462 +SLAM 16.0258 9.88465 -15.8774 -0.615183 0.111494 0.676066 0.389941 +TTool-pose None -28.004 13.231 12.9587 0.715583 0.587994 -0.219648 0.306382 +#21890 1721121239495 +SLAM 16.0346 9.87316 -15.8803 -0.615093 0.111824 0.675774 0.390494 +TTool-pose None -28.0148 13.2292 12.946 0.715269 0.587995 -0.219801 0.307004 +#21891 1721121239528 +SLAM 15.8977 9.75185 -16.0119 -0.614165 0.114439 0.676784 0.389446 +TTool-pose None -28.0032 13.2068 12.9196 0.716475 0.585711 -0.22155 0.3073 +#21892 1721121239561 +SLAM 16.0629 9.91009 -15.8351 -0.61464 0.111637 0.675617 0.391531 +TTool-pose None -28.0011 13.2596 12.9374 0.714478 0.588553 -0.220248 0.307456 +#21893 1721121239592 +SLAM 16.0225 9.91268 -15.864 -0.614984 0.11109 0.676231 0.390083 +TTool-pose None -27.9987 13.2343 12.9619 0.71538 0.588332 -0.219787 0.306108 +#21894 1721121239624 +SLAM 16.0214 9.89525 -15.8699 -0.615303 0.111156 0.676274 0.389485 +TTool-pose None -27.9932 13.2321 12.9695 0.715831 0.58804 -0.21945 0.305856 +#21895 1721121239656 +SLAM 16.0621 9.90398 -15.843 -0.615008 0.111371 0.675653 0.390966 +TTool-pose None -28.0056 13.2456 12.9499 0.714839 0.588508 -0.219777 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-0.219656 0.307303 +#21908 1721121240164 +SLAM 16.009 9.81524 -15.919 -0.615182 0.112718 0.675863 0.389942 +TTool-pose None -28.0119 13.2194 12.9428 0.71585 0.587141 -0.219924 0.307197 +#21909 1721121240199 +SLAM 15.9086 9.76654 -15.9948 -0.614274 0.114069 0.676903 0.389177 +TTool-pose None -27.9912 13.2167 12.9334 0.716588 0.585858 -0.221351 0.306899 +#21910 1721121240237 +SLAM 15.9191 9.76308 -15.9887 -0.614268 0.114196 0.676667 0.389557 +TTool-pose None -27.9959 13.2172 12.9247 0.716356 0.58593 -0.221367 0.307295 +#21911 1721121240269 +SLAM 16.0665 9.913 -15.8409 -0.6158 0.11054 0.675751 0.389784 +TTool-pose None -28.0085 13.2269 12.9739 0.715533 0.588605 -0.218701 0.306003 +#21912 1721121240302 +SLAM 16.0292 9.82105 -15.8985 -0.613444 0.114238 0.675155 0.393448 +TTool-pose None -28.0227 13.2604 12.8756 0.713625 0.58752 -0.222158 0.310031 +#21913 1721121240334 +SLAM 16.0952 9.97755 -15.804 -0.615384 0.109773 0.675499 0.391092 +TTool-pose None -28.0242 13.2349 12.9659 0.714433 0.589681 -0.218958 0.306317 +#21914 1721121240368 +SLAM 16.0423 9.88226 -15.8853 -0.616241 0.110693 0.675797 0.388964 +TTool-pose None -28.0303 13.1951 12.9765 0.716165 0.58816 -0.218249 0.305702 +#21915 1721121240402 +SLAM 15.9078 9.78138 -15.9899 -0.614738 0.113488 0.677027 0.388397 +TTool-pose None -27.9906 13.2094 12.945 0.717035 0.585944 -0.220705 0.306156 +#21916 1721121240438 +SLAM 16.0549 9.93587 -15.8381 -0.61544 0.11046 0.675946 0.390037 +TTool-pose None -28.006 13.2353 12.968 0.715312 0.58876 -0.219101 0.305936 +#21917 1721121240478 +SLAM 15.9439 9.85945 -15.9392 -0.61455 0.112315 0.676832 0.389375 +TTool-pose None -27.9995 13.2194 12.9462 0.716095 0.587171 -0.220618 0.306067 +#21918 1721121240512 +SLAM 15.975 9.9848 -15.8592 -0.614422 0.110115 0.67709 0.389757 +TTool-pose None -27.9867 13.2348 12.9696 0.71534 0.588863 -0.220256 0.304841 +#21919 1721121240545 +SLAM 15.9915 9.97188 -15.8609 -0.614919 0.110081 0.676828 0.389437 +TTool-pose None -27.9966 13.2287 12.9715 0.715594 0.588761 -0.21967 0.304863 +#21920 1721121240577 +SLAM 15.9387 9.90769 -15.9234 -0.614667 0.111297 0.677157 0.388916 +TTool-pose None -27.9968 13.2149 12.9625 0.716196 0.58769 -0.220271 0.305083 +#21921 1721121240610 +SLAM 16.0537 10.0178 -15.8091 -0.615317 0.109092 0.676249 0.390091 +TTool-pose None -28.0101 13.2346 12.9779 0.714963 0.589733 -0.218936 0.304995 +#21922 1721121240645 +SLAM 15.9567 9.95847 -15.8911 -0.61449 0.11055 0.67712 0.389473 +TTool-pose None -27.9982 13.2227 12.9644 0.715635 0.588442 -0.220287 0.304937 +#21923 1721121240678 +SLAM 16.069 10.0225 -15.786 -0.614078 0.110167 0.675888 0.392361 +TTool-pose None -28.0036 13.2749 12.9359 0.713537 0.589916 -0.220545 0.306816 +#21924 1721121240712 +SLAM 15.9731 9.96815 -15.877 -0.61461 0.110328 0.676965 0.389617 +TTool-pose None -28.0001 13.2252 12.9657 0.715499 0.58866 -0.220086 0.304983 +#21925 1721121240745 +SLAM 16.0719 10.0381 -15.7863 -0.614779 0.10923 0.676021 0.391294 +TTool-pose None -28.0107 13.2531 12.9623 0.714123 0.590133 -0.219549 0.305747 +#21926 1721121240777 +SLAM 16.1136 10.0783 -15.7489 -0.615092 0.10834 0.675594 0.391787 +TTool-pose None -28.0254 13.2498 12.9658 0.713614 0.590966 -0.218946 0.305759 +#21927 1721121240812 +SLAM 15.8793 9.90808 -15.9541 -0.613996 0.111705 0.677779 0.388775 +TTool-pose None -27.987 13.2127 12.9516 0.716323 0.587333 -0.221172 0.304821 +#21928 1721121240845 +SLAM 15.9009 9.97005 -15.9141 -0.61369 0.11088 0.677762 0.389525 +TTool-pose None -27.9862 13.2272 12.953 0.715602 0.588218 -0.221315 0.304702 +#21929 1721121240880 +SLAM 15.9668 9.99702 -15.8825 -0.614625 0.109782 0.676937 0.389796 +TTool-pose None -28.0232 13.2055 12.9625 0.715257 0.589116 -0.219935 0.304778 +#21930 1721121240917 +SLAM 16.0052 10.1848 -15.7816 -0.613712 0.106992 0.677096 0.391728 +TTool-pose None -28.0308 13.2208 12.9736 0.713234 0.591852 -0.220289 0.303959 +#21931 1721121240950 +SLAM 15.8918 10.1 -15.8871 -0.612902 0.108952 0.67798 0.390927 +TTool-pose None -28.0232 13.2031 12.9511 0.714148 0.590135 -0.221747 0.304092 +#21932 1721121240986 +SLAM 15.8574 10.1149 -15.8977 -0.612351 0.109091 0.678399 0.391025 +TTool-pose None -28.0153 13.2087 12.9428 0.714062 0.590069 -0.222431 0.303923 +#21933 1721121241018 +SLAM 16.0573 10.391 -15.673 -0.613202 0.103599 0.676947 0.393691 +TTool-pose None -28.0614 13.2157 12.9831 0.711079 0.595021 -0.22001 0.303022 +#21934 1721121241051 +SLAM 15.9898 10.312 -15.7386 -0.611387 0.106558 0.677114 0.395435 +TTool-pose None -28.0526 13.2435 12.9169 0.710384 0.593662 -0.222767 0.305298 +#21935 1721121241083 +SLAM 16.0931 10.5233 -15.5953 -0.611901 0.102303 0.676743 0.396397 +TTool-pose None -28.075 13.2441 12.9617 0.708806 0.597026 -0.221111 0.303601 +#21936 1721121241117 +SLAM 15.9701 10.3568 -15.7419 -0.611857 0.105182 0.677628 0.394193 +TTool-pose None -28.0581 13.2177 12.9488 0.710972 0.594106 -0.221955 0.30365 +#21937 1721121241149 +SLAM 16.1021 10.4538 -15.61 -0.611599 0.104033 0.676331 0.397116 +TTool-pose None -28.0658 13.2694 12.9312 0.708676 0.596121 -0.221835 0.305154 +#21938 1721121241179 +SLAM 16.0388 10.4202 -15.6693 -0.611965 0.104122 0.677128 0.395166 +TTool-pose None -28.0582 13.2423 12.9548 0.710073 0.595251 -0.221528 0.303821 +#21939 1721121241212 +SLAM 15.8874 10.2753 -15.8244 -0.61096 0.107178 0.678177 0.394102 +TTool-pose None -28.0496 13.2111 12.9234 0.711401 0.592663 -0.22349 0.304339 +#21940 1721121241244 +SLAM 16.1198 10.5219 -15.5778 -0.611807 0.102489 0.676364 0.397139 +TTool-pose None -28.0785 13.2543 12.9517 0.708328 0.597205 -0.221225 0.304282 +#21941 1721121241277 +SLAM 15.8712 10.2791 -15.8162 -0.610467 0.107593 0.678562 0.394091 +TTool-pose None -28.02 13.2428 12.9185 0.711456 0.592359 -0.224173 0.3043 +#21942 1721121241311 +SLAM 16.0314 10.3559 -15.7026 -0.611628 0.10565 0.676753 0.395923 +TTool-pose None -28.0674 13.2437 12.9234 0.709866 0.594501 -0.222242 0.305251 +#21943 1721121241343 +SLAM 16.0015 10.3844 -15.7032 -0.611117 0.10541 0.677231 0.395959 +TTool-pose None -28.0568 13.2469 12.9245 0.709741 0.594672 -0.222794 0.304806 +#21944 1721121241376 +SLAM 16.0401 10.4397 -15.6577 -0.611873 0.103852 0.677206 0.395245 +TTool-pose None -28.0547 13.2473 12.9564 0.709949 0.59547 -0.221571 0.303652 +#21945 1721121241408 +SLAM 16.1076 10.4962 -15.5986 -0.6122 0.102638 0.676486 0.396288 +TTool-pose None -28.0769 13.2446 12.9601 0.708984 0.596754 -0.22084 0.303917 +#21946 1721121241442 +SLAM 15.9365 10.3435 -15.7634 -0.611561 0.105593 0.67806 0.3938 +TTool-pose None -28.0445 13.2224 12.9488 0.711308 0.59365 -0.222425 0.303412 +#21947 1721121241474 +SLAM 15.9463 10.3385 -15.7579 -0.611157 0.106086 0.677809 0.394725 +TTool-pose None -28.0475 13.2342 12.9306 0.710746 0.593687 -0.222971 0.304255 +#21948 1721121241508 +SLAM 15.8849 10.3171 -15.8051 -0.610999 0.106385 0.67851 0.393685 +TTool-pose None -28.0392 13.2178 12.9382 0.711513 0.59304 -0.223284 0.303492 +#21949 1721121241542 +SLAM 15.9108 10.3829 -15.7729 -0.611373 0.104798 0.678424 0.393676 +TTool-pose None -28.0571 13.2 12.9591 0.711196 0.594146 -0.222471 0.302667 +#21950 1721121241575 +SLAM 15.9665 10.4608 -15.696 -0.61118 0.103729 0.678105 0.394807 +TTool-pose None -28.05 13.2315 12.959 0.71016 0.595357 -0.222392 0.302777 +#21951 1721121241608 +SLAM 15.971 10.5097 -15.6748 -0.611903 0.102166 0.678438 0.393521 +TTool-pose None -28.0466 13.2165 12.9954 0.710754 0.595916 -0.221233 0.301128 +#21952 1721121241641 +SLAM 15.9223 10.4569 -15.7236 -0.611087 0.103756 0.678665 0.393981 +TTool-pose None -28.0417 13.2223 12.9655 0.710725 0.59499 -0.222553 0.302054 +#21953 1721121241674 +SLAM 15.8829 10.4332 -15.7588 -0.611341 0.103889 0.679142 0.392729 +TTool-pose None -28.0346 13.2083 12.9772 0.711638 0.594377 -0.222347 0.301261 +#21954 1721121241707 +SLAM 15.8736 10.5298 -15.7169 -0.610779 0.102364 0.679704 0.39303 +TTool-pose None -28.0228 13.2151 12.9948 0.711033 0.595548 -0.222644 0.300155 +#21955 1721121241742 +SLAM 15.9621 10.4833 -15.7012 -0.611847 0.102658 0.678281 0.393751 +TTool-pose None -28.0629 13.2024 12.9848 0.710703 0.59567 -0.221404 0.301608 +#21956 1721121241776 +SLAM 15.9944 10.5442 -15.6458 -0.611756 0.101683 0.678241 0.394213 +TTool-pose None -28.0513 13.2232 12.9937 0.710155 0.596538 -0.221259 0.301291 +#21957 1721121241809 +SLAM 15.9187 10.4358 -15.735 -0.61092 0.104244 0.678529 0.394345 +TTool-pose None -28.0461 13.2192 12.9549 0.71057 0.594801 -0.222846 0.302574 +#21958 1721121241843 +SLAM 15.9564 10.482 -15.6957 -0.611079 0.103341 0.678271 0.394781 +TTool-pose None -28.0534 13.2243 12.9629 0.710081 0.595613 -0.222423 0.302437 +#21959 1721121241879 +SLAM 15.9703 10.4956 -15.6823 -0.611384 0.102845 0.678215 0.394533 +TTool-pose None -28.0544 13.2209 12.9737 0.710166 0.595859 -0.221957 0.302093 +#21960 1721121241916 +SLAM 15.9458 10.4849 -15.6974 -0.610669 0.103565 0.678423 0.395094 +TTool-pose None -28.0465 13.2328 12.9583 0.709879 0.59558 -0.222946 0.30259 +#21961 1721121241949 +SLAM 15.9054 10.4263 -15.7479 -0.610635 0.104614 0.678582 0.394597 +TTool-pose None -28.0476 13.2189 12.9463 0.710455 0.594644 -0.223258 0.302851 +#21962 1721121241982 +SLAM 15.9069 10.4291 -15.7527 -0.611497 0.103825 0.678681 0.393298 +TTool-pose None -28.0531 13.1961 12.9716 0.711247 0.594664 -0.222117 0.301788 +#21963 1721121242016 +SLAM 15.8345 10.442 -15.7811 -0.610367 0.104275 0.67961 0.393331 +TTool-pose None -28.0306 13.206 12.9633 0.711222 0.594341 -0.223565 0.301412 +#21964 1721121242058 +SLAM 15.8984 10.5304 -15.6978 -0.610319 0.102887 0.679142 0.394578 +TTool-pose None -28.033 13.2276 12.9634 0.710048 0.595825 -0.223233 0.301497 +#21965 1721121242097 +SLAM 15.7779 10.3891 -15.8288 -0.6086 0.10673 0.67957 0.395475 +TTool-pose None -28.0327 13.2238 12.8925 0.710137 0.593497 -0.226121 0.303719 +#21966 1721121242131 +SLAM 15.832 10.4751 -15.7518 -0.608579 0.105375 0.679224 0.396463 +TTool-pose None -28.0324 13.2445 12.8929 0.709151 0.594852 -0.225779 0.30363 +#21967 1721121242174 +SLAM 15.7504 10.5258 -15.773 -0.608793 0.103898 0.680674 0.39403 +TTool-pose None -28.0061 13.2197 12.9373 0.71051 0.59486 -0.225311 0.300768 +#21968 1721121242206 +SLAM 15.7469 10.5415 -15.7739 -0.609137 0.103282 0.680668 0.39367 +TTool-pose None -28.0183 13.1981 12.9438 0.710649 0.595144 -0.224778 0.300275 +#21969 1721121242239 +SLAM 15.6153 10.4383 -15.8955 -0.609152 0.10484 0.681935 0.391035 +TTool-pose None -27.9983 13.1649 12.949 0.712806 0.592954 -0.225255 0.299135 +#21970 1721121242275 +SLAM 15.6287 10.5127 -15.8477 -0.608732 0.103843 0.681971 0.39189 +TTool-pose None -27.995 13.1763 12.9457 0.711956 0.593995 -0.225479 0.298924 +#21971 1721121242308 +SLAM 15.4921 10.3837 -15.9678 -0.606175 0.108221 0.682637 0.393505 +TTool-pose None -27.9751 13.2028 12.8573 0.711587 0.591574 -0.22944 0.301581 +#21972 1721121242342 +SLAM 15.6299 10.57 -15.8121 -0.60794 0.10356 0.681979 0.393178 +TTool-pose None -27.9912 13.1967 12.9232 0.710934 0.594715 -0.226287 0.299314 +#21973 1721121242378 +SLAM 15.6107 10.59 -15.7998 -0.60673 0.104229 0.682187 0.394508 +TTool-pose None -27.9737 13.2294 12.8942 0.710057 0.594781 -0.227809 0.30011 +#21974 1721121242410 +SLAM 15.4747 10.4518 -15.9437 -0.606182 0.106838 0.683163 0.392959 +TTool-pose None -27.9664 13.1957 12.8759 0.711651 0.592305 -0.22914 0.300218 +#21975 1721121242445 +SLAM 15.5307 10.5444 -15.8727 -0.607416 0.104202 0.683118 0.391839 +TTool-pose None -27.9667 13.1872 12.9237 0.711943 0.593693 -0.227124 0.298308 +#21976 1721121242480 +SLAM 15.4231 10.3776 -16.0101 -0.607155 0.107312 0.683612 0.39054 +TTool-pose None -27.9633 13.1618 12.8942 0.713504 0.590979 -0.228216 0.299133 +#21977 1721121242515 +SLAM 15.4625 10.4342 -15.9645 -0.60713 0.106368 0.683332 0.391326 +TTool-pose None -27.9705 13.1695 12.8977 0.712754 0.591967 -0.22799 0.29914 +#21978 1721121242552 +SLAM 15.4112 10.447 -15.984 -0.606769 0.106175 0.684076 0.390639 +TTool-pose None -27.9553 13.1633 12.9082 0.713143 0.591801 -0.228406 0.298223 +#21979 1721121242586 +SLAM 15.5296 10.5533 -15.857 -0.606041 0.105277 0.682921 0.394018 +TTool-pose None -27.96 13.2222 12.8795 0.710562 0.59383 -0.228893 0.299973 +#21980 1721121242618 +SLAM 15.5471 10.5809 -15.8484 -0.607631 0.103362 0.683013 0.391911 +TTool-pose None -27.9733 13.1802 12.9306 0.711725 0.59431 -0.226669 0.297945 +#21981 1721121242652 +SLAM 15.4609 10.4499 -15.9431 -0.606496 0.106664 0.683457 0.392011 +TTool-pose None -27.9497 13.1985 12.8852 0.712291 0.592034 -0.228776 0.299512 +#21982 1721121242687 +SLAM 15.4214 10.4072 -15.9896 -0.606014 0.107723 0.683611 0.392197 +TTool-pose None -27.9559 13.1893 12.8685 0.712353 0.591365 -0.22958 0.300071 +#21983 1721121242721 +SLAM 15.5749 10.5488 -15.8411 -0.606899 0.104739 0.682366 0.393801 +TTool-pose None -27.9776 13.2072 12.8918 0.710673 0.594134 -0.227763 0.299967 +#21984 1721121242757 +SLAM 15.5251 10.4226 -15.927 -0.606569 0.107345 0.682323 0.393682 +TTool-pose None -27.9793 13.2027 12.8584 0.711309 0.592267 -0.228763 0.301389 +#21985 1721121242791 +SLAM 15.5289 10.4365 -15.9225 -0.607778 0.105968 0.682675 0.391575 +TTool-pose None -27.9725 13.1798 12.907 0.712558 0.592366 -0.227119 0.299481 +#21986 1721121242825 +SLAM 15.6814 10.5574 -15.7713 -0.607643 0.104316 0.681315 0.394586 +TTool-pose None -27.9798 13.2355 12.8987 0.710112 0.594777 -0.226744 0.300795 +#21987 1721121242861 +SLAM 15.6319 10.5561 -15.8131 -0.608744 0.103056 0.682174 0.391725 +TTool-pose None -27.9785 13.1859 12.9534 0.71189 0.594471 -0.225288 0.298275 +#21988 1721121242892 +SLAM 15.7378 10.6154 -15.7316 -0.60899 0.102035 0.680894 0.393833 +TTool-pose None -28.0107 13.1945 12.9418 0.710239 0.596072 -0.224651 0.299496 +#21989 1721121242928 +SLAM 15.4328 10.334 -16.0242 -0.6076 0.107611 0.683621 0.38975 +TTool-pose None -27.9541 13.1606 12.9157 0.714153 0.590449 -0.227796 0.298952 +#21990 1721121242961 +SLAM 15.6565 10.5276 -15.8133 -0.608911 0.103553 0.681718 0.392129 +TTool-pose None -27.9868 13.1882 12.944 0.711744 0.594301 -0.225187 0.299041 +#21991 1721121242995 +SLAM 15.725 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15.5475 10.361 -15.95 -0.608336 0.10688 0.682221 0.391251 +TTool-pose None -27.9808 13.1692 12.9089 0.713039 0.591609 -0.226684 0.300161 +#21998 1721121243250 +SLAM 15.5648 10.4156 -15.9246 -0.608535 0.105636 0.682233 0.391261 +TTool-pose None -27.9917 13.1582 12.9263 0.712772 0.592481 -0.22616 0.299468 +#21999 1721121243285 +SLAM 15.4951 10.3489 -15.987 -0.608117 0.107034 0.682834 0.390481 +TTool-pose None -27.9742 13.1546 12.9165 0.713576 0.591172 -0.227017 0.299492 +#22000 1721121243319 +SLAM 15.5662 10.4225 -15.912 -0.607974 0.106013 0.682217 0.392057 +TTool-pose None -27.9819 13.1782 12.9122 0.712258 0.592543 -0.226874 0.300029 +#22001 1721121243353 +SLAM 15.6483 10.4833 -15.8539 -0.609572 0.103745 0.681565 0.391316 +TTool-pose None -28.0092 13.154 12.9515 0.712405 0.593842 -0.224488 0.298903 +#22002 1721121243386 +SLAM 15.6683 10.5104 -15.816 -0.608833 0.10399 0.681408 0.392671 +TTool-pose None -27.995 13.1892 12.9319 0.711465 0.594225 -0.225354 0.29973 +#22003 1721121243419 +SLAM 15.5951 10.445 -15.8952 -0.609046 0.104775 0.68202 0.391067 +TTool-pose None -27.9963 13.1553 12.938 0.712758 0.59301 -0.225363 0.299054 +#22004 1721121243454 +SLAM 15.5401 10.4215 -15.9304 -0.607927 0.106001 0.682464 0.391703 +TTool-pose None -27.9844 13.167 12.9121 0.712493 0.5924 -0.226944 0.2997 +#22005 1721121243487 +SLAM 15.5121 10.3897 -15.9634 -0.608642 0.105918 0.682887 0.389874 +TTool-pose None -27.9766 13.1496 12.936 0.71379 0.591703 -0.226165 0.298576 +#22006 1721121243528 +SLAM 15.4941 10.4092 -15.96 -0.607791 0.106181 0.683054 0.390837 +TTool-pose None -27.972 13.1607 12.9195 0.713111 0.591906 -0.227188 0.29902 +#22007 1721121243563 +SLAM 15.4976 10.4035 -15.9568 -0.607667 0.106445 0.682949 0.391141 +TTool-pose None -27.9702 13.167 12.9109 0.712951 0.591849 -0.227382 0.29937 +#22008 1721121243599 +SLAM 15.4173 10.4001 -16.0094 -0.608185 0.10568 0.684219 0.388313 +TTool-pose None -27.9525 13.1343 12.9565 0.714753 0.591196 -0.226722 0.296849 +#22009 1721121243643 +SLAM 15.6242 10.5445 -15.8272 -0.608221 0.10369 0.682006 0.392663 +TTool-pose None -27.9906 13.1851 12.9316 0.711344 0.594415 -0.226011 0.299146 +#22010 1721121243684 +SLAM 15.6884 10.5636 -15.7802 -0.608884 0.103001 0.68133 0.39299 +TTool-pose None -27.9989 13.1897 12.9374 0.711027 0.595046 -0.225047 0.299371 +#22011 1721121243715 +SLAM 15.6587 10.585 -15.7883 -0.608442 0.102853 0.681769 0.39295 +TTool-pose None -27.9934 13.1904 12.9387 0.710978 0.595121 -0.225538 0.298968 +#22012 1721121243748 +SLAM 15.3869 10.3348 -16.049 -0.607998 0.107072 0.684341 0.388009 +TTool-pose None -27.9413 13.1412 12.941 0.715255 0.590096 -0.227279 0.297404 +#22013 1721121243780 +SLAM 15.6204 10.5465 -15.8271 -0.609192 0.102782 0.682326 0.390834 +TTool-pose None -27.98 13.1688 12.9672 0.712479 0.594296 -0.224736 0.297635 +#22014 1721121243813 +SLAM 15.562 10.4344 -15.908 -0.608652 0.105242 0.682467 0.390776 +TTool-pose None -27.9753 13.1676 12.9346 0.713024 0.592554 -0.225954 0.298879 +#22015 1721121243845 +SLAM 15.6006 10.4811 -15.87 -0.608417 0.104634 0.682072 0.391992 +TTool-pose None -27.989 13.1747 12.9295 0.712035 0.593482 -0.226032 0.299337 +#22016 1721121243879 +SLAM 15.6047 10.4421 -15.8934 -0.609135 0.104781 0.681858 0.39121 +TTool-pose None -28.0021 13.153 12.9363 0.712671 0.593068 -0.225253 0.299231 +#22017 1721121243914 +SLAM 15.657 10.5428 -15.8082 -0.608992 0.103154 0.681767 0.392024 +TTool-pose None -27.9895 13.1817 12.9504 0.711732 0.594536 -0.225003 0.29874 +#22018 1721121243952 +SLAM 15.5253 10.3415 -15.9607 -0.60762 0.107844 0.682359 0.39186 +TTool-pose None -27.967 13.1881 12.8876 0.712769 0.591179 -0.227726 0.300861 +#22019 1721121243991 +SLAM 15.6302 10.4615 -15.8478 -0.608396 0.105221 0.681723 0.392474 +TTool-pose None -27.9748 13.2016 12.9178 0.711836 0.593278 -0.226168 0.300111 +#22020 1721121244030 +SLAM 15.5694 10.3406 -15.943 -0.608984 0.106791 0.682039 0.390585 +TTool-pose None -27.9755 13.1688 12.9218 0.713536 0.591406 -0.225928 0.299952 +#22021 1721121244068 +SLAM 15.6728 10.4111 -15.8644 -0.60956 0.105295 0.680953 0.391985 +TTool-pose None -28.0075 13.1719 12.9261 0.712298 0.593049 -0.224829 0.300474 +#22022 1721121244101 +SLAM 15.6679 10.4237 -15.8448 -0.609019 0.105497 0.681152 0.392428 +TTool-pose None -27.9837 13.1967 12.9199 0.71199 0.593082 -0.225497 0.300639 +#22023 1721121244138 +SLAM 15.7176 10.4041 -15.8346 -0.609677 0.105544 0.680387 0.392718 +TTool-pose None -28.0065 13.1906 12.9155 0.711864 0.593187 -0.224711 0.301318 +#22024 1721121244172 +SLAM 15.6957 10.438 -15.8184 -0.609039 0.105311 0.680888 0.392904 +TTool-pose None -27.9826 13.2079 12.9178 0.711624 0.593412 -0.225406 0.300923 +#22025 1721121244209 +SLAM 15.5503 10.258 -15.9856 -0.608158 0.109052 0.681771 0.391714 +TTool-pose None -27.9741 13.1863 12.8808 0.713191 0.590291 -0.227372 0.301873 +#22026 1721121244243 +SLAM 15.5787 10.1851 -15.9959 -0.609075 0.109794 0.681303 0.390896 +TTool-pose None -27.9699 13.1859 12.8857 0.714002 0.589452 -0.226494 0.302255 +#22027 1721121244277 +SLAM 15.7055 10.2802 -15.8823 -0.610407 0.107156 0.680366 0.39118 +TTool-pose None -27.982 13.1892 12.925 0.713346 0.591437 -0.224293 0.301565 +#22028 1721121244310 +SLAM 15.5439 10.0633 -16.0606 -0.610249 0.111039 0.68171 0.387991 +TTool-pose None -27.9414 13.1779 12.9127 0.716367 0.587384 -0.22552 0.301409 +#22029 1721121244342 +SLAM 15.7121 10.2779 -15.8784 -0.610883 0.10684 0.680428 0.390418 +TTool-pose None -27.9762 13.1875 12.9399 0.713841 0.591346 -0.223693 0.301019 +#22030 1721121244374 +SLAM 15.6475 10.1847 -15.9535 -0.610707 0.108582 0.680792 0.389575 +TTool-pose None -27.9682 13.176 12.9245 0.714788 0.589775 -0.224342 0.301369 +#22031 1721121244407 +SLAM 15.6775 10.2615 -15.9028 -0.610586 0.10736 0.680832 0.390034 +TTool-pose None -27.9647 13.1934 12.9362 0.714191 0.590815 -0.224184 0.300863 +#22032 1721121244440 +SLAM 15.7472 10.3065 -15.849 -0.61125 0.106112 0.680124 0.39057 +TTool-pose None -27.9848 13.1869 12.9475 0.713607 0.591923 -0.22308 0.300891 +#22033 1721121244476 +SLAM 15.7002 10.2811 -15.8766 -0.610732 0.106922 0.680652 0.39024 +TTool-pose None -27.9632 13.1973 12.9395 0.713966 0.59121 -0.223899 0.300834 +#22034 1721121244509 +SLAM 15.611 10.1581 -15.9863 -0.60934 0.110227 0.68085 0.39115 +TTool-pose None -27.9702 13.1962 12.8806 0.713949 0.589264 -0.226266 0.302916 +#22035 1721121244545 +SLAM 15.6139 10.1832 -15.9745 -0.609979 0.109188 0.681096 0.390015 +TTool-pose None -27.9654 13.1849 12.9083 0.714555 0.589522 -0.225325 0.301684 +#22036 1721121244582 +SLAM 15.6452 10.2574 -15.919 -0.610175 0.107683 0.681135 0.390058 +TTool-pose None -27.9584 13.1925 12.9278 0.714208 0.590591 -0.224745 0.300844 +#22037 1721121244617 +SLAM 15.6523 10.1979 -15.954 -0.610668 0.108494 0.68068 0.389858 +TTool-pose None -27.9811 13.1756 12.9176 0.714572 0.589955 -0.224356 0.30152 +#22038 1721121244651 +SLAM 15.6497 10.1983 -15.9528 -0.611012 0.108213 0.680829 0.389137 +TTool-pose None -27.9739 13.1733 12.9294 0.715033 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12.9232 0.713915 0.59105 -0.22367 0.301439 +#22051 1721121245097 +SLAM 15.6039 10.1827 -15.9845 -0.610799 0.108529 0.681297 0.388562 +TTool-pose None -27.9673 13.1635 12.9287 0.715475 0.589386 -0.224268 0.300554 +#22052 1721121245134 +SLAM 15.6574 10.2054 -15.9453 -0.611286 0.107877 0.680769 0.388904 +TTool-pose None -27.9759 13.1678 12.9349 0.715142 0.589995 -0.223524 0.300706 +#22053 1721121245167 +SLAM 15.6428 10.1923 -15.9544 -0.610821 0.108469 0.680943 0.389164 +TTool-pose None -27.9646 13.182 12.9275 0.715053 0.589683 -0.224201 0.301025 +#22054 1721121245206 +SLAM 15.6159 10.1355 -15.9914 -0.610328 0.109872 0.680931 0.389564 +TTool-pose None -27.9625 13.1853 12.9049 0.715046 0.588864 -0.225087 0.301982 +#22055 1721121245241 +SLAM 15.7404 10.293 -15.8502 -0.611015 0.106679 0.680208 0.390637 +TTool-pose None -27.9706 13.2062 12.9375 0.713667 0.591553 -0.223488 0.301175 +#22056 1721121245275 +SLAM 15.6719 10.1657 -15.9588 -0.611731 0.108172 0.680542 0.388518 +TTool-pose None -27.9807 13.1586 12.9449 0.715512 0.589636 -0.22308 0.300859 +#22057 1721121245307 +SLAM 15.6841 10.182 -15.9417 -0.611715 0.107924 0.680517 0.388657 +TTool-pose None -27.976 13.1672 12.948 0.71536 0.589867 -0.223037 0.300799 +#22058 1721121245341 +SLAM 15.7659 10.2733 -15.8501 -0.611383 0.106747 0.679819 0.390719 +TTool-pose None -27.9825 13.1982 12.9406 0.71366 0.591549 -0.223061 0.301517 +#22059 1721121245375 +SLAM 15.7264 10.2514 -15.8809 -0.611603 0.10684 0.680379 0.389373 +TTool-pose None -27.9688 13.189 12.9564 0.71462 0.590921 -0.222886 0.300602 +#22060 1721121245411 +SLAM 15.622 10.1227 -15.9963 -0.610943 0.109509 0.680984 0.38861 +TTool-pose None -27.9612 13.1727 12.9274 0.715673 0.588727 -0.22432 0.301333 +#22061 1721121245442 +SLAM 15.7936 10.2164 -15.8593 -0.611135 0.10824 0.678978 0.392156 +TTool-pose None -27.9994 13.2086 12.9006 0.712988 0.591111 -0.223628 0.303541 +#22062 1721121245473 +SLAM 15.6866 10.1708 -15.9372 -0.6108 0.108959 0.680282 0.390215 +TTool-pose None -27.9723 13.192 12.9158 0.714444 0.589785 -0.224288 0.302205 +#22063 1721121245510 +SLAM 15.7142 10.1939 -15.9132 -0.611238 0.108225 0.680071 0.390101 +TTool-pose None -27.9781 13.1871 12.9268 0.714399 0.590257 -0.223603 0.301896 +#22064 1721121245547 +SLAM 15.7765 10.2977 -15.8313 -0.611551 0.106192 0.679865 0.390528 +TTool-pose None -27.9784 13.2015 12.9502 0.713682 0.591857 -0.222742 0.301095 +#22065 1721121245585 +SLAM 15.7339 10.1613 -15.923 -0.611784 0.108487 0.679766 0.389704 +TTool-pose None -27.9866 13.1828 12.9312 0.714779 0.58992 -0.223033 0.302079 +#22066 1721121245618 +SLAM 15.8446 10.3101 -15.7925 -0.611673 0.106023 0.678947 0.391977 +TTool-pose None -28.0011 13.2074 12.939 0.712664 0.592588 -0.222486 0.302257 +#22067 1721121245654 +SLAM 15.7321 10.1434 -15.9319 -0.611659 0.108849 0.67961 0.39007 +TTool-pose None -27.9925 13.1764 12.9227 0.714598 0.58982 -0.223247 0.302544 +#22068 1721121245689 +SLAM 15.7555 10.1485 -15.917 -0.611195 0.109253 0.679259 0.391295 +TTool-pose None -27.9978 13.1948 12.9051 0.713808 0.590045 -0.223831 0.303537 +#22069 1721121245728 +SLAM 15.802 10.185 -15.8703 -0.611488 0.108449 0.678852 0.391767 +TTool-pose None -28.0007 13.2008 12.9102 0.713333 0.59081 -0.223275 0.303576 +#22070 1721121245764 +SLAM 15.8517 10.2125 -15.8371 -0.61153 0.108088 0.678188 0.392949 +TTool-pose None -28.0224 13.205 12.899 0.712447 0.591558 -0.223081 0.304341 +#22071 1721121245798 +SLAM 15.7415 10.1361 -15.9268 -0.612645 0.108305 0.679826 0.388295 +TTool-pose None -27.9763 13.1787 12.9532 0.715777 0.589469 -0.222034 0.301329 +#22072 1721121245834 +SLAM 15.8218 10.2277 -15.8389 -0.61204 0.107255 0.67882 0.391289 +TTool-pose None -28.0022 13.1923 12.927 0.713445 0.59145 -0.222368 0.302731 +#22073 1721121245868 +SLAM 15.8101 10.233 -15.8548 -0.612046 0.10706 0.678987 0.391041 +TTool-pose None -28.0113 13.1813 12.9349 0.713571 0.591482 -0.222327 0.302401 +#22074 1721121245904 +SLAM 15.7272 10.1192 -15.9421 -0.611847 0.109192 0.67975 0.389436 +TTool-pose None -27.9804 13.185 12.9291 0.715124 0.589317 -0.223132 0.302365 +#22075 1721121245935 +SLAM 15.8413 10.2381 -15.8226 -0.611824 0.107268 0.678695 0.39184 +TTool-pose None -27.9996 13.2072 12.9266 0.713051 0.591669 -0.2226 0.303061 +#22076 1721121245966 +SLAM 15.7911 10.1774 -15.8744 -0.611075 0.108914 0.678951 0.392111 +TTool-pose None -27.9922 13.2122 12.9009 0.713164 0.590622 -0.223855 0.303913 +#22077 1721121246001 +SLAM 15.7937 10.1493 -15.9017 -0.611854 0.108801 0.678814 0.391163 +TTool-pose None -28.012 13.186 12.914 0.713858 0.590318 -0.222949 0.303537 +#22078 1721121246034 +SLAM 15.8222 10.2332 -15.8351 -0.61195 0.107266 0.678993 0.391127 +TTool-pose None -27.992 13.2065 12.9331 0.71355 0.591372 -0.222486 0.302549 +#22079 1721121246067 +SLAM 15.872 10.2815 -15.7947 -0.612697 0.105838 0.678563 0.391092 +TTool-pose None -28.0118 13.1918 12.9516 0.713321 0.592365 -0.221268 0.302038 +#22080 1721121246097 +SLAM 15.7567 10.2252 -15.889 -0.612156 0.106918 0.679778 0.389532 +TTool-pose None -27.9962 13.1689 12.9549 0.71458 0.590946 -0.222238 0.301127 +#22081 1721121246129 +SLAM 15.8158 10.2981 -15.8147 -0.61217 0.105765 0.679446 0.390404 +TTool-pose None -27.9898 13.196 12.9611 0.713727 0.592114 -0.221914 0.301093 +#22082 1721121246162 +SLAM 15.7469 10.1644 -15.9216 -0.611363 0.108781 0.679342 0.391019 +TTool-pose None -28.0078 13.1787 12.9098 0.713907 0.590261 -0.223537 0.3031 +#22083 1721121246197 +SLAM 15.7087 10.1463 -15.9388 -0.611024 0.109325 0.679891 0.390444 +TTool-pose None -27.9812 13.1924 12.9104 0.71439 0.589632 -0.224093 0.302776 +#22084 1721121246231 +SLAM 15.7835 10.1751 -15.9005 -0.612348 0.107862 0.679037 0.390262 +TTool-pose None -28.0169 13.1646 12.931 0.71431 0.590602 -0.222191 0.302476 +#22085 1721121246267 +SLAM 15.8048 10.2029 -15.869 -0.612695 0.107181 0.679152 0.389704 +TTool-pose None -28.0001 13.1815 12.9498 0.714571 0.590847 -0.221648 0.301779 +#22086 1721121246301 +SLAM 15.8465 10.2991 -15.7897 -0.612329 0.105812 0.679111 0.390724 +TTool-pose None -27.9856 13.2117 12.9558 0.713534 0.59222 -0.221719 0.301488 +#22087 1721121246335 +SLAM 15.9061 10.3452 -15.7456 -0.612851 0.104634 0.678426 0.391413 +TTool-pose None -28.0134 13.1989 12.9617 0.712844 0.593339 -0.220789 0.301601 +#22088 1721121246369 +SLAM 15.6991 10.1264 -15.9477 -0.611246 0.10959 0.680047 0.38975 +TTool-pose None -27.9693 13.1983 12.9138 0.714943 0.589159 -0.223923 0.302516 +#22089 1721121246402 +SLAM 15.8611 10.3246 -15.7813 -0.612549 0.105109 0.678916 0.390906 +TTool-pose None -28.0055 13.1935 12.9618 0.713271 0.592789 -0.221284 0.30131 +#22090 1721121246435 +SLAM 15.782 10.1886 -15.8861 -0.612178 0.107778 0.679228 0.39022 +TTool-pose None -28.0004 13.1804 12.9338 0.714305 0.590639 -0.222377 0.302279 +#22091 1721121246469 +SLAM 15.8444 10.2027 -15.8541 -0.613113 0.106983 0.678644 0.389987 +TTool-pose None -28.0158 13.1796 12.9507 0.714371 0.591112 -0.221091 0.30214 +#22092 1721121246500 +SLAM 15.8905 10.2872 -15.7809 -0.61275 0.105752 0.678421 0.391279 +TTool-pose None -28.0106 13.2003 12.9536 0.713178 0.592504 -0.221175 0.302169 +#22093 1721121246534 +SLAM 15.8973 10.2641 -15.7819 -0.612388 0.106493 0.678154 0.392105 +TTool-pose None -28.0104 13.2099 12.9355 0.712747 0.59233 -0.221735 0.303118 +#22094 1721121246573 +SLAM 15.8229 10.1705 -15.8774 -0.611825 0.10846 0.678519 0.391814 +TTool-pose None -28.0188 13.1903 12.9139 0.713334 0.590829 -0.222873 0.303831 +#22095 1721121246610 +SLAM 15.8095 10.1503 -15.896 -0.611994 0.108683 0.678694 0.391185 +TTool-pose None -28.0151 13.188 12.92 0.71383 0.590412 -0.222754 0.303564 +#22096 1721121246642 +SLAM 16.0784 10.3878 -15.6433 -0.614323 0.102972 0.676443 0.392974 +TTool-pose None -28.0633 13.1932 12.9771 0.711527 0.595176 -0.218562 0.30271 +#22097 1721121246680 +SLAM 16.0062 10.3273 -15.7048 -0.6133 0.104821 0.677084 0.39298 +TTool-pose None -28.0417 13.2089 12.9528 0.711852 0.593876 -0.220216 0.303301 +#22098 1721121246712 +SLAM 16.0202 10.3147 -15.6956 -0.613594 0.10493 0.677065 0.392525 +TTool-pose None -28.0281 13.2234 12.9605 0.712215 0.593616 -0.219913 0.303179 +#22099 1721121246748 +SLAM 15.8788 10.1521 -15.8499 -0.613192 0.107829 0.678037 0.390685 +TTool-pose None -28.0167 13.1853 12.9417 0.714089 0.590821 -0.221157 0.303327 +#22100 1721121246779 +SLAM 16.0596 10.3238 -15.6788 -0.614187 0.104153 0.676499 0.392778 +TTool-pose None -28.0543 13.1949 12.9716 0.711918 0.594273 -0.21901 0.303244 +#22101 1721121246811 +SLAM 16.0676 10.2325 -15.7 -0.61384 0.106376 0.676037 0.39352 +TTool-pose None -28.0404 13.2276 12.9354 0.711878 0.593035 -0.2199 0.305114 +#22102 1721121246845 +SLAM 15.9422 10.0969 -15.847 -0.613832 0.108463 0.677058 0.391201 +TTool-pose None -28.0384 13.1836 12.9383 0.713934 0.59061 -0.220511 0.304571 +#22103 1721121246879 +SLAM 16.0795 10.1712 -15.7333 -0.614416 0.107006 0.675581 0.393234 +TTool-pose None -28.0625 13.2042 12.9351 0.712265 0.592488 -0.219372 0.305653 +#22104 1721121246913 +SLAM 16.1686 10.2965 -15.6183 -0.614032 0.105184 0.674992 0.395331 +TTool-pose None -28.0641 13.2401 12.9371 0.71038 0.594624 -0.219296 0.305946 +#22105 1721121246948 +SLAM 16.1347 10.2435 -15.6661 -0.614623 0.105577 0.675343 0.393706 +TTool-pose None -28.06 13.2193 12.9536 0.711639 0.593682 -0.21877 0.305226 +#22106 1721121246981 +SLAM 16.1269 10.23 -15.6727 -0.614283 0.106093 0.675373 0.394046 +TTool-pose None -28.0544 13.2283 12.9441 0.711491 0.59346 -0.219277 0.305638 +#22107 1721121247013 +SLAM 16.1661 10.2628 -15.637 -0.614285 0.105515 0.674956 0.394912 +TTool-pose None -28.0652 13.2311 12.9434 0.710765 0.594224 -0.219093 0.305975 +#22108 1721121247046 +SLAM 16.1373 10.2517 -15.6537 -0.613981 0.105872 0.675341 0.394631 +TTool-pose None -28.0513 13.2361 12.9438 0.711013 0.593852 -0.219555 0.305789 +#22109 1721121247079 +SLAM 16.0864 10.114 -15.7445 -0.613467 0.108831 0.675172 0.394915 +TTool-pose None -28.0562 13.2321 12.8995 0.711432 0.591905 -0.220833 0.307666 +#22110 1721121247113 +SLAM 16.101 10.1358 -15.7365 -0.614224 0.107745 0.675126 0.394113 +TTool-pose None -28.0695 13.2072 12.9239 0.711809 0.592338 -0.219723 0.306752 +#22111 1721121247144 +SLAM 16.1099 10.1483 -15.7145 -0.61279 0.10877 0.674861 0.396509 +TTool-pose None -28.0629 13.2473 12.8817 0.71026 0.592601 -0.221538 0.308529 +#22112 1721121247174 +SLAM 16.0493 10.1258 -15.7661 -0.613116 0.108628 0.675697 0.394616 +TTool-pose None -28.054 13.2198 12.9097 0.711563 0.591914 -0.221222 0.307066 +#22113 1721121247205 +SLAM 16.0359 10.1482 -15.7573 -0.613183 0.108036 0.676098 0.393987 +TTool-pose None -28.039 13.2186 12.9268 0.71187 0.592064 -0.221041 0.306193 +#22114 1721121247236 +SLAM 16.023 10.1002 -15.7742 -0.611906 0.109986 0.675853 0.395849 +TTool-pose None -28.0312 13.2484 12.8804 0.710906 0.591461 -0.222908 0.308238 +#22115 1721121247268 +SLAM 15.9307 9.98678 -15.8785 -0.610653 0.112859 0.676271 0.396261 +TTool-pose None -28.0282 13.2446 12.8386 0.71114 0.589605 -0.225028 0.309712 +#22116 1721121247301 +SLAM 15.8888 9.96876 -15.9188 -0.610667 0.11289 0.676667 0.395554 +TTool-pose None -28.0346 13.2158 12.8484 0.711636 0.589288 -0.225058 0.309155 +#22117 1721121247337 +SLAM 15.9677 9.99885 -15.8603 -0.611362 0.112002 0.67586 0.396113 +TTool-pose None -28.0467 13.2229 12.8551 0.711119 0.590155 -0.223999 0.309459 +#22118 1721121247373 +SLAM 15.9603 9.98486 -15.8735 -0.6114 0.112249 0.675904 0.395909 +TTool-pose None -28.0479 13.2217 12.8542 0.711317 0.589898 -0.224019 0.309478 +#22119 1721121247410 +SLAM 15.9001 9.98058 -15.8847 -0.610848 0.112721 0.676915 0.394899 +TTool-pose None -27.9971 13.2501 12.8589 0.712067 0.589135 -0.224841 0.308611 +#22120 1721121247446 +SLAM 16.1198 10.1605 -15.6976 -0.612215 0.108716 0.674822 0.397479 +TTool-pose None -28.0572 13.2522 12.8841 0.709527 0.593031 -0.222157 0.30894 +#22121 1721121247480 +SLAM 15.9113 9.93228 -15.923 -0.611383 0.113114 0.676311 0.394995 +TTool-pose None -28.0395 13.2107 12.8527 0.712135 0.588912 -0.224286 0.309284 +#22122 1721121247512 +SLAM 16.0621 10.1155 -15.7485 -0.611208 0.110191 0.675221 0.397943 +TTool-pose None -28.0491 13.2568 12.86 0.709443 0.592179 -0.223667 0.309681 +#22123 1721121247549 +SLAM 15.9662 10.0156 -15.8591 -0.611977 0.111099 0.676146 0.394926 +TTool-pose None -28.0448 13.2085 12.8848 0.711794 0.590301 -0.223126 0.308256 +#22124 1721121247583 +SLAM 15.9575 10.0028 -15.8648 -0.611098 0.11211 0.676082 0.39611 +TTool-pose None -28.0399 13.2314 12.8573 0.711121 0.590073 -0.224338 0.309365 +#22125 1721121247614 +SLAM 15.9942 10.0319 -15.833 -0.611615 0.111197 0.675783 0.396081 +TTool-pose None -28.0481 13.225 12.8702 0.710987 0.590709 -0.223517 0.309054 +#22126 1721121247644 +SLAM 15.9254 9.95779 -15.9013 -0.611569 0.112415 0.676331 0.39487 +TTool-pose None -28.0362 13.2083 12.8668 0.712085 0.589351 -0.223914 0.308831 +#22127 1721121247676 +SLAM 15.9647 9.98203 -15.8682 -0.610757 0.112778 0.675741 0.397028 +TTool-pose None -28.047 13.2345 12.8373 0.710602 0.589984 -0.224842 0.31036 +#22128 1721121247706 +SLAM 15.9562 9.99238 -15.8693 -0.611382 0.111999 0.676137 0.395611 +TTool-pose None -28.0373 13.2239 12.8676 0.711466 0.589948 -0.224002 0.309052 +#22129 1721121247746 +SLAM 16.0071 10.0795 -15.7962 -0.611214 0.110533 0.675821 0.396819 +TTool-pose None -28.0402 13.2341 12.8729 0.710296 0.591471 -0.223803 0.308977 +#22130 1721121247786 +SLAM 15.8944 9.93314 -15.9246 -0.610837 0.113388 0.676624 0.395222 +TTool-pose None -28.0227 13.2236 12.8536 0.711989 0.588805 -0.224985 0.309316 +#22131 1721121247822 +SLAM 16.0238 10.0629 -15.793 -0.611407 0.110845 0.675619 0.39678 +TTool-pose None -28.0384 13.2454 12.87 0.710409 0.591242 -0.223646 0.309272 +#22132 1721121247855 +SLAM 15.8861 9.95539 -15.9156 -0.610614 0.113052 0.67679 0.395379 +TTool-pose None -28.0183 13.2217 12.8555 0.711787 0.5891 -0.225167 0.309084 +#22133 1721121247886 +SLAM 16.0578 10.0612 -15.7801 -0.611783 0.110557 0.675189 0.397012 +TTool-pose None -28.0522 13.2369 12.8763 0.710218 0.591547 -0.223118 0.309507 +#22134 1721121247918 +SLAM 15.9926 9.95435 -15.8468 -0.610521 0.113358 0.675523 0.397596 +TTool-pose None -28.024 13.2592 12.8401 0.710315 0.589811 -0.22522 0.311071 +#22135 1721121247949 +SLAM 15.9653 9.94315 -15.8756 -0.610085 0.113638 0.675636 0.397995 +TTool-pose None -28.0367 13.2389 12.8348 0.710061 0.589773 -0.22578 0.311319 +#22136 1721121247978 +SLAM 15.9818 10.0136 -15.8317 -0.609484 0.112856 0.675617 0.399168 +TTool-pose None -28.0363 13.2541 12.8274 0.709024 0.590795 -0.226252 0.311401 +#22137 1721121248009 +SLAM 16.0014 10.0294 -15.8076 -0.609434 0.112694 0.675437 0.399594 +TTool-pose None -28.0329 13.2653 12.8231 0.70869 0.591085 -0.22625 0.311616 +#22138 1721121248040 +SLAM 16.0975 10.2078 -15.6935 -0.608299 0.11046 0.674646 0.403267 +TTool-pose None -28.0737 13.292 12.8082 0.705543 0.594142 -0.226872 0.312486 +#22139 1721121248072 +SLAM 15.7787 9.97569 -15.9467 -0.606625 0.115241 0.677757 0.399213 +TTool-pose None -27.9868 13.264 12.7908 0.709246 0.589084 -0.230182 0.311257 +#22140 1721121248111 +SLAM 15.848 9.85892 -15.9783 -0.606945 0.11737 0.675946 0.401171 +TTool-pose None -28.0435 13.2494 12.7433 0.708376 0.588418 -0.230155 0.314504 +#22141 1721121248146 +SLAM 15.7214 9.65479 -16.1043 -0.603669 0.123266 0.676318 0.403711 +TTool-pose None -27.9972 13.2959 12.6551 0.707545 0.585259 -0.235167 0.31854 +#22142 1721121248178 +SLAM 15.7561 9.67531 -16.0489 -0.601501 0.124373 0.675871 0.40734 +TTool-pose None -27.9716 13.3538 12.6168 0.705029 0.585928 -0.237735 0.320975 +#22143 1721121248213 +SLAM 15.6737 9.60602 -16.1388 -0.597679 0.128277 0.675315 0.412642 +TTool-pose None -28.0145 13.355 12.5016 0.701727 0.585258 -0.242709 0.325682 +#22144 1721121248247 +SLAM 15.5715 9.4674 -16.2221 -0.596611 0.131367 0.675828 0.412376 +TTool-pose None -27.973 13.3594 12.4665 0.702431 0.582938 -0.244631 0.326885 +#22145 1721121248281 +SLAM 15.6965 9.50562 -16.1582 -0.597162 0.130734 0.674415 0.41409 +TTool-pose None -28.0135 13.384 12.4563 0.70115 0.584102 -0.243724 0.328234 +#22146 1721121248313 +SLAM 15.6458 9.55581 -16.1358 -0.595668 0.130897 0.675141 0.415006 +TTool-pose None -27.974 13.4141 12.4336 0.700383 0.58432 -0.245452 0.328195 +#22147 1721121248346 +SLAM 15.5567 9.46776 -16.247 -0.59679 0.131306 0.676051 0.41177 +TTool-pose None -27.9845 13.3534 12.4734 0.702864 0.582737 -0.24445 0.326446 +#22148 1721121248381 +SLAM 15.5989 9.4243 -16.2554 -0.597971 0.13118 0.675502 0.410997 +TTool-pose None -28.0046 13.3334 12.4939 0.703503 0.582541 -0.243086 0.326439 +#22149 1721121248417 +SLAM 15.7106 9.45263 -16.185 -0.596975 0.131902 0.673843 0.414919 +TTool-pose None -28.0342 13.3842 12.437 0.700779 0.58361 -0.244124 0.329602 +#22150 1721121248450 +SLAM 15.6526 9.41496 -16.2427 -0.597748 0.131687 0.674529 0.412755 +TTool-pose None -28.0358 13.3397 12.4686 0.702344 0.582898 -0.243327 0.328117 +#22151 1721121248484 +SLAM 15.5932 9.30275 -16.2906 -0.592511 0.13815 0.673366 0.420028 +TTool-pose None -28.0258 13.4387 12.2839 0.697926 0.581135 -0.250256 0.335383 +#22152 1721121248517 +SLAM 15.6213 9.24823 -16.3045 -0.59427 0.13793 0.673111 0.418019 +TTool-pose None -28.0322 13.4203 12.3135 0.699495 0.580525 -0.2483 0.334622 +#22153 1721121248550 +SLAM 15.4314 9.09234 -16.4473 -0.590687 0.143419 0.673882 0.420004 +TTool-pose None -27.9963 13.4499 12.2074 0.698763 0.577322 -0.253443 0.337823 +#22154 1721121248585 +SLAM 15.459 9.31304 -16.2928 -0.587779 0.141714 0.673736 0.424869 +TTool-pose None -27.9709 13.5027 12.1368 0.694648 0.580417 -0.256121 0.338988 +#22155 1721121248620 +SLAM 14.992 9.12945 -16.5739 -0.583713 0.14749 0.677303 0.422832 +TTool-pose None -27.8972 13.4395 12.0394 0.696742 0.575339 -0.262165 0.338726 +#22156 1721121248657 +SLAM 15.025 9.35283 -16.4272 -0.584533 0.142799 0.678326 0.421668 +TTool-pose None -27.8536 13.4453 12.0873 0.696779 0.578243 -0.260393 0.335051 +#22157 1721121248695 +SLAM 14.7205 9.30692 -16.5981 -0.585695 0.141715 0.682609 0.413428 +TTool-pose None -27.7804 13.3486 12.1929 0.70253 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-27.7697 12.9727 12.3345 0.709391 0.581449 -0.244841 0.31409 +#22200 1721121250289 +SLAM 14.6158 9.59493 -16.4103 -0.596931 0.126665 0.684297 0.399208 +TTool-pose None -27.7802 12.9352 12.3587 0.710677 0.580806 -0.244104 0.312941 +#22201 1721121250319 +SLAM 14.6158 9.63491 -16.3885 -0.596965 0.125882 0.684639 0.398818 +TTool-pose None -27.7667 12.9437 12.3732 0.710787 0.581195 -0.243919 0.312112 +#22202 1721121250352 +SLAM 14.6576 9.57341 -16.3956 -0.597274 0.127019 0.683665 0.399666 +TTool-pose None -27.787 12.9441 12.3484 0.710473 0.58076 -0.243752 0.313767 +#22203 1721121250384 +SLAM 14.6114 9.60975 -16.3955 -0.596318 0.126935 0.684378 0.399898 +TTool-pose None -27.7665 12.9556 12.3454 0.710191 0.580886 -0.244842 0.31332 +#22204 1721121250416 +SLAM 14.665 9.60009 -16.3736 -0.596672 0.12709 0.683588 0.400672 +TTool-pose None -27.7817 12.9622 12.3332 0.709729 0.581111 -0.244416 0.314282 +#22205 1721121250446 +SLAM 14.616 9.59266 -16.4097 -0.597433 0.126339 0.684437 0.398321 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0.402759 +TTool-pose None -27.7952 13.001 12.3475 0.707701 0.584262 -0.242717 0.314329 +#22218 1721121250862 +SLAM 14.7797 9.67134 -16.2911 -0.598026 0.125066 0.682623 0.400936 +TTool-pose None -27.8049 12.9648 12.354 0.709272 0.582688 -0.242382 0.313971 +#22219 1721121250894 +SLAM 14.7336 9.68118 -16.2906 -0.596284 0.126245 0.68309 0.402363 +TTool-pose None -27.7742 13.0033 12.3201 0.708343 0.582401 -0.244595 0.314882 +#22220 1721121250925 +SLAM 14.7193 9.68244 -16.3023 -0.596953 0.125531 0.683475 0.400938 +TTool-pose None -27.7719 12.9841 12.3484 0.709252 0.582329 -0.24374 0.313628 +#22221 1721121250956 +SLAM 14.8425 9.7468 -16.2014 -0.597189 0.124594 0.68224 0.402977 +TTool-pose None -27.7807 13.0209 12.3373 0.707673 0.583845 -0.243145 0.314839 +#22222 1721121250986 +SLAM 14.8109 9.76888 -16.2557 -0.599515 0.121673 0.682972 0.399158 +TTool-pose None -27.8267 12.9132 12.4267 0.709946 0.584371 -0.24 0.311133 +#22223 1721121251017 +SLAM 14.7997 9.65238 -16.2879 -0.597776 0.125597 0.682255 0.401767 +TTool-pose None -27.8086 12.972 12.3449 0.708781 0.582653 -0.24274 0.314865 +#22224 1721121251047 +SLAM 14.7736 9.64055 -16.3014 -0.598236 0.125363 0.682752 0.40031 +TTool-pose None -27.7921 12.9658 12.3646 0.709789 0.582223 -0.242233 0.313778 +#22225 1721121251078 +SLAM 14.8713 9.69623 -16.2359 -0.598749 0.124194 0.681665 0.401757 +TTool-pose None -27.8234 12.9684 12.3624 0.7086 0.583664 -0.241297 0.314511 +#22226 1721121251109 +SLAM 14.9131 9.73336 -16.1859 -0.598353 0.124014 0.68134 0.402951 +TTool-pose None -27.8129 13.001 12.3515 0.707693 0.584276 -0.241653 0.315141 +#22227 1721121251140 +SLAM 14.8717 9.6496 -16.2666 -0.599839 0.12405 0.681693 0.400123 +TTool-pose None -27.8312 12.9417 12.3915 0.709813 0.583115 -0.240077 0.313725 +#22228 1721121251175 +SLAM 14.7841 9.63641 -16.3138 -0.600078 0.12371 0.683087 0.397486 +TTool-pose None -27.799 12.9241 12.4294 0.711584 0.582257 -0.23987 0.311455 +#22229 1721121251210 +SLAM 14.8654 9.64603 -16.2771 -0.599681 0.12417 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-0.598041 0.126684 0.680578 0.40387 +TTool-pose None -27.8331 12.9865 12.3202 0.707576 0.582771 -0.242534 0.317506 +#22242 1721121251616 +SLAM 15.0141 9.77474 -16.1214 -0.599469 0.122316 0.680468 0.403285 +TTool-pose None -27.8335 12.9897 12.3834 0.707222 0.58564 -0.239953 0.314965 +#22243 1721121251648 +SLAM 14.9827 9.75337 -16.1392 -0.598817 0.123258 0.680701 0.403574 +TTool-pose None -27.8199 13.0045 12.3653 0.707151 0.58508 -0.240907 0.315437 +#22244 1721121251684 +SLAM 14.8927 9.66784 -16.2339 -0.598938 0.124481 0.681406 0.401825 +TTool-pose None -27.8207 12.9703 12.369 0.708632 0.583496 -0.241132 0.314875 +#22245 1721121251724 +SLAM 14.9253 9.76319 -16.1797 -0.59955 0.122201 0.681619 0.401252 +TTool-pose None -27.8218 12.9641 12.4039 0.708615 0.584876 -0.239954 0.313246 +#22246 1721121251755 +SLAM 14.7753 9.59688 -16.3358 -0.598572 0.125744 0.682419 0.400256 +TTool-pose None -27.8187 12.9364 12.3668 0.709941 0.581942 -0.241922 0.314195 +#22247 1721121251794 +SLAM 14.631 9.55325 -16.4277 -0.598779 0.125865 0.684427 0.396461 +TTool-pose None -27.7788 12.9083 12.4095 0.712599 0.580273 -0.241912 0.311256 +#22248 1721121251829 +SLAM 14.7511 9.58874 -16.3439 -0.598255 0.126175 0.682725 0.400073 +TTool-pose None -27.8029 12.9488 12.361 0.710122 0.581554 -0.242398 0.314138 +#22249 1721121251864 +SLAM 14.6794 9.55312 -16.389 -0.597611 0.127188 0.683463 0.399453 +TTool-pose None -27.7815 12.952 12.3538 0.71069 0.580561 -0.243403 0.313911 +#22250 1721121251900 +SLAM 14.7242 9.62223 -16.3416 -0.597358 0.126194 0.683049 0.400853 +TTool-pose None -27.7981 12.9566 12.3486 0.709492 0.581839 -0.243411 0.31425 +#22251 1721121251937 +SLAM 14.8079 9.71529 -16.2497 -0.598043 0.124118 0.682645 0.401167 +TTool-pose None -27.7941 12.9729 12.3714 0.708917 0.583451 -0.242145 0.313538 +#22252 1721121251972 +SLAM 14.7133 9.59273 -16.3535 -0.597054 0.127044 0.68301 0.401103 +TTool-pose None -27.7907 12.9674 12.334 0.709462 0.581336 -0.243934 0.314842 +#22253 1721121252007 +SLAM 14.7852 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-0.242795 0.316281 +#22289 1721121253175 +SLAM 14.94 9.55793 -16.2625 -0.599531 0.126 0.680384 0.402199 +TTool-pose None -27.8399 12.9613 12.3639 0.70875 0.5826 -0.240735 0.31657 +#22290 1721121253209 +SLAM 14.9628 9.6003 -16.2355 -0.601067 0.123975 0.680767 0.39988 +TTool-pose None -27.8318 12.946 12.4186 0.710091 0.5831 -0.238628 0.314226 +#22291 1721121253243 +SLAM 15.0289 9.60372 -16.2096 -0.60152 0.123711 0.679738 0.401031 +TTool-pose None -27.8656 12.935 12.4079 0.709286 0.583778 -0.23797 0.315284 +#22292 1721121253272 +SLAM 15.1447 9.78539 -16.0434 -0.600513 0.121471 0.679085 0.404318 +TTool-pose None -27.8484 13.0016 12.3963 0.706434 0.586691 -0.238476 0.3159 +#22293 1721121253303 +SLAM 14.935 9.5239 -16.2902 -0.60043 0.12583 0.680338 0.400987 +TTool-pose None -27.8543 12.9305 12.3803 0.709646 0.58224 -0.239711 0.315999 +#22294 1721121253335 +SLAM 14.8614 9.50443 -16.3216 -0.599024 0.127275 0.681178 0.401207 +TTool-pose None -27.818 12.9644 12.358 0.709647 0.581275 -0.241661 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-0.239059 0.315153 +#22301 1721121253566 +SLAM 14.9829 9.59368 -16.2314 -0.600758 0.124438 0.680153 0.401244 +TTool-pose None -27.8528 12.9422 12.3921 0.709213 0.583335 -0.239012 0.31548 +#22302 1721121253608 +SLAM 14.9438 9.53613 -16.2692 -0.599721 0.126423 0.680187 0.402116 +TTool-pose None -27.8428 12.964 12.3539 0.708915 0.582273 -0.240606 0.3169 +#22303 1721121253642 +SLAM 15.0076 9.62096 -16.2065 -0.600247 0.124456 0.679847 0.40252 +TTool-pose None -27.8578 12.9592 12.3769 0.708281 0.58384 -0.239543 0.316239 +#22304 1721121253672 +SLAM 14.9385 9.57887 -16.2499 -0.599576 0.125652 0.68055 0.401959 +TTool-pose None -27.8318 12.9682 12.3669 0.708848 0.582747 -0.240622 0.316164 +#22305 1721121253704 +SLAM 14.884 9.51936 -16.2997 -0.599031 0.127147 0.680898 0.401714 +TTool-pose None -27.82 12.9729 12.3492 0.709271 0.581576 -0.241596 0.31663 +#22306 1721121253736 +SLAM 14.9651 9.5597 -16.2372 -0.598522 0.127128 0.679723 0.404458 +TTool-pose None -27.8414 12.9967 12.3133 0.70731 0.582716 -0.242025 0.318588 +#22307 1721121253769 +SLAM 14.9483 9.58417 -16.2218 -0.597706 0.127336 0.679998 0.405136 +TTool-pose None -27.8218 13.0192 12.2997 0.706795 0.582828 -0.242987 0.318793 +#22308 1721121253803 +SLAM 14.8791 9.53202 -16.2981 -0.597943 0.12787 0.680621 0.403569 +TTool-pose None -27.8314 12.9846 12.3122 0.708019 0.581808 -0.242918 0.317992 +#22309 1721121253836 +SLAM 14.9594 9.60277 -16.2297 -0.599078 0.125777 0.680084 0.403449 +TTool-pose None -27.8465 12.9758 12.34 0.707789 0.583264 -0.241146 0.317182 +#22310 1721121253867 +SLAM 14.9975 9.6798 -16.1584 -0.598146 0.125258 0.679895 0.405307 +TTool-pose None -27.8297 13.0175 12.3222 0.706293 0.584375 -0.242018 0.31781 +#22311 1721121253898 +SLAM 15.0227 9.68689 -16.1534 -0.599355 0.124197 0.679709 0.404159 +TTool-pose None -27.8472 12.9905 12.3471 0.706997 0.584678 -0.240438 0.316883 +#22312 1721121253937 +SLAM 14.7543 9.44947 -16.3666 -0.597027 0.130052 0.681521 0.402709 +TTool-pose None -27.791 12.9849 12.2728 0.708965 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12.6277 12.0439 0.708704 0.583757 -0.241397 0.314024 +#22337 1721121254809 +SLAM 14.5143 9.7136 -16.1452 -0.600275 0.122117 0.680542 0.40202 +TTool-pose None -27.8057 12.6029 12.0694 0.708141 0.585276 -0.239037 0.314273 +#22338 1721121254840 +SLAM 14.4565 9.56544 -16.2289 -0.599804 0.12521 0.680567 0.40173 +TTool-pose None -27.7901 12.6097 12.0393 0.708939 0.582968 -0.240274 0.315817 +#22339 1721121254874 +SLAM 14.3811 9.4321 -16.3163 -0.599833 0.127647 0.681027 0.400137 +TTool-pose None -27.7681 12.6106 12.027 0.710548 0.580589 -0.240849 0.316146 +#22340 1721121254903 +SLAM 14.5257 9.6059 -16.1652 -0.600592 0.124089 0.68016 0.401589 +TTool-pose None -27.7803 12.6304 12.0555 0.708885 0.58372 -0.239113 0.315431 +#22341 1721121254933 +SLAM 14.723 9.66061 -16.0333 -0.601481 0.122905 0.677924 0.404394 +TTool-pose None -27.8095 12.6624 12.046 0.706779 0.585741 -0.237637 0.317519 +#22342 1721121254963 +SLAM 14.9133 9.57252 -15.9939 -0.603257 0.123423 0.675169 0.406195 +TTool-pose None -27.8739 12.6518 12.0448 0.705803 0.586166 -0.235528 0.320464 +#22343 1721121254995 +SLAM 15.267 9.39603 -15.8971 -0.608514 0.123049 0.670583 0.406065 +TTool-pose None -27.954 12.6228 12.0941 0.706298 0.586489 -0.229197 0.323362 +#22344 1721121255024 +SLAM 16.0408 9.61167 -15.386 -0.614745 0.11521 0.662356 0.412432 +TTool-pose None -28.0972 12.6625 12.1741 0.700649 0.594691 -0.219536 0.327353 +#22345 1721121255054 +SLAM 16.6918 9.5097 -15.0782 -0.621773 0.112255 0.654558 0.415151 +TTool-pose None -28.233 12.6694 12.2577 0.698546 0.59792 -0.210114 0.332117 +#22346 1721121255087 +SLAM 17.2625 9.29391 -14.8528 -0.627558 0.112485 0.647157 0.417979 +TTool-pose None -28.353 12.7088 12.2978 0.696871 0.598902 -0.202797 0.33836 +#22347 1721121255116 +SLAM 17.7791 9.07595 -14.637 -0.629817 0.114849 0.640503 0.424142 +TTool-pose None -28.433 12.8238 12.3045 0.692964 0.599673 -0.199895 0.346647 +#22348 1721121255148 +SLAM 19.3813 9.42517 -13.4591 -0.646619 0.0964062 0.622463 0.430266 +TTool-pose None -28.7899 12.8426 12.5787 0.684788 0.614672 -0.173864 0.350635 +#22349 1721121255183 +SLAM 18.7869 8.03542 -14.3824 -0.638863 0.127741 0.625499 0.429287 +TTool-pose None -28.5325 13.0753 12.3014 0.692017 0.592462 -0.190636 0.365644 +#22350 1721121255213 +#22351 1721121255243 +#22352 1721121255272 +#22353 1721121255304 +SLAM 23.4521 7.85996 -10.7367 -0.675838 0.0972956 0.564153 0.464228 +TTool-pose None -29.5287 13.4871 12.7437 0.656907 0.624917 -0.129672 0.40135 +#22354 1721121255334 +#22355 1721121255363 +SLAM 23.9167 7.36509 -10.343 -0.68227 0.0994458 0.559597 0.459859 +TTool-pose None -29.3415 13.6788 13.0359 0.660388 0.621409 -0.122121 0.403449 +#22356 1721121255391 +#22357 1721121255420 +#22358 1721121255452 +SLAM 25.3014 6.08585 -8.30513 -0.691256 0.101633 0.526689 0.484184 +TTool-pose None -29.1346 13.7895 12.8438 0.63866 0.626864 -0.103983 0.43393 +#22359 1721121255486 +SLAM 25.647 6.05249 -7.53773 -0.697098 0.0956612 0.520036 0.484217 +TTool-pose None -28.984 13.8329 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0.517112 +TTool-pose None -28.2593 13.1822 12.5263 0.596298 0.647275 -0.04649 0.472506 +#22367 1721121255766 +SLAM 27.5266 3.97209 -1.74067 -0.731745 0.0658382 0.436503 0.519307 +TTool-pose None -28.4774 12.9122 12.5799 0.586381 0.654434 -0.0206177 0.476874 +#22368 1721121255799 +SLAM 26.9469 3.47143 -2.34599 -0.730794 0.0814072 0.445908 0.510371 +TTool-pose None -27.901 13.0845 12.5296 0.599472 0.641771 -0.0295445 0.477336 +#22369 1721121255830 +SLAM 26.5564 2.67083 -2.62126 -0.723337 0.100858 0.446081 0.517323 +TTool-pose None -27.449 13.393 12.1641 0.598707 0.631199 -0.0428929 0.491183 +#22370 1721121255859 +SLAM 27.0788 2.53431 -0.950732 -0.733266 0.0832449 0.417714 0.530006 +TTool-pose None -27.7575 12.8774 11.9095 0.577883 0.644057 -0.0168062 0.500922 +#22371 1721121255889 +SLAM 27.403 2.6577 0.267363 -0.739246 0.0699627 0.402668 0.535238 +TTool-pose None -27.8404 12.7661 11.8476 0.566532 0.652722 -0.000748241 0.502951 +#22372 1721121255920 +SLAM 27.5686 2.23773 0.901842 -0.749056 0.0645867 0.388533 0.532715 +TTool-pose None -27.9575 12.3239 11.9186 0.5633 0.653087 0.0169304 0.505815 +#22373 1721121255956 +SLAM 27.7398 1.6628 2.11269 -0.754019 0.0635525 0.367672 0.540586 +TTool-pose None -27.8938 12.3352 11.6381 0.550781 0.653244 0.0311975 0.518561 +#22374 1721121255992 +SLAM 27.8478 0.917793 2.93643 -0.758933 0.0646124 0.349361 0.545704 +TTool-pose None -27.8949 12.1614 11.5092 0.541373 0.6512 0.0439834 0.529988 +#22375 1721121256028 +SLAM 28.1108 0.34031 4.23349 -0.763657 0.0590034 0.325216 0.5546 +TTool-pose None -28.0589 12.0127 11.3453 0.524887 0.653759 0.0614039 0.541564 +#22376 1721121256058 +SLAM 28.225 -0.415501 5.11693 -0.76666 0.0592425 0.305322 0.561695 +TTool-pose None -28.1442 11.8687 11.2118 0.512364 0.652316 0.073677 0.553632 +#22377 1721121256092 +SLAM 28.4241 -0.942633 6.44277 -0.771537 0.0536577 0.282759 0.567362 +TTool-pose None -28.2858 11.8287 11.1223 0.498022 0.653456 0.0912004 0.562693 +#22378 1721121256130 +SLAM 28.6482 -1.19104 7.84214 -0.771609 0.0391191 0.258612 0.579836 +TTool-pose None -28.6384 11.5645 10.9909 0.4745 0.662455 0.107589 0.569562 +#22379 1721121256168 +SLAM 28.5521 -1.99188 8.69661 -0.77893 0.044632 0.241619 0.576972 +TTool-pose None -28.5228 11.627 10.9235 0.471517 0.65387 0.12208 0.578961 +#22380 1721121256207 +SLAM 28.5189 -2.47141 9.64637 -0.785324 0.0436301 0.226278 0.574596 +TTool-pose None -28.5036 11.6477 10.9469 0.466703 0.650022 0.136946 0.58385 +#22381 1721121256241 +SLAM 28.5814 -2.60318 10.8668 -0.783117 0.0272761 0.204897 0.586516 +TTool-pose None -28.8467 11.2978 10.8256 0.443012 0.660035 0.15094 0.58761 +#22382 1721121256280 +SLAM 28.4434 -3.02665 11.1591 -0.781521 0.0289483 0.196288 0.591488 +TTool-pose None -28.7998 11.2409 10.7074 0.435604 0.65864 0.153351 0.594056 +#22383 1721121256315 +SLAM 28.3704 -3.2808 11.7021 -0.784171 0.0273938 0.187244 0.590986 +TTool-pose None -28.7948 11.2222 10.7095 0.43144 0.657182 0.161461 0.596555 +#22384 1721121256353 +SLAM 28.3126 -3.48899 12.1594 -0.786736 0.0265034 0.17965 0.589974 +TTool-pose None -28.7992 11.2238 10.7065 0.428491 0.655439 0.16853 0.59864 +#22385 1721121256390 +SLAM 28.2469 -3.71202 12.5445 -0.788524 0.0262367 0.172751 0.589659 +TTool-pose None -28.7974 11.2231 10.6965 0.425436 0.653703 0.174248 0.601075 +#22386 1721121256428 +SLAM 28.1594 -3.97408 12.787 -0.788202 0.0271441 0.166539 0.591832 +TTool-pose None -28.7889 11.2033 10.6253 0.420997 0.652288 0.177047 0.604908 +#22387 1721121256465 +SLAM 28.0907 -4.15344 13.1805 -0.788173 0.0249209 0.158777 0.594098 +TTool-pose None -28.8342 11.1461 10.5653 0.414764 0.652522 0.182029 0.607477 +#22388 1721121256508 +SLAM 28.007 -4.37218 13.7113 -0.788796 0.0216743 0.14891 0.595951 +TTool-pose None -28.8976 11.0717 10.525 0.407471 0.652671 0.189234 0.610045 +#22389 1721121256545 +SLAM 27.8909 -4.67999 14.1836 -0.789652 0.0211897 0.139337 0.597148 +TTool-pose None -28.918 11.0498 10.4715 0.40161 0.650817 0.195688 0.613866 +#22390 1721121256581 +SLAM 27.7236 -4.99939 14.9216 -0.789171 0.0161509 0.124639 0.601176 +TTool-pose None -29.0135 10.9164 10.3697 0.389357 0.651496 0.20522 0.617914 +#22391 1721121256616 +SLAM 27.5366 -5.38679 15.6801 -0.788032 0.0112987 0.109074 0.605789 +TTool-pose None -29.1202 10.7835 10.2755 0.376015 0.651914 0.214657 0.622513 +#22392 1721121256650 +SLAM 27.3404 -5.69304 16.6078 -0.790934 0.00639922 0.0935324 0.604677 +TTool-pose None -29.2176 10.729 10.2722 0.367167 0.65016 0.228401 0.624735 +#22393 1721121256688 +SLAM 27.1644 -6.05025 17.0344 -0.794283 0.00966999 0.0853666 0.601443 +TTool-pose None -29.1706 10.81 10.2794 0.36644 0.644443 0.23565 0.628382 +#22394 1721121256728 +SLAM 27.0406 -6.24282 17.4147 -0.795221 0.00878244 0.0781299 0.601201 +TTool-pose None -29.1965 10.7954 10.2565 0.362409 0.642767 0.241246 0.63031 +#22395 1721121256769 +SLAM 26.9699 -6.37282 17.6169 -0.795698 0.00926453 0.0744804 0.601025 +TTool-pose None -29.195 10.8325 10.246 0.360694 0.641293 0.24378 0.631818 +#22396 1721121256807 +SLAM 26.9113 -6.42336 17.8326 -0.796643 0.00768076 0.070782 0.600243 +TTool-pose None -29.2228 10.7919 10.2527 0.35879 0.640908 0.24751 0.631843 +#22397 1721121256846 +SLAM 26.8471 -6.49172 17.9954 -0.796909 0.00661627 0.0674817 0.600282 +TTool-pose None -29.2373 10.753 10.242 0.356587 0.640608 0.250135 0.632361 +#22398 1721121256889 +SLAM 26.7923 -6.61019 18.0967 -0.796199 0.00747309 0.0650043 0.601486 +TTool-pose None -29.232 10.7904 10.2038 0.35449 0.639746 0.250623 0.634217 +#22399 1721121256930 +SLAM 26.7069 -6.72323 18.3313 -0.796186 0.00639016 0.0602286 0.602013 +TTool-pose None -29.2601 10.7639 10.1747 0.351037 0.639177 0.253874 0.635416 +#22400 1721121256972 +SLAM 26.5931 -6.85889 18.6788 -0.796955 0.00481635 0.053807 0.601618 +TTool-pose None -29.3003 10.7351 10.1599 0.347228 0.638065 0.25912 0.636509 +#22401 1721121257017 +SLAM 26.4451 -7.03449 19.0319 -0.797636 0.00371083 0.0469406 0.601298 +TTool-pose None -29.319 10.7081 10.144 0.343215 0.636521 0.264419 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-0.796449 -0.0141439 -0.0378091 0.603357 +TTool-pose None -29.9652 10.2714 9.71309 0.284178 0.620787 0.323415 0.655174 +#22426 1721121258096 +SLAM 24.614 -9.03647 23.0878 -0.795311 -0.0142322 -0.0380658 0.604838 +TTool-pose None -29.9637 10.2582 9.69418 0.282771 0.621301 0.322439 0.655776 +#22427 1721121258139 +SLAM 24.6067 -8.98915 23.1782 -0.797331 -0.013999 -0.0381484 0.602173 +TTool-pose None -29.9628 10.297 9.73664 0.284976 0.620138 0.324504 0.654902 +#22428 1721121258193 +SLAM 24.6085 -8.99439 23.1615 -0.797217 -0.0139619 -0.0380268 0.602332 +TTool-pose None -29.96 10.2897 9.73708 0.284936 0.620216 0.324293 0.654951 +#22429 1721121258236 +SLAM 24.5052 -9.08438 23.3967 -0.79857 -0.0141684 -0.0414261 0.600308 +TTool-pose None -29.9739 10.3132 9.79336 0.284329 0.618416 0.328022 0.65506 +#22430 1721121258281 +SLAM 24.4549 -9.06802 23.5256 -0.799861 -0.0146291 -0.0428616 0.598474 +TTool-pose None -29.9763 10.3237 9.81488 0.284741 0.617527 0.330474 0.654487 +#22431 1721121258325 +SLAM 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-29.8695 10.2764 9.77531 0.289947 0.621645 0.321693 0.652675 +#22455 1721121259434 +SLAM 24.7054 -8.77181 22.9298 -0.79926 -0.0136492 -0.0320736 0.599974 +TTool-pose None -29.8664 10.2893 9.79761 0.290775 0.621199 0.322368 0.652399 +#22456 1721121259483 +SLAM 24.7525 -8.93435 22.7032 -0.797642 -0.0133008 -0.0309505 0.60219 +TTool-pose None -29.8686 10.138 9.86989 0.2898 0.622185 0.319832 0.65314 +#22457 1721121259533 +SLAM 24.7619 -8.98072 22.6078 -0.796171 -0.0134162 -0.0305915 0.60415 +TTool-pose None -29.8635 10.0915 9.85564 0.288387 0.623107 0.318111 0.653727 +#22458 1721121259577 +SLAM 24.7893 -8.97392 22.5453 -0.795288 -0.013757 -0.0297359 0.605346 +TTool-pose None -29.8647 10.0775 9.85156 0.287838 0.62406 0.316752 0.65372 +#22459 1721121259620 +SLAM 24.7989 -8.87155 22.6428 -0.798982 -0.0129764 -0.0289922 0.600515 +TTool-pose None -29.8533 10.1365 9.92 0.292519 0.62203 0.319823 0.65208 +#22460 1721121259664 +SLAM 24.8023 -8.9514 22.558 -0.796362 -0.0132685 -0.0291719 0.603971 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-0.0130524 -0.0294283 0.603864 +TTool-pose None -29.8609 10.1015 9.88038 0.289482 0.623169 0.317498 0.653482 +#22467 1721121260037 +SLAM 24.7806 -8.93654 22.6404 -0.797663 -0.0132 -0.0298847 0.602217 +TTool-pose None -29.8624 10.1191 9.90071 0.290489 0.622498 0.319118 0.652886 +#22468 1721121260084 +SLAM 24.788 -8.97443 22.5798 -0.796243 -0.0131936 -0.0297084 0.604102 +TTool-pose None -29.8621 10.1057 9.87693 0.289062 0.623251 0.31753 0.653574 +#22469 1721121260126 +SLAM 24.7886 -8.96838 22.5751 -0.796304 -0.0132295 -0.0297145 0.604022 +TTool-pose None -29.8626 10.0988 9.87301 0.289112 0.623242 0.317609 0.653522 +#22470 1721121260170 +SLAM 24.7597 -8.98707 22.6453 -0.796668 -0.0133454 -0.0305716 0.603496 +TTool-pose None -29.8628 10.113 9.88837 0.288959 0.622827 0.318589 0.653508 +#22471 1721121260216 +SLAM 24.7404 -8.93569 22.7761 -0.798527 -0.013856 -0.0313682 0.600982 +TTool-pose None -29.8751 10.1359 9.92434 0.290335 0.621947 0.321213 0.652451 +#22472 1721121260260 +SLAM 24.7452 -8.96132 22.7361 -0.797877 -0.0137002 -0.0311311 0.60186 +TTool-pose None -29.8706 10.1288 9.91948 0.289821 0.622256 0.32033 0.65282 +#22473 1721121260301 +SLAM 24.7643 -8.99809 22.6259 -0.795988 -0.0136996 -0.0306468 0.604381 +TTool-pose None -29.8702 10.0949 9.87811 0.288068 0.623354 0.318055 0.653659 +#22474 1721121260344 +SLAM 24.7808 -8.99955 22.5922 -0.796247 -0.0134875 -0.0300088 0.604077 +TTool-pose None -29.8657 10.0861 9.90138 0.288794 0.623326 0.317831 0.653475 +#22475 1721121260388 +SLAM 24.7825 -8.94224 22.6343 -0.798282 -0.0130138 -0.0294913 0.60142 +TTool-pose None -29.8519 10.1136 9.93865 0.291451 0.622218 0.319437 0.652567 +#22476 1721121260429 +SLAM 24.7815 -8.96227 22.622 -0.797951 -0.0129537 -0.0295591 0.601857 +TTool-pose None -29.8522 10.1081 9.93721 0.291071 0.622319 0.319118 0.652796 +#22477 1721121260471 +SLAM 24.7961 -8.99788 22.5243 -0.795868 -0.0133743 -0.0293958 0.604608 +TTool-pose None -29.8592 10.0615 9.89184 0.288786 0.62366 0.316997 0.653564 +#22478 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None -29.6883 9.72753 10.2411 0.300031 0.626889 0.307209 0.650075 +#22537 1721121263113 +SLAM 25.1174 -8.97654 21.4957 -0.796383 -0.0111068 -0.0142039 0.604524 +TTool-pose None -29.6956 9.71277 10.2334 0.29917 0.627352 0.306825 0.650206 +#22538 1721121263166 +SLAM 25.1143 -8.9746 21.4992 -0.796607 -0.0109151 -0.0141211 0.604234 +TTool-pose None -29.6896 9.72114 10.237 0.299522 0.62715 0.306938 0.650185 +#22539 1721121263206 +SLAM 25.1186 -8.98461 21.4882 -0.796088 -0.0110828 -0.0141805 0.604913 +TTool-pose None -29.6959 9.71541 10.2294 0.298874 0.627488 0.306497 0.650366 +#22540 1721121263249 +SLAM 25.1166 -8.97323 21.4958 -0.796795 -0.0107118 -0.0139719 0.603993 +TTool-pose None -29.6868 9.72678 10.2408 0.299879 0.626982 0.306967 0.650169 +#22541 1721121263287 +SLAM 25.1064 -8.93647 21.5765 -0.798525 -0.0105655 -0.0140491 0.601705 +TTool-pose None -29.6805 9.7592 10.2775 0.301749 0.626015 0.30876 0.649386 +#22542 1721121263327 +SLAM 25.1147 -8.9879 21.4898 -0.796361 -0.0110657 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-0.801255 -0.0106147 -0.00844693 0.598169 +TTool-pose None -29.6607 9.65484 10.5243 0.308089 0.626613 0.307979 0.646196 +#22724 1721121271013 +SLAM 25.259 -8.93902 21.2451 -0.799416 -0.010305 -0.0081136 0.600634 +TTool-pose None -29.6541 9.6319 10.4866 0.306393 0.627445 0.305747 0.647254 +#22725 1721121271050 +SLAM 25.2618 -8.93538 21.2556 -0.799165 -0.0107631 -0.00835975 0.600957 +TTool-pose None -29.6656 9.62096 10.4824 0.305827 0.627775 0.3058 0.647176 +#22726 1721121271154 +SLAM 25.2617 -8.95119 21.2135 -0.799178 -0.00998906 -0.00783119 0.60096 +TTool-pose None -29.6472 9.63162 10.4835 0.306406 0.627459 0.305211 0.647487 +#22727 1721121271197 +SLAM 25.2622 -8.94183 21.2453 -0.799195 -0.0105021 -0.00826971 0.600924 +TTool-pose None -29.6623 9.62398 10.4816 0.305996 0.627626 0.305684 0.647296 +#22728 1721121271236 +SLAM 25.2589 -8.92742 21.279 -0.799894 -0.0104529 -0.00831416 0.599992 +TTool-pose None -29.6608 9.63669 10.4967 0.306743 0.627233 0.306423 0.646973 +#22729 1721121271273 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-29.6827 9.52599 10.4001 0.28994 0.628394 0.305262 0.654105 +#23021 1721121284550 +SLAM 24.9424 -9.56273 21.5154 -0.791228 -0.0117574 -0.019736 0.611089 +TTool-pose None -29.6823 9.52954 10.4002 0.290087 0.628305 0.305339 0.654089 +#23022 1721121284593 +SLAM 24.9526 -9.62007 21.4097 -0.78861 -0.0120979 -0.0197285 0.614458 +TTool-pose None -29.6898 9.48757 10.3554 0.287183 0.629751 0.302766 0.655176 +#23023 1721121284637 +SLAM 24.9406 -9.57195 21.4994 -0.790707 -0.0120478 -0.0199519 0.61175 +TTool-pose None -29.6868 9.50832 10.3884 0.289308 0.628658 0.305044 0.654233 +#23024 1721121284681 +SLAM 24.9384 -9.55057 21.5422 -0.791748 -0.0118069 -0.0198274 0.610412 +TTool-pose None -29.682 9.53485 10.4102 0.290573 0.628059 0.305949 0.653825 +#23025 1721121284721 +SLAM 24.9426 -9.55377 21.531 -0.791482 -0.0118742 -0.0198 0.610756 +TTool-pose None -29.6852 9.53009 10.4052 0.290284 0.628237 0.305681 0.653908 +#23026 1721121284836 +SLAM 24.9536 -9.62635 21.3882 -0.788266 -0.0120621 -0.0196856 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-0.791331 -0.0118691 -0.019871 0.610949 +TTool-pose None -29.6844 9.52533 10.4016 0.290081 0.62828 0.305571 0.654008 +#23033 1721121285222 +SLAM 24.948 -9.61569 21.4168 -0.789006 -0.0118624 -0.0197305 0.613953 +TTool-pose None -29.6848 9.49303 10.3573 0.287679 0.629417 0.303094 0.655127 +#23034 1721121285339 +SLAM 24.9522 -9.62002 21.4126 -0.788553 -0.0121906 -0.0198364 0.614526 +TTool-pose None -29.6928 9.48406 10.3526 0.287029 0.629798 0.30281 0.655178 +#23035 1721121285383 +SLAM 24.9356 -9.53665 21.5799 -0.792443 -0.0118445 -0.0199901 0.609503 +TTool-pose None -29.6852 9.54286 10.4234 0.29121 0.627695 0.306782 0.653501 +#23036 1721121285424 +SLAM 24.9412 -9.55577 21.5358 -0.791596 -0.0117404 -0.0197864 0.610612 +TTool-pose None -29.6832 9.53714 10.4079 0.290455 0.628103 0.305743 0.653931 +#23037 1721121285541 +SLAM 24.9545 -9.62221 21.4137 -0.788484 -0.0122012 -0.0197609 0.614616 +TTool-pose None -29.6931 9.48914 10.3565 0.286997 0.629863 0.302694 0.655183 +#23038 1721121285583 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-0.0119849 -0.0198728 0.612267 +TTool-pose None -29.6855 9.50744 10.3817 0.28895 0.628833 0.304564 0.654446 +#23109 1721121290348 +SLAM 24.9399 -9.55524 21.5349 -0.791424 -0.0119474 -0.0198983 0.610827 +TTool-pose None -29.6856 9.52861 10.4038 0.290139 0.628276 0.30571 0.653921 +#23110 1721121290392 +SLAM 24.9449 -9.59157 21.4661 -0.790219 -0.0117661 -0.0197349 0.612394 +TTool-pose None -29.6832 9.50919 10.3826 0.289004 0.628787 0.304306 0.654587 +#23111 1721121290438 +SLAM 24.9526 -9.62452 21.3948 -0.78841 -0.0120363 -0.019684 0.614717 +TTool-pose None -29.6879 9.48354 10.3493 0.287016 0.629821 0.302512 0.655299 +#23112 1721121290481 +SLAM 24.9526 -9.62267 21.3957 -0.788547 -0.0119237 -0.0195997 0.614547 +TTool-pose None -29.6852 9.48857 10.352 0.287248 0.629716 0.302558 0.655277 +#23113 1721121290527 +SLAM 24.9418 -9.55942 21.5264 -0.791378 -0.0118436 -0.0198172 0.61089 +TTool-pose None -29.6847 9.52868 10.4041 0.290172 0.62826 0.305575 0.653984 +#23114 1721121290571 +SLAM 24.9526 -9.62518 21.3921 -0.788385 -0.0120236 -0.0196771 0.61475 +TTool-pose None -29.6876 9.48249 10.3483 0.286997 0.629827 0.302477 0.655318 +#23115 1721121290614 +SLAM 24.9454 -9.58256 21.4751 -0.790284 -0.0118642 -0.0197161 0.612309 +TTool-pose None -29.6837 9.514 10.3827 0.289054 0.628825 0.304394 0.654488 +#23116 1721121290658 +SLAM 24.9394 -9.55349 21.5434 -0.791652 -0.0118645 -0.019913 0.610533 +TTool-pose None -29.6856 9.53271 10.4082 0.290401 0.628111 0.305926 0.653863 +#23117 1721121290702 +SLAM 24.9526 -9.62158 21.4001 -0.788547 -0.0119956 -0.0196682 0.614543 +TTool-pose None -29.6875 9.48709 10.3515 0.287184 0.629737 0.302628 0.655252 +#23118 1721121290747 +SLAM 24.9376 -9.55922 21.5344 -0.791353 -0.0120113 -0.0200143 0.610914 +TTool-pose None -29.6868 9.52234 10.4021 0.289973 0.628309 0.305735 0.653952 +#23119 1721121290794 +SLAM 24.9388 -9.55261 21.5427 -0.791684 -0.0118613 -0.0198837 0.610492 +TTool-pose None -29.6841 9.53238 10.4095 0.290454 0.628104 0.305938 0.65384 +#23120 1721121290836 +SLAM 24.9444 -9.57007 21.5049 -0.790975 -0.0117061 -0.0197054 0.611418 +TTool-pose None -29.683 9.52978 10.3958 0.28985 0.628403 0.305042 0.654239 +#23121 1721121290876 +SLAM 24.9412 -9.59099 21.4715 -0.790005 -0.0121018 -0.01996 0.612656 +TTool-pose None -29.6869 9.49801 10.3781 0.288534 0.62902 0.304347 0.654551 +#23122 1721121290920 +SLAM 24.9532 -9.6268 21.391 -0.788332 -0.0120379 -0.0196892 0.614817 +TTool-pose None -29.6885 9.48162 10.3478 0.286929 0.629856 0.302436 0.655338 +#23123 1721121290963 +SLAM 24.9401 -9.55667 21.5337 -0.791505 -0.0118792 -0.0198618 0.610725 +TTool-pose None -29.6846 9.5288 10.4068 0.290269 0.628207 0.305746 0.653912 +#23124 1721121291005 +SLAM 24.9413 -9.58065 21.4887 -0.790649 -0.0117519 -0.0197627 0.611838 +TTool-pose None -29.6812 9.51862 10.3902 0.289452 0.628566 0.30476 0.65439 +#23125 1721121291049 +SLAM 24.9515 -9.62329 21.4034 -0.788513 -0.0120246 -0.0197409 0.614583 +TTool-pose None -29.6886 9.48703 10.3505 0.287095 0.629745 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None -29.6827 9.5586 10.4424 0.292263 0.627232 0.307672 0.653057 +#23138 1721121291602 +SLAM 24.9373 -9.53558 21.5745 -0.792397 -0.0117923 -0.0198855 0.609567 +TTool-pose None -29.6835 9.54572 10.4223 0.29124 0.627721 0.306649 0.653525 +#23139 1721121291646 +SLAM 24.938 -9.52632 21.5918 -0.792699 -0.0118682 -0.0199261 0.609172 +TTool-pose None -29.6862 9.54917 10.4288 0.291516 0.627611 0.307012 0.653338 +#23140 1721121291687 +SLAM 24.9415 -9.57915 21.494 -0.790542 -0.0119826 -0.0198798 0.611968 +TTool-pose None -29.6855 9.51271 10.3894 0.289194 0.628721 0.304805 0.654335 +#23141 1721121291729 +SLAM 24.9427 -9.57935 21.4895 -0.79059 -0.0118072 -0.0197528 0.611913 +TTool-pose None -29.6824 9.51947 10.3896 0.289377 0.628632 0.304712 0.654382 +#23142 1721121291774 +SLAM 24.9532 -9.63517 21.376 -0.788148 -0.0118499 -0.0195708 0.615061 +TTool-pose None -29.6842 9.48462 10.3448 0.286862 0.629865 0.302107 0.655511 +#23143 1721121291820 +SLAM 24.9421 -9.57638 21.4996 -0.790688 -0.0119129 -0.0198421 0.611782 +TTool-pose None -29.685 9.51842 10.3922 0.289395 0.628621 0.304907 0.654294 +#23144 1721121291865 +SLAM 24.9536 -9.61306 21.4144 -0.788767 -0.0120933 -0.019704 0.614257 +TTool-pose None -29.6902 9.4895 10.3558 0.287367 0.629684 0.302909 0.655093 +#23145 1721121291902 +SLAM 24.9423 -9.59665 21.4632 -0.789874 -0.0119508 -0.0198653 0.612831 +TTool-pose None -29.6848 9.50366 10.3761 0.288498 0.629019 0.3041 0.654683 +#23146 1721121291942 +SLAM 24.9387 -9.55056 21.5468 -0.791851 -0.0117537 -0.0198189 0.61028 +TTool-pose None -29.682 9.53851 10.4132 0.290705 0.627979 0.306031 0.653804 +#23147 1721121291987 +SLAM 24.9393 -9.56409 21.5241 -0.791322 -0.0117704 -0.0198483 0.610964 +TTool-pose None -29.6828 9.52964 10.4022 0.290116 0.62823 0.305513 0.654068 +#23148 1721121292028 +SLAM 24.9567 -9.63365 21.3741 -0.787918 -0.0120592 -0.0196029 0.61535 +TTool-pose None -29.6891 9.47997 10.3414 0.286532 0.630092 0.301964 0.655503 +#23149 1721121292074 +SLAM 24.9388 -9.56267 21.526 -0.791361 -0.0117919 -0.0198597 0.610912 +TTool-pose None -29.6828 9.52907 10.4028 0.290144 0.628221 0.305568 0.654038 +#23150 1721121292128 +SLAM 24.9399 -9.55302 21.5409 -0.791633 -0.0118476 -0.0198425 0.61056 +TTool-pose None -29.684 9.53438 10.4091 0.290428 0.628133 0.305855 0.653862 +#23151 1721121292179 +SLAM 24.9368 -9.54556 21.5557 -0.792082 -0.0117393 -0.0198175 0.609981 +TTool-pose None -29.6804 9.5411 10.4179 0.290958 0.627861 0.306263 0.653697 +#23152 1721121292222 +SLAM 24.9402 -9.58425 21.4868 -0.790411 -0.0119629 -0.0199139 0.612136 +TTool-pose None -29.6848 9.50869 10.386 0.28904 0.628758 0.304687 0.654422 +#23153 1721121292261 +SLAM 24.9435 -9.60284 21.4517 -0.789645 -0.0118376 -0.0198217 0.613129 +TTool-pose None -29.6841 9.50588 10.3696 0.288315 0.629071 0.303799 0.654854 +#23154 1721121292301 +SLAM 24.9444 -9.61959 21.4171 -0.789163 -0.0116183 -0.0196537 0.613759 +TTool-pose None -29.6786 9.50135 10.3611 0.28797 0.629217 0.303122 0.655179 +#23155 1721121292342 +SLAM 24.9392 -9.56732 21.5165 -0.791253 -0.0117103 -0.0197656 0.611057 +TTool-pose None -29.6799 9.52979 10.4027 0.290111 0.628253 0.305368 0.654115 +#23156 1721121292385 +SLAM 24.938 -9.54478 21.5583 -0.79211 -0.0117704 -0.0198395 0.609942 +TTool-pose None -29.6823 9.54051 10.4188 0.290966 0.62786 0.306317 0.65367 +#23157 1721121292423 +SLAM 24.9418 -9.57855 21.4942 -0.790623 -0.0118622 -0.019821 0.611868 +TTool-pose None -29.6838 9.51809 10.3899 0.289354 0.628627 0.304808 0.654352 +#23158 1721121292464 +SLAM 24.9373 -9.53585 21.575 -0.792381 -0.011824 -0.0198754 0.609588 +TTool-pose None -29.6834 9.54558 10.4238 0.291218 0.627752 0.306636 0.653511 +#23159 1721121292502 +SLAM 24.9562 -9.63141 21.3791 -0.78796 -0.0121283 -0.0196508 0.615293 +TTool-pose None -29.6902 9.47885 10.3422 0.286527 0.630099 0.302062 0.655453 +#23160 1721121292543 +SLAM 24.9521 -9.62447 21.4003 -0.788441 -0.012061 -0.0197245 0.614676 +TTool-pose None -29.6888 9.48509 10.3506 0.287017 0.629808 0.302578 0.655281 +#23161 1721121292590 +SLAM 24.9407 -9.56279 21.5216 -0.791224 -0.0118541 -0.0197859 0.611091 +TTool-pose None -29.6826 9.52929 10.4029 0.290022 0.628351 0.3054 0.654046 +#23162 1721121292629 +SLAM 24.9394 -9.54498 21.5539 -0.791878 -0.0119281 -0.0198748 0.610239 +TTool-pose None -29.685 9.53555 10.4142 0.290647 0.628057 0.306155 0.653698 +#23163 1721121292671 +SLAM 24.9398 -9.56046 21.5297 -0.791296 -0.0119323 -0.0199194 0.610993 +TTool-pose None -29.686 9.52667 10.4018 0.289994 0.628319 0.305587 0.654001 +#23164 1721121292712 +SLAM 24.9473 -9.62569 21.3995 -0.788612 -0.0119234 -0.0197032 0.61446 +TTool-pose None -29.683 9.48555 10.3533 0.287255 0.629649 0.302693 0.655276 +#23165 1721121292757 +SLAM 24.9409 -9.56112 21.5204 -0.791391 -0.0117043 -0.0197112 0.61088 +TTool-pose None -29.6801 9.53253 10.4046 0.290293 0.628203 0.305472 0.654033 +#23166 1721121292796 +SLAM 24.9394 -9.57866 21.4945 -0.790536 -0.0119695 -0.0199225 0.611975 +TTool-pose None -29.6846 9.51266 10.3865 0.289166 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9.53826 10.4213 0.291015 0.627888 0.306565 0.653505 +#23173 1721121293100 +SLAM 24.9392 -9.55134 21.5412 -0.791808 -0.0117429 -0.019789 0.610337 +TTool-pose None -29.6814 9.53599 10.4121 0.290681 0.628003 0.305964 0.653824 +#23174 1721121293139 +SLAM 24.9519 -9.62186 21.4057 -0.788597 -0.0120459 -0.019746 0.614475 +TTool-pose None -29.6893 9.48552 10.353 0.287175 0.629718 0.302747 0.65522 +#23175 1721121293178 +SLAM 24.9544 -9.6143 21.4104 -0.7886 -0.0121927 -0.0197292 0.614468 +TTool-pose None -29.6919 9.48551 10.353 0.287143 0.629815 0.302789 0.655121 +#23176 1721121293218 +SLAM 24.938 -9.54898 21.5486 -0.791966 -0.0116691 -0.0198117 0.610132 +TTool-pose None -29.6809 9.54086 10.4133 0.29086 0.627874 0.306116 0.653797 +#23177 1721121293259 +SLAM 24.9387 -9.53208 21.576 -0.792479 -0.0118275 -0.0198513 0.609461 +TTool-pose None -29.6841 9.54481 10.4249 0.291337 0.627716 0.306723 0.653452 +#23178 1721121293300 +SLAM 24.9549 -9.62786 21.3877 -0.788196 -0.012067 -0.0196903 0.614991 +TTool-pose None -29.6902 9.48139 10.3445 0.286774 0.629937 0.302308 0.655387 +#23179 1721121293346 +SLAM 24.9473 -9.58981 21.4545 -0.789955 -0.0117644 -0.0195714 0.61274 +TTool-pose None -29.6806 9.51363 10.3767 0.28882 0.628967 0.303928 0.654671 +#23180 1721121293390 +SLAM 24.9528 -9.62235 21.3951 -0.788515 -0.0119312 -0.0196205 0.614587 +TTool-pose None -29.686 9.48801 10.3498 0.287199 0.629728 0.302542 0.655294 +#23181 1721121293429 +SLAM 24.9412 -9.56705 21.5146 -0.791031 -0.0118746 -0.0198647 0.611338 +TTool-pose None -29.6851 9.52427 10.3959 0.289762 0.628427 0.305261 0.654153 +#23182 1721121293469 +SLAM 24.9424 -9.57177 21.5024 -0.790955 -0.0116763 -0.0197094 0.611445 +TTool-pose None -29.681 9.52893 10.3949 0.289836 0.628392 0.305014 0.654268 +#23183 1721121293516 +SLAM 24.9526 -9.61229 21.4221 -0.788914 -0.0120723 -0.0197377 0.614068 +TTool-pose None -29.6903 9.49186 10.3595 0.287511 0.62959 0.303075 0.655044 +#23184 1721121293564 +SLAM 24.9505 -9.62025 21.4068 -0.788666 -0.0119772 -0.0197377 0.614388 +TTool-pose None -29.6876 9.48823 10.3519 0.287275 0.629645 0.302789 0.655226 +#23185 1721121293608 +SLAM 24.9462 -9.5978 21.4525 -0.789708 -0.0119284 -0.0197545 0.613049 +TTool-pose None -29.6851 9.50379 10.3733 0.288394 0.629122 0.30385 0.654746 +#23186 1721121293649 +SLAM 24.938 -9.58051 21.4964 -0.790562 -0.0120491 -0.0199925 0.611937 +TTool-pose None -29.6854 9.50686 10.3893 0.289127 0.628714 0.304921 0.654317 +#23187 1721121293689 +SLAM 24.9414 -9.57211 21.5075 -0.790868 -0.0119155 -0.0198675 0.611548 +TTool-pose None -29.6852 9.51978 10.395 0.289572 0.628529 0.305109 0.65421 +#23188 1721121293731 +SLAM 24.9528 -9.62584 21.3934 -0.788181 -0.0121523 -0.0197495 0.615006 +TTool-pose None -29.6903 9.48183 10.3439 0.286696 0.629977 0.30236 0.655359 +#23189 1721121293778 +SLAM 24.9515 -9.61856 21.4119 -0.788703 -0.012069 -0.0197549 0.614339 +TTool-pose None -29.6894 9.4873 10.3552 0.287275 0.62968 0.302868 0.655156 +#23190 1721121293824 +SLAM 24.9361 -9.54654 21.5576 -0.792076 -0.0117733 -0.0198832 0.609986 +TTool-pose None -29.6817 9.53891 10.4173 0.290902 0.627862 0.306311 0.653698 +#23191 1721121293874 +SLAM 24.9378 -9.55254 21.5414 -0.79183 -0.0116667 -0.0197295 0.610311 +TTool-pose None -29.6782 9.54089 10.4141 0.290765 0.627966 0.305922 0.653842 +#23192 1721121293916 +SLAM 24.9403 -9.55962 21.5223 -0.7914 -0.0118282 -0.019784 0.610864 +TTool-pose None -29.682 9.52594 10.405 0.29022 0.628252 0.305571 0.653973 +#23193 1721121293961 +SLAM 24.9521 -9.62376 21.3946 -0.788405 -0.0120588 -0.0197044 0.614722 +TTool-pose None -29.688 9.48189 10.3482 0.286991 0.62983 0.302528 0.655294 +#23194 1721121294006 +SLAM 24.9333 -9.56228 21.5374 -0.791543 -0.0118342 -0.02007 0.610669 +TTool-pose None -29.6837 9.52427 10.4033 0.290199 0.628088 0.305906 0.653984 +#23195 1721121294049 +SLAM 24.9462 -9.59174 21.4609 -0.789824 -0.0120022 -0.0197988 0.612896 +TTool-pose None -29.6868 9.50432 10.374 0.288469 0.629099 0.304023 0.654655 +#23196 1721121294092 +SLAM 24.9336 -9.51694 21.6156 -0.793238 -0.011832 -0.0200274 0.608468 +TTool-pose None -29.6853 9.55377 10.4379 0.292045 0.627295 0.30762 0.653118 +#23197 1721121294139 +SLAM 24.9377 -9.53497 21.5745 -0.792434 -0.0117927 -0.0198708 0.609519 +TTool-pose None -29.6835 9.54507 10.4237 0.291288 0.627708 0.306678 0.653502 +#23198 1721121294181 +SLAM 24.9383 -9.54498 21.556 -0.79191 -0.0119057 -0.0198922 0.610198 +TTool-pose None -29.6844 9.53691 10.4142 0.290677 0.628022 0.306191 0.653702 +#23199 1721121294221 +SLAM 24.9388 -9.55824 21.5377 -0.791547 -0.0118358 -0.0199148 0.610669 +TTool-pose None -29.6848 9.53091 10.4067 0.290297 0.628141 0.30581 0.653934 +#23200 1721121294260 +SLAM 24.9552 -9.63627 21.3723 -0.787779 -0.0122115 -0.0197341 0.615521 +TTool-pose None -29.6916 9.47035 10.3385 0.286257 0.630207 0.301959 0.655515 +#23201 1721121294299 +SLAM 24.9535 -9.64395 21.3717 -0.788021 -0.011773 -0.0195735 0.615224 +TTool-pose None -29.6843 9.48614 10.3452 0.28675 0.629874 0.301954 0.655622 +#23202 1721121294335 +SLAM 24.9371 -9.67511 21.3345 -0.786959 -0.0119508 -0.0198085 0.616572 +TTool-pose None -29.6738 9.46274 10.3276 0.285419 0.630395 0.301082 0.656102 +#23203 1721121294378 +SLAM 24.9233 -9.57752 21.5384 -0.791065 -0.0119119 -0.0202239 0.611282 +TTool-pose None -29.6786 9.52912 10.3982 0.28957 0.628309 0.305542 0.65422 +#23204 1721121294418 +SLAM 24.9308 -9.55076 21.5343 -0.791769 -0.0116205 -0.0198183 0.610389 +TTool-pose None -29.6732 9.53581 10.4028 0.29066 0.627934 0.305902 0.653928 +#23205 1721121294457 +SLAM 24.9107 -9.56562 21.6095 -0.792238 -0.0120324 -0.020705 0.609742 +TTool-pose None -29.6825 9.53691 10.4262 0.290502 0.627659 0.307103 0.6537 +#23206 1721121294502 +SLAM 24.9371 -9.63273 21.4302 -0.788738 -0.011972 -0.0200953 0.614284 +TTool-pose None -29.6853 9.49284 10.3557 0.287139 0.629483 0.303094 0.655301 +#23207 1721121294540 +SLAM 24.9303 -9.64258 21.4273 -0.788683 -0.0118576 -0.0201502 0.614355 +TTool-pose None -29.6797 9.4931 10.3561 0.287083 0.629417 0.303035 0.655416 +#23208 1721121294578 +SLAM 24.9372 -9.63614 21.4294 -0.788376 -0.0122524 -0.0201551 0.614742 +TTool-pose None -29.6879 9.4884 10.3543 0.286628 0.629808 0.302858 0.655322 +#23209 1721121294616 +SLAM 24.9352 -9.6547 21.4023 -0.787825 -0.0121792 -0.0201728 0.615448 +TTool-pose None -29.6852 9.47944 10.3441 0.286052 0.630011 0.302281 0.655644 +#23210 1721121294658 +SLAM 24.9336 -9.6318 21.4356 -0.78871 -0.0121256 -0.0201349 0.614316 +TTool-pose None -29.6835 9.49077 10.359 0.287037 0.629579 0.303143 0.65523 +#23211 1721121294698 +SLAM 24.9353 -9.62298 21.4321 -0.788972 -0.0119664 -0.0199667 0.613988 +TTool-pose None -29.6798 9.4941 10.3601 0.287468 0.629416 0.303247 0.65515 +#23212 1721121294738 +SLAM 24.9347 -9.63705 21.4187 -0.788442 -0.0121113 -0.0201002 0.614661 +TTool-pose None -29.683 9.48428 10.3522 0.286776 0.629707 0.302842 0.655361 +#23213 1721121294780 +SLAM 24.9221 -9.58013 21.5488 -0.791223 -0.0118971 -0.0202973 0.611075 +TTool-pose None -29.6798 9.53107 10.4048 0.2897 0.628199 0.305748 0.654172 +#23214 1721121294821 +SLAM 24.9333 -9.63089 21.434 -0.788871 -0.0119516 -0.0200192 0.614117 +TTool-pose None -29.6794 9.49628 10.362 0.287333 0.629435 0.303173 0.655225 +#23215 1721121294864 +SLAM 24.9346 -9.62751 21.4398 -0.7888 -0.0121907 -0.0201452 0.614198 +TTool-pose None -29.685 9.48923 10.3607 0.287107 0.629574 0.303265 0.655148 +#23216 1721121294911 +SLAM 24.9379 -9.63354 21.4317 -0.788439 -0.0122932 -0.0202023 0.614658 +TTool-pose None -29.69 9.4853 10.3537 0.286654 0.629787 0.302967 0.65528 +#23217 1721121294952 +SLAM 24.9263 -9.58419 21.5227 -0.790577 -0.0121486 -0.0203203 0.611905 +TTool-pose None -29.6843 9.5145 10.3886 0.288915 0.628654 0.305184 0.654345 +#23218 1721121294997 +SLAM 24.9347 -9.63797 21.4205 -0.788603 -0.0119146 -0.0200439 0.614461 +TTool-pose None -29.681 9.49154 10.3542 0.287043 0.629528 0.302903 0.655388 +#23219 1721121295043 +SLAM 24.9347 -9.64365 21.4059 -0.788313 -0.0119036 -0.0200445 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-0.0116781 -0.0203223 0.609225 +TTool-pose None -29.6753 9.55091 10.4271 0.291285 0.627374 0.307157 0.653599 +#23226 1721121295386 +SLAM 24.9361 -9.64018 21.4139 -0.788434 -0.0119312 -0.0200096 0.614678 +TTool-pose None -29.6813 9.49083 10.3513 0.286878 0.629629 0.302713 0.655451 +#23227 1721121295425 +SLAM 24.9345 -9.64093 21.4152 -0.788385 -0.0119699 -0.0200104 0.61474 +TTool-pose None -29.6798 9.49187 10.3522 0.286814 0.629676 0.302677 0.655451 +#23228 1721121295471 +SLAM 24.9231 -9.57976 21.5451 -0.791155 -0.0119395 -0.0202564 0.611164 +TTool-pose None -29.6796 9.52944 10.4046 0.289638 0.628272 0.305665 0.654168 +#23229 1721121295514 +SLAM 24.9366 -9.64781 21.4106 -0.787959 -0.0122758 -0.0201963 0.615274 +TTool-pose None -29.6879 9.47908 10.3462 0.286151 0.630001 0.302466 0.655525 +#23230 1721121295558 +SLAM 24.936 -9.62388 21.4379 -0.78875 -0.0122475 -0.0201 0.614263 +TTool-pose None -29.6852 9.48897 10.3592 0.287063 0.629649 0.303203 0.655124 +#23231 1721121295598 +SLAM 24.9351 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None -29.6805 9.46735 10.3272 0.285127 0.630335 0.301632 0.656035 +#23255 1721121296611 +SLAM 24.9262 -9.66702 21.3946 -0.787572 -0.0120647 -0.0201992 0.615774 +TTool-pose None -29.6766 9.48243 10.3406 0.285802 0.630047 0.302001 0.655848 +#23256 1721121296655 +SLAM 24.9242 -9.63638 21.4317 -0.788811 -0.0119731 -0.0202695 0.614185 +TTool-pose None -29.6773 9.48485 10.3542 0.287111 0.629389 0.303283 0.655316 +#23257 1721121296700 +SLAM 24.9318 -9.57915 21.4939 -0.790896 -0.0116379 -0.0193996 0.611532 +TTool-pose None -29.6613 9.53468 10.411 0.289971 0.628505 0.304738 0.654229 +#23258 1721121296741 +SLAM 24.9507 -9.60695 21.3671 -0.78874 -0.011863 -0.0189486 0.61432 +TTool-pose None -29.6635 9.48522 10.364 0.287865 0.629816 0.302311 0.655024 +#23259 1721121296782 +SLAM 24.9493 -9.60081 21.3717 -0.788863 -0.0117449 -0.0187836 0.61417 +TTool-pose None -29.6574 9.49864 10.3665 0.288133 0.629742 0.302289 0.654988 +#23260 1721121296821 +SLAM 24.9557 -9.59707 21.3665 -0.788761 -0.0117965 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-0.787973 -0.0118342 -0.0186037 0.615315 +TTool-pose None -29.6614 9.49555 10.3554 0.287262 0.630275 0.301292 0.655317 +#23267 1721121297103 +SLAM 24.9421 -9.55605 21.4611 -0.790858 -0.0116697 -0.0188758 0.611598 +TTool-pose None -29.6554 9.52765 10.4044 0.290235 0.628727 0.304368 0.654072 +#23268 1721121297141 +SLAM 24.9569 -9.59787 21.362 -0.78868 -0.0118606 -0.0187109 0.614405 +TTool-pose None -29.6628 9.49322 10.3627 0.287944 0.629926 0.302093 0.654984 +#23269 1721121297181 +SLAM 24.9545 -9.60831 21.3598 -0.788476 -0.011855 -0.0187492 0.614665 +TTool-pose None -29.6616 9.49451 10.3636 0.287706 0.630004 0.301908 0.6551 +#23270 1721121297224 +SLAM 24.9565 -9.60694 21.3467 -0.788565 -0.0115929 -0.0185283 0.614562 +TTool-pose None -29.6561 9.49945 10.3627 0.288016 0.629874 0.301767 0.655153 +#23271 1721121297272 +SLAM 24.9576 -9.60659 21.351 -0.788448 -0.0117173 -0.018597 0.614708 +TTool-pose None -29.6596 9.49932 10.3609 0.287811 0.629983 0.301734 0.655153 +#23272 1721121297318 +SLAM 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0.301189 0.655261 +#23395 1721121302663 +SLAM 24.9596 -9.63795 21.3068 -0.786717 -0.0122187 -0.01869 0.61691 +TTool-pose None -29.6644 9.48133 10.3378 0.285751 0.631068 0.300196 0.655717 +#23396 1721121302706 +SLAM 24.944 -9.57773 21.4408 -0.789762 -0.0119972 -0.0188898 0.613005 +TTool-pose None -29.6581 9.52467 10.3952 0.28895 0.629444 0.303364 0.654417 +#23397 1721121302748 +SLAM 24.9435 -9.56149 21.4631 -0.790552 -0.0117474 -0.0187543 0.611995 +TTool-pose None -29.6538 9.53961 10.4084 0.289956 0.628963 0.304001 0.654139 +#23398 1721121302788 +SLAM 24.9547 -9.61222 21.3642 -0.788089 -0.0120105 -0.0186559 0.615162 +TTool-pose None -29.6598 9.50735 10.3657 0.287299 0.630314 0.301504 0.655165 +#23399 1721121302829 +SLAM 24.9457 -9.59537 21.4042 -0.789101 -0.0118818 -0.0187938 0.61386 +TTool-pose None -29.6556 9.51654 10.3816 0.288338 0.629713 0.302586 0.654788 +#23400 1721121302871 +SLAM 24.9508 -9.60766 21.3604 -0.788472 -0.0117617 -0.0185565 0.614678 +TTool-pose None -29.6522 9.5071 10.3686 0.287847 0.630014 0.301747 0.655102 +#23401 1721121302914 +SLAM 24.9559 -9.64056 21.3034 -0.787102 -0.0118176 -0.0185001 0.616433 +TTool-pose None -29.6541 9.49017 10.3463 0.286401 0.630704 0.300329 0.655723 +#23402 1721121302953 +SLAM 24.9554 -9.62196 21.3436 -0.787684 -0.0120894 -0.0187533 0.615675 +TTool-pose None -29.6628 9.49156 10.3552 0.286784 0.630517 0.30118 0.655344 +#23403 1721121302998 +SLAM 24.9541 -9.6233 21.3378 -0.787709 -0.0120097 -0.0187132 0.615647 +TTool-pose None -29.6599 9.49008 10.3549 0.28686 0.63047 0.301152 0.65537 +#23404 1721121303043 +SLAM 24.9551 -9.61798 21.3536 -0.787768 -0.0122087 -0.0188204 0.615563 +TTool-pose None -29.665 9.49134 10.3579 0.286797 0.63053 0.301351 0.655248 +#23405 1721121303084 +SLAM 24.9524 -9.58661 21.4073 -0.789186 -0.0119576 -0.0186685 0.613754 +TTool-pose None -29.659 9.51963 10.3851 0.28848 0.629766 0.302616 0.654661 +#23406 1721121303126 +SLAM 24.9479 -9.57761 21.4188 -0.789835 -0.0116569 -0.0185494 0.612928 +TTool-pose None -29.6506 9.52924 10.3953 0.28934 0.629314 0.303102 0.654491 +#23407 1721121303166 +SLAM 24.955 -9.61154 21.356 -0.788226 -0.0118491 -0.0185793 0.614991 +TTool-pose None -29.6572 9.50522 10.3652 0.287543 0.630176 0.30154 0.655175 +#23408 1721121303209 +SLAM 24.9604 -9.62991 21.3232 -0.787227 -0.0120778 -0.01863 0.616264 +TTool-pose None -29.6636 9.49047 10.3482 0.286374 0.630765 0.300629 0.655538 +#23409 1721121303249 +SLAM 24.9536 -9.61983 21.3429 -0.787823 -0.0120187 -0.0186801 0.6155 +TTool-pose None -29.6586 9.49275 10.3584 0.286999 0.630434 0.301251 0.655298 +#23410 1721121303286 +SLAM 24.9486 -9.56896 21.4409 -0.789829 -0.0121031 -0.0188164 0.612919 +TTool-pose None -29.6608 9.52215 10.3961 0.289033 0.629505 0.30342 0.654296 +#23411 1721121303329 +SLAM 24.9561 -9.62109 21.3437 -0.78764 -0.0121877 -0.0187862 0.615728 +TTool-pose None -29.6646 9.48759 10.3551 0.286687 0.630588 0.301191 0.655314 +#23412 1721121303378 +SLAM 24.942 -9.5382 21.501 -0.791526 -0.0116829 -0.0187975 0.610734 +TTool-pose None -29.6544 9.5497 10.4235 0.290994 0.628447 0.305007 0.653705 +#23413 1721121303422 +SLAM 24.9492 -9.59898 21.3837 -0.788818 -0.0119669 -0.0187572 0.614224 +TTool-pose None -29.6576 9.50291 10.3755 0.28803 0.629912 0.3023 0.654864 +#23414 1721121303466 +SLAM 24.9442 -9.56319 21.4463 -0.790305 -0.0118238 -0.0188033 0.61231 +TTool-pose None -29.6554 9.52608 10.3982 0.289639 0.629109 0.303806 0.654229 +#23415 1721121303509 +SLAM 24.9438 -9.5455 21.4812 -0.791175 -0.0116767 -0.0187495 0.61119 +TTool-pose None -29.6542 9.54295 10.4158 0.290649 0.628626 0.304614 0.65387 +#23416 1721121303547 +SLAM 24.9505 -9.58422 21.4053 -0.789367 -0.0118968 -0.0187638 0.61352 +TTool-pose None -29.6595 9.51146 10.3817 0.288635 0.629609 0.302843 0.654638 +#23417 1721121303590 +SLAM 24.9466 -9.56809 21.4318 -0.790197 -0.011714 -0.0187555 0.612454 +TTool-pose None -29.6557 9.52137 10.3939 0.289585 0.629108 0.303626 0.654337 +#23418 1721121303630 +SLAM 24.9591 -9.62788 21.3052 -0.787317 -0.0118653 -0.0185614 0.616154 +TTool-pose None -29.6591 9.48298 10.3403 0.286579 0.630613 0.300605 0.655606 +#23419 1721121303672 +SLAM 24.9478 -9.57553 21.432 -0.790037 -0.0117248 -0.0187115 0.612661 +TTool-pose None -29.6557 9.52636 10.3983 0.289438 0.629205 0.303438 0.654397 +#23420 1721121303713 +SLAM 24.9427 -9.53924 21.4812 -0.791337 -0.0116832 -0.0188458 0.610978 +TTool-pose None -29.6558 9.53507 10.4109 0.290762 0.62852 0.304845 0.653814 +#23421 1721121303755 +SLAM 24.9447 -9.55555 21.467 -0.790927 -0.0116299 -0.018747 0.611513 +TTool-pose None -29.6544 9.53753 10.4121 0.290399 0.628714 0.304341 0.654023 +#23422 1721121303794 +SLAM 24.9468 -9.54568 21.4681 -0.79093 -0.0117475 -0.0187587 0.611507 +TTool-pose None -29.6572 9.53501 10.4066 0.290358 0.628783 0.304391 0.653952 +#23423 1721121303837 +SLAM 24.944 -9.55234 21.463 -0.790823 -0.0117636 -0.0188442 0.611642 +TTool-pose None -29.6567 9.52831 10.4049 0.290187 0.628813 0.304343 0.654021 +#23424 1721121303878 +SLAM 24.9467 -9.5672 21.4361 -0.79033 -0.0116011 -0.0186903 0.612287 +TTool-pose None -29.6538 9.52888 10.3974 0.289803 0.628997 0.303682 0.654322 +#23425 1721121303916 +SLAM 24.9449 -9.52959 21.5034 -0.791779 -0.011642 -0.0187748 0.610408 +TTool-pose None -29.6566 9.54804 10.4237 0.291291 0.628309 0.305238 0.653597 +#23426 1721121303956 +SLAM 24.9493 -9.56915 21.4208 -0.789962 -0.0117456 -0.018642 0.612759 +TTool-pose None -29.6549 9.52125 10.3908 0.289393 0.629278 0.303323 0.6544 +#23427 1721121303997 +SLAM 24.9473 -9.55576 21.4495 -0.79065 -0.0116466 -0.0186846 0.611873 +TTool-pose None -29.6547 9.53165 10.4022 0.290134 0.628877 0.304022 0.654132 +#23428 1721121304037 +SLAM 24.9459 -9.56396 21.4412 -0.790366 -0.0117547 -0.0188049 0.612233 +TTool-pose None -29.6567 9.52199 10.397 0.289724 0.629037 0.303846 0.654242 +#23429 1721121304078 +SLAM 24.9459 -9.56313 21.444 -0.790552 -0.0115988 -0.0187064 0.611999 +TTool-pose None -29.6537 9.52935 10.402 0.290032 0.628885 0.30392 0.654217 +#23430 1721121304122 +SLAM 24.9468 -9.54594 21.4656 -0.791061 -0.0116195 -0.0187129 0.611341 +TTool-pose None -29.6554 9.53567 10.4081 0.290566 0.628656 0.304453 0.653952 +#23431 1721121304162 +SLAM 24.9436 -9.59633 21.3928 -0.789254 -0.0116847 -0.0188792 0.613666 +TTool-pose None -29.6549 9.50615 10.3737 0.288512 0.629488 0.302731 0.654861 +#23432 1721121304203 +SLAM 24.9496 -9.57255 21.4123 -0.789868 -0.0117156 -0.018665 0.612881 +TTool-pose None -29.6554 9.51595 10.3867 0.289288 0.629295 0.303231 0.654473 +#23433 1721121304244 +SLAM 24.9489 -9.55755 21.4417 -0.790461 -0.0117412 -0.0187358 0.612113 +TTool-pose None -29.6578 9.5238 10.3968 0.289872 0.629008 0.303894 0.654183 +#23434 1721121304283 +SLAM 24.9502 -9.59293 21.385 -0.78902 -0.011899 -0.018761 0.613966 +TTool-pose None -29.6585 9.50166 10.3739 0.288266 0.629774 0.302487 0.654807 +#23435 1721121304323 +SLAM 24.9582 -9.61472 21.3278 -0.788084 -0.0116504 -0.0184511 0.61518 +TTool-pose None -29.6551 9.49589 10.3554 0.287531 0.630161 0.301244 0.655331 +#23436 1721121304361 +SLAM 24.9568 -9.63575 21.3108 -0.787319 -0.011855 -0.0186098 0.616152 +TTool-pose None -29.6584 9.48524 10.3468 0.286554 0.630589 0.300634 0.655626 +#23437 1721121304401 +SLAM 24.95 -9.55743 21.4407 -0.79027 -0.0117817 -0.0185994 0.612363 +TTool-pose None -29.6552 9.53262 10.3978 0.289737 0.629171 0.303622 0.654212 +#23438 1721121304442 +SLAM 24.945 -9.55668 21.4652 -0.79046 -0.0119415 -0.0187728 0.612109 +TTool-pose None -29.6564 9.53621 10.4074 0.289786 0.629122 0.303984 0.654069 +#23439 1721121304486 +SLAM 24.9482 -9.56153 21.4476 -0.789939 -0.0120545 -0.0187024 0.612781 +TTool-pose None -29.6574 9.53318 10.3977 0.289235 0.629462 0.303443 0.654237 +#23440 1721121304525 +SLAM 24.9841 -9.56853 21.288 -0.788079 -0.0119308 -0.0175661 0.615208 +TTool-pose None -29.655 9.48755 10.3514 0.28797 0.630649 0.300756 0.654892 +#23441 1721121304568 +SLAM 25.0502 -9.34908 21.272 -0.792058 -0.0114333 -0.0143372 0.610171 +TTool-pose None -29.6266 9.53023 10.3961 0.294333 0.62959 0.302564 0.652244 +#23442 1721121304606 +SLAM 25.1503 -9.29202 20.9069 -0.788867 -0.0108816 -0.00976894 0.614389 +TTool-pose None -29.587 9.49088 10.3364 0.293857 0.632311 0.296142 0.652774 +#23443 1721121304648 +SLAM 25.245 -9.21229 20.5928 -0.785808 -0.0108854 -0.00587448 0.618347 +TTool-pose None -29.567 9.44826 10.2657 0.292962 0.635047 0.290501 0.653054 +#23444 1721121304689 +SLAM 25.2405 -9.11983 20.7158 -0.789159 -0.0108749 -0.00563096 0.614067 +TTool-pose None -29.5578 9.48808 10.3232 0.296687 0.633574 0.293763 0.651343 +#23445 1721121304731 +SLAM 25.2474 -9.2295 20.5483 -0.785276 -0.0106405 -0.00574523 0.619028 +TTool-pose None -29.5643 9.43467 10.2521 0.292552 0.635179 0.289793 0.653424 +#23446 1721121304775 +SLAM 25.2198 -9.26212 20.6217 -0.785022 -0.0112325 -0.00724848 0.619324 +TTool-pose None -29.5813 9.42421 10.2453 0.291181 0.635161 0.290706 0.653649 +#23447 1721121304816 +SLAM 25.1983 -9.28753 20.6749 -0.784659 -0.0117506 -0.00825865 0.619761 +TTool-pose None -29.5903 9.42096 10.2434 0.290018 0.635311 0.291164 0.653816 +#23448 1721121304859 +SLAM 25.1988 -9.28645 20.6658 -0.784826 -0.0114362 -0.00806243 0.619559 +TTool-pose None -29.5844 9.42882 10.243 0.290413 0.635104 0.291101 0.653871 +#23449 1721121304900 +SLAM 25.2057 -9.27701 20.6559 -0.785219 -0.0111854 -0.00778054 0.619068 +TTool-pose None -29.5826 9.43037 10.2478 0.291081 0.634861 0.291234 0.653749 +#23450 1721121304938 +SLAM 25.1983 -9.27233 20.6761 -0.785759 -0.0109912 -0.0078659 0.618386 +TTool-pose None -29.5775 9.43926 10.254 0.291664 0.634463 0.291774 0.653635 +#23451 1721121304978 +SLAM 25.2019 -9.27962 20.6705 -0.785533 -0.011073 -0.00789127 0.618671 +TTool-pose None -29.5818 9.43483 10.2545 0.291383 0.63461 0.291587 0.653702 +#23452 1721121305020 +SLAM 25.1858 -9.32315 20.7182 -0.785759 -0.0110805 -0.00890648 0.61837 +TTool-pose None -29.5948 9.42595 10.2687 0.291004 0.634166 0.292477 0.653904 +#23453 1721121305064 +SLAM 25.1473 -9.27187 20.9636 -0.790961 -0.0103083 -0.00981552 0.611701 +TTool-pose None -29.5847 9.50505 10.3757 0.296248 0.630951 0.298124 0.652106 +#23454 1721121305110 +SLAM 25.1526 -9.24396 20.954 -0.791754 -0.0100405 -0.00935898 0.610686 +TTool-pose None -29.5761 9.50491 10.3834 0.29746 0.630563 0.298552 0.651734 +#23455 1721121305152 +SLAM 25.2 -9.23962 20.8469 -0.790781 -0.00987592 -0.00777066 0.61197 +TTool-pose None -29.5763 9.50015 10.3884 0.297434 0.631458 0.29647 0.651829 +#23456 1721121305192 +SLAM 25.2098 -9.2515 20.7814 -0.789473 -0.010103 -0.00738812 0.613658 +TTool-pose None -29.5747 9.4812 10.3675 0.296195 0.632345 0.294959 0.652219 +#23457 1721121305234 +SLAM 25.2029 -9.22482 20.8864 -0.791489 -0.00965723 -0.00725518 0.611064 +TTool-pose None -29.5649 9.54702 10.4229 0.298575 0.63116 0.29679 0.651451 +#23458 1721121305277 +SLAM 25.215 -9.26365 20.7743 -0.789347 -0.00977129 -0.00708206 0.613829 +TTool-pose None -29.5704 9.50218 10.3756 0.296351 0.632298 0.29452 0.652392 +#23459 1721121305320 +SLAM 25.2075 -9.28678 20.7483 -0.788525 -0.0100184 -0.00749695 0.614875 +TTool-pose None -29.5747 9.47239 10.3551 0.295143 0.632697 0.294031 0.652774 +#23460 1721121305359 +SLAM 25.2175 -9.29697 20.7152 -0.788156 -0.00963598 -0.0069076 0.615361 +TTool-pose None -29.5666 9.48953 10.3584 0.295228 0.632826 0.293144 0.653009 +#23461 1721121305397 +SLAM 25.2099 -9.2439 20.8157 -0.790385 -0.00962602 -0.00712423 0.612494 +TTool-pose None -29.5669 9.51745 10.3929 0.297481 0.631706 0.295562 0.651981 +#23462 1721121305440 +SLAM 25.2146 -9.28951 20.7285 -0.788394 -0.00969797 -0.00708349 0.615054 +TTool-pose None -29.5691 9.48697 10.3561 0.295355 0.632695 0.293522 0.652909 +#23463 1721121305481 +SLAM 25.2107 -9.28474 20.7525 -0.788706 -0.00990844 -0.00732918 0.614647 +TTool-pose None -29.573 9.48209 10.3636 0.295472 0.6326 0.29407 0.652701 +#23464 1721121305521 +SLAM 25.2142 -9.28033 20.7413 -0.788777 -0.00970273 -0.00707648 0.614562 +TTool-pose None -29.5687 9.48871 10.3631 0.295768 0.632522 0.293911 0.652715 +#23465 1721121305560 +SLAM 25.2152 -9.27907 20.7469 -0.788769 -0.00971766 -0.0070906 0.614572 +TTool-pose None -29.5703 9.49354 10.3629 0.295745 0.632531 0.293916 0.652714 +#23466 1721121305600 +SLAM 25.2124 -9.29345 20.7402 -0.788331 -0.00992965 -0.00729207 0.615128 +TTool-pose None -29.5735 9.48104 10.3596 0.295088 0.6328 0.29367 0.652861 +#23467 1721121305643 +SLAM 25.1996 -9.18617 20.9472 -0.793126 -0.00957975 -0.00737597 0.608938 +TTool-pose None -29.5658 9.55895 10.4458 0.300282 0.630293 0.298524 0.650713 +#23468 1721121305685 +SLAM 25.2033 -9.21327 20.8892 -0.791966 -0.00958106 -0.00728468 0.610446 +TTool-pose None -29.5659 9.53888 10.4238 0.299092 0.630876 0.297274 0.651268 +#23469 1721121305728 +SLAM 25.2069 -9.2276 20.852 -0.791249 -0.00953056 -0.00714424 0.611378 +TTool-pose None -29.5648 9.53113 10.4097 0.298425 0.631231 0.29643 0.651615 +#23470 1721121305769 +SLAM 25.2043 -9.23038 20.853 -0.791055 -0.00971122 -0.00729702 0.611624 +TTool-pose None -29.567 9.52393 10.4058 0.298067 0.631385 0.29639 0.651647 +#23471 1721121305808 +SLAM 25.2023 -9.22235 20.874 -0.791554 -0.00963559 -0.00733534 0.610979 +TTool-pose None -29.5662 9.53148 10.415 0.298602 0.631089 0.296901 0.651457 +#23472 1721121305851 +SLAM 25.1997 -9.21066 20.9024 -0.792159 -0.00958647 -0.00738119 0.610195 +TTool-pose None -29.5653 9.54202 10.4266 0.299239 0.630756 0.297536 0.651198 +#23473 1721121305897 +SLAM 25.2022 -9.18444 20.9336 -0.792931 -0.00964284 -0.00729501 0.609191 +TTool-pose None -29.566 9.55285 10.4404 0.300102 0.630453 0.298293 0.650747 +#23474 1721121305942 +SLAM 25.2161 -9.27911 20.7481 -0.788877 -0.00965653 -0.0070308 0.614435 +TTool-pose None -29.5693 9.49605 10.3672 0.295916 0.632462 0.293968 0.65268 +#23475 1721121305985 +SLAM 25.2169 -9.27762 20.7581 -0.788883 -0.00975992 -0.00713267 0.614425 +TTool-pose None -29.5735 9.49731 10.3675 0.295828 0.63249 0.294074 0.652645 +#23476 1721121306030 +SLAM 25.2009 -9.19414 20.9246 -0.792794 -0.00951424 -0.00728932 0.609372 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-0.788679 -0.00984531 -0.00715262 0.614684 +TTool-pose None -29.5736 9.48934 10.3642 0.295572 0.632632 0.293908 0.652698 +#23483 1721121306320 +SLAM 25.2148 -9.27963 20.7501 -0.788757 -0.00981128 -0.00715467 0.614585 +TTool-pose None -29.5719 9.49017 10.3643 0.295664 0.632574 0.293977 0.652681 +#23484 1721121306361 +SLAM 25.2148 -9.28448 20.7509 -0.788619 -0.00986285 -0.00725853 0.614761 +TTool-pose None -29.575 9.48817 10.3618 0.295437 0.632636 0.29392 0.65275 +#23485 1721121306406 +SLAM 25.2059 -9.24743 20.8221 -0.790497 -0.00961337 -0.00725 0.612348 +TTool-pose None -29.5664 9.515 10.3952 0.297529 0.631602 0.295754 0.651972 +#23486 1721121306451 +SLAM 25.2066 -9.23216 20.8495 -0.791026 -0.00960635 -0.00720808 0.611665 +TTool-pose None -29.5665 9.5292 10.406 0.298123 0.631363 0.296267 0.651699 +#23487 1721121306496 +SLAM 25.2027 -9.21677 20.8811 -0.791765 -0.00960949 -0.00729323 0.610707 +TTool-pose None -29.5655 9.53541 10.4192 0.298862 0.630987 0.297082 0.651354 +#23488 1721121306540 +SLAM 25.207 -9.23081 20.849 -0.791128 -0.00956022 -0.0071491 0.611534 +TTool-pose None -29.565 9.52994 10.409 0.298283 0.631305 0.296318 0.651659 +#23489 1721121306584 +SLAM 25.2021 -9.2107 20.8915 -0.792076 -0.00951474 -0.00724089 0.610306 +TTool-pose None -29.5633 9.54273 10.4251 0.299257 0.630797 0.297335 0.651241 +#23490 1721121306626 +SLAM 25.2069 -9.2388 20.8327 -0.790798 -0.00953266 -0.00713253 0.611961 +TTool-pose None -29.5641 9.52531 10.4017 0.297948 0.631449 0.29596 0.651835 +#23491 1721121306672 +SLAM 25.2036 -9.22919 20.8571 -0.791355 -0.00948679 -0.00720545 0.611241 +TTool-pose None -29.5631 9.53194 10.4115 0.298515 0.631133 0.296563 0.651608 +#23492 1721121306716 +SLAM 25.2147 -9.29078 20.7279 -0.788395 -0.0096868 -0.00707649 0.615053 +TTool-pose None -29.5689 9.48678 10.3572 0.295364 0.63269 0.293514 0.652913 +#23493 1721121306768 +SLAM 25.2016 -9.20126 20.9093 -0.792504 -0.00950623 -0.00724612 0.609749 +TTool-pose None -29.5633 9.54793 10.4338 0.299717 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None -29.563 9.52795 10.4045 0.298108 0.631352 0.296096 0.651794 +#23500 1721121307085 +SLAM 25.2139 -9.28223 20.7467 -0.788693 -0.00976801 -0.00714506 0.614668 +TTool-pose None -29.5706 9.49074 10.3628 0.295615 0.632579 0.293891 0.652737 +#23501 1721121307130 +SLAM 25.2126 -9.28001 20.7535 -0.788821 -0.00979513 -0.0071998 0.614503 +TTool-pose None -29.5711 9.49035 10.3649 0.29571 0.632519 0.294066 0.652674 +#23502 1721121307173 +SLAM 25.2061 -9.22752 20.8524 -0.79125 -0.00955566 -0.00716487 0.611376 +TTool-pose None -29.5646 9.52958 10.4097 0.298406 0.63124 0.296452 0.651605 +#23503 1721121307219 +SLAM 25.2163 -9.27394 20.7553 -0.788938 -0.00980106 -0.00708836 0.614353 +TTool-pose None -29.5717 9.49337 10.3686 0.295901 0.632505 0.294116 0.652578 +#23504 1721121307265 +SLAM 25.2176 -9.27792 20.7499 -0.788893 -0.00966272 -0.00701896 0.614415 +TTool-pose None -29.5706 9.49767 10.3678 0.295938 0.632463 0.293978 0.652665 +#23505 1721121307310 +SLAM 25.2012 -9.23071 20.8655 -0.791241 -0.00977353 -0.00748233 0.61138 +TTool-pose None -29.5695 9.51999 10.409 0.298134 0.631274 0.296722 0.651573 +#23506 1721121307357 +SLAM 25.2037 -9.20472 20.9021 -0.792178 -0.00962067 -0.00727902 0.610171 +TTool-pose None -29.5665 9.54458 10.4274 0.299311 0.630803 0.297501 0.651135 +#23507 1721121307402 +SLAM 25.2049 -9.20721 20.8994 -0.792049 -0.00964452 -0.00729942 0.610338 +TTool-pose None -29.5683 9.54385 10.4248 0.299152 0.630872 0.297389 0.651192 +#23508 1721121307460 +SLAM 25.2063 -9.24014 20.8317 -0.790807 -0.00949691 -0.00713456 0.611951 +TTool-pose None -29.5635 9.52532 10.4017 0.297967 0.631422 0.295958 0.651854 +#23509 1721121307509 +SLAM 25.2048 -9.24077 20.8347 -0.790694 -0.00964472 -0.00726609 0.612092 +TTool-pose None -29.5661 9.52012 10.3986 0.29772 0.631524 0.295977 0.651859 +#23510 1721121307552 +SLAM 25.2145 -9.28163 20.7449 -0.78886 -0.00963865 -0.00705273 0.614457 +TTool-pose None -29.5682 9.49302 10.3667 0.29589 0.632451 0.293958 0.652706 +#23511 1721121307598 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0.651799 +#23517 1721121307868 +SLAM 25.2136 -9.28398 20.7434 -0.788824 -0.00956493 -0.0070385 0.614505 +TTool-pose None -29.5667 9.4962 10.3654 0.295884 0.632426 0.293888 0.652766 +#23518 1721121307913 +SLAM 25.2052 -9.23547 20.8403 -0.791065 -0.00943547 -0.00710599 0.611618 +TTool-pose None -29.5615 9.52997 10.4068 0.298281 0.631271 0.296184 0.651754 +#23519 1721121307960 +SLAM 25.2145 -9.27997 20.7486 -0.788905 -0.00961056 -0.00704061 0.614399 +TTool-pose None -29.5679 9.49717 10.367 0.295955 0.632416 0.293987 0.652698 +#23520 1721121308006 +SLAM 25.2022 -9.20626 20.908 -0.791996 -0.0100107 -0.0075759 0.610398 +TTool-pose None -29.5745 9.52705 10.4248 0.298812 0.631035 0.297637 0.651077 +#23521 1721121308047 +SLAM 25.2087 -9.28978 20.7446 -0.788627 -0.00982709 -0.00734431 0.61475 +TTool-pose None -29.571 9.47913 10.3604 0.295405 0.63258 0.293972 0.652795 +#23522 1721121308091 +SLAM 25.2068 -9.23922 20.831 -0.790772 -0.0095384 -0.00713762 0.611995 +TTool-pose None -29.5642 9.52399 10.4008 0.297915 0.631463 0.295938 0.651846 +#23523 1721121308134 +SLAM 25.2154 -9.27806 20.7554 -0.788923 -0.0097061 -0.00711424 0.614374 +TTool-pose None -29.5713 9.49643 10.3674 0.295899 0.632443 0.294086 0.652652 +#23524 1721121308185 +SLAM 25.2146 -9.28784 20.7371 -0.78849 -0.00977473 -0.00714205 0.614929 +TTool-pose None -29.5711 9.48675 10.3598 0.295398 0.632679 0.293683 0.652832 +#23525 1721121308227 +SLAM 25.2055 -9.2214 20.8704 -0.791543 -0.00959868 -0.00724901 0.610995 +TTool-pose None -29.5668 9.53346 10.4155 0.298655 0.6311 0.296822 0.651458 +#23526 1721121308277 +SLAM 25.2148 -9.27819 20.7573 -0.788895 -0.00978311 -0.00719051 0.614407 +TTool-pose None -29.573 9.49282 10.3664 0.295799 0.632479 0.294132 0.652642 +#23527 1721121308334 +SLAM 25.2152 -9.2781 20.7546 -0.788971 -0.00966464 -0.00707338 0.614314 +TTool-pose None -29.5697 9.4975 10.3692 0.295988 0.632409 0.294094 0.652642 +#23528 1721121308377 +SLAM 25.2087 -9.24317 20.8235 -0.790369 -0.00978129 -0.00724164 0.61251 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-0.00965599 -0.00735225 0.610168 +TTool-pose None -29.5668 9.54192 10.4265 0.299256 0.6308 0.297561 0.651136 +#23535 1721121308689 +SLAM 25.2014 -9.22197 20.8768 -0.791518 -0.00979333 -0.00747141 0.611021 +TTool-pose None -29.5696 9.52317 10.4135 0.298432 0.63116 0.297006 0.651419 +#23536 1721121308732 +SLAM 25.2008 -9.1921 20.9377 -0.792838 -0.00967812 -0.00746922 0.60931 +TTool-pose None -29.5697 9.55008 10.439 0.299885 0.630461 0.298321 0.650826 +#23537 1721121308776 +SLAM 25.2128 -9.28501 20.7486 -0.788742 -0.00973482 -0.00720463 0.614605 +TTool-pose None -29.5711 9.48962 10.3636 0.295642 0.632515 0.293969 0.652752 +#23538 1721121308814 +SLAM 25.2115 -9.28721 20.7452 -0.788583 -0.00984774 -0.00727909 0.614806 +TTool-pose None -29.5722 9.48323 10.3604 0.295391 0.632636 0.293892 0.652783 +#23539 1721121308855 +SLAM 25.2002 -9.25629 20.815 -0.790028 -0.00994541 -0.00754753 0.612944 +TTool-pose None -29.5699 9.49552 10.3852 0.296741 0.631932 0.295577 0.652092 +#23540 1721121308900 +SLAM 25.2033 -9.23089 20.8565 -0.7912 -0.009637 -0.00731295 0.611438 +TTool-pose None -29.5663 9.52527 10.4085 0.298236 0.631265 0.296524 0.651626 +#23541 1721121308942 +SLAM 25.2047 -9.22237 20.8627 -0.791529 -0.00949418 -0.00714243 0.611016 +TTool-pose None -29.5626 9.53502 10.4151 0.298737 0.631076 0.296703 0.651497 +#23542 1721121308986 +SLAM 25.2018 -9.18493 20.9435 -0.793132 -0.00960318 -0.00734644 0.60893 +TTool-pose None -29.5672 9.55543 10.4461 0.300299 0.630315 0.298519 0.650686 +#23543 1721121309033 +SLAM 25.2039 -9.2011 20.9094 -0.792296 -0.00965704 -0.00730252 0.610017 +TTool-pose None -29.5676 9.546 10.4298 0.299411 0.630762 0.297649 0.651061 +#23544 1721121309076 +SLAM 25.2136 -9.28853 20.7321 -0.788315 -0.00988561 -0.00719338 0.61515 +TTool-pose None -29.5717 9.48056 10.3553 0.295146 0.632813 0.293576 0.652865 +#23545 1721121309118 +SLAM 25.2028 -9.25137 20.8228 -0.790362 -0.00968196 -0.00738722 0.61252 +TTool-pose None -29.5674 9.51119 10.391 0.297279 0.631663 0.295727 0.652039 +#23546 1721121309160 +SLAM 25.2074 -9.2615 20.793 -0.78985 -0.00961863 -0.00720885 0.613182 +TTool-pose None -29.5663 9.50647 10.3829 0.29686 0.631923 0.295067 0.652277 +#23547 1721121309202 +SLAM 25.2019 -9.19388 20.9204 -0.792653 -0.00959145 -0.00727102 0.609554 +TTool-pose None -29.5647 9.55052 10.4363 0.299834 0.630561 0.297974 0.650912 +#23548 1721121309238 +SLAM 25.208 -9.27052 20.779 -0.789463 -0.00965642 -0.0072257 0.61368 +TTool-pose None -29.5673 9.50137 10.3763 0.296424 0.632123 0.294693 0.652451 +#23549 1721121309282 +SLAM 25.2156 -9.28305 20.7431 -0.788743 -0.00966837 -0.00704684 0.614607 +TTool-pose None -29.5692 9.4936 10.3652 0.295759 0.632527 0.293845 0.652744 +#23550 1721121309326 +SLAM 25.2052 -9.23133 20.8535 -0.791223 -0.00953824 -0.00721698 0.61141 +TTool-pose None -29.5651 9.52947 10.4097 0.29835 0.631224 0.296452 0.651646 +#23551 1721121309372 +SLAM 25.2185 -9.2765 20.7344 -0.788682 -0.00971293 -0.00689832 0.614686 +TTool-pose None -29.5679 9.49216 10.3633 0.295771 0.632633 0.293702 0.652699 +#23552 1721121309411 +SLAM 25.212 -9.26494 20.7751 -0.789555 -0.00955479 -0.00701851 0.613566 +TTool-pose None -29.5651 9.50816 10.3787 0.29668 0.632086 0.294619 0.652404 +#23553 1721121309453 +SLAM 25.2023 -9.20302 20.9031 -0.792374 -0.00950728 -0.00722057 0.609919 +TTool-pose None -29.5631 9.54681 10.4309 0.299592 0.630658 0.297626 0.651089 +#23554 1721121309497 +SLAM 25.205 -9.22401 20.8629 -0.791521 -0.00944824 -0.00714014 0.611028 +TTool-pose None -29.5627 9.5374 10.415 0.298744 0.631052 0.296678 0.651529 +#23555 1721121309534 +SLAM 25.2153 -9.27775 20.7539 -0.788669 -0.00994085 -0.00722738 0.614695 +TTool-pose None -29.5749 9.48853 10.3619 0.295485 0.632672 0.293978 0.652667 +#23556 1721121309579 +SLAM 25.2065 -9.22811 20.8549 -0.791291 -0.00948929 -0.00714202 0.611325 +TTool-pose None -29.5643 9.53443 10.4109 0.298484 0.631186 0.296457 0.651619 +#23557 1721121309627 +SLAM 25.2111 -9.28122 20.757 -0.788827 -0.00987652 -0.00732471 0.614493 +TTool-pose None -29.5733 9.48486 10.3642 0.295614 0.632525 0.29418 0.65266 +#23558 1721121309673 +SLAM 25.2053 -9.21216 20.8855 -0.791902 -0.00958344 -0.00722264 0.61053 +TTool-pose None -29.5661 9.53983 10.4227 0.299061 0.630929 0.297168 0.651279 +#23559 1721121309712 +SLAM 25.2022 -9.23839 20.8463 -0.790732 -0.00984126 -0.00745118 0.612038 +TTool-pose None -29.5695 9.51475 10.399 0.297587 0.631568 0.296202 0.651776 +#23560 1721121309752 +SLAM 25.216 -9.28902 20.7297 -0.788484 -0.00965164 -0.00704711 0.61494 +TTool-pose None -29.5693 9.48873 10.3588 0.295488 0.632636 0.293574 0.652882 +#23561 1721121309790 +SLAM 25.2046 -9.25037 20.8201 -0.790466 -0.00955039 -0.00724274 0.612388 +TTool-pose None -29.5647 9.51663 10.3946 0.29752 0.631579 0.295697 0.652024 +#23562 1721121309834 +SLAM 25.2174 -9.27962 20.7336 -0.78881 -0.00955834 -0.00688397 0.614525 +TTool-pose None -29.566 9.49412 10.3652 0.295965 0.632481 0.293771 0.652728 +#23563 1721121309875 +SLAM 25.205 -9.23022 20.851 -0.791285 -0.00941141 -0.00711241 0.611333 +TTool-pose None -29.5616 9.53504 10.4103 0.298521 0.631149 0.296406 0.651661 +#23564 1721121309920 +SLAM 25.2036 -9.22768 20.8623 -0.791296 -0.00966714 -0.00732179 0.611313 +TTool-pose None -29.567 9.52662 10.4106 0.298324 0.631235 0.296638 0.651562 +#23565 1721121309961 +SLAM 25.2071 -9.23835 20.8403 -0.790869 -0.00955776 -0.00720424 0.611869 +TTool-pose None -29.5665 9.52649 10.4031 0.297972 0.631407 0.296087 0.651807 +#23566 1721121310008 +SLAM 25.2142 -9.28509 20.7399 -0.788663 -0.00968215 -0.00709795 0.614708 +TTool-pose None -29.5692 9.49022 10.362 0.295639 0.632555 0.293801 0.65279 +#23567 1721121310047 +SLAM 25.2155 -9.28649 20.7427 -0.788613 -0.00970412 -0.00713149 0.614772 +TTool-pose None -29.5716 9.49203 10.3617 0.295558 0.632581 0.293778 0.652812 +#23568 1721121310087 +SLAM 25.2025 -9.2177 20.8768 -0.791768 -0.00948878 -0.0071856 0.610705 +TTool-pose None -29.5619 9.54047 10.4198 0.29897 0.630945 0.296975 0.651394 +#23569 1721121310132 +SLAM 25.2129 -9.27166 20.7696 -0.789194 -0.00974099 -0.00716352 0.614025 +TTool-pose None -29.5705 9.49924 10.3724 0.296148 0.632322 0.294407 0.652512 +#23570 1721121310178 +SLAM 25.2054 -9.23205 20.8466 -0.791007 -0.00965644 -0.00722849 0.611688 +TTool-pose None -29.5659 9.524 10.4055 0.298075 0.631396 0.296278 0.651684 +#23571 1721121310219 +SLAM 25.216 -9.28363 20.7418 -0.788677 -0.00969659 -0.00706763 0.61469 +TTool-pose None -29.5703 9.49231 10.3634 0.295668 0.632568 0.293801 0.652765 +#23572 1721121310265 +SLAM 25.2104 -9.27393 20.7623 -0.789312 -0.00951053 -0.00704153 0.613878 +TTool-pose None -29.5638 9.50299 10.3738 0.296421 0.632163 0.294371 0.652559 +#23573 1721121310316 +SLAM 25.2141 -9.27856 20.7542 -0.788819 -0.00980521 -0.00718029 0.614506 +TTool-pose None -29.572 9.49171 10.3648 0.295716 0.632532 0.294055 0.652663 +#23574 1721121310352 +SLAM 25.2146 -9.2925 20.7275 -0.788342 -0.00971286 -0.00712656 0.61512 +TTool-pose None -29.5703 9.48474 10.3557 0.295269 0.632714 0.293501 0.652939 +#23575 1721121310396 +SLAM 25.2078 -9.24959 20.8188 -0.790207 -0.00977258 -0.0072969 0.612718 +TTool-pose None -29.57 9.51188 10.3907 0.29714 0.631823 0.295541 0.652032 +#23576 1721121310439 +SLAM 25.2164 -9.2754 20.7551 -0.788914 -0.00975912 -0.00708458 0.614386 +TTool-pose None -29.5715 9.49576 10.3678 0.29589 0.632492 0.294074 0.652615 +#23577 1721121310485 +SLAM 25.2042 -9.22766 20.8567 -0.791365 -0.00949447 -0.0071629 0.611228 +TTool-pose None -29.5626 9.5328 10.4125 0.298549 0.631147 0.296548 0.651585 +#23578 1721121310528 +SLAM 25.2029 -9.20455 20.9001 -0.792325 -0.00948101 -0.00719809 0.609983 +TTool-pose None -29.563 9.5472 10.4302 0.299562 0.630672 0.297553 0.651123 +#23579 1721121310580 +SLAM 25.203 -9.21334 20.8848 -0.791939 -0.00951359 -0.00721557 0.610484 +TTool-pose None -29.5634 9.54117 10.4226 0.299126 0.63087 0.297178 0.651302 +#23580 1721121310625 +SLAM 25.2011 -9.20789 20.9031 -0.792193 -0.00966861 -0.00740189 0.61015 +TTool-pose None -29.5675 9.53761 10.4272 0.299236 0.630785 0.297611 0.651136 +#23581 1721121310667 +SLAM 25.2039 -9.23694 20.8443 -0.790987 -0.00957181 -0.00725127 0.611715 +TTool-pose None -29.5647 9.52443 10.4048 0.298066 0.631345 0.296243 0.651754 +#23582 1721121310711 +SLAM 25.2137 -9.27329 20.765 -0.789263 -0.00960652 -0.00707366 0.613939 +TTool-pose None -29.5683 9.5017 10.3743 0.296319 0.632236 0.294374 0.652533 +#23583 1721121310752 +SLAM 25.213 -9.28343 20.7471 -0.788778 -0.00969086 -0.00715143 0.61456 +TTool-pose None -29.5697 9.49138 10.3637 0.295727 0.632489 0.293956 0.652745 +#23584 1721121310793 +SLAM 25.1997 -9.21864 20.8831 -0.791719 -0.00969961 -0.00743644 0.610763 +TTool-pose None -29.5668 9.52902 10.4167 0.298698 0.631017 0.297158 0.651365 +#23585 1721121310834 +SLAM 25.2157 -9.27819 20.7479 -0.788889 -0.00966301 -0.0070229 0.614419 +TTool-pose None -29.5688 9.49567 10.3673 0.295932 0.632463 0.293977 0.652667 +#23586 1721121310877 +SLAM 25.2043 -9.22067 20.8674 -0.791699 -0.00941865 -0.00711586 0.610797 +TTool-pose None -29.5613 9.53875 10.4187 0.29896 0.630957 0.296835 0.65145 +#23587 1721121310919 +SLAM 25.2156 -9.28848 20.727 -0.788545 -0.00955879 -0.00695269 0.614863 +TTool-pose None -29.566 9.49194 10.3606 0.29564 0.632581 0.293545 0.65288 +#23588 1721121310962 +SLAM 25.2068 -9.23036 20.844 -0.791091 -0.00954324 -0.0071135 0.611582 +TTool-pose None -29.5637 9.52861 10.4071 0.29827 0.631324 0.296252 0.651676 +#23589 1721121311003 +SLAM 25.1986 -9.2139 20.894 -0.791931 -0.00971421 -0.00745092 0.610487 +TTool-pose None -29.5663 9.53234 10.4216 0.298912 0.630921 0.29739 0.651254 +#23590 1721121311047 +SLAM 25.2038 -9.20236 20.9047 -0.792245 -0.00962393 -0.00727178 0.610084 +TTool-pose None -29.5665 9.54553 10.4284 0.299386 0.630775 0.297566 0.651097 +#23591 1721121311089 +SLAM 25.216 -9.27846 20.7562 -0.788986 -0.00962357 -0.00708932 0.614295 +TTool-pose None -29.5709 9.49978 10.3682 0.296007 0.632371 0.294106 0.652665 +#23592 1721121311130 +SLAM 25.2143 -9.27871 20.7567 -0.788904 -0.00977415 -0.00718456 0.614396 +TTool-pose None -29.5722 9.49248 10.367 0.295815 0.632472 0.294135 0.652641 +#23593 1721121311170 +SLAM 25.2186 -9.28274 20.7287 -0.788588 -0.00965056 -0.00690381 0.614807 +TTool-pose None -29.568 9.49101 10.3624 0.295687 0.632636 0.293588 0.652786 +#23594 1721121311212 +SLAM 25.2147 -9.28044 20.7486 -0.788845 -0.00966749 -0.00707026 0.614475 +TTool-pose None -29.5691 9.49537 10.3662 0.295855 0.63247 0.293964 0.652701 +#23595 1721121311254 +SLAM 25.2146 -9.27654 20.7527 -0.788999 -0.00962948 -0.00703276 0.614279 +TTool-pose None -29.5679 9.49827 10.3687 0.296054 0.632387 0.294084 0.652637 +#23596 1721121311295 +SLAM 25.208 -9.22668 20.8546 -0.791201 -0.00962027 -0.00717161 0.611439 +TTool-pose None -29.5669 9.53028 10.4099 0.298328 0.631302 0.296428 0.651592 +#23597 1721121311336 +SLAM 25.2053 -9.24529 20.8253 -0.79048 -0.00969271 -0.00726619 0.612368 +TTool-pose None -29.5666 9.51489 10.3955 0.297476 0.631655 0.295774 0.651936 +#23598 1721121311376 +SLAM 25.2136 -9.2759 20.7603 -0.788994 -0.00979216 -0.00718141 0.614281 +TTool-pose None -29.5717 9.49292 10.3688 0.295907 0.632442 0.29423 0.652585 +#23599 1721121311417 +SLAM 25.2109 -9.27588 20.7705 -0.788855 -0.010178 -0.00750496 0.614449 +TTool-pose None -29.5791 9.47762 10.3659 0.29544 0.632641 0.294427 0.652514 +#23600 1721121311459 +SLAM 25.2122 -9.28765 20.7404 -0.788661 -0.00966117 -0.00714049 0.61471 +TTool-pose None -29.5684 9.48963 10.3618 0.295618 0.632528 0.29382 0.652818 +#23601 1721121311500 +SLAM 25.2167 -9.28393 20.7405 -0.788656 -0.00969503 -0.00705908 0.614718 +TTool-pose None -29.5707 9.49212 10.3631 0.295651 0.63258 0.293773 0.652774 +#23602 1721121311539 +SLAM 25.2139 -9.28362 20.7473 -0.788665 -0.00980093 -0.00720363 0.614703 +TTool-pose None -29.5723 9.48823 10.3619 0.295539 0.632594 0.293911 0.652749 +#23603 1721121311579 +SLAM 25.2067 -9.24415 20.8236 -0.790661 -0.00947188 -0.0070967 0.61214 +TTool-pose None -29.5626 9.52395 10.3996 0.297842 0.631487 0.295775 0.65193 +#23604 1721121311622 +SLAM 25.2167 -9.2807 20.7502 -0.788719 -0.00979971 -0.00714183 0.614634 +TTool-pose None -29.5734 9.4922 10.3643 0.295635 0.632589 0.293926 0.652703 +#23605 1721121311662 +SLAM 25.2127 -9.28065 20.7521 -0.788841 -0.00975307 -0.00717041 0.614478 +TTool-pose None -29.5702 9.49119 10.3656 0.295763 0.632492 0.294054 0.652681 +#23606 1721121311702 +SLAM 25.2056 -9.23307 20.8457 -0.791071 -0.00950738 -0.00716355 0.611608 +TTool-pose None -29.5639 9.53013 10.4059 0.29823 0.631294 0.296251 0.651724 +#23607 1721121311746 +SLAM 25.2147 -9.27927 20.7527 -0.78895 -0.00962916 -0.00707205 0.614342 +TTool-pose None -29.5691 9.49779 10.3679 0.295977 0.632397 0.294059 0.652674 +#23608 1721121311789 +SLAM 25.2133 -9.27404 20.7649 -0.789109 -0.00979123 -0.00719665 0.614133 +TTool-pose None -29.5718 9.49344 10.3711 0.296021 0.632383 0.294358 0.652533 +#23609 1721121311830 +SLAM 25.2057 -9.23453 20.8467 -0.790906 -0.00969351 -0.00728666 0.611818 +TTool-pose None -29.5679 9.52307 10.4033 0.297919 0.631448 0.296224 0.65173 +#23610 1721121311877 +SLAM 25.2147 -9.27679 20.7552 -0.789004 -0.00963908 -0.00705954 0.614272 +TTool-pose None -29.5688 9.49907 10.3688 0.296039 0.632382 0.29411 0.652637 +#23611 1721121311917 +SLAM 25.2158 -9.2809 20.7482 -0.788832 -0.00967146 -0.00707735 0.614492 +TTool-pose None -29.5703 9.49487 10.366 0.295835 0.632476 0.293957 0.652707 +#23612 1721121311957 +SLAM 25.1971 -9.22751 20.8758 -0.791396 -0.00983778 -0.00759242 0.611178 +TTool-pose None -29.5688 9.51858 10.4107 0.298213 0.631204 0.296973 0.65149 +#23613 1721121311998 +SLAM 25.2161 -9.28752 20.7305 -0.788537 -0.00958508 -0.00697336 0.614873 +TTool-pose None -29.5672 9.49382 10.3603 0.295611 0.632594 0.293559 0.652874 +#23614 1721121312039 +SLAM 25.2147 -9.28293 20.7477 -0.788763 -0.00968728 -0.00711862 0.614579 +TTool-pose None -29.5705 9.49395 10.3643 0.295732 0.632505 0.293919 0.652744 +#23615 1721121312080 +SLAM 25.2035 -9.2174 20.8786 -0.791699 -0.00963666 -0.00730423 0.610792 +TTool-pose None -29.5666 9.53339 10.4175 0.298776 0.631032 0.29703 0.651374 +#23616 1721121312120 +SLAM 25.2059 -9.22911 20.8512 -0.791184 -0.00954752 -0.00715615 0.611462 +TTool-pose None -29.5641 9.531 10.4089 0.298342 0.631269 0.296375 0.651641 +#23617 1721121312164 +SLAM 25.2046 -9.22507 20.859 -0.79146 -0.00947291 -0.00713552 0.611107 +TTool-pose None -29.5621 9.53442 10.4141 0.298674 0.631098 0.29662 0.651543 +#23618 1721121312208 +SLAM 25.2119 -9.26121 20.7859 -0.789743 -0.00962318 -0.00709067 0.613321 +TTool-pose None -29.5674 9.50732 10.383 0.296816 0.632016 0.294882 0.652291 +#23619 1721121312255 +SLAM 25.2038 -9.20261 20.9044 -0.792065 -0.00985986 -0.00739061 0.610312 +TTool-pose None -29.5704 9.53595 10.4257 0.299046 0.63097 0.297537 0.651078 +#23620 1721121312294 +SLAM 25.2153 -9.28479 20.7443 -0.78839 -0.00994742 -0.00724152 0.615053 +TTool-pose None -29.5752 9.48603 10.3571 0.295176 0.632801 0.293704 0.652805 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-29.5721 9.49559 10.3695 0.295947 0.632419 0.294208 0.652599 +#23656 1721121313851 +SLAM 25.2011 -9.23239 20.8612 -0.791214 -0.00968414 -0.00743182 0.611417 +TTool-pose None -29.5676 9.52238 10.4077 0.298164 0.631248 0.296631 0.651627 +#23657 1721121313896 +SLAM 25.2038 -9.2154 20.8832 -0.791891 -0.00954632 -0.00723399 0.610545 +TTool-pose None -29.5648 9.53851 10.423 0.299053 0.630907 0.297152 0.651312 +#23658 1721121313941 +SLAM 25.2029 -9.22455 20.8696 -0.791392 -0.00969426 -0.00735649 0.611187 +TTool-pose None -29.5675 9.52863 10.4119 0.298398 0.631195 0.296769 0.651508 +#23659 1721121313987 +SLAM 25.2143 -9.28016 20.7512 -0.788884 -0.00966278 -0.00709149 0.614425 +TTool-pose None -29.5693 9.49613 10.3667 0.295885 0.632442 0.294016 0.652691 +#23660 1721121314033 +SLAM 25.2055 -9.2303 20.8545 -0.791218 -0.00954212 -0.00719701 0.611418 +TTool-pose None -29.5649 9.53147 10.4099 0.298355 0.631235 0.296435 0.65164 +#23661 1721121314078 +SLAM 25.2148 -9.28948 20.7316 -0.788526 -0.00960619 -0.00703059 0.614886 +TTool-pose None -29.5676 9.49176 10.3602 0.295558 0.632593 0.293592 0.652884 +#23662 1721121314124 +SLAM 25.2137 -9.2731 20.7662 -0.789171 -0.00971941 -0.00714308 0.614055 +TTool-pose None -29.5705 9.49814 10.3724 0.296142 0.632327 0.294362 0.652531 +#23663 1721121314169 +SLAM 25.2128 -9.27704 20.7648 -0.789018 -0.00981805 -0.00726217 0.614248 +TTool-pose None -29.5732 9.49204 10.369 0.295876 0.63242 0.294316 0.652582 +#23664 1721121314218 +SLAM 25.2025 -9.20924 20.894 -0.792076 -0.00956468 -0.0072723 0.610304 +TTool-pose None -29.5648 9.54202 10.4246 0.299223 0.630818 0.297373 0.651219 +#23665 1721121314259 +SLAM 25.2135 -9.28525 20.7418 -0.788569 -0.00976839 -0.00714976 0.614827 +TTool-pose None -29.5702 9.48929 10.3603 0.29548 0.632636 0.293767 0.652799 +#23666 1721121314302 +SLAM 25.2026 -9.22517 20.865 -0.79144 -0.00962085 -0.00728855 0.611128 +TTool-pose None -29.565 9.52836 10.4134 0.298513 0.631149 0.296749 0.651508 +#23667 1721121314345 +SLAM 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0.612542 +TTool-pose None -29.5652 9.51761 10.3934 0.297465 0.63169 0.2955 0.652031 +#23685 1721121315117 +SLAM 25.2039 -9.21898 20.8755 -0.791829 -0.0094142 -0.0071643 0.610628 +TTool-pose None -29.5624 9.54109 10.4209 0.299071 0.630876 0.296998 0.651403 +#23686 1721121315158 +SLAM 25.2168 -9.28351 20.742 -0.788639 -0.00971052 -0.00707219 0.614739 +TTool-pose None -29.5712 9.49301 10.3624 0.29562 0.632593 0.293769 0.652777 +#23687 1721121315198 +SLAM 25.2179 -9.28161 20.7396 -0.788567 -0.00977304 -0.0070483 0.61483 +TTool-pose None -29.5718 9.49152 10.3611 0.295538 0.632674 0.293701 0.652766 +#23688 1721121315236 +SLAM 25.2069 -9.24208 20.827 -0.790773 -0.00943487 -0.00708679 0.611996 +TTool-pose None -29.5625 9.52602 10.4012 0.29798 0.631415 0.295871 0.651894 +#23689 1721121315275 +SLAM 25.2128 -9.28633 20.7406 -0.788687 -0.00966912 -0.0071323 0.614677 +TTool-pose None -29.5688 9.48922 10.3621 0.295648 0.632524 0.293844 0.652797 +#23690 1721121315318 +SLAM 25.2151 -9.27561 20.757 -0.789078 -0.00960403 -0.00702984 0.614178 +TTool-pose None -29.5683 9.50132 10.3706 0.296148 0.632335 0.294155 0.652613 +#23691 1721121315359 +SLAM 25.2062 -9.22535 20.8584 -0.791325 -0.00957278 -0.00717604 0.611279 +TTool-pose None -29.5652 9.53211 10.4116 0.298474 0.631211 0.296542 0.651561 +#23692 1721121315402 +SLAM 25.2036 -9.21055 20.8938 -0.792068 -0.00955977 -0.00728501 0.610314 +TTool-pose None -29.5662 9.54147 10.4248 0.299208 0.630814 0.297371 0.65123 +#23693 1721121315443 +SLAM 25.2021 -9.21413 20.8905 -0.791923 -0.00962403 -0.00735058 0.610501 +TTool-pose None -29.5667 9.53696 10.422 0.298992 0.630902 0.297286 0.651284 +#23694 1721121315482 +SLAM 25.2087 -9.23786 20.8297 -0.790642 -0.00963216 -0.00713361 0.612161 +TTool-pose None -29.5662 9.52315 10.3986 0.297749 0.631585 0.295834 0.651851 +#23695 1721121315524 +SLAM 25.217 -9.27957 20.7498 -0.788673 -0.00984134 -0.00714588 0.614693 +TTool-pose None -29.574 9.49161 10.363 0.29557 0.632635 0.293896 0.652701 +#23696 1721121315571 +SLAM 25.2148 -9.28203 20.7439 -0.788747 -0.00967263 -0.00705202 0.614602 +TTool-pose None -29.5686 9.49412 10.3645 0.295759 0.632526 0.293854 0.652741 +#23697 1721121315618 +SLAM 25.2042 -9.22373 20.8653 -0.791512 -0.00951525 -0.0071898 0.611037 +TTool-pose None -29.5635 9.53511 10.4151 0.298684 0.631082 0.296724 0.651507 +#23698 1721121315663 +SLAM 25.2033 -9.23577 20.8488 -0.790961 -0.00964033 -0.00730536 0.611747 +TTool-pose None -29.566 9.5248 10.404 0.297984 0.631382 0.296275 0.651741 +#23699 1721121315708 +SLAM 25.2152 -9.27966 20.7468 -0.788848 -0.0096784 -0.00705256 0.614472 +TTool-pose None -29.5691 9.49382 10.3663 0.295865 0.632482 0.293959 0.652688 +#23700 1721121315752 +SLAM 25.2037 -9.22352 20.8654 -0.791606 -0.00943567 -0.00714828 0.610917 +TTool-pose None -29.5617 9.53731 10.417 0.298835 0.631001 0.296766 0.651497 +#23701 1721121315793 +SLAM 25.216 -9.3063 20.7037 -0.787715 -0.00976171 -0.00715432 0.61592 +TTool-pose None -29.5722 9.47602 10.3438 0.294568 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-29.5721 9.48516 10.3556 0.295197 0.632775 0.293532 0.652898 +#23708 1721121316109 +SLAM 25.2081 -9.28405 20.7546 -0.788598 -0.0100855 -0.00748264 0.614781 +TTool-pose None -29.5752 9.47408 10.3594 0.295208 0.63271 0.294118 0.652692 +#23709 1721121316152 +SLAM 25.2177 -9.29498 20.7142 -0.788064 -0.0097765 -0.00703668 0.615476 +TTool-pose None -29.5708 9.48079 10.3524 0.295007 0.632914 0.293181 0.653008 +#23710 1721121316202 +SLAM 25.2146 -9.2703 20.7787 -0.789082 -0.0100211 -0.00735745 0.614162 +TTool-pose None -29.5785 9.49196 10.3709 0.295822 0.632486 0.294511 0.652454 +#23711 1721121316248 +SLAM 25.2134 -9.27875 20.7537 -0.788806 -0.00983421 -0.00720208 0.614521 +TTool-pose None -29.572 9.48944 10.3645 0.29568 0.63255 0.294066 0.652658 +#23712 1721121316295 +SLAM 25.2034 -9.20354 20.905 -0.792352 -0.00952926 -0.0072457 0.609947 +TTool-pose None -29.5651 9.54724 10.4308 0.299546 0.630674 0.297627 0.651094 +#23713 1721121316340 +SLAM 25.205 -9.24354 20.8278 -0.790681 -0.00955117 -0.00720331 0.612111 +TTool-pose None -29.5642 9.51988 10.3987 0.297774 0.631492 0.295892 0.651904 +#23714 1721121316390 +SLAM 25.2032 -9.20261 20.9051 -0.79234 -0.00957613 -0.00725581 0.609962 +TTool-pose None -29.5652 9.54549 10.4308 0.299512 0.630706 0.297637 0.651074 +#23715 1721121316434 +SLAM 25.2054 -9.24714 20.8202 -0.790517 -0.00950151 -0.00713025 0.612325 +TTool-pose None -29.5623 9.52221 10.3966 0.297659 0.631562 0.29566 0.651994 +#23716 1721121316479 +SLAM 25.2136 -9.28965 20.733 -0.788593 -0.00954324 -0.00700813 0.614801 +TTool-pose None -29.5657 9.49456 10.3616 0.295663 0.63253 0.293625 0.652883 +#23717 1721121316524 +SLAM 25.2018 -9.19711 20.9192 -0.792562 -0.00963924 -0.00735787 0.60967 +TTool-pose None -29.5671 9.54624 10.4339 0.299669 0.630605 0.297953 0.650955 +#23718 1721121316570 +SLAM 25.1982 -9.21283 20.8964 -0.792035 -0.00965137 -0.00743785 0.610354 +TTool-pose None -29.5654 9.53481 10.4229 0.299051 0.630836 0.297467 0.651237 +#23719 1721121316615 +SLAM 25.209 -9.25947 20.7903 -0.789981 -0.00945736 -0.00703022 0.613018 +TTool-pose None -29.5624 9.514 10.3868 0.297159 0.63182 0.295031 0.652257 +#23720 1721121316660 +SLAM 25.2069 -9.25388 20.8084 -0.790165 -0.0096366 -0.00722063 0.612776 +TTool-pose None -29.5664 9.51136 10.3895 0.297184 0.631783 0.295402 0.652114 +#23721 1721121316707 +SLAM 25.2016 -9.20837 20.8954 -0.792253 -0.00943374 -0.00719906 0.610077 +TTool-pose None -29.5615 9.54636 10.4286 0.299499 0.630676 0.297463 0.651189 +#23722 1721121316754 +SLAM 25.2117 -9.26972 20.7752 -0.789288 -0.00983341 -0.00724252 0.613902 +TTool-pose None -29.5717 9.49483 10.3746 0.296171 0.632311 0.294584 0.652433 +#23723 1721121316798 +SLAM 25.2141 -9.27626 20.7636 -0.788848 -0.0100146 -0.0073463 0.614462 +TTool-pose None -29.5773 9.48443 10.3658 0.295581 0.632595 0.294263 0.65257 +#23724 1721121316844 +SLAM 25.2037 -9.22229 20.875 -0.791445 -0.00975334 -0.00738307 0.611118 +TTool-pose None -29.5693 9.52893 10.4137 0.29842 0.631199 0.29686 0.651453 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-0.790606 -0.00952159 -0.00720156 0.612208 +TTool-pose None -29.5642 9.51997 10.397 0.297704 0.631509 0.295804 0.651959 +#23743 1721121317625 +SLAM 25.2127 -9.27615 20.7421 -0.789263 -0.00930467 -0.00679169 0.613947 +TTool-pose None -29.5582 9.50323 10.3735 0.296585 0.63214 0.29409 0.652633 +#23744 1721121317670 +SLAM 25.2147 -9.27936 20.747 -0.788939 -0.00959221 -0.00701068 0.614357 +TTool-pose None -29.5672 9.49663 10.3678 0.296015 0.632399 0.293996 0.652683 +#23745 1721121317712 +SLAM 25.2134 -9.27851 20.7551 -0.788799 -0.009866 -0.00722155 0.61453 +TTool-pose None -29.5727 9.48887 10.3647 0.295651 0.632566 0.294082 0.652648 +#23746 1721121317755 +SLAM 25.2064 -9.24714 20.8156 -0.790495 -0.00946953 -0.00708319 0.612354 +TTool-pose None -29.5617 9.52174 10.3958 0.297674 0.631568 0.295596 0.65201 +#23747 1721121317796 +SLAM 25.2051 -9.21203 20.8862 -0.791868 -0.00963861 -0.00725175 0.610573 +TTool-pose None -29.5668 9.53805 10.4222 0.298989 0.63097 0.297171 0.651271 +#23748 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-29.5659 9.53713 10.4196 0.298893 0.630995 0.297022 0.65136 +#23760 1721121318399 +SLAM 25.2148 -9.28061 20.7469 -0.788851 -0.00964222 -0.00705411 0.614468 +TTool-pose None -29.5687 9.49521 10.366 0.295879 0.632457 0.293952 0.652709 +#23761 1721121318442 +SLAM 25.2029 -9.22745 20.8646 -0.791305 -0.00966984 -0.0073553 0.6113 +TTool-pose None -29.5673 9.52723 10.4098 0.298313 0.631221 0.29667 0.651566 +#23762 1721121318485 +SLAM 25.1993 -9.19201 20.9295 -0.793028 -0.00941546 -0.00724688 0.609069 +TTool-pose None -29.561 9.55616 10.4438 0.300307 0.630279 0.298285 0.650824 +#23763 1721121318530 +SLAM 25.2151 -9.28547 20.7361 -0.78864 -0.00961936 -0.00700607 0.61474 +TTool-pose None -29.5673 9.49351 10.3626 0.29569 0.632557 0.293697 0.652812 +#23764 1721121318572 +SLAM 25.2145 -9.28409 20.7431 -0.788722 -0.00966831 -0.00708982 0.614633 +TTool-pose None -29.5693 9.49251 10.3636 0.295711 0.632521 0.293852 0.652767 +#23765 1721121318615 +SLAM 25.2134 -9.26973 20.7717 -0.789424 -0.00963899 -0.00709366 0.613731 +TTool-pose None -29.5688 9.50138 10.378 0.296468 0.632174 0.294562 0.65244 +#23766 1721121318658 +SLAM 25.2026 -9.2412 20.843 -0.790748 -0.00980313 -0.00746569 0.612018 +TTool-pose None -29.5701 9.51154 10.3994 0.297607 0.631531 0.296215 0.651796 +#23767 1721121318701 +SLAM 25.205 -9.2535 20.8171 -0.790319 -0.00962608 -0.00731847 0.612576 +TTool-pose None -29.5674 9.51158 10.3914 0.297293 0.631671 0.29562 0.652074 +#23768 1721121318749 +SLAM 25.2139 -9.28633 20.7366 -0.788455 -0.00980026 -0.0071296 0.614973 +TTool-pose None -29.57 9.4871 10.3586 0.29536 0.632716 0.293648 0.652829 +#23769 1721121318803 +SLAM 25.2043 -9.21855 20.8747 -0.791656 -0.00956895 -0.00721696 0.610849 +TTool-pose None -29.5647 9.53712 10.4179 0.298805 0.631038 0.296907 0.65141 +#23770 1721121318850 +SLAM 25.2037 -9.22475 20.8692 -0.791446 -0.0096286 -0.00731522 0.61112 +TTool-pose None -29.5669 9.53096 10.4132 0.298501 0.631142 0.296775 0.651509 +#23771 1721121318895 +SLAM 25.2073 -9.24323 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1721121319158 +SLAM 25.2079 -9.25876 20.7995 -0.790138 -0.00944506 -0.00709859 0.612815 +TTool-pose None -29.5634 9.51584 10.3899 0.29729 0.631715 0.295232 0.652208 +#23778 1721121319201 +SLAM 25.2118 -9.27635 20.7635 -0.788837 -0.010023 -0.00735484 0.614477 +TTool-pose None -29.5754 9.48408 10.3654 0.295561 0.632603 0.29426 0.652573 +#23779 1721121319244 +SLAM 25.2056 -9.22923 20.8545 -0.791304 -0.00949411 -0.00715924 0.611307 +TTool-pose None -29.5639 9.53238 10.4116 0.298486 0.631177 0.296483 0.651615 +#23780 1721121319288 +SLAM 25.2013 -9.20008 20.9129 -0.792428 -0.00959408 -0.00730088 0.609846 +TTool-pose None -29.5649 9.54814 10.4318 0.299574 0.63066 0.297763 0.651032 +#23781 1721121319332 +SLAM 25.2035 -9.22305 20.8629 -0.791596 -0.00940139 -0.00710051 0.610932 +TTool-pose None -29.56 9.53875 10.4166 0.298863 0.631001 0.296713 0.651508 +#23782 1721121319377 +SLAM 25.2034 -9.20749 20.9009 -0.792242 -0.00951078 -0.0072559 0.61009 +TTool-pose None -29.5652 9.54653 10.4289 0.299428 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None -29.5637 9.5079 10.3836 0.29692 0.63189 0.295005 0.65231 +#23789 1721121319690 +SLAM 25.2128 -9.27821 20.7598 -0.788905 -0.00986618 -0.00726643 0.614393 +TTool-pose None -29.5734 9.48829 10.3669 0.295737 0.632502 0.294219 0.652609 +#23790 1721121319734 +SLAM 25.2126 -9.28419 20.7474 -0.788775 -0.0096853 -0.00716411 0.614564 +TTool-pose None -29.5696 9.4914 10.3636 0.295717 0.632483 0.293959 0.652754 +#23791 1721121319780 +SLAM 25.2013 -9.21917 20.879 -0.791741 -0.0096227 -0.0073286 0.610737 +TTool-pose None -29.5651 9.53164 10.4191 0.298811 0.630994 0.297085 0.651369 +#23792 1721121319821 +SLAM 25.2048 -9.23866 20.8363 -0.79094 -0.00947241 -0.00714806 0.611779 +TTool-pose None -29.5624 9.52627 10.4042 0.298109 0.631339 0.296095 0.651807 +#23793 1721121319861 +SLAM 25.2054 -9.23117 20.8474 -0.791107 -0.00953259 -0.00716279 0.611561 +TTool-pose None -29.5637 9.52986 10.4066 0.298261 0.631293 0.296296 0.651691 +#23794 1721121319901 +SLAM 25.2121 -9.26299 20.7716 -0.789522 -0.00964106 -0.0070093 0.613606 +TTool-pose None -29.565 9.50266 10.3785 0.296624 0.632158 0.294609 0.652364 +#23795 1721121319943 +SLAM 25.207 -9.22822 20.8516 -0.791124 -0.00962899 -0.00719256 0.611537 +TTool-pose None -29.5665 9.52843 10.4075 0.298231 0.631336 0.296366 0.651631 +#23796 1721121319990 +SLAM 25.2028 -9.22467 20.8695 -0.791475 -0.00962826 -0.00732743 0.611082 +TTool-pose None -29.5664 9.52989 10.4136 0.298524 0.631124 0.296812 0.651498 +#23797 1721121320039 +SLAM 25.2159 -9.27812 20.7504 -0.788841 -0.00972201 -0.00706697 0.614479 +TTool-pose None -29.5704 9.4953 10.3664 0.295836 0.632508 0.293977 0.652668 +#23798 1721121320079 +SLAM 25.2144 -9.298 20.7173 -0.788189 -0.00960915 -0.00707499 0.615318 +TTool-pose None -29.5682 9.48541 10.3523 0.29517 0.632737 0.293277 0.653062 +#23799 1721121320119 +SLAM 25.2143 -9.29194 20.7327 -0.788407 -0.00971221 -0.00716593 0.615036 +TTool-pose None -29.5712 9.48631 10.3566 0.295314 0.63267 0.293593 0.652919 +#23800 1721121320162 +SLAM 25.205 -9.22277 20.8656 -0.791516 -0.00952469 -0.00717703 0.611032 +TTool-pose None -29.5641 9.53547 10.4153 0.298693 0.63109 0.296722 0.651495 +#23801 1721121320205 +SLAM 25.204 -9.22777 20.862 -0.791279 -0.00966171 -0.00731772 0.611335 +TTool-pose None -29.5672 9.52724 10.4101 0.29831 0.631241 0.296617 0.651572 +#23802 1721121320249 +SLAM 25.2016 -9.19192 20.9311 -0.792836 -0.00955315 -0.0073326 0.609316 +TTool-pose None -29.5662 9.5547 10.4389 0.300006 0.630429 0.298189 0.650862 +#23803 1721121320292 +SLAM 25.2137 -9.27528 20.7629 -0.789032 -0.00979863 -0.00720379 0.614231 +TTool-pose None -29.5724 9.49315 10.3693 0.295932 0.632421 0.294286 0.652569 +#23804 1721121320332 +SLAM 25.2016 -9.25423 20.8177 -0.790208 -0.00982186 -0.00746314 0.612715 +TTool-pose None -29.5685 9.50143 10.3891 0.297024 0.631798 0.295666 0.652053 +#23805 1721121320373 +SLAM 25.2066 -9.23211 20.8431 -0.791064 -0.00951812 -0.00712269 0.611617 +TTool-pose None -29.5637 9.529 10.4064 0.298244 0.631318 0.296222 0.651708 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0.299814 0.63055 0.297887 0.650972 +#23812 1721121320690 +SLAM 25.2057 -9.25806 20.8037 -0.790142 -0.00954871 -0.00720327 0.612806 +TTool-pose None -29.5644 9.51128 10.3893 0.297198 0.631744 0.295339 0.652174 +#23813 1721121320738 +SLAM 25.2025 -9.21144 20.8907 -0.791873 -0.00973672 -0.00736181 0.610564 +TTool-pose None -29.5677 9.5338 10.4214 0.298896 0.630993 0.29728 0.651242 +#23814 1721121320784 +SLAM 25.2063 -9.25186 20.8127 -0.790311 -0.00955646 -0.00719261 0.61259 +TTool-pose None -29.5649 9.51587 10.3917 0.297382 0.631673 0.295507 0.652082 +#23815 1721121320825 +SLAM 25.2173 -9.26817 20.7682 -0.789138 -0.00985579 -0.00713406 0.614096 +TTool-pose None -29.5743 9.49633 10.3724 0.296069 0.632431 0.294368 0.652459 +#23816 1721121320869 +SLAM 25.2119 -9.27322 20.7731 -0.789013 -0.0100471 -0.0074113 0.614249 +TTool-pose None -29.5772 9.485 10.3687 0.295708 0.632517 0.294485 0.652488 +#23817 1721121320910 +SLAM 25.2136 -9.28385 20.7479 -0.78862 -0.00986127 -0.00723472 0.614759 +TTool-pose None -29.573 9.48633 10.3616 0.295453 0.632642 0.293906 0.652743 +#23818 1721121320955 +SLAM 25.2127 -9.2783 20.7571 -0.788986 -0.00973178 -0.00718332 0.614292 +TTool-pose None -29.5705 9.49229 10.3678 0.295916 0.632407 0.294203 0.652627 +#23819 1721121321002 +SLAM 25.2145 -9.27905 20.7552 -0.788864 -0.00975834 -0.00717178 0.614448 +TTool-pose None -29.5721 9.49352 10.3657 0.295785 0.632485 0.29408 0.652667 +#23820 1721121321045 +SLAM 25.2003 -9.22174 20.876 -0.791793 -0.00945894 -0.00726806 0.610673 +TTool-pose None -29.5618 9.53627 10.4194 0.298956 0.630887 0.297044 0.651425 +#23821 1721121321093 +SLAM 25.2081 -9.2362 20.8357 -0.790792 -0.00963951 -0.00715345 0.611967 +TTool-pose None -29.5663 9.52323 10.4027 0.297895 0.631513 0.296003 0.651778 +#23822 1721121321138 +SLAM 25.2015 -9.25667 20.8139 -0.790304 -0.00950431 -0.00732494 0.612598 +TTool-pose None -29.5637 9.51383 10.3884 0.297311 0.631599 0.295568 0.652159 +#23823 1721121321184 +SLAM 25.2054 -9.23275 20.8434 -0.791097 -0.0094786 -0.00712165 0.611576 +TTool-pose None -29.5623 9.52996 10.4067 0.298292 0.631278 0.296241 0.651716 +#23824 1721121321230 +SLAM 25.202 -9.21403 20.8893 -0.791879 -0.00968344 -0.00736909 0.610556 +TTool-pose None -29.5673 9.53385 10.4215 0.298916 0.630954 0.297273 0.651274 +#23825 1721121321273 +SLAM 25.2149 -9.28746 20.738 -0.788583 -0.00967945 -0.00711659 0.614812 +TTool-pose None -29.5704 9.48999 10.3603 0.295542 0.632585 0.29373 0.652838 +#23826 1721121321317 +SLAM 25.202 -9.21585 20.8802 -0.791811 -0.00957581 -0.00725806 0.610648 +TTool-pose None -29.5637 9.53607 10.42 0.298944 0.630955 0.297095 0.651341 +#23827 1721121321362 +SLAM 25.214 -9.28113 20.7462 -0.788941 -0.0095488 -0.00701399 0.614355 +TTool-pose None -29.5664 9.49728 10.3676 0.296028 0.63237 0.293986 0.65271 +#23828 1721121321405 +SLAM 25.207 -9.24045 20.8333 -0.790697 -0.00960664 -0.00720289 0.61209 +TTool-pose None -29.5664 9.52284 10.3996 0.297774 0.63152 0.295926 0.651862 +#23829 1721121321448 +SLAM 25.2061 -9.22942 20.8505 -0.79124 -0.00950901 -0.00714428 0.61139 +TTool-pose None -29.5639 9.53052 10.41 0.298422 0.631222 0.296413 0.651633 +#23830 1721121321491 +SLAM 25.2022 -9.21563 20.8862 -0.791852 -0.00964973 -0.00736128 0.610592 +TTool-pose None -29.567 9.53327 10.4205 0.298902 0.630948 0.297229 0.651306 +#23831 1721121321534 +SLAM 25.2068 -9.22336 20.8543 -0.791453 -0.00948908 -0.00707086 0.611116 +TTool-pose None -29.5625 9.53204 10.4146 0.298701 0.631133 0.296577 0.651516 +#23832 1721121321575 +SLAM 25.2061 -9.24614 20.8201 -0.790528 -0.00954375 -0.00715437 0.61231 +TTool-pose None -29.5638 9.51911 10.3963 0.297642 0.631576 0.295701 0.65197 +#23833 1721121321617 +SLAM 25.2068 -9.23575 20.8405 -0.790729 -0.00978452 -0.0072975 0.612045 +TTool-pose None -29.5695 9.51812 10.4 0.297694 0.631585 0.29608 0.651765 +#23834 1721121321662 +SLAM 25.2036 -9.19993 20.9122 -0.792484 -0.00953248 -0.0072746 0.609775 +TTool-pose None -29.5662 9.54939 10.4322 0.299669 0.630603 0.297783 0.651035 +#23835 1721121321710 +SLAM 25.2058 -9.23705 20.8393 -0.791016 -0.00944838 -0.0071183 0.611681 +TTool-pose None -29.5625 9.52914 10.4063 0.298217 0.631298 0.296146 0.651774 +#23836 1721121321754 +SLAM 25.2067 -9.23669 20.8392 -0.790928 -0.00952836 -0.00716007 0.611793 +TTool-pose None -29.5648 9.52691 10.4041 0.298072 0.631376 0.296109 0.651782 +#23837 1721121321801 +SLAM 25.1993 -9.194 20.9293 -0.792785 -0.00960084 -0.00739142 0.609381 +TTool-pose None -29.5657 9.54977 10.4377 0.2999 0.630463 0.298191 0.650877 +#23838 1721121321845 +SLAM 25.2141 -9.28052 20.7474 -0.788901 -0.0096209 -0.00704104 0.614405 +TTool-pose None -29.5675 9.49552 10.3674 0.295947 0.632425 0.293987 0.652693 +#23839 1721121321887 +SLAM 25.2029 -9.23632 20.8462 -0.791145 -0.00943945 -0.00721557 0.611513 +TTool-pose None -29.5625 9.52856 10.4067 0.298298 0.631198 0.296338 0.651746 +#23840 1721121321932 +SLAM 25.2051 -9.21226 20.8897 -0.791798 -0.00973553 -0.00733477 0.610661 +TTool-pose None -29.5696 9.53616 10.4207 0.298833 0.631037 0.297185 0.651272 +#23841 1721121321974 +SLAM 25.2101 -9.27558 20.7664 -0.788931 -0.0100059 -0.00737389 0.614357 +TTool-pose None -29.5742 9.48403 10.3669 0.295655 0.632542 0.294362 0.652543 +#23842 1721121322020 +SLAM 25.2158 -9.28545 20.7375 -0.788538 -0.00971729 -0.00706824 0.614869 +TTool-pose None -29.57 9.49144 10.3604 0.295512 0.632646 0.293665 0.652821 +#23843 1721121322064 +SLAM 25.2009 -9.18449 20.9441 -0.79315 -0.00956929 -0.00734173 0.608906 +TTool-pose None -29.566 9.55733 10.4454 0.300333 0.630286 0.298524 0.650696 +#23844 1721121322105 +SLAM 25.2153 -9.2865 20.7326 -0.788492 -0.00972864 -0.00705899 0.614927 +TTool-pose None -29.5693 9.48777 10.3596 0.295465 0.632677 0.293617 0.652834 +#23845 1721121322143 +SLAM 25.2057 -9.24178 20.8324 -0.790816 -0.00947418 -0.00716567 0.611939 +TTool-pose None -29.5637 9.52517 10.4014 0.297965 0.631393 0.295979 0.651873 +#23846 1721121322192 +SLAM 25.2157 -9.27943 20.7466 -0.788823 -0.00966849 -0.00703095 0.614504 +TTool-pose None -29.5689 9.49577 10.3659 0.295855 0.632495 0.293917 0.652699 +#23847 1721121322237 +SLAM 25.2152 -9.27226 20.7609 -0.789118 -0.0097189 -0.00706984 0.614124 +TTool-pose None -29.5699 9.49765 10.3719 0.29613 0.632376 0.294261 0.652534 +#23848 1721121322279 +SLAM 25.204 -9.22994 20.8632 -0.791325 -0.00959401 -0.0072816 0.611277 +TTool-pose None -29.5661 9.53084 10.4131 0.298402 0.631189 0.296617 0.65158 +#23849 1721121322324 +SLAM 25.2159 -9.28386 20.7421 -0.788715 -0.00964811 -0.00706114 0.614642 +TTool-pose None -29.5698 9.49378 10.3635 0.295728 0.632522 0.293819 0.652774 +#23850 1721121322370 +SLAM 25.2157 -9.28277 20.7429 -0.788668 -0.00969326 -0.00709909 0.614702 +TTool-pose None -29.5709 9.4929 10.361 0.29564 0.632559 0.293811 0.652781 +#23851 1721121322418 +SLAM 25.2055 -9.23398 20.8401 -0.790967 -0.00955602 -0.00712082 0.611742 +TTool-pose None -29.5625 9.52729 10.4058 0.298129 0.631388 0.296134 0.651733 +#23852 1721121322460 +SLAM 25.2049 -9.22748 20.8495 -0.791159 -0.0095627 -0.00714933 0.611493 +TTool-pose None -29.5629 9.53011 10.407 0.298315 0.631292 0.296351 0.651641 +#23853 1721121322500 +SLAM 25.2055 -9.24806 20.8207 -0.790412 -0.00966022 -0.00726721 0.612456 +TTool-pose None -29.5666 9.51362 10.3936 0.297413 0.631666 0.295694 0.65199 +#23854 1721121322541 +SLAM 25.2037 -9.22636 20.8602 -0.791459 -0.00944966 -0.007157 0.611108 +TTool-pose None -29.5618 9.53562 10.4138 0.298667 0.631077 0.296626 0.651564 +#23855 1721121322582 +SLAM 25.2088 -9.24989 20.8079 -0.790201 -0.00958395 -0.00712845 0.612731 +TTool-pose None -29.5657 9.51641 10.389 0.297295 0.631764 0.295362 0.652099 +#23856 1721121322624 +SLAM 25.202 -9.20856 20.9024 -0.792299 -0.00948503 -0.00726598 0.610016 +TTool-pose None -29.5641 9.54663 10.4308 0.299491 0.630664 0.297571 0.651154 +#23857 1721121322668 +SLAM 25.2043 -9.22581 20.8628 -0.791234 -0.00973113 -0.00733973 0.611391 +TTool-pose None -29.5684 9.526 10.4084 0.298227 0.631299 0.296608 0.651559 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0.295335 0.632744 0.293416 0.652917 +#23864 1721121322974 +SLAM 25.2114 -9.27355 20.7666 -0.789345 -0.00953412 -0.00708859 0.613834 +TTool-pose None -29.5662 9.50325 10.3743 0.29642 0.632146 0.294443 0.652543 +#23865 1721121323016 +SLAM 25.214 -9.28143 20.7371 -0.788788 -0.00954145 -0.00695542 0.614552 +TTool-pose None -29.5647 9.49602 10.3632 0.295903 0.632456 0.293789 0.652772 +#23866 1721121323063 +SLAM 25.2024 -9.21443 20.8849 -0.791723 -0.00972457 -0.00734057 0.610758 +TTool-pose None -29.5669 9.53392 10.4185 0.298753 0.631063 0.297108 0.651318 +#23867 1721121323107 +SLAM 25.1999 -9.22678 20.8695 -0.791232 -0.00993239 -0.00754817 0.611389 +TTool-pose None -29.5704 9.51535 10.4086 0.298034 0.631357 0.296808 0.6515 +#23868 1721121323151 +SLAM 25.2062 -9.26302 20.7924 -0.789922 -0.00956601 -0.00719352 0.61309 +TTool-pose None -29.5645 9.50618 10.3853 0.296963 0.631861 0.295112 0.65227 +#23869 1721121323196 +SLAM 25.2168 -9.28696 20.7372 -0.788467 -0.0097202 -0.00709407 0.61496 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-0.789213 -0.00965972 -0.00711224 0.614003 +TTool-pose None -29.5701 9.49969 10.373 0.296224 0.63228 0.294365 0.652537 +#23876 1721121323513 +SLAM 25.2167 -9.27755 20.7507 -0.788919 -0.00966526 -0.00702675 0.614381 +TTool-pose None -29.5699 9.49727 10.3682 0.295961 0.632449 0.294011 0.652652 +#23877 1721121323557 +SLAM 25.2149 -9.26843 20.773 -0.788925 -0.0101732 -0.00735314 0.614361 +TTool-pose None -29.5789 9.48524 10.3684 0.295609 0.632657 0.294399 0.652435 +#23878 1721121323604 +SLAM 25.205 -9.22425 20.8613 -0.791423 -0.00953124 -0.00717727 0.611152 +TTool-pose None -29.564 9.53384 10.4129 0.298591 0.631138 0.29663 0.651538 +#23879 1721121323647 +SLAM 25.2188 -9.28589 20.7293 -0.788359 -0.00975355 -0.00701584 0.615099 +TTool-pose None -29.5716 9.4896 10.3569 0.295341 0.63277 0.29346 0.65287 +#23880 1721121323690 +SLAM 25.2035 -9.24214 20.8349 -0.790707 -0.00969295 -0.00734844 0.612073 +TTool-pose None -29.5673 9.51428 10.3984 0.297669 0.63152 0.29606 0.651848 +#23881 1721121323735 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0.295724 0.651934 +#23887 1721121324008 +SLAM 25.2139 -9.27868 20.7516 -0.788972 -0.0096443 -0.00704768 0.614313 +TTool-pose None -29.5676 9.49635 10.3695 0.296011 0.632404 0.294072 0.652646 +#23888 1721121324054 +SLAM 25.212 -9.28405 20.7395 -0.788824 -0.00949959 -0.00700027 0.614506 +TTool-pose None -29.5638 9.49688 10.3639 0.295928 0.632398 0.293841 0.652794 +#23889 1721121324099 +SLAM 25.2156 -9.27055 20.764 -0.789218 -0.00969807 -0.00706733 0.613996 +TTool-pose None -29.5702 9.49883 10.3736 0.296245 0.632317 0.294354 0.652497 +#23890 1721121324145 +SLAM 25.2037 -9.23351 20.8454 -0.791048 -0.00956174 -0.00721268 0.611636 +TTool-pose None -29.5635 9.52617 10.4052 0.298158 0.631322 0.296278 0.651717 +#23891 1721121324189 +SLAM 25.2159 -9.27936 20.7432 -0.788678 -0.0098068 -0.0070842 0.614687 +TTool-pose None -29.5709 9.48897 10.3629 0.295624 0.632632 0.293849 0.652701 +#23892 1721121324233 +SLAM 25.2137 -9.27831 20.7521 -0.788787 -0.00984801 -0.00718408 0.614545 +TTool-pose None -29.5718 9.48865 10.3645 0.295667 0.632573 0.294039 0.652653 +#23893 1721121324274 +SLAM 25.2165 -9.27605 20.749 -0.788674 -0.00993424 -0.00717096 0.614689 +TTool-pose None -29.5744 9.48633 10.3616 0.295527 0.632685 0.293944 0.652651 +#23894 1721121324318 +SLAM 25.2094 -9.27346 20.7635 -0.789319 -0.00952877 -0.00710222 0.613869 +TTool-pose None -29.5646 9.50097 10.3717 0.296385 0.632151 0.294423 0.652563 +#23895 1721121324359 +SLAM 25.2154 -9.28197 20.7386 -0.788592 -0.00980312 -0.00710793 0.614798 +TTool-pose None -29.571 9.48612 10.3603 0.295518 0.632661 0.293775 0.652754 +#23896 1721121324402 +SLAM 25.2224 -9.28147 20.7272 -0.788198 -0.00997616 -0.00705154 0.615301 +TTool-pose None -29.5767 9.48221 10.3534 0.295078 0.632973 0.293394 0.652822 +#23897 1721121324444 +SLAM 25.2171 -9.2773 20.7448 -0.788507 -0.0100074 -0.00718157 0.614902 +TTool-pose None -29.5755 9.4838 10.3587 0.295319 0.632805 0.293805 0.652691 +#23898 1721121324486 +SLAM 25.2159 -9.28254 20.7317 -0.788632 -0.00961084 -0.00694872 0.614751 +TTool-pose None -29.5664 9.49275 10.3609 0.295719 0.632575 0.293649 0.652803 +#23899 1721121324531 +SLAM 25.2042 -9.22971 20.8512 -0.791041 -0.00971983 -0.00729406 0.611642 +TTool-pose None -29.5668 9.52257 10.4047 0.298051 0.631398 0.296376 0.651648 +#23900 1721121324575 +SLAM 25.2174 -9.2816 20.7335 -0.788382 -0.00989051 -0.00710286 0.615066 +TTool-pose None -29.573 9.48439 10.3554 0.29527 0.632816 0.293586 0.652801 +#23901 1721121324617 +SLAM 25.2168 -9.27544 20.7415 -0.788534 -0.00985649 -0.00702743 0.614872 +TTool-pose None -29.5704 9.49287 10.3585 0.295489 0.632749 0.293682 0.652724 +#23902 1721121324660 +SLAM 25.2196 -9.276 20.7401 -0.788528 -0.00989107 -0.00704618 0.614878 +TTool-pose None -29.5737 9.4892 10.359 0.295461 0.632767 0.2937 0.652711 +#23903 1721121324703 +SLAM 25.2165 -9.27968 20.7391 -0.788536 -0.00980408 -0.00704221 0.614871 +TTool-pose None -29.5703 9.4914 10.3595 0.295498 0.63271 0.293676 0.65276 +#23904 1721121324745 +SLAM 25.2167 -9.28283 20.7331 -0.788573 -0.00966408 -0.00697657 0.614826 +TTool-pose None -29.5682 9.4925 10.3602 0.295622 0.632627 0.293624 0.652808 +#23905 1721121324789 +SLAM 25.2152 -9.27023 20.7569 -0.789069 -0.00972915 -0.00705424 0.614187 +TTool-pose None -29.5694 9.49608 10.3685 0.296084 0.63241 0.294204 0.652547 +#23906 1721121324833 +SLAM 25.216 -9.28036 20.7341 -0.788613 -0.00966518 -0.00696989 0.614775 +TTool-pose None -29.5673 9.49292 10.3597 0.295668 0.632611 0.293661 0.652786 +#23907 1721121324877 +SLAM 25.2225 -9.28608 20.7172 -0.787885 -0.0099639 -0.00697233 0.615702 +TTool-pose None -29.5744 9.48538 10.3487 0.294796 0.633137 0.293019 0.652959 +#23908 1721121324923 +SLAM 25.217 -9.278 20.7321 -0.788507 -0.00989232 -0.00710992 0.614905 +TTool-pose None -29.5727 9.47932 10.3553 0.295399 0.632757 0.29372 0.65274 +#23909 1721121324969 +SLAM 25.2166 -9.26607 20.7768 -0.789227 -0.00990544 -0.0072043 0.613979 +TTool-pose None -29.5759 9.49727 10.3739 0.296107 0.632397 0.294522 0.652406 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None -29.5729 9.49183 10.3597 0.295391 0.632779 0.29358 0.652785 +#23922 1721121325564 +SLAM 25.2053 -9.23664 20.8491 -0.790949 -0.00955783 -0.00715416 0.611765 +TTool-pose None -29.5635 9.53459 10.4085 0.298089 0.631387 0.296137 0.651751 +#23923 1721121325605 +SLAM 25.2082 -9.22722 20.8606 -0.790959 -0.00982302 -0.00724739 0.611747 +TTool-pose None -29.57 9.53187 10.4079 0.297959 0.631518 0.296297 0.65161 +#23924 1721121325646 +SLAM 25.2132 -9.29051 20.7356 -0.78836 -0.00972776 -0.00706512 0.615096 +TTool-pose None -29.5674 9.49406 10.3597 0.295321 0.632736 0.293485 0.652901 +#23925 1721121325690 +SLAM 25.2177 -9.2881 20.7359 -0.788233 -0.00989523 -0.0070672 0.615257 +TTool-pose None -29.5724 9.49117 10.3594 0.295131 0.6329 0.293413 0.65286 +#23926 1721121325730 +SLAM 25.2175 -9.29494 20.7233 -0.78805 -0.00977217 -0.00705474 0.615493 +TTool-pose None -29.5713 9.48963 10.3532 0.294983 0.632911 0.293177 0.653023 +#23927 1721121325774 +SLAM 25.2092 -9.28387 20.7633 -0.788595 -0.0101481 -0.00742327 0.614784 +TTool-pose None -29.575 9.48185 10.3663 0.295222 0.632771 0.294099 0.652636 +#23928 1721121325818 +SLAM 25.2135 -9.29138 20.739 -0.788138 -0.0100326 -0.0072671 0.615374 +TTool-pose None -29.5742 9.48295 10.356 0.294865 0.632964 0.293491 0.652884 +#23929 1721121325867 +SLAM 25.2042 -9.23877 20.8517 -0.79071 -0.0098619 -0.00734075 0.612067 +TTool-pose None -29.5685 9.52364 10.4059 0.297623 0.631628 0.296115 0.651739 +#23930 1721121325908 +SLAM 25.2038 -9.22688 20.8735 -0.791233 -0.00979521 -0.00731054 0.611393 +TTool-pose None -29.5674 9.53419 10.4157 0.298223 0.63135 0.296609 0.65151 +#23931 1721121325952 +SLAM 25.2166 -9.29982 20.7173 -0.787753 -0.00990512 -0.00706433 0.615872 +TTool-pose None -29.5709 9.48607 10.3514 0.294617 0.63313 0.292924 0.653089 +#23932 1721121325996 +SLAM 25.2175 -9.29623 20.7155 -0.78788 -0.00978452 -0.00694191 0.615712 +TTool-pose None -29.5681 9.4911 10.3528 0.294866 0.633036 0.292934 0.653063 +#23933 1721121326039 +SLAM 25.2176 -9.28841 20.7363 -0.788292 -0.00979853 -0.00699929 0.615184 +TTool-pose None -29.5701 9.49656 10.3613 0.295266 0.632835 0.293397 0.65287 +#23934 1721121326083 +SLAM 25.204 -9.2206 20.8792 -0.791444 -0.00971889 -0.00719923 0.611123 +TTool-pose None -29.5645 9.54177 10.4203 0.298541 0.63124 0.296728 0.651418 +#23935 1721121326130 +SLAM 25.2061 -9.23576 20.8521 -0.790693 -0.00985504 -0.00727575 0.61209 +TTool-pose None -29.5686 9.52807 10.4053 0.297647 0.631654 0.296053 0.651732 +#23936 1721121326175 +SLAM 25.2166 -9.29006 20.7356 -0.788136 -0.0099806 -0.00712841 0.61538 +TTool-pose None -29.5732 9.48746 10.3584 0.294963 0.632979 0.293382 0.652874 +#23937 1721121326216 +SLAM 25.2043 -9.23167 20.8585 -0.790984 -0.00975121 -0.00725178 0.611716 +TTool-pose None -29.566 9.53114 10.4097 0.298006 0.631459 0.296301 0.651644 +#23938 1721121326259 +SLAM 25.2159 -9.29644 20.7189 -0.788013 -0.00972262 -0.00695466 0.615543 +TTool-pose None -29.5667 9.49237 10.3552 0.295019 0.632931 0.293057 0.653041 +#23939 1721121326304 +SLAM 25.2094 -9.22054 20.8804 -0.791221 -0.00992416 -0.0072881 0.611407 +TTool-pose None -29.573 9.53754 10.4167 0.298183 0.631445 0.296626 0.651429 +#23940 1721121326348 +SLAM 25.22 -9.30111 20.7087 -0.787589 -0.0098803 -0.00696516 0.616082 +TTool-pose None -29.5714 9.48771 10.349 0.294511 0.633224 0.292684 0.653153 +#23941 1721121326392 +SLAM 25.2151 -9.29105 20.7324 -0.788204 -0.00978764 -0.00698818 0.615296 +TTool-pose None -29.5673 9.49601 10.3602 0.295183 0.632872 0.293296 0.652916 +#23942 1721121326435 +SLAM 25.207 -9.26687 20.7957 -0.789549 -0.00968679 -0.00715804 0.613569 +TTool-pose None -29.5647 9.51661 10.3839 0.296547 0.632124 0.294748 0.652368 +#23943 1721121326477 +SLAM 25.2143 -9.28829 20.7439 -0.788436 -0.00977657 -0.00701299 0.614999 +TTool-pose None -29.5673 9.4997 10.3662 0.295419 0.632749 0.293546 0.652817 +#23944 1721121326515 +SLAM 25.2161 -9.30077 20.7184 -0.787911 -0.00963414 -0.00691545 0.615674 +TTool-pose None -29.5656 9.49976 10.3546 0.294963 0.632935 0.292898 0.653133 +#23945 1721121326556 +SLAM 25.2082 -9.25793 20.8096 -0.789846 -0.0097683 -0.00713347 0.613185 +TTool-pose None -29.5658 9.51931 10.3923 0.296855 0.632045 0.295064 0.652163 +#23946 1721121326596 +SLAM 25.2075 -9.25331 20.816 -0.790149 -0.0096224 -0.00706662 0.612799 +TTool-pose None -29.5628 9.52573 10.397 0.297265 0.631834 0.295281 0.652082 +#23947 1721121326638 +SLAM 25.2181 -9.30066 20.7155 -0.787692 -0.00986442 -0.00698201 0.61595 +TTool-pose None -29.57 9.49113 10.3521 0.294616 0.63316 0.292795 0.653118 +#23948 1721121326681 +SLAM 25.2153 -9.29087 20.7398 -0.788197 -0.00991908 -0.0070958 0.615302 +TTool-pose None -29.571 9.49336 10.3614 0.295069 0.632922 0.293403 0.652872 +#23949 1721121326719 +SLAM 25.2156 -9.29149 20.7371 -0.788214 -0.00981301 -0.00701422 0.615283 +TTool-pose None -29.5686 9.498 10.3618 0.295169 0.632875 0.293332 0.652904 +#23950 1721121326762 +SLAM 25.2022 -9.24434 20.8432 -0.790554 -0.00975145 -0.0072731 0.612271 +TTool-pose None -29.5641 9.52709 10.4033 0.297533 0.631655 0.295874 0.651865 +#23951 1721121326808 +SLAM 25.218 -9.30542 20.7079 -0.78749 -0.0099138 -0.00703976 0.616207 +TTool-pose None -29.5715 9.48494 10.3476 0.29435 0.633265 0.292643 0.653205 +#23952 1721121326846 +SLAM 25.2065 -9.26488 20.7992 -0.789415 -0.00993996 -0.00729124 0.613735 +TTool-pose None -29.5688 9.50834 10.3816 0.296244 0.632302 0.294783 0.652319 +#23953 1721121326883 +SLAM 25.2163 -9.31038 20.7013 -0.787413 -0.00982249 -0.00704739 0.616308 +TTool-pose None -29.5697 9.48392 10.3447 0.294291 0.633241 0.292538 0.653302 +#23954 1721121326927 +SLAM 25.2068 -9.23876 20.8427 -0.790643 -0.00970488 -0.007156 0.612159 +TTool-pose None -29.5654 9.53133 10.4043 0.297713 0.631623 0.295873 0.651813 +#23955 1721121326977 +SLAM 25.2052 -9.21233 20.9009 -0.791743 -0.00976997 -0.00731367 0.610732 +TTool-pose None -29.5695 9.54804 10.4241 0.298776 0.631092 0.297127 0.651271 +#23956 1721121327015 +SLAM 25.209 -9.28441 20.7592 -0.788777 -0.00970469 -0.00714597 0.614561 +TTool-pose None -29.5659 9.50261 10.3683 0.295724 0.6325 0.293956 0.652735 +#23957 1721121327054 +SLAM 25.214 -9.29943 20.7233 -0.78797 -0.00979085 -0.00705921 0.615595 +TTool-pose None -29.568 9.49034 10.3555 0.294888 0.632959 0.293104 0.653052 +#23958 1721121327098 +SLAM 25.2159 -9.29306 20.7341 -0.7882 -0.00982496 -0.00704178 0.6153 +TTool-pose None -29.5696 9.4936 10.3613 0.295134 0.632879 0.293339 0.652912 +#23959 1721121327137 +SLAM 25.2159 -9.28206 20.7462 -0.788514 -0.00984732 -0.00701289 0.614898 +TTool-pose None -29.5691 9.49746 10.3658 0.295479 0.632758 0.293649 0.652735 +#23960 1721121327175 +SLAM 25.2078 -9.26464 20.7972 -0.789675 -0.00966219 -0.00715026 0.613408 +TTool-pose None -29.5653 9.51585 10.3856 0.296694 0.632053 0.294863 0.652319 +#23961 1721121327218 +SLAM 25.2046 -9.21572 20.8937 -0.791679 -0.00974565 -0.00728017 0.610816 +TTool-pose None -29.5676 9.54482 10.4242 0.298735 0.631118 0.297031 0.651308 +#23962 1721121327259 +SLAM 25.2068 -9.2503 20.8246 -0.790197 -0.00974732 -0.00721346 0.612734 +TTool-pose None -29.5668 9.52194 10.3955 0.297187 0.63184 0.295467 0.652027 +#23963 1721121327298 +SLAM 25.2001 -9.25245 20.8349 -0.790288 -0.00980524 -0.00746208 0.612611 +TTool-pose None -29.5674 9.51663 10.3936 0.297116 0.63175 0.295742 0.652023 +#23964 1721121327341 +SLAM 25.205 -9.22217 20.8715 -0.791356 -0.00966217 -0.00718233 0.611237 +TTool-pose None -29.5647 9.54015 10.4158 0.298475 0.631251 0.296608 0.651491 +#23965 1721121327383 +SLAM 25.2131 -9.29804 20.7259 -0.788052 -0.00979787 -0.00713741 0.61549 +TTool-pose None -29.5694 9.48727 10.354 0.294926 0.632899 0.29324 0.653032 +#23966 1721121327426 +SLAM 25.2156 -9.30072 20.7194 -0.78789 -0.00983845 -0.00709921 0.615696 +TTool-pose None -29.5708 9.48512 10.3531 0.294764 0.633012 0.293065 0.653074 +#23967 1721121327472 +SLAM 25.2041 -9.21271 20.897 -0.791786 -0.00977564 -0.00733763 0.610677 +TTool-pose None -29.5689 9.54164 10.424 0.298805 0.631067 0.297188 0.651254 +#23968 1721121327515 +SLAM 25.2153 -9.28408 20.7473 -0.788633 -0.00971235 -0.0070283 0.614747 +TTool-pose None -29.5686 9.49977 10.3662 0.29564 0.632612 0.293735 0.652765 +#23969 1721121327560 +SLAM 25.2161 -9.29638 20.7228 -0.788053 -0.00976418 -0.00705216 0.61549 +TTool-pose None -29.5698 9.48923 10.3544 0.29499 0.632906 0.293175 0.653025 +#23970 1721121327605 +SLAM 25.2074 -9.27004 20.7854 -0.789524 -0.00959013 -0.00711684 0.613603 +TTool-pose None -29.5636 9.51274 10.382 0.296576 0.632089 0.294663 0.652428 +#23971 1721121327654 +SLAM 25.2057 -9.23863 20.8396 -0.790819 -0.00952668 -0.00709275 0.611935 +TTool-pose None -29.5619 9.53308 10.4056 0.297996 0.631449 0.295953 0.651816 +#23972 1721121327700 +SLAM 25.2164 -9.28823 20.734 -0.788172 -0.00993116 -0.00710957 0.615334 +TTool-pose None -29.5724 9.48813 10.3564 0.295029 0.632937 0.29339 0.652881 +#23973 1721121327743 +SLAM 25.2055 -9.22217 20.8701 -0.791319 -0.0097497 -0.00726451 0.611283 +TTool-pose None -29.5677 9.533 10.4136 0.298357 0.631296 0.296652 0.651481 +#23974 1721121327788 +SLAM 25.2191 -9.28396 20.7438 -0.788216 -0.0100898 -0.00720458 0.615274 +TTool-pose None -29.5783 9.48623 10.3575 0.294968 0.632985 0.29355 0.65279 +#23975 1721121327830 +SLAM 25.2075 -9.27204 20.781 -0.7894 -0.00965722 -0.0071582 0.613762 +TTool-pose None -29.5649 9.5075 10.3793 0.296397 0.632175 0.294585 0.652461 +#23976 1721121327873 +SLAM 25.2161 -9.28159 20.7492 -0.788434 -0.0100081 -0.00717671 0.614996 +TTool-pose None -29.5744 9.48962 10.3618 0.295244 0.632841 0.293727 0.652725 +#23977 1721121327916 +SLAM 25.204 -9.22243 20.8779 -0.791505 -0.00963241 -0.00719821 0.611044 +TTool-pose None -29.5642 9.54208 10.4207 0.298635 0.631156 0.296762 0.65144 +#23978 1721121327958 +SLAM 25.2126 -9.28318 20.7464 -0.788529 -0.00984458 -0.00708683 0.614878 +TTool-pose None -29.5679 9.4944 10.3639 0.295451 0.632724 0.293711 0.652752 +#23979 1721121328010 +SLAM 25.207 -9.2363 20.8473 -0.790743 -0.00970722 -0.00715183 0.612029 +TTool-pose None -29.5656 9.53302 10.4066 0.297823 0.631579 0.295975 0.65176 +#23980 1721121328056 +SLAM 25.2139 -9.27724 20.7622 -0.788842 -0.00978453 -0.00704924 0.614478 +TTool-pose None -29.5683 9.50473 10.3715 0.295827 0.632553 0.293987 0.652623 +#23981 1721121328100 +SLAM 25.2191 -9.30521 20.7084 -0.78753 -0.00988753 -0.00699218 0.616158 +TTool-pose None -29.5713 9.48707 10.35 0.294429 0.633247 0.292643 0.653187 +#23982 1721121328141 +SLAM 25.2142 -9.27798 20.7614 -0.788771 -0.00980293 -0.00701969 0.614568 +TTool-pose None -29.5678 9.50642 10.3719 0.295764 0.632608 0.293902 0.652637 +#23983 1721121328180 +SLAM 25.2151 -9.29404 20.7309 -0.787854 -0.0101224 -0.00721099 0.615736 +TTool-pose None -29.5744 9.4818 10.3535 0.294568 0.633171 0.293196 0.65295 +#23984 1721121328221 +SLAM 25.2097 -9.2763 20.7768 -0.789192 -0.00966621 -0.00707641 0.61403 +TTool-pose None -29.5648 9.512 10.3799 0.296222 0.632306 0.294323 0.652532 +#23985 1721121328261 +SLAM 25.2197 -9.29667 20.7127 -0.787693 -0.00989331 -0.00694197 0.615949 +TTool-pose None -29.5705 9.48941 10.3505 0.294632 0.633191 0.29278 0.653087 +#23986 1721121328310 +SLAM 25.2116 -9.25381 20.8213 -0.789853 -0.00988322 -0.00709899 0.613175 +TTool-pose None -29.5687 9.52719 10.3972 0.296847 0.632126 0.295088 0.652077 +#23987 1721121328349 +SLAM 25.2177 -9.30003 20.7125 -0.787603 -0.00988839 -0.00696064 0.616065 +TTool-pose None -29.5691 9.49103 10.3498 0.294526 0.633224 0.292698 0.653141 +#23988 1721121328387 +SLAM 25.2164 -9.29807 20.7204 -0.78775 -0.00994209 -0.00705455 0.615875 +TTool-pose None -29.5706 9.48827 10.3521 0.294609 0.633158 0.292927 0.653064 +#23989 1721121328425 +SLAM 25.2073 -9.24927 20.8358 -0.790191 -0.00981666 -0.00717266 0.61274 +TTool-pose None -29.5666 9.53152 10.4015 0.297184 0.631901 0.295459 0.651974 +#23990 1721121328467 +SLAM 25.2069 -9.26208 20.8046 -0.789688 -0.00973149 -0.00716161 0.61339 +TTool-pose None -29.565 9.51954 10.3874 0.29668 0.632086 0.294908 0.652273 +#23991 1721121328505 +SLAM 25.2125 -9.28269 20.7572 -0.788539 -0.00989868 -0.00709222 0.614864 +TTool-pose None -29.5683 9.50191 10.3681 0.295442 0.632752 0.293743 0.652715 +#23992 1721121328543 +SLAM 25.2165 -9.29362 20.7329 -0.787869 -0.0100633 -0.00702901 0.61572 +TTool-pose None -29.5705 9.49274 10.3603 0.294713 0.633188 0.293073 0.652922 +#23993 1721121328587 +SLAM 25.2209 -9.298 20.6999 -0.787556 -0.0098073 -0.00671222 0.616128 +TTool-pose None -29.5648 9.49367 10.3518 0.294653 0.633278 0.292463 0.653136 +#23994 1721121328635 +SLAM 25.2193 -9.30239 20.7083 -0.787184 -0.0101481 -0.00698022 0.616595 +TTool-pose None -29.5718 9.48749 10.3463 0.293986 0.633575 0.292371 0.65319 +#23995 1721121328676 +SLAM 25.2164 -9.29473 20.7317 -0.787766 -0.0100276 -0.00699183 0.615854 +TTool-pose None -29.5693 9.49784 10.3582 0.294637 0.633226 0.292931 0.652984 +#23996 1721121328718 +SLAM 25.214 -9.29457 20.7328 -0.788031 -0.00982406 -0.00696482 0.615517 +TTool-pose None -29.5656 9.50052 10.3606 0.295001 0.632983 0.293117 0.652971 +#23997 1721121328765 +SLAM 25.217 -9.30549 20.7164 -0.787506 -0.00995747 -0.00691623 0.616188 +TTool-pose None -29.5674 9.49515 10.3575 0.294428 0.633328 0.292593 0.653131 +#23998 1721121328809 +SLAM 25.2206 -9.28601 20.7248 -0.787852 -0.0100071 -0.00680515 0.615746 +TTool-pose None -29.5681 9.49801 10.3587 0.294849 0.633236 0.292892 0.652896 +#23999 1721121328863 +SLAM 25.2181 -9.30006 20.7377 -0.78751 -0.0102992 -0.00713526 0.616175 +TTool-pose None -29.5759 9.49291 10.3599 0.294191 0.633468 0.292854 0.652985 +#24000 1721121328907 +SLAM 25.2129 -9.30309 20.7347 -0.787658 -0.0101175 -0.00721423 0.615988 +TTool-pose None -29.5724 9.49006 10.3565 0.294358 0.633258 0.292995 0.65305 +#24001 1721121328946 +SLAM 25.2156 -9.30401 20.7019 -0.787705 -0.00960293 -0.00675706 0.61594 +TTool-pose None -29.5603 9.49724 10.3534 0.294849 0.633065 0.292575 0.653204 +#24002 1721121328986 +SLAM 25.2166 -9.2952 20.7493 -0.787848 -0.0101622 -0.00717056 0.615744 +TTool-pose None -29.5752 9.49915 10.3622 0.294574 0.633212 0.293176 0.652915 +#24003 1721121329032 +SLAM 25.2185 -9.30751 20.71 -0.787205 -0.0100421 -0.00702584 0.616569 +TTool-pose None -29.572 9.49051 10.3464 0.294014 0.633483 0.292386 0.65326 +#24004 1721121329075 +SLAM 25.2206 -9.30582 20.7024 -0.787116 -0.0101195 -0.00698562 0.616682 +TTool-pose None -29.5731 9.48433 10.3448 0.293919 0.633587 0.292295 0.653243 +#24005 1721121329132 +SLAM 25.2186 -9.3027 20.7222 -0.787514 -0.0100347 -0.0069769 0.616175 +TTool-pose None -29.571 9.49523 10.3565 0.294376 0.633352 0.292667 0.653098 +#24006 1721121329174 +SLAM 25.2193 -9.29394 20.7164 -0.787561 -0.0101136 -0.00695727 0.616115 +TTool-pose None -29.5712 9.48727 10.3519 0.294412 0.633387 0.292729 0.65302 +#24007 1721121329220 +SLAM 25.2135 -9.30165 20.7344 -0.787846 -0.0099408 -0.0071138 0.615751 +TTool-pose None -29.5697 9.49575 10.3593 0.294675 0.633093 0.293063 0.653037 +#24008 1721121329268 +SLAM 25.2206 -9.29791 20.7074 -0.787589 -0.00987792 -0.00678172 0.616084 +TTool-pose None -29.5668 9.49408 10.354 0.294623 0.633284 0.292565 0.653098 +#24009 1721121329311 +SLAM 25.2167 -9.28833 20.7284 -0.788095 -0.00989725 -0.00689516 0.615435 +TTool-pose None -29.5665 9.49476 10.3614 0.295088 0.633024 0.293162 0.652873 +#24010 1721121329356 +SLAM 25.2214 -9.29808 20.7284 -0.787423 -0.0102898 -0.007109 0.616286 +TTool-pose None -29.5783 9.48858 10.3538 0.294118 0.633511 0.292746 0.653025 +#24011 1721121329404 +SLAM 25.2065 -9.23427 20.8546 -0.790729 -0.00982374 -0.00714278 0.612046 +TTool-pose None -29.5652 9.53592 10.4107 0.297776 0.631663 0.295993 0.651692 +#24012 1721121329452 +SLAM 25.2225 -9.30534 20.6907 -0.787179 -0.00986589 -0.00675146 0.616609 +TTool-pose None -29.5676 9.49138 10.345 0.294208 0.633476 0.292122 0.653297 +#24013 1721121329492 +SLAM 25.2211 -9.29829 20.7101 -0.787307 -0.0101809 -0.00689529 0.616438 +TTool-pose None -29.5713 9.48762 10.3518 0.294159 0.633568 0.292452 0.653083 +#24014 1721121329533 +SLAM 25.2147 -9.28251 20.7521 -0.7885 -0.0098157 -0.00692663 0.614917 +TTool-pose None -29.5656 9.50822 10.37 0.295527 0.632773 0.293568 0.652734 +#24015 1721121329582 +SLAM 25.2083 -9.25652 20.8148 -0.789699 -0.00990601 -0.00716501 0.613373 +TTool-pose None -29.5672 9.5221 10.391 0.296634 0.632191 0.294979 0.65216 +#24016 1721121329624 +SLAM 25.2176 -9.30582 20.7107 -0.787242 -0.010142 -0.00701455 0.616521 +TTool-pose None -29.5711 9.4861 10.3502 0.294029 0.633533 0.29245 0.653176 +#24017 1721121329669 +SLAM 25.2207 -9.29765 20.7066 -0.787607 -0.00988152 -0.00674862 0.616062 +TTool-pose None -29.566 9.49375 10.3558 0.294661 0.633289 0.292563 0.653076 +#24018 1721121329710 +SLAM 25.2139 -9.27716 20.7556 -0.788719 -0.00982021 -0.00687581 0.614637 +TTool-pose None -29.5634 9.50722 10.3753 0.29579 0.632692 0.293761 0.652608 +#24019 1721121329752 +SLAM 25.2101 -9.23849 20.8327 -0.790353 -0.00980049 -0.00698246 0.612534 +TTool-pose None -29.5639 9.53332 10.4037 0.297479 0.631879 0.295496 0.651843 +#24020 1721121329793 +SLAM 25.2194 -9.30067 20.7092 -0.787349 -0.010072 -0.00696942 0.616386 +TTool-pose None -29.5714 9.48719 10.3478 0.294193 0.633454 0.292507 0.653153 +#24021 1721121329835 +SLAM 25.2121 -9.28405 20.7539 -0.788423 -0.0099618 -0.00709828 0.615012 +TTool-pose None -29.5682 9.49909 10.3669 0.295294 0.632844 0.293649 0.652735 +#24022 1721121329873 +SLAM 25.2203 -9.29298 20.7175 -0.787451 -0.0103207 -0.00699625 0.616251 +TTool-pose None -29.5738 9.48112 10.3535 0.294206 0.633556 0.292711 0.652957 +#24023 1721121329919 +SLAM 25.2202 -9.30781 20.6958 -0.787185 -0.00997965 -0.00691745 0.616597 +TTool-pose None -29.5703 9.4842 10.3453 0.294078 0.633489 0.292274 0.653275 +#24024 1721121329961 +SLAM 25.2163 -9.29169 20.7274 -0.787933 -0.00998865 -0.00702441 0.61564 +TTool-pose None -29.5699 9.48939 10.3566 0.294808 0.633113 0.29311 0.652936 +#24025 1721121330005 +SLAM 25.203 -9.21991 20.8858 -0.791308 -0.00990543 -0.00726792 0.611294 +TTool-pose None -29.566 9.54174 10.4206 0.298295 0.631399 0.296696 0.651391 +#24026 1721121330052 +SLAM 25.217 -9.29318 20.7295 -0.787799 -0.0100912 -0.00707686 0.61581 +TTool-pose None -29.5724 9.48887 10.3556 0.2946 0.633222 0.293041 0.652955 +#24027 1721121330091 +SLAM 25.2194 -9.29838 20.7144 -0.787472 -0.0100993 -0.00698706 0.616228 +TTool-pose None -29.5721 9.48672 10.351 0.294304 0.633409 0.292653 0.653081 +#24028 1721121330141 +SLAM 25.2028 -9.21776 20.8964 -0.79146 -0.00993957 -0.00734301 0.611096 +TTool-pose None -29.5683 9.543 10.4238 0.298401 0.631323 0.296912 0.651317 +#24029 1721121330184 +SLAM 25.2156 -9.2952 20.744 -0.788063 -0.0100017 -0.00716231 0.615472 +TTool-pose None -29.5734 9.49465 10.3623 0.294858 0.633014 0.293336 0.652907 +#24030 1721121330229 +SLAM 25.2035 -9.27497 20.7833 -0.78904 -0.00995887 -0.00736985 0.614217 +TTool-pose None -29.5677 9.49942 10.3724 0.295789 0.632462 0.294455 0.652517 +#24031 1721121330269 +SLAM 25.2227 -9.29323 20.7117 -0.787569 -0.0100867 -0.00690338 0.616105 +TTool-pose None -29.5729 9.48575 10.3518 0.294462 0.633384 0.292693 0.653016 +#24032 1721121330311 +SLAM 25.2192 -9.29856 20.7235 -0.787753 -0.00993395 -0.00697847 0.615872 +TTool-pose None -29.5714 9.49416 10.3567 0.294661 0.633177 0.292878 0.653044 +#24033 1721121330357 +SLAM 25.2073 -9.22231 20.8756 -0.79111 -0.00987922 -0.00716418 0.611552 +TTool-pose None -29.5671 9.54292 10.4178 0.298154 0.631511 0.296417 0.651474 +#24034 1721121330401 +SLAM 25.2124 -9.28226 20.7592 -0.788606 -0.00985629 -0.0070447 0.61478 +TTool-pose None -29.5668 9.50547 10.371 0.295555 0.63271 0.293767 0.652694 +#24035 1721121330449 +SLAM 25.2068 -9.23975 20.8409 -0.790622 -0.00964947 -0.00702474 0.612189 +TTool-pose None -29.5616 9.53743 10.4082 0.297788 0.631643 0.295748 0.651817 +#24036 1721121330493 +SLAM 25.2184 -9.29715 20.7174 -0.787811 -0.00978084 -0.00688255 0.615801 +TTool-pose None -29.5674 9.49737 10.3545 0.29483 0.633086 0.292824 0.653081 +#24037 1721121330539 +SLAM 25.2202 -9.29754 20.7046 -0.787419 -0.0100218 -0.00689566 0.616298 +TTool-pose None -29.57 9.4862 10.3475 0.294328 0.633415 0.292513 0.653127 +#24038 1721121330580 +SLAM 25.218 -9.29829 20.7131 -0.787672 -0.00988337 -0.00682813 0.615978 +TTool-pose None -29.5656 9.49483 10.3564 0.294682 0.633234 0.292681 0.653068 +#24039 1721121330622 +SLAM 25.2197 -9.3019 20.7129 -0.787542 -0.00996566 -0.00701319 0.616141 +TTool-pose None -29.5727 9.48741 10.3502 0.294405 0.633283 0.292696 0.653139 +#24040 1721121330666 +SLAM 25.2064 -9.2508 20.8265 -0.79024 -0.009684 -0.00713939 0.612679 +TTool-pose None -29.5641 9.52786 10.399 0.297299 0.631805 0.295443 0.652021 +#24041 1721121330707 +SLAM 25.2179 -9.3033 20.7117 -0.787577 -0.00990493 -0.00700977 0.616097 +TTool-pose None -29.5707 9.4877 10.3503 0.294464 0.63323 0.292709 0.653158 +#24042 1721121330751 +SLAM 25.2181 -9.28491 20.7311 -0.788183 -0.0098695 -0.0069294 0.615322 +TTool-pose None -29.5689 9.49521 10.359 0.29517 0.632954 0.293264 0.652857 +#24043 1721121330794 +SLAM 25.214 -9.28364 20.752 -0.788453 -0.00993687 -0.00709865 0.614974 +TTool-pose None -29.57 9.49746 10.3661 0.295334 0.632814 0.293672 0.652736 +#24044 1721121330838 +SLAM 25.2176 -9.30045 20.7085 -0.787575 -0.00988189 -0.00693236 0.616101 +TTool-pose None -29.568 9.48931 10.3494 0.294515 0.633242 0.292649 0.653149 +#24045 1721121330880 +SLAM 25.2049 -9.2449 20.8409 -0.790429 -0.00980785 -0.00723019 0.612432 +TTool-pose None -29.5658 9.5278 10.4032 0.297407 0.631764 0.295737 0.651879 +#24046 1721121330926 +SLAM 25.2137 -9.28956 20.7476 -0.788222 -0.00999131 -0.00714235 0.615268 +TTool-pose None -29.571 9.49534 10.3633 0.295044 0.63294 0.293483 0.652829 +#24047 1721121330972 +SLAM 25.2143 -9.29557 20.7434 -0.787985 -0.0100579 -0.00720907 0.615571 +TTool-pose None -29.5735 9.49227 10.3599 0.294729 0.63307 0.293306 0.652925 +#24048 1721121331014 +SLAM 25.212 -9.3003 20.7352 -0.7879 -0.0099354 -0.0071701 0.615681 +TTool-pose None -29.5697 9.49324 10.3571 0.294701 0.633045 0.293153 0.653031 +#24049 1721121331058 +SLAM 25.2109 -9.25548 20.8051 -0.789829 -0.00972107 -0.00710052 0.613209 +TTool-pose None -29.5673 9.51947 10.3881 0.296871 0.632034 0.295009 0.65219 +#24050 1721121331100 +SLAM 25.2205 -9.2999 20.7157 -0.787592 -0.00995256 -0.00702643 0.616076 +TTool-pose None -29.5739 9.48898 10.3494 0.294455 0.633247 0.292751 0.653126 +#24051 1721121331141 +SLAM 25.2132 -9.2926 20.7349 -0.788155 -0.00991202 -0.00707255 0.615356 +TTool-pose None -29.5681 9.49087 10.3614 0.295039 0.632945 0.293342 0.65289 +#24052 1721121331190 +SLAM 25.2193 -9.29873 20.7154 -0.787778 -0.00983853 -0.00696896 0.615841 +TTool-pose None -29.5708 9.49023 10.3527 0.294724 0.633108 0.292866 0.653088 +#24053 1721121331234 +SLAM 25.2162 -9.29913 20.7335 -0.787982 -0.0098369 -0.00700498 0.61558 +TTool-pose None -29.569 9.49969 10.3622 0.294919 0.633001 0.293096 0.653 +#24054 1721121331282 +SLAM 25.215 -9.29439 20.731 -0.788053 -0.00986465 -0.00707054 0.615488 +TTool-pose None -29.5696 9.49232 10.3572 0.294947 0.632963 0.293221 0.652969 +#24055 1721121331324 +SLAM 25.2195 -9.29862 20.7294 -0.788033 -0.00974665 -0.00699875 0.615516 +TTool-pose None -29.5719 9.49847 10.3593 0.295006 0.632922 0.293114 0.653029 +#24056 1721121331367 +SLAM 25.2172 -9.31044 20.7187 -0.787327 -0.0101548 -0.00723207 0.616409 +TTool-pose None -29.5769 9.48129 10.3498 0.293983 0.633428 0.292682 0.653194 +#24057 1721121331405 +SLAM 25.2169 -9.29366 20.7273 -0.787835 -0.0100108 -0.00716653 0.615763 +TTool-pose None -29.5745 9.48578 10.3496 0.29461 0.633124 0.29311 0.653015 +#24058 1721121331447 +SLAM 25.2061 -9.22642 20.8712 -0.791117 -0.00976491 -0.00717157 0.611545 +TTool-pose None -29.5658 9.54248 10.4163 0.298193 0.631433 0.29639 0.651544 +#24059 1721121331492 +SLAM 25.2146 -9.29006 20.7448 -0.788223 -0.00990399 -0.00708246 0.615269 +TTool-pose None -29.5699 9.4988 10.3627 0.295109 0.632905 0.293416 0.652864 +#24060 1721121331532 +SLAM 25.2177 -9.28985 20.721 -0.78823 -0.00963313 -0.00689321 0.615266 +TTool-pose None -29.5666 9.49506 10.3559 0.295317 0.632794 0.29321 0.65297 +#24061 1721121331572 +SLAM 25.2167 -9.30545 20.7099 -0.787618 -0.00977324 -0.00697792 0.616046 +TTool-pose None -29.5681 9.49146 10.3499 0.294568 0.633138 0.292686 0.65321 +#24062 1721121331614 +SLAM 25.2201 -9.29338 20.715 -0.787839 -0.00984411 -0.00691353 0.615763 +TTool-pose None -29.57 9.49081 10.3521 0.294821 0.633102 0.292894 0.653037 +#24063 1721121331655 +SLAM 25.2174 -9.29813 20.713 -0.787756 -0.00987917 -0.00698577 0.615869 +TTool-pose None -29.5694 9.48633 10.3515 0.294677 0.633139 0.292867 0.653079 +#24064 1721121331698 +SLAM 25.2133 -9.27227 20.771 -0.789118 -0.00976911 -0.00712698 0.614122 +TTool-pose None -29.57 9.50305 10.3736 0.29608 0.632388 0.294315 0.652521 +#24065 1721121331739 +SLAM 25.2079 -9.22962 20.8455 -0.790958 -0.00962931 -0.00709863 0.611754 +TTool-pose None -29.5647 9.53121 10.4063 0.298109 0.631447 0.296134 0.651685 +#24066 1721121331782 +SLAM 25.2168 -9.28329 20.7393 -0.788301 -0.0099644 -0.00711625 0.615168 +TTool-pose None -29.5732 9.48832 10.358 0.295153 0.632896 0.293538 0.652799 +#24067 1721121331825 +SLAM 25.2053 -9.2198 20.8703 -0.791254 -0.00984133 -0.00724924 0.611365 +TTool-pose None -29.5673 9.53223 10.4133 0.298268 0.63139 0.296607 0.651452 +#24068 1721121331868 +SLAM 25.2169 -9.2972 20.7265 -0.787826 -0.00998533 -0.00707341 0.615776 +TTool-pose None -29.5719 9.48911 10.3559 0.294665 0.633144 0.293032 0.653006 +#24069 1721121331911 +SLAM 25.2197 -9.29352 20.7176 -0.787854 -0.00987687 -0.00693639 0.615744 +TTool-pose None -29.5705 9.49048 10.3535 0.294813 0.633109 0.292935 0.653017 +#24070 1721121331952 +SLAM 25.2083 -9.24113 20.839 -0.790322 -0.00989988 -0.00714832 0.61257 +TTool-pose None -29.5671 9.52916 10.4028 0.297313 0.6319 0.295605 0.651849 +#24071 1721121331997 +SLAM 25.2208 -9.29725 20.7146 -0.78751 -0.0100564 -0.00698011 0.61618 +TTool-pose None -29.5731 9.48822 10.3499 0.294362 0.633367 0.292672 0.653087 +#24072 1721121332037 +SLAM 25.2168 -9.27831 20.7562 -0.788338 -0.0101789 -0.00717351 0.615116 +TTool-pose None -29.5757 9.49257 10.3636 0.29509 0.632995 0.293685 0.652665 +#24073 1721121332080 +SLAM 25.2126 -9.29515 20.738 -0.787688 -0.0102409 -0.00715459 0.615948 +TTool-pose None -29.5708 9.49055 10.3578 0.294387 0.633342 0.293029 0.65294 +#24074 1721121332125 +SLAM 25.2228 -9.28665 20.7181 -0.787212 -0.0104508 -0.00693738 0.616555 +TTool-pose None -29.5751 9.48725 10.3473 0.293947 0.633768 0.292473 0.652974 +#24075 1721121332167 +SLAM 25.2242 -9.28108 20.7229 -0.786874 -0.0106959 -0.00684458 0.616983 +TTool-pose None -29.5748 9.49643 10.3455 0.293566 0.63411 0.292151 0.652958 +#24076 1721121332209 +SLAM 25.2155 -9.25537 20.8112 -0.788009 -0.010922 -0.00699892 0.615527 +TTool-pose None -29.5727 9.53426 10.3793 0.294611 0.633677 0.293486 0.652309 +#24077 1721121332252 +SLAM 25.2273 -9.28559 20.6994 -0.785707 -0.0111646 -0.00680463 0.618461 +TTool-pose None -29.5777 9.49098 10.3261 0.292201 0.634956 0.291093 0.653221 +#24078 1721121332303 +SLAM 25.2241 -9.29501 20.7041 -0.785314 -0.0113016 -0.00675283 0.618958 +TTool-pose None -29.5736 9.502 10.3312 0.291771 0.635239 0.290706 0.653309 +#24079 1721121332347 +SLAM 25.2222 -9.30859 20.7106 -0.784826 -0.0114839 -0.00691307 0.619571 +TTool-pose None -29.5768 9.50693 10.3296 0.291098 0.635523 0.290374 0.653482 +#24080 1721121332390 +SLAM 25.2247 -9.29821 20.6818 -0.784825 -0.011332 -0.0066596 0.619578 +TTool-pose None -29.5713 9.49779 10.3189 0.291299 0.635513 0.290158 0.653497 +#24081 1721121332428 +SLAM 25.223 -9.30968 20.6778 -0.784221 -0.0115297 -0.00671718 0.620338 +TTool-pose None -29.5717 9.50002 10.3145 0.29056 0.635893 0.289647 0.653683 +#24082 1721121332468 +SLAM 25.2126 -9.25377 20.8101 -0.787374 -0.0113313 -0.0069326 0.616333 +TTool-pose None -29.5692 9.53824 10.3751 0.293845 0.634251 0.292932 0.652345 +#24083 1721121332511 +SLAM 25.2377 -9.40253 20.5888 -0.781034 -0.0117932 -0.00642307 0.624344 +TTool-pose None -29.5772 9.49566 10.307 0.28728 0.637592 0.286313 0.654946 +#24084 1721121332553 +SLAM 25.24 -9.4444 20.5605 -0.780128 -0.0117709 -0.00661861 0.625474 +TTool-pose None -29.5842 9.48223 10.3032 0.286211 0.637915 0.285515 0.655448 +#24085 1721121332596 +SLAM 25.2382 -9.43761 20.5546 -0.780826 -0.0112408 -0.00622289 0.624616 +TTool-pose None -29.5699 9.49443 10.3158 0.287355 0.637403 0.285787 0.655326 +#24086 1721121332640 +SLAM 25.238 -9.47069 20.5295 -0.779786 -0.0112839 -0.0063224 0.625912 +TTool-pose None -29.5722 9.49114 10.3068 0.286183 0.637859 0.284814 0.65582 +#24087 1721121332685 +SLAM 25.2509 -9.50929 20.4639 -0.777914 -0.0114207 -0.00613161 0.628237 +TTool-pose None -29.5789 9.48038 10.2855 0.284282 0.638834 0.282847 0.656548 +#24088 1721121332728 +SLAM 25.2534 -9.51339 20.4634 -0.777818 -0.0114707 -0.0060366 0.628356 +TTool-pose None -29.5789 9.48336 10.2926 0.284223 0.638939 0.282705 0.656532 +#24089 1721121332772 +SLAM 25.2488 -9.53666 20.4659 -0.777522 -0.0114222 -0.00606611 0.628722 +TTool-pose None -29.5749 9.49178 10.3034 0.283909 0.639028 0.28241 0.656709 +#24090 1721121332815 +SLAM 25.2522 -9.57386 20.4191 -0.776166 -0.0114797 -0.00598721 0.630395 +TTool-pose None -29.5754 9.48263 10.2934 0.282513 0.639681 0.281013 0.657274 +#24091 1721121332857 +SLAM 25.2757 -9.69685 20.2728 -0.771049 -0.011909 -0.00555104 0.636641 +TTool-pose None -29.5853 9.47576 10.262 0.277284 0.642287 0.275743 0.659189 +#24092 1721121332899 +SLAM 25.2811 -9.80534 20.1524 -0.767933 -0.0115857 -0.0050379 0.640406 +TTool-pose None -29.5734 9.4709 10.2614 0.274451 0.643557 0.272194 0.660609 +#24093 1721121332943 +SLAM 25.2811 -9.94304 20.0461 -0.765637 -0.0106957 -0.00484319 0.643166 +TTool-pose None -29.5641 9.46273 10.2828 0.272464 0.644004 0.269485 0.662104 +#24094 1721121332978 +SLAM 25.5671 -10.6881 18.5296 -0.734289 0.00575249 0.00962583 0.678745 +TTool-pose None -29.4205 10.1058 9.90178 0.254647 0.649976 0.224159 0.680016 +#24095 1721121333013 +SLAM 25.4684 -10.3321 19.0963 -0.736288 -0.0120549 0.00184334 0.676559 +TTool-pose None -29.5583 9.55555 10.0266 0.246193 0.658142 0.236986 0.670864 +#24096 1721121333046 +SLAM 25.5433 -10.2799 18.1531 -0.736105 -0.00553988 0.00926853 0.676782 +TTool-pose None -29.4254 9.20644 9.95175 0.252632 0.656494 0.229871 0.672558 +#24097 1721121333076 +SLAM 25.5077 -9.71826 18.8526 -0.752918 -0.011369 0.00760031 0.657972 +TTool-pose None -29.4435 9.1529 10.0902 0.266785 0.653554 0.249187 0.663009 +#24098 1721121333117 +SLAM 25.5629 -9.64055 18.8094 -0.756547 -0.00773984 0.0119704 0.653784 +TTool-pose None -29.3771 9.34435 10.1641 0.274341 0.651268 0.248737 0.662344 +#24099 1721121333149 +#24100 1721121333186 +SLAM 25.5959 -9.99269 18.2951 -0.742553 -0.00698745 0.0124719 0.669635 +TTool-pose None -29.3952 9.2534 10.0532 0.260642 0.656175 0.234527 0.668192 +#24101 1721121333225 +SLAM 25.5878 -9.90082 18.3233 -0.744731 -0.00680731 0.0128196 0.667207 +TTool-pose None -29.3791 9.24992 10.0324 0.263117 0.655385 0.236354 0.667352 +#24102 1721121333265 +SLAM 25.5903 -9.84062 18.4409 -0.746936 -0.00763364 0.0122895 0.664739 +TTool-pose None -29.3963 9.25257 10.0559 0.264763 0.654935 0.239108 0.666161 +#24103 1721121333304 +SLAM 25.5868 -9.86466 18.4708 -0.746994 -0.00757366 0.0120318 0.664679 +TTool-pose None -29.3989 9.27042 10.0711 0.264682 0.654793 0.239309 0.666261 +#24104 1721121333341 +SLAM 25.5906 -9.88711 18.3955 -0.745783 -0.00710453 0.0123954 0.666035 +TTool-pose None -29.3931 9.26316 10.0489 0.263827 0.655055 0.237744 0.666902 +#24105 1721121333378 +SLAM 25.5845 -9.92855 18.3685 -0.74474 -0.00695683 0.012394 0.667203 +TTool-pose None -29.3864 9.26827 10.0523 0.262816 0.655341 0.236684 0.667398 +#24106 1721121333414 +SLAM 25.5928 -9.89039 18.3781 -0.745639 -0.00710957 0.0126614 0.666192 +TTool-pose None -29.3881 9.25979 10.0582 0.263844 0.655196 0.237437 0.666866 +#24107 1721121333449 +SLAM 25.5825 -9.86464 18.4341 -0.74759 -0.00699663 0.012345 0.664009 +TTool-pose None -29.386 9.25441 10.0741 0.265664 0.654307 0.239495 0.666281 +#24108 1721121333485 +SLAM 25.5894 -9.89675 18.3988 -0.746145 -0.00698278 0.0123678 0.665632 +TTool-pose None -29.3921 9.25917 10.0627 0.264215 0.654837 0.238072 0.666846 +#24109 1721121333522 +SLAM 25.5942 -9.88764 18.392 -0.746301 -0.00696174 0.0125327 0.665455 +TTool-pose None -29.3926 9.25627 10.0638 0.264482 0.654819 0.238111 0.666744 +#24110 1721121333556 +SLAM 25.5883 -9.88271 18.4073 -0.746792 -0.00686964 0.0124757 0.664906 +TTool-pose None -29.3882 9.25962 10.0678 0.264974 0.654562 0.238593 0.666628 +#24111 1721121333590 +SLAM 25.5954 -9.91056 18.3306 -0.745177 -0.00624576 0.0129731 0.666712 +TTool-pose None -29.3818 9.27414 10.0398 0.263842 0.654915 0.2365 0.667476 +#24112 1721121333627 +SLAM 25.5943 -9.88852 18.3207 -0.745344 -0.00663697 0.0131117 0.666518 +TTool-pose None -29.3778 9.24997 10.043 0.263973 0.655147 0.236706 0.667123 +#24113 1721121333664 +SLAM 25.5968 -9.89299 18.3132 -0.744965 -0.00669732 0.0131961 0.666939 +TTool-pose None -29.3781 9.25365 10.0424 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-29.3902 9.2465 10.0643 0.265236 0.65497 0.238549 0.666139 +#24120 1721121333921 +SLAM 25.6006 -9.83941 18.3857 -0.746681 -0.00735344 0.013008 0.665014 +TTool-pose None -29.3875 9.24581 10.0622 0.265038 0.655081 0.238309 0.666195 +#24121 1721121333957 +SLAM 25.6007 -9.83273 18.396 -0.747004 -0.0073978 0.0130144 0.664651 +TTool-pose None -29.3874 9.2457 10.0677 0.265356 0.654992 0.238634 0.666039 +#24122 1721121333994 +SLAM 25.5942 -9.82633 18.4334 -0.747647 -0.00753473 0.0127255 0.663932 +TTool-pose None -29.3885 9.24757 10.0759 0.265786 0.65475 0.239488 0.665799 +#24123 1721121334032 +SLAM 25.5981 -9.81441 18.4551 -0.748138 -0.0075903 0.0127407 0.663377 +TTool-pose None -29.392 9.25445 10.0832 0.266278 0.654608 0.239976 0.665566 +#24124 1721121334067 +SLAM 25.5948 -9.82685 18.4237 -0.747311 -0.00769246 0.0127196 0.664309 +TTool-pose None -29.3896 9.24045 10.072 0.265391 0.654972 0.239218 0.665835 +#24125 1721121334108 +SLAM 25.5967 -9.79924 18.4365 -0.748002 -0.00772533 0.0128927 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-0.00735696 0.0126679 0.664647 +TTool-pose None -29.3891 9.25067 10.0748 0.265165 0.654852 0.238851 0.666176 +#24132 1721121334384 +SLAM 25.5932 -9.85249 18.409 -0.747082 -0.00717004 0.0127292 0.664571 +TTool-pose None -29.3869 9.25303 10.0692 0.265331 0.654727 0.238815 0.666245 +#24133 1721121334421 +SLAM 25.5933 -9.8392 18.4403 -0.747634 -0.00744345 0.0125856 0.663949 +TTool-pose None -29.391 9.25189 10.0794 0.265716 0.654652 0.239535 0.665907 +#24134 1721121334456 +SLAM 25.5895 -9.84175 18.4315 -0.747756 -0.00717814 0.0126963 0.663813 +TTool-pose None -29.384 9.25536 10.0785 0.265992 0.654473 0.239494 0.665986 +#24135 1721121334491 +SLAM 25.5946 -9.85152 18.4073 -0.746932 -0.00730535 0.0127218 0.664739 +TTool-pose None -29.3887 9.2495 10.069 0.265131 0.654866 0.238719 0.666222 +#24136 1721121334527 +SLAM 25.5909 -9.83705 18.4612 -0.747801 -0.00764416 0.0122926 0.663765 +TTool-pose None -29.3965 9.2477 10.0792 0.265641 0.654624 0.239951 0.665814 +#24137 1721121334568 +SLAM 25.589 -9.84018 18.477 -0.748029 -0.00766537 0.0121283 0.663511 +TTool-pose None -29.3988 9.24904 10.0841 0.265764 0.6545 0.240284 0.665766 +#24138 1721121334604 +SLAM 25.5833 -9.85105 18.4887 -0.748041 -0.00756343 0.0119944 0.663501 +TTool-pose None -29.3963 9.2583 10.0865 0.265726 0.654388 0.240347 0.665869 +#24139 1721121334640 +SLAM 25.582 -9.85767 18.4513 -0.747523 -0.00741006 0.0121652 0.664084 +TTool-pose None -29.3907 9.24892 10.0758 0.265353 0.654537 0.239683 0.666111 +#24140 1721121334676 +SLAM 25.5861 -9.85967 18.448 -0.747261 -0.00750712 0.0121596 0.664377 +TTool-pose None -29.395 9.24852 10.0738 0.265053 0.654694 0.239464 0.666155 +#24141 1721121334714 +SLAM 25.5844 -9.85069 18.4784 -0.748041 -0.00737917 0.0120773 0.663502 +TTool-pose None -29.3953 9.25954 10.0813 0.265835 0.654298 0.240232 0.665956 +#24142 1721121334752 +SLAM 25.5863 -9.87471 18.4295 -0.746782 -0.00727017 0.0122717 0.664916 +TTool-pose None -29.3919 9.25716 10.069 0.264712 0.654755 0.238848 0.666452 +#24143 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0.044769 0.657915 +TTool-pose None -29.4648 9.62097 10.3952 0.292175 0.658713 0.221126 0.657127 +#24167 1721121335677 +SLAM 27.0169 -8.43329 16.4454 -0.748991 0.00133368 0.0620798 0.659664 +TTool-pose None -29.5992 9.76732 10.4403 0.301114 0.663226 0.20702 0.653135 +#24168 1721121335705 +#24169 1721121335742 +#24170 1721121335773 +#24171 1721121335801 +#24172 1721121335828 +#24173 1721121335863 +#24174 1721121335894 +#24175 1721121335924 +#24176 1721121335957 +#24177 1721121335989 +SLAM 31.7788 -1.88115 5.81305 -0.729212 0.0381763 0.266729 0.629006 +TTool-pose None -31.7522 11.7647 12.202 0.435624 0.682281 0.0609968 0.583933 +#24178 1721121336017 +SLAM 32.2274 -0.871331 6.3331 -0.73164 0.0232466 0.270055 0.625486 +TTool-pose None -32.1233 11.908 12.3535 0.435608 0.6916 0.0664202 0.572272 +#24179 1721121336048 +SLAM 32.0628 -0.38594 4.82343 -0.724443 0.033091 0.290598 0.624212 +TTool-pose None -32.0456 12.0606 12.3037 0.447131 0.689 0.0459573 0.56852 +#24180 1721121336086 +SLAM 32.186 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1721121336529 +SLAM 29.9205 4.57371 -1.55702 -0.690189 0.0394651 0.422504 0.58615 +TTool-pose None -30.7929 13.0086 13.3932 0.520512 0.69436 -0.04971 0.494393 +#24193 1721121336570 +SLAM 29.5506 4.98947 -2.12079 -0.684782 0.0401495 0.433766 0.584216 +TTool-pose None -30.6355 13.0411 13.4178 0.524791 0.694738 -0.0598647 0.488172 +#24194 1721121336608 +SLAM 29.0545 5.39713 -2.90523 -0.679296 0.0440345 0.448685 0.579051 +TTool-pose None -30.3963 13.1598 13.4544 0.533352 0.692268 -0.0724453 0.480638 +#24195 1721121336639 +SLAM 28.6496 5.84576 -3.47673 -0.673205 0.0446611 0.460725 0.576656 +TTool-pose None -30.2381 13.2208 13.4936 0.537802 0.692441 -0.0833519 0.473611 +#24196 1721121336674 +SLAM 28.0622 6.36407 -4.19394 -0.668304 0.0457667 0.477359 0.568686 +TTool-pose None -29.9315 13.306 13.6265 0.547829 0.690796 -0.0948579 0.462217 +#24197 1721121336708 +SLAM 27.5557 6.85278 -4.70381 -0.664246 0.0445375 0.490413 0.562396 +TTool-pose None -29.6937 13.3099 13.7333 0.554902 0.690763 -0.10331 0.4519 +#24198 1721121336746 +SLAM 27.0345 7.39074 -5.17772 -0.664566 0.0419205 0.504955 0.549195 +TTool-pose None -29.4044 13.3267 13.9505 0.567546 0.689286 -0.107368 0.437267 +#24199 1721121336776 +SLAM 25.1155 8.63968 -7.16476 -0.649069 0.0464406 0.54984 0.523668 +TTool-pose None -28.6002 13.5075 14.2303 0.594967 0.680671 -0.139026 0.404128 +#24200 1721121336815 +SLAM 24.1336 9.29556 -8.12273 -0.637442 0.0480325 0.570821 0.51529 +TTool-pose None -28.3177 13.5783 14.3127 0.603622 0.677752 -0.157473 0.38915 +#24201 1721121336851 +SLAM 23.6458 9.75446 -8.58978 -0.6317 0.0470391 0.582933 0.508853 +TTool-pose None -28.1824 13.673 14.44 0.609161 0.676626 -0.166381 0.378625 +#24202 1721121336885 +SLAM 22.6994 10.0602 -9.50971 -0.620534 0.0534233 0.601362 0.500447 +TTool-pose None -27.8593 13.8185 14.4928 0.618093 0.669912 -0.184485 0.367533 +#24203 1721121336922 +SLAM 22.0194 10.4329 -10.091 -0.61177 0.0552076 0.614441 0.495128 +TTool-pose None -27.6852 13.9001 14.5411 0.622801 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14.5695 0.646499 0.649303 -0.244154 0.317413 +#24210 1721121337170 +SLAM 18.2901 11.7439 -12.8924 -0.57779 0.0660876 0.672666 0.457506 +TTool-pose None -26.9847 13.9027 14.6034 0.652547 0.645437 -0.246924 0.310703 +#24211 1721121337203 +SLAM 18.3058 11.8411 -12.8255 -0.575547 0.0658513 0.672508 0.46059 +TTool-pose None -26.9918 13.9607 14.5519 0.649912 0.646706 -0.249104 0.311846 +#24212 1721121337236 +SLAM 18.2645 11.8732 -12.8652 -0.575001 0.065964 0.672502 0.461263 +TTool-pose None -27.0383 13.9344 14.515 0.649371 0.64687 -0.249687 0.312169 +#24213 1721121337270 +SLAM 18.1784 11.9448 -12.9746 -0.573177 0.0672254 0.672647 0.463135 +TTool-pose None -27.1462 13.9273 14.415 0.648071 0.64667 -0.251915 0.313493 +#24214 1721121337301 +SLAM 18.2267 11.9727 -12.9762 -0.573345 0.0669307 0.671568 0.464534 +TTool-pose None -27.2265 13.9052 14.3886 0.64696 0.647412 -0.251468 0.314613 +#24215 1721121337337 +SLAM 18.1634 11.894 -13.1664 -0.572737 0.0701379 0.671011 0.465615 +TTool-pose None -27.3496 13.8705 14.2982 0.646897 0.645634 -0.252892 0.317247 +#24216 1721121337376 +SLAM 18.3037 11.9496 -13.1601 -0.576529 0.0678512 0.669828 0.46297 +TTool-pose None -27.4644 13.8479 14.3631 0.648754 0.646305 -0.248206 0.315784 +#24217 1721121337416 +SLAM 18.1991 11.6768 -13.5159 -0.578951 0.0728918 0.669897 0.459065 +TTool-pose None -27.578 13.7613 14.3447 0.653261 0.641474 -0.247189 0.31714 +#24218 1721121337452 +SLAM 18.8211 11.8385 -13.1999 -0.584475 0.0675893 0.663741 0.46181 +TTool-pose None -27.8193 13.8579 14.4416 0.650436 0.646289 -0.238972 0.319459 +#24219 1721121337486 +SLAM 19.1227 11.5954 -13.3296 -0.587241 0.0723124 0.659519 0.463632 +TTool-pose None -28.0337 13.9322 14.4051 0.650538 0.643856 -0.236715 0.325789 +#24220 1721121337517 +SLAM 19.6211 11.4906 -13.2758 -0.595908 0.0698319 0.653889 0.460919 +TTool-pose None -28.3114 13.8805 14.5468 0.652767 0.644696 -0.226102 0.327202 +#24221 1721121337550 +SLAM 19.6117 11.1819 -13.6458 -0.594673 0.0788921 0.653015 0.462289 +TTool-pose None -28.4577 13.9841 14.4226 0.653885 0.639029 -0.229737 0.333499 +#24222 1721121337579 +SLAM 19.2356 10.8956 -14.2456 -0.600365 0.084412 0.660447 0.442997 +TTool-pose None -28.3529 14.0483 14.6235 0.670251 0.627957 -0.226685 0.323988 +#24223 1721121337612 +SLAM 19.0278 11.1644 -14.6003 -0.593255 0.0858887 0.661234 0.451045 +TTool-pose None -28.7144 13.9724 14.4459 0.66397 0.62992 -0.234608 0.327455 +#24224 1721121337652 +SLAM 18.8921 11.2936 -14.7738 -0.593337 0.0852874 0.66374 0.447354 +TTool-pose None -28.7837 13.9825 14.4741 0.666587 0.628904 -0.234788 0.32394 +#24225 1721121337689 +SLAM 18.8652 11.5296 -14.8062 -0.59274 0.0824567 0.664838 0.447047 +TTool-pose None -28.8854 13.98 14.4973 0.66607 0.630707 -0.234822 0.321461 +#24226 1721121337723 +SLAM 18.891 11.8836 -14.664 -0.591143 0.0768836 0.665424 0.449276 +TTool-pose None -28.9476 13.9617 14.5339 0.66288 0.635336 -0.235042 0.318765 +#24227 1721121337755 +SLAM 18.7842 12.2787 -14.5064 -0.586489 0.0722058 0.667486 0.453078 +TTool-pose None -28.9227 13.9849 14.52 0.658394 0.639863 -0.238882 0.316142 +#24228 1721121337790 +SLAM 18.6844 12.8726 -14.2336 -0.580304 0.0642891 0.668798 0.460243 +TTool-pose None -28.9716 13.9389 14.4691 0.650313 0.647791 -0.24318 0.313431 +#24229 1721121337822 +SLAM 18.3417 13.5181 -13.9745 -0.575064 0.0546751 0.67392 0.460591 +TTool-pose None -28.8502 13.8875 14.4897 0.646887 0.654201 -0.246603 0.304394 +#24230 1721121337857 +SLAM 18.2829 13.5029 -14.0129 -0.57426 0.056645 0.672922 0.462809 +TTool-pose None -28.9135 13.8635 14.338 0.645655 0.653706 -0.247817 0.307078 +#24231 1721121337890 +SLAM 17.6794 12.6128 -14.862 -0.575005 0.0745238 0.680091 0.448655 +TTool-pose None -28.611 13.981 14.329 0.660935 0.636168 -0.253365 0.306879 +#24232 1721121337924 +SLAM 18.1775 12.9599 -14.4102 -0.580114 0.0636564 0.67314 0.454201 +TTool-pose None -28.8891 13.7718 14.3681 0.654648 0.645877 -0.243943 0.307709 +#24233 1721121337958 +SLAM 18.2888 12.9882 -14.2849 -0.580597 0.0623693 0.67116 0.456686 +TTool-pose None -28.9225 13.7402 14.3358 0.652511 0.647723 -0.242743 0.309312 +#24234 1721121338000 +SLAM 18.1615 13.0544 -14.2871 -0.578478 0.0621368 0.672356 0.457647 +TTool-pose None -28.8862 13.721 14.3004 0.651488 0.648179 -0.24504 0.308702 +#24235 1721121338041 +SLAM 17.976 13.0709 -14.375 -0.576315 0.0631711 0.673845 0.458043 +TTool-pose None -28.8678 13.6821 14.2433 0.651209 0.647559 -0.24779 0.308396 +#24236 1721121338079 +SLAM 17.8615 13.0801 -14.4228 -0.575316 0.0638575 0.674549 0.458167 +TTool-pose None -28.8622 13.6543 14.1898 0.651177 0.647107 -0.249121 0.30834 +#24237 1721121338117 +SLAM 17.6928 13.1076 -14.4983 -0.574331 0.0641571 0.676331 0.456732 +TTool-pose None -28.8302 13.6286 14.1688 0.652206 0.646311 -0.250509 0.306704 +#24238 1721121338155 +SLAM 17.6354 13.1247 -14.5004 -0.574152 0.0639472 0.676607 0.456578 +TTool-pose None -28.8233 13.6001 14.1434 0.652243 0.646386 -0.250677 0.306329 +#24239 1721121338189 +SLAM 17.4136 13.0906 -14.6397 -0.573065 0.0654762 0.679271 0.453763 +TTool-pose None -28.7555 13.5936 14.1381 0.654597 0.644215 -0.25266 0.304243 +#24240 1721121338224 +SLAM 17.3426 13.1456 -14.6385 -0.57189 0.0651734 0.680208 0.453885 +TTool-pose None -28.7309 13.6004 14.1292 0.654278 0.644419 -0.253921 0.303446 +#24241 1721121338258 +SLAM 17.3636 13.1581 -14.6319 -0.572291 0.0646384 0.680009 0.453753 +TTool-pose None -28.7469 13.5887 14.1423 0.654287 0.644744 -0.253327 0.303231 +#24242 1721121338294 +SLAM 17.4773 13.2353 -14.5238 -0.57332 0.0625183 0.678928 0.454371 +TTool-pose None -28.7748 13.5909 14.1633 0.653403 0.646455 -0.251498 0.303017 +#24243 1721121338334 +SLAM 17.42 13.2484 -14.5654 -0.573787 0.0620824 0.679972 0.452274 +TTool-pose None -28.7589 13.5837 14.1961 0.654897 0.645948 -0.251067 0.301224 +#24244 1721121338370 +SLAM 17.4095 13.2833 -14.577 -0.574371 0.0612321 0.680473 0.450893 +TTool-pose None -28.764 13.5815 14.2274 0.655765 0.646001 -0.250308 0.299849 +#24245 1721121338405 +SLAM 17.2471 13.2503 -14.7144 -0.573654 0.0626571 0.682485 0.448563 +TTool-pose None -28.7354 13.5797 14.2291 0.657764 0.644096 -0.251766 0.298342 +#24246 1721121338440 +SLAM 17.2979 13.2956 -14.6997 -0.573881 0.0620005 0.682185 0.44882 +TTool-pose None -28.7703 13.5962 14.2434 0.65743 0.644649 -0.251299 0.298277 +#24247 1721121338474 +SLAM 17.3374 13.2784 -14.7618 -0.573208 0.0633143 0.681624 0.450347 +TTool-pose None -28.8392 13.6179 14.2251 0.656569 0.644338 -0.252275 0.300019 +#24248 1721121338508 +SLAM 17.3589 13.3379 -14.8066 -0.572335 0.0634201 0.681349 0.451856 +TTool-pose None -28.9248 13.6266 14.2111 0.655374 0.644824 -0.25315 0.300852 +#24249 1721121338544 +SLAM 17.1952 13.3967 -14.9445 -0.571375 0.0638028 0.68335 0.449992 +TTool-pose None -28.9526 13.6171 14.2049 0.656721 0.643792 -0.254554 0.298929 +#24250 1721121338580 +SLAM 17.026 13.5228 -15.1847 -0.570653 0.0641266 0.684402 0.449263 +TTool-pose None -29.1546 13.544 14.139 0.657247 0.643256 -0.255546 0.298083 +#24251 1721121338616 +SLAM 17.0667 13.5844 -15.2082 -0.571884 0.0631562 0.684283 0.448015 +TTool-pose None -29.221 13.5538 14.1592 0.658067 0.64347 -0.253995 0.297133 +#24252 1721121338654 +SLAM 16.9933 13.5902 -15.3252 -0.571122 0.0642112 0.684945 0.447825 +TTool-pose None -29.2774 13.546 14.1416 0.658383 0.642651 -0.255176 0.297193 +#24253 1721121338691 +SLAM 16.9852 13.6347 -15.3903 -0.570144 0.0649141 0.684962 0.448942 +TTool-pose None -29.3513 13.5659 14.1146 0.657621 0.642576 -0.256375 0.298011 +#24254 1721121338727 +SLAM 16.9984 13.6813 -15.423 -0.571253 0.0638162 0.685072 0.44752 +TTool-pose None -29.4042 13.5493 14.1461 0.65852 0.642802 -0.254949 0.296758 +#24255 1721121338762 +SLAM 16.9596 13.7435 -15.4472 -0.571163 0.0630246 0.685571 0.446982 +TTool-pose None -29.4333 13.534 14.1509 0.658693 0.643118 -0.25489 0.295738 +#24256 1721121338796 +SLAM 17.0604 13.878 -15.3677 -0.572432 0.0602186 0.684425 0.447502 +TTool-pose None -29.5207 13.5061 14.1606 0.657736 0.645265 -0.252613 0.295142 +#24257 1721121338832 +SLAM 16.9124 13.8898 -15.4952 -0.571969 0.0608232 0.68593 0.445705 +TTool-pose None -29.542 13.478 14.1492 0.659148 0.644127 -0.253489 0.293722 +#24258 1721121338871 +SLAM 16.9196 13.9864 -15.4342 -0.571784 0.0592753 0.686269 0.445628 +TTool-pose None -29.5332 13.4973 14.1643 0.658767 0.645128 -0.253282 0.292556 +#24259 1721121338912 +SLAM 16.7215 13.8772 -15.6049 -0.570687 0.0620902 0.688125 0.443785 +TTool-pose None -29.4933 13.4828 14.1348 0.660709 0.642455 -0.25549 0.292136 +#24260 1721121338952 +SLAM 16.6918 13.8795 -15.6107 -0.56917 0.0633175 0.688367 0.445182 +TTool-pose None -29.4793 13.5229 14.0943 0.659813 0.642117 -0.257427 0.293205 +#24261 1721121338988 +SLAM 16.7401 13.9695 -15.5359 -0.570491 0.0605486 0.688308 0.443966 +TTool-pose None -29.4843 13.5011 14.1492 0.660142 0.643554 -0.255274 0.291185 +#24262 1721121339027 +SLAM 16.717 13.9954 -15.5301 -0.570374 0.0600121 0.688703 0.443577 +TTool-pose None -29.4739 13.4959 14.1609 0.660266 0.643754 -0.255297 0.290442 +#24263 1721121339060 +SLAM 16.6821 13.9745 -15.5625 -0.570172 0.0605056 0.688998 0.443311 +TTool-pose None -29.4697 13.4891 14.156 0.660562 0.643308 -0.255689 0.290412 +#24264 1721121339100 +SLAM 16.6587 13.8732 -15.6305 -0.569119 0.0634638 0.688715 0.444688 +TTool-pose None -29.4715 13.5173 14.0937 0.660203 0.641819 -0.257573 0.292849 +#24265 1721121339134 +SLAM 16.7227 13.9397 -15.5633 -0.571164 0.060545 0.688508 0.442789 +TTool-pose None -29.4793 13.4825 14.1653 0.661086 0.643118 -0.254613 0.290586 +#24266 1721121339167 +SLAM 16.7374 13.941 -15.556 -0.57121 0.0605002 0.688259 0.443123 +TTool-pose None -29.4881 13.4789 14.1607 0.660838 0.643284 -0.254517 0.290868 +#24267 1721121339202 +SLAM 16.7778 13.995 -15.5021 -0.571229 0.0594132 0.68794 0.443742 +TTool-pose None -29.4969 13.4806 14.1696 0.660101 0.644261 -0.254138 0.290709 +#24268 1721121339236 +SLAM 16.8371 14.0295 -15.4514 -0.571652 0.0585187 0.687352 0.444226 +TTool-pose None -29.5121 13.4824 14.1769 0.659567 0.645072 -0.253359 0.290801 +#24269 1721121339270 +SLAM 16.7397 13.9368 -15.556 -0.571553 0.0603422 0.688307 0.442628 +TTool-pose None -29.484 13.4773 14.1696 0.661201 0.643207 -0.254126 0.290552 +#24270 1721121339305 +SLAM 16.756 13.9834 -15.5208 -0.571206 0.0596756 0.688141 0.443423 +TTool-pose None -29.493 13.4778 14.1666 0.6604 0.643956 -0.254266 0.290593 +#24271 1721121339341 +SLAM 16.6023 13.9522 -15.6171 -0.569635 0.0612272 0.689768 0.442704 +TTool-pose None -29.4549 13.4791 14.1469 0.661121 0.642556 -0.256557 0.290039 +#24272 1721121339376 +SLAM 16.6027 13.9374 -15.6092 -0.568089 0.0628613 0.689514 0.444852 +TTool-pose None -29.4463 13.5265 14.0902 0.659784 0.642242 -0.258569 0.291988 +#24273 1721121339412 +SLAM 16.4326 13.9015 -15.7004 -0.568546 0.0626776 0.691566 0.441094 +TTool-pose None -29.3864 13.4759 14.13 0.662519 0.640886 -0.258345 0.288956 +#24274 1721121339446 +SLAM 16.4896 14.0615 -15.5633 -0.568732 0.0592133 0.691333 0.441697 +TTool-pose None -29.3903 13.4614 14.1643 0.661187 0.643462 -0.257125 0.287359 +#24275 1721121339481 +SLAM 16.4543 14.025 -15.588 -0.568379 0.0601664 0.691526 0.441721 +TTool-pose None -29.3747 13.4653 14.1424 0.661375 0.642815 -0.257789 0.287779 +#24276 1721121339514 +SLAM 16.4001 14.0132 -15.5909 -0.56693 0.061308 0.691927 0.442797 +TTool-pose None -29.342 13.4869 14.1027 0.660698 0.64241 -0.259657 0.288561 +#24277 1721121339549 +SLAM 16.1996 13.8975 -15.7556 -0.566175 0.0638165 0.693948 0.440238 +TTool-pose None -29.2887 13.4686 14.0921 0.663101 0.63966 -0.26143 0.287554 +#24278 1721121339584 +SLAM 16.2255 13.9718 -15.698 -0.566496 0.062024 0.693954 0.440072 +TTool-pose None -29.29 13.4594 14.1199 0.662793 0.640815 -0.26059 0.286455 +#24279 1721121339619 +SLAM 16.2443 13.9668 -15.688 -0.56565 0.0628723 0.693404 0.441904 +TTool-pose None -29.3054 13.4732 14.0793 0.661576 0.640938 -0.261622 0.288047 +#24280 1721121339655 +SLAM 16.2376 13.9406 -15.6996 -0.564752 0.0641668 0.693219 0.443154 +TTool-pose None -29.3044 13.4953 14.041 0.660886 0.640523 -0.262882 0.289405 +#24281 1721121339689 +SLAM 16.2514 13.9992 -15.6581 -0.566619 0.0614028 0.693567 0.440611 +TTool-pose None -29.2963 13.4527 14.1132 0.662257 0.641455 -0.260232 0.286586 +#24282 1721121339723 +SLAM 16.3036 14.054 -15.5884 -0.566627 0.0603685 0.693102 0.441473 +TTool-pose None -29.2998 13.4631 14.1145 0.661361 0.642496 -0.259862 0.286659 +#24283 1721121339758 +SLAM 16.1223 13.9639 -15.7238 -0.565333 0.0626882 0.694846 0.440065 +TTool-pose None -29.253 13.4489 14.0932 0.662806 0.640307 -0.262093 0.286186 +#24284 1721121339794 +SLAM 16.2043 14.0246 -15.6305 -0.564829 0.0619846 0.693957 0.442211 +TTool-pose None -29.2622 13.4767 14.0747 0.661001 0.641617 -0.262284 0.287252 +#24285 1721121339828 +SLAM 16.111 13.9393 -15.7123 -0.564634 0.0636179 0.694783 0.440928 +TTool-pose None -29.2286 13.4684 14.062 0.66233 0.639993 -0.263065 0.287099 +#24286 1721121339863 +SLAM 16.1159 13.98 -15.6645 -0.564488 0.0628153 0.695034 0.440834 +TTool-pose None -29.2012 13.4844 14.0745 0.662164 0.640489 -0.263019 0.286418 +#24287 1721121339905 +SLAM 15.9996 13.8619 -15.7629 -0.562934 0.066061 0.695804 0.441134 +TTool-pose None -29.1588 13.4996 14.0177 0.662575 0.638344 -0.265637 0.287836 +#24288 1721121339937 +SLAM 16.0436 13.9388 -15.6786 -0.563651 0.0637082 0.695635 0.44083 +TTool-pose None -29.1519 13.4791 14.056 0.662281 0.639843 -0.264212 0.286492 +#24289 1721121339974 +SLAM 16.0697 13.9396 -15.6508 -0.565006 0.06242 0.695472 0.439534 +TTool-pose None -29.1446 13.4475 14.0924 0.663069 0.640257 -0.262436 0.285373 +#24290 1721121340008 +SLAM 16.0641 13.9052 -15.6557 -0.564081 0.0637107 0.695265 0.440862 +TTool-pose None -29.1349 13.4658 14.057 0.662321 0.639876 -0.263723 0.286775 +#24291 1721121340045 +SLAM 16.1642 13.9881 -15.5475 -0.565009 0.0613923 0.694488 0.441227 +TTool-pose None -29.1455 13.4646 14.0884 0.661579 0.641629 -0.262004 0.286147 +#24292 1721121340083 +SLAM 16.1466 13.9414 -15.5724 -0.565033 0.0621866 0.694509 0.441054 +TTool-pose None -29.1354 13.4602 14.0784 0.661918 0.641027 -0.26221 0.286523 +#24293 1721121340117 +SLAM 16.1165 13.9326 -15.5727 -0.565741 0.0613483 0.694962 0.439546 +TTool-pose None -29.1093 13.4267 14.1117 0.662882 0.641019 -0.261307 0.285131 +#24294 1721121340150 +SLAM 16.2127 13.9851 -15.4739 -0.566725 0.0596171 0.694128 0.439834 +TTool-pose None -29.1113 13.4311 14.1333 0.662354 0.642347 -0.259688 0.284849 +#24295 1721121340184 +SLAM 16.2031 13.9552 -15.4689 -0.566286 0.0603203 0.694013 0.440485 +TTool-pose None -29.0935 13.4339 14.1117 0.662011 0.642115 -0.260324 0.285589 +#24296 1721121340219 +SLAM 16.2868 13.9711 -15.3894 -0.565957 0.0602284 0.692942 0.442602 +TTool-pose None -29.0971 13.4567 14.0873 0.660414 0.643009 -0.260484 0.287127 +#24297 1721121340252 +SLAM 16.1565 13.9004 -15.4839 -0.566512 0.0607565 0.694401 0.439523 +TTool-pose None -29.0516 13.4148 14.1135 0.662852 0.641446 -0.260271 0.285189 +#24298 1721121340285 +SLAM 16.2236 13.952 -15.396 -0.565798 0.0603336 0.693617 0.441732 +TTool-pose None -29.0531 13.4447 14.0879 0.661047 0.642582 -0.260771 0.286364 +#24299 1721121340319 +SLAM 16.2363 13.9467 -15.3818 -0.566709 0.0596461 0.693488 0.440861 +TTool-pose None -29.0487 13.4236 14.1056 0.661621 0.642739 -0.259624 0.285726 +#24300 1721121340353 +SLAM 16.1967 13.9185 -15.4136 -0.566681 0.0601246 0.693857 0.44025 +TTool-pose None -29.0363 13.4157 14.1036 0.662185 0.642171 -0.259842 0.285499 +#24301 1721121340387 +SLAM 16.1334 13.8392 -15.4926 -0.56631 0.061918 0.694254 0.439853 +TTool-pose None -29.0273 13.411 14.0809 0.662895 0.640788 -0.260791 0.286092 +#24302 1721121340421 +SLAM 16.1477 13.8492 -15.4761 -0.56635 0.0617254 0.694231 0.439866 +TTool-pose None -29.0214 13.4221 14.0862 0.66284 0.640925 -0.260692 0.286003 +#24303 1721121340455 +SLAM 16.1788 13.8412 -15.463 -0.566727 0.0616972 0.693929 0.439859 +TTool-pose None -29.0233 13.4293 14.0893 0.662891 0.64096 -0.260256 0.286203 +#24304 1721121340490 +SLAM 16.1972 13.8451 -15.451 -0.567225 0.0612579 0.69383 0.439434 +TTool-pose None -29.0232 13.4261 14.1029 0.663151 0.641109 -0.259606 0.285858 +#24305 1721121340533 +SLAM 16.1833 13.8018 -15.4831 -0.567316 0.0620412 0.693874 0.439138 +TTool-pose None -29.02 13.425 14.0971 0.663585 0.640468 -0.259743 0.286163 +#24306 1721121340595 +SLAM 16.0861 13.6869 -15.5965 -0.566375 0.0649343 0.69452 0.438913 +TTool-pose None -29.0011 13.4302 14.0571 0.664377 0.638384 -0.261621 0.287271 +#24307 1721121340634 +SLAM 16.074 13.6487 -15.6254 -0.56666 0.0654429 0.694593 0.438353 +TTool-pose None -28.9979 13.4244 14.0591 0.664953 0.63783 -0.261483 0.287293 +#24308 1721121340673 +SLAM 16.0635 13.6552 -15.6257 -0.566417 0.0655221 0.694794 0.438338 +TTool-pose None -28.9901 13.4342 14.0583 0.66495 0.637759 -0.261782 0.287187 +#24309 1721121340716 +SLAM 16.1598 13.7251 -15.5411 -0.56786 0.0630094 0.69395 0.438175 +TTool-pose None -29.0174 13.4059 14.1005 0.664611 0.639456 -0.259472 0.286293 +#24310 1721121340751 +SLAM 16.0714 13.4596 -15.7307 -0.568935 0.0673037 0.694493 0.435272 +TTool-pose None -28.9806 13.3983 14.0898 0.667971 0.635444 -0.259658 0.287238 +#24311 1721121340797 +SLAM 16.1699 13.3544 -15.7465 -0.570472 0.0684196 0.693154 0.435222 +TTool-pose None -29.0072 13.3984 14.0904 0.668513 0.634744 -0.25821 0.288827 +#24312 1721121340829 +SLAM 16.0623 13.1178 -15.912 -0.569401 0.0738857 0.693727 0.434818 +TTool-pose None -28.9594 13.442 14.0245 0.670059 0.630831 -0.260916 0.291375 +#24313 1721121340865 +SLAM 16.2443 12.9263 -15.9206 -0.574473 0.0739545 0.691798 0.431192 +TTool-pose None -28.9756 13.4086 14.0992 0.673361 0.629552 -0.255435 0.291386 +#24314 1721121340906 +SLAM 16.1654 12.5669 -16.1365 -0.574856 0.0806977 0.691658 0.429695 +TTool-pose None -28.9423 13.4309 14.0359 0.676177 0.624379 -0.256866 0.294723 +#24315 1721121340942 +SLAM 16.1054 12.2354 -16.3351 -0.5778 0.0846949 0.691807 0.424708 +TTool-pose None -28.9135 13.3925 14.059 0.681092 0.619749 -0.254889 0.294893 +#24316 1721121340977 +SLAM 16.1098 11.8947 -16.4878 -0.580526 0.089135 0.691302 0.420887 +TTool-pose None -28.8781 13.3935 14.0711 0.685223 0.615263 -0.253145 0.29622 +#24317 1721121341011 +SLAM 16.0232 11.2994 -16.7992 -0.581817 0.0996521 0.690463 0.418114 +TTool-pose None -28.8378 13.4291 13.9832 0.689825 0.606943 -0.254415 0.301572 +#24318 1721121341048 +SLAM 16.9251 11.3791 -16.2755 -0.59101 0.0927478 0.681463 0.421561 +TTool-pose None -28.9803 13.4885 14.1031 0.686873 0.613449 -0.241818 0.305488 +#24319 1721121341082 +SLAM 16.5275 10.2106 -16.9985 -0.597955 0.108375 0.683669 0.404105 +TTool-pose None -28.8426 13.3739 14.1472 0.703473 0.595676 -0.238578 0.305432 +#24320 1721121341115 +SLAM 16.5521 9.80338 -17.1346 -0.600232 0.114366 0.682388 0.401233 +TTool-pose None -28.8124 13.4016 14.1243 0.707022 0.590372 -0.237428 0.308419 +#24321 1721121341150 +SLAM 16.6428 9.49624 -17.2073 -0.604236 0.11707 0.68063 0.397413 +TTool-pose None -28.8265 13.3635 14.1482 0.71065 0.586995 -0.233521 0.309508 +#24322 1721121341183 +SLAM 16.4904 9.19474 -17.3839 -0.603614 0.122782 0.681569 0.395016 +TTool-pose None -28.7591 13.3965 14.1148 0.713449 0.58197 -0.235631 0.310958 +#24323 1721121341217 +SLAM 16.5955 9.10212 -17.3675 -0.606973 0.121957 0.68048 0.391991 +TTool-pose None -28.7778 13.3525 14.1705 0.715679 0.581362 -0.231634 0.30997 +#24324 1721121341252 +SLAM 16.4819 8.92845 -17.473 -0.605437 0.126205 0.681047 0.392038 +TTool-pose None -28.7324 13.3952 14.1166 0.716383 0.578358 -0.234362 0.31191 +#24325 1721121341284 +SLAM 16.4107 8.81854 -17.5505 -0.606973 0.126686 0.681844 0.388102 +TTool-pose None -28.7123 13.3498 14.1558 0.719317 0.576395 -0.232834 0.309929 +#24326 1721121341318 +SLAM 16.468 8.80341 -17.5186 -0.606209 0.127795 0.680949 0.390497 +TTool-pose None -28.7159 13.393 14.1212 0.717839 0.576608 -0.23386 0.31218 +#24327 1721121341350 +SLAM 16.4542 8.78898 -17.5272 -0.606213 0.127977 0.681144 0.390091 +TTool-pose None -28.7057 13.3938 14.1261 0.718154 0.576308 -0.233913 0.31197 +#24328 1721121341383 +SLAM 16.387 8.76505 -17.5767 -0.60505 0.129256 0.68139 0.391043 +TTool-pose None -28.7141 13.3911 14.0868 0.717651 0.575779 -0.235512 0.312901 +#24329 1721121341418 +SLAM 16.3091 8.77044 -17.6126 -0.605887 0.128178 0.682733 0.387746 +TTool-pose None -28.686 13.3548 14.1351 0.719758 0.575165 -0.23445 0.30997 +#24330 1721121341452 +SLAM 16.333 8.78836 -17.5949 -0.606645 0.127313 0.68262 0.387044 +TTool-pose None -28.6917 13.3411 14.152 0.720132 0.575496 -0.233403 0.309277 +#24331 1721121341486 +SLAM 16.2407 8.77816 -17.6435 -0.606076 0.127748 0.683715 0.385859 +TTool-pose None -28.6672 13.3372 14.1535 0.720968 0.574672 -0.234219 0.308242 +#24332 1721121341523 +SLAM 16.2826 8.81558 -17.6051 -0.605256 0.127937 0.683108 0.38815 +TTool-pose None -28.6776 13.3655 14.1237 0.719371 0.57549 -0.235127 0.309752 +#24333 1721121341556 +SLAM 16.1512 8.73094 -17.6944 -0.604198 0.13001 0.684309 0.386993 +TTool-pose None -28.6397 13.3721 14.1062 0.720473 0.573508 -0.236863 0.309543 +#24334 1721121341589 +SLAM 16.241 8.74679 -17.6492 -0.605418 0.128894 0.683397 0.387072 +TTool-pose None -28.6663 13.3562 14.1252 0.720315 0.574362 -0.235186 0.309607 +#24335 1721121341622 +SLAM 16.1403 8.63017 -17.7403 -0.606312 0.129883 0.684507 0.383363 +TTool-pose None -28.6352 13.3221 14.1571 0.723115 0.57211 -0.234492 0.30777 +#24336 1721121341655 +SLAM 16.2019 8.58483 -17.7204 -0.606147 0.131108 0.683479 0.385038 +TTool-pose None -28.6442 13.3531 14.1283 0.722216 0.571955 -0.234875 0.30987 +#24337 1721121341688 +SLAM 16.13 8.48658 -17.7827 -0.606251 0.132564 0.684218 0.383057 +TTool-pose None -28.6096 13.3541 14.1375 0.723859 0.570085 -0.235135 0.309286 +#24338 1721121341724 +SLAM 16.1595 8.40163 -17.7995 -0.606513 0.1341 0.683277 0.383785 +TTool-pose None -28.6295 13.3576 14.1062 0.723702 0.569316 -0.235112 0.311082 +#24339 1721121341757 +SLAM 16.1922 8.42834 -17.7726 -0.607203 0.133179 0.683256 0.383053 +TTool-pose None -28.6258 13.3588 14.1291 0.72408 0.569674 -0.234136 0.310284 +#24340 1721121341794 +SLAM 16.1924 8.45987 -17.7628 -0.607409 0.132409 0.683318 0.382883 +TTool-pose None -28.6328 13.3423 14.1354 0.72406 0.57015 -0.233741 0.309752 +#24341 1721121341828 +SLAM 16.2195 8.47947 -17.7508 -0.608265 0.131376 0.683178 0.382128 +TTool-pose None -28.6475 13.3197 14.1577 0.724444 0.57058 -0.232543 0.308963 +#24342 1721121341863 +SLAM 16.35 8.54811 -17.6507 -0.608755 0.13013 0.682147 0.383614 +TTool-pose None -28.6515 13.3558 14.1696 0.723236 0.572105 -0.231643 0.309647 +#24343 1721121341903 +SLAM 16.3871 8.54733 -17.6421 -0.608832 0.130214 0.681491 0.384626 +TTool-pose None -28.6786 13.3521 14.1556 0.722577 0.572478 -0.231526 0.310585 +#24344 1721121341938 +SLAM 16.3464 8.49926 -17.6735 -0.608573 0.131205 0.681753 0.384235 +TTool-pose None -28.6646 13.3548 14.1451 0.723017 0.571606 -0.232056 0.31077 +#24345 1721121341974 +SLAM 16.4555 8.56336 -17.5973 -0.609069 0.129972 0.680786 0.38558 +TTool-pose None -28.6854 13.3713 14.1525 0.721904 0.57306 -0.231153 0.311354 +#24346 1721121342010 +SLAM 16.3194 8.57048 -17.6818 -0.60878 0.129497 0.682361 0.383406 +TTool-pose None -28.6826 13.3147 14.1746 0.72325 0.572464 -0.231489 0.309066 +#24347 1721121342045 +SLAM 16.3013 8.66394 -17.6534 -0.608129 0.128339 0.683044 0.383614 +TTool-pose None -28.6654 13.3305 14.1845 0.722809 0.573352 -0.232009 0.308057 +#24348 1721121342082 +SLAM 16.437 8.8566 -17.5161 -0.607611 0.125741 0.681814 0.387462 +TTool-pose None -28.7066 13.3541 14.167 0.719618 0.576805 -0.231906 0.309161 +#24349 1721121342120 +SLAM 16.4281 9.06322 -17.455 -0.606315 0.123003 0.682442 0.389263 +TTool-pose None -28.7221 13.3517 14.1698 0.717696 0.579459 -0.232771 0.308012 +#24350 1721121342155 +SLAM 16.1261 9.58846 -17.425 -0.59999 0.117412 0.687047 0.392674 +TTool-pose None -28.6985 13.3283 14.1605 0.713529 0.584642 -0.23884 0.303211 +#24351 1721121342187 +SLAM 16.4857 10.0291 -17.0716 -0.599858 0.110433 0.683907 0.400307 +TTool-pose None -28.7997 13.3701 14.156 0.706758 0.592716 -0.237033 0.304807 +#24352 1721121342223 +SLAM 16.181 10.033 -17.2294 -0.596266 0.112584 0.687148 0.399524 +TTool-pose None -28.7423 13.375 14.1149 0.707382 0.590779 -0.241777 0.303391 +#24353 1721121342261 +SLAM 16.4192 10.3716 -16.9809 -0.59654 0.10652 0.68513 0.404215 +TTool-pose None -28.8289 13.3631 14.1331 0.702828 0.596966 -0.239803 0.303431 +#24354 1721121342301 +SLAM 16.1183 10.2726 -17.1686 -0.594235 0.109529 0.688222 0.401546 +TTool-pose None -28.7555 13.3561 14.1079 0.705085 0.593686 -0.243345 0.301804 +#24355 1721121342338 +SLAM 16.164 10.2848 -17.1463 -0.595162 0.108534 0.687933 0.400938 +TTool-pose None -28.7657 13.3409 14.1372 0.705387 0.594154 -0.242067 0.301204 +#24356 1721121342375 +SLAM 16.2976 10.1684 -17.1343 -0.597301 0.109411 0.686074 0.400703 +TTool-pose None -28.8016 13.3372 14.1399 0.705983 0.593515 -0.239779 0.302894 +#24357 1721121342415 +SLAM 16.347 10.0317 -17.1546 -0.597876 0.111674 0.685101 0.400885 +TTool-pose None -28.7966 13.3628 14.1192 0.706422 0.592034 -0.23961 0.304898 +#24358 1721121342451 +SLAM 16.5338 10.0821 -17.0322 -0.599265 0.110135 0.683434 0.402081 +TTool-pose None -28.8161 13.3957 14.142 0.705405 0.593647 -0.237561 0.305718 +#24359 1721121342486 +SLAM 16.6284 10.1507 -16.9683 -0.60112 0.107442 0.682638 0.401393 +TTool-pose None -28.8565 13.3474 14.187 0.705475 0.595286 -0.234801 0.304498 +#24360 1721121342522 +SLAM 16.7498 10.2346 -16.8625 -0.599975 0.107181 0.68122 0.405562 +TTool-pose None -28.8803 13.4045 14.1451 0.702407 0.59717 -0.235839 0.307091 +#24361 1721121342558 +SLAM 16.6603 10.1955 -16.9343 -0.600728 0.106902 0.682382 0.402557 +TTool-pose None -28.8645 13.3564 14.186 0.704509 0.596135 -0.23507 0.304867 +#24362 1721121342596 +SLAM 16.5822 10.0941 -17.0205 -0.600354 0.108948 0.682972 0.401566 +TTool-pose None -28.8474 13.3594 14.1724 0.705612 0.59429 -0.236039 0.30517 +#24363 1721121342630 +SLAM 16.634 10.0913 -16.9919 -0.600662 0.108873 0.682238 0.402372 +TTool-pose None -28.8623 13.36 14.1636 0.70507 0.594686 -0.235612 0.305979 +#24364 1721121342666 +SLAM 16.5879 10.0982 -17.0136 -0.600178 0.108985 0.682783 0.402139 +TTool-pose None -28.8529 13.3567 14.1632 0.705206 0.594498 -0.236222 0.305562 +#24365 1721121342701 +SLAM 16.6293 10.1224 -16.9793 -0.60082 0.108148 0.682664 0.401609 +TTool-pose None -28.8472 13.365 14.1865 0.705453 0.594877 -0.235305 0.30496 +#24366 1721121342736 +SLAM 16.695 10.1397 -16.9417 -0.601478 0.10746 0.681836 0.402213 +TTool-pose None -28.8734 13.3546 14.1868 0.70495 0.595625 -0.234335 0.305411 +#24367 1721121342772 +SLAM 16.7417 10.192 -16.906 -0.601022 0.10692 0.681095 0.40429 +TTool-pose None -28.9097 13.3499 14.1661 0.703342 0.596852 -0.234624 0.306501 +#24368 1721121342808 +SLAM 16.6892 10.181 -16.9309 -0.601019 0.107024 0.68198 0.402772 +TTool-pose None -28.877 13.3563 14.1849 0.704417 0.596148 -0.234743 0.305305 +#24369 1721121342842 +SLAM 16.7066 10.1814 -16.9204 -0.601321 0.106824 0.681826 0.402635 +TTool-pose None -28.8783 13.3556 14.1898 0.704499 0.596238 -0.234349 0.305244 +#24370 1721121342877 +SLAM 16.663 10.1454 -16.9564 -0.601131 0.107558 0.682274 0.401965 +TTool-pose None -28.8635 13.3574 14.1882 0.705107 0.595444 -0.234782 0.305056 +#24371 1721121342912 +SLAM 16.7675 10.2281 -16.8636 -0.600886 0.106512 0.681193 0.404434 +TTool-pose None -28.8862 13.3844 14.1744 0.703136 0.597192 -0.234681 0.306267 +#24372 1721121342947 +SLAM 16.7629 10.2278 -16.8677 -0.601277 0.106181 0.681191 0.403944 +TTool-pose None -28.8924 13.3658 14.1796 0.703442 0.597228 -0.234174 0.30588 +#24373 1721121342984 +SLAM 16.7636 10.2354 -16.8705 -0.601711 0.105639 0.681295 0.403265 +TTool-pose None -28.8971 13.3507 14.1969 0.703835 0.597334 -0.233578 0.305223 +#24374 1721121343019 +SLAM 16.6258 10.161 -16.9744 -0.600093 0.10798 0.682433 0.403131 +TTool-pose None -28.873 13.3545 14.1625 0.704286 0.595608 -0.236032 0.305669 +#24375 1721121343056 +SLAM 16.6791 10.206 -16.9186 -0.600097 0.107342 0.682062 0.40392 +TTool-pose None -28.8691 13.3792 14.1634 0.703597 0.596379 -0.235833 0.305906 +#24376 1721121343091 +SLAM 16.5987 10.1735 -16.9798 -0.599767 0.108045 0.682737 0.403083 +TTool-pose None -28.8651 13.3589 14.1547 0.7043 0.595533 -0.236434 0.305473 +#24377 1721121343127 +SLAM 16.5497 10.2149 -16.9867 -0.59914 0.107625 0.683463 0.402898 +TTool-pose None -28.8518 13.3574 14.1589 0.704268 0.59573 -0.237085 0.304656 +#24378 1721121343161 +SLAM 16.5332 10.1691 -16.9874 -0.597562 0.109706 0.683645 0.404369 +TTool-pose None -28.8051 13.4268 14.127 0.703544 0.594848 -0.239329 0.306293 +#24379 1721121343194 +SLAM 16.4006 10.2249 -17.023 -0.596453 0.108576 0.685758 0.402729 +TTool-pose None -28.7525 13.3991 14.1779 0.704307 0.594915 -0.240466 0.303505 +#24380 1721121343228 +SLAM 16.4082 10.084 -17.0447 -0.595375 0.111959 0.685485 0.403861 +TTool-pose None -28.6983 13.4751 14.1472 0.704154 0.593 -0.242435 0.306033 +#24381 1721121343261 +SLAM 16.5183 10.0399 -16.9256 -0.593661 0.113766 0.684857 0.406934 +TTool-pose None -28.5935 13.6073 14.1431 0.702229 0.592963 -0.244662 0.308746 +#24382 1721121343295 +SLAM 16.7301 10.0953 -16.7292 -0.597871 0.108482 0.684108 0.403459 +TTool-pose None -28.5338 13.5576 14.3181 0.703936 0.59533 -0.23874 0.304914 +#24383 1721121343328 +SLAM 16.7729 10.1163 -16.6152 -0.598394 0.106699 0.684629 0.402273 +TTool-pose None -28.4283 13.5697 14.397 0.704412 0.596089 -0.237784 0.303068 +#24384 1721121343364 +SLAM 16.7499 9.92676 -16.6402 -0.596559 0.111406 0.684189 0.404463 +TTool-pose None -28.3529 13.651 14.3238 0.703746 0.593673 -0.240886 0.306889 +#24385 1721121343397 +SLAM 16.8815 9.92674 -16.5178 -0.597824 0.110148 0.683185 0.404638 +TTool-pose None -28.3128 13.6684 14.3659 0.703484 0.59466 -0.239106 0.306971 +#24386 1721121343432 +SLAM 16.7281 9.96567 -16.5448 -0.598016 0.108157 0.685709 0.400602 +TTool-pose None -28.2276 13.6064 14.4473 0.705851 0.594367 -0.238659 0.302415 +#24387 1721121343472 +SLAM 16.7362 9.96909 -16.5354 -0.597601 0.108388 0.685249 0.401944 +TTool-pose None -28.2441 13.5991 14.42 0.704932 0.594755 -0.239123 0.303429 +#24388 1721121343511 +SLAM 16.6987 9.92598 -16.569 -0.597117 0.109663 0.685464 0.401951 +TTool-pose None -28.2321 13.6152 14.3972 0.705158 0.593856 -0.239982 0.303985 +#24389 1721121343548 +SLAM 16.5298 9.91818 -16.6399 -0.594323 0.111647 0.687315 0.402385 +TTool-pose None -28.1694 13.6537 14.3567 0.704987 0.592566 -0.243679 0.303959 +#24390 1721121343583 +SLAM 16.5252 9.98613 -16.6192 -0.596093 0.108737 0.687929 0.399503 +TTool-pose None -28.1709 13.5893 14.4274 0.706524 0.593442 -0.241103 0.300716 +#24391 1721121343618 +SLAM 16.5529 10.0275 -16.5862 -0.596202 0.107936 0.687654 0.400032 +TTool-pose None -28.1814 13.5847 14.4276 0.705993 0.594224 -0.240763 0.30069 +#24392 1721121343652 +SLAM 16.4698 9.96438 -16.635 -0.594385 0.110579 0.688277 0.400941 +TTool-pose None -28.1396 13.6364 14.3745 0.705753 0.592707 -0.243442 0.30209 +#24393 1721121343688 +SLAM 16.3087 9.84236 -16.7683 -0.595172 0.111636 0.689957 0.396569 +TTool-pose None -28.1036 13.5728 14.4082 0.709074 0.590159 -0.242992 0.299651 +#24394 1721121343722 +SLAM 16.4004 9.81708 -16.7308 -0.596432 0.111379 0.68896 0.396482 +TTool-pose None -28.1179 13.5772 14.421 0.70922 0.590344 -0.241466 0.300174 +#24395 1721121343755 +SLAM 16.3644 9.69078 -16.798 -0.596325 0.113765 0.688789 0.396263 +TTool-pose None -28.1137 13.5787 14.3928 0.709883 0.588586 -0.242143 0.301513 +#24396 1721121343788 +SLAM 16.3552 9.5557 -16.8571 -0.597283 0.115558 0.688587 0.394649 +TTool-pose None -28.1065 13.5741 14.3947 0.711483 0.586686 -0.241505 0.301956 +#24397 1721121343819 +SLAM 16.4203 9.46221 -16.852 -0.598187 0.11684 0.687702 0.394445 +TTool-pose None -28.1017 13.5982 14.3918 0.712001 0.585734 -0.240742 0.303192 +#24398 1721121343850 +SLAM 16.3542 9.34553 -16.9272 -0.597566 0.119463 0.687901 0.394254 +TTool-pose None -28.0865 13.6117 14.3563 0.712626 0.583799 -0.242059 0.304405 +#24399 1721121343880 +SLAM 16.4517 9.40536 -16.8568 -0.600266 0.116193 0.687568 0.391701 +TTool-pose None -28.0969 13.5647 14.4419 0.713957 0.58509 -0.238291 0.301765 +#24400 1721121343910 +SLAM 16.3693 9.30005 -16.9375 -0.599914 0.118333 0.68811 0.390647 +TTool-pose None -28.0769 13.5672 14.4213 0.715097 0.583137 -0.239226 0.302107 +#24401 1721121343943 +SLAM 16.3882 9.29647 -16.9236 -0.598629 0.119602 0.687542 0.393224 +TTool-pose None -28.0824 13.6072 14.3725 0.713476 0.5833 -0.240893 0.304296 +#24402 1721121343973 +SLAM 16.3573 9.33712 -16.9312 -0.599759 0.117644 0.688372 0.390631 +TTool-pose None -28.0778 13.5568 14.4297 0.714943 0.583608 -0.239256 0.30154 +#24403 1721121344008 +SLAM 16.3946 9.3032 -16.9246 -0.599179 0.119031 0.687581 0.392489 +TTool-pose None -28.0894 13.5918 14.3896 0.713914 0.583406 -0.240158 0.303644 +#24404 1721121344049 +SLAM 16.4092 9.29811 -16.9084 -0.599157 0.119174 0.687546 0.392541 +TTool-pose None -28.0735 13.6097 14.3924 0.713907 0.583327 -0.240212 0.303769 +#24405 1721121344082 +SLAM 16.3013 9.17169 -17.0217 -0.598678 0.121718 0.687916 0.391843 +TTool-pose None -28.0801 13.5839 14.3528 0.714872 0.581234 -0.241364 0.3046 +#24406 1721121344116 +SLAM 16.5068 9.33018 -16.8511 -0.601521 0.116866 0.686835 0.39086 +TTool-pose None -28.0965 13.5716 14.4471 0.714809 0.584303 -0.237006 0.302287 +#24407 1721121344152 +SLAM 16.3886 9.27661 -16.9386 -0.600841 0.11806 0.687984 0.389526 +TTool-pose None -28.0784 13.5546 14.4419 0.715899 0.582881 -0.238129 0.301567 +#24408 1721121344186 +SLAM 16.404 9.22002 -16.9335 -0.599234 0.120673 0.687235 0.392512 +TTool-pose None -28.068 13.6202 14.3701 0.714255 0.582267 -0.240453 0.304793 +#24409 1721121344221 +SLAM 16.3801 9.1932 -16.9653 -0.599666 0.120742 0.687402 0.391536 +TTool-pose None -28.076 13.5962 14.3783 0.714981 0.58182 -0.240007 0.304297 +#24410 1721121344256 +SLAM 16.5324 9.28844 -16.8555 -0.602132 0.117229 0.686414 0.390551 +TTool-pose None -28.1041 13.567 14.4488 0.715163 0.583935 -0.236382 0.302648 +#24411 1721121344290 +SLAM 16.4561 9.21362 -16.9209 -0.600691 0.119724 0.686825 0.391289 +TTool-pose None -28.0864 13.5968 14.4035 0.715043 0.582459 -0.238592 0.30404 +#24412 1721121344324 +SLAM 16.5521 9.26084 -16.8449 -0.600927 0.118936 0.685914 0.392764 +TTool-pose None -28.0955 13.6223 14.4023 0.713895 0.583641 -0.238073 0.304875 +#24413 1721121344364 +SLAM 16.3486 9.12953 -17.0054 -0.599145 0.122345 0.687418 0.391808 +TTool-pose None -28.0706 13.6098 14.3533 0.715079 0.580794 -0.240954 0.305276 +#24414 1721121344403 +SLAM 16.3604 9.13341 -16.9971 -0.59952 0.121954 0.687385 0.391413 +TTool-pose None -28.0704 13.6031 14.3653 0.715306 0.580914 -0.240447 0.304918 +#24415 1721121344437 +SLAM 16.4304 9.18616 -16.9508 -0.602043 0.11892 0.687337 0.388548 +TTool-pose None -28.0817 13.5522 14.4496 0.716876 0.5819 -0.236949 0.302071 +#24416 1721121344472 +SLAM 16.3452 9.07992 -17.0254 -0.600345 0.122139 0.687547 0.389805 +TTool-pose None -28.0643 13.5809 14.386 0.716527 0.580127 -0.239593 0.304219 +#24417 1721121344506 +SLAM 16.4426 9.10977 -16.97 -0.602723 0.119812 0.687009 0.3878 +TTool-pose None -28.0789 13.549 14.4514 0.717645 0.580978 -0.236378 0.302466 +#24418 1721121344540 +SLAM 16.4098 9.02498 -17.0159 -0.602673 0.121339 0.68701 0.387401 +TTool-pose None -28.0724 13.5474 14.4358 0.718235 0.579737 -0.236788 0.303128 +#24419 1721121344574 +SLAM 16.4084 8.97856 -17.0322 -0.603289 0.121686 0.687149 0.386085 +TTool-pose None -28.0583 13.5483 14.4545 0.719262 0.578952 -0.236194 0.302654 +#24420 1721121344608 +SLAM 16.5624 8.96668 -16.9449 -0.603522 0.122334 0.685199 0.388971 +TTool-pose None -28.0777 13.6053 14.4212 0.71747 0.57973 -0.235938 0.305607 +#24421 1721121344645 +SLAM 16.3493 8.88315 -17.0985 -0.603035 0.123517 0.68736 0.385523 +TTool-pose None -28.0517 13.543 14.4342 0.720002 0.577419 -0.236913 0.303262 +#24422 1721121344680 +SLAM 16.5166 8.94565 -16.9821 -0.604529 0.121681 0.685898 0.386371 +TTool-pose None -28.0704 13.5631 14.459 0.719198 0.579112 -0.234722 0.303646 +#24423 1721121344714 +SLAM 16.433 8.91185 -17.0397 -0.603626 0.122763 0.686527 0.386323 +TTool-pose None -28.0635 13.5534 14.4385 0.719365 0.578307 -0.236021 0.303777 +#24424 1721121344748 +SLAM 16.5176 8.9291 -16.9812 -0.603343 0.123085 0.685592 0.388318 +TTool-pose None -28.0664 13.6033 14.4165 0.718053 0.578921 -0.23634 0.305462 +#24425 1721121344782 +SLAM 16.4429 8.89537 -17.0391 -0.603232 0.123531 0.686258 0.38717 +TTool-pose None -28.064 13.5748 14.4181 0.718912 0.578117 -0.236616 0.304747 +#24426 1721121344817 +SLAM 16.4889 8.93589 -17.0098 -0.604607 0.121679 0.686089 0.385912 +TTool-pose None -28.081 13.5411 14.4608 0.719516 0.57892 -0.234649 0.303315 +#24427 1721121344850 +SLAM 16.5584 8.95383 -16.955 -0.603617 0.122476 0.685106 0.388941 +TTool-pose None -28.0855 13.5958 14.4173 0.71753 0.579621 -0.235857 0.305736 +#24428 1721121344884 +SLAM 16.4964 8.8973 -17.0173 -0.604342 0.122788 0.6856 0.386842 +TTool-pose None -28.0891 13.554 14.4283 0.719094 0.578531 -0.235162 0.30466 +#24429 1721121344922 +SLAM 16.4096 8.89878 -17.0586 -0.603676 0.12294 0.686719 0.385847 +TTool-pose None -28.063 13.5453 14.4373 0.719729 0.577982 -0.236021 0.303535 +#24430 1721121344956 +SLAM 16.5099 8.92462 -17.0055 -0.604479 0.122172 0.685563 0.386887 +TTool-pose None -28.0971 13.5478 14.4372 0.718947 0.578986 -0.234865 0.304369 +#24431 1721121344989 +SLAM 16.5853 9.00722 -16.9235 -0.604087 0.121149 0.685057 0.388714 +TTool-pose None -28.0935 13.5834 14.4364 0.717453 0.580469 -0.235025 0.304948 +#24432 1721121345023 +SLAM 16.3738 8.96501 -17.0544 -0.603126 0.121989 0.687417 0.385767 +TTool-pose None -28.055 13.5399 14.4484 0.719524 0.578599 -0.236465 0.302495 +#24433 1721121345060 +SLAM 16.3803 8.89897 -17.0727 -0.602136 0.124265 0.686638 0.387967 +TTool-pose None -28.067 13.5738 14.3859 0.718411 0.577909 -0.238029 0.305224 +#24434 1721121345102 +SLAM 16.472 8.94293 -17.0181 -0.603719 0.122381 0.685993 0.387247 +TTool-pose None -28.0895 13.5557 14.4263 0.718669 0.578971 -0.235791 0.304338 +#24435 1721121345134 +SLAM 16.5315 9.03426 -16.949 -0.60483 0.119814 0.685933 0.386422 +TTool-pose None -28.0908 13.5365 14.4735 0.718798 0.58045 -0.233957 0.302625 +#24436 1721121345171 +SLAM 16.5636 9.10139 -16.8995 -0.60368 0.119773 0.685806 0.388452 +TTool-pose None -28.08 13.5917 14.4523 0.717295 0.58131 -0.235216 0.303564 +#24437 1721121345210 +SLAM 16.4382 9.04803 -16.9776 -0.601839 0.121981 0.686673 0.38909 +TTool-pose None -28.0592 13.6011 14.4014 0.717139 0.57998 -0.237836 0.304437 +#24438 1721121345245 +SLAM 16.4036 9.0804 -16.9966 -0.602086 0.121053 0.68718 0.3881 +TTool-pose None -28.0697 13.5696 14.4191 0.717638 0.580217 -0.237386 0.303153 +#24439 1721121345279 +SLAM 16.4187 9.1767 -16.9607 -0.602839 0.118481 0.687473 0.387205 +TTool-pose None -28.0833 13.5281 14.4627 0.717775 0.58166 -0.235974 0.301159 +#24440 1721121345313 +SLAM 16.4904 9.25172 -16.8991 -0.602964 0.117246 0.68686 0.388474 +TTool-pose None -28.1034 13.539 14.4646 0.716664 0.583067 -0.235501 0.301456 +#24441 1721121345350 +SLAM 16.4345 9.22953 -16.9299 -0.602065 0.118258 0.687329 0.388731 +TTool-pose None -28.0865 13.5504 14.4441 0.716612 0.582442 -0.236769 0.301793 +#24442 1721121345385 +SLAM 16.3361 9.14061 -17.0085 -0.600617 0.120948 0.68794 0.389063 +TTool-pose None -28.0624 13.5747 14.3988 0.716806 0.580656 -0.239047 0.302978 +#24443 1721121345420 +SLAM 16.2879 9.11557 -17.0443 -0.599915 0.121854 0.688115 0.389552 +TTool-pose None -28.0661 13.5682 14.3732 0.716591 0.580207 -0.240046 0.303557 +#24444 1721121345454 +SLAM 16.5056 9.27638 -16.8785 -0.601951 0.117748 0.686511 0.390505 +TTool-pose None -28.1095 13.5676 14.4305 0.715287 0.583548 -0.236713 0.302844 +#24445 1721121345489 +SLAM 16.4411 9.28699 -16.9045 -0.602355 0.116881 0.687606 0.388207 +TTool-pose None -28.0838 13.5383 14.4694 0.716701 0.583191 -0.236146 0.300621 +#24446 1721121345524 +SLAM 16.4034 9.26208 -16.9363 -0.60097 0.118556 0.687621 0.389815 +TTool-pose None -28.0859 13.5671 14.4214 0.715824 0.582661 -0.238074 0.302216 +#24447 1721121345554 +SLAM 16.4308 9.29118 -16.9025 -0.600552 0.118431 0.687197 0.391244 +TTool-pose None -28.0917 13.5779 14.4019 0.714782 0.583341 -0.238472 0.303055 +#24448 1721121345587 +SLAM 16.372 9.31615 -16.9337 -0.600884 0.117471 0.688159 0.389328 +TTool-pose None -28.085 13.5464 14.4345 0.715911 0.58321 -0.237957 0.301037 +#24449 1721121345622 +SLAM 16.383 9.30964 -16.9278 -0.600604 0.117856 0.687837 0.390212 +TTool-pose None -28.0915 13.5521 14.417 0.715364 0.583308 -0.238331 0.301852 +#24450 1721121345653 +SLAM 16.4499 9.39691 -16.861 -0.601763 0.115405 0.687891 0.389062 +TTool-pose None -28.0864 13.5498 14.4747 0.715739 0.584567 -0.236477 0.29998 +#24451 1721121345686 +SLAM 16.3373 9.36168 -16.9233 -0.599504 0.117652 0.688519 0.39076 +TTool-pose None -28.0718 13.5669 14.4085 0.714829 0.583648 -0.239551 0.301497 +#24452 1721121345718 +SLAM 16.3739 9.47693 -16.873 -0.600583 0.114602 0.688759 0.389586 +TTool-pose None -28.0878 13.5312 14.464 0.715081 0.585314 -0.237658 0.299156 +#24453 1721121345754 +SLAM 16.4927 9.52236 -16.7802 -0.599837 0.114895 0.68736 0.393103 +TTool-pose None -28.0987 13.5987 14.4224 0.712674 0.586577 -0.238438 0.301795 +#24454 1721121345793 +SLAM 16.2824 9.46121 -16.935 -0.599684 0.115441 0.689522 0.389375 +TTool-pose None -28.0869 13.5193 14.4436 0.715308 0.58461 -0.238909 0.298991 +#24455 1721121345827 +SLAM 16.5123 9.62903 -16.7318 -0.599847 0.112892 0.687498 0.393427 +TTool-pose None -28.1094 13.5863 14.4407 0.712017 0.588111 -0.237961 0.300737 +#24456 1721121345863 +SLAM 16.4177 9.62379 -16.7978 -0.600289 0.112261 0.688674 0.390869 +TTool-pose None -28.106 13.5332 14.4731 0.713665 0.587481 -0.237418 0.298477 +#24457 1721121345896 +SLAM 16.5289 9.65746 -16.7107 -0.599405 0.112801 0.687364 0.394361 +TTool-pose None -28.1107 13.6036 14.4315 0.711311 0.588555 -0.238414 0.301178 +#24458 1721121345930 +SLAM 16.3774 9.6018 -16.8271 -0.600018 0.11275 0.689101 0.390393 +TTool-pose None -28.095 13.5313 14.4726 0.714067 0.58693 -0.237868 0.298244 +#24459 1721121345966 +SLAM 16.4763 9.56289 -16.7713 -0.598143 0.11563 0.687294 0.395579 +TTool-pose None -28.104 13.6324 14.3729 0.71096 0.587055 -0.240469 0.303296 +#24460 1721121346000 +SLAM 16.5145 9.64149 -16.7357 -0.599887 0.112646 0.687454 0.393513 +TTool-pose None -28.1228 13.5782 14.442 0.711908 0.58832 -0.237854 0.300669 +#24461 1721121346036 +SLAM 16.435 9.63039 -16.7875 -0.600237 0.112223 0.688434 0.391383 +TTool-pose None -28.1133 13.5358 14.4682 0.713302 0.587724 -0.237447 0.298843 +#24462 1721121346070 +SLAM 16.375 9.58037 -16.8297 -0.598655 0.114428 0.688759 0.392593 +TTool-pose None -28.0924 13.5751 14.4207 0.71279 0.586649 -0.239743 0.300343 +#24463 1721121346105 +SLAM 16.4466 9.66595 -16.7507 -0.598982 0.112715 0.688398 0.393223 +TTool-pose None -28.0926 13.5875 14.4406 0.712022 0.588121 -0.238944 0.299923 +#24464 1721121346138 +SLAM 16.4556 9.68083 -16.7547 -0.60052 0.111109 0.6885 0.39115 +TTool-pose None -28.1109 13.5352 14.4856 0.713246 0.58841 -0.236872 0.298084 +#24465 1721121346171 +SLAM 16.4817 9.67751 -16.7314 -0.599176 0.112481 0.687974 0.393736 +TTool-pose None -28.106 13.5902 14.4377 0.711643 0.588507 -0.23864 0.300309 +#24466 1721121346204 +SLAM 16.472 9.67581 -16.7486 -0.599492 0.112242 0.687926 0.393407 +TTool-pose None -28.1254 13.5648 14.4384 0.711848 0.588544 -0.23823 0.300072 +#24467 1721121346238 +SLAM 16.3743 9.61761 -16.8109 -0.598318 0.114 0.688761 0.393227 +TTool-pose None -28.0944 13.5748 14.4127 0.712228 0.587205 -0.240011 0.300376 +#24468 1721121346270 +SLAM 16.3666 9.64716 -16.8143 -0.599479 0.112327 0.689266 0.391051 +TTool-pose None -28.0965 13.5342 14.465 0.713467 0.587487 -0.238374 0.298176 +#24469 1721121346310 +SLAM 16.3756 9.58378 -16.8197 -0.597473 0.115427 0.688529 0.394501 +TTool-pose None -28.0885 13.61 14.3816 0.711577 0.586721 -0.24126 0.301862 +#24470 1721121346346 +SLAM 16.3837 9.67635 -16.7944 -0.599572 0.111696 0.68923 0.391153 +TTool-pose None -28.0984 13.5331 14.475 0.71327 0.587972 -0.238117 0.297898 +#24471 1721121346380 +SLAM 16.444 9.73584 -16.7452 -0.599887 0.110504 0.688625 0.392071 +TTool-pose None -28.1234 13.5286 14.4782 0.712416 0.589201 -0.237435 0.298057 +#24472 1721121346412 +SLAM 16.3214 9.63511 -16.842 -0.598136 0.113611 0.689389 0.392516 +TTool-pose None -28.0979 13.5503 14.4219 0.712606 0.58717 -0.24017 0.299419 +#24473 1721121346446 +SLAM 16.2805 9.6244 -16.8682 -0.598634 0.113177 0.690135 0.390567 +TTool-pose None -28.0793 13.5311 14.4554 0.713889 0.586662 -0.239576 0.297827 +#24474 1721121346479 +SLAM 16.3912 9.68716 -16.781 -0.599521 0.111526 0.689176 0.391375 +TTool-pose None -28.0953 13.5357 14.4745 0.713075 0.588183 -0.238129 0.297937 +#24475 1721121346514 +SLAM 16.2762 9.55179 -16.8962 -0.59767 0.115462 0.689577 0.392355 +TTool-pose None -28.0853 13.5616 14.4011 0.713068 0.585795 -0.241138 0.300234 +#24476 1721121346552 +SLAM 16.2014 9.50231 -16.9493 -0.596659 0.116992 0.69005 0.39261 +TTool-pose None -28.0723 13.5645 14.3722 0.713112 0.584801 -0.242649 0.300848 +#24477 1721121346589 +SLAM 16.3467 9.65144 -16.8207 -0.598869 0.112597 0.689428 0.39162 +TTool-pose None -28.0925 13.5377 14.4557 0.713073 0.58752 -0.239124 0.298454 +#24478 1721121346622 +SLAM 16.3055 9.56518 -16.8717 -0.597913 0.115026 0.689316 0.392573 +TTool-pose None -28.0873 13.5607 14.4071 0.712852 0.5862 -0.240746 0.300271 +#24479 1721121346661 +SLAM 16.4584 9.6683 -16.7471 -0.59905 0.112575 0.688238 0.393438 +TTool-pose None -28.1006 13.582 14.4427 0.711852 0.588312 -0.238822 0.300049 +#24480 1721121346698 +SLAM 16.3755 9.64104 -16.8187 -0.598867 0.112854 0.688831 0.392599 +TTool-pose None -28.1176 13.5324 14.441 0.712464 0.587757 -0.239139 0.29943 +#24481 1721121346731 +SLAM 16.3619 9.6225 -16.8238 -0.599136 0.112937 0.689167 0.391573 +TTool-pose None -28.0951 13.5373 14.4554 0.713209 0.587273 -0.23889 0.298804 +#24482 1721121346765 +SLAM 16.3729 9.62247 -16.8163 -0.599456 0.112765 0.689188 0.391096 +TTool-pose None -28.0887 13.5428 14.465 0.713531 0.5872 -0.238497 0.298491 +#24483 1721121346800 +SLAM 16.419 9.63943 -16.7858 -0.599816 0.112247 0.688735 0.39149 +TTool-pose None -28.0984 13.5437 14.4711 0.713189 0.587739 -0.237941 0.298691 +#24484 1721121346839 +SLAM 16.3517 9.60182 -16.8388 -0.599077 0.113347 0.689236 0.391425 +TTool-pose None -28.0926 13.5394 14.4537 0.713394 0.586922 -0.239058 0.298917 +#24485 1721121346874 +SLAM 16.5062 9.65259 -16.7257 -0.599013 0.113027 0.687576 0.394522 +TTool-pose None -28.1082 13.5998 14.4297 0.711208 0.588453 -0.238916 0.301222 +#24486 1721121346909 +SLAM 16.5992 9.66935 -16.688 -0.601459 0.110922 0.686607 0.393081 +TTool-pose None -28.1547 13.5421 14.4743 0.711991 0.589386 -0.235638 0.300128 +#24487 1721121346944 +SLAM 16.4222 9.5424 -16.8271 -0.599339 0.114579 0.687991 0.392853 +TTool-pose None -28.1164 13.5586 14.4224 0.712721 0.586676 -0.238964 0.301075 +#24488 1721121346978 +SLAM 16.4805 9.55641 -16.7893 -0.600512 0.113393 0.687644 0.392012 +TTool-pose None -28.1187 13.5463 14.4578 0.713162 0.587184 -0.23736 0.300308 +#24489 1721121347014 +SLAM 16.4287 9.47432 -16.8457 -0.599287 0.115915 0.687681 0.393082 +TTool-pose None -28.1106 13.5737 14.4083 0.712851 0.585839 -0.239313 0.302121 +#24490 1721121347047 +SLAM 16.5541 9.53006 -16.7549 -0.599908 0.114718 0.686469 0.394601 +TTool-pose None -28.131 13.5939 14.4138 0.711621 0.587335 -0.238243 0.302958 +#24491 1721121347081 +SLAM 16.6937 9.59612 -16.666 -0.602362 0.111761 0.685432 0.393513 +TTool-pose None -28.1643 13.5618 14.4773 0.711977 0.58901 -0.234746 0.301594 +#24492 1721121347117 +SLAM 16.5791 9.54174 -16.7507 -0.601286 0.11322 0.686476 0.392921 +TTool-pose None -28.1457 13.5509 14.4632 0.712588 0.587712 -0.23637 0.301417 +#24493 1721121347151 +SLAM 16.7648 9.56549 -16.6403 -0.603028 0.111954 0.684532 0.394006 +TTool-pose None -28.1783 13.5687 14.4778 0.711753 0.589102 -0.233982 0.302538 +#24494 1721121347186 +SLAM 16.7496 9.51006 -16.6799 -0.602865 0.113103 0.684223 0.394464 +TTool-pose None -28.1977 13.5581 14.453 0.711675 0.58849 -0.23441 0.303581 +#24495 1721121347218 +SLAM 16.7572 9.48996 -16.6746 -0.603562 0.112913 0.684394 0.393151 +TTool-pose None -28.1771 13.56 14.4777 0.712602 0.588089 -0.233611 0.302798 +#24496 1721121347251 +SLAM 16.7365 9.48159 -16.6948 -0.602977 0.113431 0.684427 0.393843 +TTool-pose None -28.1851 13.5582 14.4622 0.712183 0.588003 -0.234383 0.303355 +#24497 1721121347285 +SLAM 16.7391 9.4409 -16.6935 -0.601686 0.115373 0.684022 0.39595 +TTool-pose None -28.1721 13.6085 14.4102 0.711029 0.587498 -0.236231 0.305599 +#24498 1721121347318 +SLAM 16.7815 9.48759 -16.6703 -0.60337 0.113139 0.68393 0.394188 +TTool-pose None -28.1966 13.5611 14.4646 0.711924 0.588363 -0.233836 0.303686 +#24499 1721121347350 +SLAM 16.7983 9.47298 -16.6653 -0.603826 0.113071 0.68378 0.393768 +TTool-pose None -28.1953 13.5586 14.4736 0.712243 0.588246 -0.233304 0.303574 +#24500 1721121347386 +SLAM 16.8974 9.50647 -16.5983 -0.604841 0.111896 0.682879 0.39411 +TTool-pose None -28.2112 13.5637 14.492 0.711854 0.589236 -0.231824 0.303699 +#24501 1721121347421 +SLAM 16.8283 9.47513 -16.6452 -0.60391 0.112995 0.68342 0.394287 +TTool-pose None -28.1994 13.5633 14.4716 0.71188 0.58852 -0.233162 0.304004 +#24502 1721121347456 +SLAM 16.8397 9.42427 -16.6572 -0.603157 0.114723 0.682849 0.395927 +TTool-pose None -28.2056 13.5945 14.4279 0.711056 0.587983 -0.234354 0.306049 +#24503 1721121347491 +SLAM 16.8381 9.44516 -16.657 -0.604028 0.113503 0.683122 0.394477 +TTool-pose None -28.2099 13.5619 14.4637 0.711873 0.588249 -0.233128 0.304572 +#24504 1721121347527 +SLAM 17.0413 9.49611 -16.5144 -0.604118 0.113192 0.680911 0.398234 +TTool-pose None -28.2326 13.6399 14.4361 0.709233 0.590044 -0.232751 0.307533 +#24505 1721121347562 +SLAM 16.914 9.48118 -16.6 -0.604476 0.112663 0.682428 0.395231 +TTool-pose None -28.221 13.5732 14.4714 0.711217 0.589164 -0.232371 0.304912 +#24506 1721121347597 +SLAM 16.9707 9.49495 -16.5666 -0.605369 0.111859 0.681942 0.394932 +TTool-pose None -28.232 13.5693 14.4893 0.711335 0.589622 -0.23115 0.30468 +#24507 1721121347634 +SLAM 17.0094 9.47945 -16.5413 -0.604543 0.113039 0.681369 0.396846 +TTool-pose None -28.2251 13.6206 14.4553 0.710197 0.589581 -0.232291 0.306542 +#24508 1721121347668 +SLAM 16.8904 9.42438 -16.6374 -0.604622 0.113552 0.682508 0.394615 +TTool-pose None -28.2186 13.5673 14.4678 0.711849 0.588288 -0.23243 0.305084 +#24509 1721121347702 +SLAM 16.9185 9.45473 -16.6117 -0.604978 0.112729 0.682364 0.394555 +TTool-pose None -28.2238 13.5625 14.482 0.711745 0.588847 -0.231828 0.304706 +#24510 1721121347737 +SLAM 16.97 9.47781 -16.5707 -0.605207 0.112284 0.681888 0.395152 +TTool-pose None -28.2279 13.5762 14.4835 0.711261 0.589414 -0.231425 0.305045 +#24511 1721121347771 +SLAM 16.976 9.47675 -16.5682 -0.605632 0.111968 0.681937 0.394507 +TTool-pose None -28.2255 13.5702 14.4974 0.711677 0.589374 -0.230885 0.304562 +#24512 1721121347806 +SLAM 16.9308 9.46521 -16.5988 -0.605184 0.112411 0.682392 0.39428 +TTool-pose None -28.2181 13.5675 14.4924 0.711885 0.588958 -0.231526 0.304394 +#24513 1721121347841 +SLAM 16.9747 9.51707 -16.5592 -0.605177 0.111506 0.681869 0.395451 +TTool-pose None -28.2418 13.561 14.4882 0.710882 0.590081 -0.231269 0.304757 +#24514 1721121347879 +SLAM 16.9195 9.45662 -16.6104 -0.604805 0.112876 0.682278 0.394927 +TTool-pose None -28.2269 13.5664 14.4731 0.711506 0.588896 -0.232045 0.305005 +#24515 1721121347915 +SLAM 16.9706 9.49258 -16.573 -0.605668 0.111624 0.682012 0.394418 +TTool-pose None -28.2351 13.5596 14.5013 0.711665 0.589578 -0.230769 0.304283 +#24516 1721121347949 +SLAM 16.9464 9.4459 -16.5918 -0.604207 0.113751 0.681831 0.39636 +TTool-pose None -28.2232 13.6027 14.4449 0.710654 0.588871 -0.232873 0.306406 +#24517 1721121347986 +SLAM 16.9339 9.48966 -16.59 -0.605031 0.112109 0.682302 0.394757 +TTool-pose None -28.2278 13.5633 14.4855 0.711477 0.589365 -0.231614 0.304493 +#24518 1721121348017 +SLAM 16.978 9.482 -16.5664 -0.605689 0.111909 0.681831 0.394619 +TTool-pose None -28.2323 13.5671 14.4908 0.711593 0.589463 -0.230799 0.304651 +#24519 1721121348050 +SLAM 16.9232 9.48837 -16.5929 -0.605169 0.11199 0.682534 0.394177 +TTool-pose None -28.2179 13.5621 14.4946 0.711861 0.589208 -0.231454 0.304019 +#24520 1721121348084 +SLAM 16.9068 9.4958 -16.5964 -0.60495 0.112023 0.682712 0.394197 +TTool-pose None -28.2135 13.5634 14.4899 0.711833 0.589187 -0.23172 0.303923 +#24521 1721121348119 +SLAM 16.9458 9.51121 -16.5732 -0.605348 0.111544 0.682238 0.394541 +TTool-pose None -28.2303 13.5583 14.4906 0.711532 0.589676 -0.231123 0.304135 +#24522 1721121348152 +SLAM 16.8387 9.4917 -16.6334 -0.604221 0.112561 0.683373 0.394016 +TTool-pose None -28.2021 13.5611 14.476 0.712001 0.588716 -0.232712 0.303683 +#24523 1721121348192 +SLAM 16.7258 9.47639 -16.6912 -0.603376 0.113163 0.684663 0.392897 +TTool-pose None -28.1688 13.5516 14.4747 0.712812 0.587802 -0.233898 0.302639 +#24524 1721121348235 +SLAM 16.835 9.53964 -16.6147 -0.604461 0.111462 0.683718 0.393361 +TTool-pose None -28.1954 13.5534 14.496 0.712232 0.589213 -0.232212 0.302559 +#24525 1721121348273 +SLAM 16.7436 9.50461 -16.674 -0.602881 0.11329 0.684297 0.394256 +TTool-pose None -28.1841 13.5679 14.4474 0.71186 0.588273 -0.234444 0.303543 +#24526 1721121348309 +SLAM 16.8109 9.58475 -16.6091 -0.604748 0.110445 0.684104 0.392536 +TTool-pose None -28.1956 13.5338 14.5045 0.7126 0.589581 -0.231683 0.301377 +#24527 1721121348343 +SLAM 16.7122 9.55883 -16.6714 -0.604012 0.111272 0.685099 0.391698 +TTool-pose None -28.1766 13.5243 14.4953 0.713279 0.588631 -0.232779 0.300783 +#24528 1721121348377 +SLAM 16.707 9.56309 -16.6716 -0.603925 0.11122 0.685203 0.391665 +TTool-pose None -28.1732 13.5249 14.4976 0.713281 0.588651 -0.232871 0.300668 +#24529 1721121348411 +SLAM 16.7409 9.56708 -16.6487 -0.603799 0.11136 0.684786 0.392549 +TTool-pose None -28.1768 13.5409 14.488 0.712696 0.588924 -0.23301 0.301413 +#24530 1721121348448 +SLAM 16.7074 9.5518 -16.6708 -0.60337 0.111801 0.685067 0.392592 +TTool-pose None -28.1703 13.5368 14.4823 0.71272 0.588623 -0.233613 0.301478 +#24531 1721121348482 +SLAM 16.6672 9.51956 -16.7065 -0.602728 0.112793 0.685164 0.393125 +TTool-pose None -28.1744 13.5322 14.4576 0.712508 0.588138 -0.234568 0.302184 +#24532 1721121348515 +SLAM 16.8013 9.58073 -16.6142 -0.604122 0.110905 0.684057 0.393449 +TTool-pose None -28.1969 13.5388 14.489 0.712014 0.589629 -0.232481 0.302053 +#24533 1721121348548 +SLAM 16.7662 9.52139 -16.6561 -0.602967 0.112965 0.683849 0.394993 +TTool-pose None -28.2028 13.557 14.4359 0.711293 0.588812 -0.234231 0.303989 +#24534 1721121348582 +SLAM 16.7448 9.55243 -16.6555 -0.603231 0.112013 0.684466 0.393791 +TTool-pose None -28.189 13.5445 14.4667 0.711934 0.588977 -0.233766 0.302525 +#24535 1721121348616 +SLAM 16.6675 9.47526 -16.7155 -0.602004 0.114323 0.684986 0.394101 +TTool-pose None -28.1606 13.5711 14.4295 0.712099 0.587462 -0.235716 0.303565 +#24536 1721121348650 +SLAM 16.7167 9.53436 -16.6713 -0.602773 0.112566 0.684819 0.393722 +TTool-pose None -28.171 13.5545 14.4653 0.712055 0.588549 -0.234434 0.302554 +#24537 1721121348684 +SLAM 16.6514 9.42057 -16.7476 -0.600897 0.11617 0.68465 0.395829 +TTool-pose None -28.1688 13.5895 14.3863 0.711202 0.586868 -0.237343 0.305547 +#24538 1721121348717 +SLAM 16.6347 9.48009 -16.7357 -0.601632 0.114158 0.685428 0.393948 +TTool-pose None -28.1575 13.555 14.4424 0.712129 0.587502 -0.236124 0.303101 +#24539 1721121348750 +SLAM 16.6665 9.43695 -16.7338 -0.600768 0.115912 0.684499 0.396363 +TTool-pose None -28.1739 13.5893 14.3868 0.710767 0.587269 -0.23741 0.305737 +#24540 1721121348787 +SLAM 16.6685 9.47248 -16.722 -0.601621 0.114413 0.684881 0.394842 +TTool-pose None -28.1705 13.5619 14.4295 0.711573 0.5877 -0.23615 0.304003 +#24541 1721121348821 +SLAM 16.7418 9.51771 -16.6611 -0.602277 0.113165 0.684428 0.394987 +TTool-pose None -28.1718 13.5706 14.454 0.711269 0.588651 -0.23509 0.303694 +#24542 1721121348854 +SLAM 16.6581 9.40572 -16.749 -0.600691 0.11647 0.684598 0.396145 +TTool-pose None -28.1643 13.5959 14.3894 0.711029 0.586784 -0.237637 0.305882 +#24543 1721121348888 +SLAM 16.633 9.42823 -16.7534 -0.600811 0.115691 0.685054 0.395402 +TTool-pose None -28.159 13.5728 14.4105 0.711382 0.58702 -0.23736 0.304821 +#24544 1721121348921 +SLAM 16.6769 9.43543 -16.729 -0.600667 0.11573 0.684429 0.396689 +TTool-pose None -28.1748 13.5807 14.3987 0.710493 0.58753 -0.237472 0.305824 +#24545 1721121348955 +SLAM 16.6953 9.39656 -16.7356 -0.600757 0.116463 0.684083 0.396935 +TTool-pose None -28.1778 13.5914 14.3907 0.710492 0.587124 -0.237515 0.306571 +#24546 1721121348990 +SLAM 16.7021 9.40857 -16.727 -0.600559 0.116292 0.684085 0.397282 +TTool-pose None -28.1766 13.5937 14.395 0.710196 0.587383 -0.237692 0.306624 +#24547 1721121349024 +SLAM 16.6942 9.34568 -16.7516 -0.599975 0.117883 0.683687 0.398378 +TTool-pose None -28.1802 13.604 14.3612 0.709724 0.586713 -0.238672 0.308235 +#24548 1721121349060 +SLAM 16.727 9.33836 -16.7378 -0.600089 0.11796 0.683337 0.398784 +TTool-pose None -28.1841 13.6128 14.363 0.709473 0.586833 -0.238533 0.308693 +#24549 1721121349094 +SLAM 16.8236 9.32159 -16.6971 -0.600021 0.118671 0.681769 0.401351 +TTool-pose None -28.2221 13.6359 14.3231 0.707847 0.587406 -0.238624 0.311258 +#24550 1721121349133 +SLAM 16.7299 9.33266 -16.7373 -0.600244 0.11789 0.683354 0.398544 +TTool-pose None -28.1812 13.6101 14.3701 0.70964 0.586785 -0.238349 0.308542 +#24551 1721121349173 +SLAM 16.7123 9.32902 -16.7556 -0.599996 0.118182 0.683486 0.398603 +TTool-pose None -28.1858 13.6112 14.3635 0.709635 0.586599 -0.238702 0.308634 +#24552 1721121349211 +SLAM 16.8061 9.39092 -16.6779 -0.600512 0.116832 0.682547 0.399832 +TTool-pose None -28.207 13.6152 14.3668 0.708553 0.588072 -0.237728 0.30907 +#24553 1721121349245 +SLAM 16.7479 9.38448 -16.7113 -0.600074 0.117198 0.683137 0.399374 +TTool-pose None -28.1973 13.6089 14.3606 0.708901 0.587612 -0.23835 0.308665 +#24554 1721121349277 +SLAM 16.6707 9.33853 -16.7614 -0.599933 0.118025 0.68407 0.397742 +TTool-pose None -28.1633 13.6092 14.3667 0.710188 0.586346 -0.238787 0.307777 +#24555 1721121349311 +SLAM 16.6549 9.33794 -16.7739 -0.599469 0.118315 0.684058 0.398376 +TTool-pose None -28.1719 13.6042 14.3532 0.709765 0.586395 -0.239363 0.308212 +#24556 1721121349348 +SLAM 16.6038 9.34605 -16.7951 -0.598445 0.118783 0.684554 0.398924 +TTool-pose None -28.1615 13.609 14.3385 0.709378 0.586267 -0.240639 0.308353 +#24557 1721121349384 +SLAM 16.67 9.31774 -16.7682 -0.597901 0.120083 0.683399 0.401324 +TTool-pose None -28.178 13.6504 14.2935 0.707943 0.586343 -0.241429 0.31088 +#24558 1721121349419 +SLAM 16.8253 9.42166 -16.6413 -0.598979 0.117624 0.682218 0.402451 +TTool-pose None -28.1974 13.6682 14.3237 0.706753 0.588567 -0.239555 0.310834 +#24559 1721121349458 +SLAM 16.6402 9.34807 -16.7763 -0.599014 0.118404 0.684195 0.398797 +TTool-pose None -28.1693 13.6066 14.3466 0.709445 0.586496 -0.239893 0.308343 +#24560 1721121349496 +SLAM 16.6083 9.29412 -16.7969 -0.597271 0.120949 0.684063 0.40087 +TTool-pose None -28.1483 13.6633 14.2821 0.708372 0.585528 -0.242383 0.310696 +#24561 1721121349533 +SLAM 16.7585 9.38453 -16.6899 -0.598703 0.118432 0.682816 0.401611 +TTool-pose None -28.1841 13.6599 14.3162 0.707478 0.587644 -0.240108 0.310506 +#24562 1721121349569 +SLAM 16.6623 9.34445 -16.7668 -0.599424 0.118226 0.683965 0.39863 +TTool-pose None -28.1741 13.6047 14.3516 0.709566 0.586563 -0.239383 0.308336 +#24563 1721121349604 +SLAM 16.7856 9.40183 -16.6833 -0.600421 0.116635 0.682805 0.399585 +TTool-pose None -28.2034 13.6078 14.3689 0.708671 0.588104 -0.237805 0.308678 +#24564 1721121349640 +SLAM 16.67 9.31853 -16.7771 -0.59914 0.118954 0.683684 0.39932 +TTool-pose None -28.1817 13.6137 14.3373 0.709216 0.586333 -0.239838 0.309221 +#24565 1721121349674 +SLAM 16.8107 9.34873 -16.6784 -0.599479 0.1185 0.682261 0.401375 +TTool-pose None -28.1904 13.6602 14.3315 0.707737 0.58752 -0.239224 0.310831 +#24566 1721121349709 +SLAM 16.7879 9.31105 -16.7147 -0.600043 0.118624 0.682302 0.400426 +TTool-pose None -28.2041 13.6258 14.3384 0.708479 0.587053 -0.238641 0.310471 +#24567 1721121349745 +SLAM 16.808 9.30168 -16.7105 -0.600265 0.118657 0.682 0.400597 +TTool-pose None -28.2133 13.6232 14.3377 0.708391 0.587108 -0.238378 0.310771 +#24568 1721121349781 +SLAM 16.8374 9.31773 -16.685 -0.601052 0.117789 0.682069 0.399555 +TTool-pose None -28.2021 13.6247 14.369 0.709005 0.587303 -0.237319 0.309809 +#24569 1721121349813 +SLAM 16.8008 9.29655 -16.7154 -0.600393 0.118605 0.682161 0.400148 +TTool-pose None -28.2072 13.6208 14.3459 0.708703 0.58696 -0.238241 0.310442 +#24570 1721121349846 +SLAM 16.7909 9.2401 -16.7424 -0.59996 0.120108 0.681902 0.400789 +TTool-pose None -28.2086 13.6382 14.3161 0.708535 0.586163 -0.239043 0.311713 +#24571 1721121349877 +SLAM 16.8517 9.25279 -16.712 -0.600684 0.119432 0.681279 0.400965 +TTool-pose None -28.2284 13.6331 14.3273 0.708345 0.586731 -0.238032 0.311852 +#24572 1721121349908 +SLAM 16.9316 9.32122 -16.641 -0.601259 0.117713 0.680655 0.401672 +TTool-pose None -28.2446 13.626 14.3484 0.707547 0.588245 -0.236936 0.311644 +#24573 1721121349939 +SLAM 16.8396 9.28595 -16.6999 -0.600822 0.118497 0.68183 0.400099 +TTool-pose None -28.2093 13.6266 14.3578 0.708757 0.587028 -0.237715 0.310592 +#24574 1721121349970 +SLAM 3.86276 -1.93709 -17.0335 -0.506388 0.254536 0.818755 0.0917965 +TTool-pose None -18.4773 11.3102 15.4161 0.877442 0.326017 -0.32989 0.120628 +#24575 1721121350002 +SLAM 16.7876 9.27913 -16.7356 -0.599824 0.119308 0.68197 0.401115 +TTool-pose None -28.2218 13.6176 14.323 0.708125 0.586856 -0.23901 0.311366 +#24576 1721121350033 +SLAM 16.7674 9.29204 -16.7389 -0.600147 0.118823 0.682559 0.399773 +TTool-pose None -28.202 13.6191 14.3467 0.708983 0.586644 -0.2386 0.310125 +#24577 1721121350064 +SLAM 16.8292 9.32992 -16.6872 -0.600168 0.11831 0.681926 0.400971 +TTool-pose None -28.2115 13.6374 14.3396 0.708048 0.587504 -0.238394 0.310791 +#24578 1721121350096 +SLAM 16.6748 9.29777 -16.7779 -0.599423 0.119075 0.683727 0.398787 +TTool-pose None -28.1708 13.6168 14.3482 0.70964 0.586034 -0.239562 0.309032 +#24579 1721121350129 +SLAM 16.8063 9.34211 -16.7037 -0.600496 0.117768 0.682172 0.400222 +TTool-pose None -28.2224 13.6101 14.349 0.708484 0.58758 -0.237932 0.310008 +#24580 1721121350161 +SLAM 16.7732 9.3515 -16.7122 -0.600498 0.117437 0.682814 0.399219 +TTool-pose None -28.2009 13.6067 14.3683 0.709104 0.587393 -0.237913 0.308955 +#24581 1721121350194 +SLAM 16.8522 9.35301 -16.6698 -0.600068 0.118072 0.681542 0.401843 +TTool-pose None -28.229 13.637 14.3268 0.707383 0.588031 -0.238408 0.311296 +#24582 1721121350227 +SLAM 16.7054 9.26185 -16.7719 -0.59876 0.120587 0.682988 0.400591 +TTool-pose None -28.1777 13.6564 14.3033 0.708647 0.58571 -0.240571 0.311134 +#24583 1721121350258 +SLAM 16.7025 9.33625 -16.7497 -0.600051 0.117909 0.683757 0.398136 +TTool-pose None -28.1709 13.6106 14.3745 0.709904 0.586596 -0.238602 0.308099 +#24584 1721121350291 +SLAM 16.7976 9.32479 -16.7042 -0.599682 0.118797 0.682194 0.401098 +TTool-pose None -28.2046 13.6442 14.3264 0.708014 0.587202 -0.239066 0.310924 +#24585 1721121350322 +SLAM 16.6953 9.29988 -16.7743 -0.599656 0.118952 0.683417 0.399005 +TTool-pose None -28.1871 13.612 14.3458 0.709488 0.586218 -0.239249 0.309273 +#24586 1721121350354 +SLAM 16.8105 9.35626 -16.6946 -0.600971 0.117114 0.682419 0.399276 +TTool-pose None -28.2126 13.6064 14.3728 0.709045 0.587655 -0.23728 0.309078 +#24587 1721121350389 +SLAM 16.7457 9.29688 -16.7428 -0.599241 0.119565 0.682629 0.40079 +TTool-pose None -28.1958 13.6419 14.3162 0.708344 0.586523 -0.239771 0.31091 +#24588 1721121350421 +SLAM 16.7807 9.33811 -16.7159 -0.600333 0.117935 0.682568 0.399741 +TTool-pose None -28.208 13.6157 14.3531 0.708834 0.587257 -0.238187 0.309621 +#24589 1721121350454 +SLAM 16.73 9.27734 -16.754 -0.598141 0.120894 0.682485 0.402276 +TTool-pose None -28.1927 13.6712 14.2761 0.707482 0.586179 -0.241269 0.312361 +#24590 1721121350501 +SLAM 16.7067 9.35047 -16.7442 -0.59973 0.117898 0.683556 0.398967 +TTool-pose None -28.1828 13.6082 14.3609 0.709296 0.586942 -0.238931 0.308584 +#24591 1721121350534 +SLAM 16.7787 9.37074 -16.7055 -0.600472 0.117153 0.682794 0.399375 +TTool-pose None -28.2066 13.6067 14.3683 0.708933 0.587656 -0.237871 0.30888 +#24592 1721121350576 +SLAM 16.7998 9.41014 -16.677 -0.600546 0.116399 0.682814 0.399451 +TTool-pose None -28.2033 13.6131 14.3803 0.708725 0.588217 -0.237613 0.308486 +#24593 1721121350610 +SLAM 16.7519 9.30849 -16.7238 -0.598125 0.120345 0.682372 0.402656 +TTool-pose None -28.1898 13.6769 14.2794 0.707101 0.586722 -0.241145 0.312299 +#24594 1721121350642 +SLAM 16.7289 9.36221 -16.7289 -0.60003 0.117568 0.683355 0.39896 +TTool-pose None -28.1884 13.6093 14.3636 0.709261 0.587179 -0.238507 0.308541 +#24595 1721121350677 +SLAM 16.7046 9.34652 -16.7502 -0.599966 0.117868 0.683565 0.398607 +TTool-pose None -28.1863 13.6043 14.3619 0.709563 0.586819 -0.238668 0.308409 +#24596 1721121350713 +SLAM 16.7857 9.37901 -16.6954 -0.60071 0.116884 0.682786 0.39911 +TTool-pose None -28.2039 13.607 14.3724 0.709082 0.58774 -0.237547 0.308626 +#24597 1721121350752 +SLAM 16.8154 9.33192 -16.688 -0.601088 0.117518 0.682449 0.39893 +TTool-pose None -28.1916 13.6234 14.375 0.709382 0.587232 -0.237251 0.309132 +#24598 1721121350784 +SLAM 16.8001 9.30006 -16.715 -0.600371 0.118581 0.6822 0.400121 +TTool-pose None -28.2064 13.6232 14.3463 0.708714 0.586965 -0.238263 0.31039 +#24599 1721121350820 +SLAM 16.9097 9.33381 -16.6418 -0.601085 0.117577 0.681042 0.401314 +TTool-pose None -28.2297 13.6298 14.3528 0.707748 0.588186 -0.237131 0.31115 +#24600 1721121350855 +SLAM 16.9087 9.29801 -16.6606 -0.601159 0.118163 0.680864 0.401334 +TTool-pose None -28.2365 13.626 14.3469 0.707868 0.587786 -0.237173 0.311602 +#24601 1721121350889 +SLAM 16.9222 9.30729 -16.651 -0.601139 0.118074 0.680685 0.401695 +TTool-pose None -28.2426 13.6288 14.3423 0.707597 0.587998 -0.237155 0.31183 +#24602 1721121350930 +SLAM 16.9657 9.3474 -16.6119 -0.602094 0.116653 0.680538 0.400928 +TTool-pose None -28.2463 13.6175 14.3726 0.70792 0.588699 -0.23576 0.310832 +#24603 1721121350971 +SLAM 17.0071 9.35289 -16.5957 -0.602636 0.116336 0.68004 0.40105 +TTool-pose None -28.2654 13.6157 14.3736 0.707821 0.588986 -0.235042 0.311054 +#24604 1721121351006 +SLAM 17.0287 9.38039 -16.5704 -0.60317 0.115486 0.68002 0.400527 +TTool-pose None -28.2635 13.6121 14.3901 0.708053 0.589376 -0.234254 0.310382 +#24605 1721121351043 +SLAM 17.0975 9.42756 -16.513 -0.604194 0.114015 0.679433 0.400403 +TTool-pose None -28.2788 13.6025 14.4078 0.707922 0.590378 -0.232722 0.309929 +#24606 1721121351080 +SLAM 16.8866 9.41929 -16.6314 -0.602934 0.114698 0.682034 0.397675 +TTool-pose None -28.2267 13.5816 14.4187 0.709826 0.588728 -0.234518 0.307344 +#24607 1721121351120 +SLAM 17.0299 9.48536 -16.5304 -0.604086 0.113158 0.680508 0.398979 +TTool-pose None -28.2645 13.5952 14.4182 0.708708 0.590378 -0.232739 0.30811 +#24608 1721121351155 +SLAM 16.9869 9.53141 -16.5381 -0.605626 0.111021 0.681618 0.395332 +TTool-pose None -28.2467 13.5493 14.4823 0.710902 0.59038 -0.230634 0.304613 +#24609 1721121351188 +SLAM 17.0963 9.55453 -16.4652 -0.606121 0.110786 0.680411 0.396717 +TTool-pose None -28.2626 13.5886 14.4675 0.709947 0.591137 -0.229921 0.30591 +#24610 1721121351221 +SLAM 17.1448 9.6664 -16.3975 -0.608206 0.10699 0.680632 0.394181 +TTool-pose None -28.2698 13.533 14.5486 0.711047 0.592764 -0.226717 0.302576 +#24611 1721121351254 +SLAM 17.1368 9.67517 -16.4105 -0.608814 0.106525 0.680608 0.39341 +TTool-pose None -28.2898 13.5089 14.5493 0.711529 0.592777 -0.225928 0.302005 +#24612 1721121351285 +SLAM 17.1156 9.68287 -16.4119 -0.60916 0.10604 0.681216 0.391949 +TTool-pose None -28.2639 13.5091 14.577 0.712453 0.592507 -0.225478 0.30069 +#24613 1721121351316 +SLAM 17.1618 9.70511 -16.3763 -0.609161 0.105721 0.680602 0.393099 +TTool-pose None -28.2794 13.5136 14.5672 0.711594 0.593213 -0.225346 0.301431 +#24614 1721121351347 +SLAM 17.1875 9.65622 -16.3865 -0.609526 0.106386 0.680184 0.393077 +TTool-pose None -28.2866 13.5168 14.5667 0.711793 0.592751 -0.225068 0.302079 +#24615 1721121351377 +SLAM 17.3138 9.71128 -16.2899 -0.60907 0.106088 0.67872 0.396381 +TTool-pose None -28.3112 13.5652 14.539 0.709414 0.594334 -0.225364 0.304337 +#24616 1721121351409 +SLAM 17.1796 9.67301 -16.3811 -0.608548 0.106677 0.680084 0.394683 +TTool-pose None -28.2919 13.5222 14.5439 0.710665 0.593201 -0.226212 0.302996 +#24617 1721121351440 +SLAM 17.2967 9.6844 -16.3079 -0.608857 0.106694 0.678818 0.396378 +TTool-pose None -28.3049 13.5685 14.5322 0.709532 0.593907 -0.225758 0.304604 +#24618 1721121351472 +SLAM 17.1362 9.62944 -16.4261 -0.608754 0.107338 0.680535 0.393406 +TTool-pose None -28.2821 13.5167 14.547 0.711708 0.592209 -0.226186 0.302504 +#24619 1721121351511 +SLAM 17.2765 9.68176 -16.3139 -0.60902 0.106572 0.679135 0.395616 +TTool-pose None -28.2918 13.5636 14.5406 0.710044 0.593676 -0.225577 0.303992 +#24620 1721121351546 +SLAM 17.1282 9.62165 -16.4344 -0.608196 0.107841 0.680438 0.394299 +TTool-pose None -28.2873 13.52 14.5301 0.711155 0.592222 -0.226918 0.303232 +#24621 1721121351578 +SLAM 17.1089 9.61446 -16.4425 -0.608111 0.107934 0.680818 0.393749 +TTool-pose None -28.2692 13.5248 14.5406 0.711545 0.591924 -0.227069 0.302786 +#24622 1721121351612 +SLAM 17.152 9.62678 -16.4136 -0.608184 0.107776 0.680205 0.394737 +TTool-pose None -28.2849 13.5293 14.5293 0.710839 0.592451 -0.226894 0.303544 +#24623 1721121351643 +SLAM 17.1566 9.6021 -16.4093 -0.607119 0.109289 0.679763 0.396719 +TTool-pose None -28.2823 13.5683 14.4781 0.709711 0.592205 -0.228397 0.305532 +#24624 1721121351674 +SLAM 17.0961 9.65658 -16.4201 -0.608144 0.107135 0.681106 0.393417 +TTool-pose None -28.2568 13.5204 14.5452 0.711596 0.592341 -0.226863 0.302003 +#24625 1721121351703 +SLAM 16.9868 9.61443 -16.4947 -0.606974 0.108582 0.682003 0.393275 +TTool-pose None -28.2412 13.5136 14.5168 0.711903 0.591247 -0.228589 0.302122 +#24626 1721121351738 +SLAM 17.0922 9.66195 -16.4048 -0.606188 0.108706 0.680735 0.396634 +TTool-pose None -28.2524 13.5715 14.4784 0.70955 0.592552 -0.229372 0.304502 +#24627 1721121351769 +SLAM 17.0315 9.66163 -16.4418 -0.606936 0.107817 0.681392 0.394599 +TTool-pose None -28.2546 13.5123 14.5035 0.710822 0.592335 -0.228391 0.302687 +#24628 1721121351799 +SLAM 16.8425 9.5829 -16.5672 -0.604584 0.110641 0.683015 0.394622 +TTool-pose None -28.2157 13.5163 14.454 0.7112 0.59032 -0.231816 0.303132 +#24629 1721121351830 +SLAM 16.7215 9.5028 -16.6521 -0.602461 0.113617 0.683713 0.395813 +TTool-pose None -28.1915 13.5397 14.388 0.710822 0.588688 -0.234932 0.304792 +#24630 1721121351862 +SLAM 16.809 9.60556 -16.5496 -0.602653 0.111719 0.683065 0.397178 +TTool-pose None -28.1959 13.5535 14.3965 0.709488 0.59059 -0.234206 0.304778 +#24631 1721121351896 +SLAM 16.7278 9.59529 -16.6024 -0.603347 0.111046 0.683998 0.3947 +TTool-pose None -28.1916 13.4965 14.4238 0.71111 0.590036 -0.233365 0.302706 +#24632 1721121351929 +SLAM 16.6173 9.58661 -16.6502 -0.602447 0.11169 0.685169 0.393862 +TTool-pose None -28.1584 13.4913 14.4103 0.711733 0.589209 -0.234612 0.301888 +#24633 1721121351961 +SLAM 16.574 9.62832 -16.6461 -0.602736 0.110659 0.685647 0.392875 +TTool-pose None -28.1532 13.4608 14.4124 0.712208 0.589519 -0.234086 0.300566 +#24634 1721121351993 +SLAM 16.5081 9.65304 -16.6584 -0.602107 0.110624 0.68617 0.392938 +TTool-pose None -28.1443 13.4468 14.389 0.712092 0.589552 -0.234816 0.300209 +#24635 1721121352027 +SLAM 16.223 9.55762 -16.8398 -0.600195 0.113258 0.688662 0.390748 +TTool-pose None -28.1041 13.402 14.3442 0.713957 0.586732 -0.237759 0.298982 +#24636 1721121352058 +SLAM 16.4766 9.7549 -16.6064 -0.600872 0.109858 0.686304 0.394805 +TTool-pose None -28.1379 13.4534 14.341 0.710517 0.590835 -0.236001 0.300487 +#24637 1721121352095 +SLAM 16.2594 9.70451 -16.7345 -0.601215 0.109826 0.688894 0.389748 +TTool-pose None -28.0864 13.3823 14.3812 0.713987 0.588729 -0.235826 0.296502 +#24638 1721121352127 +SLAM 16.2028 9.67803 -16.7592 -0.5993 0.111906 0.688762 0.392331 +TTool-pose None -28.0861 13.4054 14.3017 0.712485 0.588318 -0.23843 0.298843 +#24639 1721121352158 +SLAM 16.2145 9.70721 -16.7354 -0.600953 0.109909 0.688842 0.390221 +TTool-pose None -28.0894 13.3516 14.3438 0.713656 0.588864 -0.236132 0.296787 +#24640 1721121352195 +SLAM 16.1188 9.61057 -16.7981 -0.599158 0.112983 0.689122 0.391606 +TTool-pose None -28.0628 13.3738 14.2725 0.7132 0.587255 -0.238873 0.298874 +#24641 1721121352235 +SLAM 16.2029 9.60176 -16.7326 -0.597892 0.114627 0.687779 0.395406 +TTool-pose None -28.0598 13.448 14.206 0.710832 0.587675 -0.240546 0.302333 +#24642 1721121352268 +SLAM 16.1599 9.67469 -16.7361 -0.6002 0.110834 0.689036 0.390775 +TTool-pose None -28.0569 13.3473 14.3094 0.713404 0.588432 -0.237201 0.297398 +#24643 1721121352304 +SLAM 16.1569 9.59496 -16.7667 -0.598768 0.11372 0.688223 0.393566 +TTool-pose None -28.0709 13.3859 14.2315 0.711986 0.587558 -0.239405 0.300744 +#24644 1721121352341 +SLAM 16.1871 9.65925 -16.7313 -0.601002 0.1106 0.688783 0.390055 +TTool-pose None -28.0624 13.341 14.3225 0.713928 0.588314 -0.23624 0.297139 +#24645 1721121352377 +SLAM 16.2281 9.68171 -16.7083 -0.601253 0.110098 0.688279 0.390697 +TTool-pose None -28.0834 13.3364 14.3215 0.713408 0.588944 -0.235802 0.297488 +#24646 1721121352408 +SLAM 16.3649 9.72012 -16.6072 -0.601034 0.11008 0.686707 0.393795 +TTool-pose None -28.0967 13.3931 14.2917 0.711272 0.59026 -0.235911 0.299899 +#24647 1721121352440 +SLAM 16.2831 9.67643 -16.6807 -0.601881 0.109842 0.687661 0.390892 +TTool-pose None -28.0931 13.3381 14.3265 0.713286 0.589224 -0.234998 0.297863 +#24648 1721121352472 +SLAM 16.159 9.6243 -16.7682 -0.600465 0.111563 0.688736 0.39069 +TTool-pose None -28.0753 13.3333 14.3012 0.713652 0.587897 -0.237061 0.297973 +#24649 1721121352502 +SLAM 16.4362 9.72855 -16.571 -0.602035 0.109187 0.68594 0.393851 +TTool-pose None -28.1186 13.3775 14.3094 0.711142 0.590934 -0.234528 0.299966 +#24650 1721121352537 +SLAM 16.4046 9.67638 -16.6062 -0.601743 0.110354 0.686119 0.393659 +TTool-pose None -28.1081 13.3851 14.2969 0.711502 0.590033 -0.235147 0.300402 +#24651 1721121352573 +SLAM 16.3746 9.64416 -16.6402 -0.602472 0.110238 0.686529 0.391858 +TTool-pose None -28.1034 13.3598 14.3204 0.71278 0.589374 -0.234349 0.299285 +#24652 1721121352605 +SLAM 16.4752 9.69669 -16.5707 -0.603439 0.108648 0.685528 0.392567 +TTool-pose None -28.1329 13.3487 14.3382 0.712045 0.590807 -0.232814 0.299408 +#24653 1721121352636 +SLAM 16.3388 9.53659 -16.7005 -0.601411 0.113087 0.686217 0.39322 +TTool-pose None -28.1053 13.3806 14.2663 0.712368 0.587934 -0.236178 0.301652 +#24654 1721121352668 +SLAM 16.5987 9.65822 -16.5117 -0.6028 0.110389 0.683741 0.396162 +TTool-pose None -28.1496 13.4192 14.2844 0.709907 0.591093 -0.233784 0.303144 +#24655 1721121352705 +SLAM 16.4972 9.58712 -16.6015 -0.603844 0.110478 0.68493 0.392477 +TTool-pose None -28.1328 13.362 14.3241 0.712555 0.589508 -0.23276 0.300795 +#24656 1721121352738 +SLAM 16.5082 9.5947 -16.6023 -0.603598 0.110478 0.684648 0.393346 +TTool-pose None -28.1525 13.3545 14.3155 0.711937 0.589868 -0.233007 0.301362 +#24657 1721121352767 +SLAM 16.6064 9.61281 -16.5387 -0.603839 0.11029 0.683621 0.394812 +TTool-pose None -28.1627 13.3884 14.3095 0.710917 0.590624 -0.232607 0.302598 +#24658 1721121352798 +SLAM 16.7083 9.62166 -16.4842 -0.605482 0.108992 0.682597 0.394428 +TTool-pose None -28.187 13.3707 14.3385 0.711058 0.591408 -0.23039 0.302429 +#24659 1721121352835 +SLAM 16.6331 9.50159 -16.5691 -0.603729 0.112597 0.682659 0.395992 +TTool-pose None -28.1774 13.4048 14.2688 0.710605 0.58951 -0.233198 0.30504 +#24660 1721121352866 +SLAM 16.848 9.63959 -16.3993 -0.605778 0.1088 0.68098 0.396814 +TTool-pose None -28.2123 13.4076 14.3255 0.709406 0.592552 -0.229869 0.304461 +#24661 1721121352897 +SLAM 16.8002 9.59817 -16.452 -0.605832 0.109309 0.681168 0.39627 +TTool-pose None -28.2264 13.3721 14.3193 0.709899 0.591971 -0.229952 0.304381 +#24662 1721121352928 +SLAM 16.8988 9.59495 -16.3949 -0.607236 0.108559 0.680294 0.395827 +TTool-pose None -28.2308 13.3828 14.3439 0.710174 0.592341 -0.228141 0.304381 +#24663 1721121352958 +SLAM 16.9586 9.59425 -16.3542 -0.60621 0.109659 0.679428 0.398574 +TTool-pose None -28.2339 13.4387 14.3024 0.708426 0.592701 -0.229455 0.306757 +#24664 1721121352994 +SLAM 16.8369 9.56013 -16.4483 -0.606634 0.109425 0.680855 0.395548 +TTool-pose None -28.2247 13.3741 14.3381 0.7105 0.591607 -0.229066 0.304353 +#24665 1721121353031 +SLAM 16.8212 9.533 -16.465 -0.606769 0.109776 0.681084 0.394847 +TTool-pose None -28.2124 13.3757 14.345 0.711071 0.591072 -0.229023 0.30409 +#24666 1721121353070 +SLAM 16.8947 9.55681 -16.4191 -0.607303 0.10907 0.680252 0.395658 +TTool-pose None -28.2348 13.3757 14.3481 0.71041 0.591917 -0.228187 0.304621 +#24667 1721121353114 +SLAM 16.9446 9.56731 -16.3881 -0.607874 0.10855 0.679784 0.395727 +TTool-pose None -28.2429 13.378 14.3582 0.710301 0.592321 -0.227387 0.304687 +#24668 1721121353151 +SLAM 17.0011 9.56549 -16.3505 -0.607286 0.109284 0.678933 0.397883 +TTool-pose None -28.2504 13.4155 14.3251 0.708923 0.592699 -0.228133 0.306598 +#24669 1721121353185 +SLAM 17.0252 9.57192 -16.3317 -0.60717 0.10934 0.678646 0.398534 +TTool-pose None -28.2523 13.4282 14.318 0.708475 0.592929 -0.228247 0.307105 +#24670 1721121353218 +SLAM 16.9156 9.54738 -16.4117 -0.607459 0.109165 0.679939 0.395929 +TTool-pose None -28.2412 13.3766 14.3452 0.71026 0.591968 -0.228009 0.305006 +#24671 1721121353254 +SLAM 16.9846 9.50823 -16.3796 -0.606379 0.111172 0.678661 0.399205 +TTool-pose None -28.2508 13.4413 14.2809 0.708341 0.591915 -0.229563 0.30839 +#24672 1721121353291 +SLAM 16.9264 9.51919 -16.4156 -0.606872 0.110304 0.679536 0.397203 +TTool-pose None -28.2456 13.401 14.3141 0.709579 0.591695 -0.228894 0.306456 +#24673 1721121353324 +SLAM 16.9371 9.55664 -16.3928 -0.607868 0.108738 0.679853 0.395565 +TTool-pose None -28.237 13.3793 14.3572 0.710454 0.592122 -0.227445 0.304673 +#24674 1721121353361 +SLAM 16.8332 9.46554 -16.4748 -0.604849 0.112806 0.680212 0.398426 +TTool-pose None -28.215 13.4403 14.261 0.709089 0.590413 -0.231788 0.307886 +#24675 1721121353396 +SLAM 16.8134 9.53472 -16.4676 -0.606481 0.109924 0.681119 0.395188 +TTool-pose None -28.2121 13.3773 14.3388 0.710842 0.591105 -0.229381 0.304292 +#24676 1721121353432 +SLAM 16.7314 9.40764 -16.5575 -0.604564 0.113872 0.68111 0.397019 +TTool-pose None -28.2044 13.4153 14.255 0.710262 0.589073 -0.232443 0.307253 +#24677 1721121353466 +SLAM 16.8796 9.54565 -16.4258 -0.607278 0.109286 0.680424 0.39534 +TTool-pose None -28.2244 13.378 14.3471 0.710674 0.591633 -0.228282 0.304486 +#24678 1721121353501 +SLAM 16.8817 9.50232 -16.4413 -0.606123 0.111207 0.679828 0.397595 +TTool-pose None -28.2364 13.4103 14.289 0.709435 0.591211 -0.229965 0.306919 +#24679 1721121353533 +SLAM 16.8139 9.50035 -16.4807 -0.605733 0.111357 0.680605 0.396817 +TTool-pose None -28.2253 13.3965 14.2912 0.709966 0.590771 -0.230504 0.306133 +#24680 1721121353564 +SLAM 16.8846 9.51707 -16.4304 -0.606057 0.111043 0.679781 0.397822 +TTool-pose None -28.2367 13.4123 14.2838 0.709236 0.591419 -0.229994 0.306957 +#24681 1721121353595 +SLAM 16.8466 9.58248 -16.423 -0.606694 0.109054 0.680791 0.395667 +TTool-pose None -28.2178 13.3791 14.3349 0.710341 0.591917 -0.228905 0.304243 +#24682 1721121353631 +SLAM 16.9111 9.62239 -16.3798 -0.607624 0.107699 0.680177 0.395667 +TTool-pose None -28.2426 13.3622 14.3535 0.710129 0.592882 -0.227491 0.303918 +#24683 1721121353662 +SLAM 16.8986 9.52668 -16.4193 -0.605132 0.111757 0.679129 0.400137 +TTool-pose None -28.2601 13.4248 14.2344 0.707704 0.591866 -0.231119 0.308784 +#24684 1721121353694 +SLAM 16.8089 9.583 -16.4497 -0.606288 0.109329 0.680949 0.395942 +TTool-pose None -28.2299 13.3644 14.3164 0.710174 0.591831 -0.229433 0.304403 +#24685 1721121353727 +SLAM 16.7293 9.50604 -16.5191 -0.605184 0.111609 0.681313 0.396369 +TTool-pose None -28.2185 13.3768 14.2704 0.710276 0.590395 -0.231235 0.30559 +#24686 1721121353762 +SLAM 16.8224 9.62098 -16.4246 -0.607107 0.107985 0.681152 0.394706 +TTool-pose None -28.2237 13.3504 14.3481 0.710803 0.592267 -0.228221 0.302993 +#24687 1721121353793 +SLAM 16.7465 9.6141 -16.468 -0.606098 0.108679 0.681966 0.394661 +TTool-pose None -28.2074 13.3521 14.3374 0.710889 0.59174 -0.229578 0.302793 +#24688 1721121353825 +SLAM 16.7362 9.52022 -16.4988 -0.604587 0.111859 0.681404 0.397053 +TTool-pose None -28.1992 13.4086 14.2647 0.709801 0.590491 -0.231961 0.305956 +#24689 1721121353856 +SLAM 16.8304 9.58436 -16.4217 -0.605367 0.110237 0.680656 0.397601 +TTool-pose None -28.2141 13.4133 14.2858 0.709143 0.591871 -0.230641 0.305813 +#24690 1721121353885 +SLAM 16.9143 9.65488 -16.3503 -0.606538 0.108104 0.680086 0.397376 +TTool-pose None -28.2313 13.3988 14.3214 0.708939 0.59329 -0.228778 0.304934 +#24691 1721121353917 +SLAM 16.8364 9.63262 -16.4113 -0.607182 0.107718 0.681148 0.39467 +TTool-pose None -28.2195 13.3569 14.3569 0.710776 0.592439 -0.228073 0.302832 +#24692 1721121353949 +SLAM 16.6853 9.52336 -16.5394 -0.60555 0.110652 0.682252 0.394459 +TTool-pose None -28.2 13.3526 14.3144 0.711412 0.590268 -0.230687 0.303598 +#24693 1721121353980 +SLAM 16.7325 9.43579 -16.5314 -0.604498 0.113467 0.681034 0.397366 +TTool-pose None -28.1999 13.4137 14.2437 0.709929 0.589499 -0.232411 0.30723 +#24694 1721121354014 +SLAM 16.8412 9.58736 -16.4239 -0.606628 0.108977 0.680695 0.395955 +TTool-pose None -28.2262 13.3676 14.3266 0.71012 0.592089 -0.22895 0.30439 +#24695 1721121354045 +SLAM 16.9692 9.61293 -16.343 -0.608173 0.107572 0.67945 0.396109 +TTool-pose None -28.2482 13.3675 14.3521 0.70985 0.593168 -0.226787 0.304539 +#24696 1721121354077 +SLAM 16.8126 9.45643 -16.488 -0.605856 0.112109 0.680402 0.396765 +TTool-pose None -28.2181 13.3996 14.2788 0.710179 0.590229 -0.230531 0.306666 +#24697 1721121354107 +SLAM 16.8527 9.48024 -16.455 -0.606459 0.111242 0.680048 0.396696 +TTool-pose None -28.2262 13.3907 14.2913 0.710094 0.590819 -0.229625 0.306404 +#24698 1721121354137 +SLAM 16.933 9.5522 -16.393 -0.607928 0.108754 0.679557 0.395977 +TTool-pose None -28.2509 13.359 14.3395 0.71018 0.592285 -0.227356 0.305063 +#24699 1721121354173 +SLAM 16.9088 9.52268 -16.412 -0.607974 0.109249 0.679958 0.395081 +TTool-pose None -28.229 13.3692 14.3473 0.71091 0.591567 -0.227462 0.304677 +#24700 1721121354210 +SLAM 16.9955 9.53657 -16.3553 -0.607522 0.109662 0.678671 0.397865 +TTool-pose None -28.2533 13.4025 14.3089 0.709042 0.592434 -0.22794 0.30698 +#24701 1721121354245 +SLAM 17.0102 9.57187 -16.3471 -0.608133 0.108453 0.678554 0.397463 +TTool-pose None -28.2777 13.3689 14.3274 0.709109 0.593121 -0.226962 0.306221 +#24702 1721121354281 +SLAM 16.8519 9.47903 -16.4577 -0.606328 0.111355 0.680046 0.396868 +TTool-pose None -28.2273 13.3932 14.2894 0.709989 0.590809 -0.229796 0.306541 +#24703 1721121354317 +SLAM 16.7549 9.50952 -16.4992 -0.606228 0.110447 0.681479 0.39481 +TTool-pose None -28.204 13.3583 14.322 0.711193 0.590576 -0.229819 0.30417 +#24704 1721121354349 +SLAM 16.8179 9.4704 -16.4791 -0.606142 0.111672 0.680399 0.396456 +TTool-pose None -28.2199 13.3933 14.2846 0.710323 0.590411 -0.230111 0.306295 +#24705 1721121354382 +SLAM 16.8192 9.55441 -16.4497 -0.606712 0.109427 0.680843 0.395448 +TTool-pose None -28.2233 13.3586 14.3272 0.710576 0.591566 -0.22898 0.30432 +#24706 1721121354413 +SLAM 16.8594 9.50666 -16.4423 -0.606356 0.11093 0.679898 0.397198 +TTool-pose None -28.2366 13.3885 14.2815 0.70967 0.591244 -0.229649 0.306549 +#24707 1721121354446 +SLAM 16.8587 9.55685 -16.4278 -0.607261 0.109126 0.680441 0.39538 +TTool-pose None -28.2303 13.3619 14.3323 0.710609 0.59176 -0.228265 0.304403 +#24708 1721121354478 +SLAM 17.0182 9.60123 -16.3079 -0.606461 0.109498 0.678442 0.399915 +TTool-pose None -28.2522 13.4387 14.2802 0.707488 0.593379 -0.229044 0.307919 +#24709 1721121354509 +SLAM 16.772 9.49561 -16.4865 -0.605104 0.111916 0.680916 0.397086 +TTool-pose None -28.2052 13.4045 14.2685 0.709842 0.590479 -0.231361 0.306339 +#24710 1721121354543 +SLAM 16.5847 9.36314 -16.6478 -0.603716 0.115111 0.682304 0.3959 +TTool-pose None -28.1875 13.385 14.2263 0.711215 0.587716 -0.233782 0.306629 +#24711 1721121354578 +SLAM 16.7512 9.54931 -16.4885 -0.606322 0.1097 0.681681 0.394524 +TTool-pose None -28.206 13.3538 14.3296 0.711232 0.590978 -0.229552 0.303496 +#24712 1721121354611 +SLAM 16.8342 9.57525 -16.4265 -0.607524 0.108512 0.681046 0.394102 +TTool-pose None -28.208 13.359 14.3552 0.711375 0.591657 -0.227879 0.303098 +#24713 1721121354643 +SLAM 16.7363 9.44828 -16.5351 -0.605594 0.112326 0.681042 0.396005 +TTool-pose None -28.2179 13.3718 14.269 0.710723 0.589752 -0.230932 0.306018 +#24714 1721121354677 +SLAM 16.8599 9.53248 -16.427 -0.606629 0.110191 0.680343 0.396223 +TTool-pose None -28.2158 13.3955 14.3106 0.710205 0.591357 -0.22921 0.305418 +#24715 1721121354711 +SLAM 16.8645 9.5361 -16.4232 -0.606671 0.110098 0.680308 0.396245 +TTool-pose None -28.2167 13.3954 14.3118 0.710173 0.591432 -0.229139 0.305401 +#24716 1721121354742 +SLAM 16.8373 9.5509 -16.4324 -0.607479 0.10904 0.68092 0.394243 +TTool-pose None -28.2058 13.3668 14.348 0.711392 0.591347 -0.228046 0.303538 +#24717 1721121354775 +SLAM 16.7657 9.46863 -16.4944 -0.604933 0.112633 0.680848 0.397262 +TTool-pose None -28.1983 13.4163 14.2542 0.709861 0.590048 -0.231715 0.306857 +#24718 1721121354809 +SLAM 16.6963 9.40876 -16.5693 -0.605104 0.11339 0.681336 0.395947 +TTool-pose None -28.2062 13.38 14.2549 0.710948 0.588974 -0.231754 0.306375 +#24719 1721121354844 +SLAM 16.7004 9.41282 -16.5633 -0.605217 0.113162 0.681479 0.395593 +TTool-pose None -28.1968 13.3834 14.2687 0.711152 0.588987 -0.231588 0.306001 +#24720 1721121354876 +SLAM 16.7191 9.46109 -16.5362 -0.605535 0.112024 0.681475 0.395436 +TTool-pose None -28.2029 13.3734 14.2841 0.711042 0.589723 -0.230963 0.305309 +#24721 1721121354909 +SLAM -0.549005 -4.50264 -17.4117 0.463133 -0.238724 -0.853199 0.0251154 +TTool-pose None -18.72 9.28194 15.6923 0.881046 0.255779 -0.327456 0.0107047 +#24722 1721121354944 +SLAM 16.6804 9.47487 -16.5581 -0.60586 0.111235 0.68218 0.393943 +TTool-pose None -28.1957 13.3464 14.316 0.711924 0.589653 -0.230479 0.303749 +#24723 1721121354979 +SLAM 16.8016 9.48286 -16.4763 -0.606033 0.111415 0.680806 0.395998 +TTool-pose None -28.2021 13.397 14.2971 0.710571 0.590395 -0.230207 0.305677 +#24724 1721121355014 +SLAM 16.7141 9.44747 -16.5299 -0.604687 0.113062 0.681534 0.396334 +TTool-pose None -28.1791 13.4158 14.2623 0.710569 0.589354 -0.232152 0.306222 +#24725 1721121355052 +SLAM 16.7465 9.47209 -16.5139 -0.605268 0.11213 0.681073 0.396506 +TTool-pose None -28.2089 13.3866 14.2695 0.710304 0.590091 -0.231247 0.306102 +#24726 1721121355086 +SLAM 16.783 9.45639 -16.508 -0.606802 0.111328 0.680865 0.394742 +TTool-pose None -28.2167 13.3659 14.3045 0.71149 0.589948 -0.229343 0.305052 +#24727 1721121355120 +SLAM 16.8532 9.5072 -16.4355 -0.6067 0.110591 0.680354 0.395983 +TTool-pose None -28.2087 13.397 14.3083 0.710465 0.590979 -0.22923 0.305529 +#24728 1721121355151 +SLAM 16.7766 9.51354 -16.4851 -0.607252 0.109666 0.681421 0.393553 +TTool-pose None -28.2033 13.3456 14.3456 0.711981 0.590616 -0.228494 0.303242 +#24729 1721121355184 +SLAM 16.786 9.51582 -16.4867 -0.607114 0.109758 0.681161 0.39419 +TTool-pose None -28.2195 13.3418 14.3356 0.711551 0.590817 -0.228646 0.303745 +#24730 1721121355218 +SLAM 16.8401 9.56656 -16.4245 -0.607807 0.108384 0.680971 0.39383 +TTool-pose None -28.2079 13.3503 14.3618 0.711561 0.591638 -0.227529 0.302963 +#24731 1721121355252 +SLAM 16.8051 9.54119 -16.4711 -0.607058 0.109366 0.680828 0.394959 +TTool-pose None -28.2379 13.334 14.3274 0.710932 0.591411 -0.228582 0.304088 +#24732 1721121355283 +SLAM 16.7801 9.4943 -16.4912 -0.607257 0.11012 0.681219 0.393767 +TTool-pose None -28.2081 13.3491 14.3336 0.711936 0.59039 -0.22858 0.303724 +#24733 1721121355319 +SLAM 16.9207 9.5447 -16.3834 -0.607381 0.109535 0.679692 0.396369 +TTool-pose None -28.2245 13.395 14.3175 0.710031 0.591893 -0.228162 0.305568 +#24734 1721121355353 +SLAM 16.7874 9.43195 -16.4999 -0.605608 0.112864 0.680535 0.396701 +TTool-pose None -28.2039 13.4112 14.2605 0.710364 0.589669 -0.230998 0.306962 +#24735 1721121355387 +SLAM 16.8779 9.51532 -16.4363 -0.607973 0.109427 0.680078 0.394826 +TTool-pose None -28.2385 13.3528 14.3347 0.711125 0.591336 -0.227518 0.304583 +#24736 1721121355419 +SLAM 16.8866 9.53202 -16.414 -0.608396 0.108704 0.680284 0.394019 +TTool-pose None -28.2205 13.3517 14.3586 0.711559 0.591509 -0.226893 0.303696 +#24737 1721121355451 +SLAM 16.8816 9.54404 -16.4158 -0.608449 0.108473 0.680389 0.39382 +TTool-pose None -28.2231 13.3486 14.3616 0.711649 0.591587 -0.226788 0.303411 +#24738 1721121355484 +SLAM 16.766 9.42443 -16.5173 -0.60592 0.112542 0.680843 0.395788 +TTool-pose None -28.202 13.3885 14.2785 0.710952 0.589519 -0.230607 0.306183 +#24739 1721121355518 +SLAM 16.684 9.31851 -16.6104 -0.605878 0.114361 0.681426 0.394324 +TTool-pose None -28.1928 13.3731 14.2712 0.71235 0.587634 -0.231142 0.306155 +#24740 1721121355549 +SLAM 16.9203 9.47281 -16.4195 -0.608713 0.109579 0.679628 0.394419 +TTool-pose None -28.2305 13.3537 14.3494 0.711509 0.591076 -0.226695 0.304804 +#24741 1721121355596 +SLAM 16.7934 9.40996 -16.4994 -0.60544 0.113255 0.680575 0.396777 +TTool-pose None -28.1892 13.424 14.2682 0.710381 0.589424 -0.231281 0.307182 +#24742 1721121355637 +SLAM 16.8742 9.46591 -16.4502 -0.607774 0.110309 0.679857 0.395269 +TTool-pose None -28.2351 13.3504 14.3235 0.710997 0.590902 -0.227931 0.305413 +#24743 1721121355668 +SLAM 16.8394 9.43948 -16.4801 -0.607662 0.11081 0.680378 0.394403 +TTool-pose None -28.2175 13.3567 14.3324 0.711691 0.590187 -0.228224 0.304959 +#24744 1721121355699 +SLAM 16.8432 9.37358 -16.4977 -0.606719 0.112968 0.679703 0.396401 +TTool-pose None -28.2243 13.3875 14.2749 0.710701 0.589499 -0.229723 0.307467 +#24745 1721121355729 +SLAM 16.9748 9.48474 -16.3762 -0.607504 0.110564 0.678685 0.397619 +TTool-pose None -28.2412 13.4017 14.2982 0.70941 0.591702 -0.22818 0.307364 +#24746 1721121355766 +SLAM 16.7753 9.4214 -16.5239 -0.606561 0.111955 0.680872 0.394923 +TTool-pose None -28.2108 13.3666 14.3045 0.71148 0.589581 -0.229761 0.30547 +#24747 1721121355797 +SLAM 16.9841 9.52029 -16.3559 -0.60678 0.110476 0.678619 0.398859 +TTool-pose None -28.2424 13.4189 14.2865 0.708465 0.592265 -0.228949 0.307888 +#24748 1721121355830 +SLAM 16.97 9.55499 -16.3536 -0.607648 0.108994 0.678993 0.397307 +TTool-pose None -28.2464 13.378 14.3193 0.709291 0.592669 -0.22767 0.306152 +#24749 1721121355865 +SLAM 16.7598 9.35463 -16.5515 -0.60554 0.114011 0.680497 0.396544 +TTool-pose None -28.2101 13.39 14.2572 0.710715 0.588801 -0.231346 0.307552 +#24750 1721121355898 +SLAM 16.7261 9.27347 -16.5831 -0.605435 0.115522 0.680714 0.395893 +TTool-pose None -28.1794 13.404 14.2477 0.711481 0.587471 -0.231842 0.307955 +#24751 1721121355934 +SLAM 16.9463 9.36131 -16.4154 -0.607576 0.112595 0.678473 0.397302 +TTool-pose None -28.2184 13.3984 14.2756 0.710081 0.590156 -0.228572 0.308496 +#24752 1721121355970 +SLAM 16.8609 9.43413 -16.4437 -0.608131 0.110493 0.680042 0.39435 +TTool-pose None -28.2038 13.3489 14.3308 0.711703 0.590397 -0.227598 0.304994 +#24753 1721121356007 +SLAM 16.9577 9.47502 -16.3635 -0.607233 0.110715 0.678785 0.397821 +TTool-pose None -28.2182 13.3985 14.2918 0.709277 0.591676 -0.228525 0.307464 +#24754 1721121356044 +SLAM 16.9123 9.41144 -16.4215 -0.606632 0.112477 0.678885 0.398073 +TTool-pose None -28.2219 13.4085 14.2588 0.709433 0.590539 -0.229622 0.308474 +#24755 1721121356077 +SLAM 16.7935 9.45917 -16.4658 -0.606589 0.111 0.680552 0.395698 +TTool-pose None -28.1996 13.3487 14.2985 0.71074 0.590573 -0.22947 0.305496 +#24756 1721121356111 +SLAM 16.8529 9.41121 -16.4583 -0.607149 0.11163 0.679688 0.396147 +TTool-pose None -28.2167 13.3575 14.2931 0.710624 0.590336 -0.228925 0.306632 +#24757 1721121356145 +SLAM 17.0127 9.35924 -16.3738 -0.607415 0.112934 0.67745 0.399191 +TTool-pose None -28.2349 13.4176 14.2495 0.708835 0.590705 -0.22873 0.310191 +#24758 1721121356179 +SLAM 16.8132 9.2992 -16.5024 -0.606272 0.114361 0.679288 0.397396 +TTool-pose None -28.2067 13.3703 14.232 0.710276 0.588932 -0.230509 0.308943 +#24759 1721121356216 +SLAM 16.814 9.39339 -16.4672 -0.606727 0.112161 0.679797 0.396458 +TTool-pose None -28.2053 13.348 14.269 0.710486 0.590085 -0.229528 0.306982 +#24760 1721121356250 +SLAM 16.8283 9.36533 -16.4651 -0.605871 0.11338 0.679246 0.39836 +TTool-pose None -28.2115 13.3697 14.2319 0.709359 0.59001 -0.230711 0.308844 +#24761 1721121356283 +SLAM 16.8214 9.40177 -16.4655 -0.607045 0.111809 0.679967 0.395777 +TTool-pose None -28.2013 13.3522 14.2873 0.710908 0.590053 -0.229109 0.30638 +#24762 1721121356318 +SLAM 16.8085 9.40439 -16.4645 -0.605853 0.112752 0.679758 0.397691 +TTool-pose None -28.204 13.3728 14.2441 0.709681 0.590168 -0.230629 0.30786 +#24763 1721121356353 +SLAM 16.9207 9.4942 -16.3562 -0.607772 0.10966 0.679197 0.396583 +TTool-pose None -28.2044 13.3565 14.3064 0.709949 0.591905 -0.227714 0.30607 +#24764 1721121356386 +SLAM 17.0466 9.48056 -16.3009 -0.607413 0.110615 0.677221 0.400231 +TTool-pose None -28.2529 13.3939 14.2555 0.707605 0.592755 -0.228148 0.309512 +#24765 1721121356420 +SLAM 16.9861 9.31926 -16.3786 -0.607932 0.113016 0.677824 0.397744 +TTool-pose None -28.2007 13.4044 14.2674 0.709901 0.590056 -0.228218 0.309363 +#24766 1721121356454 +SLAM 16.881 9.0657 -16.5497 -0.61011 0.115705 0.67845 0.392536 +TTool-pose None -28.1918 13.3361 14.2969 0.71427 0.586044 -0.226511 0.308183 +#24767 1721121356488 +SLAM 16.8241 8.94748 -16.61 -0.611054 0.116838 0.679157 0.389497 +TTool-pose None -28.1492 13.3203 14.328 0.716679 0.583992 -0.225791 0.307011 +#24768 1721121356521 +SLAM 16.911 8.91382 -16.5871 -0.611675 0.117367 0.677697 0.390904 +TTool-pose None -28.1924 13.3246 14.3014 0.715888 0.584228 -0.225098 0.308912 +#24769 1721121356554 +SLAM 16.822 8.88875 -16.6343 -0.611709 0.11753 0.679005 0.388525 +TTool-pose None -28.1501 13.3148 14.327 0.717551 0.583111 -0.225211 0.307075 +#24770 1721121356589 +SLAM 16.8158 9.14293 -16.5491 -0.610275 0.114015 0.679815 0.390406 +TTool-pose None -28.1607 13.3201 14.3348 0.715376 0.586331 -0.226046 0.305398 +#24771 1721121356630 +SLAM 16.7668 9.37191 -16.5068 -0.607421 0.11187 0.680646 0.394012 +TTool-pose None -28.1872 13.3288 14.3055 0.71217 0.589279 -0.22877 0.30519 +#24772 1721121356664 +SLAM 16.6246 9.63192 -16.4608 -0.60435 0.109066 0.683189 0.39512 +TTool-pose None -28.1344 13.3495 14.3079 0.710487 0.591618 -0.231709 0.302355 +#24773 1721121356701 +SLAM 16.7538 9.61033 -16.3787 -0.602827 0.110867 0.680885 0.400878 +TTool-pose None -28.165 13.4064 14.223 0.706767 0.592736 -0.2336 0.30739 +#24774 1721121356739 +SLAM 16.4598 9.29136 -16.6856 -0.602533 0.116781 0.682994 0.396026 +TTool-pose None -28.1361 13.3612 14.1794 0.71137 0.586569 -0.235543 0.307119 +#24775 1721121356772 +SLAM 16.5518 9.34468 -16.5673 -0.605582 0.113039 0.682586 0.393152 +TTool-pose None -28.1081 13.2962 14.2631 0.712834 0.588056 -0.231254 0.304123 +#24776 1721121356807 +SLAM 16.6626 9.36944 -16.4881 -0.605521 0.113008 0.680638 0.396617 +TTool-pose None -28.1551 13.3023 14.2068 0.710444 0.589532 -0.231138 0.306934 +#24777 1721121356851 +SLAM 16.8186 9.46655 -16.3444 -0.607914 0.109632 0.679425 0.395985 +TTool-pose None -28.1651 13.2864 14.2572 0.710368 0.591678 -0.227573 0.305643 +#24778 1721121356884 +SLAM 16.8237 9.48426 -16.3208 -0.605653 0.111227 0.678994 0.399726 +TTool-pose None -28.1608 13.3475 14.1888 0.707923 0.592076 -0.230406 0.308411 +#24779 1721121356916 +SLAM 16.8196 9.46887 -16.3509 -0.60684 0.110307 0.678896 0.398344 +TTool-pose None -28.1948 13.2817 14.2174 0.708789 0.592169 -0.228869 0.307385 +#24780 1721121356949 +SLAM 17.0739 9.56876 -16.1743 -0.609791 0.106717 0.676632 0.398668 +TTool-pose None -28.24 13.2833 14.2765 0.708043 0.594868 -0.224522 0.307098 +#24781 1721121356984 +SLAM 16.9783 9.49223 -16.2627 -0.609612 0.10819 0.677463 0.397131 +TTool-pose None -28.2263 13.2692 14.2665 0.709417 0.593198 -0.225161 0.306687 +#24782 1721121357017 +SLAM 16.942 9.425 -16.3077 -0.610454 0.108846 0.677827 0.39503 +TTool-pose None -28.2122 13.2566 14.2774 0.711088 0.591881 -0.224425 0.305901 +#24783 1721121357051 +SLAM 16.9455 9.5248 -16.268 -0.609826 0.107383 0.678162 0.395824 +TTool-pose None -28.2122 13.2606 14.2889 0.710159 0.593217 -0.224794 0.3052 +#24784 1721121357083 +SLAM 16.9784 9.55081 -16.2369 -0.609789 0.107068 0.677685 0.396784 +TTool-pose None -28.2247 13.2649 14.2759 0.709423 0.593837 -0.224713 0.305765 +#24785 1721121357116 +SLAM 16.8333 9.5019 -16.3357 -0.608957 0.108275 0.6793 0.394967 +TTool-pose None -28.1903 13.2505 14.2751 0.710865 0.592219 -0.226079 0.304544 +#24786 1721121357149 +SLAM 16.8716 9.42029 -16.3373 -0.607764 0.111151 0.678356 0.39762 +TTool-pose None -28.1861 13.3231 14.2106 0.709563 0.5913 -0.228005 0.307915 +#24787 1721121357181 +SLAM 16.9908 9.50888 -16.2351 -0.609746 0.10796 0.677461 0.39699 +TTool-pose None -28.2108 13.286 14.2658 0.709476 0.593303 -0.224957 0.3065 +#24788 1721121357217 +SLAM 16.9412 9.41272 -16.3095 -0.608837 0.110556 0.677232 0.398059 +TTool-pose None -28.2263 13.2927 14.2082 0.709229 0.591922 -0.226569 0.308549 +#24789 1721121357253 +SLAM 16.9723 9.50295 -16.2599 -0.609649 0.107974 0.677608 0.396885 +TTool-pose None -28.222 13.2688 14.2703 0.709543 0.593246 -0.225082 0.306362 +#24790 1721121357286 +SLAM 16.9848 9.43792 -16.2737 -0.609036 0.109875 0.677136 0.398107 +TTool-pose None -28.2175 13.3078 14.2341 0.709063 0.592421 -0.226175 0.30826 +#24791 1721121357319 +SLAM 16.9746 9.44542 -16.2806 -0.609746 0.108973 0.677368 0.396872 +TTool-pose None -28.2215 13.2729 14.2612 0.709782 0.592548 -0.225195 0.307076 +#24792 1721121357352 +SLAM 17.0956 9.5022 -16.173 -0.609344 0.108649 0.676111 0.399713 +TTool-pose None -28.2239 13.3342 14.2383 0.707709 0.59395 -0.225435 0.308971 +#24793 1721121357388 +SLAM 16.9015 9.43929 -16.3182 -0.608826 0.109651 0.678181 0.39671 +TTool-pose None -28.2003 13.2788 14.2499 0.709959 0.591989 -0.226453 0.30682 +#24794 1721121357421 +SLAM 17.17 9.51832 -16.1289 -0.609698 0.10836 0.675264 0.40068 +TTool-pose None -28.2425 13.3516 14.2332 0.707006 0.594561 -0.224889 0.309804 +#24795 1721121357456 +SLAM 16.9264 9.46289 -16.295 -0.609643 0.108623 0.678109 0.395859 +TTool-pose None -28.2026 13.2658 14.2727 0.710393 0.592366 -0.225294 0.305939 +#24796 1721121357489 +SLAM 16.9836 9.4545 -16.2647 -0.609099 0.109515 0.677157 0.398074 +TTool-pose None -28.218 13.3016 14.2346 0.709013 0.59266 -0.22602 0.308032 +#24797 1721121357527 +SLAM 16.9171 9.51234 -16.2909 -0.609182 0.108093 0.678311 0.396368 +TTool-pose None -28.2126 13.2665 14.2703 0.709881 0.592938 -0.225694 0.305724 +#24798 1721121357562 +SLAM 16.8984 9.46208 -16.2852 -0.609012 0.108984 0.678126 0.396702 +TTool-pose None -28.188 13.2629 14.2453 0.709834 0.592453 -0.226081 0.306486 +#24799 1721121357603 +SLAM 16.9628 9.41606 -16.2649 -0.60818 0.1108 0.676871 0.399607 +TTool-pose None -28.2055 13.3097 14.191 0.708151 0.592383 -0.227315 0.309591 +#24800 1721121357637 +SLAM 16.9294 9.39308 -16.2855 -0.607829 0.111302 0.677127 0.399569 +TTool-pose None -28.1951 13.3039 14.1851 0.708255 0.59201 -0.227848 0.309675 +#24801 1721121357674 +SLAM 16.9496 9.40907 -16.2738 -0.610078 0.109229 0.677458 0.396135 +TTool-pose None -28.1918 13.2595 14.2554 0.710377 0.59207 -0.224899 0.30684 +#24802 1721121357712 +SLAM 17.0772 9.38521 -16.1971 -0.609946 0.11007 0.675721 0.399064 +TTool-pose None -28.2048 13.3083 14.2224 0.708528 0.592704 -0.22508 0.309748 +#24803 1721121357748 +SLAM 16.9527 9.23197 -16.3353 -0.610973 0.111712 0.676904 0.395011 +TTool-pose None -28.1837 13.2542 14.2496 0.71178 0.589889 -0.224458 0.30811 +#24804 1721121357782 +SLAM 16.9145 9.12634 -16.3867 -0.610528 0.114057 0.676925 0.394992 +TTool-pose None -28.1643 13.2761 14.2192 0.712265 0.588234 -0.225515 0.30938 +#24805 1721121357817 +SLAM 17.0295 9.1181 -16.3145 -0.611809 0.113506 0.675793 0.395107 +TTool-pose None -28.1662 13.2958 14.2362 0.712181 0.588694 -0.223859 0.309903 +#24806 1721121357853 +SLAM 17.0134 9.07095 -16.3573 -0.612266 0.114031 0.675738 0.394342 +TTool-pose None -28.1837 13.2745 14.2357 0.712862 0.588016 -0.223472 0.309902 +#24807 1721121357888 +SLAM 16.9601 9.20668 -16.3321 -0.611917 0.111451 0.677097 0.393289 +TTool-pose None -28.1627 13.2521 14.279 0.712992 0.589368 -0.223366 0.307095 +#24808 1721121357922 +SLAM 16.8034 9.35383 -16.3702 -0.608659 0.110919 0.679015 0.395185 +TTool-pose None -28.1522 13.2578 14.2433 0.711273 0.590463 -0.227024 0.306294 +#24809 1721121357964 +SLAM 16.8718 9.52408 -16.2583 -0.607604 0.108676 0.678439 0.398405 +TTool-pose None -28.1741 13.2735 14.2262 0.708458 0.593348 -0.227587 0.306825 +#24810 1721121357998 +SLAM 16.7461 9.33 -16.4083 -0.605199 0.114013 0.678525 0.400423 +TTool-pose None -28.1737 13.2976 14.1266 0.708005 0.590413 -0.23153 0.310564 +#24811 1721121358038 +SLAM 16.7447 9.20718 -16.4441 -0.607871 0.114127 0.678876 0.395722 +TTool-pose None -28.1366 13.2687 14.1926 0.711531 0.588433 -0.228652 0.308387 +#24812 1721121358073 +SLAM 16.9311 9.10951 -16.3391 -0.611439 0.113289 0.67657 0.394411 +TTool-pose None -28.1404 13.2398 14.2294 0.712579 0.588547 -0.224289 0.308952 +#24813 1721121358108 +SLAM 17.0649 9.03419 -16.2682 -0.614047 0.11285 0.674887 0.393368 +TTool-pose None -28.1457 13.223 14.2531 0.71343 0.588467 -0.221132 0.309416 +#24814 1721121358145 +SLAM 17.1957 8.98188 -16.1978 -0.61458 0.113674 0.672823 0.395828 +TTool-pose None -28.1706 13.2449 14.2181 0.711958 0.58893 -0.22054 0.312338 +#24815 1721121358178 +SLAM 17.1205 8.89726 -16.2577 -0.615543 0.114141 0.673642 0.392793 +TTool-pose None -28.1393 13.2041 14.2452 0.714233 0.587351 -0.21966 0.310731 +#24816 1721121358214 +SLAM 17.015 8.777 -16.3542 -0.615067 0.116618 0.674074 0.392067 +TTool-pose None -28.129 13.1862 14.2026 0.715226 0.585307 -0.220817 0.311485 +#24817 1721121358249 +SLAM 17.1046 8.93996 -16.2296 -0.615437 0.113382 0.673785 0.392932 +TTool-pose None -28.1285 13.192 14.2373 0.713964 0.587938 -0.21961 0.310275 +#24818 1721121358284 +SLAM 17.2028 9.13485 -16.1044 -0.614731 0.11074 0.673115 0.395928 +TTool-pose None -28.1572 13.2253 14.2288 0.711261 0.591021 -0.219694 0.310563 +#24819 1721121358319 +SLAM 17.0632 9.22301 -16.1463 -0.611845 0.111211 0.674563 0.397797 +TTool-pose None -28.1422 13.241 14.1748 0.709825 0.591419 -0.223146 0.310632 +#24820 1721121358353 +SLAM 16.9245 9.39583 -16.1774 -0.611248 0.107999 0.67694 0.395555 +TTool-pose None -28.1347 13.1821 14.2264 0.71061 0.592707 -0.223256 0.306268 +#24821 1721121358388 +SLAM 16.8515 9.43946 -16.1962 -0.60947 0.108346 0.677606 0.39706 +TTool-pose None -28.128 13.1868 14.1942 0.709487 0.593058 -0.225369 0.306644 +#24822 1721121358422 +SLAM 16.836 9.37871 -16.2257 -0.609198 0.109707 0.677578 0.397153 +TTool-pose None -28.119 13.2014 14.1787 0.709701 0.592143 -0.225998 0.307456 +#24823 1721121358458 +SLAM 16.9541 9.35429 -16.1545 -0.609661 0.109996 0.676186 0.398731 +TTool-pose None -28.122 13.2364 14.1729 0.708716 0.592611 -0.225422 0.309246 +#24824 1721121358493 +SLAM 17.1506 9.35081 -16.0374 -0.610011 0.110311 0.673553 0.402547 +TTool-pose None -28.1626 13.2871 14.134 0.706166 0.593984 -0.224842 0.312849 +#24825 1721121358527 +SLAM 17.1034 9.32112 -16.0802 -0.610754 0.11005 0.674149 0.400489 +TTool-pose None -28.1569 13.2484 14.1612 0.707607 0.593327 -0.224025 0.311423 +#24826 1721121358560 +SLAM 17.2283 9.43542 -15.9743 -0.612455 0.106796 0.673093 0.400549 +TTool-pose None -28.1991 13.2177 14.2012 0.706992 0.595648 -0.221244 0.310372 +#24827 1721121358594 +SLAM 17.1452 9.31398 -16.0683 -0.612287 0.109034 0.673733 0.399125 +TTool-pose None -28.1762 13.2147 14.191 0.708464 0.593497 -0.222045 0.310565 +#24828 1721121358628 +SLAM 17.1562 9.29756 -16.0774 -0.612692 0.109035 0.673535 0.398837 +TTool-pose None -28.1888 13.2032 14.196 0.708699 0.593384 -0.221578 0.310579 +#24829 1721121358662 +SLAM 17.2572 9.35916 -15.9949 -0.61328 0.107552 0.672463 0.400142 +TTool-pose None -28.2149 13.2022 14.2032 0.707513 0.594969 -0.220455 0.311047 +#24830 1721121358695 +SLAM 17.3349 9.37662 -15.9316 -0.61298 0.107856 0.67165 0.40188 +TTool-pose None -28.2104 13.2577 14.183 0.706344 0.595473 -0.220774 0.312511 +#24831 1721121358730 +SLAM 17.267 9.39721 -15.9792 -0.614021 0.106402 0.672578 0.399117 +TTool-pose None -28.2203 13.1878 14.2235 0.708031 0.595357 -0.219367 0.309894 +#24832 1721121358765 +SLAM 17.2058 9.44025 -15.983 -0.613047 0.106284 0.673593 0.398936 +TTool-pose None -28.1851 13.208 14.2231 0.708048 0.595345 -0.220518 0.309057 +#24833 1721121358800 +SLAM 17.099 9.35764 -16.0787 -0.612243 0.108229 0.674412 0.398263 +TTool-pose None -28.1715 13.1974 14.1991 0.708879 0.593698 -0.221966 0.309287 +#24834 1721121358834 +SLAM 17.118 9.37759 -16.0559 -0.612361 0.107681 0.674198 0.398593 +TTool-pose None -28.1761 13.1886 14.2029 0.708538 0.594219 -0.22168 0.309271 +#24835 1721121358867 +SLAM 17.1666 9.45056 -15.9987 -0.611553 0.10698 0.673508 0.401181 +TTool-pose None -28.2002 13.1986 14.1781 0.706515 0.595766 -0.222327 0.310459 +#24836 1721121358902 +SLAM 16.9728 9.31319 -16.168 -0.610885 0.109662 0.675211 0.398602 +TTool-pose None -28.1726 13.162 14.1607 0.708842 0.592815 -0.223894 0.309676 +#24837 1721121358937 +SLAM 17.031 9.36233 -16.0993 -0.610695 0.108981 0.674825 0.399732 +TTool-pose None -28.1601 13.1927 14.1636 0.707891 0.593755 -0.223898 0.310046 +#24838 1721121358974 +SLAM 17.5577 9.61376 -15.6727 -0.612692 0.103822 0.66914 0.407532 +TTool-pose None -28.2581 13.2765 14.1567 0.701458 0.6006 -0.219809 0.314382 +#24839 1721121359008 +SLAM 17.1032 9.28971 -16.0669 -0.612131 0.109359 0.67372 0.399295 +TTool-pose None -28.1601 13.1873 14.1641 0.708403 0.593339 -0.222295 0.310827 +#24840 1721121359043 +SLAM 17.1108 9.28233 -16.062 -0.611148 0.110125 0.67327 0.401345 +TTool-pose None -28.1704 13.1965 14.1321 0.707062 0.593637 -0.223517 0.31243 +#24841 1721121359078 +SLAM 17.0622 9.23338 -16.1159 -0.611261 0.110696 0.673685 0.400319 +TTool-pose None -28.1697 13.171 14.1395 0.707911 0.592816 -0.223576 0.312026 +#24842 1721121359116 +SLAM 17.512 9.364 -15.7881 -0.614657 0.106699 0.668983 0.404072 +TTool-pose None -28.238 13.2301 14.1684 0.704693 0.597211 -0.218352 0.31462 +#24843 1721121359151 +SLAM 17.2738 9.21914 -15.9863 -0.612359 0.110524 0.671243 0.402782 +TTool-pose None -28.1898 13.2222 14.1357 0.706252 0.593976 -0.222065 0.314648 +#24844 1721121359189 +SLAM 17.2592 9.17873 -16.0161 -0.612113 0.111385 0.671145 0.403083 +TTool-pose None -28.1972 13.2181 14.1229 0.706209 0.593496 -0.222535 0.315318 +#24845 1721121359224 +SLAM 17.1796 9.1554 -16.0645 -0.610493 0.112838 0.671907 0.403864 +TTool-pose None -28.1737 13.2374 14.0968 0.705841 0.592775 -0.224747 0.315929 +#24846 1721121359260 +SLAM 17.2001 9.11234 -16.0698 -0.610488 0.113644 0.671339 0.404591 +TTool-pose None -28.1851 13.2386 14.0799 0.705507 0.592512 -0.224886 0.31707 +#24847 1721121359295 +SLAM 17.1002 8.99627 -16.1675 -0.608691 0.117016 0.67173 0.405687 +TTool-pose None -28.1698 13.2587 14.0209 0.705308 0.590571 -0.227705 0.319117 +#24848 1721121359329 +SLAM 17.2602 9.06452 -16.0452 -0.60983 0.114957 0.670378 0.406799 +TTool-pose None -28.186 13.2745 14.0558 0.704185 0.592492 -0.225813 0.319382 +#24849 1721121359364 +SLAM 17.027 8.82371 -16.2585 -0.604554 0.122847 0.671029 0.41127 +TTool-pose None -28.1603 13.3208 13.898 0.702237 0.588686 -0.233507 0.325128 +#24850 1721121359398 +SLAM 16.9386 8.90278 -16.2684 -0.603432 0.121796 0.672321 0.411121 +TTool-pose None -28.1377 13.2994 13.9081 0.70202 0.589339 -0.234628 0.323603 +#24851 1721121359438 +SLAM 16.4632 8.72667 -16.6014 -0.601537 0.125444 0.676931 0.405192 +TTool-pose None -28.0719 13.1886 13.8938 0.706756 0.584287 -0.238062 0.319923 +#24852 1721121359476 +SLAM 16.6208 8.77539 -16.4838 -0.601096 0.12545 0.674993 0.409061 +TTool-pose None -28.0915 13.2562 13.8504 0.704006 0.585869 -0.238327 0.322886 +#24853 1721121359510 +SLAM 16.7057 8.86161 -16.3844 -0.600856 0.124202 0.674125 0.411221 +TTool-pose None -28.096 13.2788 13.8351 0.702205 0.587628 -0.238194 0.323709 +#24854 1721121359546 +SLAM 16.7404 8.90756 -16.3375 -0.600204 0.123959 0.673761 0.412838 +TTool-pose None -28.0943 13.3052 13.8171 0.70095 0.588445 -0.238796 0.3245 +#24855 1721121359581 +SLAM 16.4851 8.77881 -16.5291 -0.599292 0.126522 0.676272 0.409265 +TTool-pose None -28.0499 13.2583 13.814 0.703905 0.585151 -0.240674 0.322666 +#24856 1721121359621 +SLAM 16.6427 8.93328 -16.3723 -0.599076 0.124085 0.67497 0.412463 +TTool-pose None -28.0666 13.3003 13.8131 0.70113 0.588175 -0.240185 0.323575 +#24857 1721121359657 +SLAM 16.5414 8.95188 -16.3936 -0.597336 0.124892 0.675804 0.413376 +TTool-pose None -28.0364 13.3045 13.7709 0.700479 0.587934 -0.242346 0.323812 +#24858 1721121359692 +SLAM 16.4913 9.00904 -16.3705 -0.596415 0.124499 0.676176 0.414216 +TTool-pose None -28.0197 13.2981 13.739 0.69971 0.588529 -0.243287 0.323687 +#24859 1721121359733 +SLAM 16.2638 8.9835 -16.4896 -0.596919 0.124098 0.67927 0.408509 +TTool-pose None -27.9514 13.2362 13.7927 0.70369 0.58648 -0.243007 0.318951 +#24860 1721121359767 +SLAM 16.3617 9.02339 -16.4209 -0.596669 0.1238 0.677796 0.411403 +TTool-pose None -27.9881 13.2505 13.7574 0.701573 0.587874 -0.24304 0.321018 +#24861 1721121359805 +SLAM 16.5004 9.00493 -16.3766 -0.597502 0.123787 0.676075 0.413026 +TTool-pose None -28.0365 13.2666 13.7567 0.700513 0.588573 -0.24194 0.322879 +#24862 1721121359840 +SLAM 16.5172 8.91858 -16.4185 -0.597768 0.125191 0.675704 0.412825 +TTool-pose None -28.047 13.2758 13.7595 0.700973 0.587509 -0.241939 0.323817 +#24863 1721121359875 +SLAM 16.6551 8.8951 -16.3764 -0.599079 0.124887 0.674072 0.413685 +TTool-pose None -28.0943 13.2817 13.7709 0.700434 0.58811 -0.240263 0.32514 +#24864 1721121359909 +SLAM 16.7332 8.87707 -16.3503 -0.599009 0.125451 0.673116 0.415169 +TTool-pose None -28.1116 13.3144 13.7614 0.699493 0.588317 -0.240353 0.326721 +#24865 1721121359947 +SLAM 16.6847 8.8275 -16.4034 -0.59883 0.126396 0.673613 0.414333 +TTool-pose None -28.1029 13.312 13.7653 0.700262 0.587305 -0.240828 0.326544 +#24866 1721121359984 +SLAM 16.6381 8.79582 -16.4464 -0.598854 0.126879 0.674185 0.413219 +TTool-pose None -28.0929 13.3051 13.7749 0.701151 0.58651 -0.240984 0.325949 +#24867 1721121360021 +SLAM 16.7498 8.82922 -16.375 -0.600503 0.125241 0.673169 0.412982 +TTool-pose None -28.1163 13.2972 13.8011 0.701143 0.587609 -0.238703 0.325666 +#24868 1721121360061 +SLAM 16.936 8.93044 -16.228 -0.60209 0.122445 0.671548 0.414149 +TTool-pose None -28.1449 13.308 13.831 0.699888 0.59009 -0.236137 0.325749 +#24869 1721121360099 +SLAM 16.6812 8.81778 -16.4186 -0.600235 0.125474 0.673937 0.412047 +TTool-pose None -28.1057 13.2795 13.8055 0.701825 0.587056 -0.239138 0.324873 +#24870 1721121360136 +SLAM 16.6115 8.74269 -16.4809 -0.599396 0.12751 0.674374 0.411929 +TTool-pose None -28.0866 13.296 13.7781 0.702245 0.585551 -0.24057 0.325625 +#24871 1721121360171 +SLAM 16.7143 8.80559 -16.406 -0.600325 0.125754 0.673351 0.412789 +TTool-pose None -28.1188 13.285 13.7916 0.701368 0.587164 -0.239037 0.325738 +#24872 1721121360202 +SLAM 16.821 8.86974 -16.3222 -0.600529 0.124615 0.67226 0.41461 +TTool-pose None -28.1412 13.3044 13.788 0.699864 0.588715 -0.238417 0.326628 +#24873 1721121360237 +SLAM 16.7045 8.82882 -16.402 -0.600251 0.125305 0.673731 0.412413 +TTool-pose None -28.1085 13.2874 13.8062 0.701534 0.587325 -0.239058 0.325076 +#24874 1721121360274 +SLAM 16.7314 8.87451 -16.3705 -0.600173 0.124485 0.673585 0.413012 +TTool-pose None -28.1147 13.2882 13.8121 0.700934 0.588145 -0.238932 0.324979 +#24875 1721121360306 +SLAM 16.7039 8.85922 -16.3951 -0.600952 0.124141 0.674126 0.411095 +TTool-pose None -28.1052 13.2703 13.8392 0.702291 0.587621 -0.238075 0.323622 +#24876 1721121360339 +SLAM 16.8244 8.90259 -16.3107 -0.601357 0.123286 0.672736 0.413033 +TTool-pose None -28.1325 13.2893 13.8301 0.700784 0.589026 -0.237271 0.324923 +#24877 1721121360369 +SLAM 16.7455 8.86941 -16.3712 -0.601389 0.123687 0.673572 0.411502 +TTool-pose None -28.1229 13.2624 13.8387 0.701952 0.588119 -0.237431 0.323927 +#24878 1721121360401 +SLAM 16.6986 8.8191 -16.4158 -0.600293 0.125422 0.673788 0.412222 +TTool-pose None -28.1128 13.2831 13.8097 0.701697 0.587165 -0.239047 0.32502 +#24879 1721121360432 +SLAM 16.6152 8.74056 -16.5003 -0.601348 0.12592 0.674659 0.409097 +TTool-pose None -28.1053 13.2377 13.8348 0.704103 0.585558 -0.238126 0.323388 +#24880 1721121360464 +SLAM 16.905 8.92081 -16.2588 -0.602168 0.122441 0.672024 0.413261 +TTool-pose None -28.1426 13.2964 13.8468 0.700524 0.589732 -0.23611 0.325049 +#24881 1721121360495 +SLAM 16.7219 8.82691 -16.404 -0.600487 0.125135 0.673664 0.41223 +TTool-pose None -28.1157 13.2871 13.82 0.701651 0.587376 -0.238755 0.324953 +#24882 1721121360527 +SLAM 16.7739 8.83917 -16.3765 -0.60131 0.124407 0.673225 0.411967 +TTool-pose None -28.1285 13.284 13.8356 0.701765 0.587801 -0.237644 0.324752 +#24883 1721121360560 +SLAM 16.852 8.83123 -16.3228 -0.602455 0.123841 0.672424 0.411773 +TTool-pose None -28.1283 13.2893 13.8474 0.701894 0.588146 -0.236179 0.324917 +#24884 1721121360594 +SLAM 16.797 8.8113 -16.3716 -0.601922 0.124572 0.672757 0.411789 +TTool-pose None -28.1373 13.2763 13.8302 0.701984 0.587626 -0.236967 0.325091 +#24885 1721121360627 +SLAM 16.7835 8.84931 -16.3746 -0.601657 0.123904 0.673026 0.411937 +TTool-pose None -28.1464 13.2618 13.8394 0.701716 0.58815 -0.237127 0.324603 +#24886 1721121360658 +SLAM 16.764 8.86482 -16.3757 -0.60153 0.123659 0.673399 0.411586 +TTool-pose None -28.1355 13.2618 13.8461 0.7019 0.588176 -0.237251 0.324067 +#24887 1721121360694 +SLAM 16.8368 8.93028 -16.3072 -0.601812 0.122316 0.672738 0.412656 +TTool-pose None -28.1503 13.2653 13.8509 0.700892 0.589565 -0.236551 0.324237 +#24888 1721121360728 +SLAM 16.6861 8.80502 -16.4268 -0.601077 0.125158 0.674012 0.410791 +TTool-pose None -28.1081 13.2685 13.8237 0.702727 0.586784 -0.238165 0.324127 +#24889 1721121360764 +SLAM 16.8483 8.89814 -16.2923 -0.601993 0.12305 0.672385 0.41275 +TTool-pose None -28.1362 13.2843 13.8276 0.700996 0.589091 -0.236487 0.32492 +#24890 1721121360798 +SLAM 16.7243 8.91596 -16.3454 -0.600657 0.123438 0.673948 0.41203 +TTool-pose None -28.0994 13.2819 13.8256 0.701457 0.588492 -0.238207 0.323752 +#24891 1721121360832 +SLAM 16.7072 8.93463 -16.3365 -0.600117 0.123511 0.674121 0.412512 +TTool-pose None -28.0879 13.2914 13.8125 0.701079 0.588624 -0.238827 0.323872 +#24892 1721121360866 +SLAM 16.5225 8.90944 -16.4503 -0.600111 0.123485 0.676526 0.408572 +TTool-pose None -28.0476 13.2385 13.852 0.703845 0.587024 -0.239107 0.320552 +#24893 1721121360903 +SLAM 16.5641 8.93892 -16.4054 -0.599782 0.123311 0.675941 0.410073 +TTool-pose None -28.0522 13.2544 13.8319 0.702722 0.587756 -0.239355 0.321489 +#24894 1721121360942 +SLAM 16.3283 8.87043 -16.5621 -0.599308 0.124385 0.678684 0.405889 +TTool-pose None -28.0043 13.2027 13.8561 0.705826 0.585262 -0.240425 0.318422 +#24895 1721121360976 +SLAM 16.4257 8.94784 -16.4655 -0.598801 0.123608 0.677608 0.408662 +TTool-pose None -28.0141 13.2396 13.8315 0.703675 0.58694 -0.240674 0.319905 +#24896 1721121361008 +SLAM 16.4399 8.98007 -16.4343 -0.598336 0.123446 0.6774 0.409736 +TTool-pose None -28.0113 13.2531 13.8144 0.702841 0.587483 -0.241115 0.320408 +#24897 1721121361038 +SLAM 16.4659 9.04941 -16.3895 -0.599723 0.121009 0.677748 0.407857 +TTool-pose None -28.0048 13.2241 13.8678 0.703787 0.588458 -0.23908 0.318058 +#24898 1721121361080 +SLAM 16.3934 9.01907 -16.4305 -0.597988 0.122886 0.678192 0.409102 +TTool-pose None -27.9854 13.2525 13.8219 0.703132 0.587606 -0.241448 0.31929 +#24899 1721121361112 +SLAM 16.3565 9.0506 -16.4391 -0.59864 0.121558 0.678922 0.407333 +TTool-pose None -27.9789 13.2148 13.8564 0.704159 0.587827 -0.240511 0.317322 +#24900 1721121361145 +SLAM 16.4917 9.13859 -16.3189 -0.597842 0.120886 0.677347 0.411307 +TTool-pose None -27.9991 13.268 13.8199 0.70115 0.589915 -0.241037 0.319704 +#24901 1721121361179 +SLAM 16.3712 9.08755 -16.3954 -0.597357 0.122038 0.678706 0.409426 +TTool-pose None -27.9609 13.2621 13.8201 0.702663 0.588318 -0.241988 0.318604 +#24902 1721121361213 +SLAM 16.3595 9.10078 -16.3904 -0.596704 0.122273 0.678667 0.41037 +TTool-pose None -27.9607 13.2669 13.7999 0.701982 0.588524 -0.242742 0.319152 +#24903 1721121361245 +SLAM 16.2352 9.07345 -16.4699 -0.596721 0.122444 0.680151 0.407831 +TTool-pose None -27.938 13.2288 13.8196 0.703797 0.587356 -0.242929 0.317155 +#24904 1721121361276 +SLAM 16.1534 9.03089 -16.5202 -0.595467 0.124148 0.680694 0.408243 +TTool-pose None -27.9188 13.2413 13.7831 0.703732 0.586292 -0.244742 0.317874 +#24905 1721121361309 +SLAM 16.1648 9.07262 -16.4887 -0.595382 0.123409 0.680818 0.408384 +TTool-pose None -27.9077 13.2484 13.7915 0.70347 0.586867 -0.244674 0.317444 +#24906 1721121361342 +SLAM 16.0939 9.04075 -16.5441 -0.595373 0.123853 0.68151 0.407106 +TTool-pose None -27.9026 13.225 13.7952 0.704453 0.586026 -0.244863 0.31667 +#24907 1721121361381 +SLAM 16.0941 9.07139 -16.5322 -0.59592 0.12275 0.681745 0.406246 +TTool-pose None -27.9023 13.2042 13.8183 0.704881 0.586461 -0.244038 0.315548 +#24908 1721121361413 +SLAM 16.0122 9.02447 -16.5877 -0.594775 0.124409 0.682265 0.406546 +TTool-pose None -27.8882 13.2099 13.7852 0.704895 0.585385 -0.245719 0.316211 +#24909 1721121361445 +SLAM 16.025 9.05262 -16.5671 -0.594919 0.123769 0.682291 0.406487 +TTool-pose None -27.8858 13.2092 13.7941 0.704818 0.585814 -0.245417 0.31582 +#24910 1721121361477 +SLAM 16.0062 9.0443 -16.5775 -0.594664 0.124101 0.682423 0.406536 +TTool-pose None -27.8812 13.2107 13.7867 0.704826 0.585593 -0.245783 0.315929 +#24911 1721121361511 +SLAM 16.0714 9.09251 -16.5246 -0.595274 0.122834 0.681908 0.406893 +TTool-pose None -27.8935 13.2094 13.8008 0.704378 0.58665 -0.244773 0.315749 +#24912 1721121361541 +SLAM 16.0396 9.09827 -16.536 -0.595085 0.122777 0.68237 0.406413 +TTool-pose None -27.8816 13.207 13.806 0.70468 0.586486 -0.245013 0.315196 +#24913 1721121361578 +SLAM 15.9599 9.03573 -16.603 -0.594289 0.124418 0.682856 0.406262 +TTool-pose None -27.8738 13.2023 13.7816 0.705041 0.585245 -0.246308 0.315683 +#24914 1721121361614 +SLAM 15.9695 9.03188 -16.5973 -0.594278 0.124584 0.682785 0.406346 +TTool-pose None -27.8695 13.214 13.7797 0.705016 0.585164 -0.246351 0.315858 +#24915 1721121361646 +SLAM 16.0082 9.07115 -16.5653 -0.595105 0.123204 0.682615 0.405842 +TTool-pose None -27.8795 13.1973 13.805 0.705168 0.58595 -0.245117 0.315018 +#24916 1721121361683 +SLAM 15.9689 9.01821 -16.6014 -0.594038 0.125068 0.682636 0.4068 +TTool-pose None -27.8709 13.2204 13.7667 0.704775 0.585003 -0.246708 0.316414 +#24917 1721121361719 +SLAM 16.034 9.11341 -16.5377 -0.595623 0.121972 0.682658 0.405381 +TTool-pose None -27.8816 13.1884 13.8302 0.705286 0.586639 -0.244271 0.314126 +#24918 1721121361753 +SLAM 16.0736 9.08143 -16.5212 -0.59508 0.123193 0.681864 0.407142 +TTool-pose None -27.8849 13.221 13.7956 0.704259 0.586495 -0.245063 0.316079 +#24919 1721121361787 +SLAM 16.0167 9.02748 -16.5711 -0.595253 0.123956 0.682403 0.405753 +TTool-pose None -27.8717 13.2077 13.7995 0.705404 0.585389 -0.245111 0.315538 +#24920 1721121361819 +SLAM 16.047 8.99581 -16.5621 -0.594747 0.125086 0.681622 0.407456 +TTool-pose None -27.8815 13.2277 13.7638 0.704399 0.585285 -0.245838 0.317406 +#24921 1721121361850 +SLAM 16.0623 8.99992 -16.5568 -0.596317 0.123697 0.681905 0.405106 +TTool-pose None -27.878 13.1982 13.8152 0.705915 0.585335 -0.243846 0.315476 +#24922 1721121361882 +SLAM 15.9865 8.88041 -16.6383 -0.595987 0.126058 0.682281 0.40423 +TTool-pose None -27.8604 13.198 13.795 0.706979 0.5833 -0.244793 0.316128 +#24923 1721121361914 +SLAM 16.0121 8.81931 -16.6482 -0.596617 0.126854 0.681801 0.403861 +TTool-pose None -27.8639 13.2025 13.7919 0.707467 0.582605 -0.244244 0.316741 +#24924 1721121361947 +SLAM 16.0377 8.79641 -16.6317 -0.597006 0.127014 0.68157 0.403626 +TTool-pose None -27.8513 13.2128 13.7974 0.707705 0.582407 -0.243836 0.316891 +#24925 1721121361980 +SLAM 16.0145 8.75612 -16.6676 -0.597776 0.127054 0.681782 0.402112 +TTool-pose None -27.8566 13.184 13.8145 0.708844 0.581771 -0.243029 0.31613 +#24926 1721121362012 +SLAM 15.9982 8.7048 -16.6852 -0.597225 0.128471 0.681736 0.40256 +TTool-pose None -27.8407 13.2076 13.7933 0.708766 0.580943 -0.24395 0.317117 +#24927 1721121362044 +SLAM 16.057 8.69787 -16.6541 -0.597716 0.128358 0.681024 0.403069 +TTool-pose None -27.8498 13.2148 13.7925 0.708442 0.581249 -0.243318 0.317766 +#24928 1721121362076 +SLAM 15.9422 8.59748 -16.7605 -0.597944 0.129753 0.682104 0.40045 +TTool-pose None -27.8351 13.1822 13.8031 0.710564 0.57918 -0.243496 0.316666 +#24929 1721121362110 +SLAM 16.0625 8.64173 -16.6709 -0.598566 0.128739 0.680924 0.401856 +TTool-pose None -27.8456 13.2058 13.8057 0.70945 0.5805 -0.242471 0.317532 +#24930 1721121362145 +SLAM 16.0087 8.61446 -16.7154 -0.598608 0.128993 0.681447 0.400824 +TTool-pose None -27.8443 13.1814 13.8131 0.710221 0.579892 -0.242535 0.316871 +#24931 1721121362181 +SLAM 15.9702 8.57238 -16.7545 -0.598876 0.129478 0.68182 0.399631 +TTool-pose None -27.8387 13.1683 13.8201 0.711172 0.579059 -0.24239 0.316371 +#24932 1721121362216 +SLAM 16.03 8.60516 -16.7025 -0.598693 0.129166 0.681219 0.401028 +TTool-pose None -27.8398 13.1931 13.8117 0.710124 0.579857 -0.24246 0.31721 +#24933 1721121362249 +SLAM 15.9464 8.54575 -16.7778 -0.598509 0.130224 0.681929 0.399752 +TTool-pose None -27.8361 13.1724 13.8094 0.711202 0.578573 -0.24297 0.316749 +#24934 1721121362282 +SLAM 16.013 8.57829 -16.7246 -0.598921 0.129452 0.681358 0.40036 +TTool-pose None -27.8393 13.1847 13.8158 0.710668 0.579384 -0.24229 0.316986 +#24935 1721121362314 +SLAM 16.0223 8.56217 -16.7237 -0.599253 0.129522 0.681242 0.400037 +TTool-pose None -27.8381 13.1834 13.8194 0.71094 0.579209 -0.241932 0.316969 +#24936 1721121362345 +SLAM 15.9823 8.52361 -16.7678 -0.599903 0.129546 0.681685 0.398295 +TTool-pose None -27.8396 13.1519 13.8394 0.712214 0.578482 -0.241269 0.315939 +#24937 1721121362376 +SLAM 16.0118 8.4931 -16.7495 -0.599279 0.130814 0.681087 0.399842 +TTool-pose None -27.8305 13.1918 13.807 0.71134 0.578216 -0.242183 0.317693 +#24938 1721121362407 +SLAM 15.9535 8.45446 -16.7975 -0.599415 0.131225 0.68164 0.398559 +TTool-pose None -27.8252 13.1682 13.8137 0.712322 0.577394 -0.24218 0.316988 +#24939 1721121362439 +SLAM 15.8746 8.40045 -16.8558 -0.598782 0.132569 0.682348 0.397853 +TTool-pose None -27.8057 13.1705 13.8029 0.713014 0.57613 -0.243243 0.31692 +#24940 1721121362473 +SLAM 15.947 8.43806 -16.8079 -0.599469 0.131475 0.681654 0.39837 +TTool-pose None -27.8252 13.1663 13.813 0.712509 0.577139 -0.242178 0.317033 +#24941 1721121362508 +SLAM 15.9959 8.48372 -16.7621 -0.599704 0.130559 0.681388 0.398772 +TTool-pose None -27.825 13.1782 13.8237 0.712071 0.577961 -0.241689 0.316894 +#24942 1721121362537 +SLAM 16.0109 8.5011 -16.7486 -0.59994 0.130037 0.681337 0.398674 +TTool-pose None -27.8275 13.1735 13.8331 0.712057 0.578295 -0.241307 0.316606 +#24943 1721121362570 +SLAM 15.9418 8.45519 -16.8035 -0.599873 0.13079 0.682052 0.397305 +TTool-pose None -27.8138 13.162 13.8371 0.713146 0.577189 -0.241619 0.315936 +#24944 1721121362606 +SLAM 15.979 8.47092 -16.7779 -0.599121 0.131208 0.681262 0.39965 +TTool-pose None -27.8338 13.1767 13.8018 0.711536 0.577853 -0.242461 0.317702 +#24945 1721121362641 +SLAM 15.994 8.47719 -16.7655 -0.599242 0.131062 0.681171 0.399673 +TTool-pose None -27.8316 13.1831 13.8043 0.711503 0.577969 -0.242287 0.317697 +#24946 1721121362671 +SLAM 15.9733 8.45296 -16.7873 -0.599632 0.131145 0.681479 0.398535 +TTool-pose None -27.8252 13.1735 13.8178 0.712346 0.577446 -0.24191 0.317047 +#24947 1721121362701 +SLAM 15.9031 8.39064 -16.8413 -0.598348 0.133266 0.681787 0.399233 +TTool-pose None -27.8114 13.1928 13.7778 0.712157 0.576202 -0.24382 0.31827 +#24948 1721121362731 +SLAM 16.0224 8.48136 -16.7497 -0.59946 0.130874 0.680804 0.400032 +TTool-pose None -27.8406 13.1821 13.8029 0.71124 0.578258 -0.24197 0.318002 +#24949 1721121362766 +SLAM 16.0768 8.50732 -16.7151 -0.600474 0.129706 0.68039 0.399596 +TTool-pose None -27.854 13.1695 13.8238 0.711408 0.578929 -0.240557 0.317475 +#24950 1721121362798 +SLAM 15.9972 8.50685 -16.7567 -0.599984 0.129835 0.681532 0.398341 +TTool-pose None -27.8286 13.1646 13.8385 0.71225 0.5783 -0.241232 0.316221 +#24951 1721121362837 +SLAM 15.9301 8.45724 -16.8059 -0.599027 0.131415 0.68196 0.398533 +TTool-pose None -27.8146 13.1746 13.8123 0.712338 0.577237 -0.242678 0.316857 +#24952 1721121362869 +SLAM 16.0455 8.52318 -16.7177 -0.599528 0.130104 0.680928 0.39997 +TTool-pose None -27.8292 13.1972 13.8181 0.711134 0.578778 -0.241733 0.317474 +#24953 1721121362909 +SLAM 16.04 8.50054 -16.732 -0.599359 0.13066 0.680641 0.400529 +TTool-pose None -27.8428 13.1892 13.7995 0.710842 0.578614 -0.242016 0.318209 +#24954 1721121362944 +SLAM 16.0363 8.49558 -16.733 -0.599431 0.130721 0.680838 0.400068 +TTool-pose None -27.831 13.1985 13.8072 0.711181 0.578381 -0.241971 0.317911 +#24955 1721121362980 +SLAM 15.9861 8.46218 -16.7774 -0.599554 0.131072 0.681292 0.398995 +TTool-pose None -27.8303 13.1758 13.8127 0.712006 0.577688 -0.24196 0.317332 +#24956 1721121363015 +SLAM 16.0149 8.47307 -16.7622 -0.599965 0.130591 0.681054 0.39894 +TTool-pose None -27.8388 13.1716 13.8221 0.711989 0.578016 -0.241378 0.317214 +#24957 1721121363046 +SLAM 16.0055 8.47084 -16.7709 -0.60043 0.130191 0.681282 0.397981 +TTool-pose None -27.8379 13.1563 13.8388 0.712617 0.57791 -0.240801 0.316435 +#24958 1721121363076 +SLAM 16.2374 8.51896 -16.6126 -0.599536 0.130776 0.678079 0.404553 +TTool-pose None -27.8793 13.245 13.7594 0.708092 0.58021 -0.241587 0.321745 +#24959 1721121363110 +SLAM 16.0597 8.42482 -16.7573 -0.599901 0.131773 0.680002 0.400439 +TTool-pose None -27.8603 13.1846 13.7872 0.711185 0.577805 -0.241613 0.319217 +#24960 1721121363141 +SLAM 16.0832 8.4471 -16.7367 -0.600351 0.131028 0.68 0.400014 +TTool-pose None -27.8584 13.1836 13.8054 0.711375 0.578167 -0.240953 0.318637 +#24961 1721121363172 +SLAM 16.1817 8.48931 -16.6606 -0.600052 0.130781 0.6788 0.402573 +TTool-pose None -27.8727 13.2187 13.7809 0.709522 0.579399 -0.241103 0.320415 +#24962 1721121363206 +SLAM 16.1238 8.49645 -16.7007 -0.601202 0.129442 0.679839 0.399525 +TTool-pose None -27.8699 13.1638 13.8318 0.711478 0.579105 -0.239647 0.317686 +#24963 1721121363240 +SLAM 16.0847 8.47122 -16.7265 -0.600874 0.130147 0.680275 0.399047 +TTool-pose None -27.8529 13.1734 13.8276 0.711918 0.578399 -0.240209 0.317563 +#24964 1721121363275 +SLAM 16.1025 8.47584 -16.7168 -0.600625 0.130288 0.679841 0.400114 +TTool-pose None -27.8674 13.173 13.8109 0.711184 0.578738 -0.24047 0.318391 +#24965 1721121363307 +SLAM 16.0703 8.47849 -16.7332 -0.60034 0.130391 0.680292 0.399741 +TTool-pose None -27.8578 13.1741 13.8137 0.711434 0.578502 -0.240849 0.317976 +#24966 1721121363338 +SLAM 16.1403 8.53314 -16.6756 -0.601031 0.128943 0.679827 0.399963 +TTool-pose None -27.867 13.1741 13.8339 0.711056 0.579636 -0.239719 0.31761 +#24967 1721121363370 +SLAM 16.088 8.51366 -16.7157 -0.601145 0.129041 0.680389 0.398804 +TTool-pose None -27.8643 13.151 13.8428 0.711888 0.579086 -0.239671 0.316783 +#24968 1721121363402 +SLAM 16.2626 8.60253 -16.5833 -0.601161 0.127862 0.678456 0.402435 +TTool-pose None -27.8954 13.1957 13.821 0.709136 0.581431 -0.239191 0.319018 +#24969 1721121363437 +SLAM 16.2477 8.6533 -16.5851 -0.601567 0.126424 0.67888 0.401568 +TTool-pose None -27.9081 13.1611 13.8476 0.709482 0.582095 -0.23846 0.317579 +#24970 1721121363467 +SLAM 16.1586 8.58097 -16.6522 -0.600946 0.128182 0.679645 0.400645 +TTool-pose None -27.8813 13.1689 13.8302 0.710421 0.580454 -0.23962 0.317611 +#24971 1721121363498 +SLAM 16.1381 8.59919 -16.6557 -0.600615 0.128033 0.680047 0.400506 +TTool-pose None -27.8712 13.1739 13.8355 0.710452 0.580493 -0.239987 0.317193 +#24972 1721121363529 +SLAM 16.142 8.59903 -16.6486 -0.600288 0.128403 0.679977 0.400996 +TTool-pose None -27.8647 13.1924 13.8239 0.710155 0.580427 -0.240422 0.317649 +#24973 1721121363560 +SLAM 16.1655 8.65542 -16.6204 -0.600419 0.127231 0.679827 0.401429 +TTool-pose None -27.8807 13.1782 13.8311 0.709629 0.581437 -0.239995 0.317301 +#24974 1721121363594 +SLAM 16.074 8.61708 -16.6821 -0.599764 0.128273 0.680765 0.400485 +TTool-pose None -27.86 13.1747 13.8248 0.710428 0.580292 -0.241042 0.316814 +#24975 1721121363631 +SLAM 16.1181 8.65379 -16.6496 -0.600447 0.12709 0.680507 0.400277 +TTool-pose None -27.8711 13.1645 13.8455 0.7104 0.581057 -0.24 0.316265 +#24976 1721121363669 +SLAM 16.1309 8.65028 -16.6422 -0.599752 0.12778 0.680101 0.401787 +TTool-pose None -27.8776 13.1823 13.8182 0.709425 0.581181 -0.240876 0.317558 +#24977 1721121363704 +SLAM 16.1173 8.64341 -16.6499 -0.599849 0.127817 0.680242 0.401391 +TTool-pose None -27.8738 13.1773 13.8194 0.709717 0.580992 -0.240793 0.317313 +#24978 1721121363737 +SLAM 16.1365 8.67648 -16.6241 -0.599622 0.127391 0.680181 0.401969 +TTool-pose None -27.8708 13.1884 13.8212 0.709205 0.581527 -0.240937 0.317368 +#24979 1721121363768 +SLAM 16.1815 8.67033 -16.601 -0.599257 0.127995 0.679437 0.403575 +TTool-pose None -27.8816 13.2129 13.7957 0.708177 0.58176 -0.241396 0.318887 +#24980 1721121363799 +SLAM 16.2131 8.71103 -16.5752 -0.600752 0.126032 0.67953 0.401811 +TTool-pose None -27.8898 13.1788 13.8425 0.709151 0.58245 -0.239326 0.317018 +#24981 1721121363829 +SLAM 16.1743 8.72325 -16.5896 -0.601027 0.125427 0.680315 0.400258 +TTool-pose None -27.8713 13.1664 13.8697 0.710129 0.582236 -0.238963 0.315489 +#24982 1721121363868 +SLAM 16.1057 8.65179 -16.6536 -0.600571 0.127019 0.680673 0.39983 +TTool-pose None -27.8656 13.16 13.8484 0.710706 0.580924 -0.239864 0.315923 +#24983 1721121363907 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+SLAM 16.184 8.7358 -16.5842 -0.600221 0.125889 0.6799 0.402024 +TTool-pose None -27.8885 13.1763 13.8398 0.708919 0.582625 -0.239908 0.316773 +#24990 1721121364127 +SLAM 16.251 8.74021 -16.5433 -0.599882 0.12629 0.678887 0.404109 +TTool-pose None -27.904 13.2022 13.812 0.70752 0.583199 -0.240266 0.31857 +#24991 1721121364162 +SLAM 16.0757 8.62955 -16.6782 -0.59883 0.128868 0.680488 0.402159 +TTool-pose None -27.8694 13.1922 13.7938 0.709294 0.580543 -0.242169 0.318033 +#24992 1721121364195 +SLAM 16.0978 8.68622 -16.646 -0.59976 0.126982 0.680782 0.400874 +TTool-pose None -27.8661 13.1717 13.8369 0.709893 0.581363 -0.240752 0.316268 +#24993 1721121364227 +SLAM 16.0662 8.63056 -16.6772 -0.598217 0.129421 0.680565 0.402763 +TTool-pose None -27.859 13.215 13.7782 0.708925 0.580386 -0.242971 0.318532 +#24994 1721121364258 +SLAM 16.1668 8.75798 -16.5952 -0.600066 0.125538 0.68002 0.402161 +TTool-pose None -27.9035 13.159 13.8373 0.708736 0.582924 -0.240008 0.316556 +#24995 1721121364294 +SLAM 16.0583 8.69649 -16.6615 -0.598342 0.127961 0.680977 0.402347 +TTool-pose None -27.8627 13.195 13.7996 0.708927 0.581247 -0.242541 0.317281 +#24996 1721121364327 +SLAM 16.1766 8.79351 -16.5679 -0.598965 0.125823 0.679968 0.403797 +TTool-pose None -27.8923 13.1962 13.8165 0.707546 0.583373 -0.241267 0.317434 +#24997 1721121364364 +SLAM 16.0201 8.69148 -16.6855 -0.597993 0.128206 0.681454 0.401981 +TTool-pose None -27.8541 13.1936 13.802 0.709195 0.580911 -0.243025 0.316927 +#24998 1721121364398 +SLAM 16.0487 8.75216 -16.6518 -0.598726 0.126403 0.681532 0.401328 +TTool-pose None -27.8614 13.1712 13.8355 0.709353 0.58193 -0.241821 0.315622 +#24999 1721121364427 +SLAM 16.0855 8.72899 -16.6395 -0.597997 0.127635 0.680667 0.403486 +TTool-pose None -27.8752 13.2007 13.7934 0.708034 0.581941 -0.24281 0.317798 +#25000 1721121364460 +SLAM 16.1501 8.76954 -16.5884 -0.598544 0.126568 0.680183 0.403828 +TTool-pose None -27.8823 13.2058 13.8075 0.707635 0.58285 -0.24192 0.317701 +#25001 1721121364494 +SLAM 16.0476 8.73014 -16.6612 -0.598534 0.127005 0.681368 0.401701 +TTool-pose None -27.864 13.1771 13.8232 0.709199 0.581657 -0.242151 0.316219 +#25002 1721121364527 +SLAM 16.1176 8.7479 -16.6213 -0.599093 0.126381 0.680524 0.402496 +TTool-pose None -27.8871 13.1741 13.8234 0.708577 0.582443 -0.241314 0.316803 +#25003 1721121364558 +SLAM 16.1043 8.75843 -16.628 -0.599615 0.125669 0.68091 0.401286 +TTool-pose None -27.8837 13.156 13.848 0.709322 0.582456 -0.24062 0.31564 +#25004 1721121364589 +SLAM 16.0733 8.72611 -16.6514 -0.598702 0.126984 0.680973 0.402128 +TTool-pose None -27.8752 13.1748 13.8197 0.708916 0.581854 -0.241924 0.316663 +#25005 1721121364620 +SLAM 16.1812 8.76538 -16.5728 -0.59905 0.12625 0.679821 0.403785 +TTool-pose None -27.8897 13.198 13.8146 0.707651 0.58307 -0.241258 0.317763 +#25006 1721121364649 +SLAM 16.1885 8.77742 -16.5658 -0.599189 0.125924 0.679784 0.403744 +TTool-pose None -27.8933 13.1937 13.8186 0.707626 0.583287 -0.241028 0.317594 +#25007 1721121364680 +SLAM 16.212 8.79441 -16.5341 -0.598446 0.126287 0.679539 0.405144 +TTool-pose None -27.881 13.2288 13.8004 0.706651 0.583591 -0.241893 0.318548 +#25008 1721121364710 +SLAM 16.1957 8.78406 -16.5642 -0.599697 0.125312 0.679761 0.40322 +TTool-pose None -27.9019 13.173 13.8336 0.707916 0.583514 -0.240332 0.317058 +#25009 1721121364742 +SLAM 16.1787 8.75628 -16.5797 -0.599309 0.126204 0.679938 0.403219 +TTool-pose None -27.8867 13.1954 13.8245 0.708061 0.582875 -0.240979 0.317419 +#25010 1721121364773 +SLAM 16.2919 8.80854 -16.493 -0.599772 0.125007 0.678449 0.405406 +TTool-pose None -27.9213 13.1895 13.8112 0.70634 0.584637 -0.240041 0.318722 +#25011 1721121364804 +SLAM 16.184 8.73314 -16.5738 -0.599463 0.126436 0.679437 0.403762 +TTool-pose None -27.8962 13.1744 13.8052 0.707748 0.582941 -0.240813 0.318122 +#25012 1721121364835 +SLAM 16.2549 8.74726 -16.5115 -0.599304 0.126533 0.678307 0.405861 +TTool-pose None -27.9051 13.1942 13.7714 0.70629 0.583739 -0.240888 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-0.239652 0.318362 +#25019 1721121365055 +SLAM 16.2988 8.77304 -16.4394 -0.600262 0.125313 0.67726 0.406573 +TTool-pose None -27.917 13.1479 13.7463 0.705639 0.584917 -0.239452 0.320202 +#25020 1721121365086 +SLAM 16.2466 8.75722 -16.4797 -0.600709 0.125095 0.678071 0.404622 +TTool-pose None -27.9057 13.1261 13.7733 0.706999 0.584276 -0.239003 0.318703 +#25021 1721121365117 +SLAM 16.2273 8.7592 -16.4916 -0.601024 0.124744 0.678433 0.403656 +TTool-pose None -27.9012 13.1136 13.7884 0.70763 0.58413 -0.238617 0.317856 +#25022 1721121365150 +SLAM 16.1991 8.75841 -16.506 -0.600946 0.124734 0.678806 0.403148 +TTool-pose None -27.8937 13.1077 13.7931 0.707973 0.583924 -0.238739 0.317378 +#25023 1721121365180 +SLAM 16.1654 8.70436 -16.5447 -0.600266 0.126325 0.678746 0.403765 +TTool-pose None -27.8943 13.1183 13.7608 0.707805 0.583043 -0.239842 0.318543 +#25024 1721121365211 +SLAM 16.2297 8.76213 -16.4905 -0.600701 0.124946 0.678273 0.404341 +TTool-pose None -27.9077 13.1162 13.7768 0.707163 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13.7426 0.706669 0.583805 -0.241661 0.318292 +#25037 1721121365635 +SLAM 15.9875 8.74728 -16.5918 -0.597885 0.126864 0.680827 0.403625 +TTool-pose None -27.8335 13.1205 13.7385 0.707768 0.582538 -0.24277 0.317327 +#25038 1721121365670 +SLAM 15.891 8.74014 -16.6346 -0.596662 0.127794 0.681888 0.403352 +TTool-pose None -27.8023 13.1314 13.7225 0.708019 0.581733 -0.244421 0.316976 +#25039 1721121365711 +SLAM 15.8779 8.8049 -16.6019 -0.595562 0.127317 0.68202 0.4049 +TTool-pose None -27.7944 13.1382 13.7032 0.706728 0.58268 -0.245517 0.317272 +#25040 1721121365745 +SLAM 15.6752 8.67231 -16.7539 -0.596103 0.128908 0.684325 0.399678 +TTool-pose None -27.7417 13.093 13.7345 0.710725 0.579397 -0.245523 0.314332 +#25041 1721121365781 +SLAM 15.6967 8.73128 -16.7228 -0.595742 0.128121 0.683979 0.40106 +TTool-pose None -27.7619 13.085 13.7206 0.709571 0.580519 -0.245703 0.314729 +#25042 1721121365816 +SLAM 15.6172 8.76327 -16.7408 -0.59532 0.127541 0.685175 0.399828 +TTool-pose None -27.7322 13.0711 13.7365 0.710255 0.580399 -0.246143 0.31306 +#25043 1721121365859 +SLAM 15.5705 8.73507 -16.7768 -0.594784 0.12841 0.685491 0.399805 +TTool-pose None -27.7281 13.0704 13.7225 0.71039 0.579759 -0.246955 0.313299 +#25044 1721121365895 +SLAM 15.505 8.65149 -16.8398 -0.594468 0.130212 0.6859 0.398991 +TTool-pose None -27.7134 13.0759 13.705 0.711283 0.578138 -0.247748 0.313642 +#25045 1721121365938 +SLAM 15.5982 8.71968 -16.7662 -0.59502 0.128662 0.685026 0.40017 +TTool-pose None -27.7349 13.0753 13.713 0.710217 0.579742 -0.246713 0.313914 +#25046 1721121365979 +SLAM 15.4975 8.69602 -16.8226 -0.593992 0.129603 0.686158 0.399455 +TTool-pose None -27.7069 13.0764 13.7091 0.710786 0.578746 -0.248152 0.313328 +#25047 1721121366017 +SLAM 15.6205 8.71677 -16.7594 -0.595414 0.128451 0.684772 0.400087 +TTool-pose None -27.7434 13.0701 13.7181 0.710274 0.579869 -0.246211 0.313943 +#25048 1721121366048 +SLAM 15.589 8.71675 -16.7719 -0.594759 0.128909 0.685202 0.400178 +TTool-pose None -27.7272 13.0859 13.7134 0.710233 0.579563 -0.24707 0.313927 +#25049 1721121366080 +SLAM 15.5989 8.71628 -16.7707 -0.595022 0.128704 0.685 0.400199 +TTool-pose None -27.7386 13.0733 13.7139 0.710205 0.579725 -0.246718 0.313968 +#25050 1721121366112 +SLAM 15.6319 8.70769 -16.7571 -0.595498 0.128624 0.684674 0.400075 +TTool-pose None -27.7416 13.0788 13.7189 0.710327 0.579745 -0.24615 0.314101 +#25051 1721121366145 +SLAM 15.5824 8.71306 -16.7782 -0.594564 0.129118 0.685391 0.400078 +TTool-pose None -27.7195 13.097 13.7175 0.710323 0.579368 -0.247348 0.313866 +#25052 1721121366176 +SLAM 15.6857 8.73322 -16.7233 -0.596001 0.127845 0.684241 0.400316 +TTool-pose None -27.752 13.0804 13.7314 0.710056 0.580411 -0.245383 0.314084 +#25053 1721121366207 +SLAM 15.7164 8.74265 -16.7016 -0.595565 0.128148 0.683856 0.401523 +TTool-pose None -27.7535 13.1048 13.717 0.709238 0.580687 -0.245889 0.315024 +#25054 1721121366239 +SLAM 15.8279 8.79365 -16.6264 -0.596084 0.127068 0.682724 0.40302 +TTool-pose None -27.777 13.1199 13.719 0.708037 0.582089 -0.244966 0.31586 +#25055 1721121366270 +SLAM 15.7594 8.70277 -16.7038 -0.595787 0.128877 0.682831 0.402704 +TTool-pose None -27.7872 13.0976 13.6915 0.708595 0.580674 -0.245715 0.316631 +#25056 1721121366304 +SLAM 15.7174 8.68886 -16.7356 -0.596188 0.128668 0.683651 0.40078 +TTool-pose None -27.7697 13.0884 13.7225 0.709926 0.58003 -0.245311 0.315137 +#25057 1721121366343 +SLAM 15.7837 8.69105 -16.6944 -0.595577 0.129404 0.682668 0.403122 +TTool-pose None -27.7781 13.1291 13.6891 0.70839 0.580469 -0.246047 0.317205 +#25058 1721121366375 +SLAM 15.8114 8.72462 -16.6808 -0.59736 0.127245 0.682862 0.400835 +TTool-pose None -27.7911 13.0829 13.7479 0.709722 0.581092 -0.243633 0.314942 +#25059 1721121366414 +SLAM 15.8493 8.74071 -16.6523 -0.596747 0.127541 0.682443 0.402365 +TTool-pose None -27.791 13.1141 13.7336 0.708659 0.581503 -0.244326 0.316037 +#25060 1721121366451 +SLAM 15.9338 8.78742 -16.5942 -0.597065 0.126598 0.681625 0.403576 +TTool-pose None -27.8104 13.1251 13.7374 0.70766 0.582681 -0.243681 0.316605 +#25061 1721121366488 +SLAM 15.8858 8.71809 -16.6439 -0.59657 0.128281 0.68183 0.403431 +TTool-pose None -27.8003 13.1349 13.7157 0.708054 0.58142 -0.244627 0.317313 +#25062 1721121366524 +SLAM 15.9089 8.71316 -16.6398 -0.596837 0.128212 0.681495 0.403624 +TTool-pose None -27.8135 13.1303 13.716 0.707934 0.581557 -0.244287 0.31759 +#25063 1721121366560 +SLAM 16.0464 8.70952 -16.5669 -0.596781 0.128822 0.679404 0.407023 +TTool-pose None -27.8521 13.1671 13.6684 0.705688 0.582535 -0.244268 0.320799 +#25064 1721121366594 +SLAM 15.9582 8.70274 -16.6229 -0.596657 0.128647 0.680622 0.40522 +TTool-pose None -27.8363 13.1384 13.6952 0.706895 0.581908 -0.244492 0.319102 +#25065 1721121366624 +SLAM 16.0092 8.71044 -16.5967 -0.597673 0.127815 0.680264 0.404588 +TTool-pose None -27.8443 13.1324 13.7179 0.707272 0.582261 -0.243162 0.318638 +#25066 1721121366656 +SLAM 15.9224 8.67885 -16.6518 -0.596436 0.129158 0.681026 0.404704 +TTool-pose None -27.8263 13.1383 13.6975 0.707335 0.581327 -0.24489 0.318881 +#25067 1721121366688 +SLAM 16.028 8.71864 -16.5855 -0.597269 0.128006 0.679852 0.405815 +TTool-pose None -27.857 13.1374 13.7006 0.706414 0.582624 -0.2436 0.319542 +#25068 1721121366720 +SLAM 16.0377 8.72041 -16.5797 -0.597347 0.127969 0.679842 0.405729 +TTool-pose None -27.8537 13.1456 13.7047 0.706475 0.582617 -0.243506 0.319492 +#25069 1721121366752 +SLAM 15.9903 8.6908 -16.6086 -0.596305 0.129246 0.680038 0.406526 +TTool-pose None -27.8437 13.1561 13.675 0.70607 0.582016 -0.244948 0.320378 +#25070 1721121366785 +SLAM 15.967 8.68472 -16.6296 -0.596937 0.128796 0.680503 0.404961 +TTool-pose None -27.8406 13.137 13.6992 0.707136 0.581703 -0.24421 0.319158 +#25071 1721121366821 +SLAM 16.0496 8.74311 -16.567 -0.597352 0.127496 0.679705 0.4061 +TTool-pose None -27.863 13.1371 13.7057 0.70612 0.583104 -0.243377 0.319487 +#25072 1721121366866 +SLAM 15.997 8.72349 -16.5988 -0.597432 0.127728 0.680408 0.40473 +TTool-pose None -27.8441 13.1312 13.7153 0.70713 0.582375 -0.243418 0.31855 +#25073 1721121366905 +SLAM 16.1045 8.80164 -16.5184 -0.598331 0.125705 0.679459 0.405628 +TTool-pose None -27.8739 13.1228 13.7348 0.706181 0.584198 -0.241875 0.318491 +#25074 1721121366947 +SLAM 16.0055 8.7403 -16.5908 -0.598241 0.126764 0.680699 0.403344 +TTool-pose None -27.8383 13.1209 13.7478 0.707979 0.582501 -0.242347 0.317245 +#25075 1721121366978 +SLAM 16.044 8.75655 -16.5596 -0.598035 0.12676 0.680122 0.404623 +TTool-pose None -27.8473 13.1331 13.7303 0.707069 0.58303 -0.24251 0.31818 +#25076 1721121367008 +SLAM 16.0104 8.76278 -16.5734 -0.597357 0.127014 0.680411 0.405059 +TTool-pose None -27.8433 13.1308 13.7208 0.706746 0.583013 -0.243334 0.318299 +#25077 1721121367038 +SLAM 15.9994 8.73188 -16.5889 -0.597415 0.12763 0.680538 0.404567 +TTool-pose None -27.8327 13.1425 13.7197 0.707221 0.582376 -0.243428 0.318338 +#25078 1721121367071 +SLAM 16.0238 8.74152 -16.5713 -0.597784 0.127181 0.680287 0.404585 +TTool-pose None -27.8386 13.1361 13.7249 0.707156 0.58271 -0.242897 0.318277 +#25079 1721121367101 +SLAM 16.0314 8.78013 -16.5533 -0.597448 0.126693 0.680248 0.405299 +TTool-pose None -27.844 13.1364 13.7216 0.706522 0.583341 -0.243145 0.318339 +#25080 1721121367130 +SLAM 16.0055 8.74976 -16.577 -0.597563 0.12711 0.680401 0.404741 +TTool-pose None -27.841 13.1258 13.7196 0.707009 0.582819 -0.243132 0.318224 +#25081 1721121367161 +SLAM 15.9754 8.70308 -16.6112 -0.596944 0.128471 0.680434 0.405171 +TTool-pose None -27.8379 13.1375 13.697 0.706924 0.58202 -0.244121 0.319118 +#25082 1721121367190 +SLAM 15.9953 8.73876 -16.586 -0.597676 0.127227 0.680551 0.404285 +TTool-pose None -27.8358 13.1255 13.7235 0.707362 0.582551 -0.243052 0.317993 +#25083 1721121367221 +SLAM 16.0498 8.77404 -16.5398 -0.597837 0.126592 0.680046 0.405097 +TTool-pose None -27.8416 13.1377 13.7231 0.706683 0.58334 -0.242679 0.318341 +#25084 1721121367252 +SLAM 16.063 8.7866 -16.5372 -0.597552 0.126581 0.679775 0.405974 +TTool-pose None -27.8586 13.1364 13.7142 0.706041 0.583703 -0.242955 0.31889 +#25085 1721121367282 +SLAM 16.046 8.76151 -16.5516 -0.597609 0.126979 0.679944 0.405483 +TTool-pose None -27.8488 13.1375 13.7152 0.706471 0.58322 -0.243005 0.318783 +#25086 1721121367313 +SLAM 15.9588 8.74625 -16.6088 -0.597546 0.12713 0.681145 0.403506 +TTool-pose None -27.8286 13.1229 13.7343 0.707869 0.582291 -0.243232 0.3172 +#25087 1721121367344 +SLAM 15.8953 8.70175 -16.6572 -0.597524 0.127742 0.681771 0.402288 +TTool-pose None -27.815 13.1052 13.7398 0.708837 0.581353 -0.243461 0.316584 +#25088 1721121367375 +SLAM 16.0296 8.76473 -16.5574 -0.596635 0.127727 0.679919 0.406722 +TTool-pose None -27.8484 13.1555 13.6875 0.705658 0.583179 -0.244229 0.319722 +#25089 1721121367406 +SLAM 15.9731 8.75254 -16.5913 -0.596578 0.127868 0.680714 0.40543 +TTool-pose None -27.8302 13.1488 13.7002 0.706581 0.582542 -0.244408 0.318705 +#25090 1721121367436 +SLAM 16.0178 8.79834 -16.5472 -0.596424 0.127181 0.680217 0.406705 +TTool-pose None -27.8415 13.1534 13.6933 0.705536 0.58355 -0.244363 0.319211 +#25091 1721121367466 +SLAM 16.0039 8.79057 -16.5678 -0.597547 0.12639 0.680536 0.404764 +TTool-pose None -27.8484 13.1187 13.7237 0.706843 0.583335 -0.242998 0.31775 +#25092 1721121367497 +SLAM 15.9266 8.75453 -16.6145 -0.59723 0.127238 0.681443 0.403437 +TTool-pose None -27.8193 13.1224 13.7232 0.707906 0.582177 -0.24363 0.317021 +#25093 1721121367529 +SLAM 15.9281 8.77561 -16.6028 -0.597134 0.126924 0.681512 0.403562 +TTool-pose None -27.8163 13.1247 13.7242 0.707744 0.582447 -0.24367 0.316856 +#25094 1721121367561 +SLAM 15.8654 8.749 -16.6484 -0.597005 0.127336 0.682191 0.402475 +TTool-pose None -27.8064 13.1095 13.7297 0.708568 0.581701 -0.243974 0.316149 +#25095 1721121367597 +SLAM 15.783 8.66421 -16.7173 -0.595576 0.129984 0.682456 0.403295 +TTool-pose None -27.794 13.1268 13.6795 0.708388 0.580132 -0.246158 0.317739 +#25096 1721121367638 +SLAM 15.8019 8.69394 -16.6994 -0.596029 0.129058 0.68247 0.402899 +TTool-pose None -27.7981 13.1171 13.6976 0.708523 0.580635 -0.245457 0.317062 +#25097 1721121367685 +SLAM 15.7245 8.68254 -16.7429 -0.595349 0.129587 0.683328 0.402281 +TTool-pose None -27.7815 13.1115 13.6952 0.708985 0.579982 -0.246402 0.316489 +#25098 1721121367719 +SLAM 15.7942 8.71743 -16.698 -0.596425 0.128198 0.682799 0.402029 +TTool-pose None -27.7973 13.1004 13.7195 0.708992 0.58089 -0.244862 0.316003 +#25099 1721121367755 +SLAM 15.7865 8.69197 -16.7079 -0.595771 0.129266 0.682602 0.402992 +TTool-pose None -27.7958 13.1184 13.6929 0.708473 0.580519 -0.245798 0.317122 +#25100 1721121367785 +SLAM 15.7945 8.7109 -16.6954 -0.595998 0.128699 0.682705 0.402662 +TTool-pose None -27.7922 13.1156 13.7061 0.708611 0.580787 -0.245432 0.316605 +#25101 1721121367817 +SLAM 15.7883 8.71237 -16.6965 -0.595758 0.128865 0.682731 0.40292 +TTool-pose None -27.7905 13.1197 13.6997 0.708439 0.580771 -0.245734 0.316785 +#25102 1721121367848 +SLAM 15.7219 8.68193 -16.7379 -0.594989 0.129923 0.683196 0.402928 +TTool-pose None -27.78 13.1182 13.6786 0.708566 0.580004 -0.246856 0.317034 +#25103 1721121367878 +SLAM 15.7001 8.7058 -16.7379 -0.595028 0.129353 0.683544 0.402464 +TTool-pose None -27.7762 13.1046 13.6859 0.708776 0.580214 -0.246718 0.316288 +#25104 1721121367909 +SLAM 15.7373 8.78937 -16.6712 -0.594004 0.128697 0.683156 0.404838 +TTool-pose None -27.7745 13.1305 13.6605 0.706883 0.581633 -0.247639 0.317197 +#25105 1721121367940 +SLAM 15.7169 8.77037 -16.6917 -0.595125 0.128119 0.683423 0.40292 +TTool-pose None -27.7776 13.0941 13.6824 0.708218 0.581277 -0.246318 0.315897 +#25106 1721121367979 +SLAM 15.6333 8.73486 -16.7464 -0.594063 0.129542 0.684123 0.402845 +TTool-pose None -27.7612 13.1036 13.6585 0.708444 0.580209 -0.247865 0.316143 +#25107 1721121368010 +SLAM 15.7087 8.8442 -16.654 -0.59385 0.127866 0.683638 0.404514 +TTool-pose None -27.7626 13.1267 13.6578 0.706921 0.582079 -0.247662 0.316275 +#25108 1721121368044 +SLAM 15.6033 8.7527 -16.7409 -0.593947 0.129207 0.684376 0.402693 +TTool-pose None -27.7524 13.0884 13.6512 0.708468 0.580378 -0.24794 0.315721 +#25109 1721121368078 +SLAM 15.6198 8.71504 -16.7094 -0.594077 0.129892 0.683963 0.402982 +TTool-pose None -27.724 13.1043 13.6308 0.708422 0.580019 -0.247914 0.316502 +#25110 1721121368115 +SLAM 15.696 8.67724 -16.6598 -0.595944 0.129137 0.682583 0.402809 +TTool-pose None -27.745 13.0536 13.6273 0.708593 0.580539 -0.245578 0.316989 +#25111 1721121368147 +SLAM 15.5728 8.53414 -16.7237 -0.595404 0.131713 0.683126 0.401851 +TTool-pose None -27.6913 13.0293 13.5896 0.70972 0.578304 -0.246806 0.317598 +#25112 1721121368180 +SLAM 15.5939 8.53822 -16.659 -0.596315 0.130637 0.682581 0.401779 +TTool-pose None -27.6726 12.9856 13.5842 0.709651 0.579062 -0.245518 0.317369 +#25113 1721121368212 +SLAM 15.5743 8.59935 -16.6053 -0.59626 0.129273 0.682771 0.401978 +TTool-pose None -27.6494 12.9573 13.5777 0.709229 0.580105 -0.245285 0.316583 +#25114 1721121368246 +SLAM 15.5377 8.61035 -16.6033 -0.595745 0.129472 0.682916 0.402431 +TTool-pose None -27.6411 12.9517 13.5517 0.708901 0.580138 -0.245905 0.316779 +#25115 1721121368282 +SLAM 15.6353 8.67976 -16.5292 -0.597064 0.127211 0.682064 0.402642 +TTool-pose None -27.6687 12.9267 13.5781 0.708434 0.58186 -0.243867 0.31624 +#25116 1721121368315 +SLAM 15.7218 8.82304 -16.4135 -0.596797 0.125046 0.681593 0.404509 +TTool-pose None -27.6664 12.9593 13.5774 0.706662 0.584153 -0.243609 0.316176 +#25117 1721121368347 +SLAM 15.6706 8.91566 -16.4014 -0.596332 0.123525 0.681928 0.405096 +TTool-pose None -27.6868 12.9103 13.5581 0.705887 0.585452 -0.243792 0.315362 +#25118 1721121368379 +SLAM 15.3172 8.73078 -16.7301 -0.595698 0.127633 0.684475 0.400434 +TTool-pose None -27.7359 12.815 13.4963 0.709898 0.5806 -0.245686 0.313855 +#25119 1721121368410 +SLAM 15.2924 8.74143 -16.7118 -0.595362 0.127716 0.684359 0.401105 +TTool-pose None -27.7273 12.8034 13.4632 0.709415 0.580811 -0.24606 0.314263 +#25120 1721121368442 +SLAM 15.3217 8.73555 -16.7151 -0.596164 0.127347 0.683804 0.400978 +TTool-pose None -27.7608 12.7781 13.4621 0.709515 0.581043 -0.245049 0.314399 +#25121 1721121368477 +SLAM 15.442 8.72001 -16.664 -0.597938 0.126688 0.68231 0.401091 +TTool-pose None -27.7941 12.7716 13.4668 0.709492 0.581608 -0.242821 0.315134 +#25122 1721121368509 +SLAM 15.5465 8.74642 -16.5822 -0.59817 0.126349 0.680982 0.403103 +TTool-pose None -27.8034 12.7963 13.4455 0.708053 0.582691 -0.242357 0.316722 +#25123 1721121368546 +SLAM 15.5726 8.70126 -16.5964 -0.599654 0.126108 0.680099 0.402465 +TTool-pose None -27.8469 12.7392 13.4389 0.7086 0.582638 -0.240598 0.316939 +#25124 1721121368582 +SLAM 15.6811 8.7718 -16.4934 -0.59985 0.124961 0.679053 0.404291 +TTool-pose None -27.8479 12.7702 13.4312 0.707114 0.584209 -0.24001 0.31781 +#25125 1721121368615 +SLAM 15.5175 8.59136 -16.6396 -0.598546 0.129202 0.679659 0.403871 +TTool-pose None -27.8343 12.757 13.3625 0.708145 0.581011 -0.242469 0.319509 +#25126 1721121368647 +SLAM 15.4946 8.64104 -16.6328 -0.599558 0.127218 0.680397 0.401755 +TTool-pose None -27.8285 12.7147 13.407 0.709312 0.581558 -0.240988 0.317034 +#25127 1721121368680 +SLAM 15.7469 8.77491 -16.4602 -0.601677 0.123745 0.677979 0.403753 +TTool-pose None -27.8874 12.7244 13.4314 0.70742 0.58489 -0.237626 0.317669 +#25128 1721121368715 +SLAM 15.7269 8.77825 -16.4551 -0.600928 0.124225 0.678255 0.404256 +TTool-pose None -27.8645 12.7467 13.421 0.707095 0.584742 -0.238582 0.317949 +#25129 1721121368748 +SLAM 15.6594 8.73467 -16.5192 -0.601571 0.124364 0.678924 0.402128 +TTool-pose None -27.8685 12.7061 13.4361 0.708667 0.583777 -0.237984 0.316666 +#25130 1721121368780 +SLAM 15.7441 8.75917 -16.4618 -0.6022 0.123715 0.678049 0.402863 +TTool-pose None -27.8795 12.7216 13.4369 0.708085 0.584555 -0.237056 0.317229 +#25131 1721121368812 +SLAM 15.6506 8.67769 -16.5468 -0.602328 0.124935 0.67891 0.400841 +TTool-pose None -27.8671 12.6982 13.4404 0.709754 0.58286 -0.237289 0.316444 +#25132 1721121368848 +SLAM 15.6299 8.72636 -16.5362 -0.602322 0.123889 0.679368 0.400399 +TTool-pose None -27.8619 12.6829 13.4533 0.709842 0.58341 -0.237098 0.315371 +#25133 1721121368880 +SLAM 15.4448 8.69955 -16.6337 -0.600106 0.125814 0.680842 0.400621 +TTool-pose None -27.8409 12.6685 13.3994 0.709863 0.58209 -0.240111 0.315485 +#25134 1721121368914 +SLAM 15.3943 8.7627 -16.6248 -0.600235 0.124598 0.681183 0.400228 +TTool-pose None -27.8495 12.6269 13.38 0.709896 0.582785 -0.239722 0.314422 +#25135 1721121368946 +SLAM 15.2762 8.69769 -16.6975 -0.600128 0.125748 0.682223 0.398253 +TTool-pose None -27.824 12.6044 13.3673 0.711485 0.581147 -0.240205 0.313489 +#25136 1721121368982 +SLAM 15.4265 8.8351 -16.5637 -0.600567 0.123163 0.680819 0.400794 +TTool-pose None -27.8544 12.6161 13.3704 0.709239 0.584038 -0.23899 0.314134 +#25137 1721121369015 +SLAM 15.1991 8.62383 -16.7688 -0.599261 0.127742 0.682577 0.398319 +TTool-pose None -27.8219 12.6045 13.3359 0.711761 0.579745 -0.241645 0.314351 +#25138 1721121369047 +SLAM 15.3656 8.76765 -16.6319 -0.601455 0.123601 0.681449 0.398247 +TTool-pose None -27.8528 12.5834 13.3892 0.71118 0.582691 -0.238182 0.312858 +#25139 1721121369078 +SLAM 15.4153 8.80791 -16.5886 -0.602175 0.122403 0.680996 0.398305 +TTool-pose None -27.8644 12.573 13.3983 0.710963 0.583576 -0.237071 0.312546 +#25140 1721121369119 +SLAM 15.3367 8.72055 -16.6861 -0.600134 0.125863 0.681269 0.399838 +TTool-pose None -27.8713 12.6179 13.3405 0.710417 0.581729 -0.240134 0.314885 +#25141 1721121369150 +SLAM 15.5162 8.97162 -16.5153 -0.601994 0.120056 0.6807 0.399797 +TTool-pose None -27.9018 12.6157 13.4218 0.709418 0.585842 -0.236692 0.312102 +#25142 1721121369186 +SLAM 15.2436 8.75244 -16.7988 -0.60096 0.124648 0.68307 0.395886 +TTool-pose None -27.9053 12.5829 13.4036 0.712971 0.580952 -0.239117 0.311299 +#25143 1721121369218 +SLAM 15.2386 8.74936 -16.8671 -0.600258 0.125716 0.683188 0.396409 +TTool-pose None -27.951 12.6151 13.3966 0.71276 0.5804 -0.240145 0.312019 +#25144 1721121369253 +SLAM 15.4473 8.99333 -16.724 -0.601242 0.121128 0.68218 0.398078 +TTool-pose None -28.015 12.6513 13.457 0.710754 0.584351 -0.237907 0.310931 +#25145 1721121369285 +SLAM 15.5547 9.0251 -16.7299 -0.601782 0.120693 0.681216 0.399044 +TTool-pose None -28.0899 12.6724 13.4741 0.710052 0.585075 -0.237123 0.311774 +#25146 1721121369318 +SLAM 15.3917 8.82353 -16.9516 -0.600011 0.125968 0.68233 0.398178 +TTool-pose None -28.1039 12.7059 13.4307 0.711571 0.580957 -0.240394 0.313502 +#25147 1721121369350 +SLAM 15.6248 9.03732 -16.8079 -0.602347 0.12072 0.681073 0.398427 +TTool-pose None -28.1764 12.7064 13.5191 0.71054 0.584813 -0.236497 0.311627 +#25148 1721121369387 +SLAM 15.6682 8.98551 -16.8739 -0.603684 0.120992 0.680663 0.397019 +TTool-pose None -28.2369 12.6955 13.5481 0.711703 0.584068 -0.235054 0.311463 +#25149 1721121369419 +SLAM 15.8957 9.09316 -16.7496 -0.604114 0.119373 0.678549 0.400458 +TTool-pose None -28.2974 12.7524 13.5578 0.709027 0.586652 -0.233997 0.313501 +#25150 1721121369454 +SLAM 15.8939 9.03199 -16.8212 -0.604628 0.120256 0.678595 0.39934 +TTool-pose None -28.3286 12.7513 13.5749 0.710039 0.585578 -0.233646 0.313478 +#25151 1721121369486 +SLAM 16.1236 9.08391 -16.7176 -0.604727 0.120141 0.675862 0.403833 +TTool-pose None -28.4055 12.8166 13.5431 0.706905 0.58753 -0.23323 0.317203 +#25152 1721121369520 +SLAM 15.9944 9.02384 -16.8561 -0.606278 0.119736 0.678031 0.397949 +TTool-pose None -28.3959 12.7669 13.6264 0.711049 0.585403 -0.231656 0.312993 +#25153 1721121369551 +SLAM 16.3115 9.13901 -16.6522 -0.607179 0.117784 0.674582 0.40299 +TTool-pose None -28.4647 12.8285 13.613 0.707221 0.588888 -0.229855 0.31644 +#25154 1721121369583 +SLAM 16.3943 9.1276 -16.625 -0.607936 0.117619 0.673523 0.403665 +TTool-pose None -28.4955 12.8293 13.6136 0.706784 0.589299 -0.228873 0.317363 +#25155 1721121369615 +SLAM 16.2123 8.97363 -16.7816 -0.60773 0.120258 0.675408 0.400033 +TTool-pose None -28.4481 12.8128 13.6209 0.709853 0.585938 -0.229922 0.315973 +#25156 1721121369650 +SLAM 16.1582 8.91683 -16.8436 -0.608849 0.120234 0.676143 0.397086 +TTool-pose None -28.4428 12.7762 13.6554 0.71199 0.584751 -0.228758 0.3142 +#25157 1721121369683 +SLAM 16.3012 8.95974 -16.7505 -0.60971 0.119105 0.674592 0.398739 +TTool-pose None -28.4711 12.7909 13.6582 0.710686 0.58625 -0.22739 0.315353 +#25158 1721121369720 +SLAM 16.4042 9.03324 -16.663 -0.609903 0.117727 0.673574 0.400569 +TTool-pose None -28.49 12.8015 13.6606 0.709139 0.587981 -0.226746 0.316076 +#25159 1721121369753 +SLAM 16.4114 9.02303 -16.6626 -0.609323 0.118455 0.673285 0.401724 +TTool-pose None -28.4941 12.8182 13.6383 0.708439 0.587938 -0.227526 0.317163 +#25160 1721121369788 +SLAM 16.5202 9.04912 -16.5877 -0.610802 0.1171 0.672327 0.401479 +TTool-pose None -28.5036 12.8227 13.6622 0.708451 0.588814 -0.225478 0.316973 +#25161 1721121369820 +SLAM 16.4659 9.05002 -16.62 -0.609629 0.11785 0.672703 0.402411 +TTool-pose None -28.5042 12.8232 13.6382 0.707859 0.588653 -0.226985 0.317522 +#25162 1721121369855 +SLAM 16.2866 8.91504 -16.7736 -0.608843 0.120646 0.674351 0.400007 +TTool-pose None -28.4722 12.8091 13.6244 0.710054 0.585679 -0.228681 0.316901 +#25163 1721121369887 +SLAM 16.1655 8.86438 -16.8595 -0.609299 0.120852 0.67596 0.396519 +TTool-pose None -28.4411 12.7755 13.659 0.712553 0.58409 -0.228389 0.314422 +#25164 1721121369922 +SLAM 16.3665 8.95712 -16.6907 -0.610111 0.118843 0.67368 0.399746 +TTool-pose None -28.4677 12.7926 13.6496 0.709967 0.586861 -0.226793 0.316264 +#25165 1721121369954 +SLAM 16.4515 9.00472 -16.6082 -0.610096 0.118071 0.672687 0.401664 +TTool-pose None -28.4734 12.8071 13.6385 0.708468 0.588198 -0.226522 0.317337 +#25166 1721121369990 +SLAM 16.5147 9.0642 -16.5225 -0.610166 0.116895 0.671937 0.403154 +TTool-pose None -28.4709 12.8069 13.6299 0.707184 0.589639 -0.226085 0.317838 +#25167 1721121370024 +SLAM 16.4064 9.02729 -16.582 -0.609623 0.117716 0.67293 0.40208 +TTool-pose None -28.4461 12.7849 13.6181 0.70806 0.588609 -0.226984 0.317153 +#25168 1721121370061 +SLAM 16.4147 9.00826 -16.5606 -0.608689 0.118957 0.672357 0.404082 +TTool-pose None -28.4373 12.8129 13.5685 0.706844 0.588549 -0.228239 0.319073 +#25169 1721121370094 +SLAM 16.2684 8.95164 -16.6538 -0.608347 0.119901 0.673911 0.401722 +TTool-pose None -28.4043 12.7828 13.572 0.708659 0.586904 -0.229005 0.317524 +#25170 1721121370129 +SLAM 16.3604 9.01769 -16.5833 -0.609712 0.117748 0.673202 0.401479 +TTool-pose None -28.4265 12.7653 13.6031 0.708494 0.58834 -0.226923 0.316729 +#25171 1721121370161 +SLAM 16.496 9.11206 -16.4668 -0.610153 0.115873 0.671876 0.40357 +TTool-pose None -28.4498 12.7796 13.6079 0.706673 0.590526 -0.225848 0.317495 +#25172 1721121370197 +SLAM 16.356 9.02929 -16.5777 -0.609345 0.117798 0.673186 0.402048 +TTool-pose None -28.4261 12.7681 13.5936 0.708076 0.588533 -0.227335 0.317009 +#25173 1721121370234 +SLAM 16.3529 9.05589 -16.5712 -0.609911 0.116862 0.673509 0.400922 +TTool-pose None -28.4224 12.7567 13.6165 0.70871 0.588733 -0.226526 0.315796 +#25174 1721121370272 +SLAM 16.4314 9.10289 -16.4877 -0.609366 0.116673 0.672473 0.403535 +TTool-pose None -28.4238 12.7913 13.5844 0.7068 0.589936 -0.226968 0.31751 +#25175 1721121370302 +SLAM 16.3482 9.11494 -16.5208 -0.609627 0.115988 0.673713 0.401263 +TTool-pose None -28.3969 12.7639 13.6109 0.70826 0.589481 -0.22665 0.315321 +#25176 1721121370334 +SLAM 16.3198 9.13496 -16.5226 -0.609329 0.115735 0.673918 0.401447 +TTool-pose None -28.3965 12.7488 13.6021 0.708052 0.589727 -0.226939 0.31512 +#25177 1721121370376 +SLAM 16.2037 9.12059 -16.5856 -0.608591 0.116373 0.675248 0.400143 +TTool-pose None -28.3686 12.7404 13.5982 0.709028 0.588724 -0.228039 0.314003 +#25178 1721121370412 +SLAM 16.1017 9.13402 -16.63 -0.608408 0.116026 0.676625 0.39819 +TTool-pose None -28.342 12.7194 13.6135 0.710289 0.58815 -0.228296 0.312033 +#25179 1721121370445 +SLAM 15.9995 9.12726 -16.6815 -0.606771 0.117312 0.677596 0.39866 +TTool-pose None -28.3205 12.7336 13.5824 0.710087 0.587409 -0.230499 0.312269 +#25180 1721121370477 +SLAM 16.0493 9.21313 -16.6222 -0.607405 0.115344 0.677367 0.398658 +TTool-pose None -28.332 12.7237 13.6017 0.709725 0.5888 -0.229311 0.311347 +#25181 1721121370507 +SLAM 15.9594 9.20154 -16.6793 -0.607229 0.115469 0.678365 0.39719 +TTool-pose None -28.3231 12.6975 13.6071 0.71075 0.588095 -0.229632 0.310102 +#25182 1721121370540 +SLAM 15.8659 9.13804 -16.7485 -0.606684 0.1169 0.679248 0.396096 +TTool-pose None -28.2993 12.6959 13.5969 0.71176 0.586623 -0.230657 0.309812 +#25183 1721121370576 +SLAM 15.898 9.14626 -16.7308 -0.607199 0.11642 0.678879 0.39608 +TTool-pose None -28.3107 12.6878 13.6017 0.711717 0.586964 -0.22994 0.309796 +#25184 1721121370610 +SLAM 15.9105 9.18916 -16.7085 -0.607198 0.115625 0.678957 0.396179 +TTool-pose None -28.311 12.689 13.6118 0.711477 0.587562 -0.229759 0.309349 +#25185 1721121370645 +SLAM 15.7099 9.03534 -16.8635 -0.604649 0.120223 0.680427 0.396188 +TTool-pose None -28.2677 12.7165 13.5454 0.712208 0.584285 -0.233791 0.310852 +#25186 1721121370683 +SLAM 15.6009 8.97739 -16.9374 -0.603131 0.122263 0.681275 0.396421 +TTool-pose None -28.2468 12.7255 13.513 0.712326 0.582911 -0.236016 0.311477 +#25187 1721121370715 +SLAM 15.5688 8.99071 -16.9415 -0.60207 0.12281 0.681565 0.397364 +TTool-pose None -28.2347 12.7428 13.4933 0.711685 0.582893 -0.237335 0.311974 +#25188 1721121370746 +SLAM 15.7634 9.21824 -16.7593 -0.604722 0.116648 0.680526 0.396974 +TTool-pose None -28.2736 12.7016 13.5788 0.71091 0.587119 -0.232876 0.309163 +#25189 1721121370778 +SLAM 15.5611 9.1155 -16.8901 -0.603677 0.118809 0.682527 0.394482 +TTool-pose None -28.2235 12.6797 13.5683 0.71298 0.584533 -0.234721 0.307897 +#25190 1721121370809 +SLAM 15.5109 9.11041 -16.8971 -0.603212 0.119099 0.682928 0.394411 +TTool-pose None -28.2031 12.6725 13.5539 0.713044 0.584287 -0.235337 0.307746 +#25191 1721121370840 +SLAM 15.4534 9.09951 -16.9046 -0.602654 0.119554 0.683448 0.394226 +TTool-pose None -28.1731 12.6712 13.5395 0.71321 0.583875 -0.236104 0.307555 +#25192 1721121370875 +SLAM 15.3772 9.02917 -16.9415 -0.601318 0.121763 0.68368 0.395185 +TTool-pose None -28.1449 12.6834 13.4893 0.712883 0.582693 -0.23811 0.309007 +#25193 1721121370915 +SLAM 15.5282 9.21209 -16.7908 -0.602717 0.117425 0.682784 0.395916 +TTool-pose None -28.1687 12.6694 13.5377 0.711602 0.586079 -0.235473 0.307571 +#25194 1721121370955 +SLAM 15.3468 9.0598 -16.9428 -0.601712 0.120695 0.684253 0.39392 +TTool-pose None -28.1377 12.6586 13.5107 0.713564 0.58292 -0.237478 0.307487 +#25195 1721121370997 +SLAM 15.3087 9.02493 -16.9715 -0.601062 0.12184 0.684528 0.394083 +TTool-pose None -28.1248 12.6734 13.4944 0.713627 0.582167 -0.238484 0.307989 +#25196 1721121371030 +SLAM 15.3601 9.029 -16.9507 -0.602224 0.120925 0.683984 0.393534 +TTool-pose None -28.1449 12.6515 13.5117 0.71393 0.582612 -0.236945 0.307635 +#25197 1721121371061 +SLAM 15.3173 9.00308 -16.9772 -0.601186 0.122106 0.684293 0.394218 +TTool-pose None -28.1313 12.6674 13.4923 0.713604 0.582042 -0.238388 0.308354 +#25198 1721121371094 +SLAM 15.4311 9.08858 -16.8836 -0.601427 0.120548 0.683316 0.396022 +TTool-pose None -28.1464 12.6864 13.5006 0.712063 0.5839 -0.237675 0.308953 +#25199 1721121371130 +SLAM 15.4014 9.02137 -16.9281 -0.6016 0.121552 0.683365 0.395367 +TTool-pose None -28.1483 12.673 13.4958 0.712743 0.582926 -0.237723 0.309188 +#25200 1721121371167 +SLAM 15.3449 8.96492 -16.9798 -0.600733 0.123125 0.683631 0.395739 +TTool-pose None -28.1439 12.6753 13.4729 0.712729 0.581953 -0.239065 0.310017 +#25201 1721121371204 +SLAM 15.2672 8.90585 -17.0405 -0.599865 0.124749 0.684224 0.395522 +TTool-pose None -28.1291 12.6805 13.454 0.713126 0.580695 -0.240447 0.310394 +#25202 1721121371244 +SLAM 15.4708 9.07965 -16.8711 -0.601595 0.120548 0.682739 0.396761 +TTool-pose None -28.1622 12.6813 13.4996 0.711574 0.584215 -0.237438 0.309668 +#25203 1721121371281 +SLAM 15.4777 9.06757 -16.8797 -0.602976 0.11966 0.682778 0.394862 +TTool-pose None -28.1715 12.6476 13.528 0.712829 0.584078 -0.235715 0.308349 +#25204 1721121371315 +SLAM 15.4101 9.01176 -16.934 -0.601715 0.121608 0.68312 0.395598 +TTool-pose None -28.1621 12.6619 13.4932 0.712608 0.582987 -0.237588 0.309487 +#25205 1721121371345 +SLAM 15.4298 9.02844 -16.9179 -0.602134 0.121007 0.683004 0.395344 +TTool-pose None -28.1659 12.6561 13.5025 0.712699 0.583313 -0.236976 0.309132 +#25206 1721121371377 +SLAM 15.4409 9.03361 -16.9048 -0.602109 0.121028 0.682954 0.395463 +TTool-pose None -28.1586 12.6691 13.5011 0.712619 0.583347 -0.237005 0.309229 +#25207 1721121371413 +SLAM 15.2914 8.92063 -17.0219 -0.600208 0.124382 0.684043 0.39543 +TTool-pose None -28.1312 12.686 13.4561 0.713149 0.580925 -0.239969 0.310283 +#25208 1721121371447 +SLAM 15.4066 9.01172 -16.9335 -0.601948 0.121463 0.683257 0.395052 +TTool-pose None -28.1559 12.6627 13.4993 0.712976 0.582865 -0.23731 0.309081 +#25209 1721121371483 +SLAM 15.3104 8.93596 -16.9995 -0.599923 0.124414 0.68389 0.396117 +TTool-pose None -28.1246 12.7045 13.45 0.712655 0.581183 -0.240276 0.310698 +#25210 1721121371516 +SLAM 15.331 8.94284 -16.9934 -0.600914 0.123487 0.683777 0.395097 +TTool-pose None -28.1367 12.6799 13.4717 0.713264 0.581434 -0.238963 0.30984 +#25211 1721121371551 +SLAM 15.5383 9.13379 -16.8095 -0.602009 0.119485 0.682214 0.397358 +TTool-pose None -28.1658 12.6964 13.5047 0.71098 0.585222 -0.236685 0.309706 +#25212 1721121371585 +SLAM 15.4166 9.08031 -16.8856 -0.601029 0.121012 0.68334 0.396443 +TTool-pose None -28.1391 12.6927 13.486 0.711831 0.58374 -0.238222 0.309368 +#25213 1721121371622 +SLAM 15.336 9.05493 -16.9417 -0.600997 0.121271 0.684047 0.39519 +TTool-pose None -28.1396 12.6587 13.4851 0.712742 0.583031 -0.238381 0.308484 +#25214 1721121371656 +SLAM 15.4028 9.16498 -16.8462 -0.601139 0.119257 0.683825 0.395971 +TTool-pose None -28.1271 12.6773 13.5003 0.711794 0.584774 -0.237734 0.307871 +#25215 1721121371689 +SLAM 15.3402 9.16414 -16.8717 -0.600634 0.119467 0.684484 0.395535 +TTool-pose None -28.1126 12.6679 13.4957 0.712084 0.58443 -0.238396 0.307342 +#25216 1721121371722 +SLAM 15.1156 8.96639 -17.0597 -0.598743 0.124232 0.68601 0.394288 +TTool-pose None -28.0802 12.6639 13.4386 0.713741 0.580506 -0.241715 0.308341 +#25217 1721121371757 +SLAM 15.1823 9.01404 -16.9975 -0.59861 0.12367 0.685452 0.395636 +TTool-pose None -28.0769 12.6925 13.4349 0.712688 0.581464 -0.241683 0.308998 +#25218 1721121371793 +SLAM 15.266 9.08691 -16.9426 -0.600818 0.120559 0.684979 0.394064 +TTool-pose None -28.1098 12.6402 13.4909 0.713343 0.583051 -0.238493 0.306967 +#25219 1721121371830 +SLAM 15.377 9.1842 -16.8412 -0.600877 0.119001 0.684105 0.395962 +TTool-pose None -28.1173 12.6704 13.4959 0.711717 0.584943 -0.237986 0.307533 +#25220 1721121371869 +SLAM 15.137 8.96971 -17.0403 -0.598813 0.12421 0.685913 0.394358 +TTool-pose None -28.0694 12.681 13.4417 0.713697 0.580553 -0.241624 0.308428 +#25221 1721121371907 +SLAM 15.2507 9.03501 -16.9712 -0.601145 0.121285 0.685063 0.393195 +TTool-pose None -28.1045 12.6398 13.4924 0.714125 0.582185 -0.238309 0.306935 +#25222 1721121371943 +SLAM 15.3346 9.0952 -16.9068 -0.602141 0.119534 0.684431 0.393308 +TTool-pose None -28.1195 12.6334 13.5157 0.71378 0.583489 -0.236749 0.306468 +#25223 1721121371983 +SLAM 15.2003 8.97489 -17.0137 -0.6002 0.123134 0.685273 0.3937 +TTool-pose None -28.0911 12.6583 13.4625 0.71407 0.581073 -0.239797 0.308011 +#25224 1721121372017 +SLAM 15.1919 8.96818 -17.0267 -0.600612 0.122883 0.685478 0.392791 +TTool-pose None -28.0922 12.648 13.4771 0.714681 0.580878 -0.239302 0.307344 +#25225 1721121372055 +SLAM 15.1768 8.96038 -17.0326 -0.59972 0.123718 0.685384 0.394054 +TTool-pose None -28.0911 12.6599 13.4513 0.713899 0.580798 -0.24047 0.308401 +#25226 1721121372090 +SLAM 15.1808 8.95637 -17.0217 -0.599616 0.123981 0.685332 0.39422 +TTool-pose None -28.08 12.6742 13.4433 0.71383 0.58068 -0.24064 0.308651 +#25227 1721121372123 +SLAM 15.409 9.22086 -16.8083 -0.60208 0.117472 0.683958 0.394844 +TTool-pose None -28.1237 12.6481 13.5182 0.712281 0.585577 -0.23629 0.306324 +#25228 1721121372157 +SLAM 15.2058 9.05091 -16.9728 -0.600734 0.121335 0.685524 0.393005 +TTool-pose None -28.087 12.6418 13.4784 0.714221 0.582057 -0.238813 0.306559 +#25229 1721121372194 +SLAM 15.0556 8.94546 -17.0855 -0.599206 0.124157 0.68662 0.392542 +TTool-pose None -28.064 12.6396 13.4414 0.714967 0.579835 -0.24124 0.307132 +#25230 1721121372229 +SLAM 15.1066 9.00513 -17.0374 -0.600169 0.12245 0.686359 0.392064 +TTool-pose None -28.0732 12.6287 13.4623 0.715038 0.580861 -0.239764 0.306183 +#25231 1721121372265 +SLAM 15.2439 9.16222 -16.9034 -0.601456 0.118782 0.685512 0.392702 +TTool-pose None -28.0917 12.6234 13.5 0.713961 0.58374 -0.237419 0.305045 +#25232 1721121372303 +SLAM 15.0706 8.98919 -17.0533 -0.599931 0.122906 0.686652 0.391772 +TTool-pose None -28.0616 12.6285 13.4523 0.715307 0.58041 -0.240155 0.306102 +#25233 1721121372337 +SLAM 15.0684 8.99096 -17.0667 -0.60072 0.1222 0.68683 0.390471 +TTool-pose None -28.072 12.606 13.4753 0.716128 0.580378 -0.239136 0.305038 +#25234 1721121372373 +SLAM 15.1434 9.07199 -16.9825 -0.600197 0.121294 0.686233 0.392601 +TTool-pose None -28.0667 12.6397 13.4683 0.714431 0.581899 -0.239454 0.30587 +#25235 1721121372414 +SLAM 15.0167 8.9142 -17.1066 -0.598657 0.125079 0.686719 0.392916 +TTool-pose None -28.0568 12.637 13.4186 0.714846 0.579329 -0.242065 0.307723 +#25236 1721121372452 +SLAM 15.0733 8.84233 -17.1094 -0.598101 0.12661 0.685475 0.395435 +TTool-pose None -28.0814 12.6375 13.3958 0.713383 0.579297 -0.242919 0.310493 +#25237 1721121372485 +SLAM 14.9436 8.76639 -17.18 -0.593608 0.131131 0.68607 0.399677 +TTool-pose None -28.0397 12.7061 13.3074 0.710902 0.577748 -0.248908 0.314307 +#25238 1721121372522 +SLAM 14.9761 8.77047 -17.1716 -0.59419 0.130613 0.685662 0.399681 +TTool-pose None -28.0599 12.6891 13.3148 0.710859 0.578135 -0.248119 0.314315 +#25239 1721121372560 +SLAM 15.034 8.90274 -17.0874 -0.593967 0.128408 0.685661 0.400728 +TTool-pose None -28.0559 12.7068 13.3336 0.709663 0.58012 -0.247859 0.313565 +#25240 1721121372595 +SLAM 14.9116 8.8339 -17.1914 -0.594057 0.12924 0.686735 0.398482 +TTool-pose None -28.0601 12.658 13.3396 0.711388 0.578596 -0.248051 0.312317 +#25241 1721121372630 +SLAM 15.018 8.8356 -17.1306 -0.596513 0.127628 0.685925 0.396724 +TTool-pose None -28.0642 12.6487 13.3771 0.712537 0.579073 -0.24493 0.311274 +#25242 1721121372663 +SLAM 14.8523 8.70801 -17.266 -0.593728 0.131975 0.686976 0.39766 +TTool-pose None -28.0412 12.6831 13.3149 0.712472 0.57631 -0.249051 0.313277 +#25243 1721121372703 +SLAM 14.974 8.84369 -17.1226 -0.592538 0.130584 0.685728 0.402025 +TTool-pose None -28.0392 12.7256 13.2846 0.709052 0.579081 -0.249913 0.315235 +#25244 1721121372747 +SLAM 14.8141 8.71303 -17.2658 -0.590373 0.134509 0.686555 0.402504 +TTool-pose None -28.0367 12.732 13.2264 0.709264 0.576434 -0.253224 0.316964 +#25245 1721121372784 +SLAM 14.7865 8.66052 -17.2778 -0.589568 0.136143 0.686272 0.403615 +TTool-pose None -28.0247 12.7429 13.1836 0.708729 0.575713 -0.254433 0.318502 +#25246 1721121372821 +SLAM 14.7296 8.63524 -17.3069 -0.587714 0.138177 0.686338 0.405512 +TTool-pose None -28.0161 12.7732 13.1275 0.7076 0.574995 -0.256891 0.32033 +#25247 1721121372860 +SLAM 14.5839 8.41599 -17.4372 -0.583604 0.145594 0.685896 0.40958 +TTool-pose None -27.994 12.843 12.9809 0.705715 0.571258 -0.262883 0.326263 +#25248 1721121372895 +SLAM 14.75 8.22275 -17.4262 -0.579889 0.153245 0.681369 0.4195 +TTool-pose None -28.0517 12.9867 12.7806 0.69972 0.569726 -0.267959 0.337539 +#25249 1721121372930 +SLAM 14.8107 8.14999 -17.4477 -0.580795 0.154029 0.680376 0.419572 +TTool-pose None -28.0869 12.983 12.7836 0.699921 0.569227 -0.26705 0.338683 +#25250 1721121372964 +SLAM 15.1027 8.11063 -17.3488 -0.581309 0.155083 0.676212 0.425165 +TTool-pose None -28.1804 13.0367 12.7294 0.696188 0.570758 -0.266199 0.344425 +#25251 1721121372998 +SLAM 15.2858 8.00911 -17.2958 -0.580769 0.157896 0.673238 0.429566 +TTool-pose None -28.2127 13.1199 12.6651 0.693462 0.570486 -0.26696 0.349748 +#25252 1721121373041 +SLAM 15.2707 7.95911 -17.3334 -0.579772 0.159614 0.672842 0.430896 +TTool-pose None -28.2267 13.135 12.633 0.692688 0.569746 -0.26831 0.351451 +#25253 1721121373077 +SLAM 15.2576 8.04939 -17.2852 -0.577756 0.1595 0.673074 0.433277 +TTool-pose None -28.2021 13.1742 12.5988 0.690709 0.570709 -0.270418 0.352169 +#25254 1721121373109 +SLAM 15.0302 7.92418 -17.4404 -0.57666 0.162407 0.674961 0.430715 +TTool-pose None -28.166 13.148 12.5787 0.692939 0.567547 -0.272445 0.351334 +#25255 1721121373148 +SLAM 14.9466 7.83 -17.5077 -0.575979 0.16462 0.675239 0.430349 +TTool-pose None -28.1517 13.148 12.5495 0.693501 0.565776 -0.273657 0.352139 +#25256 1721121373182 +SLAM 15.1579 8.08424 -17.3379 -0.580384 0.156463 0.675302 0.427365 +TTool-pose None -28.1902 13.0835 12.7008 0.694748 0.570621 -0.267342 0.346668 +#25257 1721121373221 +SLAM 15.1697 8.14504 -17.3305 -0.58316 0.152957 0.676527 0.422895 +TTool-pose None -28.1891 13.0292 12.8087 0.697641 0.571431 -0.263837 0.342178 +#25258 1721121373260 +SLAM 15.2034 8.27649 -17.2784 -0.586044 0.148006 0.677929 0.4184 +TTool-pose None -28.1793 12.975 12.9336 0.700257 0.573248 -0.259893 0.336765 +#25259 1721121373295 +SLAM 15.1953 8.43385 -17.225 -0.588042 0.143257 0.679643 0.414451 +TTool-pose None -28.1565 12.9265 13.0366 0.702378 0.57509 -0.256934 0.331435 +#25260 1721121373327 +SLAM 15.3754 8.75279 -17.0105 -0.59187 0.13418 0.679899 0.411609 +TTool-pose None -28.1691 12.8541 13.1827 0.703031 0.580493 -0.250836 0.325239 +#25261 1721121373360 +SLAM 15.0882 8.711 -17.1584 -0.592311 0.133707 0.683775 0.40465 +TTool-pose None -28.0915 12.7788 13.2514 0.70784 0.577962 -0.250672 0.319384 +#25262 1721121373394 +SLAM 14.7944 8.58823 -17.3346 -0.59025 0.137031 0.686418 0.402067 +TTool-pose None -28.0343 12.7572 13.2141 0.710054 0.574461 -0.253908 0.318229 +#25263 1721121373429 +SLAM 14.63 8.56725 -17.3833 -0.586891 0.139759 0.687834 0.403622 +TTool-pose None -27.9684 12.8043 13.152 0.70912 0.573054 -0.258276 0.319332 +#25264 1721121373470 +SLAM 14.8191 8.75004 -17.2288 -0.58768 0.136193 0.686123 0.406595 +TTool-pose None -28.0204 12.803 13.1573 0.706452 0.576851 -0.256463 0.319869 +#25265 1721121373505 +SLAM 14.9571 8.65493 -17.2141 -0.589445 0.137004 0.684131 0.407124 +TTool-pose None -28.0659 12.8049 13.1538 0.706452 0.576559 -0.25454 0.321928 +#25266 1721121373537 +SLAM 15.2883 8.60672 -17.0928 -0.591445 0.137314 0.680426 0.410314 +TTool-pose None -28.1282 12.8833 13.1557 0.704513 0.577725 -0.252059 0.326016 +#25267 1721121373571 +SLAM 15.2319 8.30946 -17.2776 -0.590305 0.14381 0.679316 0.411568 +TTool-pose None -28.1722 12.9061 13.0837 0.704765 0.573585 -0.254599 0.330775 +#25268 1721121373606 +SLAM 15.056 8.439 -17.2398 -0.583701 0.146437 0.681159 0.41698 +TTool-pose None -28.0563 13.0376 12.9692 0.700696 0.573708 -0.262428 0.333082 +#25269 1721121373644 +SLAM 14.4316 8.24556 -17.579 -0.575306 0.155629 0.685442 0.418297 +TTool-pose None -27.9653 13.0349 12.7812 0.700428 0.56734 -0.273788 0.335402 +#25270 1721121373678 +SLAM 14.3289 8.1743 -17.6227 -0.571229 0.160379 0.684884 0.422978 +TTool-pose None -27.9472 13.0956 12.6424 0.697436 0.565665 -0.278997 0.340145 +#25271 1721121373712 +SLAM 14.1853 7.97536 -17.7524 -0.568467 0.166339 0.684562 0.424913 +TTool-pose None -27.9367 13.1297 12.5332 0.696732 0.562028 -0.283076 0.344224 +#25272 1721121373744 +SLAM 14.3801 8.14052 -17.6159 -0.569975 0.162345 0.683413 0.426285 +TTool-pose None -27.9763 13.1302 12.5764 0.695264 0.565537 -0.28053 0.343529 +#25273 1721121373776 +SLAM 14.7495 8.27194 -17.4457 -0.577767 0.153997 0.68181 0.421432 +TTool-pose None -28.0556 13.0524 12.782 0.698227 0.569893 -0.270409 0.338396 +#25274 1721121373808 +SLAM 15.2572 8.42151 -17.1926 -0.584532 0.146709 0.678181 0.420558 +TTool-pose None -28.1567 13.0462 12.9352 0.698309 0.575003 -0.261241 0.336777 +#25275 1721121373842 +SLAM 15.5805 8.62263 -17.0152 -0.592499 0.136951 0.677154 0.414308 +TTool-pose None -28.2409 12.9346 13.1611 0.701748 0.579656 -0.25047 0.329757 +#25276 1721121373878 +SLAM 15.5525 8.64579 -17.0286 -0.595179 0.134112 0.678581 0.409028 +TTool-pose None -28.2201 12.8764 13.2645 0.705184 0.579578 -0.247115 0.325057 +#25277 1721121373919 +SLAM 15.6085 8.73937 -16.9752 -0.597144 0.13086 0.67871 0.406998 +TTool-pose None -28.2358 12.8358 13.3256 0.706157 0.581097 -0.244267 0.322373 +#25278 1721121373953 +SLAM 15.409 8.72967 -17.0739 -0.595984 0.13139 0.680884 0.404892 +TTool-pose None -28.2004 12.7962 13.3247 0.707609 0.579816 -0.245876 0.320263 +#25279 1721121373987 +SLAM 15.225 8.71588 -17.1452 -0.593998 0.132831 0.682769 0.404163 +TTool-pose None -28.1452 12.7989 13.2954 0.70819 0.578433 -0.248548 0.319416 +#25280 1721121374024 +SLAM 15.4417 8.827 -17.0184 -0.597616 0.128288 0.681109 0.403098 +TTool-pose None -28.2072 12.7528 13.3709 0.708398 0.581307 -0.24342 0.317681 +#25281 1721121374058 +SLAM 15.3472 8.72906 -17.1027 -0.596869 0.130565 0.681969 0.402018 +TTool-pose None -28.1786 12.7702 13.3596 0.709531 0.579229 -0.244838 0.317858 +#25282 1721121374094 +SLAM 15.6107 8.90631 -16.9241 -0.600177 0.125056 0.68006 0.402078 +TTool-pose None -28.242 12.7397 13.4428 0.708705 0.583232 -0.23978 0.316231 +#25283 1721121374128 +SLAM 15.8913 9.00863 -16.7627 -0.602785 0.121753 0.677504 0.403503 +TTool-pose None -28.3067 12.7512 13.4897 0.707286 0.586215 -0.235902 0.316808 +#25284 1721121374163 +SLAM 15.9247 8.93175 -16.7999 -0.60197 0.124041 0.676861 0.405098 +TTool-pose None -28.3234 12.7997 13.4665 0.706574 0.585247 -0.237256 0.319169 +#25285 1721121374200 +SLAM 16.1498 8.98385 -16.6749 -0.603787 0.122035 0.674652 0.406686 +TTool-pose None -28.3716 12.8141 13.4971 0.70522 0.587357 -0.234568 0.320271 +#25286 1721121374236 +SLAM 16.1347 8.88469 -16.751 -0.604425 0.1234 0.674515 0.405552 +TTool-pose None -28.396 12.7979 13.5013 0.70636 0.585944 -0.23418 0.320633 +#25287 1721121374273 +SLAM 16.261 8.89506 -16.6644 -0.606299 0.122105 0.673474 0.404877 +TTool-pose None -28.3929 12.813 13.531 0.706736 0.586618 -0.231718 0.320361 +#25288 1721121374306 +SLAM 16.1318 8.94077 -16.7127 -0.603851 0.122875 0.674545 0.406516 +TTool-pose None -28.3859 12.8062 13.4833 0.705521 0.586698 -0.234684 0.320731 +#25289 1721121374345 +SLAM 15.9388 8.98416 -16.8008 -0.603389 0.122079 0.677388 0.402696 +TTool-pose None -28.3375 12.7782 13.5216 0.707976 0.585665 -0.235308 0.316726 +#25290 1721121374380 +SLAM 15.6649 9.03764 -16.8937 -0.601627 0.122062 0.680609 0.399896 +TTool-pose None -28.2682 12.7487 13.5062 0.709737 0.584466 -0.237554 0.313302 +#25291 1721121374415 +SLAM 15.4178 8.95134 -17.0443 -0.599185 0.125214 0.682607 0.399182 +TTool-pose None -28.2327 12.737 13.445 0.710636 0.581884 -0.241149 0.313324 +#25292 1721121374452 +SLAM 15.437 8.98389 -17.0219 -0.600073 0.123971 0.682723 0.398036 +TTool-pose None -28.2313 12.7256 13.4702 0.711259 0.582304 -0.239901 0.312084 +#25293 1721121374485 +SLAM 15.5506 9.07161 -16.9421 -0.601717 0.121172 0.68157 0.398392 +TTool-pose None -28.2807 12.6806 13.4949 0.710596 0.584464 -0.23734 0.311513 +#25294 1721121374522 +SLAM 15.4658 8.99166 -17.01 -0.601621 0.122696 0.682672 0.396178 +TTool-pose None -28.239 12.7007 13.5033 0.71243 0.582464 -0.237903 0.310638 +#25295 1721121374560 +SLAM 15.5626 9.11135 -16.9043 -0.600942 0.12117 0.681909 0.398982 +TTool-pose None -28.2451 12.7335 13.4983 0.71011 0.584691 -0.238221 0.311525 +#25296 1721121374595 +SLAM 15.5783 9.11874 -16.8942 -0.601279 0.120761 0.681746 0.398876 +TTool-pose None -28.2513 12.7243 13.504 0.710131 0.584942 -0.23774 0.311371 +#25297 1721121374634 +SLAM 15.4615 9.02216 -16.9961 -0.600081 0.123308 0.682496 0.398618 +TTool-pose None -28.241 12.7234 13.4697 0.710721 0.583013 -0.239717 0.312127 +#25298 1721121374670 +SLAM 15.4017 9.0423 -17.016 -0.60054 0.122306 0.683543 0.396437 +TTool-pose None -28.2213 12.6974 13.5022 0.712058 0.582815 -0.239079 0.309929 +#25299 1721121374709 +SLAM 15.3831 9.09143 -17.0128 -0.600171 0.121714 0.683739 0.396839 +TTool-pose None -28.2324 12.688 13.4943 0.711618 0.58339 -0.239363 0.30964 +#25300 1721121374743 +SLAM 15.2466 9.02938 -17.0961 -0.599013 0.123605 0.685018 0.395797 +TTool-pose None -28.1981 12.6946 13.4701 0.712607 0.581589 -0.241187 0.309335 +#25301 1721121374782 +SLAM 15.3735 9.2283 -16.9451 -0.598926 0.120221 0.684382 0.398065 +TTool-pose None -28.205 12.7206 13.4907 0.710327 0.584914 -0.240436 0.308895 +#25302 1721121374817 +SLAM 15.1031 9.04771 -17.1422 -0.59625 0.125224 0.686093 0.397593 +TTool-pose None -28.1736 12.7063 13.4061 0.711413 0.581121 -0.244681 0.31022 +#25303 1721121374852 +SLAM 15.0883 9.07115 -17.118 -0.594455 0.126294 0.68606 0.399993 +TTool-pose None -28.1515 12.7509 13.3619 0.709787 0.581317 -0.246882 0.311833 +#25304 1721121374887 +SLAM 15.052 8.97918 -17.1737 -0.595025 0.127449 0.686159 0.398608 +TTool-pose None -28.1502 12.7321 13.3625 0.711042 0.579943 -0.246535 0.311807 +#25305 1721121374922 +SLAM 15.1531 8.9762 -17.1411 -0.598109 0.124961 0.68543 0.396024 +TTool-pose None -28.1824 12.6709 13.4336 0.712638 0.580705 -0.242528 0.309879 +#25306 1721121374961 +SLAM 15.3469 8.99479 -17.0272 -0.59846 0.124736 0.683108 0.399563 +TTool-pose None -28.2104 12.7102 13.4166 0.710197 0.582358 -0.241878 0.312875 +#25307 1721121374996 +SLAM 15.3106 8.93111 -17.0807 -0.598641 0.125532 0.683174 0.398929 +TTool-pose None -28.2228 12.6809 13.4161 0.710819 0.581539 -0.241871 0.312993 +#25308 1721121375032 +SLAM 15.3149 8.9446 -17.0783 -0.598792 0.125184 0.683087 0.398961 +TTool-pose None -28.2335 12.6703 13.4159 0.71074 0.581801 -0.241618 0.312879 +#25309 1721121375066 +SLAM 15.2744 8.90611 -17.1128 -0.598845 0.125931 0.683427 0.398063 +TTool-pose None -28.225 12.6713 13.4091 0.711519 0.580901 -0.241763 0.312668 +#25310 1721121375098 +SLAM 15.2451 8.91384 -17.1227 -0.599055 0.125715 0.683789 0.397193 +TTool-pose None -28.2201 12.6645 13.4085 0.712095 0.580695 -0.241517 0.31193 +#25311 1721121375133 +SLAM 15.2836 8.97843 -17.0754 -0.599467 0.124298 0.683592 0.397356 +TTool-pose None -28.226 12.6591 13.4185 0.711731 0.581771 -0.240721 0.311368 +#25312 1721121375171 +SLAM 15.1132 8.8116 -17.2112 -0.596125 0.129818 0.684329 0.399343 +TTool-pose None -28.1915 12.7066 13.326 0.711144 0.578616 -0.245707 0.31468 +#25313 1721121375207 +SLAM 15.2916 8.95354 -17.0782 -0.599258 0.124741 0.683323 0.397995 +TTool-pose None -28.2285 12.6548 13.4143 0.711362 0.581722 -0.241027 0.312066 +#25314 1721121375243 +SLAM 15.2115 8.87046 -17.1383 -0.597774 0.127345 0.683562 0.398989 +TTool-pose None -28.2123 12.6709 13.3654 0.71106 0.580262 -0.243272 0.313731 +#25315 1721121375277 +SLAM 15.2268 8.82402 -17.1441 -0.597546 0.128505 0.683052 0.399832 +TTool-pose None -28.2148 12.6853 13.3427 0.710693 0.57979 -0.243737 0.31507 +#25316 1721121375311 +SLAM 15.2334 8.87716 -17.1365 -0.598234 0.126967 0.683405 0.39869 +TTool-pose None -28.2255 12.6669 13.3748 0.711237 0.580417 -0.242668 0.31351 +#25317 1721121375345 +SLAM 15.1217 8.95748 -17.1674 -0.596707 0.126358 0.684941 0.398535 +TTool-pose None -28.2097 12.6604 13.3762 0.711053 0.580733 -0.244338 0.312039 +#25318 1721121375379 +SLAM 15.1244 9.04218 -17.1275 -0.595837 0.125617 0.685131 0.399742 +TTool-pose None -28.2032 12.6826 13.3646 0.709973 0.581733 -0.245134 0.312012 +#25319 1721121375413 +SLAM 14.8994 8.95412 -17.2749 -0.595763 0.126855 0.687847 0.394767 +TTool-pose None -28.1505 12.6547 13.3905 0.713632 0.578768 -0.245742 0.308679 +#25320 1721121375449 +SLAM 15.1631 9.16883 -17.0327 -0.592445 0.126661 0.684502 0.40549 +TTool-pose None -28.1884 12.7916 13.2699 0.705838 0.583287 -0.248991 0.315422 +#25321 1721121375483 +SLAM 15.1026 9.07567 -17.1285 -0.597453 0.123939 0.685901 0.396521 +TTool-pose None -28.1938 12.6609 13.4026 0.712012 0.581612 -0.243052 0.309205 +#25322 1721121375517 +SLAM 15.214 9.20039 -17.0194 -0.5985 0.120885 0.685763 0.396124 +TTool-pose None -28.1809 12.6817 13.4649 0.711754 0.58362 -0.241183 0.307471 +#25323 1721121375550 +SLAM 15.1031 9.0195 -17.1654 -0.598465 0.124083 0.686233 0.394369 +TTool-pose None -28.1878 12.6579 13.4435 0.713625 0.580635 -0.242005 0.308139 +#25324 1721121375584 +SLAM 15.5144 9.30462 -16.8241 -0.598031 0.120348 0.682057 0.403328 +TTool-pose None -28.2464 12.7648 13.4025 0.706626 0.586997 -0.241216 0.312802 +#25325 1721121375617 +SLAM 15.5106 9.31597 -16.8374 -0.600156 0.118315 0.68265 0.399754 +TTool-pose None -28.2512 12.7138 13.4694 0.708888 0.586992 -0.238479 0.309776 +#25326 1721121375651 +SLAM 15.326 9.05947 -17.0434 -0.599017 0.123737 0.683271 0.398758 +TTool-pose None -28.251 12.6922 13.4004 0.710602 0.58274 -0.241053 0.311879 +#25327 1721121375685 +SLAM 15.3239 9.10464 -17.0146 -0.596962 0.124508 0.68338 0.401406 +TTool-pose None -28.2294 12.7477 13.3723 0.708717 0.583244 -0.243484 0.313336 +#25328 1721121375721 +SLAM 15.2906 9.04238 -17.0639 -0.598135 0.124554 0.683743 0.399018 +TTool-pose None -28.2305 12.7115 13.399 0.7105 0.582248 -0.242251 0.312102 +#25329 1721121375756 +SLAM 15.2635 9.01013 -17.0937 -0.597709 0.125448 0.683741 0.39938 +TTool-pose None -28.2361 12.7085 13.3815 0.710391 0.581758 -0.242923 0.312742 +#25330 1721121375790 +SLAM 15.2779 9.06717 -17.0686 -0.598339 0.123837 0.683974 0.39854 +TTool-pose None -28.2391 12.6917 13.4104 0.710701 0.582558 -0.241884 0.31135 +#25331 1721121375824 +SLAM 15.257 9.13992 -17.0539 -0.599137 0.121654 0.68478 0.396626 +TTool-pose None -28.2328 12.6599 13.4543 0.711642 0.583312 -0.240577 0.30879 +#25332 1721121375863 +SLAM 15.3136 9.09969 -17.0332 -0.597935 0.123932 0.683153 0.40052 +TTool-pose None -28.261 12.7 13.3671 0.709313 0.583308 -0.242268 0.31281 +#25333 1721121375896 +SLAM 15.2197 9.04356 -17.083 -0.599725 0.123238 0.685326 0.394298 +TTool-pose None -28.1787 12.6972 13.4563 0.713633 0.581238 -0.240347 0.308284 +#25334 1721121375933 +SLAM 15.1238 8.99748 -17.1638 -0.59835 0.124949 0.685679 0.395234 +TTool-pose None -28.1985 12.6754 13.4137 0.713202 0.580388 -0.242283 0.309364 +#25335 1721121375966 +SLAM 15.1151 9.06011 -17.1342 -0.599225 0.123173 0.686641 0.392787 +TTool-pose None -28.1631 12.6849 13.4605 0.714596 0.58063 -0.240994 0.306687 +#25336 1721121376000 +SLAM 15.3354 9.28372 -16.9207 -0.598049 0.120301 0.684377 0.399367 +TTool-pose None -28.203 12.7284 13.432 0.709355 0.585377 -0.241413 0.309491 +#25337 1721121376034 +SLAM 15.2233 9.15197 -17.0348 -0.598584 0.122009 0.685073 0.396844 +TTool-pose None -28.2009 12.6794 13.428 0.711508 0.583137 -0.241291 0.308871 +#25338 1721121376068 +SLAM 15.2953 9.06453 -17.019 -0.598623 0.123871 0.683923 0.39819 +TTool-pose None -28.1955 12.7209 13.4036 0.710979 0.582396 -0.241576 0.311256 +#25339 1721121376102 +SLAM 15.2712 9.01702 -17.0626 -0.599674 0.123776 0.684196 0.396165 +TTool-pose None -28.2033 12.6871 13.4284 0.712462 0.581644 -0.240429 0.310158 +#25340 1721121376138 +SLAM 15.2794 9.00979 -17.0612 -0.60006 0.123488 0.684136 0.395774 +TTool-pose None -28.2052 12.6743 13.4401 0.71271 0.581693 -0.239933 0.309877 +#25341 1721121376176 +SLAM 15.3706 9.13886 -16.9696 -0.601279 0.12004 0.683765 0.395626 +TTool-pose None -28.2248 12.6445 13.49 0.712212 0.584085 -0.237758 0.308194 +#25342 1721121376213 +SLAM 15.2702 9.09486 -17.0099 -0.598628 0.12288 0.684397 0.397675 +TTool-pose None -28.1833 12.6951 13.4247 0.711126 0.582876 -0.241384 0.310169 +#25343 1721121376248 +SLAM 15.3566 9.13429 -16.96 -0.600921 0.120554 0.683865 0.395841 +TTool-pose None -28.204 12.6652 13.472 0.712136 0.583805 -0.238281 0.308497 +#25344 1721121376284 +SLAM 15.3426 9.15021 -16.9555 -0.59987 0.121056 0.683925 0.397176 +TTool-pose None -28.1982 12.6833 13.4516 0.711215 0.583984 -0.239557 0.309294 +#25345 1721121376318 +SLAM 15.3779 9.19087 -16.9241 -0.601073 0.119284 0.683869 0.395986 +TTool-pose None -28.2054 12.6559 13.4873 0.711782 0.584761 -0.237816 0.307862 +#25346 1721121376353 +SLAM 15.4137 9.21609 -16.8984 -0.602033 0.118128 0.683609 0.395324 +TTool-pose None -28.2165 12.6376 13.5053 0.712088 0.585319 -0.236466 0.30713 +#25347 1721121376388 +SLAM 15.5123 9.32798 -16.7893 -0.601049 0.116992 0.682585 0.398913 +TTool-pose None -28.227 12.671 13.4831 0.709276 0.587591 -0.237182 0.308743 +#25348 1721121376423 +SLAM 15.3925 9.21285 -16.8856 -0.599882 0.119845 0.683442 0.398355 +TTool-pose None -28.196 12.6813 13.45 0.710149 0.585327 -0.239215 0.30947 +#25349 1721121376460 +SLAM 15.3929 9.21283 -16.8955 -0.600977 0.118887 0.683631 0.396662 +TTool-pose None -28.204 12.6508 13.481 0.711224 0.585319 -0.237806 0.308098 +#25350 1721121376497 +SLAM 15.4124 9.14625 -16.9235 -0.600913 0.120419 0.683113 0.397191 +TTool-pose None -28.2166 12.6713 13.4622 0.71118 0.584467 -0.23819 0.30952 +#25351 1721121376533 +SLAM 15.4987 9.28338 -16.8109 -0.600594 0.118114 0.682843 0.398825 +TTool-pose None -28.2055 12.6991 13.4857 0.709531 0.586757 -0.23797 0.309139 +#25352 1721121376570 +SLAM 15.4226 9.2341 -16.8715 -0.600879 0.11845 0.683515 0.397142 +TTool-pose None -28.2013 12.6586 13.4949 0.71079 0.585824 -0.237801 0.308142 +#25353 1721121376610 +SLAM 15.4441 9.20065 -16.8854 -0.6017 0.11856 0.683217 0.396379 +TTool-pose None -28.2157 12.6497 13.503 0.711423 0.58545 -0.236899 0.308088 +#25354 1721121376649 +SLAM 15.4803 9.14488 -16.9086 -0.602203 0.119532 0.682534 0.396498 +TTool-pose None -28.2421 12.657 13.4916 0.711601 0.584833 -0.236512 0.309144 +#25355 1721121376683 +SLAM 15.5912 9.17584 -16.8737 -0.603942 0.117794 0.681522 0.396115 +TTool-pose None -28.2935 12.6317 13.5291 0.711669 0.585937 -0.234099 0.308734 +#25356 1721121376719 +SLAM 15.6152 9.1917 -16.852 -0.602885 0.118598 0.681171 0.398084 +TTool-pose None -28.2916 12.6756 13.4994 0.71038 0.58617 -0.235417 0.310254 +#25357 1721121376760 +SLAM 15.4243 9.07042 -17.002 -0.602347 0.120744 0.683183 0.394791 +TTool-pose None -28.2528 12.652 13.5079 0.713044 0.583271 -0.236697 0.308629 +#25358 1721121376796 +SLAM 15.3705 9.03962 -17.02 -0.600966 0.122417 0.683441 0.395933 +TTool-pose None -28.2271 12.6805 13.4661 0.712472 0.582538 -0.238628 0.309847 +#25359 1721121376831 +SLAM 15.512 9.15265 -16.9093 -0.601236 0.120604 0.682125 0.398342 +TTool-pose None -28.2582 12.7077 13.4639 0.710461 0.584828 -0.237787 0.310796 +#25360 1721121376867 +SLAM 15.4472 9.07511 -16.9712 -0.601193 0.121895 0.682529 0.397319 +TTool-pose None -28.2499 12.692 13.4557 0.711433 0.583493 -0.238173 0.310786 +#25361 1721121376909 +SLAM 15.5025 9.18013 -16.8934 -0.60056 0.120711 0.682337 0.398965 +TTool-pose None -28.2425 12.7317 13.4529 0.709985 0.584995 -0.238572 0.31097 +#25362 1721121376945 +SLAM 15.4471 9.13237 -16.955 -0.601523 0.120586 0.682752 0.396835 +TTool-pose None -28.258 12.6753 13.4698 0.711523 0.584218 -0.237526 0.309711 +#25363 1721121376981 +SLAM 15.3435 9.07831 -17.023 -0.600562 0.122181 0.683901 0.395823 +TTool-pose None -28.2229 12.6925 13.4613 0.712455 0.582646 -0.239057 0.309351 +#25364 1721121377016 +SLAM 15.3556 9.11257 -17.0002 -0.599737 0.122294 0.683691 0.397401 +TTool-pose None -28.2254 12.7112 13.4404 0.711308 0.583206 -0.23997 0.310228 +#25365 1721121377052 +SLAM 15.3497 9.12933 -17.0016 -0.60042 0.121337 0.683829 0.396422 +TTool-pose None -28.2348 12.6803 13.4576 0.711851 0.583486 -0.23901 0.309195 +#25366 1721121377087 +SLAM 15.3648 9.15957 -16.9723 -0.600099 0.121168 0.683905 0.396829 +TTool-pose None -28.2181 12.7087 13.4571 0.711502 0.583766 -0.239329 0.309222 +#25367 1721121377122 +SLAM 15.4481 9.16689 -16.9305 -0.600612 0.120839 0.682794 0.398065 +TTool-pose None -28.2449 12.7087 13.4492 0.710637 0.58453 -0.238588 0.31034 +#25368 1721121377157 +SLAM 15.4178 9.11147 -16.9684 -0.600186 0.1221 0.682942 0.398069 +TTool-pose None -28.2377 12.7159 13.4397 0.710856 0.583635 -0.239363 0.310927 +#25369 1721121377191 +SLAM 15.4316 9.07737 -16.9845 -0.602454 0.120835 0.683205 0.394561 +TTool-pose None -28.2378 12.6756 13.5005 0.713232 0.583113 -0.236602 0.308566 +#25370 1721121377228 +SLAM 15.5317 9.09081 -16.933 -0.603189 0.120107 0.681904 0.39591 +TTool-pose None -28.272 12.663 13.5004 0.712228 0.58421 -0.235507 0.309647 +#25371 1721121377264 +SLAM 15.6204 9.17355 -16.8628 -0.604144 0.117836 0.681267 0.396231 +TTool-pose None -28.2963 12.6448 13.5313 0.711619 0.585961 -0.233863 0.308983 +#25372 1721121377300 +SLAM 15.4148 9.0185 -17.0209 -0.601532 0.122388 0.682961 0.395909 +TTool-pose None -28.2457 12.6768 13.4795 0.712541 0.582565 -0.237956 0.310155 +#25373 1721121377335 +SLAM 15.5323 9.14821 -16.9247 -0.603314 0.118723 0.6823 0.395455 +TTool-pose None -28.2794 12.6466 13.5319 0.712258 0.584993 -0.235079 0.308422 +#25374 1721121377369 +SLAM 15.5347 9.2074 -16.8921 -0.602778 0.117857 0.68241 0.39634 +TTool-pose None -28.2751 12.6437 13.534 0.71141 0.585956 -0.235475 0.308248 +#25375 1721121377404 +SLAM 15.3564 9.05506 -17.0249 -0.59912 0.123533 0.683378 0.398485 +TTool-pose None -28.2299 12.7117 13.4319 0.710758 0.582772 -0.240904 0.311578 +#25376 1721121377441 +SLAM 15.3732 9.12118 -16.9964 -0.598515 0.122834 0.683103 0.400078 +TTool-pose None -28.2505 12.7084 13.4159 0.70945 0.583911 -0.241376 0.312062 +#25377 1721121377476 +SLAM 15.1606 9.11986 -17.0953 -0.596368 0.12401 0.685494 0.398829 +TTool-pose None -28.202 12.7029 13.4017 0.710324 0.582497 -0.244217 0.310501 +#25378 1721121377511 +SLAM 14.8916 9.05265 -17.252 -0.595691 0.125052 0.688908 0.393598 +TTool-pose None -28.1306 12.675 13.4375 0.714045 0.57954 -0.245496 0.306461 +#25379 1721121377545 +SLAM 14.6605 9.05991 -17.3546 -0.593782 0.125894 0.691441 0.391769 +TTool-pose None -28.0874 12.6564 13.4218 0.715244 0.578107 -0.247986 0.304358 +#25380 1721121377580 +SLAM 14.7816 9.19916 -17.2274 -0.594105 0.123329 0.690705 0.39339 +TTool-pose None -28.0878 12.6797 13.4392 0.713643 0.580607 -0.246984 0.304172 +#25381 1721121377614 +SLAM 14.7266 9.15238 -17.2872 -0.594115 0.124005 0.690964 0.392706 +TTool-pose None -28.1041 12.6485 13.4329 0.714251 0.579844 -0.247149 0.304067 +#25382 1721121377648 +SLAM 14.7733 9.22665 -17.2219 -0.594174 0.122718 0.690942 0.39306 +TTool-pose None -28.0869 12.6728 13.4477 0.713746 0.580899 -0.246786 0.303533 +#25383 1721121377682 +SLAM 14.8107 9.27077 -17.1781 -0.594312 0.121894 0.690788 0.393379 +TTool-pose None -28.0801 12.6854 13.4557 0.713371 0.581616 -0.246431 0.303328 +#25384 1721121377715 +SLAM 14.6331 9.06625 -17.3752 -0.593823 0.125742 0.691725 0.391253 +TTool-pose None -28.0955 12.6441 13.4226 0.715566 0.577996 -0.247928 0.303857 +#25385 1721121377745 +SLAM 14.7852 9.13717 -17.2534 -0.594468 0.124411 0.690411 0.393018 +TTool-pose None -28.0925 12.6864 13.4272 0.714165 0.579703 -0.246812 0.30481 +#25386 1721121377788 +SLAM 14.7616 9.04198 -17.32 -0.595347 0.125415 0.690304 0.391553 +TTool-pose None -28.1125 12.6558 13.4312 0.715472 0.578407 -0.24607 0.304808 +#25387 1721121377822 +SLAM 15.006 9.17708 -17.1518 -0.597985 0.121322 0.68835 0.392262 +TTool-pose None -28.1523 12.6511 13.4871 0.714426 0.581667 -0.242069 0.304258 +#25388 1721121377858 +SLAM 15.1141 9.1615 -17.1273 -0.59984 0.12035 0.686804 0.392437 +TTool-pose None -28.2136 12.606 13.4961 0.714303 0.582481 -0.239675 0.304886 +#25389 1721121377894 +SLAM 15.06 9.20899 -17.1086 -0.599281 0.119655 0.68833 0.390829 +TTool-pose None -28.1424 12.6446 13.5349 0.715188 0.582269 -0.240252 0.302753 +#25390 1721121377929 +SLAM 14.9268 8.98679 -17.2715 -0.597536 0.125141 0.688422 0.391619 +TTool-pose None -28.1479 12.658 13.4516 0.715617 0.5787 -0.24345 0.306011 +#25391 1721121377962 +SLAM 15.4869 9.40437 -16.8175 -0.600489 0.1164 0.683485 0.398387 +TTool-pose None -28.2422 12.7025 13.5002 0.709453 0.587769 -0.237739 0.307569 +#25392 1721121377995 +SLAM 15.0659 9.08254 -17.1602 -0.599441 0.122142 0.687571 0.39115 +TTool-pose None -28.1566 12.6549 13.4992 0.715516 0.580667 -0.240593 0.304778 +#25393 1721121378034 +SLAM 15.1738 9.15055 -17.0921 -0.599834 0.12088 0.686318 0.393136 +TTool-pose None -28.1986 12.6533 13.4932 0.713939 0.582405 -0.239765 0.305813 +#25394 1721121378068 +SLAM 15.466 9.41019 -16.8139 -0.600406 0.116322 0.683919 0.39779 +TTool-pose None -28.2191 12.7122 13.5071 0.709837 0.587571 -0.237852 0.30697 +#25395 1721121378104 +SLAM 15.1144 9.16585 -17.1137 -0.600254 0.120008 0.687337 0.390975 +TTool-pose None -28.1788 12.6311 13.5236 0.71527 0.582114 -0.239182 0.303703 +#25396 1721121378144 +SLAM 15.2604 9.21836 -17.0198 -0.6016 0.118541 0.685806 0.392041 +TTool-pose None -28.2084 12.6412 13.5273 0.714375 0.583633 -0.237229 0.304426 +#25397 1721121378178 +SLAM 15.285 9.33276 -16.9464 -0.60208 0.116025 0.686356 0.391091 +TTool-pose None -28.1812 12.6481 13.5686 0.71453 0.585004 -0.236151 0.302259 +#25398 1721121378210 +SLAM 14.9232 9.13666 -17.2385 -0.599857 0.12052 0.689543 0.387527 +TTool-pose None -28.1607 12.5966 13.5348 0.717671 0.580279 -0.239909 0.300963 +#25399 1721121378243 +SLAM 15.2382 9.34051 -16.9647 -0.601451 0.116452 0.686793 0.391165 +TTool-pose None -28.1737 12.6557 13.5506 0.714505 0.584718 -0.236982 0.30222 +#25400 1721121378278 +SLAM 15.3045 9.36959 -16.9153 -0.602119 0.115607 0.686222 0.391391 +TTool-pose None -28.1784 12.6637 13.5598 0.714239 0.585424 -0.235998 0.302251 +#25401 1721121378313 +SLAM 15.0471 9.1841 -17.1354 -0.601424 0.118893 0.688566 0.387338 +TTool-pose None -28.1513 12.617 13.554 0.717622 0.581386 -0.237722 0.300678 +#25402 1721121378348 +SLAM 15.0831 9.22294 -17.1066 -0.601423 0.118302 0.688192 0.388184 +TTool-pose None -28.1653 12.6192 13.5511 0.716923 0.58216 -0.237557 0.300979 +#25403 1721121378381 +SLAM 15.2822 9.38191 -16.9361 -0.602877 0.114676 0.686661 0.389724 +TTool-pose None -28.1872 12.6339 13.5864 0.715249 0.58539 -0.234974 0.300722 +#25404 1721121378414 +SLAM 15.3121 9.40026 -16.9101 -0.603074 0.114298 0.68643 0.389938 +TTool-pose None -28.1866 12.6422 13.5894 0.715043 0.58575 -0.234649 0.300767 +#25405 1721121378449 +SLAM 15.1877 9.28445 -17.0329 -0.603889 0.115429 0.687684 0.386115 +TTool-pose None -28.1751 12.5971 13.6117 0.717963 0.583359 -0.234106 0.298871 +#25406 1721121378483 +SLAM 15.2004 9.2642 -17.0364 -0.603476 0.11631 0.687292 0.387192 +TTool-pose None -28.1832 12.613 13.5883 0.717383 0.583191 -0.234744 0.300091 +#25407 1721121378516 +SLAM 15.3856 9.42444 -16.868 -0.604562 0.112919 0.68579 0.389161 +TTool-pose None -28.2043 12.6282 13.6128 0.715423 0.586425 -0.23262 0.300121 +#25408 1721121378550 +SLAM 15.1931 9.24419 -17.0448 -0.603441 0.116831 0.687243 0.387177 +TTool-pose None -28.1808 12.6195 13.5765 0.717502 0.58282 -0.234902 0.300405 +#25409 1721121378583 +SLAM 15.1385 9.26105 -17.0794 -0.603535 0.116218 0.688006 0.385857 +TTool-pose None -28.184 12.5933 13.5948 0.71827 0.582688 -0.234709 0.298969 +#25410 1721121378618 +SLAM 15.2768 9.41264 -16.9311 -0.604301 0.113084 0.687207 0.387011 +TTool-pose None -28.1797 12.6152 13.6273 0.716888 0.585389 -0.233058 0.298301 +#25411 1721121378652 +SLAM 15.1936 9.28649 -17.0347 -0.603759 0.115749 0.687431 0.386673 +TTool-pose None -28.188 12.6037 13.5923 0.717641 0.583371 -0.234308 0.299463 +#25412 1721121378686 +SLAM 15.3055 9.38914 -16.9455 -0.604973 0.113053 0.686597 0.387055 +TTool-pose None -28.2158 12.5886 13.6256 0.716922 0.585448 -0.232257 0.298728 +#25413 1721121378724 +SLAM 15.1903 9.24289 -17.0474 -0.602884 0.117317 0.687099 0.388153 +TTool-pose None -28.1859 12.6265 13.5592 0.716888 0.582879 -0.235624 0.30119 +#25414 1721121378757 +SLAM 15.3649 9.38851 -16.886 -0.604209 0.11383 0.686059 0.38897 +TTool-pose None -28.1841 12.6479 13.6104 0.715716 0.585698 -0.23325 0.300353 +#25415 1721121378790 +SLAM 15.2451 9.11519 -17.0939 -0.602622 0.119811 0.68593 0.389862 +TTool-pose None -28.2177 12.6395 13.5433 0.716236 0.581851 -0.236406 0.304103 +#25416 1721121378823 +SLAM 15.5525 9.24502 -16.8766 -0.603231 0.117206 0.683406 0.394122 +TTool-pose None -28.2316 12.7119 13.5882 0.712837 0.585492 -0.234912 0.306255 +#25417 1721121378856 +SLAM 15.7388 9.21867 -16.8262 -0.603171 0.117718 0.681001 0.398203 +TTool-pose None -28.3005 12.7289 13.5853 0.710138 0.586845 -0.234879 0.309941 +#25418 1721121378890 +SLAM 15.6945 9.05755 -16.9123 -0.600636 0.122518 0.680524 0.40139 +TTool-pose None -28.2944 12.7828 13.5132 0.708699 0.584742 -0.238735 0.314239 +#25419 1721121378923 +SLAM 15.5372 8.99121 -17.0021 -0.598307 0.125192 0.682296 0.401034 +TTool-pose None -28.2296 12.826 13.4931 0.70926 0.582648 -0.242072 0.314309 +#25420 1721121378958 +SLAM 15.645 9.07127 -16.9236 -0.59933 0.122977 0.681134 0.402166 +TTool-pose None -28.2727 12.7956 13.5062 0.708122 0.584706 -0.240327 0.314391 +#25421 1721121378993 +SLAM 15.566 9.01796 -16.9918 -0.599101 0.12411 0.681947 0.400778 +TTool-pose None -28.2596 12.7949 13.5039 0.709296 0.583324 -0.240921 0.313857 +#25422 1721121379031 +SLAM 15.4914 9.03846 -17.0169 -0.599051 0.123663 0.683254 0.39876 +TTool-pose None -28.2258 12.7964 13.5278 0.710589 0.582794 -0.240998 0.311851 +#25423 1721121379066 +SLAM 15.5506 9.09343 -16.9667 -0.599263 0.122454 0.682454 0.400183 +TTool-pose None -28.2553 12.7746 13.5232 0.709377 0.584244 -0.240408 0.312352 +#25424 1721121379107 +SLAM 15.4654 8.9561 -17.057 -0.597068 0.126777 0.682512 0.402013 +TTool-pose None -28.2375 12.8234 13.4499 0.70878 0.581904 -0.243809 0.315428 +#25425 1721121379142 +SLAM 15.4386 8.91698 -17.0865 -0.597633 0.126814 0.682922 0.400463 +TTool-pose None -28.2276 12.8048 13.4741 0.709919 0.581248 -0.243242 0.314511 +#25426 1721121379177 +SLAM 15.4002 8.90102 -17.1103 -0.596977 0.127554 0.683232 0.400678 +TTool-pose None -28.2191 12.8118 13.4617 0.709853 0.580797 -0.244156 0.314785 +#25427 1721121379211 +SLAM 15.5312 9.02723 -16.9937 -0.597927 0.12462 0.68227 0.401822 +TTool-pose None -28.2422 12.8065 13.4894 0.708557 0.583367 -0.242351 0.314347 +#25428 1721121379247 +SLAM 15.4215 8.92944 -17.0915 -0.597243 0.126797 0.683081 0.400778 +TTool-pose None -28.2284 12.8015 13.47 0.709656 0.581379 -0.243678 0.314523 +#25429 1721121379281 +SLAM 15.4749 8.9827 -17.0415 -0.598199 0.125146 0.682937 0.400117 +TTool-pose None -28.2281 12.7974 13.5001 0.709873 0.582294 -0.242241 0.31345 +#25430 1721121379315 +SLAM 15.501 9.02857 -17.0111 -0.59857 0.123974 0.68285 0.400076 +TTool-pose None -28.2344 12.7861 13.515 0.709696 0.583112 -0.241557 0.312857 +#25431 1721121379349 +SLAM 15.3964 8.92434 -17.0978 -0.596763 0.127298 0.68332 0.400927 +TTool-pose None -28.2144 12.8146 13.4581 0.709605 0.581075 -0.24434 0.314689 +#25432 1721121379385 +SLAM 15.4091 8.94865 -17.0818 -0.597654 0.126102 0.683456 0.399744 +TTool-pose None -28.2143 12.795 13.4846 0.71027 0.581449 -0.243106 0.313449 +#25433 1721121379419 +SLAM 15.454 8.87363 -17.0902 -0.596754 0.128466 0.682535 0.401904 +TTool-pose None -28.2183 12.8486 13.4468 0.709169 0.580659 -0.244541 0.316281 +#25434 1721121379454 +SLAM 15.5713 8.85898 -17.06 -0.597379 0.128388 0.681368 0.402979 +TTool-pose None -28.249 12.8687 13.4657 0.708476 0.581181 -0.243726 0.317504 +#25435 1721121379489 +SLAM 15.3006 8.56172 -17.3239 -0.594338 0.13579 0.683412 0.401586 +TTool-pose None -28.1928 12.9187 13.4118 0.710603 0.575276 -0.248909 0.319477 +#25436 1721121379524 +SLAM 15.6238 8.74068 -17.1237 -0.596433 0.13141 0.680844 0.40429 +TTool-pose None -28.2609 12.9457 13.4714 0.70808 0.579565 -0.245389 0.320051 +#25437 1721121379560 +SLAM 15.6706 8.74793 -17.1132 -0.597194 0.13075 0.680555 0.403867 +TTool-pose None -28.2772 12.9421 13.4952 0.708321 0.579878 -0.244384 0.319719 +#25438 1721121379600 +SLAM 15.8584 8.81619 -16.9831 -0.59727 0.129947 0.67844 0.407555 +TTool-pose None -28.3065 12.9917 13.4716 0.705596 0.581975 -0.243892 0.3223 +#25439 1721121379638 +SLAM 15.689 8.8054 -17.0848 -0.598039 0.128956 0.680918 0.40258 +TTool-pose None -28.2733 12.9273 13.5359 0.708938 0.580633 -0.243093 0.317958 +#25440 1721121379676 +SLAM 15.6934 8.95789 -17.0031 -0.597688 0.126281 0.681508 0.402949 +TTool-pose None -28.2529 12.9233 13.5551 0.708095 0.582662 -0.242919 0.316253 +#25441 1721121379712 +SLAM 15.6039 8.86714 -17.0526 -0.596656 0.128816 0.682076 0.402717 +TTool-pose None -28.2066 12.9541 13.513 0.708667 0.580748 -0.244681 0.317131 +#25442 1721121379747 +SLAM 15.7426 8.85313 -16.9851 -0.5981 0.128093 0.680681 0.403165 +TTool-pose None -28.2226 12.9624 13.5371 0.708362 0.581487 -0.242805 0.317902 +#25443 1721121379784 +SLAM 15.84 8.78598 -16.9402 -0.596954 0.130328 0.679289 0.406482 +TTool-pose None -28.2079 13.0387 13.5014 0.70639 0.581254 -0.244414 0.321467 +#25444 1721121379818 +SLAM 15.8649 8.75113 -16.9565 -0.595409 0.132226 0.678234 0.409883 +TTool-pose None -28.2443 13.0602 13.4447 0.704232 0.581271 -0.2464 0.32464 +#25445 1721121379853 +SLAM 15.8809 8.78026 -16.9366 -0.595252 0.13186 0.678223 0.410245 +TTool-pose None -28.2421 13.0717 13.4474 0.703888 0.581675 -0.246483 0.3246 +#25446 1721121379886 +SLAM 15.7879 8.6893 -17.0228 -0.597206 0.131662 0.679721 0.404955 +TTool-pose None -28.2095 13.0221 13.5169 0.70775 0.579686 -0.244491 0.321248 +#25447 1721121379920 +SLAM 15.7306 8.6715 -17.0581 -0.596622 0.132337 0.680319 0.404593 +TTool-pose None -28.1958 13.0249 13.5112 0.708076 0.579041 -0.245341 0.321043 +#25448 1721121379955 +SLAM 15.7364 8.78392 -17.014 -0.598046 0.128854 0.681125 0.40225 +TTool-pose None -28.192 12.9743 13.5802 0.709146 0.580568 -0.243083 0.31762 +#25449 1721121379994 +SLAM 15.7442 8.81892 -16.9997 -0.598921 0.127381 0.681689 0.400459 +TTool-pose None -28.1785 12.9642 13.6299 0.710175 0.580885 -0.241848 0.315677 +#25450 1721121380029 +SLAM 15.9261 8.81311 -16.9312 -0.600726 0.126536 0.679509 0.401726 +TTool-pose None -28.2404 12.962 13.6386 0.709311 0.582058 -0.239468 0.31727 +#25451 1721121380062 +SLAM 15.957 8.87009 -16.911 -0.601878 0.124699 0.679859 0.399981 +TTool-pose None -28.2452 12.9544 13.6881 0.710255 0.582655 -0.23782 0.315294 +#25452 1721121380095 +SLAM 16.0778 8.92649 -16.8312 -0.603903 0.122146 0.678948 0.399263 +TTool-pose None -28.2701 12.9271 13.7372 0.71042 0.584202 -0.234919 0.314232 +#25453 1721121380128 +SLAM 16.0958 8.849 -16.8681 -0.605016 0.122811 0.678405 0.398296 +TTool-pose None -28.2966 12.9031 13.7394 0.711336 0.58336 -0.2338 0.314561 +#25454 1721121380167 +SLAM 16.2856 8.93982 -16.7131 -0.604687 0.122101 0.676312 0.402551 +TTool-pose None -28.3129 12.978 13.7027 0.708206 0.585621 -0.233782 0.317421 +#25455 1721121380203 +SLAM 16.1322 8.92217 -16.8064 -0.604149 0.12249 0.678154 0.400133 +TTool-pose None -28.2858 12.9491 13.7153 0.709914 0.58433 -0.234651 0.315338 +#25456 1721121380239 +SLAM 16.1237 8.97184 -16.7979 -0.60461 0.121236 0.678692 0.398906 +TTool-pose None -28.2812 12.9409 13.7432 0.710544 0.584709 -0.233905 0.313762 +#25457 1721121380271 +SLAM 16.1303 8.95487 -16.7964 -0.603834 0.122284 0.678507 0.400073 +TTool-pose None -28.2733 12.9751 13.7211 0.709881 0.584441 -0.234983 0.314956 +#25458 1721121380304 +SLAM 15.9378 8.80899 -16.9791 -0.604545 0.123721 0.680629 0.394921 +TTool-pose None -28.2536 12.906 13.7665 0.713804 0.581295 -0.234739 0.312081 +#25459 1721121380338 +SLAM 16.1036 8.9525 -16.8322 -0.60324 0.122458 0.679223 0.399702 +TTool-pose None -28.2655 12.9855 13.7516 0.710116 0.584149 -0.235746 0.314398 +#25460 1721121380377 +SLAM 16.3 9.0813 -16.6698 -0.604464 0.119707 0.677567 0.401493 +TTool-pose None -28.2877 13.0184 13.7698 0.708415 0.586857 -0.233593 0.3148 +#25461 1721121380409 +SLAM 15.8613 8.92544 -16.9857 -0.603333 0.122245 0.682427 0.394131 +TTool-pose None -28.2228 12.9229 13.8047 0.713914 0.581967 -0.235894 0.309692 +#25462 1721121380448 +SLAM 15.8039 8.87429 -17.0339 -0.6028 0.123513 0.6828 0.393904 +TTool-pose None -28.2141 12.9235 13.7879 0.714281 0.580967 -0.236807 0.310027 +#25463 1721121380486 +SLAM 16.0733 8.99208 -16.8276 -0.602323 0.122592 0.679671 0.400282 +TTool-pose None -28.251 13.0112 13.7349 0.709652 0.584273 -0.236825 0.314405 +#25464 1721121380526 +SLAM 15.836 8.86771 -17.0152 -0.602493 0.124048 0.682199 0.395246 +TTool-pose None -28.2214 12.9399 13.7643 0.713443 0.581147 -0.237216 0.311307 +#25465 1721121380560 +SLAM 16.0262 9.03455 -16.8468 -0.603116 0.120869 0.680633 0.397972 +TTool-pose None -28.2497 12.9642 13.7812 0.710963 0.584539 -0.235647 0.31182 +#25466 1721121380597 +SLAM 16.1361 9.09607 -16.7571 -0.602962 0.1202 0.67944 0.400437 +TTool-pose None -28.2643 12.9991 13.7642 0.709104 0.586033 -0.235542 0.313327 +#25467 1721121380637 +SLAM 15.7839 8.89635 -17.0293 -0.602033 0.123701 0.682962 0.394737 +TTool-pose None -28.2075 12.9341 13.7711 0.713671 0.581164 -0.23771 0.310372 +#25468 1721121380676 +SLAM 15.8263 8.94103 -16.9912 -0.602362 0.1227 0.682669 0.395054 +TTool-pose None -28.2158 12.9331 13.7809 0.713278 0.58201 -0.23709 0.310165 +#25469 1721121380711 +SLAM 15.9015 8.98948 -16.9367 -0.602945 0.121535 0.681959 0.395752 +TTool-pose None -28.235 12.9328 13.7886 0.712613 0.583137 -0.236114 0.310321 +#25470 1721121380746 +SLAM 15.8755 8.97532 -16.9501 -0.602628 0.12199 0.682176 0.39572 +TTool-pose None -28.2253 12.936 13.7812 0.712699 0.582795 -0.236588 0.310404 +#25471 1721121380782 +SLAM 15.9035 8.9821 -16.9259 -0.602184 0.122353 0.681823 0.39689 +TTool-pose None -28.2215 12.962 13.7659 0.711927 0.583019 -0.237128 0.311344 +#25472 1721121380819 +SLAM 15.8833 8.99491 -16.9315 -0.602132 0.122043 0.682155 0.396493 +TTool-pose None -28.2167 12.9543 13.774 0.712129 0.583069 -0.237143 0.310776 +#25473 1721121380860 +SLAM 15.7075 8.91633 -17.0505 -0.60123 0.123731 0.683992 0.394168 +TTool-pose None -28.1785 12.936 13.7728 0.713984 0.580881 -0.238691 0.309428 +#25474 1721121380893 +SLAM 15.8448 8.97263 -16.9399 -0.600766 0.123498 0.682321 0.397828 +TTool-pose None -28.1919 12.9856 13.7374 0.711376 0.582568 -0.238996 0.312018 +#25475 1721121380933 +SLAM 15.9181 9.01462 -16.8596 -0.600575 0.122899 0.681553 0.399612 +TTool-pose None -28.1827 13.0067 13.7287 0.710001 0.58373 -0.238991 0.312981 +#25476 1721121380967 +SLAM 15.8672 9.01146 -16.8684 -0.601127 0.122113 0.682381 0.397607 +TTool-pose None -28.1522 12.9752 13.7604 0.711274 0.583459 -0.238283 0.311129 +#25477 1721121381001 +SLAM 15.9081 9.03176 -16.8149 -0.601368 0.121495 0.681899 0.398258 +TTool-pose None -28.1432 12.9732 13.7581 0.710721 0.584172 -0.23783 0.311404 +#25478 1721121381040 +SLAM 15.9297 8.99049 -16.7874 -0.600152 0.12329 0.681202 0.400725 +TTool-pose None -28.1217 13.0186 13.7081 0.70927 0.583909 -0.23951 0.313908 +#25479 1721121381081 +SLAM 15.9261 9.01583 -16.7716 -0.600806 0.122086 0.681593 0.399448 +TTool-pose None -28.1082 12.998 13.7409 0.709967 0.584239 -0.238553 0.312441 +#25480 1721121381114 +SLAM 15.885 9.01067 -16.7829 -0.600717 0.122134 0.682374 0.398231 +TTool-pose None -28.0742 13.0083 13.7575 0.710807 0.583695 -0.238737 0.311409 +#25481 1721121381151 +SLAM 15.8803 9.00411 -16.8005 -0.600646 0.12232 0.682147 0.398669 +TTool-pose None -28.0975 12.9924 13.745 0.710537 0.583745 -0.238836 0.311854 +#25482 1721121381186 +SLAM 15.9611 9.04043 -16.7526 -0.601821 0.120809 0.6814 0.398636 +TTool-pose None -28.1237 12.973 13.7686 0.710361 0.584824 -0.237125 0.311536 +#25483 1721121381223 +SLAM 16.0031 9.05287 -16.7267 -0.602023 0.120405 0.680912 0.399286 +TTool-pose None -28.1354 12.9699 13.7713 0.709848 0.585384 -0.236762 0.31193 +#25484 1721121381258 +SLAM 15.849 8.9504 -16.837 -0.600298 0.123411 0.682302 0.398592 +TTool-pose None -28.0905 12.9925 13.7386 0.710783 0.582937 -0.239486 0.312307 +#25485 1721121381298 +SLAM 15.7863 8.85736 -16.9033 -0.600812 0.124659 0.682831 0.39652 +TTool-pose None -28.0741 12.9795 13.743 0.712523 0.581205 -0.239261 0.311741 +#25486 1721121381334 +SLAM 15.9117 9.00814 -16.7912 -0.601707 0.121312 0.681981 0.39766 +TTool-pose None -28.1098 12.9665 13.7762 0.711129 0.584059 -0.237423 0.310994 +#25487 1721121381368 +SLAM 15.9584 9.0313 -16.7497 -0.601297 0.121374 0.681395 0.399264 +TTool-pose None -28.1124 12.9914 13.758 0.709994 0.584676 -0.237831 0.312114 +#25488 1721121381401 +SLAM 15.907 8.94627 -16.8149 -0.601786 0.122461 0.681649 0.397758 +TTool-pose None -28.1135 12.9661 13.7572 0.711312 0.583296 -0.237574 0.311892 +#25489 1721121381436 +SLAM 15.7894 8.93418 -16.8776 -0.600219 0.123656 0.682982 0.39747 +TTool-pose None -28.0819 12.9798 13.7434 0.711598 0.582292 -0.239693 0.311492 +#25490 1721121381471 +SLAM 15.8365 8.99229 -16.8273 -0.600316 0.122554 0.682723 0.398108 +TTool-pose None -28.0838 12.9875 13.7536 0.710939 0.583336 -0.239306 0.311343 +#25491 1721121381505 +SLAM 15.8749 9.01893 -16.805 -0.601399 0.121224 0.682519 0.397229 +TTool-pose None -28.0983 12.9644 13.7819 0.711375 0.583932 -0.23779 0.310388 +#25492 1721121381540 +SLAM 15.9221 9.05528 -16.7667 -0.601661 0.120457 0.682095 0.397796 +TTool-pose None -28.1083 12.9673 13.7859 0.71085 0.584715 -0.237284 0.310505 +#25493 1721121381574 +SLAM 15.8787 9.01273 -16.8067 -0.601434 0.12135 0.682341 0.397445 +TTool-pose None -28.1055 12.9604 13.7745 0.711257 0.583935 -0.237765 0.310673 +#25494 1721121381609 +SLAM 15.947 9.05847 -16.7502 -0.601226 0.120827 0.681603 0.39918 +TTool-pose None -28.1173 12.9793 13.7647 0.70993 0.585022 -0.2378 0.311634 +#25495 1721121381643 +SLAM 15.9108 9.02223 -16.7792 -0.601083 0.121592 0.681953 0.398566 +TTool-pose None -28.1031 12.9844 13.7607 0.7105 0.584225 -0.238169 0.311549 +#25496 1721121381676 +SLAM 15.9226 9.03771 -16.7661 -0.600458 0.121854 0.681611 0.400011 +TTool-pose None -28.1128 12.9937 13.7377 0.709494 0.584628 -0.238882 0.31254 +#25497 1721121381710 +SLAM 15.8521 9.00002 -16.8244 -0.601091 0.121901 0.682463 0.397585 +TTool-pose None -28.1043 12.9626 13.7586 0.711241 0.583597 -0.238281 0.310947 +#25498 1721121381744 +SLAM 15.9225 9.0512 -16.7564 -0.600917 0.121343 0.681897 0.398987 +TTool-pose None -28.0992 12.9983 13.7538 0.71014 0.584571 -0.238287 0.31163 +#25499 1721121381779 +SLAM 15.8752 9.00078 -16.8094 -0.601191 0.121978 0.682187 0.397883 +TTool-pose None -28.1054 12.9741 13.7525 0.711062 0.583671 -0.238163 0.311308 +#25500 1721121381817 +SLAM 15.8819 8.98189 -16.8121 -0.600943 0.122596 0.681959 0.398459 +TTool-pose None -28.1066 12.9856 13.7389 0.71077 0.583471 -0.238558 0.312046 +#25501 1721121381852 +SLAM 15.9107 8.97905 -16.7939 -0.600784 0.122881 0.681577 0.399264 +TTool-pose None -28.107 13.0023 13.7289 0.710259 0.583604 -0.238761 0.312808 +#25502 1721121381886 +SLAM 15.9746 9.03111 -16.7468 -0.60159 0.121302 0.681094 0.399357 +TTool-pose None -28.1265 12.9865 13.7519 0.709945 0.584773 -0.237464 0.312323 +#25503 1721121381922 +SLAM 15.97 8.98205 -16.7634 -0.601394 0.122478 0.680913 0.399603 +TTool-pose None -28.1207 13.0027 13.7338 0.710003 0.584045 -0.237936 0.313193 +#25504 1721121381957 +SLAM 16.0294 9.0258 -16.7237 -0.602696 0.120725 0.680595 0.398715 +TTool-pose None -28.1368 12.9825 13.7688 0.710378 0.584939 -0.236069 0.312083 +#25505 1721121381991 +SLAM 16.039 9.00573 -16.7215 -0.602126 0.121624 0.680217 0.399945 +TTool-pose None -28.1383 13.0003 13.7431 0.709661 0.584808 -0.236868 0.313356 +#25506 1721121382027 +SLAM 16.0587 9.0258 -16.7088 -0.602719 0.120777 0.680159 0.399408 +TTool-pose None -28.1464 12.9863 13.7613 0.709913 0.585193 -0.236015 0.312707 +#25507 1721121382063 +SLAM 16.0474 8.99079 -16.7194 -0.601902 0.122182 0.680077 0.400349 +TTool-pose None -28.1329 13.0189 13.7333 0.709477 0.584578 -0.237229 0.313928 +#25508 1721121382097 +SLAM 16.0278 9.03138 -16.7253 -0.603255 0.120096 0.680802 0.397705 +TTool-pose None -28.1354 12.9674 13.7906 0.710997 0.584973 -0.235329 0.311168 +#25509 1721121382131 +SLAM 16.034 9.02585 -16.7181 -0.602487 0.120887 0.680551 0.399057 +TTool-pose None -28.1325 12.9915 13.7653 0.710155 0.584963 -0.236333 0.312347 +#25510 1721121382170 +SLAM 15.9472 8.96095 -16.7951 -0.602551 0.121869 0.681401 0.397205 +TTool-pose None -28.1211 12.9721 13.7699 0.711645 0.583501 -0.236573 0.311507 +#25511 1721121382203 +SLAM 16.0134 9.02948 -16.731 -0.603089 0.120276 0.681085 0.397419 +TTool-pose None -28.1231 12.9785 13.7931 0.711216 0.584722 -0.23558 0.310949 +#25512 1721121382238 +SLAM 16.1697 9.08239 -16.62 -0.60305 0.119796 0.679103 0.400997 +TTool-pose None -28.156 13.0157 13.7603 0.708639 0.586552 -0.235317 0.313576 +#25513 1721121382271 +SLAM 16.0363 9.05207 -16.7089 -0.603043 0.119949 0.680849 0.397989 +TTool-pose None -28.1278 12.9827 13.7904 0.71075 0.585189 -0.235531 0.311175 +#25514 1721121382305 +SLAM 15.957 8.98586 -16.7705 -0.601902 0.122032 0.681328 0.398264 +TTool-pose None -28.111 12.9985 13.7545 0.710885 0.583812 -0.237316 0.312095 +#25515 1721121382338 +SLAM 16.0734 9.02568 -16.6919 -0.603804 0.120016 0.680299 0.397756 +TTool-pose None -28.1313 12.9808 13.7879 0.711 0.585065 -0.234659 0.311495 +#25516 1721121382371 +SLAM 15.9757 9.01971 -16.7493 -0.602125 0.12122 0.681229 0.398344 +TTool-pose None -28.1182 12.9899 13.7629 0.710681 0.584421 -0.236872 0.311756 +#25517 1721121382406 +SLAM 15.8751 8.87742 -16.8466 -0.601066 0.124658 0.681672 0.398125 +TTool-pose None -28.0928 13.0099 13.7163 0.711444 0.581886 -0.238875 0.313227 +#25518 1721121382440 +SLAM 15.9882 9.00351 -16.7485 -0.602241 0.121488 0.680945 0.398572 +TTool-pose None -28.1238 12.9898 13.7557 0.710592 0.584332 -0.236781 0.312196 +#25519 1721121382475 +SLAM 16.0537 9.08018 -16.6836 -0.602695 0.119783 0.680631 0.398938 +TTool-pose None -28.1293 12.9937 13.7787 0.710025 0.585693 -0.235852 0.311638 +#25520 1721121382508 +SLAM 15.9693 9.02383 -16.7512 -0.602131 0.121092 0.681339 0.398187 +TTool-pose None -28.1169 12.9862 13.7665 0.710763 0.584446 -0.236846 0.311543 +#25521 1721121382538 +SLAM 15.9692 9.043 -16.746 -0.602436 0.120399 0.681481 0.397692 +TTool-pose None -28.1187 12.9719 13.7817 0.710988 0.584733 -0.236363 0.310856 +#25522 1721121382570 +SLAM 16.0316 9.08667 -16.6977 -0.60315 0.119173 0.681025 0.397759 +TTool-pose None -28.1291 12.9712 13.7988 0.710753 0.585639 -0.235247 0.310531 +#25523 1721121382603 +SLAM 15.9645 9.04245 -16.7527 -0.602723 0.12021 0.681601 0.397108 +TTool-pose None -28.1199 12.9661 13.7894 0.711379 0.584628 -0.236015 0.310422 +#25524 1721121382639 +SLAM 15.9576 9.07384 -16.7495 -0.602677 0.119608 0.681856 0.396921 +TTool-pose None -28.1215 12.961 13.7999 0.711375 0.584971 -0.235947 0.309837 +#25525 1721121382671 +SLAM 15.9339 9.02059 -16.7677 -0.601307 0.121762 0.681697 0.398613 +TTool-pose None -28.1045 13.002 13.7527 0.710526 0.584131 -0.237939 0.311839 +#25526 1721121382702 +SLAM 15.9304 9.02439 -16.7793 -0.602295 0.120786 0.681774 0.397285 +TTool-pose None -28.1216 12.9599 13.7766 0.711336 0.584287 -0.236635 0.310691 +#25527 1721121382737 +SLAM 15.9166 9.00541 -16.7966 -0.601834 0.121538 0.681904 0.397531 +TTool-pose None -28.1158 12.9775 13.7685 0.711279 0.58385 -0.237329 0.311115 +#25528 1721121382769 +SLAM 16.0782 9.05995 -16.715 -0.603754 0.119303 0.680672 0.397409 +TTool-pose None -28.1534 12.9772 13.8219 0.711083 0.585417 -0.234582 0.310699 +#25529 1721121382804 +SLAM 16.172 9.0381 -16.6954 -0.603274 0.120268 0.679883 0.399193 +TTool-pose None -28.1631 13.0393 13.8287 0.71001 0.585474 -0.23526 0.31253 +#25530 1721121382837 +SLAM 16.0502 8.95099 -16.8368 -0.603397 0.121288 0.681746 0.395505 +TTool-pose None -28.1474 13.0209 13.8885 0.712777 0.583218 -0.235539 0.310229 +#25531 1721121382872 +SLAM 16.2533 9.00848 -16.6895 -0.602496 0.121633 0.680033 0.399699 +TTool-pose None -28.1293 13.1558 13.8729 0.709871 0.584708 -0.236447 0.313384 +#25532 1721121382908 +SLAM 15.9408 8.86629 -16.9368 -0.599983 0.125436 0.683129 0.397015 +TTool-pose None -28.091 13.1326 13.8557 0.712257 0.580843 -0.240376 0.312164 +#25533 1721121382944 +SLAM 16.0689 8.91406 -16.8686 -0.601957 0.123274 0.682541 0.395713 +TTool-pose None -28.1029 13.1409 13.9219 0.712905 0.581872 -0.237657 0.310847 +#25534 1721121382976 +SLAM 16.2817 9.04369 -16.7068 -0.601904 0.121471 0.680867 0.399221 +TTool-pose None -28.1184 13.2211 13.9331 0.710106 0.584606 -0.237139 0.312515 +#25535 1721121383013 +SLAM 16.0485 8.89983 -16.9042 -0.600628 0.124636 0.683374 0.395867 +TTool-pose None -28.0728 13.2147 13.937 0.712946 0.580942 -0.239506 0.311072 +#25536 1721121383045 +SLAM 16.0986 8.93455 -16.8861 -0.6015 0.123318 0.683351 0.394996 +TTool-pose None -28.0853 13.2106 13.9819 0.713359 0.581527 -0.238242 0.310002 +#25537 1721121383076 +SLAM -0.422365 -6.22613 -16.9542 -0.463267 0.317126 0.827212 0.0219146 +TTool-pose None -18.7721 10.3996 14.5722 0.898055 0.232039 -0.360085 0.0970374 +#25538 1721121383115 +SLAM 16.3355 9.05733 -16.7275 -0.602539 0.120731 0.681795 0.396897 +TTool-pose None -28.1032 13.2775 14.0363 0.711616 0.584169 -0.236357 0.310483 +#25539 1721121383156 +SLAM 16.0978 8.89178 -16.9261 -0.60018 0.125165 0.683513 0.396141 +TTool-pose None -28.0791 13.2696 13.977 0.712821 0.580673 -0.240133 0.311379 +#25540 1721121383190 +SLAM 16.3555 9.03507 -16.7348 -0.602341 0.121373 0.681605 0.397327 +TTool-pose None -28.106 13.2992 14.0354 0.711436 0.583894 -0.236706 0.311147 +#25541 1721121383224 +SLAM 16.3536 9.01319 -16.7575 -0.602935 0.121249 0.681532 0.396589 +TTool-pose None -28.1231 13.2736 14.0463 0.711977 0.583688 -0.236019 0.310817 +#25542 1721121383256 +SLAM 16.3939 9.04009 -16.7292 -0.603354 0.120482 0.681364 0.396473 +TTool-pose None -28.1255 13.2788 14.0655 0.711937 0.584189 -0.235363 0.310466 +#25543 1721121383290 +SLAM 16.3463 8.98309 -16.7776 -0.602328 0.122322 0.681409 0.397393 +TTool-pose None -28.1257 13.2909 14.0268 0.711589 0.583255 -0.236924 0.311828 +#25544 1721121383327 +SLAM 16.3668 9.05256 -16.7536 -0.603576 0.119897 0.681764 0.395624 +TTool-pose None -28.1359 13.2515 14.0839 0.712419 0.584248 -0.235018 0.309508 +#25545 1721121383360 +SLAM 16.4895 9.08774 -16.6668 -0.604842 0.118576 0.680609 0.396077 +TTool-pose None -28.1488 13.2615 14.1007 0.711952 0.585397 -0.233209 0.309779 +#25546 1721121383394 +SLAM 16.2917 8.95074 -16.8241 -0.602666 0.122499 0.682093 0.395648 +TTool-pose None -28.1159 13.2712 14.0443 0.71286 0.582409 -0.236657 0.310708 +#25547 1721121383429 +SLAM 16.4042 9.02 -16.7408 -0.603647 0.120694 0.68108 0.396452 +TTool-pose None -28.1417 13.2702 14.0617 0.712026 0.584038 -0.235064 0.31077 +#25548 1721121383466 +SLAM 16.5202 9.12341 -16.6304 -0.604236 0.118563 0.680303 0.397528 +TTool-pose None -28.1472 13.2909 14.0838 0.710891 0.585998 -0.233843 0.310601 +#25549 1721121383502 +SLAM 16.3365 8.95259 -16.802 -0.603483 0.122106 0.681544 0.39547 +TTool-pose None -28.1308 13.268 14.0446 0.712982 0.582632 -0.235617 0.3108 +#25550 1721121383536 +SLAM 16.3916 9.03649 -16.7311 -0.602344 0.121591 0.681059 0.398192 +TTool-pose None -28.1314 13.3088 14.0227 0.710887 0.584103 -0.236703 0.312012 +#25551 1721121383574 +SLAM 16.3542 9.09993 -16.7454 -0.604044 0.118685 0.68216 0.394592 +TTool-pose None -28.1369 13.2333 14.1025 0.712915 0.584676 -0.234255 0.30813 +#25552 1721121383610 +SLAM 16.4669 9.09246 -16.678 -0.604723 0.118834 0.68092 0.395647 +TTool-pose None -28.1411 13.2765 14.0924 0.712291 0.585033 -0.233429 0.309522 +#25553 1721121383646 +SLAM 16.4818 9.02051 -16.7023 -0.603959 0.120984 0.680133 0.397512 +TTool-pose None -28.1572 13.305 14.043 0.711389 0.584288 -0.2347 0.312035 +#25554 1721121383680 +SLAM 16.3403 8.97097 -16.8109 -0.603467 0.121759 0.68204 0.394747 +TTool-pose None -28.1234 13.2865 14.0772 0.713403 0.582571 -0.235599 0.309959 +#25555 1721121383713 +SLAM 16.5756 9.12891 -16.6411 -0.605809 0.117333 0.680404 0.395322 +TTool-pose None -28.1677 13.284 14.1538 0.7123 0.585975 -0.231831 0.308919 +#25556 1721121383754 +SLAM 16.6086 9.11452 -16.6392 -0.605539 0.117806 0.679902 0.396455 +TTool-pose None -28.184 13.2942 14.1457 0.711596 0.586112 -0.232193 0.310008 +#25557 1721121383788 +SLAM 16.7042 9.00123 -16.6105 -0.607858 0.118726 0.679031 0.394118 +TTool-pose None -28.1548 13.3342 14.1695 0.713622 0.584544 -0.229771 0.310117 +#25558 1721121383817 +#25559 1721121383845 +#25560 1721121383872 +#25561 1721121383902 +#25562 1721121383933 +#25563 1721121383957 +#25564 1721121383983 +#25565 1721121384013 +#25566 1721121384042 +#25567 1721121384074 +#25568 1721121384104 +#25569 1721121384133 +#25570 1721121384160 +SLAM 17.3886 9.34792 -16.1253 -0.608586 0.113028 0.672953 0.404947 +TTool-pose None -28.2656 13.526 14.2113 0.704958 0.593052 -0.226996 0.315775 +#25571 1721121384188 +SLAM 17.1358 8.9845 -16.4606 -0.612091 0.116698 0.673936 0.396909 +TTool-pose None -28.3229 13.3251 14.2085 0.71165 0.587221 -0.224127 0.313703 +#25572 1721121384214 +#25573 1721121384242 +SLAM 17.2322 9.10789 -16.341 -0.613522 0.113557 0.674857 0.394036 +TTool-pose None -28.2474 13.3932 14.3243 0.713079 0.588243 -0.221882 0.310114 +#25574 1721121384269 +SLAM 17.1753 9.07983 -16.4176 -0.612441 0.114505 0.674549 0.395964 +TTool-pose None -28.3112 13.3358 14.2781 0.711861 0.588367 -0.223277 0.311673 +#25575 1721121384300 +SLAM 16.9577 9.05105 -16.5432 -0.608603 0.117476 0.677042 0.396757 +TTool-pose None -28.2431 13.3878 14.2374 0.711609 0.586541 -0.228467 0.311931 +#25576 1721121384332 +SLAM 16.872 9.02876 -16.5925 -0.606206 0.11964 0.677718 0.398621 +TTool-pose None -28.2191 13.4316 14.1866 0.710557 0.585749 -0.231683 0.313443 +#25577 1721121384361 +SLAM 16.8312 8.99127 -16.6349 -0.607448 0.119211 0.678389 0.395708 +TTool-pose None -28.2093 13.3942 14.227 0.712593 0.584861 -0.230279 0.311505 +#25578 1721121384390 +SLAM 16.9428 9.0737 -16.5354 -0.609016 0.116745 0.677794 0.395051 +TTool-pose None -28.2108 13.3984 14.2732 0.712666 0.586348 -0.227909 0.310284 +#25579 1721121384421 +SLAM 16.6632 9.06286 -16.7139 -0.605024 0.119221 0.68036 0.396033 +TTool-pose None -28.1973 13.3761 14.2146 0.712138 0.584931 -0.233137 0.310286 +#25580 1721121384451 +SLAM 16.8347 9.03571 -16.6257 -0.60718 0.118705 0.67849 0.396096 +TTool-pose None -28.218 13.4002 14.2268 0.712193 0.585372 -0.230465 0.311324 +#25581 1721121384484 +SLAM 16.9946 9.09428 -16.5276 -0.608549 0.116922 0.67685 0.39733 +TTool-pose None -28.2634 13.4019 14.2443 0.711089 0.587168 -0.228376 0.312004 +#25582 1721121384515 +SLAM 16.8102 9.08526 -16.6213 -0.60725 0.11756 0.679378 0.394808 +TTool-pose None -28.1956 13.3989 14.2662 0.712841 0.585635 -0.2302 0.309534 +#25583 1721121384552 +SLAM 16.7269 8.98726 -16.7089 -0.606464 0.119838 0.679744 0.3947 +TTool-pose None -28.1927 13.395 14.233 0.713325 0.583975 -0.231637 0.310482 +#25584 1721121384583 +SLAM 16.7725 9.00955 -16.6796 -0.607552 0.118696 0.679663 0.39351 +TTool-pose None -28.1916 13.3928 14.2695 0.714003 0.584302 -0.23016 0.309404 +#25585 1721121384617 +SLAM 16.8912 9.06416 -16.5923 -0.608233 0.117447 0.678466 0.394896 +TTool-pose None -28.2143 13.4064 14.2746 0.71285 0.585774 -0.229003 0.310139 +#25586 1721121384650 +SLAM 16.939 9.0423 -16.5604 -0.606456 0.119551 0.677513 0.398616 +TTool-pose None -28.2103 13.4835 14.208 0.710566 0.585815 -0.231366 0.313533 +#25587 1721121384682 +SLAM 16.8291 8.96378 -16.6775 -0.60813 0.119243 0.678792 0.393955 +TTool-pose None -28.2158 13.3949 14.2647 0.71387 0.584119 -0.22957 0.310496 +#25588 1721121384716 +SLAM 16.9076 9.02084 -16.612 -0.608774 0.117883 0.678297 0.394223 +TTool-pose None -28.221 13.4073 14.2864 0.713456 0.585199 -0.228493 0.310207 +#25589 1721121384750 +SLAM 16.9227 9.02492 -16.6086 -0.608062 0.118359 0.677845 0.395953 +TTool-pose None -28.2401 13.4149 14.2608 0.712301 0.585574 -0.22935 0.311519 +#25590 1721121384781 +SLAM 17.0654 9.00926 -16.5283 -0.609948 0.117637 0.676503 0.395561 +TTool-pose None -28.2459 13.4375 14.2873 0.712591 0.585958 -0.226968 0.311879 +#25591 1721121384814 +SLAM 17.0575 9.0851 -16.5066 -0.608257 0.117437 0.676844 0.397635 +TTool-pose None -28.2397 13.4719 14.2752 0.710962 0.586928 -0.22882 0.31242 +#25592 1721121384850 +SLAM 16.8051 8.95606 -16.7055 -0.606123 0.120982 0.678934 0.396266 +TTool-pose None -28.2134 13.4481 14.2272 0.712458 0.583821 -0.232206 0.312334 +#25593 1721121384883 +SLAM 16.926 9.0521 -16.6089 -0.608362 0.117788 0.678419 0.394677 +TTool-pose None -28.2258 13.4365 14.2946 0.713085 0.585446 -0.228937 0.310264 +#25594 1721121384921 +SLAM 16.7702 9.06414 -16.7039 -0.605688 0.11911 0.679767 0.396071 +TTool-pose None -28.2262 13.4233 14.253 0.712153 0.585042 -0.232325 0.310652 +#25595 1721121384955 +SLAM 16.9961 9.17457 -16.5466 -0.608129 0.115778 0.677755 0.396765 +TTool-pose None -28.2753 13.4248 14.2959 0.711194 0.587721 -0.228655 0.310512 +#25596 1721121384988 +SLAM 16.7163 9.05204 -16.7211 -0.60579 0.119221 0.680842 0.39403 +TTool-pose None -28.1761 13.4405 14.2778 0.713589 0.58411 -0.232336 0.309098 +#25597 1721121385024 +SLAM 16.7023 8.99369 -16.7581 -0.603913 0.122005 0.680027 0.397451 +TTool-pose None -28.2038 13.476 14.1899 0.711642 0.583544 -0.234979 0.31264 +#25598 1721121385054 +SLAM 16.8244 9.08016 -16.6514 -0.604725 0.120015 0.679129 0.398357 +TTool-pose None -28.2125 13.4931 14.2137 0.710676 0.585339 -0.233536 0.31256 +#25599 1721121385086 +SLAM 16.9613 9.18324 -16.5464 -0.606315 0.117012 0.678133 0.39853 +TTool-pose None -28.2455 13.4759 14.2616 0.71007 0.587554 -0.230982 0.311679 +#25600 1721121385121 +SLAM 16.8481 9.09774 -16.6473 -0.60689 0.117803 0.679323 0.395383 +TTool-pose None -28.227 13.4309 14.2846 0.712463 0.585698 -0.23065 0.309951 +#25601 1721121385153 +SLAM 16.7941 9.05855 -16.6764 -0.605974 0.119065 0.679692 0.395775 +TTool-pose None -28.2042 13.4419 14.2614 0.712375 0.584956 -0.231992 0.310553 +#25602 1721121385185 +SLAM 16.8622 9.03549 -16.6688 -0.606451 0.119271 0.678584 0.396881 +TTool-pose None -28.2486 13.4338 14.2504 0.711703 0.585286 -0.23141 0.311903 +#25603 1721121385219 +SLAM 16.9048 9.03498 -16.629 -0.607058 0.118797 0.678476 0.39628 +TTool-pose None -28.2242 13.4495 14.2766 0.712075 0.585381 -0.23062 0.311462 +#25604 1721121385257 +SLAM 17.148 9.00626 -16.5018 -0.610161 0.117559 0.675776 0.396498 +TTool-pose None -28.2647 13.4588 14.3044 0.711947 0.586409 -0.226644 0.312737 +#25605 1721121385297 +SLAM 16.8054 8.89498 -16.7483 -0.605956 0.12193 0.678765 0.396519 +TTool-pose None -28.2288 13.44 14.2343 0.712467 0.583258 -0.232595 0.313076 +#25606 1721121385338 +SLAM 17.1095 8.99943 -16.5336 -0.608118 0.119079 0.675872 0.399012 +TTool-pose None -28.27 13.4859 14.2616 0.710347 0.586348 -0.229265 0.314575 +#25607 1721121385376 +SLAM 17.0042 8.89713 -16.6395 -0.607465 0.121334 0.676433 0.398376 +TTool-pose None -28.2697 13.4696 14.2291 0.711203 0.584487 -0.230569 0.31515 +#25608 1721121385410 +SLAM 17.2009 9.01458 -16.5029 -0.609652 0.117891 0.674711 0.398987 +TTool-pose None -28.3259 13.4549 14.274 0.71025 0.587204 -0.227178 0.314712 +#25609 1721121385439 +SLAM 16.9042 8.99589 -16.6544 -0.606942 0.119635 0.678226 0.396634 +TTool-pose None -28.2376 13.4501 14.2636 0.711998 0.58494 -0.230921 0.312244 +#25610 1721121385470 +SLAM 17.031 9.05664 -16.5623 -0.608082 0.118017 0.677029 0.397418 +TTool-pose None -28.2627 13.4595 14.2774 0.71122 0.586427 -0.229168 0.312518 +#25611 1721121385502 +SLAM 17.0174 9.03996 -16.5806 -0.607251 0.119043 0.676937 0.398537 +TTool-pose None -28.2676 13.4782 14.2492 0.710588 0.586156 -0.230316 0.31362 +#25612 1721121385534 +SLAM 17.026 9.09467 -16.5532 -0.608368 0.117092 0.677339 0.396723 +TTool-pose None -28.2612 13.4496 14.2953 0.711528 0.586791 -0.228664 0.311501 +#25613 1721121385564 +SLAM 16.9008 9.06156 -16.6205 -0.607242 0.118284 0.678753 0.395678 +TTool-pose None -28.2167 13.454 14.2866 0.712397 0.585493 -0.230322 0.310733 +#25614 1721121385596 +SLAM 16.8104 9.04578 -16.6816 -0.606254 0.119066 0.679477 0.395714 +TTool-pose None -28.2162 13.4352 14.2674 0.712444 0.584937 -0.231663 0.310676 +#25615 1721121385633 +SLAM 16.9044 9.01054 -16.6466 -0.606169 0.120241 0.677818 0.398326 +TTool-pose None -28.2522 13.4655 14.2177 0.710885 0.585204 -0.231874 0.313577 +#25616 1721121385668 +SLAM 16.8737 9.05683 -16.6392 -0.606591 0.118765 0.6786 0.396793 +TTool-pose None -28.2344 13.4376 14.2562 0.71167 0.585607 -0.231139 0.311578 +#25617 1721121385698 +SLAM 16.8593 9.01374 -16.6623 -0.606188 0.119933 0.678505 0.397219 +TTool-pose None -28.2319 13.4512 14.2349 0.711586 0.584957 -0.231848 0.312464 +#25618 1721121385728 +SLAM 16.9428 9.07715 -16.5871 -0.607939 0.117513 0.678231 0.395731 +TTool-pose None -28.2294 13.4387 14.2914 0.712262 0.586071 -0.229322 0.310694 +#25619 1721121385760 +SLAM 16.8155 9.04861 -16.6759 -0.606114 0.119132 0.679209 0.396369 +TTool-pose None -28.226 13.4295 14.2529 0.711994 0.585161 -0.231808 0.311176 +#25620 1721121385790 +SLAM 16.9165 9.08874 -16.6007 -0.607608 0.117523 0.678464 0.395838 +TTool-pose None -28.2326 13.4327 14.2843 0.712159 0.586101 -0.229711 0.310585 +#25621 1721121385821 +SLAM 16.7823 8.96115 -16.7133 -0.605044 0.121841 0.67894 0.39764 +TTool-pose None -28.213 13.4699 14.1912 0.711588 0.583767 -0.233595 0.313383 +#25622 1721121385852 +SLAM 17.0147 9.13101 -16.5168 -0.60715 0.117479 0.677344 0.398463 +TTool-pose None -28.238 13.484 14.2562 0.710295 0.587219 -0.230097 0.312451 +#25623 1721121385888 +SLAM 17.0045 9.16099 -16.5111 -0.607199 0.116844 0.677569 0.398192 +TTool-pose None -28.238 13.4736 14.2637 0.710351 0.587551 -0.229916 0.311833 +#25624 1721121385920 +SLAM 16.8887 9.0969 -16.6119 -0.606751 0.1181 0.678425 0.397044 +TTool-pose None -28.2415 13.4358 14.2486 0.71137 0.586182 -0.230788 0.311441 +#25625 1721121385951 +SLAM 16.7478 9.09175 -16.6838 -0.605915 0.118452 0.680098 0.395352 +TTool-pose None -28.206 13.4147 14.2538 0.712529 0.585207 -0.23195 0.309757 +#25626 1721121385986 +SLAM 16.8177 9.09063 -16.6422 -0.606652 0.118125 0.679188 0.395884 +TTool-pose None -28.2223 13.4156 14.2493 0.712165 0.585676 -0.230975 0.310434 +#25627 1721121386021 +SLAM 16.7752 9.11092 -16.6578 -0.606382 0.117804 0.679836 0.39528 +TTool-pose None -28.211 13.4077 14.2596 0.712485 0.585642 -0.231258 0.309553 +#25628 1721121386055 +SLAM 16.9109 9.13009 -16.578 -0.607668 0.116822 0.678165 0.396465 +TTool-pose None -28.2503 13.4059 14.2579 0.711582 0.586856 -0.229451 0.310674 +#25629 1721121386090 +SLAM 16.7761 9.09503 -16.6534 -0.606943 0.117692 0.679872 0.394389 +TTool-pose None -28.1997 13.4027 14.2682 0.713128 0.585359 -0.230616 0.309086 +#25630 1721121386128 +SLAM 16.8975 9.15503 -16.561 -0.60786 0.116177 0.678787 0.395295 +TTool-pose None -28.2167 13.417 14.2837 0.712267 0.586821 -0.229145 0.309392 +#25631 1721121386160 +SLAM 16.8019 9.11374 -16.6315 -0.606809 0.117469 0.679477 0.395343 +TTool-pose None -28.2115 13.4024 14.2588 0.712412 0.585912 -0.230675 0.309644 +#25632 1721121386191 +SLAM 16.8381 9.10124 -16.6161 -0.607441 0.117415 0.679142 0.394962 +TTool-pose None -28.2125 13.4111 14.2654 0.712723 0.585805 -0.229933 0.309683 +#25633 1721121386222 +SLAM 17.0106 9.22721 -16.4738 -0.608266 0.114747 0.677568 0.397174 +TTool-pose None -28.2499 13.4231 14.283 0.710702 0.588617 -0.228241 0.310248 +#25634 1721121386253 +SLAM 16.4571 8.92774 -16.8779 -0.602803 0.123485 0.682179 0.394984 +TTool-pose None -28.1489 13.419 14.1577 0.713536 0.581441 -0.236743 0.310903 +#25635 1721121386284 +SLAM 16.8612 9.17483 -16.5713 -0.607479 0.116034 0.679115 0.395359 +TTool-pose None -28.216 13.4062 14.2748 0.712156 0.586939 -0.229562 0.309115 +#25636 1721121386316 +SLAM 16.9436 9.25998 -16.4786 -0.607356 0.114739 0.678659 0.396707 +TTool-pose None -28.2058 13.4441 14.2849 0.710937 0.588406 -0.229346 0.309293 +#25637 1721121386357 +SLAM 16.8246 9.12141 -16.6126 -0.607359 0.117164 0.679079 0.395272 +TTool-pose None -28.2223 13.3967 14.2489 0.712448 0.586109 -0.229959 0.309721 +#25638 1721121386388 +SLAM 16.7219 9.14006 -16.6511 -0.606134 0.117398 0.6805 0.394637 +TTool-pose None -28.1822 13.4016 14.2547 0.712815 0.58565 -0.231496 0.308596 +#25639 1721121386418 +SLAM 16.5884 9.10507 -16.744 -0.605101 0.118524 0.681664 0.393877 +TTool-pose None -28.1751 13.3751 14.2353 0.713476 0.584516 -0.233007 0.308082 +#25640 1721121386452 +SLAM 16.7313 9.19285 -16.6311 -0.606963 0.115704 0.680681 0.393551 +TTool-pose None -28.1911 13.37 14.2859 0.713277 0.586398 -0.230196 0.307078 +#25641 1721121386489 +SLAM 16.6564 9.13738 -16.6927 -0.605629 0.117779 0.680922 0.394572 +TTool-pose None -28.1903 13.3809 14.2333 0.712893 0.585343 -0.232182 0.308485 +#25642 1721121386526 +SLAM 16.6405 9.14397 -16.6845 -0.605855 0.117337 0.681367 0.393588 +TTool-pose None -28.165 13.3786 14.2531 0.713495 0.585244 -0.231868 0.307515 +#25643 1721121386560 +SLAM 16.601 9.13906 -16.7136 -0.605813 0.117365 0.681684 0.393095 +TTool-pose None -28.1709 13.3579 14.2508 0.713834 0.585016 -0.231949 0.3071 +#25644 1721121386593 +SLAM 16.7911 9.21138 -16.5639 -0.606483 0.116064 0.679751 0.395786 +TTool-pose None -28.1863 13.4076 14.2444 0.711773 0.587073 -0.230727 0.308874 +#25645 1721121386631 +SLAM 16.6082 9.16999 -16.6897 -0.605881 0.116729 0.681702 0.393148 +TTool-pose None -28.1664 13.3548 14.2546 0.713668 0.585485 -0.231725 0.306761 +#25646 1721121386664 +SLAM 16.5519 9.16815 -16.7045 -0.604143 0.118138 0.682151 0.394619 +TTool-pose None -28.1401 13.3943 14.2122 0.712789 0.585073 -0.234015 0.307849 +#25647 1721121386696 +SLAM 16.4067 9.0383 -16.8398 -0.603992 0.120292 0.683135 0.392493 +TTool-pose None -28.1346 13.3485 14.1955 0.714689 0.582664 -0.234773 0.307437 +#25648 1721121386729 +SLAM 16.3724 9.1078 -16.8224 -0.602885 0.11973 0.683778 0.393246 +TTool-pose None -28.1157 13.3624 14.1923 0.713942 0.583346 -0.235919 0.307003 +#25649 1721121386762 +SLAM 16.6559 9.23704 -16.6079 -0.605297 0.116219 0.681354 0.394798 +TTool-pose None -28.1437 13.3993 14.2354 0.71237 0.58652 -0.232218 0.307427 +#25650 1721121386796 +SLAM 16.5899 9.17261 -16.6729 -0.605649 0.116853 0.681774 0.393344 +TTool-pose None -28.1462 13.3575 14.2378 0.713537 0.585475 -0.232017 0.306863 +#25651 1721121386830 +SLAM 16.4097 9.10246 -16.8011 -0.603768 0.11921 0.683202 0.39305 +TTool-pose None -28.131 13.3407 14.1946 0.714055 0.583652 -0.234773 0.307036 +#25652 1721121386865 +SLAM 16.3494 9.04112 -16.8322 -0.60244 0.121335 0.683541 0.393847 +TTool-pose None -28.0952 13.3757 14.1538 0.713825 0.582462 -0.236764 0.3083 +#25653 1721121386900 +SLAM 16.3903 9.13124 -16.7796 -0.604555 0.117933 0.683996 0.390838 +TTool-pose None -28.0912 13.333 14.2367 0.71537 0.583633 -0.233671 0.30484 +#25654 1721121386935 +SLAM 16.3393 9.00204 -16.8423 -0.602076 0.122487 0.683313 0.394441 +TTool-pose None -28.0899 13.3908 14.1235 0.713624 0.581893 -0.237412 0.30934 +#25655 1721121386968 +SLAM 16.5278 9.22587 -16.6532 -0.604107 0.116938 0.682542 0.394356 +TTool-pose None -28.1053 13.3818 14.2119 0.712709 0.5858 -0.233807 0.306808 +#25656 1721121387005 +SLAM 16.2937 9.04283 -16.8477 -0.602532 0.121053 0.684111 0.392801 +TTool-pose None -28.0804 13.3503 14.1555 0.714489 0.582221 -0.236646 0.307304 +#25657 1721121387039 +SLAM 16.1664 9.10757 -16.896 -0.601881 0.119806 0.686016 0.390856 +TTool-pose None -28.0561 13.3139 14.1902 0.715481 0.582254 -0.237232 0.304466 +#25658 1721121387073 +SLAM 16.4427 9.17635 -16.7106 -0.603919 0.117802 0.683031 0.393539 +TTool-pose None -28.1007 13.3491 14.1913 0.713434 0.584847 -0.234262 0.306594 +#25659 1721121387109 +SLAM 16.2248 9.08677 -16.8672 -0.602202 0.120221 0.684959 0.392084 +TTool-pose None -28.0759 13.3192 14.1629 0.714768 0.582492 -0.236887 0.305953 +#25660 1721121387144 +SLAM 16.4136 9.27145 -16.6758 -0.603011 0.116594 0.683851 0.393868 +TTool-pose None -28.0731 13.3634 14.2024 0.712856 0.585806 -0.235049 0.305502 +#25661 1721121387177 +SLAM 16.0711 9.00877 -16.9528 -0.600364 0.122835 0.686298 0.391752 +TTool-pose None -28.0232 13.34 14.1205 0.715352 0.580464 -0.239633 0.306302 +#25662 1721121387212 +SLAM 16.0981 8.97081 -16.9543 -0.601947 0.122372 0.685987 0.390007 +TTool-pose None -28.0315 13.3115 14.1435 0.71661 0.580098 -0.237752 0.305521 +#25663 1721121387245 +SLAM 16.1672 9.15871 -16.8414 -0.601054 0.119587 0.685957 0.392296 +TTool-pose None -28.0316 13.3363 14.1612 0.714367 0.582992 -0.238089 0.305001 +#25664 1721121387277 +SLAM 15.9341 9.03642 -17.0101 -0.599133 0.122907 0.687881 0.390835 +TTool-pose None -27.998 13.3221 14.1158 0.715858 0.579988 -0.241134 0.304842 +#25665 1721121387307 +SLAM 16.2878 9.24788 -16.725 -0.601508 0.11803 0.684938 0.393848 +TTool-pose None -28.033 13.3707 14.1617 0.713023 0.584751 -0.237137 0.305522 +#25666 1721121387338 +SLAM 16.1883 9.23068 -16.7748 -0.601043 0.118364 0.686214 0.392234 +TTool-pose None -27.9973 13.3604 14.174 0.714146 0.583822 -0.237836 0.304127 +#25667 1721121387369 +SLAM 16.1912 9.21898 -16.7842 -0.600435 0.119217 0.685727 0.393756 +TTool-pose None -28.0195 13.3661 14.1362 0.713227 0.583849 -0.238665 0.305581 +#25668 1721121387399 +SLAM 16.192 9.16205 -16.7935 -0.599197 0.121456 0.685021 0.396179 +TTool-pose None -28.0223 13.4016 14.0707 0.711913 0.583264 -0.240486 0.308325 +#25669 1721121387434 +SLAM 16.1594 9.2732 -16.777 -0.601359 0.117124 0.686528 0.391572 +TTool-pose None -28.01 13.3169 14.1853 0.714364 0.584418 -0.237221 0.302947 +#25670 1721121387464 +SLAM 16.2321 9.2626 -16.7456 -0.601598 0.11748 0.685534 0.392837 +TTool-pose None -28.0291 13.338 14.1679 0.713604 0.584711 -0.236959 0.304375 +#25671 1721121387494 +SLAM 16.1591 9.23791 -16.7864 -0.601224 0.118011 0.686347 0.39183 +TTool-pose None -28.0061 13.3309 14.1688 0.714364 0.583904 -0.237564 0.303669 +#25672 1721121387523 +SLAM 16.0545 9.13163 -16.8915 -0.601121 0.119778 0.686943 0.390404 +TTool-pose None -28.009 13.2941 14.1528 0.715702 0.58206 -0.238139 0.303609 +#25673 1721121387561 +SLAM 15.9342 9.07124 -16.9633 -0.599358 0.122062 0.687966 0.390605 +TTool-pose None -27.9721 13.3171 14.1148 0.71586 0.580491 -0.240697 0.304224 +#25674 1721121387589 +SLAM 16.3753 9.29232 -16.6604 -0.604231 0.115145 0.683955 0.39224 +TTool-pose None -28.0733 13.2939 14.2011 0.71378 0.586165 -0.233367 0.30394 +#25675 1721121387619 +SLAM 16.0545 9.21469 -16.8493 -0.600555 0.118572 0.687345 0.390937 +TTool-pose None -27.993 13.3043 14.1638 0.715021 0.583113 -0.238514 0.302897 +#25676 1721121387651 +SLAM 16.1199 9.13643 -16.8559 -0.602203 0.119017 0.686183 0.390307 +TTool-pose None -28.0276 13.281 14.1618 0.71572 0.582583 -0.236705 0.303683 +#25677 1721121387684 +SLAM 16.3548 9.27623 -16.6498 -0.602569 0.116744 0.684187 0.393915 +TTool-pose None -28.0297 13.356 14.1681 0.712811 0.585709 -0.2356 0.30537 +#25678 1721121387719 +SLAM 15.8936 8.90246 -17.0257 -0.597881 0.126569 0.687232 0.392723 +TTool-pose None -27.9585 13.3642 14.023 0.715202 0.578175 -0.243301 0.308089 +#25679 1721121387753 +SLAM 16.2311 9.20435 -16.7558 -0.602813 0.117408 0.685253 0.391484 +TTool-pose None -28.0307 13.2938 14.178 0.714638 0.584225 -0.235577 0.303954 +#25680 1721121387786 +SLAM 16.0986 9.09455 -16.8722 -0.600929 0.120762 0.685878 0.392267 +TTool-pose None -28.0257 13.3012 14.1132 0.714624 0.582153 -0.238495 0.305686 +#25681 1721121387818 +SLAM 16.1839 9.12755 -16.8081 -0.602116 0.119435 0.685236 0.391974 +TTool-pose None -28.029 13.3037 14.1377 0.714666 0.582994 -0.236822 0.305284 +#25682 1721121387852 +SLAM 16.3427 9.20828 -16.6837 -0.603487 0.117241 0.683815 0.393009 +TTool-pose None -28.0483 13.3145 14.1599 0.713632 0.585005 -0.234673 0.305515 +#25683 1721121387886 +SLAM 16.1205 9.07566 -16.8559 -0.60131 0.120917 0.685564 0.392183 +TTool-pose None -28.0191 13.3061 14.1094 0.714755 0.58202 -0.238084 0.305953 +#25684 1721121387922 +SLAM 16.1751 9.12776 -16.809 -0.601858 0.119611 0.685194 0.392388 +TTool-pose None -28.0302 13.302 14.1261 0.714394 0.583038 -0.237144 0.305586 +#25685 1721121387956 +SLAM 16.1338 9.06872 -16.8493 -0.601045 0.121431 0.685256 0.392968 +TTool-pose None -28.0223 13.322 14.09 0.7143 0.581984 -0.23847 0.306783 +#25686 1721121387986 +SLAM 16.2183 9.23114 -16.732 -0.602054 0.117557 0.685393 0.392361 +TTool-pose None -28.0104 13.3155 14.1578 0.713993 0.58447 -0.236462 0.304313 +#25687 1721121388019 +SLAM 16.3208 9.26736 -16.677 -0.602974 0.116451 0.684143 0.393459 +TTool-pose None -28.0549 13.3045 14.1587 0.713101 0.585733 -0.235081 0.305046 +#25688 1721121388056 +SLAM 16.0949 9.17342 -16.8328 -0.601592 0.118698 0.686428 0.390914 +TTool-pose None -28.0103 13.2811 14.1478 0.715175 0.583046 -0.237325 0.303597 +#25689 1721121388088 +SLAM 16.2665 9.25187 -16.6954 -0.602959 0.116648 0.685027 0.391883 +TTool-pose None -28.0145 13.3125 14.1733 0.714217 0.584929 -0.235218 0.303866 +#25690 1721121388126 +SLAM 16.0799 9.11286 -16.8408 -0.600134 0.121121 0.686142 0.392909 +TTool-pose None -27.9861 13.3345 14.0916 0.714177 0.582149 -0.239475 0.30597 +#25691 1721121388161 +SLAM 15.985 9.00572 -16.9317 -0.599116 0.123796 0.686529 0.392954 +TTool-pose None -27.9789 13.3368 14.0484 0.714601 0.58026 -0.241248 0.307175 +#25692 1721121388195 +SLAM 16.0474 9.15334 -16.8573 -0.600212 0.120082 0.686531 0.392431 +TTool-pose None -28.0054 13.2951 14.1046 0.714291 0.582678 -0.23918 0.304928 +#25693 1721121388224 +SLAM 16.2088 9.22816 -16.7372 -0.602065 0.117666 0.685241 0.392578 +TTool-pose None -28.0208 13.3036 14.1417 0.71387 0.584486 -0.236463 0.304571 +#25694 1721121388254 +SLAM 16.1066 9.13753 -16.8333 -0.601878 0.11924 0.685933 0.391179 +TTool-pose None -28.0183 13.2739 14.1287 0.715141 0.582787 -0.237096 0.304352 +#25695 1721121388286 +SLAM 16.2836 9.26091 -16.68 -0.603124 0.1164 0.684607 0.392435 +TTool-pose None -28.0292 13.2992 14.161 0.713805 0.58534 -0.234942 0.304258 +#25696 1721121388320 +SLAM 16.3397 9.31477 -16.6232 -0.602818 0.115808 0.684101 0.39396 +TTool-pose None -28.0335 13.3229 14.1533 0.712603 0.586389 -0.235096 0.304936 +#25697 1721121388353 +SLAM 16.2309 9.23141 -16.7041 -0.601399 0.118373 0.684893 0.393991 +TTool-pose None -28.0047 13.3437 14.1115 0.712988 0.584568 -0.237333 0.305802 +#25698 1721121388386 +SLAM 16.1279 9.16217 -16.7986 -0.601673 0.119097 0.685656 0.392023 +TTool-pose None -28.013 13.2883 14.1135 0.714514 0.583238 -0.237266 0.304827 +#25699 1721121388418 +SLAM 16.2324 9.27592 -16.6938 -0.602491 0.116493 0.685117 0.39249 +TTool-pose None -28.0182 13.2946 14.1496 0.713721 0.585281 -0.235706 0.303977 +#25700 1721121388451 +SLAM 15.8337 8.98454 -17.0233 -0.599544 0.12338 0.68807 0.389722 +TTool-pose None -27.973 13.2602 14.0655 0.716758 0.579196 -0.240804 0.304492 +#25701 1721121388489 +SLAM 16.174 9.21583 -16.7501 -0.602045 0.117883 0.685354 0.392347 +TTool-pose None -28.0186 13.2867 14.1253 0.714072 0.584235 -0.236546 0.304513 +#25702 1721121388527 +SLAM 16.1124 9.26221 -16.7692 -0.601543 0.117208 0.686304 0.391657 +TTool-pose None -28.0082 13.2753 14.1383 0.714344 0.584401 -0.237019 0.303185 +#25703 1721121388560 +SLAM 16.2198 9.35273 -16.6755 -0.602646 0.114913 0.68538 0.392258 +TTool-pose None -28.0321 13.2661 14.1583 0.713554 0.586291 -0.235182 0.302828 +#25704 1721121388590 +SLAM 16.1294 9.21427 -16.7753 -0.601924 0.118017 0.685663 0.391952 +TTool-pose None -28.0219 13.271 14.113 0.714358 0.583971 -0.236736 0.304202 +#25705 1721121388621 +SLAM 16.2468 9.30275 -16.6683 -0.60189 0.116715 0.68464 0.394175 +TTool-pose None -28.0297 13.3077 14.1111 0.712556 0.585819 -0.23638 0.30515 +#25706 1721121388658 +SLAM 15.7825 8.95748 -17.0666 -0.598759 0.124626 0.687805 0.390999 +TTool-pose None -28.0034 13.2416 14.0074 0.716067 0.578839 -0.241937 0.3059 +#25707 1721121388693 +SLAM 16.0375 9.13272 -16.8561 -0.600003 0.121059 0.685646 0.393992 +TTool-pose None -28.0337 13.2804 14.0298 0.713411 0.582646 -0.239563 0.306743 +#25708 1721121388722 +SLAM 16.1198 9.24743 -16.7721 -0.602358 0.11702 0.685774 0.391389 +TTool-pose None -28.035 13.2411 14.1214 0.714572 0.584443 -0.236032 0.303338 +#25709 1721121388754 +SLAM 15.9326 9.15876 -16.8915 -0.599115 0.12097 0.687132 0.392782 +TTool-pose None -27.9954 13.28 14.04 0.714121 0.58217 -0.240645 0.305141 +#25710 1721121388787 +SLAM 15.9863 9.15394 -16.8752 -0.601256 0.119458 0.686582 0.390929 +TTool-pose None -28.0232 13.2301 14.0755 0.715291 0.58251 -0.237886 0.303911 +#25711 1721121388819 +SLAM 15.8929 9.11946 -16.9316 -0.59888 0.121911 0.687004 0.393073 +TTool-pose None -28.0137 13.2597 14.0076 0.714097 0.581626 -0.241111 0.305867 +#25712 1721121388850 +SLAM 16.1924 9.33884 -16.6838 -0.603379 0.114834 0.685166 0.391528 +TTool-pose None -28.0451 13.2303 14.1307 0.71411 0.586058 -0.234337 0.302623 +#25713 1721121388892 +SLAM 15.869 9.10879 -16.9461 -0.600159 0.120981 0.687405 0.390701 +TTool-pose None -28.0095 13.2188 14.0383 0.715653 0.581314 -0.239519 0.304069 +#25714 1721121388927 +SLAM 15.8568 9.12287 -16.9419 -0.599872 0.120947 0.687453 0.391068 +TTool-pose None -28.0087 13.2174 14.0273 0.715365 0.581484 -0.239831 0.304174 +#25715 1721121388958 +SLAM 16.0916 9.27985 -16.7487 -0.601686 0.117178 0.685597 0.392683 +TTool-pose None -28.0337 13.2399 14.0683 0.713654 0.58486 -0.236796 0.3041 +#25716 1721121388994 +SLAM 15.8409 9.13247 -16.9494 -0.600833 0.119912 0.687717 0.389444 +TTool-pose None -28.0145 13.179 14.0503 0.716351 0.581549 -0.23855 0.302731 +#25717 1721121389026 +SLAM 15.9179 9.18836 -16.9011 -0.601533 0.118572 0.686717 0.390537 +TTool-pose None -28.0596 13.1577 14.0463 0.715397 0.582973 -0.237384 0.303165 +#25718 1721121389065 +SLAM 15.7633 9.13574 -16.9795 -0.600133 0.120402 0.688245 0.389438 +TTool-pose None -28.009 13.1674 14.0185 0.716384 0.581183 -0.239478 0.302626 +#25719 1721121389099 +SLAM 15.7139 9.05899 -17.0326 -0.600265 0.121699 0.688247 0.388829 +TTool-pose None -28.0144 13.1461 13.9944 0.717086 0.58002 -0.239634 0.303072 +#25720 1721121389137 +SLAM 15.5291 9.06652 -17.1323 -0.598265 0.122688 0.690041 0.38842 +TTool-pose None -28.0012 13.125 13.9666 0.717352 0.579088 -0.242207 0.302177 +#25721 1721121389175 +SLAM 15.7888 9.22251 -16.91 -0.60056 0.118678 0.687833 0.390038 +TTool-pose None -28.0178 13.1444 14.0011 0.715655 0.582657 -0.238572 0.30223 +#25722 1721121389215 +SLAM 15.5675 9.07852 -17.0859 -0.598815 0.122336 0.689002 0.389525 +TTool-pose None -28.0221 13.1014 13.9257 0.716591 0.579823 -0.241441 0.303187 +#25723 1721121389245 +SLAM 15.7104 9.30736 -16.9327 -0.600566 0.116835 0.688322 0.389722 +TTool-pose None -28.0614 13.0593 13.9899 0.715473 0.583812 -0.23817 0.300744 +#25724 1721121389275 +SLAM 15.5272 9.15653 -17.075 -0.600237 0.119571 0.689752 0.38686 +TTool-pose None -28.0277 13.0305 13.9648 0.717961 0.58067 -0.239282 0.300013 +#25725 1721121389305 +SLAM 15.9268 9.36889 -16.7295 -0.602234 0.115226 0.686289 0.39121 +TTool-pose None -28.0273 13.1252 13.9882 0.714292 0.585617 -0.235786 0.301919 +#25726 1721121389335 +SLAM 15.704 9.30102 -16.8788 -0.600747 0.116964 0.688295 0.389451 +TTool-pose None -28.0094 13.0763 13.9669 0.715703 0.583613 -0.237999 0.300718 +#25727 1721121389366 +SLAM 15.668 9.24648 -16.9206 -0.600407 0.118294 0.687937 0.390205 +TTool-pose None -28.032 13.0558 13.922 0.715442 0.582992 -0.23866 0.302018 +#25728 1721121389396 +SLAM 15.6436 9.30562 -16.9099 -0.600106 0.117429 0.688085 0.390669 +TTool-pose None -28.0453 13.0342 13.9083 0.714909 0.583784 -0.2388 0.30164 +#25729 1721121389428 +SLAM 15.4863 9.20205 -17.0254 -0.599454 0.119456 0.689401 0.388731 +TTool-pose None -28.0189 13.0083 13.891 0.716586 0.581523 -0.240096 0.300997 +#25730 1721121389460 +SLAM 15.5867 9.32825 -16.9355 -0.602227 0.114816 0.688971 0.386599 +TTool-pose None -28.0524 12.9334 13.9713 0.717325 0.583944 -0.235903 0.297844 +#25731 1721121389493 +SLAM 15.5529 9.30238 -16.9534 -0.60089 0.116454 0.68887 0.388366 +TTool-pose None -28.049 12.9572 13.9207 0.716344 0.583512 -0.237765 0.299571 +#25732 1721121389527 +SLAM 15.4864 9.22955 -17.0091 -0.600102 0.118359 0.689081 0.388633 +TTool-pose None -28.0416 12.9588 13.8838 0.716488 0.582269 -0.2391 0.300581 +#25733 1721121389561 +SLAM 15.605 9.24467 -16.9328 -0.599812 0.118911 0.687258 0.392124 +TTool-pose None -28.071 12.9962 13.8301 0.714206 0.583356 -0.239406 0.303649 +#25734 1721121389598 +SLAM 15.5283 9.25061 -16.9623 -0.600231 0.118121 0.688431 0.389657 +TTool-pose None -28.0442 12.9661 13.8622 0.715757 0.582875 -0.238852 0.301344 +#25735 1721121389633 +SLAM 15.6287 9.31989 -16.8867 -0.601719 0.115923 0.687462 0.389734 +TTool-pose None -28.0751 12.942 13.8821 0.715391 0.584489 -0.236614 0.300851 +#25736 1721121389664 +SLAM 15.7166 9.35789 -16.7997 -0.602126 0.115262 0.686665 0.390704 +TTool-pose None -28.0607 12.9757 13.8778 0.714632 0.585374 -0.235944 0.30146 +#25737 1721121389694 +SLAM 15.6224 9.33284 -16.8806 -0.602311 0.11521 0.687249 0.389406 +TTool-pose None -28.0919 12.9036 13.8743 0.715521 0.584866 -0.235774 0.300468 +#25738 1721121389728 +SLAM 15.7142 9.43283 -16.7878 -0.601801 0.114101 0.686225 0.392316 +TTool-pose None -28.1133 12.9286 13.8505 0.713248 0.586857 -0.235992 0.301818 +#25739 1721121389764 +SLAM 15.6549 9.35314 -16.832 -0.602281 0.115126 0.686628 0.390572 +TTool-pose None -28.0896 12.9131 13.8442 0.714709 0.585418 -0.235738 0.301355 +#25740 1721121389800 +SLAM 15.6172 9.35992 -16.8316 -0.601403 0.115593 0.686928 0.391259 +TTool-pose None -28.0713 12.9227 13.8233 0.71425 0.585357 -0.236843 0.301695 +#25741 1721121389834 +SLAM 15.5226 9.33115 -16.9002 -0.601109 0.116126 0.687644 0.390293 +TTool-pose None -28.0779 12.8861 13.8113 0.714991 0.584566 -0.237351 0.301074 +#25742 1721121389865 +SLAM 15.5242 9.32989 -16.8854 -0.60119 0.116162 0.687437 0.390523 +TTool-pose None -28.0744 12.8824 13.7961 0.71485 0.584641 -0.237253 0.301337 +#25743 1721121389896 +SLAM 15.5464 9.32536 -16.8769 -0.602498 0.11528 0.686972 0.389584 +TTool-pose None -28.0971 12.8399 13.8021 0.715436 0.584898 -0.235561 0.300776 +#25744 1721121389927 +SLAM 15.607 9.41058 -16.8015 -0.602618 0.113669 0.686441 0.390807 +TTool-pose None -28.1058 12.8373 13.8044 0.714267 0.586544 -0.235004 0.300785 +#25745 1721121389960 +SLAM 15.5337 9.35641 -16.8469 -0.601882 0.115192 0.686831 0.39081 +TTool-pose None -28.0899 12.8377 13.7706 0.714519 0.585461 -0.236211 0.301351 +#25746 1721121389991 +SLAM 15.2092 9.04427 -17.1061 -0.598444 0.123209 0.688763 0.390244 +TTool-pose None -28.0243 12.8595 13.6522 0.716247 0.579503 -0.242033 0.304137 +#25747 1721121390024 +SLAM 15.546 9.3057 -16.8405 -0.600997 0.117182 0.685645 0.393653 +TTool-pose None -28.1082 12.8494 13.6874 0.71292 0.585246 -0.23756 0.304482 +#25748 1721121390058 +SLAM 15.439 9.29881 -16.8835 -0.60105 0.116868 0.68711 0.391103 +TTool-pose None -28.0686 12.8253 13.7115 0.714595 0.584389 -0.237549 0.3022 +#25749 1721121390096 +SLAM 15.2515 9.11039 -17.0523 -0.600412 0.120417 0.688145 0.389181 +TTool-pose None -28.0589 12.78 13.668 0.716591 0.581072 -0.239166 0.302595 +#25750 1721121390128 +SLAM 15.5704 9.4006 -16.7529 -0.602361 0.114186 0.685839 0.392106 +TTool-pose None -28.0828 12.8132 13.7246 0.713469 0.586725 -0.235362 0.302044 +#25751 1721121390160 +SLAM 15.3518 9.17136 -16.9639 -0.601772 0.118534 0.687157 0.389404 +TTool-pose None -28.072 12.7698 13.678 0.716184 0.582526 -0.237145 0.302353 +#25752 1721121390194 +SLAM 15.2572 9.18733 -17.0106 -0.601315 0.118154 0.688126 0.388513 +TTool-pose None -28.0722 12.7279 13.6814 0.716657 0.582399 -0.237637 0.301086 +#25753 1721121390225 +SLAM 15.4169 9.27814 -16.8756 -0.601078 0.117241 0.686276 0.392409 +TTool-pose None -28.0922 12.7735 13.6486 0.713789 0.584683 -0.237538 0.303544 +#25754 1721121390257 +SLAM 15.2387 9.17418 -16.9976 -0.600296 0.119275 0.688055 0.389871 +TTool-pose None -28.0484 12.7555 13.6437 0.715867 0.582161 -0.239021 0.302329 +#25755 1721121390288 +SLAM 15.2601 9.18894 -16.9831 -0.601801 0.117824 0.687884 0.388291 +TTool-pose None -28.0629 12.714 13.6678 0.716788 0.582551 -0.237003 0.300979 +#25756 1721121390321 +SLAM 15.4471 9.31324 -16.8207 -0.602148 0.115785 0.685921 0.391822 +TTool-pose None -28.0878 12.7458 13.6541 0.713987 0.585483 -0.235984 0.302744 +#25757 1721121390353 +SLAM 15.4185 9.22994 -16.8839 -0.603383 0.116186 0.685367 0.390771 +TTool-pose None -28.1362 12.6638 13.6388 0.714919 0.584794 -0.234669 0.3029 +#25758 1721121390388 +SLAM 15.4414 9.4211 -16.7593 -0.602782 0.112986 0.686519 0.390616 +TTool-pose None -28.0679 12.7131 13.6919 0.714264 0.586944 -0.234666 0.300274 +#25759 1721121390425 +SLAM 15.2844 9.17424 -16.939 -0.60214 0.118006 0.686802 0.389622 +TTool-pose None -28.0713 12.6882 13.6158 0.715962 0.582998 -0.236587 0.302405 +#25760 1721121390460 +SLAM 15.3997 9.30249 -16.8152 -0.602069 0.115952 0.685947 0.391849 +TTool-pose None -28.0741 12.7183 13.621 0.713997 0.585375 -0.236113 0.302829 +#25761 1721121390500 +SLAM 15.3751 9.24622 -16.8595 -0.60351 0.115684 0.686046 0.389531 +TTool-pose None -28.0884 12.6645 13.6426 0.715666 0.584623 -0.234463 0.301621 +#25762 1721121390534 +SLAM 15.3461 9.2475 -16.8725 -0.603298 0.115703 0.686429 0.389178 +TTool-pose None -28.0802 12.6614 13.6461 0.715887 0.584454 -0.234733 0.301213 +#25763 1721121390569 +SLAM 15.4586 9.29778 -16.783 -0.603446 0.115064 0.685146 0.391393 +TTool-pose None -28.0932 12.6898 13.6296 0.714259 0.585842 -0.234315 0.302705 +#25764 1721121390600 +SLAM 15.5715 9.40344 -16.6824 -0.604579 0.11238 0.684329 0.391852 +TTool-pose None -28.1123 12.6821 13.661 0.713476 0.58794 -0.232354 0.301994 +#25765 1721121390632 +SLAM 15.3763 9.14778 -16.8501 -0.600777 0.120159 0.685068 0.394095 +TTool-pose None -28.0517 12.7653 13.5293 0.713232 0.583342 -0.238452 0.3067 +#25766 1721121390661 +SLAM 15.5958 9.34182 -16.6492 -0.604079 0.114167 0.684025 0.392636 +TTool-pose None -28.0584 12.7476 13.6352 0.713281 0.587011 -0.233308 0.303524 +#25767 1721121390691 +SLAM 15.4411 9.16741 -16.8332 -0.604238 0.116922 0.68485 0.390136 +TTool-pose None -28.0855 12.6815 13.6157 0.715598 0.584034 -0.233854 0.303391 +#25768 1721121390724 +SLAM 15.5891 9.31259 -16.7066 -0.605122 0.11378 0.683592 0.391898 +TTool-pose None -28.1242 12.6751 13.6388 0.713806 0.586998 -0.232027 0.303297 +#25769 1721121390761 +SLAM 15.5959 9.28099 -16.7117 -0.605523 0.114124 0.683466 0.391398 +TTool-pose None -28.1198 12.6769 13.6398 0.714263 0.586557 -0.231654 0.303359 +#25770 1721121390797 +SLAM 15.5995 9.31942 -16.704 -0.604564 0.11411 0.683313 0.393148 +TTool-pose None -28.1366 12.6817 13.6229 0.712969 0.58728 -0.232698 0.304206 +#25771 1721121390829 +SLAM 15.612 9.28417 -16.6831 -0.603472 0.115889 0.68298 0.394879 +TTool-pose None -28.1056 12.7413 13.5824 0.712059 0.586737 -0.234297 0.306152 +#25772 1721121390867 +SLAM 15.6491 9.27584 -16.6569 -0.605588 0.11442 0.683076 0.39189 +TTool-pose None -28.0871 12.723 13.6368 0.713998 0.58656 -0.231619 0.304003 +#25773 1721121390899 +SLAM 15.7 9.3004 -16.6559 -0.605604 0.114014 0.681953 0.393935 +TTool-pose None -28.1591 12.6862 13.6143 0.712513 0.587706 -0.231408 0.305432 +#25774 1721121390931 +SLAM 15.4832 9.17138 -16.8242 -0.604529 0.116687 0.684064 0.391133 +TTool-pose None -28.1225 12.6613 13.6051 0.714899 0.584629 -0.233412 0.304236 +#25775 1721121390962 +SLAM 15.5506 9.24043 -16.7598 -0.605519 0.114805 0.683725 0.390753 +TTool-pose None -28.1269 12.659 13.6321 0.71485 0.585809 -0.231842 0.303277 +#25776 1721121390994 +SLAM 15.3429 9.03844 -16.9094 -0.602542 0.120713 0.685225 0.390945 +TTool-pose None -28.0488 12.7227 13.55 0.715684 0.581675 -0.236648 0.30555 +#25777 1721121391023 +SLAM 15.8228 9.50555 -16.4731 -0.606578 0.10965 0.681836 0.393878 +TTool-pose None -28.1233 12.717 13.6728 0.711689 0.590747 -0.229272 0.303085 +#25778 1721121391055 +SLAM 15.3102 9.0569 -16.9362 -0.602049 0.120681 0.685333 0.391524 +TTool-pose None -28.0745 12.7005 13.5353 0.715231 0.581929 -0.237194 0.305704 +#25779 1721121391096 +SLAM 15.5638 9.35676 -16.6973 -0.605314 0.112784 0.683913 0.391327 +TTool-pose None -28.1245 12.6534 13.6408 0.713997 0.587456 -0.231603 0.302281 +#25780 1721121391128 +SLAM 15.4625 9.26774 -16.7824 -0.603412 0.115859 0.684394 0.392525 +TTool-pose None -28.1124 12.6757 13.5833 0.713656 0.585765 -0.234478 0.304148 +#25781 1721121391165 +SLAM 15.2812 9.1239 -16.9278 -0.602661 0.118771 0.685979 0.390033 +TTool-pose None -28.0763 12.6625 13.5637 0.715902 0.582653 -0.236124 0.303573 +#25782 1721121391200 +SLAM 15.2182 9.04975 -16.9852 -0.60101 0.121461 0.68588 0.391923 +TTool-pose None -28.0791 12.6784 13.5006 0.715015 0.58152 -0.238568 0.305918 +#25783 1721121391234 +SLAM 15.2243 9.1182 -16.9401 -0.600859 0.120268 0.686264 0.391849 +TTool-pose None -28.0559 12.6908 13.5163 0.714795 0.582321 -0.238488 0.304969 +#25784 1721121391266 +SLAM 15.5427 9.32695 -16.6829 -0.605058 0.113706 0.683881 0.391514 +TTool-pose None -28.0922 12.6721 13.6086 0.714046 0.586885 -0.232104 0.302891 +#25785 1721121391299 +SLAM 14.9536 8.91883 -17.1609 -0.600121 0.123812 0.688379 0.388149 +TTool-pose None -28.0348 12.6267 13.4911 0.717976 0.578243 -0.240289 0.303838 +#25786 1721121391333 +SLAM 15.1275 9.0452 -17.0083 -0.600954 0.121348 0.686705 0.390596 +TTool-pose None -28.0551 12.6464 13.4906 0.715888 0.581036 -0.23867 0.304714 +#25787 1721121391366 +SLAM 15.2048 9.10935 -16.9429 -0.602023 0.119491 0.685926 0.390891 +TTool-pose None -28.0784 12.625 13.5013 0.715406 0.582494 -0.236994 0.30437 +#25788 1721121391400 +SLAM 15.328 9.25679 -16.8178 -0.60341 0.115811 0.685089 0.391327 +TTool-pose None -28.1007 12.6034 13.5379 0.714462 0.585292 -0.234527 0.303126 +#25789 1721121391438 +SLAM 15.0715 9.0269 -17.0088 -0.600287 0.122281 0.686753 0.391247 +TTool-pose None -28.036 12.6424 13.4402 0.715571 0.580638 -0.239627 0.305467 +#25790 1721121391470 +SLAM 15.3204 9.24767 -16.8206 -0.605323 0.114424 0.685004 0.388924 +TTool-pose None -28.1151 12.5375 13.5559 0.715991 0.585295 -0.232072 0.301394 +#25791 1721121391506 +SLAM 15.0784 9.10721 -16.9828 -0.601694 0.119468 0.686882 0.389724 +TTool-pose None -28.0623 12.5738 13.4753 0.716159 0.582006 -0.237429 0.303191 +#25792 1721121391537 +SLAM 15.1089 9.05422 -16.9688 -0.601899 0.120621 0.686091 0.390446 +TTool-pose None -28.0593 12.5893 13.4415 0.715936 0.58151 -0.237408 0.304683 +#25793 1721121391568 +SLAM 15.2524 9.26171 -16.7975 -0.603711 0.11541 0.685657 0.389986 +TTool-pose None -28.056 12.5763 13.5138 0.715319 0.585013 -0.234145 0.301936 +#25794 1721121391599 +SLAM 15.2653 9.25924 -16.8066 -0.603253 0.115887 0.684702 0.392224 +TTool-pose None -28.1082 12.5456 13.4669 0.713851 0.585613 -0.234686 0.303821 +#25795 1721121391631 +SLAM 15.1085 9.14367 -16.9296 -0.602847 0.118023 0.685878 0.39015 +TTool-pose None -28.092 12.5112 13.444 0.715681 0.583231 -0.235735 0.303284 +#25796 1721121391662 +SLAM 15.2995 9.32051 -16.7371 -0.604492 0.113949 0.684426 0.391365 +TTool-pose None -28.1005 12.5228 13.4743 0.714143 0.586638 -0.232834 0.302581 +#25797 1721121391694 +SLAM 15.2354 9.31707 -16.7659 -0.603856 0.114279 0.684845 0.391517 +TTool-pose None -28.0994 12.5008 13.4556 0.714046 0.586454 -0.23365 0.302536 +#25798 1721121391729 +SLAM 14.927 9.03756 -17.0265 -0.601403 0.120864 0.686835 0.389827 +TTool-pose None -28.0611 12.4858 13.3705 0.716356 0.581063 -0.238072 0.304031 +#25799 1721121391770 +SLAM 14.7892 8.9916 -17.1018 -0.600444 0.122122 0.688158 0.388576 +TTool-pose None -28.0313 12.4733 13.355 0.717367 0.579621 -0.239526 0.303256 +#25800 1721121391805 +SLAM 14.9684 9.10289 -16.9508 -0.601779 0.119587 0.686358 0.390479 +TTool-pose None -28.0535 12.484 13.3568 0.715681 0.582245 -0.237321 0.303945 +#25801 1721121391837 +SLAM 14.9824 9.17656 -16.9089 -0.602367 0.117684 0.68642 0.390041 +TTool-pose None -28.0578 12.4573 13.3733 0.715632 0.583408 -0.23623 0.302674 +#25802 1721121391870 +SLAM 14.9328 9.096 -16.9588 -0.602563 0.118983 0.686427 0.389331 +TTool-pose None -28.0588 12.435 13.3501 0.716414 0.582204 -0.236318 0.303076 +#25803 1721121391905 +SLAM 14.9247 9.15309 -16.9385 -0.602733 0.117627 0.686688 0.38902 +TTool-pose None -28.0611 12.412 13.363 0.716351 0.583026 -0.235832 0.302019 +#25804 1721121391942 +SLAM 14.9129 9.1204 -16.9347 -0.603067 0.118086 0.686606 0.388506 +TTool-pose None -28.0444 12.4116 13.3479 0.716833 0.582496 -0.235563 0.302107 +#25805 1721121391975 +SLAM 14.7512 9.05833 -17.0318 -0.601033 0.120407 0.687833 0.388777 +TTool-pose None -28.0234 12.4032 13.3036 0.71693 0.580926 -0.238452 0.302634 +#25806 1721121392017 +SLAM 14.8048 9.10728 -16.9889 -0.602611 0.118307 0.687318 0.387888 +TTool-pose None -28.0485 12.3597 13.3257 0.717251 0.582066 -0.236176 0.301466 +#25807 1721121392051 +SLAM 14.8118 9.1342 -16.9654 -0.6021 0.118335 0.686957 0.38931 +TTool-pose None -28.0555 12.361 13.2968 0.71624 0.582635 -0.23672 0.302343 +#25808 1721121392084 +SLAM 15.0711 9.38031 -16.7176 -0.604836 0.112103 0.685029 0.390309 +TTool-pose None -28.0833 12.348 13.3566 0.714492 0.587487 -0.23206 0.300694 +#25809 1721121392116 +SLAM 14.789 9.11556 -16.9405 -0.600623 0.120062 0.686694 0.391521 +TTool-pose None -28.0229 12.4007 13.2333 0.714949 0.582319 -0.238735 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-0.233885 0.29993 +#25816 1721121392343 +SLAM 14.9222 9.40526 -16.6973 -0.603548 0.112482 0.685642 0.391117 +TTool-pose None -28.0362 12.306 13.2637 0.713893 0.58753 -0.233627 0.300822 +#25817 1721121392375 +SLAM 14.7196 9.21856 -16.894 -0.603805 0.115078 0.68701 0.387549 +TTool-pose None -28.0454 12.2197 13.2512 0.716909 0.584213 -0.234067 0.299765 +#25818 1721121392407 +SLAM 14.6127 9.16072 -16.9488 -0.602209 0.11728 0.687915 0.387766 +TTool-pose None -28.0066 12.2453 13.2148 0.71707 0.58272 -0.236425 0.300434 +#25819 1721121392444 +SLAM 14.6023 9.16942 -16.9524 -0.601965 0.117241 0.687822 0.388322 +TTool-pose None -28.0182 12.2307 13.2033 0.71666 0.582976 -0.23668 0.300716 +#25820 1721121392480 +SLAM 14.6763 9.20163 -16.897 -0.603544 0.115624 0.687149 0.387547 +TTool-pose None -28.0288 12.2137 13.2222 0.717001 0.583823 -0.234497 0.299968 +#25821 1721121392516 +SLAM 14.7105 9.29402 -16.815 -0.602342 0.114954 0.686998 0.389877 +TTool-pose None -28.0047 12.2541 13.2052 0.715149 0.585245 -0.235659 0.300704 +#25822 1721121392551 +SLAM 14.5104 9.04314 -17.0257 -0.60117 0.120242 0.687892 0.388511 +TTool-pose None -28.0045 12.2275 13.1418 0.71709 0.580933 -0.238267 0.30239 +#25823 1721121392584 +SLAM 14.5348 9.17779 -16.9589 -0.602 0.116824 0.688486 0.387215 +TTool-pose None -27.9963 12.2041 13.1982 0.717322 0.582798 -0.236593 0.299549 +#25824 1721121392615 +SLAM 14.6918 9.20949 -16.8625 -0.603647 0.11544 0.686617 0.388382 +TTool-pose None -28.0286 12.2001 13.1979 0.716406 0.584309 -0.234298 0.300597 +#25825 1721121392650 +SLAM 14.6073 9.10517 -16.939 -0.603151 0.117582 0.687194 0.387488 +TTool-pose None -28.0087 12.2 13.1803 0.717423 0.582418 -0.235397 0.300984 +#25826 1721121392683 +SLAM 14.5863 9.05455 -16.9551 -0.601707 0.119815 0.68697 0.389442 +TTool-pose None -27.9952 12.2386 13.1325 0.716426 0.581644 -0.237502 0.303199 +#25827 1721121392715 +SLAM 14.6784 9.12451 -16.8834 -0.603321 0.117283 0.686293 0.388909 +TTool-pose None -28.0144 12.2107 13.1689 0.716414 0.583236 -0.235069 0.302058 +#25828 1721121392748 +SLAM 14.8219 9.25159 -16.7607 -0.605641 0.113285 0.685385 0.388088 +TTool-pose None -28.0347 12.1857 13.2258 0.716341 0.585744 -0.231478 0.300143 +#25829 1721121392781 +SLAM 14.6019 9.12993 -16.9291 -0.603643 0.116492 0.687365 0.386747 +TTool-pose None -28.0099 12.1711 13.1982 0.71774 0.582879 -0.234607 0.299948 +#25830 1721121392818 +SLAM 14.5874 9.11569 -16.9252 -0.602548 0.117757 0.687336 0.388122 +TTool-pose None -27.9912 12.2054 13.1664 0.716968 0.582548 -0.236117 0.301253 +#25831 1721121392854 +SLAM 14.5713 9.14381 -16.9194 -0.603992 0.115801 0.688112 0.38508 +TTool-pose None -27.9742 12.1726 13.2219 0.718752 0.582662 -0.234111 0.298331 +#25832 1721121392886 +SLAM 14.6455 9.11647 -16.8959 -0.603359 0.117163 0.686475 0.388564 +TTool-pose None -28.0137 12.1836 13.1657 0.716626 0.583175 -0.235013 0.301717 +#25833 1721121392918 +SLAM 14.7567 9.14141 -16.8217 -0.605317 0.115466 0.685426 0.387881 +TTool-pose None -28.0246 12.1731 13.1898 0.716925 0.584125 -0.232359 0.301225 +#25834 1721121392959 +SLAM 14.6706 9.13063 -16.8682 -0.603799 0.116599 0.686262 0.388428 +TTool-pose None -28.0098 12.1811 13.1709 0.716642 0.583524 -0.234376 0.301499 +#25835 1721121392994 +SLAM 14.6776 9.11502 -16.8647 -0.604306 0.116495 0.686115 0.387929 +TTool-pose None -28.0087 12.171 13.173 0.717011 0.583399 -0.233777 0.30133 +#25836 1721121393027 +SLAM 14.6162 9.07171 -16.9103 -0.603116 0.118046 0.686382 0.388841 +TTool-pose None -28.0056 12.1713 13.1433 0.716603 0.582667 -0.235483 0.302385 +#25837 1721121393063 +SLAM 14.6047 9.06509 -16.9037 -0.602472 0.118719 0.686518 0.389392 +TTool-pose None -27.9842 12.197 13.1307 0.716306 0.582412 -0.236365 0.302894 +#25838 1721121393096 +SLAM 14.5828 9.06183 -16.9065 -0.602894 0.118348 0.686973 0.388045 +TTool-pose None -27.9655 12.1916 13.1469 0.717184 0.582112 -0.235844 0.301796 +#25839 1721121393130 +SLAM 14.6278 9.09241 -16.8799 -0.603467 0.11731 0.686455 0.388387 +TTool-pose None -27.9887 12.1699 13.1559 0.716789 0.583 -0.234926 0.301736 +#25840 1721121393162 +SLAM 14.5837 9.07812 -16.8918 -0.601876 0.118842 0.686793 0.389792 +TTool-pose None -27.9633 12.2075 13.1234 0.715998 0.582478 -0.237074 0.302941 +#25841 1721121393194 +SLAM 14.5684 9.04847 -16.9117 -0.60332 0.118111 0.687104 0.387224 +TTool-pose None -27.9602 12.1729 13.1542 0.717734 0.581941 -0.235326 0.301223 +#25842 1721121393228 +SLAM 14.5657 9.0585 -16.9122 -0.60276 0.118294 0.687024 0.388181 +TTool-pose None -27.967 12.1735 13.1446 0.717066 0.582203 -0.235984 0.30179 +#25843 1721121393265 +SLAM 14.5551 9.06068 -16.9042 -0.602521 0.118424 0.68723 0.38815 +TTool-pose None -27.949 12.1854 13.1431 0.71709 0.582092 -0.236296 0.301704 +#25844 1721121393300 +SLAM 14.6363 9.09855 -16.849 -0.602783 0.117674 0.686214 0.389764 +TTool-pose None -27.9719 12.1841 13.1365 0.715862 0.58331 -0.235752 0.302694 +#25845 1721121393339 +SLAM 14.5865 9.08229 -16.8875 -0.603822 0.116892 0.687128 0.386769 +TTool-pose None -27.9608 12.1543 13.1772 0.717831 0.582614 -0.234485 0.300343 +#25846 1721121393373 +SLAM 14.7125 9.1163 -16.8121 -0.604436 0.116103 0.685361 0.389174 +TTool-pose None -28.0025 12.147 13.1586 0.716095 0.584205 -0.233482 0.302175 +#25847 1721121393410 +SLAM 14.5906 9.03537 -16.8857 -0.602067 0.1194 0.686409 0.390003 +TTool-pose None -27.9552 12.1992 13.1113 0.715994 0.582183 -0.236963 0.303604 +#25848 1721121393443 +SLAM 14.5606 9.04223 -16.899 -0.601521 0.119616 0.68658 0.390477 +TTool-pose None -27.959 12.1921 13.0981 0.71566 0.582217 -0.237631 0.303806 +#25849 1721121393475 +SLAM 14.6132 9.07147 -16.8539 -0.603247 0.117851 0.686427 0.388615 +TTool-pose None -27.953 12.18 13.1346 0.716728 0.582712 -0.235295 0.302149 +#25850 1721121393509 +SLAM 14.5611 9.07606 -16.8864 -0.601801 0.118709 0.686689 0.390131 +TTool-pose None -27.9632 12.1772 13.1075 0.715731 0.582712 -0.237118 0.303086 +#25851 1721121393544 +SLAM 14.4731 9.05591 -16.9355 -0.601728 0.118824 0.687861 0.388139 +TTool-pose None -27.9392 12.1632 13.1242 0.717098 0.581784 -0.237316 0.301477 +#25852 1721121393578 +SLAM 14.6495 9.23398 -16.7701 -0.60221 0.115504 0.68639 0.390987 +TTool-pose None -27.9633 12.181 13.138 0.714501 0.585328 -0.235887 0.301906 +#25853 1721121393612 +SLAM 14.3527 8.92079 -17.0438 -0.600703 0.12201 0.688654 0.387331 +TTool-pose None -27.9168 12.1732 13.0907 0.718213 0.579177 -0.23925 0.302315 +#25854 1721121393644 +SLAM 14.6175 9.20265 -16.8173 -0.603914 0.114571 0.686878 0.387763 +TTool-pose None -27.9765 12.1289 13.1766 0.716664 0.584661 -0.233816 0.299671 +#25855 1721121393677 +SLAM 14.5482 9.16954 -16.8531 -0.601942 0.116796 0.687416 0.389209 +TTool-pose None -27.9494 12.1744 13.1345 0.71596 0.583664 -0.236569 0.301136 +#25856 1721121393712 +SLAM 14.7294 9.18347 -16.7563 -0.60496 0.114727 0.685463 0.38859 +TTool-pose None -27.9848 12.1558 13.1617 0.716247 0.584932 -0.232583 0.301098 +#25857 1721121393745 +SLAM 14.4901 9.0872 -16.9319 -0.602372 0.117813 0.68798 0.387236 +TTool-pose None -27.9513 12.1563 13.1479 0.717561 0.582127 -0.236374 0.300454 +#25858 1721121393781 +SLAM 14.4642 9.0431 -16.9593 -0.601263 0.119581 0.687954 0.388463 +TTool-pose None -27.9448 12.1828 13.1169 0.716991 0.581378 -0.238015 0.301965 +#25859 1721121393821 +SLAM 14.5452 9.13183 -16.8825 -0.601684 0.117791 0.687388 0.389357 +TTool-pose None -27.9544 12.19 13.1302 0.716047 0.583023 -0.237086 0.301764 +#25860 1721121393857 +SLAM 14.4376 8.96527 -16.9998 -0.600872 0.121516 0.687853 0.388645 +TTool-pose None -27.9393 12.2009 13.0884 0.717238 0.580088 -0.238889 0.303169 +#25861 1721121393890 +SLAM 14.5177 9.0423 -16.9423 -0.601796 0.119459 0.687314 0.388806 +TTool-pose None -27.9628 12.1887 13.1156 0.71679 0.581625 -0.237348 0.302492 +#25862 1721121393922 +SLAM 14.7934 9.30716 -16.7061 -0.604923 0.112547 0.685545 0.38914 +TTool-pose None -28.0043 12.1741 13.2028 0.715393 0.586685 -0.232112 0.300078 +#25863 1721121393954 +SLAM 14.8071 9.36565 -16.672 -0.603999 0.112235 0.685527 0.390693 +TTool-pose None -28.0008 12.1973 13.193 0.714174 0.587534 -0.233059 0.300585 +#25864 1721121393987 +SLAM 14.5521 9.03715 -16.9432 -0.603044 0.118728 0.687158 0.387369 +TTool-pose None -27.9763 12.179 13.1422 0.717738 0.581563 -0.235781 0.301584 +#25865 1721121394020 +SLAM 14.5096 8.99989 -16.9878 -0.601227 0.120815 0.687115 0.389618 +TTool-pose None -27.986 12.1987 13.0983 0.716467 0.581003 -0.238277 0.303719 +#25866 1721121394052 +SLAM 14.6415 9.12047 -16.8811 -0.603783 0.116768 0.686518 0.387949 +TTool-pose None -28.0027 12.1753 13.1662 0.717002 0.583201 -0.234453 0.301208 +#25867 1721121394084 +SLAM 14.6546 9.11754 -16.8769 -0.603742 0.116977 0.686251 0.388422 +TTool-pose None -28.0095 12.1793 13.1562 0.716722 0.583255 -0.234528 0.301711 +#25868 1721121394118 +SLAM 14.5887 9.08374 -16.9305 -0.603006 0.118055 0.686864 0.388156 +TTool-pose None -28.0043 12.1814 13.1465 0.717057 0.582368 -0.235644 0.30176 +#25869 1721121394153 +SLAM 14.6404 9.22444 -16.8408 -0.602926 0.115484 0.687078 0.388675 +TTool-pose None -27.9901 12.1986 13.179 0.716142 0.584382 -0.235144 0.300424 +#25870 1721121394185 +SLAM 14.8377 9.40301 -16.6686 -0.604678 0.111209 0.685501 0.389983 +TTool-pose None -28.0232 12.1948 13.2166 0.7145 0.587968 -0.23206 0.299734 +#25871 1721121394220 +SLAM 14.6789 9.27786 -16.8088 -0.603522 0.114095 0.686757 0.388726 +TTool-pose None -28.0104 12.1811 13.1902 0.715867 0.585391 -0.234129 0.299907 +#25872 1721121394255 +SLAM 14.577 9.14779 -16.9116 -0.602848 0.116922 0.687445 0.387715 +TTool-pose None -27.9926 12.1869 13.1659 0.717095 0.582967 -0.235597 0.300544 +#25873 1721121394291 +SLAM 14.5907 9.14385 -16.9052 -0.602539 0.117353 0.687154 0.38858 +TTool-pose None -27.9964 12.1981 13.1516 0.71657 0.583025 -0.236019 0.301355 +#25874 1721121394324 +SLAM 14.3742 8.99948 -17.0711 -0.600487 0.121154 0.688968 0.387376 +TTool-pose None -27.965 12.1967 13.1139 0.717978 0.57979 -0.239315 0.301647 +#25875 1721121394361 +SLAM 14.396 9.04823 -17.0375 -0.600561 0.120202 0.688879 0.387717 +TTool-pose None -27.9662 12.1944 13.1192 0.717552 0.580604 -0.239007 0.301336 +#25876 1721121394394 +SLAM 14.7063 9.33065 -16.7598 -0.603237 0.113465 0.68659 0.389647 +TTool-pose None -28.0011 12.1985 13.1841 0.715075 0.586212 -0.234282 0.300073 +#25877 1721121394429 +SLAM 14.4737 9.03605 -16.9959 -0.600894 0.12052 0.687641 0.389296 +TTool-pose None -27.9833 12.2034 13.0939 0.716588 0.581063 -0.238618 0.303052 +#25878 1721121394470 +SLAM 14.5182 9.15986 -16.9359 -0.602607 0.116601 0.688025 0.387157 +TTool-pose None -27.9923 12.1589 13.166 0.717377 0.582947 -0.235832 0.299724 +#25879 1721121394505 +SLAM 14.6991 9.34355 -16.7566 -0.603495 0.112967 0.686675 0.389243 +TTool-pose None -28.0029 12.1839 13.1881 0.715267 0.586395 -0.233884 0.299567 +#25880 1721121394538 +SLAM 14.4539 9.16015 -16.9552 -0.601441 0.117388 0.688789 0.387375 +TTool-pose None -27.9642 12.1794 13.153 0.717275 0.582455 -0.237368 0.299715 +#25881 1721121394572 +SLAM 14.4338 9.05485 -17.0051 -0.601173 0.119749 0.688361 0.387828 +TTool-pose None -27.9693 12.1883 13.1146 0.717446 0.580988 -0.238184 0.3015 +#25882 1721121394606 +SLAM 14.4962 9.13171 -16.9453 -0.602019 0.11768 0.688011 0.387769 +TTool-pose None -27.9808 12.1738 13.1399 0.717134 0.582436 -0.236737 0.300587 +#25883 1721121394640 +SLAM 14.6839 9.24646 -16.8175 -0.604396 0.114064 0.686303 0.388178 +TTool-pose None -28.0286 12.1483 13.1794 0.716323 0.585204 -0.233116 0.299971 +#25884 1721121394673 +SLAM 14.5235 9.16415 -16.9188 -0.602138 0.117077 0.687851 0.38805 +TTool-pose None -27.983 12.1796 13.1447 0.716827 0.58298 -0.236451 0.300489 +#25885 1721121394705 +SLAM 14.6186 9.25044 -16.8353 -0.602642 0.115285 0.687011 0.389291 +TTool-pose None -27.9998 12.1824 13.1536 0.715651 0.584774 -0.235406 0.300626 +#25886 1721121394738 +SLAM 14.5536 9.14063 -16.9011 -0.601843 0.117999 0.687291 0.38922 +TTool-pose None -27.9782 12.2053 13.1204 0.716201 0.582824 -0.236952 0.301887 +#25887 1721121394774 +SLAM 14.7233 9.31395 -16.7604 -0.603849 0.113394 0.686106 0.389573 +TTool-pose None -28.0199 12.1771 13.1752 0.715174 0.586248 -0.233549 0.300339 +#25888 1721121394808 +SLAM 14.4093 9.00617 -17.0341 -0.60037 0.121433 0.688173 0.38888 +TTool-pose None -27.9711 12.2035 13.0779 0.717007 0.58023 -0.23945 0.303 +#25889 1721121394840 +SLAM 14.869 9.45458 -16.6358 -0.605799 0.109404 0.684801 0.389983 +TTool-pose None -28.0642 12.1351 13.2112 0.714214 0.589255 -0.230326 0.299225 +#25890 1721121394876 +SLAM 14.3511 9.02311 -17.0497 -0.599762 0.121357 0.689098 0.388203 +TTool-pose None -27.9458 12.2095 13.0881 0.717382 0.579977 -0.240175 0.302021 +#25891 1721121394910 +SLAM 14.5628 9.16983 -16.9114 -0.603557 0.115908 0.687456 0.386895 +TTool-pose None -28.0086 12.1466 13.167 0.717504 0.583348 -0.234572 0.299628 +#25892 1721121394946 +SLAM 14.3641 9.08056 -17.0468 -0.60094 0.119102 0.689307 0.386705 +TTool-pose None -27.9749 12.1594 13.1326 0.718041 0.580955 -0.238361 0.300002 +#25893 1721121394982 +SLAM 14.6203 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14.5032 9.06781 -16.9621 -0.600232 0.120622 0.687145 0.391157 +TTool-pose None -27.989 12.2198 13.0692 0.715275 0.581761 -0.239334 0.30425 +#25900 1721121395265 +SLAM 14.4963 9.04478 -16.9816 -0.602264 0.119265 0.687637 0.387568 +TTool-pose None -27.985 12.1801 13.1236 0.717636 0.581249 -0.236808 0.301629 +#25901 1721121395299 +SLAM 14.628 9.14258 -16.88 -0.602843 0.117327 0.686387 0.389471 +TTool-pose None -28.0119 12.1893 13.1306 0.715993 0.58343 -0.235617 0.302258 +#25902 1721121395333 +SLAM 14.457 8.917 -17.0517 -0.600721 0.123068 0.687119 0.389687 +TTool-pose None -27.9914 12.2116 13.0557 0.716843 0.579437 -0.239358 0.304973 +#25903 1721121395368 +SLAM 14.6773 9.13731 -16.864 -0.604324 0.116369 0.686031 0.388088 +TTool-pose None -28.022 12.174 13.1586 0.716878 0.583555 -0.233722 0.301387 +#25904 1721121395402 +SLAM 14.7316 9.18295 -16.832 -0.604719 0.115265 0.685539 0.388671 +TTool-pose None -28.046 12.1648 13.1704 0.716284 0.584585 -0.232983 0.301375 +#25905 1721121395436 +SLAM 14.7594 9.13537 -16.8224 -0.603637 0.117347 0.684852 0.390935 +TTool-pose None -28.0357 12.217 13.1258 0.715085 0.584058 -0.23462 0.303965 +#25906 1721121395468 +SLAM 14.8516 9.21296 -16.7758 -0.60686 0.113285 0.684566 0.38763 +TTool-pose None -28.0744 12.1494 13.214 0.716775 0.585582 -0.230059 0.300515 +#25907 1721121395503 +SLAM 14.6817 9.09671 -16.9169 -0.604137 0.117281 0.686078 0.388021 +TTool-pose None -28.0448 12.1862 13.1728 0.717101 0.582884 -0.234147 0.301826 +#25908 1721121395546 +SLAM 14.8984 9.27707 -16.7312 -0.604703 0.114039 0.684395 0.391066 +TTool-pose None -28.0635 12.2329 13.1959 0.714387 0.586454 -0.232619 0.302525 +#25909 1721121395580 +SLAM 14.949 9.28203 -16.7186 -0.605761 0.113115 0.684123 0.390171 +TTool-pose None -28.0768 12.2233 13.2299 0.714902 0.586749 -0.231203 0.301821 +#25910 1721121395616 +SLAM 14.8242 9.12367 -16.8551 -0.604524 0.116737 0.685266 0.389015 +TTool-pose None -28.0479 12.2471 13.2177 0.716349 0.583697 -0.233526 0.30252 +#25911 1721121395650 +SLAM 14.8683 9.11309 -16.8606 -0.605723 0.115938 0.685097 0.387686 +TTool-pose None -28.0653 12.2329 13.2592 0.7172 0.583724 -0.231993 0.301628 +#25912 1721121395682 +SLAM 14.8623 9.12162 -16.8622 -0.603998 0.117236 0.685123 0.389934 +TTool-pose None -28.0578 12.2808 13.2319 0.715778 0.583723 -0.234216 0.303287 +#25913 1721121395717 +SLAM 14.9175 9.15644 -16.8378 -0.604741 0.116148 0.684789 0.389696 +TTool-pose None -28.0769 12.2788 13.255 0.715782 0.584403 -0.233109 0.302821 +#25914 1721121395748 +SLAM 14.9608 9.21433 -16.8087 -0.605993 0.114038 0.684879 0.388213 +TTool-pose None -28.0876 12.2596 13.3047 0.716457 0.585282 -0.231226 0.300963 +#25915 1721121395783 +SLAM 14.8064 9.03131 -16.9502 -0.603065 0.119724 0.685842 0.389358 +TTool-pose None -28.0445 12.3271 13.2311 0.716607 0.581711 -0.235889 0.3039 +#25916 1721121395817 +SLAM 15.1343 9.35452 -16.6679 -0.605876 0.112005 0.68361 0.391212 +TTool-pose None -28.1014 12.3195 13.3214 0.713961 0.587965 -0.230769 0.302013 +#25917 1721121395849 +SLAM 15.2559 9.44437 -16.579 -0.606443 0.110203 0.682596 0.392611 +TTool-pose None -28.1268 12.3355 13.338 0.712665 0.589826 -0.229621 0.302322 +#25918 1721121395887 +SLAM 14.9406 9.14071 -16.8604 -0.604463 0.116785 0.685315 0.389011 +TTool-pose None -28.0606 12.3399 13.2958 0.716356 0.58366 -0.233609 0.302511 +#25919 1721121395923 +SLAM 15.1724 9.36136 -16.6552 -0.606121 0.111789 0.683491 0.391101 +TTool-pose None -28.1016 12.3385 13.3402 0.714014 0.588076 -0.230435 0.301929 +#25920 1721121395960 +SLAM 14.9725 9.08898 -16.8641 -0.604864 0.11763 0.684643 0.389316 +TTool-pose None -28.0708 12.3435 13.2813 0.716372 0.583209 -0.23331 0.303572 +#25921 1721121396001 +SLAM 14.9804 9.18172 -16.829 -0.604009 0.116409 0.684819 0.390698 +TTool-pose None -28.0773 12.345 13.287 0.715082 0.584625 -0.233984 0.303372 +#25922 1721121396037 +SLAM 15.0751 9.21913 -16.7657 -0.606463 0.113879 0.68415 0.38881 +TTool-pose None -28.0918 12.3098 13.3368 0.716065 0.585658 -0.230609 0.301638 +#25923 1721121396070 +SLAM 15.1265 9.25555 -16.724 -0.606751 0.113027 0.683577 0.389617 +TTool-pose None -28.1058 12.3037 13.3387 0.715359 0.586601 -0.23004 0.301914 +#25924 1721121396101 +SLAM 15.0626 9.17959 -16.78 -0.605984 0.114997 0.683972 0.38954 +TTool-pose None -28.0883 12.3172 13.3136 0.715764 0.585174 -0.231392 0.30269 +#25925 1721121396133 +SLAM 15.0617 9.20786 -16.7688 -0.605579 0.11475 0.684017 0.390163 +TTool-pose None -28.0892 12.32 13.3101 0.715246 0.585599 -0.231786 0.30279 +#25926 1721121396166 +SLAM 14.8624 8.98106 -16.9461 -0.602647 0.121176 0.684996 0.391042 +TTool-pose None -28.0522 12.3618 13.2139 0.715727 0.581395 -0.236621 0.306003 +#25927 1721121396201 +SLAM 15.0929 9.26477 -16.7098 -0.604441 0.11475 0.683643 0.392575 +TTool-pose None -28.0779 12.3559 13.2814 0.713487 0.586589 -0.233014 0.304083 +#25928 1721121396233 +SLAM 15.1016 9.20938 -16.7426 -0.606722 0.113935 0.683568 0.389412 +TTool-pose None -28.0962 12.3025 13.3208 0.715693 0.585881 -0.230287 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-0.230268 0.303031 +#25935 1721121396467 +SLAM 15.1711 9.31886 -16.6471 -0.606087 0.112473 0.682956 0.391892 +TTool-pose None -28.0982 12.3203 13.3118 0.713621 0.587932 -0.230592 0.303016 +#25936 1721121396499 +SLAM 14.9195 9.02861 -16.8829 -0.604132 0.119054 0.684569 0.390148 +TTool-pose None -28.0542 12.3281 13.2414 0.716037 0.582545 -0.234448 0.304759 +#25937 1721121396531 +SLAM 15.0416 9.20085 -16.7624 -0.606035 0.114302 0.684076 0.389483 +TTool-pose None -28.0805 12.289 13.3102 0.715656 0.585637 -0.231179 0.302212 +#25938 1721121396571 +SLAM 14.9324 9.09169 -16.8579 -0.604722 0.117291 0.684795 0.389372 +TTool-pose None -28.0602 12.3065 13.2709 0.716247 0.583466 -0.2334 0.303304 +#25939 1721121396605 +SLAM 15.0949 9.25935 -16.6997 -0.605282 0.114049 0.683562 0.391625 +TTool-pose None -28.0763 12.3259 13.2921 0.714067 0.586699 -0.231911 0.303348 +#25940 1721121396638 +SLAM 15.1522 9.28945 -16.655 -0.606471 0.112703 0.683117 0.390951 +TTool-pose None -28.0828 12.315 13.3122 0.714351 0.587384 -0.230235 0.302628 +#25941 1721121396673 +SLAM 15.1393 9.25289 -16.6759 -0.607095 0.112814 0.683169 0.389857 +TTool-pose None -28.083 12.2959 13.3197 0.715183 0.58686 -0.229574 0.302183 +#25942 1721121396705 +SLAM 15.08 9.21847 -16.7317 -0.607029 0.113243 0.683632 0.389022 +TTool-pose None -28.0916 12.2661 13.3201 0.715838 0.586206 -0.229787 0.301739 +#25943 1721121396738 +SLAM 14.9309 9.08927 -16.8457 -0.603865 0.118009 0.684497 0.391004 +TTool-pose None -28.0569 12.3174 13.2407 0.715203 0.583631 -0.234493 0.304605 +#25944 1721121396773 +SLAM 14.9505 9.15534 -16.8058 -0.604751 0.116058 0.684737 0.389797 +TTool-pose None -28.0515 12.3022 13.2727 0.715694 0.584509 -0.233072 0.302851 +#25945 1721121396805 +SLAM 14.8876 9.06382 -16.8646 -0.602698 0.119409 0.6846 0.392198 +TTool-pose None -28.0456 12.3329 13.203 0.714569 0.583123 -0.23612 0.305808 +#25946 1721121396837 +SLAM 14.9759 9.21202 -16.7588 -0.604366 0.115376 0.684507 0.390998 +TTool-pose None -28.0491 12.3118 13.2634 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13.2187 0.715913 0.583979 -0.234658 0.302131 +#25953 1721121397080 +SLAM 14.8804 9.15352 -16.8108 -0.605465 0.115614 0.684688 0.388907 +TTool-pose None -28.0589 12.2361 13.2255 0.716276 0.584462 -0.232172 0.30226 +#25954 1721121397114 +SLAM 14.6262 8.98995 -17.008 -0.603167 0.11981 0.686848 0.387396 +TTool-pose None -28.0257 12.2254 13.1855 0.717965 0.580821 -0.235874 0.302404 +#25955 1721121397149 +SLAM 14.7694 9.05246 -16.8965 -0.603221 0.119181 0.685041 0.39069 +TTool-pose None -28.0466 12.2567 13.1536 0.715601 0.58266 -0.235525 0.304733 +#25956 1721121397184 +SLAM 14.8826 9.17442 -16.7991 -0.605838 0.114844 0.684551 0.388795 +TTool-pose None -28.0697 12.2089 13.226 0.716222 0.584961 -0.231564 0.301883 +#25957 1721121397215 +SLAM 14.8698 9.19374 -16.7969 -0.60581 0.114452 0.684804 0.388509 +TTool-pose None -28.0656 12.2051 13.2315 0.716328 0.585113 -0.231523 0.301369 +#25958 1721121397249 +SLAM 14.9508 9.27659 -16.7249 -0.606484 0.112601 0.684097 0.389243 +TTool-pose None -28.0858 12.2003 13.242 0.715493 0.586733 -0.230277 0.301158 +#25959 1721121397279 +SLAM 15.0496 9.39588 -16.6036 -0.606412 0.110756 0.683304 0.391271 +TTool-pose None -28.0811 12.2299 13.2384 0.713699 0.588874 -0.229849 0.301562 +#25960 1721121397311 +SLAM 14.8598 9.16415 -16.8108 -0.606308 0.114707 0.684555 0.388094 +TTool-pose None -28.0764 12.1837 13.216 0.716715 0.584772 -0.231009 0.301505 +#25961 1721121397341 +SLAM 14.9118 9.23724 -16.7473 -0.606397 0.113431 0.684237 0.388891 +TTool-pose None -28.0754 12.1959 13.2218 0.715905 0.586003 -0.230583 0.301366 +#25962 1721121397374 +SLAM 14.6075 9.00011 -16.9832 -0.602936 0.120038 0.686331 0.388598 +TTool-pose None -28.0298 12.206 13.1285 0.717175 0.581165 -0.236143 0.303406 +#25963 1721121397407 +SLAM 14.6573 9.08137 -16.9208 -0.603651 0.118031 0.686119 0.388479 +TTool-pose None -28.0333 12.1958 13.1484 0.716901 0.58254 -0.234866 0.302405 +#25964 1721121397439 +SLAM 14.6765 9.0616 -16.9125 -0.603887 0.118353 0.685636 0.388866 +TTool-pose None -28.0396 12.193 13.1329 0.716733 0.582486 -0.234641 0.303083 +#25965 1721121397470 +SLAM 14.7934 9.23635 -16.7889 -0.605505 0.113881 0.685037 0.388741 +TTool-pose None -28.0658 12.1596 13.1837 0.716015 0.585602 -0.231744 0.300994 +#25966 1721121397500 +SLAM 14.7817 9.26401 -16.7569 -0.603766 0.114917 0.68489 0.391391 +TTool-pose None -28.0462 12.2007 13.1328 0.714261 0.585953 -0.233905 0.302802 +#25967 1721121397530 +SLAM 14.6796 9.14335 -16.8713 -0.6049 0.115932 0.685702 0.387904 +TTool-pose None -28.051 12.143 13.1477 0.716968 0.583798 -0.232953 0.301298 +#25968 1721121397565 +SLAM 14.5928 9.03885 -16.9424 -0.603182 0.11922 0.685914 0.389203 +TTool-pose None -28.0345 12.1663 13.0875 0.716616 0.582002 -0.235647 0.303508 +#25969 1721121397607 +SLAM 14.63 9.12215 -16.8794 -0.603572 0.117381 0.68587 0.389236 +TTool-pose None -28.0283 12.1632 13.1045 0.71624 0.583314 -0.234781 0.302547 +#25970 1721121397642 +SLAM 14.7491 9.23273 -16.7721 -0.605361 0.114115 0.684965 0.389022 +TTool-pose None -28.049 12.1396 13.1393 0.715861 0.585554 -0.231954 0.301293 +#25971 1721121397677 +SLAM 14.6487 9.14926 -16.8468 -0.604271 0.116375 0.685633 0.388872 +TTool-pose None -28.0296 12.1441 13.106 0.716342 0.583882 -0.233751 0.302004 +#25972 1721121397708 +SLAM 14.7522 9.19806 -16.7684 -0.606426 0.113893 0.684802 0.387713 +TTool-pose None -28.0415 12.1167 13.145 0.716808 0.585182 -0.230704 0.300721 +#25973 1721121397738 +SLAM 14.7503 9.23227 -16.767 -0.605989 0.113626 0.684666 0.388714 +TTool-pose None -28.0628 12.1071 13.1313 0.716027 0.585781 -0.231116 0.3011 +#25974 1721121397768 +SLAM 14.7335 9.23018 -16.7651 -0.605867 0.113692 0.684741 0.388752 +TTool-pose None -28.0554 12.1011 13.1232 0.716003 0.585748 -0.231274 0.3011 +#25975 1721121397803 +SLAM 14.5864 9.10731 -16.8737 -0.603386 0.117784 0.68569 0.389719 +TTool-pose None -28.0212 12.1353 13.0598 0.715979 0.583232 -0.235068 0.3031 +#25976 1721121397834 +SLAM 14.5895 9.08519 -16.8837 -0.604451 0.11738 0.685596 0.388355 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0.391025 +TTool-pose None -28.0654 12.0991 13.046 0.714952 0.584868 -0.232605 0.30427 +#25983 1721121398057 +SLAM 14.6351 9.07983 -16.854 -0.603903 0.118087 0.684514 0.390894 +TTool-pose None -28.0489 12.1143 13.0289 0.715299 0.583531 -0.234471 0.304588 +#25984 1721121398088 +SLAM 14.897 9.25761 -16.6576 -0.608042 0.112018 0.682476 0.389825 +TTool-pose None -28.0985 12.0731 13.1106 0.715123 0.587426 -0.228275 0.302211 +#25985 1721121398119 +SLAM 14.7493 9.13059 -16.7735 -0.606665 0.115099 0.683788 0.388773 +TTool-pose None -28.0591 12.0836 13.0871 0.716376 0.584796 -0.230645 0.302544 +#25986 1721121398153 +SLAM 14.9631 9.27101 -16.6206 -0.609438 0.110675 0.68188 0.389071 +TTool-pose None -28.1125 12.0507 13.1382 0.715475 0.588076 -0.22635 0.301558 +#25987 1721121398185 +SLAM 14.635 9.01383 -16.8887 -0.604304 0.118961 0.684254 0.390462 +TTool-pose None -28.06 12.1028 13.0277 0.715821 0.582748 -0.234211 0.305062 +#25988 1721121398218 +SLAM 14.99 9.33647 -16.5675 -0.608322 0.110434 0.681883 0.390876 +TTool-pose None -28.0935 12.0953 13.1312 0.714084 0.58898 -0.227534 0.302199 +#25989 1721121398248 +SLAM 14.96 9.31158 -16.6053 -0.608102 0.110954 0.682037 0.390804 +TTool-pose None -28.1051 12.0816 13.126 0.714228 0.588582 -0.227917 0.302349 +#25990 1721121398279 +SLAM 14.9118 9.24567 -16.6508 -0.60714 0.112957 0.682413 0.391066 +TTool-pose None -28.0837 12.112 13.1048 0.714395 0.587273 -0.229495 0.303304 +#25991 1721121398311 +SLAM 14.9662 9.2715 -16.6316 -0.609327 0.110732 0.682039 0.38895 +TTool-pose None -28.1146 12.0601 13.1507 0.715559 0.587982 -0.226501 0.301427 +#25992 1721121398347 +SLAM 14.8156 9.1664 -16.7251 -0.606279 0.114953 0.68326 0.390342 +TTool-pose None -28.0587 12.121 13.0865 0.715238 0.585552 -0.230996 0.303504 +#25993 1721121398386 +SLAM 14.8286 9.10831 -16.7613 -0.607154 0.115382 0.682789 0.38968 +TTool-pose None -28.0887 12.0931 13.0876 0.715869 0.584995 -0.230087 0.303782 +#25994 1721121398421 +SLAM 14.8924 9.16506 -16.7092 -0.60828 0.113487 0.682426 0.389115 +TTool-pose None -28.0992 12.079 13.1183 0.715951 0.586107 -0.228356 0.302749 +#25995 1721121398460 +SLAM 14.7933 9.08302 -16.7942 -0.60597 0.116731 0.682889 0.390944 +TTool-pose None -28.0916 12.1054 13.0611 0.715182 0.584557 -0.231729 0.304996 +#25996 1721121398494 +SLAM 14.9281 9.25693 -16.6399 -0.607185 0.112827 0.682303 0.391227 +TTool-pose None -28.0854 12.1207 13.1055 0.714261 0.587433 -0.229405 0.303378 +#25997 1721121398525 +SLAM 14.9509 9.21817 -16.6563 -0.608638 0.112462 0.681841 0.389878 +TTool-pose None -28.1112 12.0831 13.117 0.715242 0.587153 -0.227666 0.302917 +#25998 1721121398558 +SLAM 14.7952 9.07821 -16.7939 -0.606633 0.116424 0.682951 0.389899 +TTool-pose None -28.089 12.1011 13.0689 0.715894 0.584347 -0.230926 0.304335 +#25999 1721121398589 +SLAM 14.7761 9.04394 -16.8119 -0.605714 0.117842 0.682769 0.391218 +TTool-pose None -28.0884 12.1156 13.0354 0.715209 0.583888 -0.232264 0.305805 +#26000 1721121398620 +SLAM 14.7346 9.14302 -16.807 -0.606906 0.114548 0.684152 0.387917 +TTool-pose None -28.081 12.065 13.1109 0.716861 0.584824 -0.230275 0.30162 +#26001 1721121398650 +SLAM 14.8415 9.20087 -16.7288 -0.607993 0.112932 0.683065 0.388604 +TTool-pose None -28.1025 12.0621 13.12 0.716149 0.586271 -0.228595 0.301781 +#26002 1721121398681 +SLAM 14.6888 9.12707 -16.8337 -0.606713 0.114977 0.684744 0.387047 +TTool-pose None -28.0649 12.0715 13.1114 0.717525 0.58415 -0.230637 0.30107 +#26003 1721121398712 +SLAM 14.6845 9.07342 -16.8463 -0.605971 0.116777 0.684312 0.388432 +TTool-pose None -28.0616 12.0951 13.0704 0.716901 0.583461 -0.231854 0.302954 +#26004 1721121398743 +SLAM 14.7121 9.17634 -16.7858 -0.604818 0.115772 0.68422 0.390684 +TTool-pose None -28.0608 12.1161 13.0616 0.715036 0.585086 -0.232888 0.303434 +#26005 1721121398773 +SLAM 14.6661 9.04639 -16.866 -0.605289 0.117866 0.684105 0.389529 +TTool-pose None -28.0696 12.0977 13.04 0.716321 0.583146 -0.23285 0.304167 +#26006 1721121398807 +SLAM 14.6399 9.06631 -16.8678 -0.605562 0.117085 0.6847 0.388295 +TTool-pose None -28.0555 12.0868 13.0625 0.717019 0.583176 -0.232412 0.302795 +#26007 1721121398840 +SLAM 14.88 9.32931 -16.6399 -0.607457 0.111056 0.682963 0.390157 +TTool-pose None -28.0943 12.077 13.118 0.714628 0.588222 -0.228733 0.301485 +#26008 1721121398874 +SLAM 14.7695 9.24529 -16.7444 -0.607029 0.11268 0.683861 0.388784 +TTool-pose None -28.095 12.0527 13.1079 0.715876 0.586498 -0.229671 0.301168 +#26009 1721121398905 +SLAM 14.6215 9.08094 -16.8755 -0.605437 0.116836 0.684863 0.388276 +TTool-pose None -28.0619 12.0745 13.0609 0.716965 0.583339 -0.232504 0.302537 +#26010 1721121398936 +SLAM 14.7292 9.14679 -16.7995 -0.607112 0.114437 0.683944 0.387994 +TTool-pose None -28.0864 12.0514 13.0927 0.716805 0.58494 -0.230003 0.301736 +#26011 1721121398966 +SLAM 14.5181 8.98845 -16.9582 -0.603935 0.119619 0.685601 0.388464 +TTool-pose None -28.0388 12.0961 13.0255 0.717281 0.58143 -0.234881 0.303627 +#26012 1721121398997 +SLAM 14.4994 9.00651 -16.9657 -0.603774 0.119256 0.685808 0.388462 +TTool-pose None -28.0453 12.0811 13.0285 0.717188 0.581679 -0.234991 0.303284 +#26013 1721121399026 +SLAM 14.6603 9.13194 -16.8291 -0.605742 0.115734 0.684643 0.388519 +TTool-pose None -28.0605 12.0774 13.0696 0.716593 0.58422 -0.231889 0.30219 +#26014 1721121399060 +SLAM 14.6547 9.1205 -16.8393 -0.606124 0.115571 0.684724 0.387829 +TTool-pose None -28.0625 12.0651 13.0789 0.717064 0.584052 -0.231432 0.301747 +#26015 1721121399095 +SLAM 14.7927 9.28138 -16.6877 -0.60625 0.112826 0.683719 0.390204 +TTool-pose None -28.0642 12.0963 13.0889 0.714865 0.586977 -0.23056 0.301957 +#26016 1721121399129 +SLAM 14.8918 9.37656 -16.6105 -0.607613 0.110059 0.682942 0.390235 +TTool-pose None -28.096 12.0694 13.1226 0.714369 0.588953 -0.228318 0.300984 +#26017 1721121399168 +SLAM 14.651 9.13506 -16.8348 -0.605955 0.115491 0.684697 0.388162 +TTool-pose None -28.066 12.0644 13.0702 0.716805 0.584244 -0.231598 0.301865 +#26018 1721121399197 +SLAM 14.6131 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14.6274 9.18396 -16.7981 -0.606095 0.114429 0.68472 0.388218 +TTool-pose None -28.0584 12.0347 13.0502 0.716549 0.585013 -0.231193 0.301291 +#26025 1721121399424 +SLAM 14.7216 9.32074 -16.6791 -0.60664 0.111605 0.684061 0.389349 +TTool-pose None -28.0625 12.0338 13.0647 0.715217 0.587476 -0.229862 0.300681 +#26026 1721121399456 +SLAM 14.5231 9.05073 -16.8947 -0.605965 0.116893 0.685041 0.387119 +TTool-pose None -28.055 12.0058 13.01 0.717815 0.582822 -0.231944 0.301947 +#26027 1721121399486 +SLAM 14.7175 9.2464 -16.7158 -0.60833 0.111678 0.683336 0.387962 +TTool-pose None -28.1004 11.9629 13.0498 0.716343 0.586881 -0.227942 0.300625 +#26028 1721121399518 +SLAM 14.5398 9.10174 -16.8465 -0.605139 0.116752 0.684485 0.389431 +TTool-pose None -28.0597 12.0097 12.9692 0.716133 0.583879 -0.232785 0.30325 +#26029 1721121399549 +SLAM 14.3615 9.0209 -16.9647 -0.604126 0.118545 0.686248 0.387353 +TTool-pose None -28.0304 11.9887 12.9594 0.717823 0.581715 -0.234467 0.302113 +#26030 1721121399581 +SLAM 14.4049 9.09751 -16.9083 -0.60496 0.116428 0.686099 0.386958 +TTool-pose None -28.0345 11.9697 12.9836 0.717721 0.583051 -0.233034 0.300886 +#26031 1721121399622 +SLAM 14.394 9.02087 -16.9343 -0.60436 0.11852 0.685572 0.388191 +TTool-pose None -28.0363 11.983 12.9387 0.717275 0.582095 -0.23415 0.30293 +#26032 1721121399660 +SLAM 14.4006 9.06586 -16.913 -0.605251 0.116896 0.685785 0.386918 +TTool-pose None -28.0377 11.9584 12.964 0.71788 0.582715 -0.232796 0.301344 +#26033 1721121399695 +SLAM 14.5596 9.2746 -16.7262 -0.605328 0.113255 0.684478 0.39018 +TTool-pose None -28.0476 11.9756 12.9682 0.714883 0.586643 -0.231746 0.301656 +#26034 1721121399731 +SLAM 14.5139 9.19105 -16.8013 -0.607284 0.113085 0.6847 0.386787 +TTool-pose None -28.0716 11.9052 12.9897 0.717345 0.585375 -0.229549 0.299948 +#26035 1721121399763 +SLAM 14.3972 9.08392 -16.8843 -0.60498 0.116863 0.685337 0.388144 +TTool-pose None -28.0403 11.9436 12.9262 0.717014 0.583252 -0.233055 0.302165 +#26036 1721121399805 +SLAM 14.3365 9.04129 -16.9307 -0.605422 0.11707 0.685849 0.386484 +TTool-pose None -28.0376 11.9106 12.9303 0.718228 0.582413 -0.232652 0.301208 +#26037 1721121399835 +SLAM 14.5844 9.33262 -16.6271 -0.605967 0.111879 0.684172 0.390124 +TTool-pose None -28.0068 11.9764 12.9496 0.714683 0.587596 -0.230684 0.301087 +#26038 1721121399867 +SLAM 14.4414 9.18636 -16.8076 -0.606678 0.11362 0.68492 0.387191 +TTool-pose None -28.0582 11.8843 12.9425 0.717128 0.585157 -0.230368 0.300265 +#26039 1721121399899 +SLAM 14.2278 9.03242 -16.9685 -0.604085 0.118092 0.686467 0.387167 +TTool-pose None -28.0275 11.8908 12.8824 0.717848 0.581952 -0.234424 0.301631 +#26040 1721121399941 +SLAM 14.5031 9.23603 -16.7433 -0.607929 0.111856 0.684178 0.387055 +TTool-pose None -28.0709 11.8566 12.9464 0.716958 0.586362 -0.228497 0.299749 +#26041 1721121399978 +SLAM 14.3011 9.08055 -16.9023 -0.605069 0.11669 0.685547 0.387685 +TTool-pose None -28.0436 11.8751 12.877 0.717297 0.58318 -0.232932 0.301727 +#26042 1721121400013 +SLAM 14.2601 9.10028 -16.9054 -0.604565 0.11657 0.686029 0.387655 +TTool-pose None -28.0307 11.8717 12.8722 0.71724 0.583237 -0.2335 0.301313 +#26043 1721121400049 +SLAM 14.4287 9.27379 -16.733 -0.605968 0.112615 0.68476 0.388875 +TTool-pose None -28.0401 11.8765 12.9 0.715694 0.586554 -0.230905 0.300547 +#26044 1721121400082 +SLAM 14.2201 9.06804 -16.9332 -0.604193 0.117444 0.68602 0.387987 +TTool-pose None -28.0357 11.858 12.8444 0.717165 0.582757 -0.234118 0.301941 +#26045 1721121400117 +SLAM 14.4076 9.27793 -16.7271 -0.605903 0.112617 0.684775 0.388949 +TTool-pose None -28.0348 11.8668 12.8821 0.715638 0.586582 -0.230979 0.30057 +#26046 1721121400149 +SLAM 14.2818 9.24691 -16.787 -0.604222 0.114211 0.686031 0.388887 +TTool-pose None -28 11.8776 12.8576 0.715856 0.585398 -0.233324 0.300547 +#26047 1721121400185 +SLAM 14.3592 9.26593 -16.7497 -0.605661 0.113002 0.684986 0.388844 +TTool-pose None -28.0357 11.8494 12.8601 0.715769 0.586263 -0.231357 0.30059 +#26048 1721121400220 +SLAM 14.2779 9.21402 -16.8252 -0.60593 0.113456 0.685649 0.387119 +TTool-pose None -28.0459 11.8073 12.8634 0.717065 0.585221 -0.231217 0.299636 +#26049 1721121400254 +SLAM 14.0829 9.02497 -16.9821 -0.602537 0.119517 0.686645 0.388823 +TTool-pose None -28.0127 11.8478 12.7686 0.716869 0.581614 -0.236488 0.302998 +#26050 1721121400289 +SLAM 14.07 9.02983 -16.9862 -0.603283 0.118682 0.686854 0.387552 +TTool-pose None -28.0149 11.8191 12.7842 0.717631 0.581679 -0.235482 0.301851 +#26051 1721121400326 +SLAM 14.1996 9.16442 -16.8739 -0.605759 0.114345 0.685941 0.386608 +TTool-pose None -28.0472 11.7721 12.834 0.717588 0.584378 -0.231641 0.299702 +#26052 1721121400360 +SLAM 14.1138 9.13283 -16.9153 -0.604 0.116292 0.686542 0.387711 +TTool-pose None -28.0258 11.7954 12.7915 0.717083 0.583439 -0.234102 0.300827 +#26053 1721121400394 +SLAM 14.1685 9.18602 -16.8612 -0.605721 0.114014 0.686221 0.38627 +TTool-pose None -28.0323 11.7663 12.8208 0.71774 0.584465 -0.231626 0.299179 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-0.233307 0.299046 +#26066 1721121400847 +SLAM 13.9951 9.05294 -16.9115 -0.603466 0.118245 0.685558 0.389689 +TTool-pose None -28.0182 11.7077 12.6439 0.716107 0.582898 -0.235076 0.303432 +#26067 1721121400882 +SLAM 14.0676 9.09241 -16.8721 -0.606413 0.115092 0.685269 0.386554 +TTool-pose None -28.0388 11.6522 12.7089 0.717853 0.583851 -0.231038 0.300557 +#26068 1721121400917 +SLAM 14.0205 9.03226 -16.9095 -0.605928 0.116587 0.685546 0.386374 +TTool-pose None -28.0228 11.6625 12.6902 0.71825 0.582718 -0.231952 0.301106 +#26069 1721121400951 +SLAM 14.2335 9.2389 -16.6994 -0.606552 0.112719 0.683679 0.389836 +TTool-pose None -28.0386 11.6866 12.7007 0.715123 0.586904 -0.230195 0.301768 +#26070 1721121400988 +SLAM 14.1361 9.07693 -16.8293 -0.606112 0.11595 0.683948 0.389101 +TTool-pose None -28.0515 11.6666 12.6676 0.716282 0.584326 -0.231473 0.303042 +#26071 1721121401028 +SLAM 14.1123 9.05713 -16.8391 -0.605011 0.117203 0.68395 0.390434 +TTool-pose None -28.0418 11.6858 12.6398 0.715535 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-28.0596 11.6389 12.6221 0.716413 0.583403 -0.231484 0.304499 +#26096 1721121401916 +SLAM 14.18 9.04826 -16.7906 -0.607485 0.115548 0.682948 0.388834 +TTool-pose None -28.0566 11.6332 12.6493 0.716513 0.584529 -0.229772 0.303399 +#26097 1721121401950 +SLAM 14.3019 9.13023 -16.7025 -0.60958 0.112611 0.681902 0.388254 +TTool-pose None -28.0853 11.6061 12.683 0.71647 0.586385 -0.226657 0.302257 +#26098 1721121401982 +SLAM 14.2751 9.1334 -16.7125 -0.608617 0.113224 0.682117 0.389207 +TTool-pose None -28.0799 11.6166 12.669 0.715864 0.586338 -0.227894 0.302857 +#26099 1721121402015 +SLAM 14.1803 8.94736 -16.8301 -0.607686 0.117444 0.682409 0.388898 +TTool-pose None -28.0635 11.6358 12.6248 0.716898 0.583236 -0.229951 0.30484 +#26100 1721121402048 +SLAM 14.2496 9.00409 -16.7729 -0.608397 0.11591 0.681859 0.389213 +TTool-pose None -28.0742 11.6303 12.6412 0.716422 0.58446 -0.228755 0.304515 +#26101 1721121402081 +SLAM 14.2157 9.01717 -16.7753 -0.606832 0.116784 0.682138 0.390902 +TTool-pose None -28.0601 11.6525 12.6186 0.715308 0.584524 -0.230722 0.305527 +#26102 1721121402115 +SLAM 14.264 9.02809 -16.7632 -0.608714 0.115031 0.681823 0.38904 +TTool-pose None -28.0839 11.612 12.6584 0.71638 0.585008 -0.228191 0.303982 +#26103 1721121402148 +SLAM 14.3689 9.16903 -16.6371 -0.608241 0.112914 0.681035 0.391772 +TTool-pose None -28.0826 11.6383 12.6612 0.71401 0.587628 -0.228147 0.304537 +#26104 1721121402182 +SLAM 14.2557 9.03571 -16.7483 -0.60636 0.116643 0.681622 0.392574 +TTool-pose None -28.0697 11.6528 12.6173 0.714089 0.585316 -0.231168 0.306524 +#26105 1721121402215 +SLAM 14.1713 8.88949 -16.8526 -0.606052 0.119389 0.682046 0.391484 +TTool-pose None -28.0626 11.6444 12.6017 0.715392 0.582926 -0.232191 0.307267 +#26106 1721121402247 +SLAM 14.2728 8.84786 -16.8221 -0.607612 0.119157 0.680588 0.391674 +TTool-pose None -28.0928 11.6254 12.6038 0.715365 0.583208 -0.230283 0.30823 +#26107 1721121402281 +SLAM 14.2936 8.90234 -16.7907 -0.606113 0.119095 0.680274 0.39455 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0.397598 +TTool-pose None -28.0672 11.6804 12.5105 0.71231 0.580516 -0.237516 0.314834 +#26114 1721121402517 +SLAM 14.2861 8.73065 -16.847 -0.603988 0.123486 0.679347 0.398042 +TTool-pose None -28.0921 11.6615 12.5431 0.711551 0.582753 -0.235177 0.314169 +#26115 1721121402552 +SLAM 14.2433 8.66915 -16.904 -0.604403 0.124114 0.679698 0.396615 +TTool-pose None -28.0974 11.6386 12.5529 0.712707 0.581725 -0.2349 0.31366 +#26116 1721121402587 +SLAM 14.2467 8.65005 -16.8924 -0.602658 0.126008 0.67917 0.399566 +TTool-pose None -28.0873 11.68 12.5027 0.710892 0.581582 -0.237201 0.316307 +#26117 1721121402628 +SLAM 14.1331 8.58719 -16.9773 -0.600809 0.12845 0.679872 0.400379 +TTool-pose None -28.0822 11.6844 12.463 0.710645 0.580151 -0.239853 0.317487 +#26118 1721121402661 +SLAM 14.1341 8.62779 -16.9608 -0.601253 0.127271 0.680383 0.399218 +TTool-pose None -28.0694 11.6858 12.4923 0.711251 0.58051 -0.239148 0.316003 +#26119 1721121402701 +SLAM 14.102 8.54863 -17.0024 -0.600872 0.129 0.680292 0.399393 +TTool-pose None -28.0654 11.6878 12.4715 0.711445 0.579353 -0.239951 0.317077 +#26120 1721121402736 +SLAM 14.0736 8.5603 -17.016 -0.600743 0.128703 0.680662 0.399053 +TTool-pose None -28.0666 11.6736 12.478 0.711607 0.579417 -0.240061 0.316514 +#26121 1721121402777 +SLAM 14.2808 8.75973 -16.8224 -0.601582 0.124734 0.678941 0.401969 +TTool-pose None -28.0877 11.6904 12.4931 0.708856 0.583451 -0.23806 0.316788 +#26122 1721121402812 +SLAM 13.9621 8.50132 -17.0949 -0.598571 0.131388 0.681425 0.400138 +TTool-pose None -28.0529 11.6963 12.4371 0.711178 0.577914 -0.243118 0.317892 +#26123 1721121402845 +SLAM 14.0173 8.5595 -17.0296 -0.599532 0.129694 0.681249 0.399551 +TTool-pose None -28.0404 11.7002 12.4567 0.71134 0.578892 -0.241667 0.316852 +#26124 1721121402878 +SLAM 14.0955 8.57665 -16.9955 -0.602048 0.127476 0.680805 0.397232 +TTool-pose None -28.0594 11.666 12.5049 0.712743 0.579556 -0.238365 0.31498 +#26125 1721121402913 +SLAM 14.2478 8.67851 -16.8894 -0.602508 0.125498 0.679069 0.400124 +TTool-pose None -28.1044 11.662 12.5005 0.710385 0.58217 -0.237237 0.316337 +#26126 1721121402951 +SLAM 14.1814 8.73508 -16.9053 -0.601653 0.124795 0.680255 0.399616 +TTool-pose None -28.0887 11.6611 12.5186 0.710504 0.58243 -0.238127 0.314916 +#26127 1721121402986 +SLAM 14.1729 8.65678 -16.9278 -0.601019 0.126983 0.679881 0.400516 +TTool-pose None -28.0773 11.6914 12.4834 0.710271 0.581247 -0.239289 0.316744 +#26128 1721121403019 +SLAM 13.8902 8.36023 -17.1836 -0.598337 0.134266 0.681713 0.39904 +TTool-pose None -28.0404 11.7088 12.4152 0.712489 0.575414 -0.244049 0.318778 +#26129 1721121403053 +SLAM 14.1877 8.69502 -16.9232 -0.6023 0.125157 0.680108 0.398777 +TTool-pose None -28.094 11.6579 12.5214 0.711224 0.581842 -0.237488 0.31486 +#26130 1721121403085 +SLAM 14.122 8.68376 -16.9635 -0.600912 0.126365 0.68064 0.399582 +TTool-pose None -28.0886 11.6691 12.4992 0.710778 0.581291 -0.239338 0.315487 +#26131 1721121403116 +SLAM 13.9455 8.5473 -17.0802 -0.597953 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-0.600255 0.126673 0.681831 0.39844 +TTool-pose None -28.0742 11.6814 12.5116 0.711561 0.580577 -0.240242 0.314343 +#26144 1721121403529 +SLAM 13.9533 8.61874 -17.0853 -0.60011 0.127881 0.68269 0.396799 +TTool-pose None -28.0613 11.6671 12.5101 0.712924 0.579035 -0.240758 0.313705 +#26145 1721121403566 +SLAM 13.8583 8.51115 -17.1665 -0.598319 0.131286 0.683041 0.397785 +TTool-pose None -28.0454 11.6935 12.4607 0.712752 0.576994 -0.243524 0.315716 +#26146 1721121403604 +SLAM 14.204 8.77971 -16.8971 -0.603147 0.123075 0.680401 0.397645 +TTool-pose None -28.1078 11.6439 12.5458 0.711656 0.582854 -0.236106 0.313046 +#26147 1721121403641 +SLAM 14.0244 8.624 -17.0297 -0.600679 0.127735 0.681631 0.397804 +TTool-pose None -28.0653 11.676 12.4874 0.712262 0.579576 -0.240003 0.314788 +#26148 1721121403673 +SLAM 14.0422 8.68283 -16.9808 -0.600159 0.12713 0.681545 0.398928 +TTool-pose None -28.0524 11.692 12.4771 0.71131 0.580457 -0.240425 0.314995 +#26149 1721121403713 +SLAM 14.0064 8.71077 -17.0024 -0.600461 0.126095 0.682124 0.397811 +TTool-pose None -28.0637 11.6581 12.4983 0.711896 0.580727 -0.239911 0.313559 +#26150 1721121403750 +SLAM 13.755 8.54227 -17.1807 -0.598011 0.130626 0.684325 0.396256 +TTool-pose None -28.0134 11.6694 12.4614 0.713635 0.576809 -0.243829 0.313816 +#26151 1721121403780 +SLAM 14.0653 8.75155 -16.9343 -0.601119 0.12489 0.681464 0.398328 +TTool-pose None -28.06 11.6495 12.4966 0.711358 0.581809 -0.238851 0.313583 +#26152 1721121403812 +SLAM 13.9021 8.60441 -17.0621 -0.598889 0.129177 0.682392 0.398731 +TTool-pose None -28.0346 11.6649 12.4389 0.711732 0.578896 -0.242361 0.31543 +#26153 1721121403846 +SLAM 14.0515 8.68614 -16.9637 -0.602548 0.124977 0.681173 0.396636 +TTool-pose None -28.0746 11.6021 12.4927 0.712687 0.581079 -0.237276 0.313116 +#26154 1721121403884 +SLAM 14.04 8.79881 -16.8865 -0.60001 0.124888 0.681409 0.400092 +TTool-pose None -28.0356 11.6541 12.4537 0.710027 0.582517 -0.240058 0.314365 +#26155 1721121403917 +SLAM 14.0718 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-0.240285 0.312212 +#26197 1721121405266 +SLAM 13.3198 8.71528 -16.9904 -0.600906 0.125044 0.682605 0.396643 +TTool-pose None -28.0158 11.1652 12.0503 0.712528 0.58099 -0.239225 0.312159 +#26198 1721121405297 +SLAM 13.314 8.72459 -16.9936 -0.601601 0.12421 0.68263 0.395809 +TTool-pose None -28.0279 11.1333 12.0578 0.712999 0.581245 -0.238272 0.311334 +#26199 1721121405330 +SLAM 13.2958 8.84296 -16.9182 -0.599774 0.123434 0.683058 0.398078 +TTool-pose None -27.9902 11.1669 12.0333 0.711087 0.58269 -0.240135 0.311575 +#26200 1721121405360 +SLAM 13.2085 8.74567 -16.9859 -0.599805 0.125116 0.683713 0.39638 +TTool-pose None -27.9691 11.1588 12.0209 0.712608 0.580796 -0.240551 0.311314 +#26201 1721121405391 +SLAM 13.014 8.5332 -17.2051 -0.599247 0.129052 0.684886 0.39393 +TTool-pose None -27.9994 11.1059 12.0005 0.715039 0.576978 -0.242167 0.311589 +#26202 1721121405423 +SLAM 13.0371 8.58184 -17.1509 -0.598498 0.128948 0.684405 0.395931 +TTool-pose None -27.9902 11.1201 11.9682 0.713568 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-28.0106 10.8129 11.6822 0.714161 0.576828 -0.240539 0.315122 +#26233 1721121406463 +SLAM 12.8031 8.60925 -17.0448 -0.60041 0.126916 0.682445 0.397076 +TTool-pose None -27.9979 10.8093 11.6969 0.712567 0.579839 -0.240185 0.31347 +#26234 1721121406497 +SLAM 12.7017 8.49086 -17.1529 -0.599744 0.129454 0.682938 0.396414 +TTool-pose None -28.0073 10.7912 11.6756 0.713473 0.577754 -0.241539 0.314219 +#26235 1721121406528 +SLAM 12.8095 8.59119 -17.0655 -0.601656 0.126187 0.682202 0.395838 +TTool-pose None -28.0271 10.7643 11.7067 0.713395 0.579868 -0.238628 0.312719 +#26236 1721121406560 +SLAM 12.771 8.58709 -17.0622 -0.60095 0.126787 0.682687 0.395883 +TTool-pose None -27.9952 10.7855 11.697 0.713416 0.579445 -0.239586 0.312726 +#26237 1721121406593 +SLAM 12.6226 8.37108 -17.2451 -0.598752 0.132305 0.683045 0.396789 +TTool-pose None -28.0165 10.7811 11.6462 0.713689 0.57587 -0.24328 0.315842 +#26238 1721121406627 +SLAM 12.7394 8.56265 -17.0903 -0.599717 0.128139 0.682666 0.39735 +TTool-pose None -28.0001 10.7905 11.6745 0.712558 0.579073 -0.241245 0.314094 +#26239 1721121406661 +SLAM 12.7997 8.50244 -17.0908 -0.601359 0.12821 0.681737 0.396441 +TTool-pose None -28.0202 10.7737 11.6772 0.713368 0.578688 -0.239375 0.314395 +#26240 1721121406694 +SLAM 12.6994 8.50297 -17.1329 -0.599372 0.129491 0.68273 0.397321 +TTool-pose None -28.0016 10.7854 11.6581 0.712818 0.578098 -0.241936 0.314768 +#26241 1721121406726 +SLAM 12.8128 8.65504 -17.0054 -0.600037 0.126363 0.681907 0.398738 +TTool-pose None -28.0067 10.786 11.6665 0.71127 0.580914 -0.240416 0.314247 +#26242 1721121406760 +SLAM 12.7537 8.41318 -17.1427 -0.601147 0.130126 0.681647 0.39629 +TTool-pose None -28.0212 10.7682 11.6483 0.71384 0.577268 -0.240034 0.315429 +#26243 1721121406791 +SLAM 12.7285 8.58633 -17.0655 -0.599137 0.1282 0.682516 0.398461 +TTool-pose None -27.9915 10.7885 11.6482 0.711745 0.579478 -0.241879 0.314701 +#26244 1721121406827 +SLAM 12.7083 8.54414 -17.0987 -0.599573 0.128578 0.682634 0.397481 +TTool-pose None -27.9975 10.7746 11.6525 0.712542 0.578814 -0.2415 0.31441 +#26245 1721121406862 +SLAM 12.7058 8.47822 -17.1506 -0.601114 0.12852 0.682592 0.395237 +TTool-pose None -28.0235 10.7395 11.6741 0.714232 0.577958 -0.239792 0.313455 +#26246 1721121406897 +SLAM 12.8508 8.79344 -16.9081 -0.599988 0.123778 0.681916 0.399604 +TTool-pose None -27.9919 10.7844 11.6722 0.71013 0.583093 -0.239873 0.313203 +#26247 1721121406928 +SLAM 12.6572 8.43052 -17.1907 -0.599899 0.130333 0.682668 0.396356 +TTool-pose None -28.0225 10.7468 11.646 0.713708 0.577114 -0.241544 0.314858 +#26248 1721121406957 +SLAM 12.7669 8.65856 -17.0115 -0.59945 0.126639 0.682149 0.399117 +TTool-pose None -27.999 10.7733 11.6466 0.711004 0.580862 -0.241145 0.314389 +#26249 1721121406988 +SLAM 12.7186 8.56434 -17.0858 -0.600318 0.127562 0.682486 0.396938 +TTool-pose None -28.0085 10.7465 11.6567 0.712785 0.579324 -0.240438 0.313732 +#26250 1721121407021 +SLAM 12.6973 8.54302 -17.0879 -0.600032 0.128254 0.682585 0.396975 +TTool-pose None -27.9918 10.7571 11.6422 0.712871 0.578844 -0.240918 0.314054 +#26251 1721121407053 +SLAM 12.823 8.70718 -16.9457 -0.599886 0.125577 0.681381 0.400108 +TTool-pose None -28.0008 10.7655 11.6316 0.710146 0.582036 -0.240349 0.314765 +#26252 1721121407088 +SLAM 12.6207 8.49686 -17.1411 -0.597964 0.130716 0.682775 0.398962 +TTool-pose None -27.9916 10.7688 11.5968 0.711788 0.577879 -0.243758 0.316091 +#26253 1721121407126 +SLAM 12.6547 8.4899 -17.1433 -0.600677 0.128637 0.682809 0.395488 +TTool-pose None -28.009 10.725 11.6431 0.714039 0.577968 -0.240318 0.313475 +#26254 1721121407156 +SLAM 12.7345 8.62517 -17.0168 -0.599048 0.127683 0.681889 0.399831 +TTool-pose None -27.9926 10.7632 11.6061 0.710684 0.580414 -0.241798 0.315436 +#26255 1721121407189 +SLAM 12.6808 8.52911 -17.0851 -0.59906 0.129398 0.682109 0.398887 +TTool-pose None -27.9939 10.7544 11.5971 0.711688 0.57881 -0.242198 0.315813 +#26256 1721121407227 +SLAM 12.7314 8.63756 -17.0214 -0.599804 0.126683 0.682024 0.398785 +TTool-pose None -28.0039 10.7338 11.6226 0.711279 0.580703 -0.240755 0.314359 +#26257 1721121407256 +SLAM 12.8263 8.78233 -16.8969 -0.601183 0.123017 0.681699 0.398413 +TTool-pose None -27.992 10.7311 11.651 0.710916 0.583163 -0.238368 0.312437 +#26258 1721121407288 +SLAM 12.6789 8.49599 -17.0947 -0.599445 0.129727 0.681756 0.398805 +TTool-pose None -28.0027 10.7338 11.5839 0.711852 0.578555 -0.241819 0.316202 +#26259 1721121407319 +SLAM 12.6743 8.56461 -17.06 -0.598674 0.128976 0.681898 0.399962 +TTool-pose None -27.996 10.7358 11.5763 0.710819 0.579546 -0.242503 0.316185 +#26260 1721121407350 +SLAM 12.4991 8.32325 -17.2405 -0.59754 0.134321 0.68282 0.398322 +TTool-pose None -27.9828 10.7427 11.5337 0.71291 0.575051 -0.245036 0.317732 +#26261 1721121407383 +SLAM 12.66 8.5712 -17.0709 -0.599596 0.128046 0.681984 0.398731 +TTool-pose None -28.0123 10.6973 11.5816 0.711575 0.579714 -0.241292 0.315103 +#26262 1721121407416 +SLAM 12.6009 8.49534 -17.1172 -0.599398 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-0.599909 0.12331 0.681871 0.399945 +TTool-pose None -27.9961 10.6447 11.558 0.709788 0.583563 -0.239846 0.313124 +#26269 1721121407636 +SLAM 12.5413 8.54964 -17.0916 -0.599622 0.128211 0.682363 0.397991 +TTool-pose None -28.0015 10.6273 11.5269 0.712122 0.579288 -0.241337 0.314616 +#26270 1721121407670 +SLAM 12.5267 8.54321 -17.0852 -0.599022 0.128792 0.682277 0.398854 +TTool-pose None -27.9913 10.6307 11.5076 0.711583 0.579222 -0.242118 0.315354 +#26271 1721121407705 +SLAM 12.3856 8.22345 -17.2978 -0.59956 0.134313 0.682516 0.395802 +TTool-pose None -28.0095 10.6032 11.4753 0.714855 0.574059 -0.242795 0.316875 +#26272 1721121407737 +SLAM 12.5831 8.61944 -16.9872 -0.599646 0.127151 0.681659 0.399498 +TTool-pose None -27.9716 10.6306 11.4897 0.710868 0.580666 -0.241001 0.315168 +#26273 1721121407774 +SLAM 12.5132 8.5191 -17.0895 -0.599594 0.128892 0.681844 0.398701 +TTool-pose None -28.0034 10.5951 11.4792 0.711769 0.579105 -0.241474 0.315646 +#26274 1721121407806 +SLAM 12.4963 8.45088 -17.1256 -0.599712 0.130106 0.681456 0.398792 +TTool-pose None -28.0171 10.5763 11.458 0.711966 0.578289 -0.241583 0.31661 +#26275 1721121407838 +SLAM 12.5076 8.48422 -17.1079 -0.601672 0.127868 0.681833 0.39591 +TTool-pose None -28.0168 10.5464 11.4931 0.713694 0.578715 -0.238961 0.313917 +#26276 1721121407872 +SLAM 12.3917 8.4451 -17.1488 -0.598612 0.130964 0.682486 0.398403 +TTool-pose None -27.9819 10.582 11.4336 0.712293 0.57749 -0.243078 0.316191 +#26277 1721121407906 +SLAM 12.4009 8.49522 -17.1274 -0.599409 0.129252 0.682621 0.397532 +TTool-pose None -27.9897 10.5542 11.4508 0.712627 0.578356 -0.241831 0.314804 +#26278 1721121407938 +SLAM 12.5014 8.69728 -16.9577 -0.598146 0.126752 0.681644 0.401891 +TTool-pose None -27.9739 10.579 11.4183 0.708974 0.581903 -0.242544 0.315969 +#26279 1721121407973 +SLAM 12.4308 8.40735 -17.1625 -0.601437 0.12935 0.6817 0.396014 +TTool-pose None -28.0291 10.4983 11.4488 0.713902 0.577708 -0.239545 0.314856 +#26280 1721121408006 +SLAM 12.3865 8.4004 -17.1656 -0.599845 0.130728 0.681825 0.397757 +TTool-pose None -28.0106 10.5156 11.4148 0.712819 0.577421 -0.241615 0.316252 +#26281 1721121408048 +SLAM 12.3757 8.44667 -17.1451 -0.599438 0.130107 0.681896 0.398453 +TTool-pose None -28.0103 10.5047 11.4054 0.712171 0.578139 -0.241926 0.316161 +#26282 1721121408084 +SLAM 12.2947 8.30972 -17.2411 -0.599 0.132908 0.682037 0.397943 +TTool-pose None -28.0165 10.4906 11.3797 0.713042 0.575935 -0.24305 0.317358 +#26283 1721121408116 +SLAM 12.4355 8.72248 -16.956 -0.597474 0.12645 0.681642 0.402988 +TTool-pose None -27.9814 10.5188 11.3794 0.70808 0.582553 -0.243204 0.316267 +#26284 1721121408153 +SLAM 12.2506 8.44831 -17.1752 -0.597983 0.130874 0.682884 0.398696 +TTool-pose None -27.9861 10.4837 11.3725 0.712006 0.577657 -0.243783 0.315988 +#26285 1721121408183 +SLAM 12.2447 8.4318 -17.1756 -0.597726 0.131512 0.682602 0.399352 +TTool-pose None -27.9866 10.4827 11.35 0.711656 0.577474 -0.244181 0.316805 +#26286 1721121408214 +SLAM 12.1952 8.4468 -17.1868 -0.596971 0.131682 0.683079 0.399611 +TTool-pose None -27.9792 10.4778 11.34 0.71143 0.577439 -0.245089 0.316673 +#26287 1721121408246 +SLAM 12.218 8.4316 -17.202 -0.598782 0.130528 0.682876 0.397622 +TTool-pose None -28.007 10.4384 11.361 0.71276 0.577475 -0.242831 0.315353 +#26288 1721121408274 +SLAM 12.2848 8.52719 -17.1031 -0.599367 0.128537 0.68237 0.398258 +TTool-pose None -27.9912 10.4442 11.3552 0.711978 0.579162 -0.241691 0.3149 +#26289 1721121408306 +SLAM 12.1277 8.30173 -17.2783 -0.597721 0.133825 0.68291 0.398064 +TTool-pose None -27.9979 10.437 11.3113 0.713008 0.575299 -0.244737 0.317293 +#26290 1721121408336 +SLAM 12.1336 8.4437 -17.1909 -0.595759 0.132701 0.682935 0.401325 +TTool-pose None -27.9768 10.4557 11.2842 0.710322 0.577397 -0.246624 0.318043 +#26291 1721121408366 +SLAM 12.2358 8.49316 -17.1266 -0.599016 0.129363 0.682323 0.398598 +TTool-pose None -27.9935 10.4177 11.3251 0.711875 0.578713 -0.242259 0.315522 +#26292 1721121408402 +SLAM 12.1677 8.40534 -17.1949 -0.598414 0.131394 0.682553 0.398444 +TTool-pose None -27.9953 10.4102 11.3039 0.71233 0.577197 -0.243398 0.316394 +#26293 1721121408437 +SLAM 12.0668 8.1978 -17.3579 -0.598451 0.135035 0.682801 0.396743 +TTool-pose None -28.0266 10.3813 11.2928 0.714235 0.57391 -0.244198 0.317462 +#26294 1721121408472 +SLAM 12.1213 8.38654 -17.2088 -0.597678 0.132325 0.682711 0.398971 +TTool-pose None -27.9852 10.4089 11.2779 0.712077 0.576738 -0.244428 0.317007 +#26295 1721121408504 +SLAM 12.1798 8.55521 -17.0927 -0.597758 0.129156 0.682593 0.400089 +TTool-pose None -27.9735 10.4077 11.2832 0.710672 0.579445 -0.24361 0.315851 +#26296 1721121408534 +SLAM 12.0695 8.33848 -17.2457 -0.596972 0.133761 0.682617 0.399709 +TTool-pose None -27.9916 10.3921 11.2436 0.711781 0.57601 -0.245512 0.318157 +#26297 1721121408566 +SLAM 12.1648 8.54702 -17.113 -0.598494 0.128574 0.682652 0.399075 +TTool-pose None -27.9909 10.3716 11.2896 0.71133 0.579453 -0.242681 0.315068 +#26298 1721121408597 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1721121408782 +SLAM 12.0639 8.39551 -17.1976 -0.598786 0.131174 0.68185 0.39916 +TTool-pose None -28.0211 10.282 11.205 0.711832 0.577663 -0.242876 0.317067 +#26305 1721121408814 +SLAM 11.9903 8.39807 -17.1819 -0.596152 0.133324 0.68214 0.401887 +TTool-pose None -27.9745 10.3223 11.1447 0.710101 0.577203 -0.24626 0.31917 +#26306 1721121408850 +SLAM 12.0098 8.34331 -17.2079 -0.597659 0.133109 0.681689 0.400482 +TTool-pose None -27.9999 10.284 11.1545 0.71119 0.576815 -0.244526 0.318779 +#26307 1721121408885 +SLAM 12.0064 8.27662 -17.2388 -0.599722 0.132763 0.681627 0.397608 +TTool-pose None -28.0104 10.249 11.1661 0.71332 0.575917 -0.24219 0.317425 +#26308 1721121408916 +SLAM 12.0208 8.46736 -17.1268 -0.598164 0.130364 0.681624 0.400741 +TTool-pose None -27.9963 10.2465 11.1416 0.710511 0.578877 -0.243348 0.317454 +#26309 1721121408945 +SLAM 12.0342 8.65119 -17.0023 -0.596564 0.128202 0.681732 0.40363 +TTool-pose None -27.9632 10.2631 11.115 0.707899 0.581559 -0.244606 0.317422 +#26310 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-0.24495 0.318609 +#26322 1721121409371 +SLAM 11.7244 8.39917 -17.1594 -0.598539 0.131149 0.681507 0.400124 +TTool-pose None -27.9886 10.0296 10.9429 0.711136 0.578076 -0.243106 0.317699 +#26323 1721121409405 +SLAM 11.7181 8.29257 -17.1928 -0.599281 0.132741 0.680937 0.399459 +TTool-pose None -27.9907 10.017 10.9196 0.711993 0.576694 -0.242601 0.318675 +#26324 1721121409437 +SLAM 11.691 8.34658 -17.1853 -0.598845 0.131856 0.681188 0.399978 +TTool-pose None -27.9991 9.99121 10.9146 0.711412 0.577524 -0.242902 0.318242 +#26325 1721121409473 +SLAM 11.6393 8.51186 -17.1066 -0.597505 0.129587 0.682207 0.400984 +TTool-pose None -27.9625 9.99169 10.9038 0.710114 0.579507 -0.243947 0.31673 +#26326 1721121409506 +SLAM 11.7264 8.4767 -17.1071 -0.600926 0.12767 0.681087 0.398383 +TTool-pose None -28.0138 9.92563 10.9266 0.711875 0.57987 -0.239665 0.315377 +#26327 1721121409540 +SLAM 11.6597 8.43375 -17.1513 -0.600379 0.128764 0.681464 0.398212 +TTool-pose None -28.0124 9.91127 10.9096 0.712161 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-27.9738 9.5443 10.4831 0.711617 0.575831 -0.245835 0.318598 +#26352 1721121410413 +SLAM 10.8503 8.13423 -17.3703 -0.596791 0.136722 0.682756 0.398737 +TTool-pose None -27.964 9.53555 10.4562 0.713021 0.573501 -0.246382 0.31924 +#26353 1721121410446 +SLAM 11.0084 8.48987 -17.1311 -0.597987 0.129173 0.682006 0.400741 +TTool-pose None -27.9647 9.50215 10.4693 0.710249 0.579712 -0.243308 0.316544 +#26354 1721121410479 +SLAM 10.8893 8.26147 -17.3043 -0.597843 0.133375 0.682491 0.398749 +TTool-pose None -27.9863 9.48268 10.4596 0.712459 0.575907 -0.244463 0.317633 +#26355 1721121410512 +SLAM 10.9848 8.49556 -17.1337 -0.59854 0.128533 0.681968 0.400185 +TTool-pose None -27.9747 9.46286 10.4561 0.710561 0.579947 -0.242555 0.315991 +#26356 1721121410544 +SLAM 10.7915 8.23198 -17.3441 -0.597578 0.133982 0.683101 0.397898 +TTool-pose None -27.9815 9.45004 10.4315 0.713138 0.575114 -0.244945 0.317174 +#26357 1721121410577 +SLAM 10.8014 8.47517 -17.1851 -0.597034 0.129813 0.683588 0.399258 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0.398914 +TTool-pose None -27.9596 9.21765 10.1912 0.712468 0.575377 -0.245105 0.318079 +#26370 1721121411030 +SLAM 10.4801 8.33706 -17.2766 -0.597321 0.131912 0.682894 0.399327 +TTool-pose None -27.9701 9.1835 10.1921 0.71171 0.577168 -0.244741 0.316807 +#26371 1721121411071 +SLAM 10.4537 8.40206 -17.2404 -0.597071 0.13086 0.683126 0.399651 +TTool-pose None -27.9586 9.16794 10.173 0.711247 0.578039 -0.244799 0.316214 +#26372 1721121411111 +SLAM 10.4131 8.37901 -17.2536 -0.596694 0.131571 0.683118 0.399993 +TTool-pose None -27.9559 9.15093 10.148 0.711114 0.577669 -0.245369 0.316746 +#26373 1721121411148 +SLAM 10.2995 8.1629 -17.4008 -0.596581 0.135631 0.683452 0.398233 +TTool-pose None -27.9678 9.13411 10.1271 0.713129 0.574056 -0.246436 0.317956 +#26374 1721121411181 +SLAM 10.3905 7.98585 -17.4517 -0.600082 0.136578 0.681724 0.395601 +TTool-pose None -28.0129 9.0938 10.1264 0.715497 0.572385 -0.242654 0.318558 +#26375 1721121411221 +SLAM 10.3745 8.15988 -17.3707 -0.598992 0.133966 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-0.596279 0.13897 0.680495 0.402573 +TTool-pose None -27.9648 6.94938 8.20047 0.710757 0.573491 -0.247216 0.323635 +#26507 1721121415715 +SLAM 7.65606 7.99452 -17.4022 -0.598169 0.135695 0.679084 0.40327 +TTool-pose None -27.9536 6.90895 8.15709 0.709828 0.576159 -0.24429 0.323156 +#26508 1721121415748 +SLAM 7.4159 7.91258 -17.5221 -0.596912 0.137672 0.681825 0.399821 +TTool-pose None -27.9376 6.90957 8.14921 0.712474 0.573284 -0.246372 0.320857 +#26509 1721121415781 +SLAM 7.6009 7.89523 -17.4667 -0.59954 0.136456 0.679149 0.400859 +TTool-pose None -27.971 6.871 8.13538 0.711791 0.574655 -0.242973 0.322507 +#26510 1721121415814 +SLAM 7.48392 8.07958 -17.3708 -0.597377 0.134404 0.680184 0.403021 +TTool-pose None -27.924 6.83368 8.07733 0.709661 0.576948 -0.244974 0.321591 +#26511 1721121415850 +SLAM 7.61113 7.90009 -17.4241 -0.601644 0.134801 0.678399 0.399535 +TTool-pose None -27.9659 6.81279 8.08744 0.712593 0.575333 -0.240231 0.32158 +#26512 1721121415884 +SLAM 7.64576 7.75464 -17.4664 -0.602726 0.137025 0.676892 0.399703 +TTool-pose None -27.9856 6.77997 8.05979 0.713023 0.573854 -0.239392 0.32389 +#26513 1721121415917 +SLAM 7.56431 7.71468 -17.5462 -0.602295 0.137831 0.677664 0.398766 +TTool-pose None -28.0158 6.75726 8.06425 0.713787 0.57288 -0.240118 0.323392 +#26514 1721121415951 +SLAM 7.54545 7.90984 -17.4103 -0.602391 0.134047 0.678005 0.399331 +TTool-pose None -27.9693 6.73072 8.01669 0.712658 0.575801 -0.239205 0.321361 +#26515 1721121415983 +SLAM 7.47368 7.9812 -17.3991 -0.600837 0.133685 0.67866 0.40068 +TTool-pose None -27.9636 6.71013 8.00022 0.711498 0.576578 -0.240889 0.321282 +#26516 1721121416015 +SLAM 7.46979 8.04658 -17.3479 -0.60169 0.131736 0.678488 0.400336 +TTool-pose None -27.9554 6.67277 7.96945 0.711431 0.577836 -0.2395 0.320206 +#26517 1721121416048 +SLAM 7.03336 8.1598 -17.4337 -0.591333 0.13689 0.681852 0.408246 +TTool-pose None -27.9283 6.6238 7.89879 0.705862 0.577168 -0.252242 0.323934 +#26518 1721121416081 +SLAM 7.26282 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None -27.9295 5.5839 7.01034 0.711993 0.576826 -0.239862 0.320508 +#26557 1721121417338 +SLAM 5.20797 8.21964 -17.5198 -0.586856 0.136958 0.686522 0.406855 +TTool-pose None -27.8575 5.52567 6.92134 0.706326 0.576387 -0.25756 0.320104 +#26558 1721121417366 +SLAM 5.9487 8.04381 -17.4527 -0.599234 0.13195 0.679263 0.402628 +TTool-pose None -27.9592 5.56095 7.01974 0.709636 0.578573 -0.242307 0.320747 +#26559 1721121417396 +SLAM 5.99419 7.92255 -17.4212 -0.602044 0.132385 0.678099 0.400248 +TTool-pose None -27.9172 5.55302 6.97503 0.711658 0.57735 -0.23922 0.320788 +#26560 1721121417426 +SLAM 5.51042 7.97342 -17.5396 -0.593073 0.137564 0.68268 0.404089 +TTool-pose None -27.8872 5.52743 6.93836 0.709081 0.575021 -0.250602 0.321987 +#26561 1721121417462 +SLAM 5.95148 7.73466 -17.5836 -0.601418 0.136224 0.678403 0.399386 +TTool-pose None -27.9739 5.55876 7.02453 0.712956 0.574256 -0.240796 0.322279 +#26562 1721121417496 +SLAM 6.09914 7.83756 -17.4114 -0.604727 0.132221 0.676619 0.398759 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0.133234 0.681757 0.40341 +TTool-pose None -27.916 5.48254 6.93871 0.708966 0.577884 -0.246821 0.320027 +#26570 1721121417746 +SLAM 5.52238 7.92501 -17.5392 -0.593139 0.13845 0.681453 0.405758 +TTool-pose None -27.8933 5.46703 6.90962 0.708103 0.575088 -0.2506 0.324016 +#26571 1721121417781 +SLAM 5.70223 8.02954 -17.4545 -0.596959 0.133601 0.680568 0.40326 +TTool-pose None -27.9058 5.48572 6.9283 0.709291 0.577603 -0.245287 0.320993 +#26572 1721121417815 +SLAM 5.61893 7.9436 -17.5033 -0.595946 0.136053 0.680904 0.40337 +TTool-pose None -27.8972 5.47889 6.91146 0.709595 0.575883 -0.24697 0.32212 +#26573 1721121417850 +SLAM 5.59248 8.01092 -17.4722 -0.594587 0.135834 0.680925 0.40541 +TTool-pose None -27.8903 5.46036 6.89525 0.707988 0.576844 -0.248397 0.32284 +#26574 1721121417880 +SLAM 5.4755 8.08298 -17.4754 -0.593567 0.134852 0.682803 0.40407 +TTool-pose None -27.8761 5.47234 6.89346 0.708612 0.576951 -0.249473 0.320439 +#26575 1721121417910 +SLAM 5.58951 7.98746 -17.4739 -0.596387 0.134838 0.681341 0.402387 +TTool-pose None -27.881 5.47536 6.88995 0.710082 0.576348 -0.246265 0.320751 +#26576 1721121417940 +SLAM 5.69877 7.82759 -17.5237 -0.59683 0.13795 0.679177 0.404329 +TTool-pose None -27.9093 5.46111 6.90451 0.709396 0.574961 -0.246256 0.324744 +#26577 1721121417970 +SLAM 5.4062 8.12379 -17.485 -0.593601 0.13391 0.683974 0.402351 +TTool-pose None -27.8757 5.48143 6.88609 0.709618 0.576902 -0.249343 0.318394 +#26578 1721121418000 +SLAM 5.59283 8.01364 -17.4734 -0.597248 0.133644 0.68171 0.400881 +TTool-pose None -27.8883 5.48491 6.89291 0.710978 0.576591 -0.245097 0.319221 +#26579 1721121418028 +SLAM 5.71025 7.53185 -17.6423 -0.594829 0.145648 0.676907 0.408365 +TTool-pose None -27.9282 5.43715 6.90419 0.707847 0.571093 -0.249865 0.332113 +#26580 1721121418059 +SLAM 5.63431 7.9671 -17.4796 -0.597361 0.134599 0.680811 0.40192 +TTool-pose None -27.8949 5.47248 6.89195 0.710462 0.576351 -0.245099 0.320798 +#26581 1721121418087 +SLAM 5.17886 8.16076 -17.5367 -0.588769 0.136565 0.685916 0.405241 +TTool-pose None -27.8689 5.45684 6.86946 0.707594 0.576063 -0.255354 0.319653 +#26582 1721121418118 +SLAM 5.34479 8.16578 -17.4874 -0.592181 0.134032 0.684405 0.403667 +TTool-pose None -27.8791 5.45702 6.87616 0.708572 0.577318 -0.25095 0.318707 +#26583 1721121418152 +SLAM 5.40812 8.06517 -17.517 -0.593222 0.135395 0.68343 0.403335 +TTool-pose None -27.8892 5.46329 6.8851 0.709191 0.576249 -0.250033 0.319984 +#26584 1721121418182 +SLAM 5.42632 8.08043 -17.5086 -0.593398 0.134968 0.683367 0.403327 +TTool-pose None -27.8909 5.46692 6.89023 0.709131 0.576554 -0.24974 0.319796 +#26585 1721121418212 +SLAM 5.60227 7.95359 -17.5128 -0.596534 0.135443 0.681044 0.402469 +TTool-pose None -27.9094 5.46659 6.89796 0.710162 0.575958 -0.246211 0.321318 +#26586 1721121418242 +SLAM 5.60505 7.96846 -17.4708 -0.59669 0.135181 0.680699 0.40291 +TTool-pose None -27.8854 5.45701 6.87048 0.70982 0.576332 -0.245947 0.321604 +#26587 1721121418273 +SLAM 5.33054 8.07014 -17.5322 -0.59169 0.136368 0.684084 0.404148 +TTool-pose None -27.8817 5.45723 6.87736 0.708649 0.575848 -0.251973 0.320385 +#26588 1721121418308 +SLAM 5.64783 8.19556 -17.3299 -0.597257 0.13024 0.68046 0.404098 +TTool-pose None -27.8666 5.41675 6.83622 0.708063 0.580336 -0.24419 0.319607 +#26589 1721121418342 +SLAM 5.52924 8.12423 -17.2878 -0.598469 0.13188 0.680596 0.401538 +TTool-pose None -27.7905 5.43344 6.70192 0.710298 0.578147 -0.243259 0.319323 +#26590 1721121418375 +SLAM 5.58746 7.97547 -17.487 -0.596098 0.135371 0.681007 0.403202 +TTool-pose None -27.8935 5.45774 6.88275 0.709593 0.5763 -0.246664 0.321612 +#26591 1721121418409 +SLAM 5.46638 7.95738 -17.5276 -0.594208 0.137063 0.682133 0.403515 +TTool-pose None -27.8852 5.45879 6.87246 0.709506 0.575173 -0.249206 0.321863 +#26592 1721121418440 +SLAM 5.6222 8.09834 -17.2562 -0.598163 0.132817 0.678576 0.405086 +TTool-pose None -27.7958 5.38839 6.69225 0.70799 0.57895 -0.243594 0.322723 +#26593 1721121418474 +SLAM 5.3938 8.0847 -17.5059 -0.593842 0.134499 0.683676 0.402305 +TTool-pose None -27.8849 5.45855 6.87251 0.709794 0.576474 -0.249184 0.318901 +#26594 1721121418508 +SLAM 5.22812 8.11649 -17.5375 -0.59031 0.136389 0.68506 0.404505 +TTool-pose None -27.8768 5.44042 6.85638 0.708248 0.575936 -0.253566 0.319858 +#26595 1721121418543 +SLAM 5.39904 8.0947 -17.4886 -0.594007 0.134237 0.683325 0.402744 +TTool-pose None -27.8819 5.44012 6.85569 0.709457 0.576848 -0.248911 0.319189 +#26596 1721121418574 +SLAM 5.471 7.84261 -17.5639 -0.593653 0.14003 0.680658 0.405799 +TTool-pose None -27.8968 5.41343 6.84333 0.708439 0.573999 -0.250312 0.325435 +#26597 1721121418608 +SLAM 5.11761 8.05547 -17.5784 -0.58795 0.139437 0.684779 0.407369 +TTool-pose None -27.8789 5.37841 6.81353 0.706586 0.574881 -0.256757 0.322871 +#26598 1721121418648 +SLAM 5.39467 7.83193 -17.5757 -0.594371 0.139465 0.680957 0.404438 +TTool-pose None -27.8981 5.36177 6.80164 0.709354 0.573858 -0.249441 0.324356 +#26599 1721121418685 +SLAM 5.94673 8.06469 -17.3068 -0.60429 0.128096 0.676237 0.401408 +TTool-pose None -27.9231 5.36078 6.80817 0.710203 0.580918 -0.235599 0.320249 +#26600 1721121418717 +SLAM 5.25516 8.0107 -17.5566 -0.59454 0.135263 0.682929 0.402286 +TTool-pose None -27.9146 5.3064 6.76482 0.710036 0.575948 -0.248524 0.319827 +#26601 1721121418749 +#26602 1721121418775 +#26603 1721121418807 +#26604 1721121418842 +SLAM 4.91237 8.51932 -17.2751 -0.597234 0.122874 0.684184 0.400132 +TTool-pose None -27.8577 5.0125 6.43006 0.709283 0.583868 -0.242885 0.31135 +#26605 1721121418876 +#26606 1721121418913 +SLAM 4.93467 7.87356 -17.4925 -0.602169 0.132333 0.678619 0.399195 +TTool-pose None -27.9064 4.79478 6.28539 0.712388 0.576951 -0.239124 0.319955 +#26607 1721121418950 +#26608 1721121418978 +#26609 1721121419008 +#26610 1721121419045 +#26611 1721121419075 +#26612 1721121419109 +SLAM 3.89871 8.24321 -17.3428 -0.603093 0.123196 0.68037 0.397742 +TTool-pose None -27.8552 4.04977 5.54902 0.711609 0.582809 -0.23619 0.313174 +#26613 1721121419141 +#26614 1721121419175 +#26615 1721121419207 +#26616 1721121419241 +SLAM 3.10753 7.49576 -17.7725 -0.605024 0.131617 0.67926 0.393991 +TTool-pose None -27.9413 3.30064 5.22396 0.71611 0.575351 -0.235886 0.316913 +#26617 1721121419275 +#26618 1721121419311 +SLAM 1.95839 8.33262 -17.5145 -0.592808 0.127639 0.686601 0.401081 +TTool-pose None -27.857 3.02106 4.60729 0.70913 0.580771 -0.24903 0.312636 +#26619 1721121419343 +#26620 1721121419380 +#26621 1721121419411 +#26622 1721121419446 +SLAM 1.48029 7.62217 -17.7574 -0.601203 0.133393 0.679254 0.399219 +TTool-pose None -27.8936 2.19485 4.08668 0.712487 0.576186 -0.240483 0.320095 +#26623 1721121419477 +#26624 1721121419511 +#26625 1721121419541 +#26626 1721121419575 +SLAM 0.527066 7.40036 -17.7568 -0.607585 0.129874 0.679476 0.390238 +TTool-pose None -27.7871 1.48915 3.36401 0.718573 0.575066 -0.232677 0.314214 +#26627 1721121419609 +#26628 1721121419641 +#26629 1721121419676 +#26630 1721121419705 +#26631 1721121419740 +SLAM -2.17556 7.99833 -17.6686 -0.595945 0.126724 0.688612 0.393198 +TTool-pose None -27.7692 0.123925 1.83465 0.714695 0.578204 -0.245577 0.307406 +#26632 1721121419774 +#26633 1721121419811 +#26634 1721121419843 +#26635 1721121419876 +#26636 1721121419909 +#26637 1721121419939 +#26638 1721121419973 +#26639 1721121420008 +#26640 1721121420044 +#26641 1721121420073 +#26642 1721121420110 +#26643 1721121420141 +#26644 1721121420175 +#26645 1721121420208 +#26646 1721121420240 +#26647 1721121420276 +#26648 1721121420309 +#26649 1721121420341 +#26650 1721121420377 +#26651 1721121420406 +#26652 1721121420444 +#26653 1721121420474 +#26654 1721121420507 +#26655 1721121420541 +#26656 1721121420576 +#26657 1721121420607 +#26658 1721121420641 +#26659 1721121420676 +#26660 1721121420707 +#26661 1721121420740 +#26662 1721121420774 +#26663 1721121420807 +#26664 1721121420841 +#26665 1721121420874 +#26666 1721121420908 +#26667 1721121420943 +#26668 1721121420974 +#26669 1721121421010 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None -34.7589 15.1207 12.7432 0.712917 0.6294 0.0538955 0.304307 +#26705 1721121422210 +SLAM 27.722 15.8284 -8.20222 -0.792417 -0.0118866 0.50964 0.334964 +TTool-pose None -34.8452 14.9252 12.6267 0.706346 0.635181 0.0542773 0.307537 +#26706 1721121422244 +SLAM 28.0167 16.2814 -7.15764 -0.79758 -0.021985 0.502321 0.333252 +TTool-pose None -34.739 15.0673 12.8104 0.702519 0.639848 0.0660356 0.304309 +#26707 1721121422276 +SLAM 28.0188 15.4177 -7.25326 -0.79393 -0.0102885 0.500985 0.34436 +TTool-pose None -34.4882 14.9765 12.5263 0.69942 0.637523 0.0572289 0.317825 +#26708 1721121422309 +SLAM 28.4499 15.8732 -6.00626 -0.794313 -0.0185094 0.492286 0.355498 +TTool-pose None -34.47 15.2427 12.5122 0.68802 0.646864 0.0622135 0.322861 +#26709 1721121422344 +SLAM 28.762 16.1164 -5.0925 -0.795211 -0.0240184 0.486227 0.361448 +TTool-pose None -34.4046 15.4512 12.5845 0.681154 0.652326 0.0665795 0.325549 +#26710 1721121422377 +SLAM 28.8774 15.9194 -5.09589 -0.801587 -0.0264467 0.485591 0.347793 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0.481821 0.358697 +TTool-pose None -33.774 15.617 13.0919 0.677534 0.6584 0.0765841 0.318597 +#26717 1721121422611 +SLAM 28.7406 16.2898 -3.6661 -0.7992 -0.0340482 0.482061 0.357404 +TTool-pose None -33.6605 15.6786 13.0579 0.679297 0.65619 0.0763168 0.319466 +#26718 1721121422645 +SLAM 28.9404 16.412 -3.14855 -0.803398 -0.0379211 0.476654 0.354846 +TTool-pose None -33.6748 15.7469 13.147 0.678293 0.656663 0.0844632 0.318574 +#26719 1721121422680 +SLAM 29.0868 16.3532 -2.79174 -0.804964 -0.0388296 0.472036 0.357361 +TTool-pose None -33.6904 15.7471 13.0881 0.675349 0.657758 0.0878862 0.321631 +#26720 1721121422711 +SLAM 29.2204 16.263 -2.40249 -0.807057 -0.0394976 0.466755 0.359498 +TTool-pose None -33.6832 15.742 13.0028 0.67254 0.658416 0.092098 0.324979 +#26721 1721121422744 +SLAM 29.3965 16.3722 -1.70333 -0.808489 -0.0448104 0.458829 0.365805 +TTool-pose None -33.7809 15.6761 12.8753 0.66482 0.663522 0.0978112 0.328791 +#26722 1721121422779 +SLAM 29.5685 16.8377 -0.498683 -0.809816 -0.0545214 0.448971 0.373698 +TTool-pose None -33.8452 15.8409 12.7339 0.653915 0.671752 0.105651 0.331514 +#26723 1721121422811 +SLAM 29.7898 16.4821 -0.0357189 -0.816359 -0.0568592 0.439627 0.370207 +TTool-pose None -33.8627 15.533 12.8275 0.652809 0.670114 0.117553 0.332999 +#26724 1721121422846 +SLAM 30.0386 16.864 1.41855 -0.81905 -0.067571 0.426208 0.378071 +TTool-pose None -33.9681 15.673 12.721 0.640291 0.678226 0.128857 0.336682 +#26725 1721121422880 +SLAM 30.341 16.3601 1.726 -0.825287 -0.0676157 0.416057 0.3758 +TTool-pose None -34.0995 15.2928 12.7577 0.638825 0.675496 0.139941 0.340511 +#26726 1721121422916 +SLAM 30.7007 16.1875 2.47914 -0.827518 -0.0708622 0.403895 0.383485 +TTool-pose None -34.3641 15.1373 12.5975 0.629229 0.678971 0.147738 0.348094 +#26727 1721121422943 +SLAM 31.1493 16.0399 3.61932 -0.828406 -0.0753302 0.388703 0.396206 +TTool-pose None -34.6643 15.0975 12.3823 0.614856 0.684879 0.155455 0.35869 +#26728 1721121422982 +SLAM 31.3932 15.5564 3.65868 -0.829284 -0.0721863 0.382903 0.400577 +TTool-pose None -34.8078 14.854 12.271 0.611428 0.683894 0.157279 0.365571 +#26729 1721121423016 +SLAM 31.529 15.4674 3.99736 -0.832738 -0.0736287 0.376884 0.398855 +TTool-pose None -34.8887 14.7816 12.2731 0.610072 0.682877 0.164291 0.366652 +#26730 1721121423050 +SLAM 31.6763 15.7513 4.82833 -0.83585 -0.0827005 0.367302 0.399506 +TTool-pose None -35.1236 14.6819 12.2884 0.603088 0.686925 0.175152 0.365615 +#26731 1721121423079 +SLAM 31.7868 15.692 5.33131 -0.831702 -0.0852719 0.361015 0.413121 +TTool-pose None -35.2923 14.6083 11.9945 0.59124 0.693501 0.173149 0.373428 +#26732 1721121423112 +SLAM 31.9463 15.7267 5.89581 -0.830731 -0.0895172 0.354552 0.41972 +TTool-pose None -35.4736 14.5587 11.9209 0.583114 0.697817 0.176003 0.376817 +#26733 1721121423155 +SLAM 32.0789 15.7402 6.28662 -0.832464 -0.0921784 0.349876 0.419634 +TTool-pose None -35.5748 14.5492 11.9795 0.580543 0.69848 0.180978 0.377204 +#26734 1721121423193 +SLAM 32.1753 15.7081 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14.9694 12.3759 0.604489 0.691562 0.168604 0.357545 +#26788 1721121425046 +SLAM 31.5224 16.6101 4.45722 -0.83128 -0.0875636 0.377492 0.398504 +TTool-pose None -35.2956 14.9613 12.3749 0.605164 0.691351 0.167739 0.357219 +#26789 1721121425080 +SLAM 31.4561 16.6198 4.34954 -0.830786 -0.0869743 0.378819 0.398404 +TTool-pose None -35.2571 14.9617 12.3417 0.60588 0.691193 0.16642 0.356927 +#26790 1721121425114 +SLAM 31.3889 16.7355 4.33972 -0.832085 -0.0880782 0.379404 0.394879 +TTool-pose None -35.2262 14.9812 12.3885 0.607888 0.690354 0.168333 0.354229 +#26791 1721121425149 +SLAM 31.296 16.9969 4.64319 -0.829186 -0.0908699 0.378891 0.400793 +TTool-pose None -35.2301 15.1307 12.2275 0.602858 0.69467 0.165921 0.355524 +#26792 1721121425182 +SLAM 31.2155 16.8156 4.14049 -0.832083 -0.0873516 0.38233 0.392212 +TTool-pose None -35.1119 15.018 12.358 0.610794 0.689224 0.167064 0.352023 +#26793 1721121425216 +SLAM 31.1467 16.7917 4.08425 -0.827374 -0.0860597 0.383554 0.401164 +TTool-pose None -35.1166 15.0324 12.1116 0.605963 0.692772 0.160102 0.356615 +#26794 1721121425250 +SLAM 31.1011 16.9142 3.98168 -0.832176 -0.0877206 0.384394 0.389909 +TTool-pose None -35.0754 15.0036 12.3558 0.612762 0.688764 0.166654 0.349688 +#26795 1721121425282 +SLAM 31.0612 16.8645 3.79023 -0.831706 -0.0861939 0.386027 0.389639 +TTool-pose None -35.0526 14.9818 12.3272 0.614038 0.688009 0.164897 0.34977 +#26796 1721121425315 +SLAM 31.0322 16.6815 3.53093 -0.828908 -0.0827075 0.387932 0.394436 +TTool-pose None -35.0327 14.9372 12.1773 0.612932 0.688441 0.159269 0.35345 +#26797 1721121425347 +SLAM 31.0464 16.7214 3.53547 -0.829327 -0.0836618 0.387746 0.393536 +TTool-pose None -35.0686 14.9044 12.2137 0.61308 0.688575 0.16025 0.352486 +#26798 1721121425380 +SLAM 31.0308 16.7114 3.39479 -0.830518 -0.0832709 0.388787 0.390064 +TTool-pose None -35.0569 14.8712 12.2838 0.615758 0.686925 0.161291 0.350556 +#26799 1721121425415 +SLAM 31.0094 16.6971 3.25581 -0.829668 -0.0827012 0.38979 0.390993 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0.388037 +TTool-pose None -35.0913 14.5402 12.1492 0.621198 0.683636 0.155022 0.350218 +#26812 1721121425874 +SLAM 17.463 18.4275 41.1887 -0.603679 -0.554818 0.00981252 0.57241 +TTool-pose None -42.5179 3.38358 11.5668 0.0266748 0.90335 0.363918 0.225194 +#26813 1721121425911 +SLAM 30.8862 16.3857 2.35414 -0.829678 -0.0772352 0.39467 0.387176 +TTool-pose None -35.1066 14.4917 12.1584 0.621708 0.68296 0.15592 0.350233 +#26814 1721121425943 +SLAM 30.8729 16.3496 2.32182 -0.829664 -0.0768073 0.394719 0.387241 +TTool-pose None -35.0942 14.4718 12.1418 0.621844 0.682736 0.155718 0.350516 +#26815 1721121425975 +SLAM 30.8957 16.3193 2.38898 -0.829237 -0.0769955 0.393801 0.389049 +TTool-pose None -35.1089 14.4509 12.1116 0.620349 0.683523 0.15553 0.351715 +#26816 1721121426006 +SLAM 30.8825 16.234 2.30631 -0.828947 -0.0757038 0.394241 0.389474 +TTool-pose None -35.0831 14.43 12.0871 0.620704 0.683007 0.154505 0.352542 +#26817 1721121426038 +SLAM 30.8567 16.2179 2.26504 -0.829064 -0.0756347 0.394554 0.388919 +TTool-pose None -35.066 14.4028 12.0914 0.621178 0.682764 0.154531 0.352167 +#26818 1721121426069 +SLAM 30.8234 16.2114 2.23754 -0.829302 -0.0756356 0.395012 0.387947 +TTool-pose None -35.0316 14.3926 12.1108 0.621932 0.682397 0.154693 0.351473 +#26819 1721121426101 +SLAM 30.7967 16.2057 2.26005 -0.829243 -0.0759625 0.394998 0.388023 +TTool-pose None -35.0034 14.3768 12.1144 0.621756 0.68263 0.154751 0.351307 +#26820 1721121426137 +SLAM 30.7529 16.2288 2.28061 -0.828838 -0.0765826 0.395308 0.388451 +TTool-pose None -34.9734 14.3647 12.1129 0.621345 0.683264 0.154371 0.350969 +#26821 1721121426174 +SLAM 30.6472 16.1819 2.09577 -0.828822 -0.0752304 0.397665 0.386338 +TTool-pose None -34.8714 14.3589 12.1344 0.62391 0.681877 0.153075 0.349679 +#26822 1721121426208 +SLAM 30.5913 16.2572 2.19921 -0.829489 -0.0768283 0.397399 0.384863 +TTool-pose None -34.8211 14.3663 12.1689 0.624153 0.682126 0.154656 0.34806 +#26823 1721121426245 +SLAM 30.4948 16.2712 2.17886 -0.828617 -0.0769059 0.398551 0.385534 +TTool-pose None -34.7421 14.3707 12.1454 0.624051 0.682689 0.153193 0.347785 +#26824 1721121426283 +SLAM 30.3757 16.2778 2.10532 -0.828975 -0.0767436 0.400558 0.382705 +TTool-pose None -34.6095 14.3905 12.2085 0.626499 0.681633 0.152974 0.345544 +#26825 1721121426317 +SLAM 30.2823 16.281 2.13593 -0.82805 -0.0770443 0.401363 0.383805 +TTool-pose None -34.5171 14.3954 12.1901 0.625936 0.68247 0.151638 0.345502 +#26826 1721121426349 +SLAM 30.1584 16.3161 2.12564 -0.828103 -0.0774974 0.402933 0.381947 +TTool-pose None -34.3892 14.4181 12.2328 0.627402 0.682162 0.151406 0.343546 +#26827 1721121426382 +SLAM 30.0273 16.2866 2.05248 -0.82677 -0.0768169 0.405231 0.382541 +TTool-pose None -34.2503 14.434 12.2309 0.627973 0.682422 0.148698 0.343167 +#26828 1721121426413 +SLAM 29.9422 16.1456 1.93793 -0.826022 -0.0746017 0.407514 0.382172 +TTool-pose None -34.0886 14.4575 12.2693 0.629721 0.68129 0.146156 0.343307 +#26829 1721121426447 +SLAM 29.8759 15.983 1.82284 -0.824236 -0.0722614 0.40981 0.384016 +TTool-pose None -33.951 14.4648 12.2831 0.630116 0.681105 0.142222 0.344598 +#26830 1721121426478 +SLAM 29.8268 15.831 1.74503 -0.822822 -0.0702154 0.41188 0.385211 +TTool-pose None -33.812 14.4857 12.329 0.630734 0.680756 0.138966 0.345487 +#26831 1721121426511 +SLAM 29.7444 15.5859 1.52303 -0.817127 -0.0661844 0.415489 0.39407 +TTool-pose None -33.6948 14.4698 12.2148 0.627638 0.682962 0.12899 0.350605 +#26832 1721121426542 +SLAM 29.6966 15.5497 1.45976 -0.820205 -0.0655363 0.418337 0.384659 +TTool-pose None -33.4858 14.5691 12.5191 0.634684 0.678713 0.13184 0.345063 +#26833 1721121426574 +SLAM 29.6499 15.2402 1.37876 -0.813898 -0.0595174 0.42118 0.395773 +TTool-pose None -33.2983 14.7088 12.3496 0.630614 0.680573 0.120601 0.352888 +#26834 1721121426605 +SLAM 29.6221 15.2875 1.48526 -0.807904 -0.0595962 0.423384 0.405567 +TTool-pose None -33.2491 14.8211 12.2776 0.624841 0.685432 0.112407 0.356442 +#26835 1721121426634 +SLAM 29.5392 15.0178 1.05143 -0.807597 -0.0547891 0.429059 0.400867 +TTool-pose None -33.0407 14.8248 12.4845 0.631213 0.681248 0.108483 0.354446 +#26836 1721121426662 +#26837 1721121426689 +#26838 1721121426720 +#26839 1721121426753 +SLAM 29.4553 14.3711 0.279164 -0.794733 -0.0416579 0.445609 0.409996 +TTool-pose None -32.5099 15.1471 12.8811 0.634253 0.679767 0.0826999 0.358791 +#26840 1721121426785 +#26841 1721121426817 +#26842 1721121426844 +#26843 1721121426871 +#26844 1721121426898 +#26845 1721121426928 +#26846 1721121426953 +#26847 1721121426979 +#26848 1721121427005 +#26849 1721121427032 +#26850 1721121427060 +SLAM 29.3454 12.3799 -4.63705 -0.764146 0.00247137 0.507199 0.398526 +TTool-pose None -31.9816 15.4338 15.0641 0.670219 0.655012 0.0134405 0.348583 +#26851 1721121427088 +SLAM 29.2109 12.1819 -5.20466 -0.759879 0.00877534 0.513207 0.398904 +TTool-pose None -31.9367 15.5066 15.1013 0.673047 0.651819 0.00475765 0.349348 +#26852 1721121427116 +SLAM 28.9641 12.0656 -5.97635 -0.761268 0.0116469 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-0.750479 0.0236616 0.542462 0.376771 +TTool-pose None -31.9078 15.4583 15.6006 0.69701 0.63539 -0.0176466 0.331758 +#26859 1721121427350 +SLAM 28.2143 12.0009 -8.04698 -0.74864 0.0245314 0.544302 0.377719 +TTool-pose None -31.934 15.4713 15.6154 0.696918 0.635433 -0.020547 0.331701 +#26860 1721121427384 +SLAM 28.1176 11.972 -8.26652 -0.746842 0.0262302 0.54696 0.377325 +TTool-pose None -31.9167 15.49 15.6388 0.698064 0.634405 -0.0237928 0.331041 +#26861 1721121427416 +SLAM 28.0854 11.9529 -8.40343 -0.746125 0.0267378 0.548523 0.376437 +TTool-pose None -31.9236 15.4778 15.6992 0.699016 0.633825 -0.0251204 0.330044 +#26862 1721121427452 +SLAM 28.1112 11.9359 -8.49343 -0.745695 0.0266059 0.549337 0.376111 +TTool-pose None -31.9629 15.4495 15.7815 0.699304 0.633842 -0.0257586 0.32935 +#26863 1721121427483 +SLAM 28.1274 11.7055 -8.60892 -0.74246 0.0312096 0.549468 0.381922 +TTool-pose None -31.9591 15.5097 15.6881 0.696853 0.633449 -0.0312085 0.334788 +#26864 1721121427517 +SLAM 27.9455 11.11 -9.1791 -0.741211 0.0397194 0.552671 0.378923 +TTool-pose None -31.8751 15.3806 15.7398 0.70173 0.626808 -0.0358924 0.336631 +#26865 1721121427554 +SLAM 28.1247 11.0476 -9.04566 -0.737682 0.0411255 0.550488 0.388711 +TTool-pose None -31.959 15.4674 15.6518 0.695332 0.630044 -0.0402483 0.343311 +#26866 1721121427590 +SLAM 28.2181 11.009 -9.07108 -0.736958 0.0409384 0.550644 0.389883 +TTool-pose None -32.0042 15.4611 15.7547 0.694514 0.630701 -0.0411046 0.343659 +#26867 1721121427627 +SLAM 28.1759 10.7492 -9.3531 -0.739711 0.042837 0.553048 0.380959 +TTool-pose None -31.9394 15.3549 16.0074 0.70132 0.625696 -0.0387371 0.33923 +#26868 1721121427657 +SLAM 28.0978 10.8131 -9.52969 -0.739696 0.0417836 0.55604 0.376728 +TTool-pose None -31.9216 15.321 16.1633 0.704206 0.624769 -0.0389656 0.334904 +#26869 1721121427687 +SLAM 28.1478 10.7839 -9.53046 -0.738496 0.0423677 0.55538 0.379975 +TTool-pose None -31.9758 15.3271 16.1281 0.702142 0.625779 -0.0405091 0.337161 +#26870 1721121427718 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-0.726323 0.0868052 0.549627 0.403522 +TTool-pose None -32.8894 14.5305 16.6299 0.69722 0.605839 -0.0665286 0.3773 +#26912 1721121429130 +SLAM 28.673 6.90878 -12.0477 -0.725103 0.0877724 0.550825 0.403874 +TTool-pose None -32.8595 14.5035 16.6042 0.697362 0.605439 -0.0684783 0.37733 +#26913 1721121429162 +SLAM 28.7862 7.06669 -11.8526 -0.72339 0.0858973 0.548853 0.409988 +TTool-pose None -32.9136 14.5559 16.52 0.692428 0.609185 -0.0695947 0.380175 +#26914 1721121429193 +SLAM 28.6817 7.06653 -11.9697 -0.723874 0.0858116 0.550704 0.406653 +TTool-pose None -32.8756 14.508 16.5729 0.69495 0.607967 -0.0693927 0.377548 +#26915 1721121429230 +SLAM 28.8341 7.32771 -11.7302 -0.724865 0.0813579 0.549627 0.407261 +TTool-pose None -32.9126 14.5392 16.6241 0.6933 0.611161 -0.066812 0.375885 +#26916 1721121429270 +SLAM 28.796 7.38387 -11.7529 -0.724935 0.0804294 0.550501 0.406139 +TTool-pose None -32.8983 14.5152 16.656 0.693955 0.611383 -0.0666641 0.374339 +#26917 1721121429304 +SLAM 28.6907 7.3356 -11.8608 -0.722688 0.0820795 0.55105 0.409058 +TTool-pose None -32.8958 14.4988 16.5712 0.692408 0.611572 -0.0698735 0.376305 +#26918 1721121429336 +SLAM 28.7132 7.38133 -11.815 -0.724101 0.0808532 0.551328 0.406421 +TTool-pose None -32.8732 14.4959 16.6324 0.693967 0.61129 -0.0679369 0.374239 +#26919 1721121429367 +SLAM 28.75 7.39545 -11.7581 -0.723404 0.0806921 0.550399 0.408945 +TTool-pose None -32.8965 14.5038 16.5911 0.692063 0.612408 -0.0685205 0.375829 +#26920 1721121429400 +SLAM 28.8059 7.4502 -11.661 -0.723984 0.0796437 0.549777 0.408961 +TTool-pose None -32.8947 14.5248 16.6001 0.691714 0.613071 -0.0674234 0.375588 +#26921 1721121429435 +SLAM 28.7262 7.46178 -11.7293 -0.723922 0.0795643 0.551019 0.407411 +TTool-pose None -32.8611 14.4979 16.6211 0.692923 0.612565 -0.0677376 0.374126 +#26922 1721121429470 +SLAM 28.7755 7.77242 -11.5701 -0.723806 0.0747046 0.551275 0.408192 +TTool-pose None -32.8827 14.488 16.6681 0.69119 0.616213 -0.0666122 0.371532 +#26923 1721121429502 +SLAM 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-32.2664 14.9116 15.1428 0.660312 0.617282 -0.142239 0.403318 +#26959 1721121430730 +SLAM 26.408 7.50293 -13.4362 -0.668199 0.109404 0.57125 0.463913 +TTool-pose None -32.2482 14.9228 15.1283 0.660322 0.61685 -0.142821 0.403757 +#26960 1721121430762 +SLAM 26.5027 7.50714 -13.3545 -0.668437 0.108851 0.569775 0.465509 +TTool-pose None -32.2902 14.9254 15.1125 0.658867 0.617771 -0.142055 0.404995 +#26961 1721121430799 +SLAM 26.5685 7.42493 -13.3216 -0.670441 0.108878 0.569053 0.463502 +TTool-pose None -32.29 14.9147 15.1599 0.660386 0.616926 -0.139731 0.404617 +#26962 1721121430835 +SLAM 26.6586 7.46694 -13.2313 -0.669577 0.108331 0.567391 0.466902 +TTool-pose None -32.3469 14.928 15.105 0.657512 0.618533 -0.140099 0.406712 +#26963 1721121430867 +SLAM 26.6266 7.34903 -13.2887 -0.67012 0.110073 0.567609 0.46545 +TTool-pose None -32.3141 14.9374 15.1112 0.659033 0.616769 -0.140018 0.406956 +#26964 1721121430904 +SLAM 26.649 7.28866 -13.2702 -0.670388 0.110673 0.566895 0.465791 +TTool-pose None -32.3135 14.935 15.0977 0.658847 0.616442 -0.139704 0.40786 +#26965 1721121430937 +SLAM 26.6128 7.25856 -13.2878 -0.669375 0.111525 0.566529 0.467488 +TTool-pose None -32.315 14.9207 15.042 0.657682 0.616488 -0.140915 0.409253 +#26966 1721121430970 +SLAM 26.4295 7.17294 -13.419 -0.668739 0.113504 0.568134 0.46597 +TTool-pose None -32.2354 14.8854 15.0123 0.659393 0.614616 -0.142506 0.408765 +#26967 1721121431006 +SLAM 26.2466 7.12829 -13.47 -0.668273 0.114467 0.569401 0.464856 +TTool-pose None -32.1298 14.8313 14.9685 0.660546 0.613586 -0.143568 0.408078 +#26968 1721121431042 +SLAM 26.0282 7.05925 -13.5335 -0.667341 0.116012 0.570314 0.464692 +TTool-pose None -32.0272 14.7526 14.8762 0.661055 0.612496 -0.145184 0.408317 +#26969 1721121431080 +SLAM 25.7433 6.97923 -13.6458 -0.665784 0.118305 0.571869 0.464437 +TTool-pose None -31.9032 14.6738 14.7636 0.661824 0.610884 -0.147815 0.408543 +#26970 1721121431117 +SLAM 25.4908 6.9329 -13.7068 -0.66423 0.119967 0.5734 0.464348 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0.134073 0.590705 0.464314 +TTool-pose None -30.9116 14.0297 13.7907 0.665821 0.600635 -0.177128 0.405578 +#26983 1721121431566 +SLAM 23.0065 6.8559 -14.637 -0.646967 0.133595 0.590328 0.463788 +TTool-pose None -30.8629 13.9834 13.7638 0.666139 0.600757 -0.176057 0.405341 +#26984 1721121431603 +SLAM 22.7596 6.83637 -14.7194 -0.644922 0.135158 0.592089 0.463938 +TTool-pose None -30.7622 13.93 13.6843 0.666354 0.599774 -0.179005 0.405152 +#26985 1721121431638 +SLAM 22.966 6.8863 -14.4226 -0.648415 0.131383 0.588848 0.46428 +TTool-pose None -30.7656 13.8654 13.6841 0.665293 0.602453 -0.173643 0.405256 +#26986 1721121431673 +SLAM 22.9291 6.91804 -14.3284 -0.647603 0.130597 0.587764 0.466999 +TTool-pose None -30.7399 13.7937 13.6048 0.662955 0.604003 -0.174053 0.406601 +#26987 1721121431709 +SLAM 22.8512 6.9631 -14.2842 -0.648889 0.129018 0.588602 0.464592 +TTool-pose None -30.6739 13.7326 13.6161 0.664586 0.604234 -0.172511 0.404245 +#26988 1721121431744 +SLAM 22.7319 6.99588 -14.3224 -0.647877 0.129061 0.589451 0.464915 +TTool-pose None -30.6459 13.6861 13.5747 0.664362 0.604362 -0.173794 0.403872 +#26989 1721121431778 +SLAM 22.5361 6.96028 -14.4608 -0.647036 0.130679 0.592062 0.462309 +TTool-pose None -30.5657 13.6855 13.5788 0.666802 0.602323 -0.175688 0.402074 +#26990 1721121431815 +SLAM 22.3598 7.01864 -14.5524 -0.645181 0.131052 0.594349 0.461861 +TTool-pose None -30.5098 13.6737 13.5631 0.667277 0.601973 -0.178274 0.400668 +#26991 1721121431851 +SLAM 22.1641 7.15061 -14.6316 -0.643469 0.130226 0.597428 0.46051 +TTool-pose None -30.441 13.6601 13.5704 0.668245 0.60215 -0.180594 0.39774 +#26992 1721121431884 +SLAM 21.8618 7.272 -14.7732 -0.640521 0.130325 0.601613 0.45914 +TTool-pose None -30.3368 13.6411 13.5607 0.669397 0.601691 -0.184682 0.394604 +#26993 1721121431920 +SLAM 21.5028 7.44855 -14.9315 -0.638361 0.129121 0.607019 0.455359 +TTool-pose None -30.2145 13.593 13.5883 0.672185 0.60125 -0.187869 0.388991 +#26994 1721121431951 +SLAM 21.2423 7.66596 -14.9967 -0.636362 0.126705 0.610479 0.454208 +TTool-pose None -30.1529 13.5115 13.5777 0.672627 0.602605 -0.190148 0.385003 +#26995 1721121431986 +SLAM 20.2239 7.73153 -15.6107 -0.628904 0.131265 0.624111 0.444675 +TTool-pose None -29.8229 13.4727 13.5952 0.680796 0.59597 -0.201933 0.374833 +#26996 1721121432018 +SLAM 19.9879 7.83745 -15.6412 -0.628149 0.130041 0.628501 0.439891 +TTool-pose None -29.648 13.4965 13.6612 0.684191 0.595042 -0.20328 0.369355 +#26997 1721121432052 +SLAM 19.6074 7.86764 -15.8048 -0.625525 0.131093 0.633878 0.435583 +TTool-pose None -29.47 13.4944 13.6911 0.68756 0.59267 -0.207311 0.364639 +#26998 1721121432084 +SLAM 19.2379 7.98775 -15.9395 -0.621129 0.131539 0.638515 0.434966 +TTool-pose None -29.3454 13.4741 13.6663 0.68792 0.592137 -0.212932 0.361575 +#26999 1721121432119 +SLAM 18.7627 8.14677 -16.1092 -0.617634 0.130908 0.645085 0.430414 +TTool-pose None -29.174 13.4354 13.6838 0.691002 0.590815 -0.217628 0.355002 +#27000 1721121432153 +SLAM 18.4664 8.35104 -16.1471 -0.613222 0.130134 0.649103 0.430918 +TTool-pose None -29.0544 13.4505 13.6478 0.690211 0.591539 -0.222815 0.352104 +#27001 1721121432188 +SLAM 17.6483 8.18645 -16.6262 -0.607335 0.136842 0.657647 0.424168 +TTool-pose None -28.8443 13.3891 13.5708 0.696041 0.584045 -0.231972 0.347187 +#27002 1721121432220 +SLAM 17.5083 8.55573 -16.5051 -0.606203 0.130558 0.661228 0.422197 +TTool-pose None -28.7445 13.3589 13.6412 0.696147 0.5877 -0.232253 0.340553 +#27003 1721121432261 +SLAM 16.379 8.23568 -17.145 -0.59469 0.143883 0.672078 0.417076 +TTool-pose None -28.438 13.3915 13.4479 0.701352 0.575915 -0.24905 0.338129 +#27004 1721121432295 +SLAM 16.4492 8.62611 -16.9414 -0.597345 0.134369 0.673495 0.41416 +TTool-pose None -28.4313 13.292 13.5787 0.701845 0.581562 -0.244249 0.330858 +#27005 1721121432330 +SLAM 15.7878 8.49612 -17.2926 -0.59179 0.139752 0.680197 0.409372 +TTool-pose None -28.2754 13.2513 13.5173 0.705687 0.575616 -0.252208 0.327091 +#27006 1721121432363 +SLAM 15.6506 8.76733 -17.2294 -0.591051 0.134635 0.68322 0.407114 +TTool-pose None -28.2135 13.1996 13.5842 0.706172 0.578287 -0.252184 0.321295 +#27007 1721121432397 +SLAM 15.4848 8.88654 -17.2362 -0.588755 0.13382 0.685433 0.406991 +TTool-pose None -28.1546 13.2004 13.5709 0.705831 0.578733 -0.254702 0.319248 +#27008 1721121432427 +SLAM 15.0641 8.77147 -17.4711 -0.586814 0.13636 0.689882 0.401395 +TTool-pose None -28.0632 13.1376 13.5744 0.709974 0.574529 -0.2578 0.315139 +#27009 1721121432464 +SLAM 15.0236 8.93702 -17.3985 -0.583944 0.135485 0.690583 0.404658 +TTool-pose None -28.0307 13.1817 13.5332 0.707197 0.576402 -0.260761 0.315525 +#27010 1721121432498 +SLAM 14.6202 8.71943 -17.6739 -0.583161 0.139021 0.694708 0.397464 +TTool-pose None -27.95 13.116 13.5553 0.712733 0.570843 -0.262761 0.311487 +#27011 1721121432534 +SLAM 14.5931 8.73316 -17.6933 -0.583499 0.138447 0.695375 0.395999 +TTool-pose None -27.9449 13.1105 13.5816 0.71366 0.570644 -0.262323 0.310092 +#27012 1721121432567 +SLAM 14.7544 8.86925 -17.5811 -0.583216 0.136693 0.693795 0.399779 +TTool-pose None -27.9925 13.1426 13.5668 0.710698 0.573471 -0.262109 0.311859 +#27013 1721121432597 +SLAM 14.6551 8.84541 -17.6647 -0.582976 0.13715 0.695317 0.39732 +TTool-pose None -27.9769 13.1465 13.5988 0.712436 0.572099 -0.262599 0.309992 +#27014 1721121432636 +SLAM 14.6395 8.84645 -17.7102 -0.58208 0.138033 0.695312 0.398335 +TTool-pose None -28.0101 13.1621 13.5818 0.711804 0.571866 -0.263762 0.31089 +#27015 1721121432671 +SLAM 14.8129 8.84713 -17.6657 -0.584098 0.137117 0.693473 0.398903 +TTool-pose None -28.0753 13.1665 13.5989 0.711494 0.572838 -0.261223 0.311951 +#27016 1721121432706 +SLAM 14.8069 8.81694 -17.7081 -0.584837 0.137075 0.693646 0.397531 +TTool-pose None -28.0947 13.15 13.6238 0.712516 0.572319 -0.260429 0.311234 +#27017 1721121432738 +SLAM 14.688 8.73071 -17.7928 -0.583037 0.139991 0.694657 0.397394 +TTool-pose None -28.0568 13.1926 13.5916 0.712957 0.57012 -0.263103 0.312011 +#27018 1721121432773 +SLAM 14.9175 8.72062 -17.7078 -0.586426 0.138155 0.692423 0.396949 +TTool-pose None -28.1118 13.1837 13.6353 0.713326 0.571372 -0.258842 0.312439 +#27019 1721121432806 +SLAM 14.98 8.74115 -17.6945 -0.587608 0.136837 0.691912 0.396547 +TTool-pose None -28.1482 13.1544 13.6663 0.713485 0.572182 -0.257225 0.31193 +#27020 1721121432836 +SLAM 15.2685 8.85331 -17.504 -0.588813 0.134687 0.689013 0.400524 +TTool-pose None -28.191 13.206 13.6596 0.710479 0.575423 -0.255184 0.314496 +#27021 1721121432867 +SLAM 14.9151 8.64545 -17.7651 -0.585964 0.139894 0.691737 0.398216 +TTool-pose None -28.1535 13.1748 13.6065 0.712747 0.570655 -0.259666 0.314385 +#27022 1721121432900 +SLAM 15.2374 8.87826 -17.5104 -0.588305 0.134518 0.689678 0.400183 +TTool-pose None -28.1731 13.2191 13.6715 0.710618 0.57538 -0.255757 0.313793 +#27023 1721121432931 +SLAM 15.3075 8.91256 -17.476 -0.589401 0.13312 0.688959 0.400276 +TTool-pose None -28.2074 13.192 13.6879 0.710404 0.576448 -0.254191 0.31359 +#27024 1721121432971 +SLAM 15.2486 8.8727 -17.5152 -0.588936 0.134107 0.689577 0.399567 +TTool-pose None -28.1852 13.2011 13.6845 0.711035 0.575435 -0.254973 0.313386 +#27025 1721121433005 +SLAM 15.2134 8.84195 -17.5456 -0.588821 0.134668 0.68991 0.398972 +TTool-pose None -28.1779 13.1988 13.6854 0.711541 0.574784 -0.255253 0.313203 +#27026 1721121433036 +SLAM 15.1114 8.73761 -17.6355 -0.587216 0.13778 0.690154 0.399852 +TTool-pose None -28.1747 13.2098 13.6275 0.711364 0.572891 -0.257705 0.315063 +#27027 1721121433068 +SLAM 15.2162 8.77894 -17.5663 -0.588366 0.136326 0.689405 0.399952 +TTool-pose None -28.1822 13.2172 13.6534 0.711146 0.574006 -0.25607 0.314859 +#27028 1721121433105 +SLAM 15.1865 8.7193 -17.6149 -0.587881 0.137779 0.689182 0.400551 +TTool-pose None -28.2002 13.2107 13.6267 0.710964 0.57321 -0.256896 0.316043 +#27029 1721121433135 +SLAM 15.102 8.5782 -17.7055 -0.586078 0.141841 0.688696 0.402606 +TTool-pose None -28.2113 13.2229 13.5375 0.710128 0.57112 -0.259692 0.319408 +#27030 1721121433166 +SLAM 15.2056 8.71044 -17.5943 -0.585949 0.139621 0.688528 0.403856 +TTool-pose None -28.1915 13.2683 13.5698 0.708817 0.573215 -0.259327 0.318863 +#27031 1721121433196 +SLAM 15.1028 8.5781 -17.7064 -0.584569 0.142953 0.688409 0.40489 +TTool-pose None -28.2136 13.2513 13.5077 0.708582 0.571226 -0.261531 0.321148 +#27032 1721121433226 +SLAM 15.1037 8.54557 -17.7076 -0.583957 0.144191 0.688217 0.405661 +TTool-pose None -28.1989 13.2851 13.484 0.708212 0.570643 -0.26244 0.322259 +#27033 1721121433257 +SLAM 15.0216 8.47324 -17.7684 -0.58199 0.146983 0.688321 0.407306 +TTool-pose None -28.19 13.3083 13.4252 0.70736 0.569261 -0.265162 0.324341 +#27034 1721121433289 +SLAM 15.0234 8.39929 -17.7864 -0.580718 0.149502 0.687465 0.409644 +TTool-pose None -28.1941 13.3417 13.3649 0.706051 0.568383 -0.266975 0.327238 +#27035 1721121433320 +SLAM 15.265 8.52819 -17.6097 -0.579747 0.148626 0.684669 0.415971 +TTool-pose None -28.2332 13.4212 13.3052 0.701339 0.571581 -0.267507 0.33134 +#27036 1721121433352 +SLAM 14.829 8.28614 -17.9087 -0.577595 0.153752 0.688469 0.410798 +TTool-pose None -28.1621 13.365 13.2855 0.705637 0.565691 -0.271309 0.329224 +#27037 1721121433383 +SLAM 15.0095 8.42467 -17.7666 -0.577455 0.151648 0.686694 0.414728 +TTool-pose None -28.1965 13.3918 13.2699 0.702484 0.568817 -0.270815 0.330984 +#27038 1721121433416 +SLAM 14.8019 8.18774 -17.9468 -0.575226 0.157671 0.687154 0.414819 +TTool-pose None -28.1802 13.4003 13.1738 0.703231 0.564441 -0.2745 0.333842 +#27039 1721121433448 +SLAM 14.7388 8.22483 -17.9523 -0.574241 0.157565 0.688148 0.414575 +TTool-pose None -28.1483 13.413 13.1776 0.703254 0.564374 -0.275629 0.332977 +#27040 1721121433479 +SLAM 14.8193 8.27232 -17.8916 -0.574449 0.156742 0.687343 0.415933 +TTool-pose None -28.1603 13.4249 13.1705 0.702181 0.565534 -0.275146 0.333672 +#27041 1721121433511 +SLAM 14.6459 8.14545 -18.0085 -0.573314 0.159686 0.688641 0.414229 +TTool-pose None -28.121 13.4234 13.1451 0.703753 0.562666 -0.277105 0.333587 +#27042 1721121433543 +SLAM 14.7421 8.20302 -17.9474 -0.5744 0.15792 0.687968 0.414518 +TTool-pose None -28.1412 13.4162 13.1681 0.703379 0.564102 -0.275516 0.333268 +#27043 1721121433576 +SLAM 14.7197 8.20883 -17.9442 -0.572897 0.159026 0.687854 0.416362 +TTool-pose None -28.1313 13.4434 13.1273 0.702085 0.564001 -0.277319 0.334668 +#27044 1721121433608 +SLAM 14.5799 8.17432 -18.0145 -0.570558 0.161275 0.688677 0.417347 +TTool-pose None -28.1126 13.4508 13.0745 0.70148 0.562684 -0.280341 0.335638 +#27045 1721121433639 +SLAM 14.5034 8.16753 -18.0313 -0.569209 0.162392 0.689291 0.417741 +TTool-pose None -28.08 13.4696 13.0445 0.701216 0.561979 -0.282057 0.335932 +#27046 1721121433670 +SLAM 14.5867 8.24221 -17.9707 -0.56971 0.160768 0.68854 0.418924 +TTool-pose None -28.1084 13.4591 13.0481 0.700166 0.563658 -0.281108 0.336104 +#27047 1721121433702 +SLAM 14.4961 8.23338 -17.9847 -0.566884 0.163156 0.688918 0.421206 +TTool-pose None -28.0673 13.5096 12.9761 0.69859 0.562742 -0.284602 0.337975 +#27048 1721121433733 +SLAM 14.2648 8.21165 -18.0902 -0.564904 0.164533 0.69117 0.419639 +TTool-pose None -28.0258 13.4826 12.9619 0.699655 0.56101 -0.287217 0.336434 +#27049 1721121433765 +SLAM 14.1796 8.18467 -18.1392 -0.566056 0.163826 0.692357 0.416392 +TTool-pose None -28.0126 13.4321 13.0012 0.701973 0.560239 -0.286001 0.333917 +#27050 1721121433800 +SLAM 14.2287 8.27333 -18.0802 -0.566199 0.162152 0.69214 0.417214 +TTool-pose None -28.0205 13.4271 13.0066 0.701123 0.561792 -0.285482 0.333537 +#27051 1721121433832 +SLAM 14.2514 8.41954 -18.0003 -0.567982 0.157889 0.693533 0.414101 +TTool-pose None -27.982 13.406 13.0945 0.702788 0.563658 -0.282876 0.329072 +#27052 1721121433869 +SLAM 14.2033 8.29867 -18.0828 -0.569622 0.158703 0.69368 0.41128 +TTool-pose None -27.9998 13.3543 13.1149 0.705128 0.561981 -0.281334 0.328254 +#27053 1721121433901 +SLAM 14.4441 8.48609 -17.9126 -0.572004 0.153742 0.692307 0.412171 +TTool-pose None -28.0383 13.3495 13.1793 0.703934 0.566022 -0.277634 0.327019 +#27054 1721121433936 +SLAM 14.25 8.37443 -18.0446 -0.571478 0.155723 0.694071 0.40918 +TTool-pose None -28.0081 13.3168 13.1818 0.706301 0.563334 -0.278789 0.32557 +#27055 1721121433969 +SLAM 14.3512 8.44649 -17.9879 -0.573327 0.153022 0.693642 0.408338 +TTool-pose None -28.0355 13.2909 13.2334 0.706641 0.565004 -0.276217 0.324127 +#27056 1721121434000 +SLAM 14.3691 8.44494 -17.9782 -0.573842 0.152668 0.693657 0.407722 +TTool-pose None -28.0296 13.2926 13.2484 0.707072 0.565024 -0.275596 0.32368 +#27057 1721121434033 +SLAM 14.5957 8.60375 -17.8056 -0.574962 0.149353 0.692062 0.410077 +TTool-pose None -28.0475 13.3287 13.274 0.704974 0.568424 -0.273541 0.324046 +#27058 1721121434066 +SLAM 14.3011 8.35911 -18.06 -0.574037 0.153905 0.694007 0.406385 +TTool-pose None -28.0428 13.2652 13.2502 0.70825 0.563588 -0.275684 0.323531 +#27059 1721121434100 +SLAM 14.6491 8.53144 -17.8478 -0.578069 0.148155 0.691718 0.406709 +TTool-pose None -28.093 13.2639 13.345 0.707493 0.568013 -0.269943 0.322287 +#27060 1721121434134 +SLAM 14.6969 8.48642 -17.8455 -0.578569 0.148791 0.691105 0.406809 +TTool-pose None -28.0992 13.2803 13.3439 0.707609 0.567623 -0.269486 0.323103 +#27061 1721121434167 +SLAM 14.7952 8.53841 -17.7828 -0.579368 0.147435 0.690382 0.407391 +TTool-pose None -28.1133 13.2899 13.3607 0.707054 0.568867 -0.268269 0.323143 +#27062 1721121434202 +SLAM 14.7647 8.47921 -17.8334 -0.579249 0.148521 0.690153 0.407554 +TTool-pose None -28.1375 13.2666 13.3435 0.707131 0.568155 -0.268607 0.323947 +#27063 1721121434237 +SLAM 14.7817 8.44863 -17.8451 -0.579355 0.149079 0.689738 0.407903 +TTool-pose None -28.1521 13.2673 13.3354 0.707007 0.567906 -0.268572 0.324681 +#27064 1721121434271 +SLAM 14.7717 8.37404 -17.8821 -0.579848 0.150123 0.689534 0.407164 +TTool-pose None -28.1583 13.2608 13.3306 0.707779 0.566872 -0.268249 0.325074 +#27065 1721121434304 +SLAM 14.9332 8.52078 -17.737 -0.580317 0.147372 0.688664 0.408969 +TTool-pose None -28.1545 13.3017 13.3555 0.706069 0.569607 -0.267068 0.324983 +#27066 1721121434338 +SLAM 14.8264 8.44489 -17.8288 -0.580175 0.148593 0.689426 0.407442 +TTool-pose None -28.158 13.2664 13.3526 0.707341 0.568095 -0.267561 0.324459 +#27067 1721121434376 +SLAM 14.7467 8.37592 -17.8991 -0.579699 0.150047 0.689856 0.406858 +TTool-pose None -28.1588 13.2512 13.3384 0.707957 0.566794 -0.268423 0.324678 +#27068 1721121434413 +SLAM 14.6908 8.37908 -17.9153 -0.579531 0.14997 0.690795 0.40553 +TTool-pose None -28.1278 13.256 13.3544 0.708839 0.566288 -0.26868 0.323421 +#27069 1721121434447 +SLAM 14.8079 8.46539 -17.8322 -0.580742 0.147598 0.689943 0.406118 +TTool-pose None -28.1536 13.2436 13.3805 0.708142 0.568277 -0.266792 0.323021 +#27070 1721121434481 +SLAM 14.8249 8.50167 -17.8129 -0.581882 0.145901 0.690336 0.40443 +TTool-pose None -28.1487 13.222 13.4263 0.70913 0.568829 -0.265244 0.321149 +#27071 1721121434515 +SLAM 14.903 8.53918 -17.7667 -0.582812 0.144653 0.689777 0.404491 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0.404568 +TTool-pose None -28.1585 13.2258 13.4155 0.709188 0.56832 -0.265378 0.321813 +#27078 1721121434771 +SLAM 14.7716 8.39925 -17.8777 -0.581435 0.148196 0.690412 0.404107 +TTool-pose None -28.1415 13.2364 13.4004 0.709731 0.567039 -0.266225 0.322175 +#27079 1721121434807 +SLAM 14.8344 8.43168 -17.842 -0.582492 0.14686 0.690016 0.403749 +TTool-pose None -28.1564 13.2243 13.4246 0.709859 0.567884 -0.264766 0.321604 +#27080 1721121434842 +SLAM 14.825 8.4302 -17.8387 -0.581959 0.147343 0.690112 0.404177 +TTool-pose None -28.1422 13.2443 13.4139 0.709589 0.567698 -0.26545 0.321967 +#27081 1721121434878 +SLAM 14.8419 8.45066 -17.8354 -0.581789 0.147051 0.689632 0.405345 +TTool-pose None -28.174 13.2225 13.4016 0.708706 0.568386 -0.265523 0.322636 +#27082 1721121434912 +SLAM 15.0358 8.62065 -17.6693 -0.583329 0.143071 0.688767 0.406027 +TTool-pose None -28.174 13.2499 13.4575 0.707665 0.571568 -0.262924 0.321425 +#27083 1721121434946 +SLAM 14.8241 8.43135 -17.8356 -0.581355 0.147814 0.68987 0.405286 +TTool-pose None -28.1464 13.2505 13.3926 0.708836 0.567801 -0.266175 0.322845 +#27084 1721121434980 +SLAM 14.8435 8.41467 -17.8304 -0.58112 0.148454 0.689398 0.406191 +TTool-pose None -28.1523 13.263 13.3721 0.708301 0.567711 -0.266519 0.323891 +#27085 1721121435014 +SLAM 14.9417 8.54071 -17.7586 -0.583104 0.144464 0.689231 0.40507 +TTool-pose None -28.1867 13.2135 13.4444 0.708567 0.570168 -0.263514 0.32144 +#27086 1721121435049 +SLAM 14.8525 8.47681 -17.8226 -0.582709 0.145788 0.689973 0.403897 +TTool-pose None -28.1691 13.2077 13.4364 0.709581 0.568719 -0.264297 0.321128 +#27087 1721121435086 +SLAM 14.8067 8.41749 -17.8559 -0.58226 0.14723 0.690295 0.403471 +TTool-pose None -28.1454 13.2266 13.4226 0.710092 0.567495 -0.26512 0.321486 +#27088 1721121435127 +SLAM 15.0214 8.55898 -17.7061 -0.583456 0.144153 0.688474 0.405958 +TTool-pose None -28.1882 13.2398 13.4409 0.707937 0.570774 -0.262994 0.322179 +#27089 1721121435165 +SLAM 14.9526 8.49398 -17.766 -0.583595 0.145058 0.689102 0.404368 +TTool-pose None -28.1771 13.2249 13.4475 0.709227 0.569472 -0.263103 0.321557 +#27090 1721121435204 +SLAM 15.0763 8.60758 -17.6696 -0.584722 0.142193 0.68836 0.405022 +TTool-pose None -28.2009 13.2148 13.4836 0.708363 0.571827 -0.261197 0.320834 +#27091 1721121435238 +SLAM 14.9415 8.45989 -17.7749 -0.583101 0.146161 0.689062 0.404753 +TTool-pose None -28.1625 13.2494 13.4296 0.70911 0.568827 -0.263869 0.322328 +#27092 1721121435273 +SLAM 15.1294 8.59401 -17.6335 -0.584168 0.143274 0.687564 0.406788 +TTool-pose None -28.1924 13.2651 13.4481 0.707281 0.571773 -0.261947 0.322702 +#27093 1721121435307 +SLAM 15.0037 8.41679 -17.7584 -0.583126 0.147265 0.687875 0.406331 +TTool-pose None -28.1805 13.2694 13.3956 0.708231 0.568698 -0.263962 0.324407 +#27094 1721121435346 +SLAM 15.1524 8.56532 -17.6431 -0.585046 0.143096 0.687206 0.406193 +TTool-pose None -28.2116 13.2421 13.4598 0.707766 0.571686 -0.260931 0.322616 +#27095 1721121435381 +SLAM 15.1105 8.55321 -17.683 -0.585462 0.142787 0.687616 0.405006 +TTool-pose None -28.2258 13.2044 13.4749 0.708579 0.571426 -0.260457 0.321671 +#27096 1721121435414 +SLAM 15.0341 8.44362 -17.7553 -0.584539 0.145537 0.687719 0.405187 +TTool-pose None -28.2157 13.2169 13.4314 0.708869 0.569509 -0.262057 0.323131 +#27097 1721121435454 +SLAM 15.0038 8.40277 -17.7795 -0.584082 0.146672 0.687935 0.40507 +TTool-pose None -28.1991 13.2365 13.4199 0.709109 0.568633 -0.262816 0.323531 +#27098 1721121435490 +SLAM 15.0581 8.40152 -17.761 -0.583898 0.147024 0.686896 0.406965 +TTool-pose None -28.2309 13.2384 13.3916 0.707841 0.569164 -0.262983 0.325235 +#27099 1721121435526 +SLAM 15.1441 8.36077 -17.7295 -0.584468 0.147812 0.685352 0.408462 +TTool-pose None -28.2585 13.2499 13.3531 0.707018 0.569245 -0.262383 0.327363 +#27100 1721121435559 +SLAM 15.3236 8.614 -17.5201 -0.584688 0.143328 0.683907 0.412152 +TTool-pose None -28.2848 13.2497 13.3451 0.703617 0.573976 -0.261014 0.327524 +#27101 1721121435594 +SLAM 15.0978 8.4595 -17.6734 -0.584695 0.145874 0.685193 0.409101 +TTool-pose None -28.2716 13.1713 13.3023 0.706234 0.570901 -0.261704 0.326713 +#27102 1721121435633 +SLAM 15.0423 8.50072 -17.6668 -0.585837 0.144102 0.685672 0.407287 +TTool-pose None -28.2754 13.097 13.3061 0.707296 0.571454 -0.260144 0.324688 +#27103 1721121435667 +SLAM 15.1695 8.55925 -17.5584 -0.587877 0.141859 0.683693 0.408462 +TTool-pose None -28.3246 13.0375 13.2777 0.706287 0.573611 -0.257257 0.325379 +#27104 1721121435702 +SLAM 15.0172 8.59867 -17.5689 -0.585514 0.142809 0.685009 0.409318 +TTool-pose None -28.268 13.0475 13.2192 0.705596 0.573205 -0.260137 0.325307 +#27105 1721121435737 +SLAM 14.7022 8.42861 -17.746 -0.583266 0.147216 0.687065 0.407516 +TTool-pose None -28.2116 13.0114 13.1386 0.707417 0.569232 -0.263719 0.325444 +#27106 1721121435775 +SLAM 14.9747 8.71496 -17.4768 -0.586075 0.140163 0.68498 0.409479 +TTool-pose None -28.2553 12.9652 13.1767 0.705037 0.575173 -0.25895 0.323986 +#27107 1721121435814 +SLAM 14.6727 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1721121436048 +SLAM 14.8075 9.47332 -17.1574 -0.607357 0.110505 0.688107 0.381333 +TTool-pose None -28.372 12.2317 13.3869 0.720458 0.584846 -0.229093 0.293798 +#27115 1721121436082 +SLAM 14.7609 9.55087 -17.1177 -0.604398 0.111027 0.689127 0.384032 +TTool-pose None -28.3111 12.3002 13.3768 0.718453 0.585553 -0.232596 0.294545 +#27116 1721121436117 +SLAM 14.5792 9.36354 -17.285 -0.601596 0.115929 0.689672 0.385998 +TTool-pose None -28.3186 12.2698 13.2958 0.717904 0.582892 -0.236916 0.297706 +#27117 1721121436150 +SLAM 14.5693 9.22711 -17.3169 -0.600419 0.119444 0.688884 0.388162 +TTool-pose None -28.3034 12.3008 13.2336 0.717074 0.58132 -0.238988 0.30111 +#27118 1721121436182 +SLAM 14.3304 9.08587 -17.4942 -0.597228 0.123774 0.690721 0.388463 +TTool-pose None -28.2776 12.2986 13.184 0.717435 0.57831 -0.243653 0.302308 +#27119 1721121436216 +SLAM 14.3994 9.11701 -17.4452 -0.597318 0.12297 0.68989 0.390052 +TTool-pose None -28.294 12.2851 13.1877 0.7162 0.579553 -0.243306 0.303133 +#27120 1721121436249 +SLAM 14.4866 9.14771 -17.3532 -0.595507 0.124015 0.688832 0.394338 +TTool-pose None -28.266 12.3584 13.1479 0.713302 0.580575 -0.245453 0.306265 +#27121 1721121436283 +SLAM 14.3254 8.8221 -17.5811 -0.593759 0.130831 0.68881 0.394809 +TTool-pose None -28.2853 12.3375 13.0799 0.714193 0.575917 -0.248919 0.310168 +#27122 1721121436317 +SLAM 14.1351 8.7634 -17.6794 -0.589712 0.134854 0.690101 0.397259 +TTool-pose None -28.2477 12.3832 12.9984 0.712858 0.573965 -0.254344 0.31245 +#27123 1721121436351 +SLAM 14.1824 8.92908 -17.5739 -0.588098 0.132753 0.689475 0.401425 +TTool-pose None -28.2634 12.3645 12.9729 0.709384 0.577141 -0.255565 0.313507 +#27124 1721121436385 +SLAM 14.1458 8.5418 -17.744 -0.589046 0.139869 0.688127 0.399928 +TTool-pose None -28.2716 12.3978 12.8993 0.711944 0.571509 -0.255999 0.317646 +#27125 1721121436419 +SLAM 14.2475 8.82308 -17.5925 -0.589291 0.13423 0.688351 0.401112 +TTool-pose None -28.2827 12.3772 12.9611 0.71004 0.57601 -0.254503 0.314964 +#27126 1721121436453 +SLAM 14.0901 8.75488 -17.6717 -0.58648 0.137465 0.689345 0.402428 +TTool-pose None -28.2462 12.4024 12.8974 0.709442 0.574167 -0.258355 0.31654 +#27127 1721121436486 +SLAM 14.0888 8.75222 -17.6908 -0.588359 0.135834 0.689949 0.39919 +TTool-pose None -28.2504 12.3658 12.9579 0.71157 0.574034 -0.256017 0.313891 +#27128 1721121436520 +SLAM 14.1814 8.76463 -17.6448 -0.589361 0.135193 0.688982 0.3996 +TTool-pose None -28.2679 12.3736 12.9605 0.71128 0.574697 -0.254701 0.314404 +#27129 1721121436554 +SLAM 14.2075 8.73075 -17.6211 -0.589392 0.136117 0.688489 0.40009 +TTool-pose None -28.249 12.4028 12.9358 0.711132 0.57425 -0.254829 0.315452 +#27130 1721121436588 +SLAM 14.0778 8.75741 -17.6749 -0.586359 0.13748 0.689594 0.402172 +TTool-pose None -28.2377 12.4082 12.9018 0.709606 0.574044 -0.258513 0.316265 +#27131 1721121436622 +SLAM 14.0397 8.66204 -17.733 -0.586767 0.139053 0.689817 0.40065 +TTool-pose None -28.2292 12.4168 12.8982 0.711012 0.572306 -0.258441 0.316315 +#27132 1721121436655 +SLAM 14.271 8.90093 -17.524 -0.588318 0.133694 0.688332 0.402749 +TTool-pose None -28.2554 12.4146 12.9452 0.708689 0.577039 -0.255433 0.315372 +#27133 1721121436689 +SLAM 14.0778 8.80767 -17.6626 -0.586653 0.136224 0.690004 0.401468 +TTool-pose None -28.2379 12.3992 12.9265 0.709877 0.57465 -0.257955 0.315011 +#27134 1721121436723 +SLAM 14.1174 8.71227 -17.71 -0.58897 0.136335 0.689366 0.399127 +TTool-pose None -28.2775 12.3599 12.9509 0.711786 0.573675 -0.255414 0.314546 +#27135 1721121436760 +SLAM 14.2782 8.9395 -17.5117 -0.588209 0.133039 0.688562 0.402731 +TTool-pose None -28.254 12.4214 12.9593 0.708556 0.57749 -0.255424 0.31485 +#27136 1721121436793 +SLAM 14.2235 8.87477 -17.5912 -0.589213 0.133135 0.688878 0.400688 +TTool-pose None -28.2854 12.3593 12.9779 0.710102 0.576603 -0.254391 0.313827 +#27137 1721121436827 +SLAM 14.1422 8.68573 -17.6941 -0.589108 0.136878 0.689202 0.399021 +TTool-pose None -28.2561 12.3896 12.9507 0.711984 0.573251 -0.25537 0.314908 +#27138 1721121436862 +SLAM 14.3118 8.8978 -17.5257 -0.58893 0.133352 0.688073 0.402412 +TTool-pose None -28.2728 12.4157 12.9652 0.708926 0.577161 -0.25467 0.315232 +#27139 1721121436897 +SLAM 14.3649 8.96649 -17.4675 -0.589438 0.131684 0.68784 0.402613 +TTool-pose None -28.274 12.4106 12.9835 0.708509 0.578442 -0.253721 0.314583 +#27140 1721121436931 +SLAM 14.4105 8.91688 -17.4811 -0.590252 0.132191 0.687128 0.402472 +TTool-pose None -28.2988 12.4081 12.9831 0.708806 0.578054 -0.252888 0.3153 +#27141 1721121436965 +SLAM 14.4156 8.93299 -17.4613 -0.589829 0.132267 0.687136 0.403052 +TTool-pose None -28.2856 12.4258 12.9761 0.708371 0.578229 -0.253363 0.315577 +#27142 1721121436998 +SLAM 14.3839 8.85377 -17.531 -0.59165 0.132151 0.687228 0.400255 +TTool-pose None -28.3162 12.3611 12.9997 0.710487 0.577204 -0.251374 0.314283 +#27143 1721121437030 +SLAM 14.3577 8.91213 -17.5123 -0.59125 0.131181 0.688157 0.399569 +TTool-pose None -28.2843 12.3771 13.0271 0.710715 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12.3956 13.0118 0.70911 0.577963 -0.247189 0.31928 +#27174 1721121438086 +SLAM 15.0169 8.82312 -17.2876 -0.597648 0.129774 0.680351 0.403854 +TTool-pose None -28.46 12.4134 13.0457 0.70818 0.580575 -0.243647 0.319329 +#27175 1721121438119 +SLAM 15.0653 8.88465 -17.2488 -0.597857 0.128463 0.679869 0.404773 +TTool-pose None -28.4855 12.3964 13.0512 0.707295 0.581887 -0.243069 0.319341 +#27176 1721121438151 +SLAM 14.9439 8.74877 -17.3688 -0.59704 0.131416 0.680637 0.40374 +TTool-pose None -28.4737 12.3937 13.0271 0.708527 0.57935 -0.244712 0.319968 +#27177 1721121438184 +SLAM 15.0085 8.6823 -17.3772 -0.598072 0.132089 0.679598 0.403744 +TTool-pose None -28.5034 12.3901 13.0235 0.708769 0.578906 -0.243636 0.321057 +#27178 1721121438221 +SLAM 15.2746 8.81535 -17.2021 -0.601374 0.127486 0.677215 0.404323 +TTool-pose None -28.5647 12.358 13.0761 0.707767 0.582485 -0.238743 0.320469 +#27179 1721121438265 +SLAM 15.3611 8.88346 -17.1129 -0.600058 0.127567 0.676491 0.407452 +TTool-pose None -28.5474 12.4319 13.054 0.705467 0.583687 -0.240111 0.322325 +#27180 1721121438299 +SLAM 15.2694 8.83645 -17.1873 -0.599289 0.128811 0.677384 0.406707 +TTool-pose None -28.5377 12.4272 13.0499 0.706165 0.582482 -0.24133 0.322067 +#27181 1721121438338 +SLAM 15.3148 8.80093 -17.1826 -0.600412 0.128725 0.676791 0.406065 +TTool-pose None -28.5521 12.4165 13.0584 0.706709 0.582307 -0.240028 0.322164 +#27182 1721121438372 +SLAM 15.4978 8.85403 -17.0978 -0.603653 0.125482 0.675041 0.405186 +TTool-pose None -28.6201 12.364 13.1106 0.706974 0.58431 -0.235563 0.321249 +#27183 1721121438430 +SLAM 15.4345 8.79586 -17.167 -0.60215 0.127538 0.675206 0.406506 +TTool-pose None -28.6302 12.3677 13.0776 0.706329 0.58337 -0.237693 0.322804 +#27184 1721121438467 +SLAM 15.4563 8.7168 -17.1711 -0.601097 0.130157 0.67448 0.408434 +TTool-pose None -28.6154 12.4282 13.0298 0.705408 0.58229 -0.239356 0.325529 +#27185 1721121438510 +SLAM 15.5223 8.68377 -17.1595 -0.602568 0.129819 0.673799 0.407496 +TTool-pose None -28.6326 12.4213 13.0487 0.706139 0.582179 -0.237606 0.325425 +#27186 1721121438548 +SLAM 15.7527 8.74149 -17.0272 -0.604805 0.127454 0.671407 0.408876 +TTool-pose None -28.6855 12.4194 13.072 0.704898 0.584466 -0.234357 0.326371 +#27187 1721121438588 +SLAM 16.1059 8.70803 -16.8969 -0.608877 0.125628 0.66712 0.410411 +TTool-pose None -28.8025 12.3985 13.0975 0.703798 0.586462 -0.228996 0.328962 +#27188 1721121438622 +SLAM 16.1754 8.5729 -16.9263 -0.609036 0.128317 0.665649 0.411731 +TTool-pose None -28.8293 12.4312 13.0646 0.703424 0.585105 -0.229267 0.331979 +#27189 1721121438656 +SLAM 16.2842 8.54551 -16.9066 -0.61178 0.126813 0.664873 0.409375 +TTool-pose None -28.8618 12.4049 13.1273 0.705011 0.58525 -0.225836 0.330702 +#27190 1721121438689 +SLAM 16.9152 8.79661 -16.4593 -0.613717 0.121714 0.657842 0.419262 +TTool-pose None -28.9901 12.4884 13.1087 0.697045 0.592869 -0.221606 0.336827 +#27191 1721121438723 +SLAM 17.2882 8.45869 -16.4493 -0.619146 0.124634 0.651897 0.419708 +TTool-pose None -29.1496 12.4654 13.0947 0.697682 0.591033 -0.215573 0.342603 +#27192 1721121438756 +SLAM 17.436 8.38851 -16.4237 -0.621421 0.124378 0.650233 0.419002 +TTool-pose None -29.199 12.4598 13.1296 0.698278 0.590942 -0.212801 0.343279 +#27193 1721121438790 +SLAM 17.8091 8.30658 -16.2735 -0.624575 0.124002 0.645146 0.422275 +TTool-pose None -29.3225 12.4679 13.1194 0.695986 0.592511 -0.208524 0.347826 +#27194 1721121438823 +SLAM 18.4938 8.45776 -15.8157 -0.629198 0.118363 0.637398 0.428746 +TTool-pose None -29.4784 12.5165 13.1527 0.690266 0.599007 -0.200917 0.352545 +#27195 1721121438856 +SLAM 18.8822 8.34249 -15.6623 -0.635027 0.116526 0.632251 0.428277 +TTool-pose None -29.6166 12.4658 13.1945 0.690429 0.60006 -0.193283 0.354698 +#27196 1721121438889 +SLAM 19.0561 8.09258 -15.6752 -0.635985 0.12066 0.629063 0.430399 +TTool-pose None -29.6755 12.5222 13.1478 0.689714 0.597953 -0.192697 0.35993 +#27197 1721121438926 +SLAM 19.7769 8.25792 -15.1693 -0.639827 0.114604 0.6202 0.439134 +TTool-pose None -29.881 12.5456 13.1616 0.681925 0.605484 -0.185438 0.365946 +#27198 1721121438962 +SLAM 19.913 7.94669 -15.229 -0.644087 0.117617 0.617617 0.435737 +TTool-pose None -29.9383 12.5256 13.1721 0.685172 0.601976 -0.181082 0.367846 +#27199 1721121438993 +SLAM 20.5221 8.04542 -14.8012 -0.64649 0.113515 0.609807 0.444186 +TTool-pose None -30.1166 12.5653 13.1685 0.677823 0.607964 -0.175936 0.374061 +#27200 1721121439023 +SLAM 21.0355 7.96233 -14.4824 -0.650839 0.111604 0.602506 0.448263 +TTool-pose None -30.2712 12.5705 13.1625 0.674187 0.61066 -0.169254 0.379289 +#27201 1721121439053 +SLAM 21.5184 7.88647 -14.18 -0.654562 0.109779 0.595474 0.452669 +TTool-pose None -30.4304 12.5689 13.1526 0.670231 0.61339 -0.163261 0.384488 +#27202 1721121439090 +SLAM 21.79 7.73783 -14.0605 -0.656858 0.110533 0.591299 0.454626 +TTool-pose None -30.5226 12.5846 13.1443 0.668744 0.613456 -0.160049 0.388304 +#27203 1721121439121 +SLAM 22.4222 7.63955 -13.6155 -0.662673 0.107504 0.582025 0.458862 +TTool-pose None -30.7147 12.5815 13.1407 0.664431 0.616782 -0.150881 0.394068 +#27204 1721121439153 +SLAM 22.729 7.47372 -13.4516 -0.665753 0.10801 0.577303 0.460247 +TTool-pose None -30.8074 12.602 13.1374 0.663224 0.616726 -0.146573 0.3978 +#27205 1721121439186 +SLAM 22.73 7.4738 -13.4507 -0.665776 0.107996 0.577296 0.460227 +TTool-pose None -30.8074 12.602 13.1379 0.663236 0.616727 -0.146543 0.397788 +#27206 1721121439221 +SLAM 23.2136 7.36512 -13.1046 -0.670493 0.105883 0.570128 0.462797 +TTool-pose None -30.953 12.6009 13.1492 0.660353 0.618793 -0.139172 0.402004 +#27207 1721121439253 +SLAM 24.0669 7.08291 -12.5055 -0.677693 0.103964 0.556244 0.469592 +TTool-pose None -31.2456 12.596 13.1083 0.653615 0.621888 -0.127381 0.412025 +#27208 1721121439285 +SLAM 24.5632 6.98932 -12.1115 -0.68143 0.101488 0.548078 0.474303 +TTool-pose None -31.4298 12.5718 13.0851 0.648665 0.624853 -0.120533 0.417389 +#27209 1721121439317 +SLAM 24.4414 6.79168 -12.3458 -0.678357 0.106598 0.548703 0.476859 +TTool-pose None -31.4404 12.5864 13.0165 0.647861 0.622357 -0.125327 0.420941 +#27210 1721121439349 +SLAM 25.3296 6.776 -11.4996 -0.687488 0.0985319 0.535413 0.480609 +TTool-pose None -31.7006 12.5602 13.0636 0.64177 0.628353 -0.109724 0.425693 +#27211 1721121439379 +SLAM 25.6247 6.66526 -11.2646 -0.690557 0.0975733 0.530683 0.481649 +TTool-pose None -31.7941 12.5635 13.0754 0.640196 0.629021 -0.10482 0.428306 +#27212 1721121439410 +SLAM 25.7954 6.55936 -11.1488 -0.691674 0.0979277 0.527579 0.483382 +TTool-pose None -31.8595 12.5694 13.0597 0.638553 0.629182 -0.102814 0.431 +#27213 1721121439440 +SLAM 26.0233 6.4277 -10.9703 -0.693872 0.0979457 0.523396 0.484773 +TTool-pose None -31.9379 12.5698 13.0437 0.63695 0.62934 -0.0992318 0.433972 +#27214 1721121439472 +SLAM 26.4408 6.41826 -10.5467 -0.696757 0.0942053 0.516233 0.489038 +TTool-pose None -32.099 12.535 13.0278 0.63181 0.632903 -0.0929877 0.437672 +#27215 1721121439508 +SLAM 26.7743 6.35829 -10.205 -0.698548 0.091984 0.509745 0.49369 +TTool-pose None -32.2374 12.4965 12.9816 0.626736 0.635601 -0.0884739 0.441972 +#27216 1721121439542 +SLAM 26.7624 6.2262 -10.2792 -0.698846 0.0943407 0.509672 0.492898 +TTool-pose None -32.23 12.5207 12.9729 0.6279 0.633673 -0.0887729 0.443028 +#27217 1721121439572 +SLAM 26.8906 6.14408 -10.1758 -0.702096 0.0940662 0.508236 0.489805 +TTool-pose None -32.2399 12.5479 13.0296 0.630047 0.63252 -0.0847794 0.442409 +#27218 1721121439610 +SLAM 27.2094 6.07759 -9.86283 -0.703218 0.0921779 0.501748 0.495213 +TTool-pose None -32.3957 12.5021 12.9692 0.6244 0.635253 -0.0810286 0.447177 +#27219 1721121439645 +SLAM 27.3469 5.98125 -9.74626 -0.704587 0.0924184 0.499409 0.495587 +TTool-pose None -32.4292 12.5247 12.9758 0.623801 0.63499 -0.078887 0.448767 +#27220 1721121439677 +SLAM 27.7493 5.92207 -9.31798 -0.708535 0.0890138 0.492341 0.497649 +TTool-pose None -32.581 12.493 12.9838 0.620239 0.637362 -0.0714596 0.451579 +#27221 1721121439710 +SLAM 27.8992 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1721121439908 +SLAM 28.2912 5.55422 -8.83375 -0.712318 0.089549 0.48116 0.50306 +TTool-pose None -32.7992 12.498 12.91 0.614205 0.637834 -0.0638671 0.460216 +#27228 1721121439940 +SLAM 28.4013 5.53096 -8.71125 -0.712267 0.0888485 0.478598 0.505693 +TTool-pose None -32.8612 12.4777 12.8735 0.611506 0.639031 -0.0628623 0.462283 +#27229 1721121439979 +SLAM 28.506 5.50368 -8.58953 -0.713835 0.0880081 0.476891 0.505241 +TTool-pose None -32.8882 12.4798 12.8915 0.611351 0.639231 -0.0603824 0.462543 +#27230 1721121440014 +SLAM 28.525 5.44297 -8.59437 -0.714863 0.0887063 0.476663 0.503879 +TTool-pose None -32.886 12.492 12.9058 0.612546 0.638202 -0.059402 0.462509 +#27231 1721121440046 +SLAM 28.6428 5.42269 -8.45502 -0.715749 0.0877553 0.474405 0.504918 +TTool-pose None -32.9318 12.4863 12.8997 0.611085 0.638984 -0.0574261 0.463611 +#27232 1721121440076 +SLAM 28.7062 5.399 -8.38656 -0.715425 0.0875068 0.472806 0.506917 +TTool-pose None -32.9703 12.4735 12.8731 0.609156 0.639733 -0.0571545 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-33.1609 12.4153 12.8149 0.603235 0.641881 -0.0502319 0.470672 +#27251 1721121440683 +SLAM 29.0684 5.21407 -7.99996 -0.718699 0.0861711 0.465139 0.5096 +TTool-pose None -33.1252 12.4398 12.8393 0.605251 0.640741 -0.0506385 0.469593 +#27252 1721121440718 +SLAM 29.1508 5.21847 -7.88423 -0.718902 0.0851091 0.463225 0.511232 +TTool-pose None -33.1679 12.419 12.8184 0.603329 0.641854 -0.0494552 0.470672 +#27253 1721121440751 +SLAM 29.0696 5.20649 -7.99434 -0.719161 0.0862795 0.465252 0.508826 +TTool-pose None -33.1142 12.4515 12.8482 0.605907 0.640383 -0.0502168 0.46928 +#27254 1721121440785 +SLAM 29.0545 5.22328 -8.01383 -0.718583 0.0862285 0.465425 0.509493 +TTool-pose None -33.1194 12.4427 12.8382 0.605405 0.640696 -0.050879 0.469429 +#27255 1721121440818 +SLAM 29.06 5.23746 -7.99493 -0.718746 0.0858947 0.465402 0.50934 +TTool-pose None -33.1163 12.4431 12.8436 0.605439 0.640862 -0.0506044 0.469189 +#27256 1721121440851 +SLAM 28.9522 5.23605 -8.13441 -0.71796 0.0872492 0.467533 0.508266 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-0.204549 0.349089 +#27304 1721121442561 +SLAM 17.9419 6.62647 -16.6953 -0.631434 0.147173 0.647497 0.400474 +TTool-pose None -28.8039 12.9851 13.5982 0.716475 0.56725 -0.20654 0.34952 +#27305 1721121442594 +SLAM 18.5044 6.8221 -16.3051 -0.635039 0.14102 0.641787 0.406138 +TTool-pose None -28.9192 13.0048 13.6686 0.71145 0.573932 -0.200437 0.352416 +#27306 1721121442628 +SLAM 18.5967 6.82028 -16.2066 -0.633157 0.142113 0.641975 0.408393 +TTool-pose None -28.8174 13.1563 13.7133 0.709958 0.574071 -0.202793 0.35385 +#27307 1721121442665 +SLAM 18.6481 6.68126 -16.2327 -0.633156 0.144256 0.64135 0.408625 +TTool-pose None -28.8098 13.1962 13.7368 0.710185 0.572628 -0.203178 0.35551 +#27308 1721121442701 +SLAM 19.1027 6.69236 -15.9425 -0.636272 0.141769 0.63673 0.411868 +TTool-pose None -28.8622 13.2724 13.8055 0.707489 0.575678 -0.198514 0.358583 +#27309 1721121442740 +SLAM 19.4846 6.59214 -15.7096 -0.639752 0.140775 0.632176 0.413828 +TTool-pose None -28.9066 13.3099 13.8558 0.70597 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-0.00801362 -0.00219304 0.661495 +TTool-pose None -32.3645 9.11198 9.77485 0.258759 0.649344 0.251396 0.669462 +#27977 1721121469279 +SLAM 28.9705 -9.06701 17.5525 -0.748235 -0.00357552 0.0307935 0.662709 +TTool-pose None -32.3136 9.43526 10.0449 0.278897 0.657633 0.227317 0.661849 +#27978 1721121469311 +SLAM 29.5169 -8.25889 16.5792 -0.752245 0.00130203 0.0562211 0.65648 +TTool-pose None -32.25 9.7999 10.3083 0.300664 0.660397 0.213807 0.654022 +#27979 1721121469345 +SLAM 30.0865 -7.42854 15.1913 -0.74975 0.00598773 0.0849115 0.656224 +TTool-pose None -32.2066 10.0801 10.5375 0.318207 0.66594 0.19237 0.646717 +#27980 1721121469379 +SLAM 31.0853 -5.55204 12.0377 -0.752442 0.0228107 0.15126 0.640649 +TTool-pose None -32.0034 10.9077 11.176 0.371096 0.668447 0.150789 0.626664 +#27981 1721121469412 +SLAM 31.5754 -4.4147 11.4615 -0.742325 0.00946098 0.166677 0.648909 +TTool-pose None -32.3575 10.8141 11.2957 0.367021 0.683954 0.136469 0.615513 +#27982 1721121469445 +SLAM 31.8438 -3.58384 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32.2027 1.90254 2.67831 -0.718599 0.0278583 0.334212 0.609215 +TTool-pose None -32.4013 12.3428 12.7598 0.473367 0.695766 0.0208859 0.539783 +#27989 1721121469677 +SLAM 31.9312 2.62959 1.4974 -0.718894 0.0322141 0.35687 0.595648 +TTool-pose None -32.2221 12.5697 13.0251 0.493317 0.692267 0.00940392 0.526578 +#27990 1721121469710 +SLAM 31.7246 3.2316 0.781741 -0.717033 0.0323714 0.371141 0.589126 +TTool-pose None -32.1482 12.6611 13.1592 0.503068 0.692308 0.00112855 0.517299 +#27991 1721121469744 +SLAM 31.6256 3.99655 0.377465 -0.713867 0.0259917 0.381635 0.586577 +TTool-pose None -32.221 12.6173 13.3028 0.50626 0.697312 -0.00462272 0.507347 +#27992 1721121469778 +SLAM 30.9582 4.70093 -1.17509 -0.707667 0.0339463 0.40883 0.575251 +TTool-pose None -31.8672 12.8813 13.4653 0.525221 0.692295 -0.0249063 0.494179 +#27993 1721121469815 +SLAM 30.6703 5.48156 -1.77075 -0.704584 0.0298977 0.423606 0.568529 +TTool-pose None -31.794 12.9352 13.6681 0.533216 0.694693 -0.0327956 0.481631 +#27994 1721121469850 +SLAM 30.1821 6.1575 -2.66874 -0.700068 0.0305452 0.441962 0.560037 +TTool-pose None -31.5961 13.0574 13.8424 0.544571 0.693717 -0.0448531 0.469198 +#27995 1721121469887 +SLAM 29.5765 6.74949 -3.70457 -0.693461 0.0337601 0.461109 0.552586 +TTool-pose None -31.3688 13.1953 13.9526 0.555542 0.691321 -0.0598829 0.45806 +#27996 1721121469925 +SLAM 28.8557 7.3687 -4.82775 -0.683294 0.0374939 0.480954 0.548075 +TTool-pose None -31.1555 13.3133 14.0003 0.563846 0.689484 -0.0786537 0.447726 +#27997 1721121469963 +SLAM 28.4684 8.01744 -5.38357 -0.681439 0.0342388 0.494494 0.538465 +TTool-pose None -31.0671 13.3608 14.2137 0.573084 0.689586 -0.0843361 0.43461 +#27998 1721121470001 +SLAM 27.7694 8.58805 -6.31014 -0.673359 0.0364032 0.511976 0.532111 +TTool-pose None -30.8731 13.454 14.2897 0.581391 0.687514 -0.0992 0.423578 +#27999 1721121470041 +SLAM 27.2233 9.07934 -6.96123 -0.665907 0.036808 0.524734 0.529024 +TTool-pose None -30.7595 13.4982 14.3299 0.585563 0.687208 -0.111106 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-0.19643 0.352361 +#28006 1721121470281 +SLAM 20.7047 11.0887 -13.1587 -0.611867 0.0709196 0.638821 0.460974 +TTool-pose None -28.9608 13.8574 14.5661 0.654131 0.644145 -0.207029 0.338015 +#28007 1721121470314 +SLAM 19.8634 12.3311 -13.4627 -0.59772 0.0599498 0.652591 0.461803 +TTool-pose None -29.0651 13.8267 14.5769 0.649681 0.651737 -0.221166 0.322737 +#28008 1721121470346 +SLAM 18.5382 12.6113 -14.4957 -0.58441 0.0662829 0.670042 0.452897 +TTool-pose None -28.96 13.7991 14.5457 0.656785 0.643739 -0.239776 0.310894 +#28009 1721121470383 +SLAM 18.4995 13.1256 -14.3961 -0.583187 0.0597865 0.671714 0.4529 +TTool-pose None -29.0912 13.8307 14.5543 0.654942 0.648078 -0.239446 0.305979 +#28010 1721121470419 +SLAM 17.8604 13.0811 -14.9232 -0.576645 0.0664176 0.679351 0.448944 +TTool-pose None -29.0093 13.8756 14.4822 0.658845 0.641833 -0.24929 0.302883 +#28011 1721121470454 +SLAM 17.4158 12.9571 -15.3286 -0.573061 0.0723479 0.684801 0.444313 +TTool-pose None -28.9275 13.9375 14.4487 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0.287963 +#28028 1721121471023 +SLAM 14.4941 13.77 -15.5163 -0.559094 0.0647486 0.695712 0.446325 +TTool-pose None -28.8782 12.365 13.0042 0.657912 0.641106 -0.269155 0.289126 +#28029 1721121471057 +SLAM 14.2797 13.3327 -15.8435 -0.557529 0.0749746 0.697096 0.444519 +TTool-pose None -28.7936 12.4424 12.9018 0.661626 0.633388 -0.273814 0.293262 +#28030 1721121471092 +SLAM 14.3455 13.379 -15.7698 -0.558534 0.0730223 0.696484 0.444542 +TTool-pose None -28.798 12.4163 12.9275 0.661264 0.634776 -0.272165 0.292612 +#28031 1721121471126 +SLAM 14.3918 13.5426 -15.667 -0.559145 0.0689572 0.696504 0.444392 +TTool-pose None -28.8195 12.3774 12.9842 0.660417 0.637498 -0.270409 0.290223 +#28032 1721121471160 +SLAM 14.4622 13.4958 -15.6647 -0.558739 0.0707261 0.695457 0.44626 +TTool-pose None -28.8372 12.4221 12.9435 0.659463 0.637028 -0.271169 0.292707 +#28033 1721121471197 +SLAM 14.3473 13.4132 -15.8033 -0.560452 0.0707385 0.696727 0.442109 +TTool-pose None -28.8445 12.348 12.9942 0.662721 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-29.1376 13.125 13.5174 0.656191 0.639301 -0.271117 0.295144 +#28041 1721121471472 +SLAM 15.4033 13.63 -15.8268 -0.557362 0.0726632 0.694592 0.449009 +TTool-pose None -29.1021 13.1265 13.49 0.657759 0.636739 -0.272978 0.295479 +#28042 1721121471507 +SLAM 15.5332 13.7529 -15.7057 -0.559625 0.0684878 0.693721 0.448198 +TTool-pose None -29.1382 13.087 13.5633 0.657611 0.63936 -0.269389 0.293431 +#28043 1721121471540 +SLAM 15.6077 13.965 -15.5034 -0.558779 0.06484 0.69293 0.45101 +TTool-pose None -29.1466 13.0824 13.545 0.654484 0.642893 -0.26909 0.292978 +#28044 1721121471576 +SLAM 15.3924 14.0428 -15.5086 -0.557748 0.0637449 0.694362 0.450238 +TTool-pose None -29.1181 12.9907 13.482 0.654603 0.643269 -0.270031 0.291012 +#28045 1721121471614 +SLAM 15.2544 14.008 -15.5569 -0.559866 0.0629206 0.694686 0.447216 +TTool-pose None -29.1226 12.8635 13.4399 0.656899 0.642733 -0.267703 0.289163 +#28046 1721121471648 +SLAM 15.0446 13.6785 -15.7955 -0.557799 0.0713156 0.694642 0.448605 +TTool-pose None -29.0978 12.8506 13.2475 0.657772 0.637514 -0.272167 0.294524 +#28047 1721121471683 +SLAM 15.1739 13.7384 -15.6911 -0.560225 0.0683864 0.693217 0.448242 +TTool-pose None -29.1343 12.8055 13.279 0.657642 0.639478 -0.268679 0.293757 +#28048 1721121471718 +SLAM 15.0966 13.3882 -16.0585 -0.563582 0.0728702 0.693255 0.443241 +TTool-pose None -29.2295 12.7005 13.324 0.662915 0.634622 -0.266535 0.294388 +#28049 1721121471753 +SLAM 15.774 13.9307 -15.6375 -0.564941 0.0629128 0.690285 0.447649 +TTool-pose None -29.3926 12.9438 13.5865 0.657322 0.643169 -0.261904 0.292527 +#28050 1721121471790 +SLAM 15.6465 13.9352 -15.8017 -0.563586 0.0641409 0.693524 0.444164 +TTool-pose None -29.3534 13.0431 13.6858 0.659981 0.640886 -0.264106 0.289554 +#28051 1721121471826 +SLAM 15.4434 13.7276 -16.0908 -0.558989 0.0720364 0.695071 0.446338 +TTool-pose None -29.3567 13.1276 13.5819 0.659782 0.636186 -0.271228 0.293765 +#28052 1721121471862 +SLAM 15.5159 13.6138 -16.1256 -0.55884 0.0747218 0.69387 0.447949 +TTool-pose None -29.375 13.1684 13.5409 0.659277 0.635001 -0.271953 0.296779 +#28053 1721121471895 +SLAM 15.7091 13.5475 -16.0933 -0.558771 0.0766706 0.691128 0.451928 +TTool-pose None -29.4498 13.212 13.4841 0.656859 0.635254 -0.272153 0.301383 +#28054 1721121471937 +SLAM 15.9782 13.5566 -15.9675 -0.561285 0.0751377 0.687883 0.454016 +TTool-pose None -29.5364 13.2044 13.4838 0.655307 0.637246 -0.268688 0.303659 +#28055 1721121471971 +SLAM 16.2935 13.6376 -15.7797 -0.565404 0.0707902 0.684938 0.454055 +TTool-pose None -29.6138 13.1826 13.564 0.654747 0.640406 -0.262847 0.30333 +#28056 1721121472006 +SLAM 16.4551 13.6668 -15.7253 -0.570357 0.0665341 0.683846 0.450134 +TTool-pose None -29.6717 13.1023 13.6955 0.657198 0.641963 -0.256447 0.300197 +#28057 1721121472040 +SLAM 16.7096 13.7026 -15.5943 -0.57087 0.0662373 0.681106 0.453667 +TTool-pose None -29.7399 13.1744 13.674 0.654585 0.643573 -0.255405 0.303332 +#28058 1721121472073 +SLAM 16.9582 13.7991 -15.4721 -0.572174 0.0640619 0.678885 0.455664 +TTool-pose None -29.8327 13.2135 13.7115 0.652706 0.645874 -0.253097 0.304427 +#28059 1721121472109 +SLAM 16.7567 13.7283 -15.7163 -0.571319 0.0659901 0.681744 0.452179 +TTool-pose None -29.8272 13.2026 13.7712 0.655678 0.643175 -0.254981 0.302169 +#28060 1721121472144 +SLAM 16.258 13.4932 -16.1722 -0.564339 0.0759015 0.687184 0.451152 +TTool-pose None -29.7207 13.3267 13.6758 0.658035 0.635748 -0.265707 0.303522 +#28061 1721121472178 +SLAM 16.6322 13.7328 -15.8888 -0.565281 0.0710472 0.684135 0.455378 +TTool-pose None -29.8151 13.3919 13.7335 0.653821 0.640745 -0.262914 0.304554 +#28062 1721121472213 +SLAM 16.5942 13.6354 -15.9563 -0.564413 0.0736748 0.684403 0.455634 +TTool-pose None -29.7889 13.4337 13.7021 0.654183 0.639025 -0.26457 0.305954 +#28063 1721121472248 +SLAM 16.7894 13.8246 -15.7382 -0.56825 0.0669584 0.682877 0.45419 +TTool-pose None -29.8354 13.3519 13.806 0.654043 0.643178 -0.258553 0.302674 +#28064 1721121472282 +SLAM 16.4067 13.6818 -15.8825 -0.568383 0.0689152 0.68495 0.450594 +TTool-pose None -29.7397 13.1848 13.69 0.657215 0.640449 -0.259301 0.300943 +#28065 1721121472318 +SLAM 16.2126 13.5827 -15.9894 -0.566851 0.0721069 0.685201 0.451642 +TTool-pose None -29.7364 13.1194 13.5475 0.657059 0.638632 -0.261794 0.302981 +#28066 1721121472353 +SLAM 16.1835 13.9086 -15.7637 -0.565804 0.0662734 0.685443 0.453477 +TTool-pose None -29.7388 13.0545 13.5308 0.654058 0.64325 -0.261244 0.300165 +#28067 1721121472386 +SLAM 15.7506 13.7312 -16.0775 -0.564706 0.0702661 0.688689 0.449308 +TTool-pose None -29.6987 12.9322 13.4515 0.657999 0.638856 -0.263991 0.298527 +#28068 1721121472423 +SLAM 15.7429 13.7377 -16.0589 -0.564597 0.0706627 0.68807 0.450328 +TTool-pose None -29.7159 12.9191 13.3885 0.657339 0.638986 -0.264118 0.299588 +#28069 1721121472456 +SLAM 15.794 13.8692 -15.9551 -0.566079 0.0670041 0.687845 0.44937 +TTool-pose None -29.732 12.8792 13.4308 0.6573 0.64115 -0.261547 0.297296 +#28070 1721121472487 +SLAM 15.6906 13.7499 -16.0559 -0.562551 0.0720139 0.688133 0.452574 +TTool-pose None -29.7069 12.9376 13.3214 0.655751 0.638859 -0.266577 0.30116 +#28071 1721121472518 +SLAM 15.9027 13.9168 -15.8573 -0.565371 0.0667557 0.686553 0.452265 +TTool-pose None -29.7482 12.9153 13.4011 0.655015 0.642427 -0.261994 0.299183 +#28072 1721121472550 +SLAM 15.7828 13.7206 -16.0347 -0.566016 0.0700483 0.687333 0.449769 +TTool-pose None -29.7292 12.8879 13.3845 0.657788 0.639248 -0.262393 0.299558 +#28073 1721121472587 +SLAM 15.7604 13.7258 -16.0131 -0.567159 0.0687772 0.688063 0.447404 +TTool-pose None -29.6822 12.8784 13.4313 0.659346 0.639225 -0.260984 0.297405 +#28074 1721121472620 +SLAM 15.7861 13.6663 -16.0379 -0.565673 0.0712601 0.687082 0.450394 +TTool-pose None -29.7094 12.9034 13.3616 0.657595 0.63866 -0.263043 0.300668 +#28075 1721121472654 +SLAM 15.9256 13.7961 -15.8842 -0.568404 0.0666944 0.686025 0.449263 +TTool-pose None -29.734 12.8611 13.427 0.657617 0.641424 -0.258817 0.298391 +#28076 1721121472693 +SLAM 15.9018 13.7614 -15.8778 -0.566149 0.069184 0.685742 0.452158 +TTool-pose None -29.7104 12.9118 13.3431 0.655832 0.640781 -0.261767 0.301118 +#28077 1721121472726 +SLAM 16.1127 13.9335 -15.6498 -0.568837 0.0638622 0.683982 0.452233 +TTool-pose None -29.7401 12.8884 13.407 0.654753 0.644524 -0.257251 0.299363 +#28078 1721121472761 +SLAM 16.01 13.7781 -15.7773 -0.569028 0.0665641 0.684647 0.450593 +TTool-pose None -29.7098 12.8689 13.3863 0.656692 0.642065 -0.257932 0.299813 +#28079 1721121472794 +SLAM 15.976 13.6785 -15.8279 -0.567688 0.0692609 0.684185 0.452575 +TTool-pose None -29.7064 12.8658 13.3215 0.655754 0.640964 -0.259984 0.302441 +#28080 1721121472827 +SLAM 16.0973 13.8103 -15.6645 -0.568484 0.0657594 0.682956 0.453953 +TTool-pose None -29.7273 12.8349 13.3462 0.653936 0.643904 -0.257987 0.30184 +#28081 1721121472860 +SLAM 16.0325 13.8614 -15.6239 -0.566292 0.0663552 0.683343 0.456018 +TTool-pose None -29.6948 12.8597 13.2833 0.652271 0.644213 -0.260436 0.302682 +#28082 1721121472895 +SLAM 15.8377 13.7029 -15.814 -0.566033 0.0694272 0.68457 0.454038 +TTool-pose None -29.6799 12.7966 13.242 0.654495 0.641351 -0.261767 0.302811 +#28083 1721121472928 +SLAM 15.7101 13.5475 -15.9568 -0.56559 0.0727867 0.685389 0.452827 +TTool-pose None -29.6513 12.7902 13.2013 0.656189 0.63858 -0.26329 0.30368 +#28084 1721121472962 +SLAM 15.6596 13.5927 -15.9402 -0.565392 0.0718269 0.686247 0.451926 +TTool-pose None -29.6208 12.786 13.2198 0.656578 0.638866 -0.263357 0.302174 +#28085 1721121472995 +SLAM 15.725 13.6417 -15.8828 -0.567538 0.0692022 0.685649 0.450552 +TTool-pose None -29.646 12.734 13.2633 0.657206 0.6402 -0.260349 0.300587 +#28086 1721121473030 +SLAM 15.7386 13.675 -15.8171 -0.565392 0.0701275 0.684852 0.454303 +TTool-pose None -29.6443 12.7565 13.1844 0.654393 0.640951 -0.262658 0.303107 +#28087 1721121473066 +SLAM 15.5847 13.7174 -15.8569 -0.565455 0.0687929 0.686509 0.451923 +TTool-pose None -29.6165 12.6896 13.2031 0.655808 0.640921 -0.26248 0.300252 +#28088 1721121473102 +SLAM 15.3609 13.64 -15.9905 -0.566022 0.0695313 0.689014 0.447264 +TTool-pose None -29.5479 12.6441 13.2232 0.659485 0.638605 -0.262496 0.297096 +#28089 1721121473139 +SLAM 15.3235 13.6197 -15.99 -0.564503 0.0710794 0.68906 0.448865 +TTool-pose None -29.5246 12.6703 13.1705 0.658503 0.63812 -0.264481 0.298554 +#28090 1721121473180 +SLAM 15.288 13.6207 -15.9984 -0.563965 0.071434 0.689403 0.448959 +TTool-pose None -29.5116 12.6754 13.1589 0.658449 0.637892 -0.265179 0.298544 +#28091 1721121473214 +SLAM 15.3765 13.7404 -15.8864 -0.564862 0.0683008 0.688735 0.449344 +TTool-pose None -29.5349 12.6514 13.1945 0.657486 0.640206 -0.263284 0.297384 +#28092 1721121473254 +SLAM 15.4515 13.8104 -15.7814 -0.563021 0.0684971 0.687828 0.452999 +TTool-pose None -29.5322 12.7107 13.1445 0.6546 0.641428 -0.265064 0.299533 +#28093 1721121473287 +SLAM 15.4017 13.7742 -15.8444 -0.563972 0.0683662 0.688312 0.451097 +TTool-pose None -29.5397 12.668 13.1677 0.656095 0.640812 -0.264141 0.298392 +#28094 1721121473320 +SLAM 15.1681 13.6319 -16.0403 -0.564357 0.0706477 0.690909 0.446268 +TTool-pose None -29.4769 12.6411 13.1841 0.660263 0.637374 -0.264784 0.295981 +#28095 1721121473353 +SLAM 15.2054 13.7726 -15.9233 -0.56244 0.069392 0.690722 0.449164 +TTool-pose None -29.4707 12.6842 13.1602 0.657555 0.639278 -0.266348 0.296498 +#28096 1721121473388 +SLAM 15.1115 13.8193 -15.9336 -0.561404 0.0690105 0.69196 0.448615 +TTool-pose None -29.4408 12.6834 13.1646 0.657706 0.639265 -0.267476 0.295172 +#28097 1721121473421 +SLAM 14.8962 13.6659 -16.1291 -0.560334 0.0726264 0.693797 0.446538 +TTool-pose None -29.4049 12.6647 13.1311 0.659989 0.635937 -0.269845 0.295108 +#28098 1721121473454 +SLAM 15.004 13.9356 -15.8948 -0.560111 0.0674471 0.693381 0.448274 +TTool-pose None -29.4037 12.6768 13.1637 0.657357 0.640118 -0.268552 0.293113 +#28099 1721121473490 +SLAM 14.682 13.742 -16.1519 -0.557905 0.0726016 0.696241 0.44578 +TTool-pose None -29.336 12.6672 13.1062 0.660167 0.635521 -0.272651 0.293018 +#28100 1721121473531 +SLAM 14.4451 13.6869 -16.2709 -0.555343 0.0752621 0.698524 0.444965 +TTool-pose None -29.2728 12.674 13.0609 0.661039 0.63325 -0.276308 0.292544 +#28101 1721121473566 +SLAM 14.3117 13.6591 -16.3508 -0.556014 0.0748986 0.700004 0.441853 +TTool-pose None -29.2511 12.6211 13.0893 0.663291 0.632283 -0.275731 0.29007 +#28102 1721121473599 +SLAM 14.2977 13.7486 -16.2901 -0.555218 0.0736739 0.700375 0.442471 +TTool-pose None -29.235 12.6312 13.0873 0.662409 0.633317 -0.276249 0.289335 +#28103 1721121473633 +SLAM 14.3424 13.8442 -16.2085 -0.555501 0.0714956 0.700068 0.442957 +TTool-pose None -29.2448 12.6161 13.1033 0.661545 0.635003 -0.275312 0.288506 +#28104 1721121473671 +SLAM 14.2552 13.8729 -16.2371 -0.555991 0.070237 0.701332 0.440539 +TTool-pose None -29.2259 12.5837 13.1418 0.663031 0.634907 -0.274633 0.28594 +#28105 1721121473704 +SLAM 14.0388 13.7504 -16.3943 -0.554104 0.0738156 0.703373 0.439074 +TTool-pose None -29.1695 12.597 13.1032 0.664699 0.631783 -0.277817 0.28591 +#28106 1721121473738 +SLAM 14.0082 13.8101 -16.358 -0.55293 0.0734544 0.70376 0.439994 +TTool-pose None -29.1526 12.6104 13.0876 0.663761 0.632331 -0.278959 0.285767 +#28107 1721121473773 +SLAM 13.9939 13.8143 -16.3336 -0.551646 0.0744245 0.703737 0.441477 +TTool-pose None -29.1301 12.6417 13.0468 0.66274 0.632197 -0.280527 0.286896 +#28108 1721121473806 +SLAM 14.0205 13.8895 -16.3004 -0.554457 0.0704692 0.70377 0.438543 +TTool-pose None -29.1618 12.5524 13.1261 0.664273 0.633852 -0.276577 0.28351 +#28109 1721121473839 +SLAM 13.9965 14.0049 -16.2018 -0.552776 0.069381 0.704373 0.439868 +TTool-pose None -29.1156 12.5939 13.1091 0.662774 0.635025 -0.278056 0.282946 +#28110 1721121473872 +SLAM 13.8342 13.8109 -16.3856 -0.552559 0.0730824 0.705469 0.43778 +TTool-pose None -29.0918 12.5649 13.08 0.665182 0.631662 -0.279452 0.283447 +#28111 1721121473906 +SLAM 13.9965 13.9386 -16.2177 -0.55076 0.0724177 0.703528 0.443247 +TTool-pose None -29.1204 12.623 13.0206 0.660815 0.634217 -0.280835 0.286578 +#28112 1721121473943 +SLAM 14.0328 13.8958 -16.2192 -0.54981 0.0742317 0.702672 0.445478 +TTool-pose None -29.1321 12.6489 12.9707 0.659522 0.63383 -0.282182 0.289081 +#28113 1721121473976 +SLAM 14.1019 13.9067 -16.1889 -0.551596 0.0726345 0.702105 0.444426 +TTool-pose None -29.1504 12.6216 13.0093 0.66016 0.634596 -0.279859 0.288201 +#28114 1721121474014 +SLAM 14.307 14.0947 -15.973 -0.549988 0.0705115 0.699987 0.450067 +TTool-pose None -29.1908 12.6792 12.974 0.655281 0.638196 -0.280583 0.290671 +#28115 1721121474049 +SLAM 14.3452 14.0515 -16.0003 -0.553727 0.0683581 0.70003 0.445726 +TTool-pose None -29.1998 12.6184 13.0656 0.658459 0.638134 -0.27622 0.287789 +#28116 1721121474085 +SLAM 14.2347 13.7671 -16.2334 -0.55433 0.0734496 0.700793 0.442959 +TTool-pose None -29.1763 12.62 13.056 0.661861 0.633614 -0.277143 0.289083 +#28117 1721121474120 +SLAM 14.5368 13.8368 -16.1017 -0.558646 0.0690557 0.698358 0.442089 +TTool-pose None -29.2531 12.5973 13.17 0.662025 0.636479 -0.271201 0.288044 +#28118 1721121474154 +SLAM 14.9671 13.8931 -15.919 -0.560676 0.0669994 0.694838 0.445368 +TTool-pose None -29.3281 12.6954 13.2545 0.659432 0.639291 -0.268065 0.290692 +#28119 1721121474189 +SLAM 14.9422 13.6998 -16.0575 -0.558768 0.0724485 0.694777 0.447006 +TTool-pose None -29.3148 12.7733 13.2007 0.65937 0.636162 -0.271524 0.294467 +#28120 1721121474223 +SLAM 15.0925 13.742 -15.9752 -0.561253 0.0697283 0.693669 0.446046 +TTool-pose None -29.343 12.7552 13.2707 0.659736 0.637749 -0.268082 0.293364 +#28121 1721121474264 +SLAM 15.1039 13.6844 -16.0036 -0.560094 0.0718998 0.693317 0.447702 +TTool-pose None -29.3428 12.7962 13.2331 0.658922 0.636881 -0.269815 0.295485 +#28122 1721121474303 +SLAM 15.2256 13.7186 -15.9227 -0.560503 0.0709827 0.691944 0.449457 +TTool-pose None -29.3715 12.8019 13.2329 0.657469 0.638221 -0.26894 0.296627 +#28123 1721121474337 +SLAM 15.4854 13.8674 -15.7104 -0.562858 0.0664579 0.689486 0.45098 +TTool-pose None -29.4314 12.7881 13.2828 0.655526 0.641999 -0.264907 0.296403 +#28124 1721121474374 +SLAM 15.4279 13.666 -15.8577 -0.562823 0.0705813 0.689403 0.450525 +TTool-pose None -29.4272 12.7916 13.2362 0.656923 0.639032 -0.266096 0.298649 +#28125 1721121474409 +SLAM 15.3993 13.6097 -15.8932 -0.56141 0.0728031 0.689334 0.452037 +TTool-pose None -29.4172 12.8204 13.1876 0.656183 0.638056 -0.268137 0.300535 +#28126 1721121474444 +SLAM 15.5437 13.6628 -15.8003 -0.56412 0.0697434 0.687977 0.451213 +TTool-pose None -29.4586 12.7777 13.2427 0.656388 0.639934 -0.264328 0.299465 +#28127 1721121474479 +SLAM 15.7136 13.8243 -15.6287 -0.565771 0.0653164 0.686695 0.451761 +TTool-pose None -29.4971 12.7615 13.3034 0.655065 0.643218 -0.261201 0.298065 +#28128 1721121474515 +SLAM 15.6595 13.6333 -15.8009 -0.564611 0.0702744 0.686612 0.452593 +TTool-pose None -29.5148 12.7917 13.2435 0.655581 0.640143 -0.263769 0.301276 +#28129 1721121474552 +SLAM 15.8124 13.7022 -15.726 -0.566788 0.0675643 0.685772 0.451556 +TTool-pose None -29.5531 12.8003 13.3228 0.655942 0.641668 -0.260666 0.299942 +#28130 1721121474590 +SLAM 15.7521 13.5719 -15.8501 -0.563758 0.0725969 0.68616 0.453973 +TTool-pose None -29.5381 12.8878 13.2555 0.655042 0.639073 -0.265212 0.303447 +#28131 1721121474626 +SLAM 15.8196 13.6082 -15.8097 -0.5644 0.0714767 0.685829 0.453852 +TTool-pose None -29.5498 12.8996 13.2878 0.654934 0.639815 -0.264196 0.303002 +#28132 1721121474659 +SLAM 15.8617 13.6955 -15.7312 -0.565384 0.0688754 0.68559 0.453391 +TTool-pose None -29.5587 12.8678 13.3207 0.65474 0.641439 -0.26243 0.301517 +#28133 1721121474694 +SLAM 15.823 13.649 -15.7712 -0.564797 0.070252 0.685833 0.453544 +TTool-pose None -29.5458 12.8798 13.2981 0.654901 0.640541 -0.26345 0.302185 +#28134 1721121474733 +SLAM 15.9645 13.6172 -15.7463 -0.56778 0.0688763 0.684456 0.452108 +TTool-pose None -29.5924 12.8535 13.3511 0.656011 0.641044 -0.259825 0.301849 +#28135 1721121474772 +SLAM 15.9991 13.5265 -15.8056 -0.566138 0.0721007 0.684368 0.453795 +TTool-pose None -29.5828 12.9492 13.335 0.655376 0.639451 -0.262382 0.304391 +#28136 1721121474810 +SLAM 16.1811 13.6419 -15.6864 -0.567382 0.0688474 0.683678 0.453786 +TTool-pose None -29.6069 12.9872 13.4375 0.654714 0.641705 -0.260096 0.303027 +#28137 1721121474846 +SLAM 16.1343 13.6154 -15.7526 -0.565271 0.0708671 0.684779 0.454448 +TTool-pose None -29.5785 13.0616 13.4456 0.654459 0.640503 -0.262977 0.303637 +#28138 1721121474881 +SLAM 16.1789 13.6263 -15.7365 -0.565952 0.0703223 0.684455 0.454174 +TTool-pose None -29.5928 13.0652 13.4613 0.654614 0.640795 -0.262084 0.303457 +#28139 1721121474919 +SLAM 16.1881 13.611 -15.7363 -0.565844 0.0708641 0.684331 0.454411 +TTool-pose None -29.5884 13.0838 13.4491 0.654564 0.640516 -0.262325 0.303944 +#28140 1721121474951 +SLAM 16.2909 13.7371 -15.583 -0.565734 0.0682807 0.683586 0.456062 +TTool-pose None -29.5854 13.1003 13.4666 0.652664 0.642904 -0.261586 0.303626 +#28141 1721121474980 +SLAM 16.8182 14.1352 -15.0964 -0.571493 0.0551211 0.678237 0.458642 +TTool-pose None -29.7701 12.9261 13.6447 0.648022 0.653009 -0.251087 0.30085 +#28142 1721121475008 +SLAM 16.7116 14.0472 -15.1724 -0.571238 0.0588788 0.680164 0.455628 +TTool-pose None -29.661 13.0937 13.5879 0.65124 0.649307 -0.252763 0.300512 +#28143 1721121475040 +SLAM 16.6289 13.9306 -15.2727 -0.569547 0.0626327 0.680631 0.456547 +TTool-pose None -29.633 13.1377 13.5185 0.651336 0.647071 -0.255636 0.30269 +#28144 1721121475070 +SLAM 16.7374 13.9631 -15.1875 -0.570521 0.0613128 0.679536 0.45714 +TTool-pose None -29.6499 13.1416 13.5338 0.650673 0.648232 -0.254088 0.302937 +#28145 1721121475102 +SLAM 16.4169 13.6255 -15.5376 -0.564613 0.0721859 0.681212 0.460382 +TTool-pose None -29.5952 13.1961 13.3339 0.650309 0.641895 -0.263423 0.309181 +#28146 1721121475134 +SLAM 16.7322 14.1151 -15.1001 -0.569285 0.0576177 0.678744 0.460327 +TTool-pose None -29.7191 12.9908 13.5453 0.647155 0.651899 -0.254131 0.302566 +#28147 1721121475165 +SLAM 16.6765 14.1622 -15.0866 -0.569379 0.0568875 0.679961 0.458503 +TTool-pose None -29.6713 13.0224 13.5662 0.648331 0.651684 -0.254029 0.300589 +#28148 1721121475195 +SLAM 16.5812 14.0567 -15.1948 -0.570307 0.058111 0.680233 0.456789 +TTool-pose None -29.6761 12.9471 13.5457 0.650053 0.650236 -0.253494 0.300457 +#28149 1721121475228 +SLAM 16.4986 13.9634 -15.272 -0.569489 0.0607067 0.680827 0.456587 +TTool-pose None -29.641 12.9713 13.4992 0.650789 0.648379 -0.255172 0.301455 +#28150 1721121475260 +SLAM 16.1449 13.5885 -15.6661 -0.568894 0.0680959 0.683303 0.452569 +TTool-pose None -29.5821 12.8972 13.4268 0.655619 0.641802 -0.258291 0.302406 +#28151 1721121475296 +SLAM 16.5678 14.1397 -15.1113 -0.568597 0.0571322 0.679534 0.460071 +TTool-pose None -29.6924 12.8986 13.4882 0.647126 0.652096 -0.254817 0.301624 +#28152 1721121475330 +SLAM 16.1756 13.6683 -15.5651 -0.566637 0.0683656 0.682903 0.455952 +TTool-pose None -29.561 12.9628 13.3677 0.652889 0.642845 -0.260587 0.304125 +#28153 1721121475365 +SLAM 15.982 13.4121 -15.8035 -0.563202 0.075954 0.683569 0.458005 +TTool-pose None -29.5375 12.9923 13.2329 0.652839 0.638348 -0.26629 0.308737 +#28154 1721121475400 +SLAM 16.5474 14.0457 -15.1535 -0.570497 0.0574708 0.679272 0.458061 +TTool-pose None -29.6852 12.8432 13.4886 0.648961 0.651168 -0.252955 0.301253 +#28155 1721121475432 +SLAM 16.5215 13.9699 -15.1928 -0.568123 0.0610135 0.679034 0.460898 +TTool-pose None -29.6701 12.9096 13.3983 0.647483 0.64979 -0.256337 0.304534 +#28156 1721121475465 +SLAM 16.1333 13.4384 -15.6909 -0.566222 0.0732285 0.68165 0.457585 +TTool-pose None -29.5781 12.9337 13.2559 0.652871 0.640172 -0.26217 0.308415 +#28157 1721121475498 +SLAM 16.2705 13.6138 -15.5301 -0.569773 0.0668469 0.680842 0.455351 +TTool-pose None -29.6203 12.8464 13.3681 0.653356 0.643773 -0.256647 0.304508 +#28158 1721121475536 +SLAM 16.4502 13.8182 -15.299 -0.568659 0.0638845 0.679161 0.459658 +TTool-pose None -29.6499 12.9019 13.3505 0.649236 0.6474 -0.256646 0.305632 +#28159 1721121475570 +SLAM 16.565 13.952 -15.1716 -0.571909 0.0587402 0.678183 0.457752 +TTool-pose None -29.699 12.8172 13.4318 0.649711 0.650255 -0.251712 0.302648 +#28160 1721121475601 +SLAM 16.5371 14.0829 -15.1252 -0.571904 0.0558644 0.67843 0.457754 +TTool-pose None -29.7311 12.7501 13.4542 0.648937 0.652183 -0.250922 0.300808 +#28161 1721121475634 +SLAM 16.2528 13.7995 -15.441 -0.567827 0.0651089 0.680616 0.458362 +TTool-pose None -29.6653 12.8385 13.3046 0.650412 0.646036 -0.258081 0.304807 +#28162 1721121475668 +SLAM 15.8425 13.4566 -15.8524 -0.564923 0.0739658 0.684084 0.455434 +TTool-pose None -29.5805 12.8465 13.2084 0.654475 0.638773 -0.264086 0.306274 +#28163 1721121475701 +SLAM 15.845 13.4969 -15.8252 -0.565264 0.0730537 0.684261 0.454893 +TTool-pose None -29.5754 12.8484 13.2184 0.654689 0.639195 -0.263515 0.305425 +#28164 1721121475735 +SLAM 16.0852 13.8096 -15.5309 -0.568136 0.0647829 0.682548 0.45514 +TTool-pose None -29.6397 12.7976 13.3182 0.652757 0.645012 -0.257994 0.302021 +#28165 1721121475769 +SLAM 15.8379 13.724 -15.7133 -0.566648 0.0673096 0.685013 0.45292 +TTool-pose None -29.5952 12.7714 13.2977 0.654854 0.64237 -0.260615 0.300859 +#28166 1721121475802 +SLAM 15.7856 13.6287 -15.7701 -0.56582 0.069978 0.685277 0.453151 +TTool-pose None -29.5618 12.8077 13.2507 0.655261 0.64062 -0.262251 0.302282 +#28167 1721121475834 +SLAM 15.5768 13.5791 -15.9217 -0.564174 0.0722237 0.687389 0.451651 +TTool-pose None -29.5342 12.8032 13.2236 0.656711 0.638431 -0.26488 0.301471 +#28168 1721121475866 +SLAM 15.7131 13.8334 -15.7028 -0.564407 0.0669782 0.686529 0.453471 +TTool-pose None -29.5642 12.7949 13.2659 0.654053 0.642706 -0.263029 0.299782 +#28169 1721121475899 +SLAM 15.3716 13.544 -16.0597 -0.56161 0.0746508 0.68919 0.451708 +TTool-pose None -29.5187 12.7916 13.1784 0.656924 0.636683 -0.268429 0.301567 +#28170 1721121475931 +SLAM 15.6175 13.6964 -15.8637 -0.567006 0.067682 0.68726 0.448995 +TTool-pose None -29.5804 12.7088 13.3021 0.657879 0.640588 -0.260708 0.297964 +#28171 1721121475962 +SLAM 15.8085 14.0595 -15.5616 -0.566157 0.060938 0.685684 0.45342 +TTool-pose None -29.6462 12.6924 13.3366 0.652743 0.646835 -0.259395 0.296903 +#28172 1721121475995 +SLAM 15.2919 13.6386 -16.09 -0.563708 0.071004 0.690609 0.447494 +TTool-pose None -29.5399 12.7009 13.2668 0.659369 0.637588 -0.265499 0.296869 +#28173 1721121476027 +SLAM 15.4709 13.7981 -15.8781 -0.562714 0.0691679 0.689064 0.451396 +TTool-pose None -29.5418 12.7887 13.2392 0.655905 0.640327 -0.265755 0.298417 +#28174 1721121476060 +SLAM 15.2182 13.6335 -16.1157 -0.561751 0.0727717 0.691325 0.448565 +TTool-pose None -29.5105 12.7484 13.2205 0.658761 0.636719 -0.268086 0.29776 +#28175 1721121476092 +SLAM 15.518 13.9586 -15.7449 -0.562761 0.0658059 0.689034 0.451887 +TTool-pose None -29.5376 12.7831 13.2702 0.654678 0.642792 -0.26475 0.296699 +#28176 1721121476130 +SLAM 15.2864 13.775 -15.9862 -0.563509 0.0686194 0.691329 0.447004 +TTool-pose None -29.5011 12.7303 13.285 0.659082 0.638995 -0.265137 0.294797 +#28177 1721121476161 +SLAM 15.1977 13.6899 -16.0565 -0.560553 0.0726711 0.691744 0.449433 +TTool-pose None -29.4692 12.7929 13.1961 0.657928 0.637071 -0.269333 0.297725 +#28178 1721121476193 +SLAM 15.4007 13.8134 -15.8868 -0.562713 0.0688078 0.689784 0.450354 +TTool-pose None -29.5199 12.7712 13.2349 0.656574 0.640158 -0.265766 0.297295 +#28179 1721121476226 +SLAM 15.3441 13.731 -15.9752 -0.56317 0.0699375 0.690047 0.449203 +TTool-pose None -29.5285 12.7342 13.2334 0.657773 0.638961 -0.265661 0.297315 +#28180 1721121476268 +SLAM 15.3009 13.7316 -15.9993 -0.563314 0.0696871 0.690437 0.448462 +TTool-pose None -29.5291 12.708 13.2388 0.658269 0.638844 -0.265503 0.296608 +#28181 1721121476300 +SLAM 15.4104 13.8199 -15.885 -0.563992 0.0676174 0.689385 0.449542 +TTool-pose None -29.5485 12.7118 13.2468 0.65704 0.640704 -0.264072 0.296597 +#28182 1721121476334 +SLAM 15.3388 13.8521 -15.8763 -0.562069 0.0683663 0.690174 0.450628 +TTool-pose None -29.512 12.7451 13.2128 0.656167 0.640533 -0.266352 0.296863 +#28183 1721121476366 +SLAM 15.2942 13.7593 -15.9731 -0.563726 0.0688181 0.690234 0.44839 +TTool-pose None -29.5364 12.6759 13.2278 0.658155 0.639423 -0.264809 0.296232 +#28184 1721121476400 +SLAM 15.2335 13.6263 -16.0694 -0.562432 0.0725526 0.690149 0.449555 +TTool-pose None -29.5287 12.6968 13.1577 0.658082 0.637295 -0.267158 0.298864 +#28185 1721121476435 +SLAM 15.1164 13.5654 -16.1608 -0.563628 0.0725879 0.691466 0.446016 +TTool-pose None -29.5031 12.6487 13.1884 0.660839 0.635924 -0.266151 0.296587 +#28186 1721121476469 +SLAM 15.2571 13.6409 -16.032 -0.56229 0.0724103 0.689224 0.451173 +TTool-pose None -29.5531 12.6672 13.1142 0.656842 0.638025 -0.267122 0.300066 +#28187 1721121476503 +SLAM 15.2493 13.6266 -16.0481 -0.563312 0.0720145 0.689038 0.450244 +TTool-pose None -29.5702 12.6295 13.1132 0.657567 0.637975 -0.265947 0.299625 +#28188 1721121476541 +SLAM 15.1343 13.5562 -16.1291 -0.561322 0.0749526 0.689581 0.451417 +TTool-pose None -29.5533 12.6403 13.0398 0.657172 0.636349 -0.268864 0.301344 +#28189 1721121476577 +SLAM 14.9836 13.5036 -16.2484 -0.563663 0.0739483 0.691331 0.445957 +TTool-pose None -29.5397 12.5518 13.0971 0.661235 0.63498 -0.266475 0.297436 +#28190 1721121476610 +SLAM 15.1626 13.6405 -16.0623 -0.564281 0.071055 0.689252 0.448854 +TTool-pose None -29.5806 12.5478 13.0831 0.658473 0.638122 -0.264729 0.298397 +#28191 1721121476641 +SLAM 15.2469 13.8092 -15.9036 -0.564666 0.0676249 0.688763 0.449651 +TTool-pose None -29.5829 12.5555 13.0996 0.657059 0.640774 -0.263297 0.297094 +#28192 1721121476673 +SLAM 15.2365 13.8118 -15.8609 -0.562806 0.0691663 0.688765 0.451738 +TTool-pose None -29.5402 12.6218 13.0411 0.655667 0.640468 -0.265616 0.298762 +#28193 1721121476705 +SLAM 14.9527 13.5251 -16.1948 -0.561007 0.0760562 0.690495 0.450225 +TTool-pose None -29.5343 12.5827 12.9583 0.658277 0.635112 -0.269628 0.300857 +#28194 1721121476738 +SLAM 15.0103 13.5678 -16.1362 -0.560432 0.0757391 0.689444 0.452599 +TTool-pose None -29.5631 12.5767 12.9231 0.656377 0.636237 -0.26996 0.302334 +#28195 1721121476770 +SLAM 14.8956 13.5691 -16.2091 -0.561532 0.0745864 0.690816 0.449323 +TTool-pose None -29.5598 12.5104 12.9653 0.658639 0.635779 -0.268737 0.299449 +#28196 1721121476805 +SLAM 14.8983 13.612 -16.1696 -0.562504 0.0730554 0.691014 0.448053 +TTool-pose None -29.5479 12.4977 12.9845 0.659316 0.636361 -0.267355 0.297954 +#28197 1721121476836 +SLAM 14.91 13.6182 -16.1532 -0.562697 0.072919 0.690709 0.448303 +TTool-pose None -29.5536 12.4921 12.9704 0.659126 0.636563 -0.267077 0.298193 +#28198 1721121476869 +SLAM 15.1653 13.926 -15.8287 -0.562232 0.0674198 0.688222 0.453543 +TTool-pose None -29.6076 12.5107 12.9665 0.653808 0.642331 -0.265617 0.298836 +#28199 1721121476902 +SLAM 15.1604 13.9575 -15.7945 -0.563337 0.0660395 0.688431 0.452054 +TTool-pose None -29.5925 12.4961 12.9825 0.654698 0.642729 -0.264141 0.297334 +#28200 1721121476935 +SLAM 14.9722 13.7727 -16.0242 -0.564938 0.0681841 0.689956 0.447388 +TTool-pose None -29.5915 12.4063 12.9991 0.658893 0.639513 -0.263359 0.29569 +#28201 1721121476969 +SLAM 14.7231 13.6271 -16.2352 -0.561279 0.0736244 0.691718 0.44841 +TTool-pose None -29.5673 12.4137 12.907 0.659023 0.636055 -0.268861 0.2979 +#28202 1721121477002 +SLAM 14.9742 13.9173 -15.9142 -0.563818 0.0661397 0.689998 0.449041 +TTool-pose None -29.585 12.4086 12.9823 0.656997 0.641493 -0.263921 0.295117 +#28203 1721121477034 +SLAM 14.8042 13.7432 -16.1021 -0.561912 0.0710267 0.690911 0.44928 +TTool-pose None -29.5733 12.407 12.9049 0.657816 0.638192 -0.267371 0.297338 +#28204 1721121477063 +SLAM 14.6584 13.6105 -16.2246 -0.559822 0.0753181 0.691884 0.449692 +TTool-pose None -29.53 12.4424 12.8303 0.658305 0.635341 -0.270831 0.299225 +#28205 1721121477093 +SLAM 15.0208 14.001 -15.8119 -0.564151 0.0644875 0.68916 0.450147 +TTool-pose None -29.596 12.3931 12.9513 0.655802 0.643061 -0.262986 0.295195 +#28206 1721121477126 +SLAM 14.6158 13.5764 -16.2814 -0.561883 0.0742419 0.692008 0.447101 +TTool-pose None -29.5587 12.3536 12.8557 0.66022 0.635147 -0.268463 0.297545 +#28207 1721121477158 +SLAM 14.7313 13.7706 -16.0994 -0.562333 0.0701463 0.691137 0.448543 +TTool-pose None -29.5765 12.3466 12.8764 0.658187 0.638517 -0.266732 0.296393 +#28208 1721121477189 +SLAM 14.7233 13.5334 -16.2335 -0.564373 0.0736793 0.690213 0.446835 +TTool-pose None -29.5908 12.3177 12.8309 0.660629 0.635547 -0.265514 0.298429 +#28209 1721121477220 +SLAM 14.5585 13.6031 -16.2764 -0.561616 0.0738881 0.692029 0.447464 +TTool-pose None -29.5676 12.3082 12.8177 0.659828 0.635518 -0.268638 0.297466 +#28210 1721121477252 +SLAM 14.8656 14.055 -15.8338 -0.562512 0.0645041 0.689795 0.451223 +TTool-pose None -29.606 12.3216 12.8746 0.654786 0.643395 -0.264748 0.29515 +#28211 1721121477283 +SLAM 14.4866 13.5683 -16.3105 -0.561693 0.0746935 0.692508 0.446491 +TTool-pose None -29.5482 12.301 12.7885 0.660751 0.634588 -0.268855 0.297206 +#28212 1721121477314 +SLAM 14.6713 13.8858 -16.0176 -0.561289 0.0686897 0.691168 0.450026 +TTool-pose None -29.5731 12.3093 12.8163 0.656577 0.640036 -0.267383 0.296098 +#28213 1721121477342 +SLAM 14.6176 13.8025 -16.1162 -0.563612 0.0684582 0.691697 0.44633 +TTool-pose None -29.5848 12.2455 12.8581 0.659545 0.638841 -0.265041 0.294181 +#28214 1721121477372 +SLAM 14.5457 13.6519 -16.2268 -0.561459 0.0732047 0.691525 0.448551 +TTool-pose None -29.5793 12.2742 12.7678 0.65884 0.636405 -0.268532 0.297855 +#28215 1721121477404 +SLAM 14.5389 13.7528 -16.1678 -0.561935 0.0707055 0.692081 0.447498 +TTool-pose None -29.5689 12.2596 12.8048 0.659034 0.637702 -0.267433 0.295629 +#28216 1721121477432 +SLAM 14.5768 13.5809 -16.2786 -0.565018 0.0718279 0.690749 0.44549 +TTool-pose None -29.6321 12.1691 12.8059 0.661225 0.636298 -0.26442 0.296474 +#28217 1721121477461 +SLAM 14.4137 13.6468 -16.2984 -0.562005 0.0726464 0.693019 0.445643 +TTool-pose None -29.5631 12.227 12.7901 0.66089 0.635653 -0.268042 0.295348 +#28218 1721121477490 +SLAM 14.5726 13.8617 -16.0653 -0.561414 0.0690007 0.691724 0.448966 +TTool-pose None -29.5681 12.2625 12.7898 0.657449 0.639412 -0.267427 0.29547 +#28219 1721121477519 +SLAM 14.5082 13.8409 -16.1038 -0.561294 0.0694609 0.692486 0.44787 +TTool-pose None -29.5476 12.2628 12.7909 0.658348 0.638659 -0.267792 0.294764 +#28220 1721121477547 +SLAM 14.5893 13.9014 -16.0252 -0.562065 0.0678104 0.691789 0.448233 +TTool-pose None -29.5592 12.2642 12.8053 0.657769 0.639958 -0.266441 0.294466 +#28221 1721121477579 +SLAM 14.6969 13.853 -15.9951 -0.559059 0.0714765 0.689591 0.454762 +TTool-pose None -29.6001 12.3287 12.6896 0.653502 0.639909 -0.270174 0.300612 +#28222 1721121477610 +SLAM 14.4776 13.643 -16.2839 -0.561943 0.0729497 0.692237 0.446885 +TTool-pose None -29.5874 12.2394 12.7824 0.660057 0.63594 -0.268076 0.296562 +#28223 1721121477640 +SLAM 14.6356 13.6615 -16.1895 -0.562884 0.0721947 0.690931 0.447844 +TTool-pose None -29.5907 12.2881 12.7999 0.659302 0.636881 -0.266717 0.297446 +#28224 1721121477669 +SLAM 14.4915 13.2993 -16.4937 -0.559897 0.0815857 0.691372 0.449292 +TTool-pose None -29.5795 12.351 12.7098 0.66018 0.630924 -0.272406 0.302993 +#28225 1721121477705 +SLAM 14.9727 13.7335 -16.0426 -0.562735 0.0712038 0.688381 0.452097 +TTool-pose None -29.6481 12.4028 12.8611 0.65592 0.639228 -0.266202 0.300339 +#28226 1721121477735 +SLAM 15.3541 13.9671 -15.7401 -0.567135 0.0636139 0.686091 0.45121 +TTool-pose None -29.6888 12.4385 13.0177 0.65521 0.644211 -0.259238 0.297314 +#28227 1721121477764 +SLAM 14.8538 13.4055 -16.3785 -0.563091 0.0773091 0.690423 0.447513 +TTool-pose None -29.6208 12.4695 12.9336 0.660872 0.63329 -0.267853 0.300595 +#28228 1721121477797 +SLAM 15.1316 13.6255 -16.1532 -0.566098 0.0707797 0.688896 0.447153 +TTool-pose None -29.6677 12.4726 13.0644 0.659899 0.637721 -0.262752 0.297852 +#28229 1721121477833 +SLAM 15.0095 13.4762 -16.3239 -0.563853 0.0753939 0.690289 0.447087 +TTool-pose None -29.6344 12.5398 13.0423 0.660807 0.634459 -0.26653 0.299444 +#28230 1721121477863 +SLAM 15.2753 13.7863 -16.0323 -0.565397 0.0682322 0.688838 0.448524 +TTool-pose None -29.6733 12.5594 13.1449 0.658142 0.639953 -0.262738 0.29696 +#28231 1721121477892 +SLAM 15.2041 13.8385 -16.0301 -0.563356 0.0687214 0.690239 0.448863 +TTool-pose None -29.6239 12.625 13.1464 0.657732 0.639658 -0.265159 0.296353 +#28232 1721121477921 +SLAM 15.0857 13.7353 -16.1772 -0.564771 0.0694563 0.691744 0.444634 +TTool-pose None -29.6089 12.5844 13.1969 0.6612 0.637548 -0.26415 0.294072 +#28233 1721121477957 +SLAM 15.1576 13.7399 -16.1315 -0.56326 0.0707383 0.690423 0.448387 +TTool-pose None -29.635 12.6156 13.1339 0.658587 0.638101 -0.265852 0.29719 +#28234 1721121477988 +SLAM 15.0565 13.7772 -16.1483 -0.562799 0.0701479 0.691939 0.446718 +TTool-pose None -29.5925 12.618 13.1547 0.659582 0.637813 -0.266378 0.295118 +#28235 1721121478023 +SLAM 15.1175 13.8116 -16.076 -0.563145 0.0691248 0.691304 0.447424 +TTool-pose None -29.5892 12.618 13.1574 0.658855 0.638803 -0.265645 0.295263 +#28236 1721121478055 +SLAM 14.9221 13.5423 -16.2347 -0.558454 0.0780063 0.692086 0.450623 +TTool-pose None -29.4855 12.7246 12.9816 0.658102 0.633813 -0.272987 0.30095 +#28237 1721121478087 +SLAM 14.6171 13.5317 -16.3611 -0.555454 0.0795418 0.694622 0.45016 +TTool-pose None -29.442 12.6529 12.9339 0.658372 0.632423 -0.276814 0.299787 +#28238 1721121478126 +SLAM 15.1763 14.104 -15.6521 -0.561735 0.0635515 0.690011 0.451996 +TTool-pose None -29.4874 12.5909 13.0674 0.653858 0.644302 -0.265293 0.294737 +#28239 1721121478156 +SLAM 14.7562 13.6978 -16.0358 -0.561054 0.0712686 0.692686 0.447577 +TTool-pose None -29.4021 12.4878 12.9676 0.658993 0.637308 -0.268573 0.295539 +#28240 1721121478186 +SLAM 14.7168 13.8209 -15.9159 -0.559531 0.0696998 0.692583 0.449884 +TTool-pose None -29.3791 12.4624 12.9093 0.656684 0.639207 -0.269657 0.295589 +#28241 1721121478221 +SLAM 14.5974 13.6296 -16.0732 -0.561682 0.0715795 0.692521 0.446995 +TTool-pose None -29.3989 12.3386 12.8765 0.659587 0.636898 -0.267999 0.295616 +#28242 1721121478254 +SLAM 14.3326 13.5382 -16.1943 -0.556473 0.0771225 0.69442 0.449635 +TTool-pose None -29.3213 12.3898 12.7425 0.658302 0.633915 -0.27509 0.298371 +#28243 1721121478286 +SLAM 14.5931 13.7374 -15.9483 -0.564206 0.0670973 0.692393 0.444703 +TTool-pose None -29.38 12.2395 12.901 0.660456 0.63914 -0.264152 0.292277 +#28244 1721121478321 +SLAM 14.5411 13.7042 -15.987 -0.563392 0.0682448 0.692412 0.445532 +TTool-pose None -29.3865 12.2178 12.8644 0.660036 0.638656 -0.265309 0.293236 +#28245 1721121478359 +SLAM 14.4042 13.5908 -16.0909 -0.561246 0.072136 0.69321 0.446385 +TTool-pose None -29.3506 12.2414 12.787 0.660109 0.636256 -0.268697 0.2952 +#28246 1721121478388 +SLAM 14.3351 13.6466 -16.0692 -0.560765 0.0711528 0.694125 0.445725 +TTool-pose None -29.3202 12.2321 12.7911 0.660264 0.636633 -0.269043 0.293721 +#28247 1721121478423 +SLAM 14.3559 13.6053 -16.0697 -0.561056 0.0721532 0.693585 0.446038 +TTool-pose None -29.3208 12.2467 12.7574 0.660337 0.636096 -0.26895 0.294804 +#28248 1721121478454 +SLAM 14.3474 13.6508 -16.0645 -0.560435 0.0713771 0.693472 0.447118 +TTool-pose None -29.3496 12.2089 12.7599 0.659262 0.637019 -0.269345 0.294854 +#28249 1721121478494 +SLAM 14.3077 13.5231 -16.1668 -0.559537 0.0748149 0.693695 0.447334 +TTool-pose None -29.3381 12.2525 12.7296 0.659851 0.63473 -0.271248 0.296728 +#28250 1721121478533 +SLAM 14.6237 13.7333 -15.9365 -0.565613 0.0662206 0.69197 0.443705 +TTool-pose None -29.3939 12.2123 12.9124 0.661151 0.639403 -0.26241 0.2917 +#28251 1721121478568 +SLAM 14.7193 13.741 -15.9224 -0.562933 0.0683036 0.691499 0.447516 +TTool-pose None -29.4024 12.3256 12.9073 0.658545 0.639384 -0.265657 0.294687 +#28252 1721121478600 +SLAM 14.7045 13.5079 -16.0987 -0.561116 0.0745049 0.692032 0.447984 +TTool-pose None -29.3677 12.4516 12.8985 0.659533 0.635281 -0.269318 0.298011 +#28253 1721121478633 +SLAM 15.1393 13.8045 -15.7798 -0.566404 0.0645475 0.689449 0.446857 +TTool-pose None -29.4526 12.4334 13.1172 0.658536 0.641825 -0.26076 0.293771 +#28254 1721121478663 +SLAM 15.1327 13.7612 -15.8176 -0.563084 0.0680261 0.6901 0.449524 +TTool-pose None -29.4111 12.5653 13.0929 0.657031 0.640376 -0.265216 0.296306 +#28255 1721121478694 +SLAM 14.8938 13.5068 -16.1148 -0.56027 0.0750609 0.692448 0.448308 +TTool-pose None -29.3626 12.6215 13.0512 0.659315 0.634989 -0.270391 0.298146 +#28256 1721121478726 +SLAM 15.357 13.9649 -15.6613 -0.564222 0.0632725 0.689131 0.450276 +TTool-pose None -29.4715 12.6005 13.2103 0.655398 0.643934 -0.262563 0.294566 +#28257 1721121478760 +SLAM 15.3147 13.8817 -15.7845 -0.566959 0.0628669 0.690261 0.445134 +TTool-pose None -29.4725 12.5667 13.3034 0.659423 0.642297 -0.259833 0.29156 +#28258 1721121478788 +SLAM 15.3439 13.9898 -15.7402 -0.563991 0.0632016 0.690623 0.448286 +TTool-pose None -29.4756 12.6611 13.2969 0.656799 0.643181 -0.263002 0.29269 +#28259 1721121478826 +SLAM 15.4204 13.9576 -15.7633 -0.562735 0.065639 0.690289 0.450025 +TTool-pose None -29.4856 12.778 13.2789 0.655992 0.642167 -0.264921 0.29499 +#28260 1721121478855 +SLAM 15.3179 13.8084 -16.0112 -0.564455 0.0672926 0.691492 0.44576 +TTool-pose None -29.5396 12.7141 13.3457 0.659776 0.639443 -0.263824 0.293447 +#28261 1721121478894 +SLAM 15.1537 13.6979 -16.2114 -0.561539 0.0719061 0.693305 0.445906 +TTool-pose None -29.5276 12.779 13.3105 0.660441 0.636236 -0.26835 0.294818 +#28262 1721121478926 +SLAM 15.2857 13.7499 -16.1742 -0.563341 0.0700536 0.692372 0.445376 +TTool-pose None -29.5855 12.783 13.3616 0.66061 0.637369 -0.265864 0.29424 +#28263 1721121478956 +SLAM 15.3326 13.9144 -16.0916 -0.564454 0.0660914 0.692868 0.443799 +TTool-pose None -29.6005 12.7765 13.4433 0.660883 0.63947 -0.263684 0.291011 +#28264 1721121478988 +SLAM 15.2658 13.7871 -16.171 -0.561126 0.0715501 0.693087 0.44682 +TTool-pose None -29.5575 12.8856 13.3334 0.659625 0.63682 -0.268638 0.29512 +#28265 1721121479021 +SLAM 15.5562 14.0861 -15.8631 -0.563842 0.0637904 0.690926 0.447922 +TTool-pose None -29.6207 12.8629 13.4297 0.657198 0.642633 -0.263367 0.292671 +#28266 1721121479056 +SLAM 15.2553 13.8587 -16.1425 -0.560761 0.0702849 0.693428 0.44695 +TTool-pose None -29.5608 12.8775 13.3501 0.659151 0.637709 -0.268702 0.294199 +#28267 1721121479090 +SLAM 15.2988 13.9248 -16.072 -0.561161 0.0686979 0.693314 0.446873 +TTool-pose None -29.5525 12.8862 13.3717 0.658856 0.638771 -0.267833 0.293347 +#28268 1721121479121 +SLAM 15.1785 13.7634 -16.2371 -0.561741 0.071276 0.694204 0.444351 +TTool-pose None -29.5423 12.8515 13.3673 0.661434 0.636051 -0.268098 0.293212 +#28269 1721121479157 +SLAM 15.284 13.8344 -16.1471 -0.561742 0.069944 0.692903 0.446587 +TTool-pose None -29.5813 12.8445 13.3584 0.659471 0.637845 -0.267535 0.29425 +#28270 1721121479187 +SLAM 15.1623 13.8055 -16.184 -0.559076 0.0724292 0.693988 0.447849 +TTool-pose None -29.5243 12.8924 13.2958 0.6588 0.636528 -0.271092 0.295352 +#28271 1721121479221 +SLAM 14.9728 13.6665 -16.33 -0.555484 0.077799 0.69496 0.449906 +TTool-pose None -29.4883 12.9229 13.18 0.658124 0.633509 -0.276353 0.298459 +#28272 1721121479256 +SLAM 15.0974 13.7222 -16.2158 -0.558733 0.0741276 0.69361 0.448584 +TTool-pose None -29.5147 12.8495 13.2257 0.658648 0.635651 -0.271857 0.296871 +#28273 1721121479296 +SLAM 15.2213 13.9123 -16.0158 -0.560149 0.0691546 0.692595 0.44918 +TTool-pose None -29.5305 12.8096 13.2639 0.657147 0.639328 -0.268881 0.295004 +#28274 1721121479326 +SLAM 14.9929 13.6589 -16.2586 -0.561304 0.0729414 0.694259 0.444547 +TTool-pose None -29.4883 12.7403 13.2444 0.661655 0.63498 -0.269015 0.294195 +#28275 1721121479356 +SLAM 15.2749 13.9695 -15.9359 -0.562898 0.0656908 0.691225 0.448372 +TTool-pose None -29.5834 12.6782 13.2719 0.657234 0.641485 -0.264911 0.293715 +#28276 1721121479387 +SLAM 15.0885 13.7993 -16.1038 -0.562338 0.0693826 0.692512 0.44653 +TTool-pose None -29.5427 12.6584 13.2178 0.659454 0.638232 -0.266715 0.294193 +#28277 1721121479422 +SLAM 15.1485 13.8845 -15.9823 -0.561107 0.0688611 0.691538 0.449658 +TTool-pose None -29.5401 12.6872 13.1595 0.656864 0.639765 -0.267671 0.295787 +#28278 1721121479456 +SLAM 15.0438 13.8071 -16.0656 -0.561982 0.0694624 0.692119 0.447574 +TTool-pose None -29.5327 12.6203 13.1501 0.658665 0.638576 -0.26704 0.294921 +#28279 1721121479486 +SLAM 15.2154 14.0419 -15.8016 -0.562441 0.0645923 0.690257 0.450592 +TTool-pose None -29.5624 12.6042 13.1428 0.655261 0.643082 -0.264914 0.294627 +#28280 1721121479521 +SLAM 14.8852 13.7814 -16.1045 -0.560628 0.0709103 0.69277 0.448037 +TTool-pose None -29.5063 12.5781 13.0609 0.658503 0.637711 -0.268916 0.295447 +#28281 1721121479554 +SLAM 15.003 13.9194 -15.9411 -0.561524 0.0675337 0.691158 0.449923 +TTool-pose None -29.5451 12.5319 13.0499 0.656386 0.640788 -0.266816 0.295405 +#28282 1721121479587 +SLAM 14.8424 13.9005 -15.9998 -0.559822 0.0691338 0.692366 0.449943 +TTool-pose None -29.5102 12.5225 12.9897 0.656538 0.639628 -0.269171 0.295447 +#28283 1721121479620 +SLAM 14.7332 13.8888 -16.0136 -0.558988 0.0699628 0.693089 0.44974 +TTool-pose None -29.4719 12.5121 12.9395 0.656777 0.638943 -0.270355 0.295316 +#28284 1721121479658 +SLAM 14.693 13.856 -16.0237 -0.559855 0.0699063 0.692894 0.448969 +TTool-pose None -29.4716 12.4596 12.9117 0.657452 0.63872 -0.269434 0.295135 +#28285 1721121479693 +SLAM 14.7231 13.931 -15.9407 -0.560403 0.0678134 0.692011 0.449967 +TTool-pose None -29.4975 12.3953 12.8929 0.656263 0.640559 -0.268157 0.29496 +#28286 1721121479728 +SLAM 14.2889 13.5128 -16.3868 -0.557804 0.0776127 0.69454 0.447712 +TTool-pose None -29.4617 12.326 12.7587 0.660025 0.632889 -0.2739 0.297838 +#28287 1721121479759 +SLAM 14.3234 13.7695 -16.2234 -0.558866 0.0711285 0.69407 0.448193 +TTool-pose None -29.5178 12.1961 12.7976 0.658184 0.637534 -0.270952 0.294681 +#28288 1721121479794 +SLAM 14.5506 13.9747 -15.9108 -0.559801 0.0672959 0.69179 0.451133 +TTool-pose None -29.5038 12.2592 12.754 0.655188 0.641339 -0.268585 0.295264 +#28289 1721121479828 +SLAM 14.4307 13.8327 -16.018 -0.559836 0.0701022 0.69222 0.45 +TTool-pose None -29.4781 12.2307 12.6954 0.656749 0.638997 -0.269408 0.296127 +#28290 1721121479856 +SLAM 14.4737 14.0126 -15.8596 -0.559765 0.0664409 0.691705 0.451434 +TTool-pose None -29.4871 12.1958 12.6902 0.65474 0.642034 -0.268366 0.294949 +#28291 1721121479892 +SLAM 14.1436 13.4807 -16.3332 -0.559693 0.0769415 0.693003 0.447852 +TTool-pose None -29.4745 12.1201 12.5739 0.660036 0.6335 -0.271578 0.298635 +#28292 1721121479921 +SLAM 14.3869 14.0368 -15.86 -0.560855 0.0646986 0.691416 0.450776 +TTool-pose None -29.5196 12.0548 12.6532 0.654924 0.643003 -0.266724 0.293914 +#28293 1721121479954 +SLAM 14.2409 13.7922 -16.0494 -0.561044 0.0696842 0.691889 0.44907 +TTool-pose None -29.4947 12.038 12.5751 0.657496 0.638973 -0.26802 0.29578 +#28294 1721121479997 +SLAM 14.0232 13.6961 -16.1775 -0.558996 0.0729384 0.693292 0.448943 +TTool-pose None -29.4605 12.0107 12.4954 0.658123 0.636614 -0.271213 0.296562 +#28295 1721121480029 +SLAM 14.0993 13.6486 -16.1263 -0.56144 0.0722698 0.691783 0.448328 +TTool-pose None -29.4704 11.9647 12.4682 0.65876 0.636949 -0.268329 0.297051 +#28296 1721121480059 +SLAM 14.2001 14.1393 -15.7772 -0.5604 0.0627156 0.69087 0.452457 +TTool-pose None -29.5348 11.8675 12.4924 0.653105 0.64498 -0.266533 0.293804 +#28297 1721121480092 +SLAM 13.716 13.4875 -16.3563 -0.559144 0.0767503 0.693919 0.44715 +TTool-pose None -29.4435 11.8531 12.3386 0.660417 0.633322 -0.272215 0.297592 +#28298 1721121480126 +SLAM 13.8147 13.6363 -16.1527 -0.557378 0.0754734 0.692072 0.452404 +TTool-pose None -29.446 11.8666 12.2415 0.656001 0.636182 -0.273367 0.300193 +#28299 1721121480159 +SLAM 14.1292 14.1839 -15.6559 -0.561602 0.060791 0.689353 0.453541 +TTool-pose None -29.5355 11.7135 12.3548 0.651974 0.646762 -0.264531 0.294207 +#28300 1721121480193 +SLAM 13.8376 13.5944 -16.1388 -0.564117 0.0707053 0.690305 0.447496 +TTool-pose None -29.5204 11.611 12.2605 0.65935 0.637811 -0.264955 0.296919 +#28301 1721121480228 +SLAM 13.6182 13.6887 -16.1337 -0.56122 0.0708182 0.692403 0.447879 +TTool-pose None -29.4603 11.6062 12.198 0.658682 0.637742 -0.268236 0.295603 +#28302 1721121480256 +SLAM 13.5556 13.5594 -16.1916 -0.561488 0.0733298 0.6915 0.448532 +TTool-pose None -29.468 11.5442 12.1005 0.65889 0.636314 -0.268534 0.297937 +#28303 1721121480288 +SLAM 13.5577 13.7997 -16.0051 -0.560651 0.0691095 0.691237 0.45065 +TTool-pose None -29.4713 11.5005 12.0667 0.656138 0.639967 -0.268156 0.296522 +#28304 1721121480324 +SLAM 13.5392 13.8915 -15.91 -0.561063 0.0668518 0.690636 0.451399 +TTool-pose None -29.4783 11.4267 12.0199 0.655063 0.641809 -0.267009 0.29595 +#28305 1721121480355 +SLAM 13.1693 13.6133 -16.2321 -0.559508 0.073315 0.693203 0.448381 +TTool-pose None -29.4406 11.3632 11.9295 0.658704 0.636162 -0.270788 0.29663 +#28306 1721121480394 +SLAM 13.4199 13.9907 -15.8817 -0.564385 0.0616901 0.690209 0.448637 +TTool-pose None -29.5457 11.1729 11.9908 0.6562 0.644356 -0.262106 0.292254 +#28307 1721121480428 +SLAM 13.0717 13.7414 -16.1125 -0.560641 0.0698126 0.692544 0.448543 +TTool-pose None -29.4516 11.2075 11.828 0.657854 0.638655 -0.268561 0.295177 +#28308 1721121480459 +SLAM 12.9004 13.3574 -16.3968 -0.561472 0.0768871 0.692071 0.447074 +TTool-pose None -29.4711 11.113 11.7144 0.660851 0.63332 -0.269623 0.29899 +#28309 1721121480489 +SLAM 13.0616 14.0564 -15.7977 -0.560294 0.0637426 0.691313 0.451768 +TTool-pose None -29.4396 11.1009 11.7136 0.653866 0.644011 -0.267002 0.293813 +#28310 1721121480521 +SLAM 13.2207 14.2121 -15.6114 -0.563091 0.0582468 0.688198 0.453783 +TTool-pose None -29.5365 10.9364 11.6878 0.65133 0.648639 -0.262112 0.293668 +#28311 1721121480554 +SLAM 13.0657 14.3576 -15.523 -0.559422 0.0578538 0.688862 0.45735 +TTool-pose None -29.5091 10.902 11.5785 0.64807 0.650121 -0.265796 0.294291 +#28312 1721121480587 +SLAM 12.5687 13.8122 -16.0427 -0.556714 0.0711472 0.69206 0.453939 +TTool-pose None -29.4291 10.8841 11.4069 0.653673 0.639685 -0.272824 0.298315 +#28313 1721121480622 +SLAM 12.2263 13.1048 -16.6566 -0.560235 0.0822048 0.693119 0.446056 +TTool-pose None -29.4693 10.719 11.3482 0.662737 0.629231 -0.272491 0.300845 +#28314 1721121480656 +SLAM 12.7299 13.5275 -16.1003 -0.565494 0.0703487 0.686974 0.450926 +TTool-pose None -29.5555 10.5992 11.3234 0.656946 0.639477 -0.262952 0.300427 +#28315 1721121480687 +SLAM 12.3692 13.9168 -15.8526 -0.555318 0.0703119 0.690723 0.457798 +TTool-pose None -29.3805 10.718 11.1342 0.650412 0.641694 -0.273777 0.300249 +#28316 1721121480724 +SLAM 12.0577 13.097 -16.5652 -0.560825 0.0820767 0.691238 0.448251 +TTool-pose None -29.4629 10.5069 11.1077 0.661196 0.630223 -0.271581 0.302975 +#28317 1721121480754 +SLAM 11.9822 13.6347 -16.1473 -0.553672 0.0766645 0.691759 0.457208 +TTool-pose None -29.389 10.5319 10.9722 0.652217 0.637068 -0.277367 0.302881 +#28318 1721121480788 +SLAM 12.1568 13.9358 -15.8331 -0.559556 0.0660503 0.690166 0.454098 +TTool-pose None -29.4088 10.4129 11.0202 0.652657 0.643338 -0.268228 0.296845 +#28319 1721121480830 +SLAM 11.9231 13.3958 -16.2956 -0.562173 0.0747091 0.69065 0.448757 +TTool-pose None -29.4443 10.2887 10.9678 0.659176 0.635504 -0.268098 0.299426 +#28320 1721121480857 +SLAM 11.7633 13.4256 -16.2372 -0.557522 0.0780553 0.691103 0.45327 +TTool-pose None -29.3697 10.3261 10.809 0.656041 0.634778 -0.273789 0.302687 +#28321 1721121480893 +SLAM 11.8713 13.6653 -16.0446 -0.559348 0.0713867 0.689807 0.454092 +TTool-pose None -29.4213 10.2184 10.8335 0.654013 0.639721 -0.269891 0.300154 +#28322 1721121480922 +SLAM 12.1164 13.5798 -16.0216 -0.565796 0.0682276 0.686166 0.452102 +TTool-pose None -29.5296 10.0732 10.8662 0.655577 0.641389 -0.261921 0.300244 +#28323 1721121480955 +SLAM 11.8011 13.3284 -16.3113 -0.565008 0.073592 0.689167 0.447659 +TTool-pose None -29.4838 10.0575 10.8397 0.660097 0.635965 -0.264688 0.29945 +#28324 1721121480987 +SLAM 11.6691 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-0.268305 0.296119 +#28348 1721121481755 +SLAM 10.8307 13.5204 -16.2394 -0.560988 0.0725364 0.69199 0.448531 +TTool-pose None -29.3813 9.56891 10.2687 0.658614 0.636826 -0.268892 0.297129 +#28349 1721121481792 +SLAM 10.7491 13.3212 -16.4733 -0.56322 0.0742087 0.692574 0.444542 +TTool-pose None -29.4434 9.48019 10.3221 0.662263 0.634217 -0.267179 0.296142 +#28350 1721121481822 +SLAM 10.6774 13.9601 -16.0234 -0.557049 0.0658148 0.694179 0.451088 +TTool-pose None -29.3706 9.52289 10.2683 0.654423 0.642175 -0.2713 0.292651 +#28351 1721121481855 +SLAM 10.6923 13.4644 -16.3773 -0.562164 0.0720909 0.692875 0.445756 +TTool-pose None -29.4319 9.44965 10.2813 0.660688 0.636083 -0.267705 0.295179 +#28352 1721121481892 +SLAM 10.4429 13.6163 -16.3054 -0.55632 0.0734019 0.695628 0.448577 +TTool-pose None -29.332 9.5184 10.1999 0.658103 0.63601 -0.274389 0.294976 +#28353 1721121481925 +SLAM 10.763 13.5334 -16.2787 -0.562598 0.0703439 0.69152 0.447589 +TTool-pose None -29.4457 9.40384 10.2513 0.658971 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-29.5616 9.00542 10.077 0.659038 0.647539 -0.244369 0.294194 +#28366 1721121482360 +SLAM 10.4798 13.6251 -16.1468 -0.564821 0.0665932 0.690146 0.447483 +TTool-pose None -29.4392 9.07784 9.9744 0.658393 0.640618 -0.263055 0.294678 +#28367 1721121482390 +SLAM 10.182 13.8516 -16.1036 -0.558219 0.0664878 0.693583 0.450459 +TTool-pose None -29.385 9.09991 9.92799 0.655234 0.641534 -0.270222 0.293238 +#28368 1721121482427 +SLAM 10.0193 13.4598 -16.3846 -0.559637 0.0737042 0.694592 0.446 +TTool-pose None -29.3456 9.11714 9.88313 0.660551 0.634956 -0.270968 0.294936 +#28369 1721121482457 +SLAM 10.1109 13.5836 -16.2655 -0.561259 0.0699205 0.693572 0.446158 +TTool-pose None -29.3653 9.07466 9.88938 0.659705 0.637665 -0.268116 0.293586 +#28370 1721121482492 +SLAM 10.3331 13.7165 -16.1102 -0.563031 0.0658464 0.690637 0.449089 +TTool-pose None -29.4354 8.99802 9.89535 0.656772 0.641671 -0.264732 0.294502 +#28371 1721121482523 +SLAM 10.1014 13.6505 -16.2049 -0.560293 0.0692933 0.69293 0.448462 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0.692586 0.448039 +TTool-pose None -29.4136 8.87245 9.74732 0.658679 0.637311 -0.268907 0.295926 +#28378 1721121482764 +SLAM 9.70243 13.4831 -16.4059 -0.557961 0.0740623 0.694924 0.447521 +TTool-pose None -29.3536 8.90096 9.69533 0.659287 0.635231 -0.272812 0.295472 +#28379 1721121482798 +SLAM 9.80573 13.49 -16.3539 -0.558853 0.0734373 0.69317 0.449227 +TTool-pose None -29.3817 8.86325 9.67095 0.658022 0.636381 -0.271478 0.297042 +#28380 1721121482828 +SLAM 9.97442 13.7572 -16.1406 -0.56208 0.0652622 0.691871 0.448465 +TTool-pose None -29.4266 8.79473 9.72401 0.656936 0.641769 -0.265714 0.293034 +#28381 1721121482859 +SLAM 9.76083 13.3631 -16.4321 -0.56037 0.0749235 0.693064 0.447252 +TTool-pose None -29.3791 8.83135 9.64444 0.660062 0.634667 -0.270342 0.297219 +#28382 1721121482896 +SLAM 9.8458 13.2991 -16.4782 -0.562411 0.0744365 0.691796 0.446733 +TTool-pose None -29.435 8.76984 9.67104 0.660614 0.634895 -0.26795 0.29767 +#28383 1721121482938 +SLAM 9.85514 13.5688 -16.2916 -0.561263 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-16.0403 -0.563635 0.0655523 0.688193 0.452116 +TTool-pose None -29.4372 8.55282 9.47213 0.654567 0.643097 -0.263664 0.29725 +#28390 1721121483159 +SLAM 9.76304 13.2701 -16.3816 -0.566796 0.0719137 0.689204 0.44561 +TTool-pose None -29.4377 8.52935 9.46416 0.66141 0.636373 -0.262405 0.297687 +#28391 1721121483196 +SLAM 9.63335 13.8492 -15.9727 -0.559825 0.0651606 0.690621 0.453201 +TTool-pose None -29.3667 8.5308 9.37138 0.65312 0.643598 -0.267773 0.295668 +#28392 1721121483224 +SLAM 9.39861 13.4732 -16.3131 -0.557642 0.0742992 0.691868 0.452585 +TTool-pose None -29.3674 8.50353 9.32281 0.65561 0.637064 -0.272743 0.299743 +#28393 1721121483263 +SLAM 9.62587 12.8223 -16.6536 -0.56823 0.0800349 0.687966 0.44431 +TTool-pose None -29.4468 8.42553 9.34165 0.664605 0.630408 -0.263008 0.302694 +#28394 1721121483293 +SLAM 9.61225 13.5363 -16.1651 -0.562605 0.069332 0.688267 0.452722 +TTool-pose None -29.427 8.3659 9.28504 0.65496 0.640734 -0.265789 0.299588 +#28395 1721121483327 +SLAM 9.4586 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-0.588776 0.0742408 0.690322 0.413868 +TTool-pose None -30.4388 17.8702 15.7851 0.687481 0.62285 -0.240281 0.285641 +#28510 1721121487164 +#28511 1721121487193 +#28512 1721121487233 +SLAM 19.4775 14.2463 -16.8185 -0.576835 0.0878679 0.692041 0.424995 +TTool-pose None -30.3703 16.975 15.3188 0.681536 0.617655 -0.256774 0.296624 +#28513 1721121487263 +#28514 1721121487302 +SLAM 19.1954 13.6993 -17.1813 -0.574716 0.0936237 0.689973 0.429968 +TTool-pose None -30.4933 16.5003 15.1991 0.679105 0.615638 -0.260242 0.303303 +#28515 1721121487333 +SLAM 18.8142 13.8039 -17.2665 -0.575401 0.087832 0.692828 0.425662 +TTool-pose None -30.4825 16.1029 15.3163 0.680864 0.617889 -0.258359 0.296304 +#28516 1721121487362 +SLAM 18.4041 13.5116 -17.4425 -0.572929 0.0932628 0.694095 0.425778 +TTool-pose None -30.359 15.949 15.1136 0.681751 0.614099 -0.262523 0.298478 +#28517 1721121487393 +#28518 1721121487430 +#28519 1721121487463 +SLAM 18.4711 15.2216 -16.2328 -0.563869 0.0698231 0.689735 0.448822 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-0.561797 0.0887066 0.690006 0.447667 +TTool-pose None -29.7865 14.8501 14.3078 0.663384 0.62551 -0.272206 0.307374 +#28527 1721121487734 +SLAM 16.8045 12.0501 -17.3778 -0.562047 0.10828 0.691654 0.440447 +TTool-pose None -29.577 14.5441 14.2411 0.673212 0.609139 -0.277289 0.314271 +#28528 1721121487764 +SLAM 16.8397 11.9071 -17.3715 -0.561957 0.109459 0.69038 0.442265 +TTool-pose None -29.5637 14.4778 14.2392 0.672149 0.609043 -0.277499 0.316539 +#28529 1721121487795 +SLAM 16.8393 11.5334 -17.4946 -0.562452 0.113631 0.688619 0.443329 +TTool-pose None -29.5547 14.3615 14.2442 0.672372 0.606589 -0.277787 0.320504 +#28530 1721121487830 +#28531 1721121487864 +SLAM 17.064 12.4331 -16.9052 -0.563907 0.097002 0.68833 0.445872 +TTool-pose None -29.6342 14.2814 14.3031 0.666964 0.6192 -0.272012 0.312534 +#28532 1721121487901 +SLAM 16.6153 12.4493 -17.0506 -0.559906 0.0986756 0.692366 0.444294 +TTool-pose None -29.5174 14.2094 14.2317 0.667922 0.617216 -0.277105 0.309927 +#28533 1721121487936 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1721121488144 +SLAM 16.1313 13.3742 -16.3909 -0.543011 0.0913333 0.695341 0.461843 +TTool-pose None -29.2932 14.1803 13.8124 0.650719 0.628255 -0.292541 0.310158 +#28540 1721121488183 +SLAM 16.0582 13.5911 -16.2754 -0.545524 0.0840404 0.69682 0.45802 +TTool-pose None -29.2796 14.0079 13.942 0.652171 0.631895 -0.288312 0.303597 +#28541 1721121488220 +SLAM 16.0523 13.3714 -16.4082 -0.546336 0.0884273 0.695511 0.458215 +TTool-pose None -29.318 14.0027 13.8529 0.653232 0.629022 -0.28849 0.307095 +#28542 1721121488253 +SLAM 16.201 13.4037 -16.2701 -0.551141 0.0842463 0.694283 0.455101 +TTool-pose None -29.3189 13.9311 13.9297 0.655261 0.630933 -0.282378 0.304521 +#28543 1721121488286 +SLAM 16.4825 13.6665 -15.8886 -0.553153 0.0773778 0.691178 0.458593 +TTool-pose None -29.3575 13.8791 13.934 0.651298 0.637099 -0.277991 0.304221 +#28544 1721121488327 +SLAM 16.4273 13.4165 -16.0053 -0.553733 0.0816691 0.689214 0.460102 +TTool-pose None -29.3986 13.7763 13.796 0.651343 0.6348 -0.278279 0.308638 +#28545 1721121488361 +SLAM 16.4303 13.1583 -16.068 -0.552385 0.0880232 0.68614 0.465119 +TTool-pose None -29.4355 13.7563 13.5693 0.648967 0.632338 -0.280841 0.316289 +#28546 1721121488392 +SLAM 17.3857 13.807 -15.0647 -0.560935 0.0690861 0.676823 0.471689 +TTool-pose None -29.6089 13.6962 13.6948 0.64052 0.648176 -0.265446 0.314735 +#28547 1721121488425 +SLAM 16.2168 13.1806 -16.0369 -0.553799 0.0864886 0.685044 0.46534 +TTool-pose None -29.4792 13.4876 13.3899 0.64864 0.633549 -0.278834 0.316311 +#28548 1721121488459 +SLAM 16.1019 13.2527 -16.0394 -0.555187 0.0846385 0.685491 0.463363 +TTool-pose None -29.5041 13.3856 13.3482 0.649869 0.63412 -0.277025 0.314225 +#28549 1721121488493 +SLAM 15.9876 13.5649 -15.8625 -0.557991 0.0758672 0.687226 0.458925 +TTool-pose None -29.4809 13.2097 13.4346 0.651394 0.63851 -0.272096 0.306378 +#28550 1721121488533 +SLAM 15.7733 13.5541 -15.9223 -0.556711 0.0768659 0.68777 0.459496 +TTool-pose None -29.4818 13.0973 13.3185 0.651036 0.63799 -0.273743 0.306758 +#28551 1721121488572 +SLAM 16.0043 13.8096 -15.6494 -0.561359 0.0684638 0.68526 0.458921 +TTool-pose None -29.5769 12.9628 13.388 0.649987 0.643691 -0.266315 0.303589 +#28552 1721121488604 +SLAM 15.9407 13.5819 -15.7536 -0.563549 0.0714225 0.68472 0.456586 +TTool-pose None -29.5505 12.9068 13.3294 0.652785 0.640883 -0.264861 0.304799 +#28553 1721121488640 +SLAM 15.996 13.6318 -15.6587 -0.561102 0.0723032 0.683676 0.461003 +TTool-pose None -29.5481 12.9606 13.2521 0.649392 0.641892 -0.267394 0.307699 +#28554 1721121488674 +SLAM 16.0737 13.5227 -15.6923 -0.562333 0.0735967 0.682075 0.46167 +TTool-pose None -29.5956 12.9288 13.2297 0.649396 0.641333 -0.266254 0.30984 +#28555 1721121488706 +SLAM 16.3321 13.6306 -15.496 -0.565631 0.0691059 0.67926 0.462485 +TTool-pose None -29.6719 12.8781 13.2754 0.648085 0.644839 -0.261198 0.309609 +#28556 1721121488739 +SLAM 16.1098 13.4239 -15.7102 -0.563662 0.0750505 0.681537 0.460609 +TTool-pose None -29.5798 12.9573 13.2114 0.650738 0.639996 -0.265237 0.310661 +#28557 1721121488775 +SLAM 16.2987 13.5767 -15.5483 -0.566631 0.0694975 0.679603 0.460694 +TTool-pose None -29.6654 12.8596 13.2882 0.649657 0.643926 -0.260363 0.30892 +#28558 1721121488809 +SLAM 16.7538 14.0699 -14.9802 -0.562595 0.0627639 0.675011 0.473189 +TTool-pose None -29.761 12.9878 13.2263 0.637957 0.653088 -0.26165 0.312959 +#28559 1721121488838 +SLAM 16.5944 13.8032 -15.2227 -0.569354 0.0642868 0.677688 0.460915 +TTool-pose None -29.661 12.9678 13.3327 0.648493 0.647645 -0.25581 0.307387 +#28560 1721121488868 +SLAM 16.4198 13.6542 -15.3938 -0.568069 0.0683652 0.679489 0.459259 +TTool-pose None -29.5987 13.0062 13.2937 0.650624 0.644197 -0.258575 0.307817 +#28561 1721121488902 +SLAM 16.2209 13.8061 -15.4321 -0.564209 0.0672349 0.681933 0.46056 +TTool-pose None -29.582 12.9699 13.3055 0.648846 0.645294 -0.26255 0.3059 +#28562 1721121488931 +#28563 1721121488960 +SLAM 16.3348 13.9715 -15.2978 -0.563745 0.0637233 0.680374 0.463921 +TTool-pose None -29.6642 12.9027 13.3179 0.645355 0.648943 -0.261744 0.306256 +#28564 1721121488990 +SLAM 16.354 13.9907 -15.2758 -0.56746 0.0611394 0.681306 0.458338 +TTool-pose None -29.6235 12.9083 13.4162 0.649336 0.648683 -0.257425 0.302019 +#28565 1721121489020 +SLAM 16.2738 13.8381 -15.3808 -0.566518 0.0652697 0.681872 0.458091 +TTool-pose None -29.5733 12.9693 13.3524 0.650482 0.645764 -0.259656 0.303895 +#28566 1721121489052 +SLAM 16.3012 13.8213 -15.3757 -0.565207 0.0654441 0.680115 0.462279 +TTool-pose None -29.6489 12.8608 13.303 0.647232 0.647214 -0.260727 0.306821 +#28567 1721121489083 +SLAM 16.3848 13.8286 -15.3159 -0.567449 0.0636411 0.67923 0.461083 +TTool-pose None -29.6624 12.8276 13.3357 0.64795 0.648065 -0.257807 0.305975 +#28568 1721121489113 +SLAM 16.4367 14.0603 -15.1345 -0.56703 0.0589975 0.678697 0.462997 +TTool-pose None -29.6918 12.7791 13.349 0.645234 0.651909 -0.256793 0.304395 +#28569 1721121489145 +SLAM 16.2868 13.9926 -15.2203 -0.5673 0.0599958 0.679498 0.46136 +TTool-pose None -29.67 12.7079 13.3065 0.64676 0.650618 -0.25695 0.303787 +#28570 1721121489177 +SLAM 16.1313 13.9342 -15.2941 -0.56652 0.0615502 0.680285 0.460954 +TTool-pose None -29.6418 12.6572 13.2416 0.647372 0.649382 -0.258319 0.303967 +#28571 1721121489210 +SLAM 15.4003 13.3815 -15.9416 -0.561974 0.0757882 0.686521 0.455116 +TTool-pose None -29.4605 12.6641 13.068 0.65476 0.637271 -0.267959 0.305428 +#28572 1721121489245 +SLAM 15.6783 13.7978 -15.4838 -0.561123 0.0681468 0.68392 0.461248 +TTool-pose None -29.4838 12.6899 13.0555 0.648143 0.644801 -0.266239 0.305241 +#28573 1721121489277 +SLAM 15.3316 13.4447 -15.8481 -0.561334 0.0745814 0.686212 0.456567 +TTool-pose None -29.4336 12.5936 12.9942 0.653293 0.638628 -0.268217 0.305509 +#28574 1721121489314 +SLAM 15.7584 13.9529 -15.2992 -0.562951 0.0629528 0.682011 0.462585 +TTool-pose None -29.5397 12.5361 13.0497 0.646043 0.648908 -0.262599 0.304138 +#28575 1721121489349 +SLAM 15.5903 13.7646 -15.4553 -0.56348 0.0665609 0.683422 0.459341 +TTool-pose None -29.4698 12.5389 13.0082 0.649477 0.645241 -0.26334 0.303985 +#28576 1721121489379 +SLAM 15.7164 13.8735 -15.2719 -0.563164 0.064645 0.68186 0.462314 +TTool-pose None -29.4705 12.5595 12.9748 0.64672 0.647674 -0.262846 0.305119 +#28577 1721121489411 +SLAM 15.227 13.455 -15.7884 -0.562645 0.0724939 0.685412 0.456492 +TTool-pose None -29.4341 12.4046 12.9196 0.653002 0.640077 -0.266184 0.304873 +#28578 1721121489444 +SLAM 15.2174 13.4885 -15.7128 -0.563231 0.0717633 0.685889 0.455168 +TTool-pose None -29.3691 12.4479 12.9101 0.653874 0.640081 -0.265466 0.303617 +#28579 1721121489477 +SLAM 15.2063 13.3258 -15.7941 -0.563805 0.0746862 0.684684 0.455801 +TTool-pose None -29.3939 12.4059 12.838 0.654233 0.638376 -0.265512 0.306388 +#28580 1721121489510 +SLAM 14.9241 13.1929 -16.0125 -0.561996 0.0782353 0.687323 0.453461 +TTool-pose None -29.3465 12.3751 12.8109 0.656597 0.634958 -0.268743 0.305613 +#28581 1721121489542 +SLAM 15.1277 13.5661 -15.6556 -0.561507 0.0714474 0.686306 0.456716 +TTool-pose None -29.3392 12.4347 12.842 0.652408 0.640819 -0.26718 0.303713 +#28582 1721121489575 +SLAM 15.1523 13.4634 -15.7143 -0.564192 0.0712068 0.685078 0.455287 +TTool-pose None -29.3961 12.3202 12.8469 0.653778 0.640551 -0.26421 0.30393 +#28583 1721121489608 +SLAM 15.1511 13.4888 -15.6868 -0.565705 0.069577 0.685454 0.45309 +TTool-pose None -29.3769 12.3044 12.8825 0.655187 0.640862 -0.262283 0.301902 +#28584 1721121489642 +SLAM 15.2508 13.5826 -15.5537 -0.563527 0.0694137 0.683798 0.4583 +TTool-pose None -29.4015 12.335 12.8104 0.650996 0.642911 -0.264165 0.304958 +#28585 1721121489676 +SLAM 15.0212 13.5128 -15.6887 -0.560651 0.0725749 0.685792 0.458358 +TTool-pose None -29.3516 12.3303 12.7531 0.651361 0.640655 -0.268273 0.30534 +#28586 1721121489709 +SLAM 14.8859 13.3156 -15.8561 -0.562058 0.0754815 0.686589 0.45496 +TTool-pose None -29.3277 12.2848 12.7313 0.654809 0.637422 -0.2678 0.305146 +#28587 1721121489746 +SLAM 15.1493 13.6848 -15.4908 -0.564962 0.065821 0.684588 0.455879 +TTool-pose None -29.3781 12.2264 12.8206 0.652053 0.644457 -0.261828 0.301426 +#28588 1721121489779 +SLAM 14.7725 13.2549 -15.9091 -0.561392 0.0769476 0.686754 0.455287 +TTool-pose None -29.319 12.228 12.6663 0.654844 0.636522 -0.268904 0.30598 +#28589 1721121489812 +SLAM 15.0113 13.4537 -15.6629 -0.566721 0.0691204 0.684832 0.452829 +TTool-pose None -29.3633 12.1485 12.7667 0.6554 0.641115 -0.261026 0.301991 +#28590 1721121489846 +SLAM 14.7716 13.3954 -15.8073 -0.562136 0.0734373 0.687018 0.45455 +TTool-pose None -29.3138 12.1867 12.6898 0.654603 0.638652 -0.267219 0.30352 +#28591 1721121489879 +SLAM 14.9526 13.4503 -15.6668 -0.56429 0.0708891 0.684528 0.456042 +TTool-pose None -29.3667 12.1408 12.6812 0.653153 0.641066 -0.263933 0.304429 +#28592 1721121489912 +SLAM 14.7381 13.2675 -15.8503 -0.562046 0.0762554 0.686139 0.455525 +TTool-pose None -29.3079 12.1679 12.6009 0.654586 0.637118 -0.267956 0.306123 +#28593 1721121489945 +SLAM 14.7106 13.3151 -15.8203 -0.560599 0.0763547 0.686078 0.457379 +TTool-pose None -29.3082 12.1659 12.5601 0.653037 0.637706 -0.269429 0.306915 +#28594 1721121489978 +SLAM 14.8815 13.6696 -15.5124 -0.561447 0.0683426 0.684899 0.459369 +TTool-pose None -29.3456 12.1202 12.6165 0.649635 0.643953 -0.266133 0.303948 +#28595 1721121490017 +SLAM 14.7507 13.4927 -15.675 -0.564134 0.0698593 0.685824 0.454442 +TTool-pose None -29.3291 12.0442 12.6246 0.654047 0.641128 -0.264008 0.302305 +#28596 1721121490049 +SLAM 14.6391 13.5155 -15.6986 -0.561892 0.0709371 0.686447 0.456111 +TTool-pose None -29.32 12.0302 12.565 0.652779 0.640946 -0.266672 0.303094 +#28597 1721121490082 +SLAM 14.3399 13.2346 -15.9703 -0.559008 0.078774 0.688228 0.455683 +TTool-pose None -29.2603 12.0386 12.4364 0.654666 0.635316 -0.272043 0.306091 +#28598 1721121490114 +SLAM 14.4193 13.4428 -15.7915 -0.561242 0.0726572 0.687479 0.455084 +TTool-pose None -29.2914 11.9437 12.4776 0.653884 0.639346 -0.267975 0.302942 +#28599 1721121490144 +SLAM 14.4877 13.498 -15.7071 -0.56404 0.069439 0.686275 0.453943 +TTool-pose None -29.3265 11.8538 12.487 0.654293 0.641212 -0.264056 0.301551 +#28600 1721121490175 +SLAM 14.256 13.2759 -15.8967 -0.562591 0.0751819 0.687761 0.452576 +TTool-pose None -29.259 11.8669 12.3863 0.656562 0.636714 -0.267365 0.303232 +#28601 1721121490206 +SLAM 14.1971 13.3653 -15.8635 -0.562205 0.0731597 0.687818 0.453298 +TTool-pose None -29.2829 11.778 12.3717 0.655463 0.638351 -0.267198 0.302312 +#28602 1721121490237 +SLAM 14.0366 13.2602 -15.962 -0.561972 0.0754448 0.68874 0.451811 +TTool-pose None -29.2493 11.7433 12.3122 0.657102 0.636203 -0.268215 0.302383 +#28603 1721121490271 +SLAM 13.7178 13.0995 -16.1453 -0.555147 0.0837759 0.690378 0.456258 +TTool-pose None -29.1846 11.7916 12.12 0.654912 0.631931 -0.27763 0.307554 +#28604 1721121490304 +SLAM 14.0046 13.4795 -15.7794 -0.564216 0.0689615 0.688391 0.45058 +TTool-pose None -29.2588 11.5892 12.2987 0.656663 0.640217 -0.264074 0.298479 +#28605 1721121490333 +SLAM 13.8326 13.2691 -15.9239 -0.561347 0.0756344 0.688425 0.453034 +TTool-pose None -29.2269 11.5983 12.1382 0.656163 0.636526 -0.268849 0.303179 +#28606 1721121490369 +SLAM 14.0814 13.584 -15.5882 -0.565168 0.0661377 0.685511 0.454187 +TTool-pose None -29.3033 11.4616 12.1817 0.653412 0.64359 -0.261859 0.300306 +#28607 1721121490406 +SLAM 13.8255 13.3972 -15.7579 -0.559341 0.0743466 0.686285 0.458937 +TTool-pose None -29.2571 11.491 11.9847 0.651196 0.639615 -0.270164 0.306204 +#28608 1721121490434 +SLAM 13.7376 13.3819 -15.7751 -0.564089 0.0709975 0.687172 0.45228 +TTool-pose None -29.2375 11.3753 12.0267 0.655924 0.639506 -0.264587 0.301166 +#28609 1721121490471 +SLAM 13.2196 12.8504 -16.2905 -0.55988 0.0845048 0.690244 0.450506 +TTool-pose None -29.1676 11.3459 11.8517 0.660011 0.629412 -0.273048 0.305915 +#28610 1721121490505 +SLAM 13.3544 13.2248 -15.9638 -0.558126 0.078153 0.688408 0.456599 +TTool-pose None -29.2036 11.2935 11.8039 0.653707 0.636053 -0.272786 0.305949 +#28611 1721121490535 +SLAM 13.2272 12.8797 -16.162 -0.559048 0.0848469 0.687814 0.455168 +TTool-pose None -29.1789 11.2627 11.6832 0.656554 0.630975 -0.273601 0.309622 +#28612 1721121490574 +SLAM 13.6411 13.5441 -15.5703 -0.564473 0.0667575 0.684026 0.457191 +TTool-pose None -29.3064 11.0622 11.8024 0.65126 0.644316 -0.262497 0.30286 +#28613 1721121490609 +SLAM 13.3525 13.0954 -15.9127 -0.564027 0.0767235 0.685329 0.454216 +TTool-pose None -29.2384 11.0669 11.6602 0.655947 0.636381 -0.265959 0.306484 +#28614 1721121490643 +SLAM 13.0011 12.9923 -16.0955 -0.558935 0.0823535 0.687902 0.455631 +TTool-pose None -29.1806 11.0605 11.5397 0.655584 0.632854 -0.273048 0.308328 +#28615 1721121490675 +SLAM 12.8765 12.9955 -16.1101 -0.557447 0.083328 0.688277 0.45671 +TTool-pose None -29.1674 11.0167 11.4655 0.654812 0.632535 -0.274869 0.309004 +#28616 1721121490707 +SLAM 12.9459 13.1774 -15.9415 -0.560005 0.0775823 0.68739 0.455927 +TTool-pose None -29.1911 10.9201 11.4777 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-0.559232 0.086393 0.690002 0.451323 +TTool-pose None -29.0557 8.82774 9.6127 0.65978 0.628411 -0.274176 0.307459 +#28653 1721121491973 +SLAM 9.9011 12.526 -16.4488 -0.561951 0.0869107 0.688794 0.449689 +TTool-pose None -29.0688 8.78906 9.5937 0.661496 0.627549 -0.271384 0.308014 +#28654 1721121492004 +SLAM 9.80011 12.8132 -16.3142 -0.558101 0.0835231 0.690032 0.453214 +TTool-pose None -29.0635 8.75917 9.57494 0.657526 0.631061 -0.274542 0.306533 +#28655 1721121492038 +SLAM 9.8687 12.6888 -16.3049 -0.561231 0.084175 0.688614 0.451381 +TTool-pose None -29.0444 8.74661 9.53195 0.659486 0.630052 -0.271344 0.307245 +#28656 1721121492069 +SLAM 9.84719 12.9135 -16.1714 -0.560006 0.0801437 0.688975 0.453083 +TTool-pose None -29.0478 8.70473 9.52725 0.657065 0.633411 -0.271534 0.30535 +#28657 1721121492100 +SLAM 9.67731 12.536 -16.4598 -0.561702 0.0866112 0.689992 0.448218 +TTool-pose None -29.0348 8.69243 9.50282 0.662461 0.627158 -0.271737 0.306419 +#28658 1721121492133 +SLAM 9.69886 12.6694 -16.3555 -0.560561 0.0848025 0.689143 0.451289 +TTool-pose None -29.0497 8.64735 9.4598 0.659611 0.629553 -0.272273 0.307179 +#28659 1721121492164 +SLAM 9.60501 12.9183 -16.183 -0.554764 0.0840921 0.689521 0.457958 +TTool-pose None -29.0121 8.64779 9.37174 0.653679 0.632363 -0.277962 0.308988 +#28660 1721121492197 +SLAM 9.67337 12.7435 -16.2954 -0.55999 0.0833773 0.688816 0.45276 +TTool-pose None -29.0515 8.58666 9.42899 0.6581 0.631078 -0.27241 0.307167 +#28661 1721121492234 +SLAM 9.64435 12.7725 -16.2604 -0.559324 0.0833946 0.688547 0.453987 +TTool-pose None -29.044 8.56306 9.38412 0.657106 0.631516 -0.273044 0.307832 +#28662 1721121492263 +SLAM 9.65023 12.7475 -16.2599 -0.559836 0.0834737 0.68803 0.454127 +TTool-pose None -29.0487 8.53292 9.36587 0.657098 0.631543 -0.272469 0.308305 +#28663 1721121492293 +SLAM 9.50732 12.6988 -16.303 -0.559455 0.0846783 0.689375 0.452329 +TTool-pose None -29.0045 8.53154 9.33285 0.658657 0.629993 -0.273391 0.30733 +#28664 1721121492322 +SLAM 9.50757 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1721121492699 +SLAM 9.35805 12.3057 -16.4453 -0.566084 0.0876995 0.685266 0.449742 +TTool-pose None -29.052 8.1659 9.06794 0.662227 0.627228 -0.266866 0.31103 +#28677 1721121492732 +SLAM 9.43177 12.6333 -16.2283 -0.567466 0.0796308 0.685452 0.449219 +TTool-pose None -29.0607 8.13033 9.10531 0.660819 0.632595 -0.263297 0.306153 +#28678 1721121492773 +SLAM 9.34822 13.1446 -15.9287 -0.562175 0.0725103 0.686884 0.454854 +TTool-pose None -29.041 8.10271 9.08732 0.654149 0.639401 -0.266899 0.303203 +#28679 1721121492807 +SLAM 9.27477 12.5129 -16.3357 -0.564214 0.0844458 0.685952 0.451664 +TTool-pose None -29.0466 8.10653 9.03966 0.659768 0.630124 -0.267988 0.309433 +#28680 1721121492840 +SLAM 9.2537 12.3574 -16.4338 -0.566586 0.0859724 0.685854 0.448546 +TTool-pose None -29.0513 8.09078 9.03184 0.662753 0.627961 -0.265981 0.309182 +#28681 1721121492870 +SLAM 9.21649 12.8654 -16.1277 -0.563908 0.0771803 0.687104 0.451596 +TTool-pose None -29.0362 8.05836 9.02781 0.657972 0.635034 -0.266484 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-28.9922 7.52107 8.55227 0.655552 0.637805 -0.272936 0.298112 +#28700 1721121493506 +SLAM 8.3181 12.6241 -16.316 -0.564389 0.0813901 0.687698 0.449346 +TTool-pose None -29.0016 7.47086 8.46899 0.660738 0.631303 -0.267248 0.305572 +#28701 1721121493537 +SLAM 8.08603 12.3341 -16.6689 -0.560121 0.0897188 0.689014 0.451082 +TTool-pose None -29.0738 7.402 8.49057 0.660891 0.626084 -0.274023 0.309951 +#28702 1721121493569 +SLAM 8.12858 12.6564 -16.3722 -0.560586 0.0830543 0.687858 0.453538 +TTool-pose None -29.043 7.32927 8.39261 0.657535 0.631636 -0.271572 0.307973 +#28703 1721121493599 +SLAM 7.85984 12.5863 -16.4416 -0.560533 0.0846186 0.690242 0.449675 +TTool-pose None -28.9816 7.31607 8.31211 0.660741 0.629039 -0.272418 0.305668 +#28704 1721121493632 +SLAM 7.84862 12.8558 -16.3053 -0.557659 0.0806831 0.689791 0.454638 +TTool-pose None -29.0253 7.21586 8.29519 0.655713 0.633536 -0.274171 0.30564 +#28705 1721121493669 +SLAM 8.27804 12.4338 -16.2893 -0.573109 0.0790484 0.683548 0.445039 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-16.4777 -0.567315 0.081752 0.686713 0.447097 +TTool-pose None -28.952 5.86712 7.1349 0.662877 0.630303 -0.264224 0.305634 +#28724 1721121494328 +SLAM 6.33426 12.2605 -16.5135 -0.570369 0.0816726 0.686147 0.444085 +TTool-pose None -28.947 5.8453 7.10962 0.665465 0.6293 -0.261 0.304843 +#28725 1721121494362 +SLAM 5.80909 12.6061 -16.4226 -0.560693 0.0814991 0.691053 0.448807 +TTool-pose None -28.8947 5.7827 6.99134 0.660629 0.630831 -0.27153 0.302994 +#28726 1721121494395 +SLAM 5.8197 12.7885 -16.3645 -0.560385 0.0772597 0.691365 0.44946 +TTool-pose None -28.9407 5.73126 7.02988 0.659049 0.63396 -0.270723 0.300616 +#28727 1721121494428 +SLAM 6.08004 12.4409 -16.4333 -0.567215 0.079891 0.687217 0.446785 +TTool-pose None -28.9324 5.70394 6.99095 0.662628 0.631443 -0.263892 0.3041 +#28728 1721121494461 +SLAM 5.64103 12.6481 -16.4858 -0.559442 0.0805722 0.691912 0.449212 +TTool-pose None -28.9439 5.64593 6.97323 0.65992 0.631559 -0.27267 0.301997 +#28729 1721121494493 +SLAM 6.0137 12.6622 -16.259 -0.56647 0.0756562 0.686188 0.450037 +TTool-pose None -28.9263 5.55643 6.87532 0.659086 0.635575 -0.263324 0.30368 +#28730 1721121494525 +#28731 1721121494559 +SLAM 5.11378 12.9534 -16.3998 -0.550585 0.0802845 0.695067 0.455294 +TTool-pose None -28.93 5.44399 6.80229 0.654052 0.633678 -0.281969 0.301785 +#28732 1721121494590 +#28733 1721121494622 +SLAM 5.46619 12.7068 -16.3328 -0.561618 0.0775351 0.688959 0.451563 +TTool-pose None -28.9148 5.31623 6.6833 0.65776 0.634667 -0.269186 0.303315 +#28734 1721121494654 +SLAM 5.63221 12.5294 -16.4488 -0.565488 0.0785101 0.686851 0.449773 +TTool-pose None -28.9791 5.28904 6.71426 0.659861 0.633485 -0.265212 0.30472 +#28735 1721121494688 +SLAM 5.25729 12.7352 -16.3569 -0.562916 0.0760133 0.690074 0.448493 +TTool-pose None -28.9226 5.22596 6.57377 0.659806 0.634551 -0.267621 0.300485 +#28736 1721121494718 +#28737 1721121494749 +SLAM 4.75449 12.6223 -16.5573 -0.554096 0.0845945 0.693033 0.45335 +TTool-pose None -28.9246 5.08585 6.48339 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1721121497235 +#28813 1721121497268 +SLAM 21.0252 18.6352 -15.8541 -0.586306 0.0462569 0.702107 0.401435 +TTool-pose None -31.4363 19.4557 16.3075 0.688263 0.636331 -0.23611 0.255933 +#28814 1721121497298 +#28815 1721121497334 +#28816 1721121497369 +#28817 1721121497405 +#28818 1721121497437 +SLAM 21.8279 16.4732 -16.3853 -0.583938 0.064567 0.693919 0.416321 +TTool-pose None -31.2512 18.9042 16.7999 0.682663 0.630211 -0.243133 0.278542 +#28819 1721121497471 +#28820 1721121497502 +#28821 1721121497531 +#28822 1721121497567 +#28823 1721121497604 +#28824 1721121497639 +#28825 1721121497669 +#28826 1721121497705 +#28827 1721121497739 +#28828 1721121497770 +SLAM 19.847 15.4392 -15.7827 -0.571336 0.0666265 0.682879 0.450347 +TTool-pose None -30.9231 16.4197 15.0155 0.657195 0.642027 -0.255325 0.301024 +#28829 1721121497806 +SLAM 19.693 15.3696 -15.8313 -0.574039 0.0639333 0.683678 0.446068 +TTool-pose None -30.8806 16.1814 15.1148 0.659976 0.642268 -0.251921 0.297266 +#28830 1721121497838 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1721121498037 +SLAM 19.1273 14.2621 -16.2232 -0.569064 0.0738999 0.680942 0.454998 +TTool-pose None -30.6853 15.3282 14.9378 0.655336 0.638832 -0.259371 0.308332 +#28837 1721121498073 +SLAM 18.851 13.7665 -16.5055 -0.562839 0.0844845 0.680276 0.461844 +TTool-pose None -30.6085 15.2414 14.6984 0.652049 0.634009 -0.268453 0.31736 +#28838 1721121498101 +SLAM 18.7475 14.2292 -16.4144 -0.561772 0.0751964 0.683927 0.459349 +TTool-pose None -30.6251 15.1339 14.9533 0.651451 0.639318 -0.267575 0.308549 +#28839 1721121498136 +SLAM 18.5557 14.1227 -16.5573 -0.557462 0.0781041 0.683971 0.464026 +TTool-pose None -30.654 14.9994 14.8612 0.648089 0.638949 -0.272702 0.311891 +#28840 1721121498170 +#28841 1721121498208 +SLAM 18.1722 14.1002 -16.6145 -0.558389 0.0770647 0.686712 0.459008 +TTool-pose None -30.5209 14.8122 14.8143 0.651693 0.63775 -0.271945 0.307461 +#28842 1721121498240 +SLAM 17.7831 13.7751 -16.9062 -0.552721 0.0867025 0.687106 0.463538 +TTool-pose None -30.4859 14.751 14.5134 0.649876 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0.454809 +TTool-pose None -30.0746 13.9774 14.2128 0.654643 0.636736 -0.271568 0.303602 +#28851 1721121498539 +SLAM 17.092 13.8913 -16.3708 -0.559071 0.0756249 0.686678 0.458469 +TTool-pose None -30.1648 13.9434 14.1553 0.651827 0.638552 -0.270856 0.30647 +#28852 1721121498574 +SLAM 17.1038 13.7351 -16.447 -0.5592 0.0785983 0.68596 0.458886 +TTool-pose None -30.1669 13.959 14.1146 0.652285 0.6367 -0.271435 0.30883 +#28853 1721121498608 +SLAM 17.414 13.7659 -16.2549 -0.560385 0.0775073 0.682816 0.462301 +TTool-pose None -30.2149 14.031 14.1084 0.649641 0.638829 -0.269421 0.311757 +#28854 1721121498637 +SLAM 17.5595 13.8289 -16.1622 -0.561114 0.0755321 0.681178 0.464157 +TTool-pose None -30.2798 14.0016 14.1296 0.64786 0.640925 -0.267861 0.312506 +#28855 1721121498671 +SLAM 17.6173 13.7601 -16.1738 -0.562119 0.0761388 0.680392 0.463996 +TTool-pose None -30.2953 13.998 14.1332 0.648272 0.640497 -0.266891 0.313358 +#28856 1721121498704 +SLAM 17.4647 13.7362 -16.2817 -0.561328 0.0770982 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-0.56429 0.0641118 0.684935 0.456433 +TTool-pose None -31.5063 14.1057 14.4671 0.651103 0.645795 -0.262073 0.300402 +#28869 1721121499142 +SLAM 17.7814 15.1865 -17.0653 -0.561797 0.0656062 0.68464 0.459727 +TTool-pose None -31.657 14.2003 14.4082 0.648707 0.645956 -0.26496 0.302702 +#28870 1721121499171 +SLAM 17.1588 14.8527 -17.7332 -0.561618 0.0724506 0.690579 0.449929 +TTool-pose None -31.6373 14.1013 14.4196 0.657665 0.637471 -0.268018 0.298635 +#28871 1721121499207 +SLAM 17.019 14.9081 -17.898 -0.559369 0.0742043 0.691711 0.450705 +TTool-pose None -31.7275 14.1139 14.366 0.657217 0.636475 -0.270953 0.299099 +#28872 1721121499237 +SLAM 17.1871 15.0038 -17.8838 -0.561315 0.0722527 0.690326 0.450728 +TTool-pose None -31.8617 14.1139 14.4027 0.656986 0.637906 -0.268231 0.299008 +#28873 1721121499270 +SLAM 17.1319 14.9928 -18.0253 -0.561154 0.0734489 0.690912 0.449836 +TTool-pose None -31.9333 14.1213 14.4006 0.65792 0.636734 -0.268818 0.298926 +#28874 1721121499304 +SLAM 17.4417 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17.6078 15.1186 -17.9475 -0.565319 0.0702986 0.686709 0.451557 +TTool-pose None -32.2076 14.1497 14.4766 0.656447 0.639752 -0.263074 0.300829 +#28881 1721121499538 +SLAM 17.7034 15.1587 -17.8889 -0.566655 0.0686769 0.685808 0.451501 +TTool-pose None -32.244 14.1264 14.5027 0.656252 0.640889 -0.261121 0.300532 +#28882 1721121499576 +SLAM 17.7416 15.1949 -17.8333 -0.566114 0.0684348 0.685399 0.452836 +TTool-pose None -32.243 14.1451 14.4863 0.655134 0.641553 -0.261537 0.301193 +#28883 1721121499605 +SLAM 17.8287 15.0633 -17.8524 -0.567091 0.0702085 0.684063 0.453361 +TTool-pose None -32.2565 14.1535 14.4607 0.655339 0.640605 -0.260836 0.303368 +#28884 1721121499645 +SLAM 18.012 15.0283 -17.7915 -0.568336 0.0700204 0.681879 0.455119 +TTool-pose None -32.3189 14.1463 14.4571 0.65416 0.641476 -0.259171 0.305494 +#28885 1721121499676 +SLAM 18.0066 14.7879 -17.8878 -0.57003 0.0730525 0.681693 0.452795 +TTool-pose None -32.2636 14.1635 14.4531 0.656876 0.638586 -0.258276 0.306477 +#28886 1721121499710 +SLAM 18.6846 14.9804 -17.4573 -0.574488 0.0667242 0.67441 0.459001 +TTool-pose None -32.4897 14.1237 14.4864 0.651202 0.645465 -0.250756 0.3104 +#28887 1721121499748 +SLAM 18.6389 14.8864 -17.5253 -0.57253 0.0697906 0.673744 0.461961 +TTool-pose None -32.5114 14.1182 14.3841 0.649536 0.644459 -0.25349 0.313743 +#28888 1721121499784 +SLAM 18.8474 14.6118 -17.513 -0.578259 0.0706945 0.671408 0.458072 +TTool-pose None -32.494 14.1034 14.4324 0.653366 0.642557 -0.247537 0.314444 +#28889 1721121499814 +SLAM 19.3853 14.6573 -17.2074 -0.581817 0.0674869 0.664754 0.46372 +TTool-pose None -32.6925 14.0542 14.4062 0.648682 0.647009 -0.241828 0.319419 +#28890 1721121499842 +SLAM 20.0417 14.6363 -16.8332 -0.586994 0.0642195 0.65724 0.468348 +TTool-pose None -32.8664 14.0515 14.417 0.644831 0.651108 -0.234228 0.324513 +#28891 1721121499875 +SLAM 20.5636 14.4966 -16.6104 -0.589958 0.0642446 0.650396 0.474138 +TTool-pose None -33.0405 14.0382 14.3709 0.640636 0.653317 -0.229878 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-0.220402 0.34114 +#28898 1721121500108 +SLAM 21.6454 14.2236 -16.2468 -0.596976 0.0644502 0.637769 0.482407 +TTool-pose None -33.4301 14.1122 14.3646 0.634745 0.656309 -0.220182 0.343229 +#28899 1721121500138 +SLAM 21.8199 14.1236 -16.224 -0.59825 0.0652266 0.635861 0.483242 +TTool-pose None -33.4846 14.1344 14.3799 0.634367 0.656097 -0.218701 0.345274 +#28900 1721121500174 +SLAM 22.1061 14.1604 -16.0676 -0.599402 0.0637468 0.632484 0.486434 +TTool-pose None -33.6127 14.1378 14.3714 0.631509 0.658251 -0.216357 0.347882 +#28901 1721121500206 +SLAM 22.177 14.1458 -16.0664 -0.599786 0.0639206 0.63163 0.487048 +TTool-pose None -33.6609 14.1412 14.3665 0.631085 0.658354 -0.215827 0.348783 +#28902 1721121500237 +SLAM 22.3039 14.1057 -16.0376 -0.601535 0.063521 0.630186 0.486812 +TTool-pose None -33.7178 14.1285 14.3856 0.631276 0.658549 -0.21362 0.34943 +#28903 1721121500275 +SLAM 22.359 14.1264 -16.0006 -0.602053 0.0628909 0.629647 0.486951 +TTool-pose None -33.7406 14.1292 14.3927 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14.0991 14.4193 0.632848 0.658897 -0.213682 0.345871 +#28910 1721121500513 +SLAM 22.0138 14.2509 -16.1891 -0.600598 0.0625979 0.633946 0.483195 +TTool-pose None -33.6737 14.0985 14.4062 0.633878 0.657873 -0.215147 0.345026 +#28911 1721121500544 +SLAM 22.0388 14.3307 -16.1379 -0.601526 0.0606731 0.634087 0.482098 +TTool-pose None -33.6817 14.0856 14.4474 0.634308 0.658783 -0.213681 0.343405 +#28912 1721121500575 +SLAM 21.8987 14.3654 -16.2169 -0.600137 0.0611837 0.63566 0.481694 +TTool-pose None -33.6546 14.0819 14.4337 0.634676 0.658284 -0.215581 0.342494 +#28913 1721121500606 +SLAM 21.8224 14.4009 -16.2553 -0.599721 0.0610227 0.636705 0.480851 +TTool-pose None -33.6375 14.0807 14.4422 0.635276 0.658085 -0.216184 0.341382 +#28914 1721121500643 +SLAM 21.7524 14.4166 -16.2904 -0.599348 0.0611145 0.637611 0.480104 +TTool-pose None -33.6145 14.0824 14.446 0.635867 0.657749 -0.216786 0.340544 +#28915 1721121500677 +SLAM 21.6542 14.4728 -16.3222 -0.598104 0.0610419 0.638736 0.480168 +TTool-pose None -33.595 14.0799 14.4354 0.635712 0.65781 -0.218267 0.339769 +#28916 1721121500708 +SLAM 21.6049 14.52 -16.3275 -0.597798 0.0604462 0.639231 0.479965 +TTool-pose None -33.5933 14.0594 14.4337 0.635695 0.658135 -0.21851 0.339014 +#28917 1721121500745 +SLAM 21.3435 14.5076 -16.4845 -0.596399 0.0618645 0.642158 0.477612 +TTool-pose None -33.5105 14.0535 14.4232 0.637821 0.656305 -0.220964 0.33697 +#28918 1721121500778 +SLAM 21.1342 14.4825 -16.6146 -0.595225 0.0632922 0.644358 0.475925 +TTool-pose None -33.4471 14.047 14.4045 0.639429 0.654708 -0.22303 0.335666 +#28919 1721121500811 +SLAM 21.2681 14.603 -16.4626 -0.596171 0.0603964 0.643017 0.476929 +TTool-pose None -33.4938 14.0255 14.4265 0.637956 0.657042 -0.220951 0.335282 +#28920 1721121500841 +SLAM 21.1017 14.5624 -16.5803 -0.59462 0.0623001 0.644709 0.476336 +TTool-pose None -33.4433 14.0371 14.397 0.638801 0.65552 -0.223428 0.33501 +#28921 1721121500872 +SLAM 20.9688 14.5814 -16.6479 -0.593517 0.0627753 0.646224 0.475596 +TTool-pose None -33.4063 14.0352 14.3913 0.639416 0.65491 -0.224998 0.333975 +#28922 1721121500904 +SLAM 20.9868 14.5894 -16.6266 -0.593687 0.0625294 0.645976 0.475753 +TTool-pose None -33.4101 14.0333 14.3878 0.639244 0.655137 -0.224703 0.334061 +#28923 1721121500939 +SLAM 20.9771 14.6177 -16.6153 -0.593623 0.0620506 0.646139 0.475674 +TTool-pose None -33.4084 14.0277 14.3929 0.639175 0.655429 -0.224663 0.333644 +#28924 1721121500974 +SLAM 20.9488 14.6226 -16.6188 -0.593631 0.0619079 0.646516 0.475169 +TTool-pose None -33.3904 14.0252 14.3995 0.639533 0.65534 -0.224692 0.333114 +#28925 1721121501005 +SLAM 20.8583 14.5899 -16.6858 -0.592916 0.063025 0.6474 0.474713 +TTool-pose None -33.3619 14.0289 14.3837 0.640123 0.654406 -0.225922 0.332984 +#28926 1721121501040 +SLAM 20.8673 14.619 -16.664 -0.59284 0.0625759 0.647331 0.474961 +TTool-pose None -33.3668 14.0281 14.3838 0.639806 0.6548 -0.225854 0.332866 +#28927 1721121501071 +SLAM 20.832 14.6164 -16.6774 -0.592911 0.0625558 0.647874 0.474133 +TTool-pose None -33.3426 14.0313 14.396 0.640452 0.654509 -0.225888 0.332171 +#28928 1721121501110 +SLAM 20.8446 14.6016 -16.6852 -0.592691 0.0629765 0.647525 0.474829 +TTool-pose None -33.3592 14.028 14.3792 0.640001 0.654478 -0.226161 0.332915 +#28929 1721121501145 +SLAM 20.8623 14.5724 -16.6837 -0.593226 0.0631544 0.64737 0.474348 +TTool-pose None -33.3522 14.0338 14.3848 0.640467 0.65419 -0.225638 0.332942 +#28930 1721121501179 +SLAM 20.8753 14.6021 -16.6639 -0.59295 0.0627001 0.647199 0.474987 +TTool-pose None -33.3652 14.0251 14.385 0.639827 0.654728 -0.225751 0.333038 +#28931 1721121501209 +SLAM 20.8832 14.6066 -16.6651 -0.592982 0.0626788 0.647105 0.475077 +TTool-pose None -33.3749 14.0254 14.3831 0.639754 0.654776 -0.225693 0.333123 +#28932 1721121501239 +SLAM 20.867 14.6015 -16.6749 -0.593133 0.0626717 0.647401 0.474487 +TTool-pose None -33.3622 14.028 14.3932 0.640225 0.654565 -0.2256 0.332695 +#28933 1721121501274 +SLAM 20.8099 14.586 -16.7121 -0.592426 0.0634048 0.647887 0.474609 +TTool-pose None -33.3464 14.0289 14.3767 0.640263 0.654104 -0.226627 0.332832 +#28934 1721121501308 +SLAM 20.8384 14.5919 -16.6961 -0.592515 0.0632456 0.647526 0.475012 +TTool-pose None -33.3607 14.0272 14.3738 0.639914 0.654361 -0.226417 0.333139 +#28935 1721121501338 +SLAM 20.7169 14.58 -16.7678 -0.592137 0.0638215 0.649128 0.473217 +TTool-pose None -33.3078 14.0376 14.3872 0.641431 0.653302 -0.227294 0.3317 +#28936 1721121501378 +SLAM 20.6664 14.6353 -16.7656 -0.590936 0.0635918 0.649606 0.474091 +TTool-pose None -33.3042 14.0331 14.3716 0.640588 0.653759 -0.22854 0.33157 +#28937 1721121501412 +SLAM 20.5452 14.6286 -16.8356 -0.589756 0.0645217 0.650902 0.473657 +TTool-pose None -33.2677 14.0373 14.3585 0.641064 0.652948 -0.230264 0.331054 +#28938 1721121501446 +SLAM 20.5327 14.632 -16.842 -0.589879 0.0643444 0.651054 0.473319 +TTool-pose None -33.2659 14.0283 14.3648 0.641292 0.652945 -0.230119 0.330721 +#28939 1721121501476 +SLAM 20.4856 14.6233 -16.8508 -0.589952 0.0643885 0.651687 0.47235 +TTool-pose None -33.2281 14.0324 14.3733 0.642061 0.652557 -0.230187 0.329946 +#28940 1721121501507 +SLAM 20.5281 14.6976 -16.7851 -0.589415 0.0633268 0.651032 0.474065 +TTool-pose None -33.26 14.0168 14.3572 0.640407 0.653899 -0.230291 0.33043 +#28941 1721121501541 +SLAM 20.3107 14.6108 -16.9477 -0.588376 0.0656425 0.653374 0.471811 +TTool-pose None -33.1814 14.0235 14.3472 0.642662 0.651476 -0.232479 0.329306 +#28942 1721121501572 +SLAM 20.3058 14.6616 -16.9054 -0.588242 0.0648145 0.65362 0.471754 +TTool-pose None -33.1644 14.031 14.3544 0.642479 0.652011 -0.232426 0.328638 +#28943 1721121501609 +SLAM 20.333 14.6834 -16.8776 -0.587941 0.0645832 0.653112 0.472863 +TTool-pose None -33.185 14.0225 14.3376 0.641533 0.652574 -0.232561 0.329273 +#28944 1721121501645 +SLAM 20.1379 14.6637 -16.9946 -0.586196 0.0661373 0.655173 0.471962 +TTool-pose None -33.1276 14.0267 14.3181 0.64247 0.651148 -0.235181 0.328407 +#28945 1721121501681 +SLAM 20.3086 14.7046 -16.8755 -0.587932 0.0641582 0.653458 0.472454 +TTool-pose None -33.1752 14.0148 14.3466 0.641739 0.652708 -0.232518 0.328635 +#28946 1721121501711 +SLAM 20.2138 14.7209 -16.9261 -0.586343 0.0650332 0.654224 0.473247 +TTool-pose None -33.1679 14.0144 14.3105 0.641204 0.652377 -0.234527 0.328909 +#28947 1721121501740 +SLAM 20.0156 14.666 -17.0604 -0.585735 0.0664743 0.656596 0.470508 +TTool-pose None -33.0904 14.0204 14.3229 0.643634 0.650366 -0.236024 0.327071 +#28948 1721121501774 +SLAM 20.2734 14.7497 -16.8631 -0.587616 0.0635681 0.653842 0.472395 +TTool-pose None -33.1673 14.0052 14.3443 0.641601 0.653078 -0.232743 0.32801 +#28949 1721121501812 +SLAM 20.2081 14.7014 -16.9265 -0.586947 0.0648987 0.654284 0.472433 +TTool-pose None -33.1545 14.0045 14.3199 0.641856 0.652179 -0.233891 0.328485 +#28950 1721121501844 +SLAM 20.1869 14.6651 -16.9365 -0.587019 0.0653967 0.654512 0.471961 +TTool-pose None -33.1257 14.012 14.3192 0.642357 0.651667 -0.234007 0.328437 +#28951 1721121501873 +SLAM 19.5523 14.3599 -17.412 -0.584382 0.0730107 0.662049 0.463528 +TTool-pose None -32.8381 14.1112 14.3209 0.650507 0.643267 -0.240289 0.324393 +#28952 1721121501904 +SLAM 20.2857 14.4817 -16.919 -0.592063 0.0650403 0.654307 0.465954 +TTool-pose None -33.0383 14.0291 14.4318 0.64735 0.649766 -0.228746 0.326097 +#28953 1721121501937 +SLAM 20.3238 14.5611 -16.8642 -0.589269 0.0652643 0.652996 0.471274 +TTool-pose None -33.1091 14.0099 14.3464 0.64306 0.65155 -0.231392 0.329146 +#28954 1721121501972 +SLAM 20.3554 14.5837 -16.8206 -0.588442 0.0653261 0.652274 0.473293 +TTool-pose None -33.1272 14.0085 14.3089 0.641439 0.652243 -0.2321 0.330438 +#28955 1721121502012 +SLAM 20.4487 14.6007 -16.7539 -0.59048 0.0635317 0.651668 0.471833 +TTool-pose None -33.1356 13.9945 14.3652 0.642286 0.652953 -0.229401 0.329271 +#28956 1721121502043 +SLAM 20.4614 14.6181 -16.7364 -0.589113 0.064064 0.650947 0.474457 +TTool-pose None -33.1676 13.9859 14.3107 0.640268 0.653541 -0.230791 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13.9332 14.3284 0.642552 0.65321 -0.230533 0.327445 +#28975 1721121502674 +SLAM 20.3561 14.6503 -16.638 -0.590374 0.0617743 0.651958 0.471799 +TTool-pose None -33.047 13.9227 14.3358 0.641844 0.654123 -0.229059 0.328045 +#28976 1721121502710 +SLAM 20.1539 14.5784 -16.7839 -0.588789 0.0642216 0.654004 0.470618 +TTool-pose None -32.9805 13.9347 14.3059 0.643253 0.651999 -0.231777 0.327604 +#28977 1721121502740 +SLAM 20.0385 14.4225 -16.9019 -0.590492 0.0659614 0.655809 0.465706 +TTool-pose None -32.8749 13.965 14.3546 0.647637 0.649017 -0.2309 0.325499 +#28978 1721121502774 +SLAM 20.3432 14.6118 -16.6553 -0.591019 0.0619532 0.652041 0.470852 +TTool-pose None -33.0333 13.9106 14.3432 0.642681 0.653662 -0.228474 0.327733 +#28979 1721121502812 +SLAM 20.2095 14.6849 -16.7012 -0.588336 0.0625634 0.65328 0.47241 +TTool-pose None -33.0239 13.9148 14.2968 0.641394 0.653777 -0.231614 0.327822 +#28980 1721121502840 +SLAM 20.2662 14.6615 -16.6664 -0.589865 0.0618787 0.652861 0.471171 +TTool-pose None -33.0158 13.9114 14.3278 0.642312 0.653809 -0.229785 0.327248 +#28981 1721121502874 +SLAM 20.2422 14.7171 -16.6601 -0.58879 0.0616145 0.652982 0.472381 +TTool-pose None -33.0325 13.9037 14.3087 0.641209 0.654415 -0.230821 0.327469 +#28982 1721121502906 +SLAM 20.05 14.613 -16.8116 -0.588481 0.0637804 0.655327 0.469222 +TTool-pose None -32.9407 13.9243 14.32 0.644186 0.651767 -0.232223 0.325911 +#28983 1721121502945 +SLAM 20.152 14.6171 -16.7503 -0.588965 0.0633178 0.653913 0.470647 +TTool-pose None -32.9827 13.9119 14.3051 0.643011 0.652623 -0.231321 0.327157 +#28984 1721121502976 +SLAM 19.9964 14.6156 -16.8397 -0.587215 0.0645688 0.655533 0.47041 +TTool-pose None -32.9434 13.9179 14.282 0.643357 0.651651 -0.233772 0.326672 +#28985 1721121503013 +SLAM 19.9206 14.5578 -16.9111 -0.58685 0.0659276 0.656156 0.46981 +TTool-pose None -32.9217 13.9187 14.2632 0.644137 0.6505 -0.234654 0.326798 +#28986 1721121503043 +SLAM 19.9494 14.6034 -16.8741 -0.586706 0.0653014 0.655833 0.470526 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0.460155 +TTool-pose None -32.729 13.9677 14.3318 0.652526 0.644222 -0.236701 0.321062 +#28993 1721121503276 +SLAM 19.8273 14.6849 -16.9496 -0.585731 0.0648724 0.65739 0.469626 +TTool-pose None -32.9507 13.9062 14.2657 0.643897 0.651117 -0.235724 0.325268 +#28994 1721121503313 +SLAM 19.9569 14.7566 -16.8335 -0.586861 0.0628291 0.656157 0.470218 +TTool-pose None -32.9855 13.9006 14.2864 0.643018 0.652745 -0.233751 0.325166 +#28995 1721121503347 +SLAM 19.8825 14.6653 -16.9148 -0.58716 0.0642766 0.656887 0.468627 +TTool-pose None -32.9479 13.9022 14.2846 0.644647 0.651178 -0.234008 0.324896 +#28996 1721121503380 +SLAM 19.9705 14.673 -16.846 -0.589233 0.062662 0.656286 0.467084 +TTool-pose None -32.9462 13.8933 14.3327 0.645606 0.651736 -0.231324 0.323795 +#28997 1721121503423 +SLAM 19.9507 14.7051 -16.8462 -0.588587 0.0625484 0.656311 0.467876 +TTool-pose None -32.9605 13.8819 14.3147 0.644908 0.652095 -0.231951 0.324013 +#28998 1721121503454 +SLAM 19.8889 14.5662 -16.9366 -0.591114 0.0634167 0.657582 0.462761 +TTool-pose None -32.8806 13.897 14.3801 0.649283 0.649636 -0.229872 0.321688 +#28999 1721121503483 +SLAM 19.9334 14.6757 -16.8692 -0.588576 0.0631339 0.656403 0.467683 +TTool-pose None -32.9536 13.8847 14.3056 0.645208 0.651628 -0.23215 0.324214 +#29000 1721121503513 +SLAM 20.1144 14.7763 -16.7373 -0.589255 0.0609092 0.65445 0.469856 +TTool-pose None -33.0371 13.8724 14.3146 0.643016 0.653957 -0.230437 0.325099 +#29001 1721121503548 +SLAM 20.1334 14.7134 -16.7594 -0.589814 0.0617091 0.654192 0.46941 +TTool-pose None -33.0334 13.8809 14.3133 0.643622 0.653264 -0.230051 0.325569 +#29002 1721121503584 +SLAM 20.1929 14.73 -16.7215 -0.590359 0.0609818 0.653566 0.46969 +TTool-pose None -33.0556 13.8716 14.3245 0.643264 0.65387 -0.229164 0.325685 +#29003 1721121503616 +SLAM 20.0913 14.7676 -16.7598 -0.589091 0.0611728 0.654604 0.469811 +TTool-pose None -33.0384 13.8649 14.3091 0.643106 0.65376 -0.230709 0.325127 +#29004 1721121503647 +SLAM 19.9018 14.5539 -16.9421 -0.590129 0.0643542 0.656834 0.464946 +TTool-pose None -32.9153 13.8888 14.3259 0.647768 0.649808 -0.231004 0.323579 +#29005 1721121503683 +SLAM 20.005 14.6706 -16.8345 -0.589161 0.0628336 0.655376 0.468426 +TTool-pose None -32.9871 13.8703 14.2959 0.644613 0.652123 -0.23127 0.325031 +#29006 1721121503718 +SLAM 20.2655 14.8335 -16.6058 -0.589687 0.0594763 0.652386 0.47236 +TTool-pose None -33.0961 13.8533 14.2897 0.640743 0.655866 -0.229173 0.326635 +#29007 1721121503751 +SLAM 20.0502 14.688 -16.7927 -0.588976 0.0626121 0.654701 0.469631 +TTool-pose None -33.0046 13.8697 14.2789 0.643611 0.652719 -0.231261 0.325824 +#29008 1721121503785 +SLAM 20.0628 14.6708 -16.7933 -0.588926 0.0629006 0.65442 0.470046 +TTool-pose None -33.0108 13.867 14.2699 0.643362 0.65268 -0.23134 0.32634 +#29009 1721121503820 +SLAM 20.0533 14.7095 -16.7807 -0.588569 0.0625026 0.654551 0.470365 +TTool-pose None -33.0152 13.8664 14.2666 0.642979 0.653059 -0.231612 0.326141 +#29010 1721121503854 +SLAM 19.9737 14.6545 -16.8534 -0.588209 0.0636978 0.655235 0.469703 +TTool-pose None -32.993 13.8596 14.2546 0.643768 0.651997 -0.232457 0.326109 +#29011 1721121503887 +SLAM 20.0315 14.7529 -16.7672 -0.58838 0.0617436 0.654837 0.470303 +TTool-pose None -33.0134 13.8513 14.2749 0.64281 0.653543 -0.231641 0.325483 +#29012 1721121503921 +SLAM 19.9805 14.6509 -16.8286 -0.588165 0.0636663 0.655083 0.469972 +TTool-pose None -32.9795 13.8614 14.2477 0.643548 0.652118 -0.232462 0.326297 +#29013 1721121503961 +SLAM 19.9793 14.6466 -16.8253 -0.588157 0.0636606 0.65511 0.469946 +TTool-pose None -32.973 13.861 14.2505 0.643567 0.652112 -0.232474 0.326265 +#29014 1721121503994 +SLAM 19.9151 14.6544 -16.8463 -0.586544 0.0644852 0.655588 0.471182 +TTool-pose None -32.9567 13.8679 14.2189 0.642676 0.651981 -0.234437 0.326877 +#29015 1721121504026 +SLAM 20.2485 14.7745 -16.5798 -0.589755 0.059955 0.652301 0.472332 +TTool-pose None -33.0422 13.8465 14.2785 0.640897 0.655535 -0.229227 0.326959 +#29016 1721121504058 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1721121504279 +SLAM 20.1571 14.4338 -16.3719 -0.589896 0.0622797 0.652886 0.471046 +TTool-pose None -32.6297 13.8776 14.2898 0.642516 0.653492 -0.229875 0.327415 +#29023 1721121504313 +SLAM 20.1115 14.3558 -16.3434 -0.59132 0.0620231 0.653948 0.46781 +TTool-pose None -32.5027 13.8909 14.3515 0.645072 0.652484 -0.228565 0.32531 +#29024 1721121504344 +SLAM 20.1991 14.3489 -16.2004 -0.591049 0.0613169 0.652457 0.47032 +TTool-pose None -32.4748 13.8724 14.328 0.642927 0.653893 -0.228342 0.326879 +#29025 1721121504375 +SLAM 20.2298 14.3602 -16.1195 -0.590415 0.0609321 0.651592 0.472361 +TTool-pose None -32.4658 13.8506 14.296 0.641191 0.654901 -0.2287 0.328021 +#29026 1721121504405 +SLAM 19.7313 14.188 -16.4507 -0.586214 0.0663997 0.656403 0.470191 +TTool-pose None -32.2991 13.8333 14.2269 0.643904 0.650309 -0.235481 0.327042 +#29027 1721121504439 +SLAM 20.1085 14.2806 -16.0979 -0.588314 0.0629175 0.652343 0.473684 +TTool-pose None -32.3382 13.8715 14.2325 0.640497 0.654011 -0.23155 0.32915 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0.327114 +#29034 1721121504654 +SLAM 19.7972 13.8849 -15.9138 -0.589085 0.0646876 0.654292 0.469783 +TTool-pose None -31.8175 13.7665 14.2262 0.644045 0.651378 -0.231669 0.327359 +#29035 1721121504683 +SLAM 20.089 13.9555 -15.6459 -0.591818 0.0610824 0.650956 0.471463 +TTool-pose None -31.8664 13.7474 14.2527 0.642049 0.654492 -0.227195 0.328205 +#29036 1721121504716 +SLAM 19.9889 13.9197 -15.6938 -0.591324 0.0619457 0.651897 0.470669 +TTool-pose None -31.8191 13.7394 14.2377 0.642846 0.653605 -0.228134 0.327758 +#29037 1721121504750 +SLAM 20.0065 13.9745 -15.6415 -0.591093 0.0608826 0.651438 0.471732 +TTool-pose None -31.8371 13.7116 14.2264 0.641724 0.654713 -0.227968 0.327861 +#29038 1721121504781 +SLAM 19.9062 13.9748 -15.6726 -0.590375 0.0612611 0.652523 0.471083 +TTool-pose None -31.7904 13.7084 14.2168 0.642263 0.654202 -0.229022 0.32709 +#29039 1721121504810 +SLAM 19.9278 13.9569 -15.6549 -0.590352 0.0614342 0.651795 0.472095 +TTool-pose None -31.806 13.6864 14.1898 0.641523 0.654462 -0.22895 0.328072 +#29040 1721121504842 +SLAM 19.9715 13.9905 -15.5823 -0.591619 0.0599049 0.651689 0.47085 +TTool-pose None -31.7834 13.6896 14.2264 0.642195 0.655053 -0.227201 0.32679 +#29041 1721121504875 +SLAM 19.8605 13.9396 -15.6692 -0.590401 0.0615391 0.652551 0.470974 +TTool-pose None -31.7592 13.6779 14.1941 0.642422 0.653975 -0.229082 0.327191 +#29042 1721121504909 +SLAM 19.8509 13.9131 -15.6916 -0.590117 0.0622297 0.652424 0.471415 +TTool-pose None -31.7652 13.6752 14.1755 0.642237 0.653668 -0.229545 0.327843 +#29043 1721121504946 +SLAM 19.6931 13.8287 -15.816 -0.589571 0.0641851 0.654322 0.4692 +TTool-pose None -31.6928 13.6883 14.1774 0.644408 0.65151 -0.231038 0.326828 +#29044 1721121504976 +SLAM 19.6955 13.8514 -15.8022 -0.588867 0.0641566 0.654157 0.470317 +TTool-pose None -31.7026 13.6872 14.1621 0.643475 0.651932 -0.23171 0.327348 +#29045 1721121505011 +SLAM 19.8989 13.8751 -15.6613 -0.590869 0.0623164 0.651847 0.47126 +TTool-pose None -31.7559 13.6813 14.1786 0.642446 0.653567 -0.228693 0.32823 +#29046 1721121505045 +SLAM 20.0457 13.8997 -15.5515 -0.592843 0.0605123 0.650416 0.470992 +TTool-pose None -31.7826 13.6789 14.2126 0.642351 0.65472 -0.225881 0.328066 +#29047 1721121505075 +SLAM 19.9414 13.887 -15.6239 -0.591901 0.0614104 0.651617 0.4704 +TTool-pose None -31.7538 13.6808 14.2057 0.642964 0.653877 -0.227337 0.327539 +#29048 1721121505110 +SLAM 20.0067 13.9033 -15.5835 -0.592149 0.0608224 0.650689 0.471448 +TTool-pose None -31.7896 13.6647 14.2018 0.64202 0.654668 -0.226729 0.328231 +#29049 1721121505143 +SLAM 19.9313 13.8345 -15.6575 -0.59155 0.0625482 0.651438 0.470941 +TTool-pose None -31.7556 13.6806 14.1839 0.642814 0.653305 -0.227987 0.328524 +#29050 1721121505182 +SLAM 19.952 13.8377 -15.6452 -0.591706 0.062344 0.651232 0.471057 +TTool-pose None -31.7618 13.6797 14.1888 0.642684 0.653489 -0.227729 0.328591 +#29051 1721121505216 +SLAM 19.9967 13.8541 -15.6045 -0.591962 0.0618038 0.650766 0.471449 +TTool-pose None -31.7702 13.6812 14.1936 0.642261 0.654004 -0.227219 0.328746 +#29052 1721121505247 +SLAM 20.0521 13.8907 -15.5581 -0.592101 0.0610422 0.650179 0.472184 +TTool-pose None -31.7939 13.6818 14.1965 0.641504 0.654793 -0.22674 0.328986 +#29053 1721121505280 +SLAM 19.8356 13.7865 -15.7394 -0.589724 0.0645302 0.652222 0.471877 +TTool-pose None -31.7334 13.6912 14.1474 0.642445 0.65228 -0.230566 0.329482 +#29054 1721121505311 +SLAM 20.0008 13.8612 -15.5914 -0.591504 0.0619149 0.650569 0.472282 +TTool-pose None -31.7735 13.6824 14.1779 0.641604 0.65423 -0.227676 0.329261 +#29055 1721121505348 +SLAM 20.3506 14.0243 -15.2897 -0.596499 0.0555054 0.647596 0.47088 +TTool-pose None -31.8497 13.6599 14.3023 0.641408 0.658103 -0.220135 0.327043 +#29056 1721121505393 +SLAM 19.9985 13.8873 -15.5663 -0.591541 0.0613072 0.650573 0.472309 +TTool-pose None -31.7693 13.6718 14.1801 0.641428 0.65465 -0.227463 0.328917 +#29057 1721121505428 +SLAM 20.0077 13.8965 -15.545 -0.592382 0.0605943 0.650743 0.47111 +TTool-pose None -31.7525 13.6731 14.2061 0.642241 0.6547 -0.226438 0.327935 +#29058 1721121505461 +SLAM 19.8739 13.7999 -15.6632 -0.590552 0.0634442 0.651648 0.471782 +TTool-pose None -31.718 13.6721 14.1505 0.642309 0.652995 -0.2293 0.329215 +#29059 1721121505494 +SLAM 19.8916 13.8094 -15.6387 -0.590878 0.062907 0.651429 0.471748 +TTool-pose None -31.7194 13.6601 14.158 0.642224 0.65335 -0.22877 0.329043 +#29060 1721121505525 +SLAM 20.0593 13.9066 -15.4871 -0.592782 0.0597664 0.649945 0.471814 +TTool-pose None -31.7631 13.6487 14.2078 0.641512 0.655526 -0.225631 0.328268 +#29061 1721121505554 +SLAM 19.7172 13.7407 -15.7574 -0.589373 0.0651567 0.653146 0.47095 +TTool-pose None -31.6561 13.6656 14.1256 0.643292 0.651504 -0.231285 0.328858 +#29062 1721121505583 +SLAM 19.8263 13.7862 -15.6586 -0.589932 0.0637739 0.651821 0.472274 +TTool-pose None -31.6894 13.6559 14.1268 0.641958 0.652942 -0.230057 0.329472 +#29063 1721121505613 +SLAM 20.0372 13.8619 -15.4809 -0.593038 0.0603588 0.649966 0.471388 +TTool-pose None -31.7265 13.6519 14.1893 0.64202 0.654974 -0.225548 0.328435 +#29064 1721121505642 +SLAM 20.0797 13.9345 -15.4199 -0.592734 0.0590865 0.64928 0.472875 +TTool-pose None -31.7635 13.6283 14.1796 0.640504 0.656377 -0.225347 0.328731 +#29065 1721121505680 +SLAM 19.6686 13.7647 -15.7436 -0.589061 0.064836 0.653348 0.471105 +TTool-pose None -31.6419 13.641 14.1019 0.643061 0.651772 -0.231549 0.328593 +#29066 1721121505711 +SLAM 19.6293 13.7567 -15.7655 -0.58921 0.0648764 0.653744 0.470364 +TTool-pose None -31.6298 13.6282 14.1038 0.643657 0.651471 -0.231489 0.328064 +#29067 1721121505745 +SLAM 19.7415 13.805 -15.6508 -0.590611 0.0629965 0.652688 0.470328 +TTool-pose None -31.6402 13.6284 14.1274 0.643322 0.652756 -0.229318 0.327693 +#29068 1721121505774 +SLAM 19.7852 13.8488 -15.6009 -0.590478 0.0620944 0.651859 0.471762 +TTool-pose None -31.6759 13.5997 14.1128 0.641965 0.653896 -0.229027 0.328283 +#29069 1721121505808 +SLAM 19.8732 13.915 -15.507 -0.591548 0.0602711 0.651067 0.471752 +TTool-pose None -31.6964 13.5989 14.1312 0.641587 0.655141 -0.227255 0.32777 +#29070 1721121505841 +SLAM 19.5635 13.8141 -15.727 -0.588797 0.0640065 0.654148 0.470438 +TTool-pose None -31.6032 13.6005 14.077 0.643336 0.652077 -0.231737 0.327313 +#29071 1721121505879 +SLAM 19.5504 13.8049 -15.7411 -0.588057 0.0645208 0.653832 0.47173 +TTool-pose None -31.6218 13.5803 14.0468 0.642404 0.652196 -0.23257 0.328315 +#29072 1721121505909 +SLAM 19.4447 13.7977 -15.7961 -0.588171 0.0646258 0.655326 0.469496 +TTool-pose None -31.5719 13.5785 14.0694 0.644166 0.651292 -0.23278 0.326503 +#29073 1721121505942 +SLAM 19.4859 13.8383 -15.7289 -0.588118 0.0637835 0.6546 0.470688 +TTool-pose None -31.5851 13.565 14.0517 0.643023 0.652306 -0.232448 0.326968 +#29074 1721121505977 +SLAM 19.3687 13.8196 -15.7756 -0.587663 0.0643064 0.655673 0.469691 +TTool-pose None -31.5402 13.5434 14.0362 0.643885 0.651569 -0.233271 0.326153 +#29075 1721121506012 +SLAM 19.4935 13.8681 -15.6137 -0.589348 0.06187 0.653943 0.470319 +TTool-pose None -31.5499 13.5044 14.0382 0.642921 0.653485 -0.230521 0.326177 +#29076 1721121506045 +SLAM 19.0737 13.7708 -15.8708 -0.586488 0.0656105 0.658128 0.46754 +TTool-pose None -31.4221 13.4821 13.9789 0.645763 0.649853 -0.235311 0.324394 +#29077 1721121506078 +SLAM 18.9695 13.7753 -15.88 -0.585861 0.0656722 0.658818 0.467348 +TTool-pose None -31.3834 13.4461 13.9488 0.645865 0.649723 -0.236098 0.323879 +#29078 1721121506113 +SLAM 19.0904 13.7846 -15.7547 -0.587742 0.0640931 0.657313 0.467324 +TTool-pose None -31.3846 13.4327 13.9533 0.645655 0.650826 -0.233448 0.324003 +#29079 1721121506146 +SLAM 18.98 13.7788 -15.8033 -0.585649 0.0653238 0.657826 0.469055 +TTool-pose None -31.3752 13.4052 13.895 0.644445 0.650596 -0.236021 0.325011 +#29080 1721121506180 +SLAM 19.3655 13.9768 -15.4467 -0.589087 0.0593886 0.654431 0.470287 +TTool-pose None -31.44 13.4369 13.9721 0.642268 0.655138 -0.230162 0.324395 +#29081 1721121506212 +SLAM 19.1581 13.886 -15.6112 -0.587408 0.0619264 0.656054 0.469799 +TTool-pose None -31.4039 13.3923 13.9278 0.643156 0.653209 -0.232917 0.324559 +#29082 1721121506246 +SLAM 19.1815 13.9547 -15.5387 -0.58813 0.0601561 0.656471 0.46854 +TTool-pose None -31.3713 13.4134 13.973 0.643726 0.653946 -0.231753 0.322772 +#29083 1721121506281 +SLAM 19.1231 13.9216 -15.5598 -0.586401 0.0616351 0.656747 0.470126 +TTool-pose None -31.3419 13.4241 13.93 0.642732 0.653504 -0.233987 0.324035 +#29084 1721121506317 +SLAM 18.9075 13.8449 -15.6995 -0.586267 0.0629487 0.659339 0.466477 +TTool-pose None -31.2498 13.4044 13.952 0.645861 0.651242 -0.235002 0.321621 +#29085 1721121506349 +SLAM 18.866 13.898 -15.6343 -0.585381 0.0620185 0.659671 0.467245 +TTool-pose None -31.2067 13.3896 13.9415 0.644943 0.652136 -0.235695 0.321145 +#29086 1721121506380 +SLAM 18.5046 13.6941 -15.8861 -0.58344 0.0668117 0.662954 0.464356 +TTool-pose None -31.0718 13.3673 13.8806 0.648196 0.647755 -0.239658 0.320528 +#29087 1721121506410 +SLAM 18.325 13.7697 -15.8815 -0.581641 0.0660758 0.66482 0.46405 +TTool-pose None -30.9965 13.3356 13.8641 0.648048 0.648083 -0.241616 0.318688 +#29088 1721121506446 +SLAM 17.8849 13.7214 -16.0698 -0.577616 0.0689506 0.669083 0.46253 +TTool-pose None -30.8491 13.2948 13.8023 0.649494 0.645431 -0.247286 0.316772 +#29089 1721121506475 +SLAM 18.2357 13.8934 -15.6784 -0.580722 0.0631842 0.66507 0.465243 +TTool-pose None -30.8857 13.2703 13.8154 0.64629 0.65046 -0.241762 0.3173 +#29090 1721121506512 +SLAM 17.7382 13.7652 -15.9601 -0.5789 0.0661659 0.670474 0.459305 +TTool-pose None -30.71 13.2121 13.8143 0.651349 0.646117 -0.245438 0.312976 +#29091 1721121506543 +SLAM 17.5787 13.8156 -15.973 -0.574663 0.0677948 0.672049 0.462079 +TTool-pose None -30.6436 13.2545 13.749 0.649191 0.645935 -0.250472 0.313847 +#29092 1721121506577 +SLAM 17.4078 13.8077 -16.0464 -0.573649 0.0684283 0.674578 0.459552 +TTool-pose None -30.5527 13.2803 13.7784 0.651128 0.644494 -0.252118 0.311465 +#29093 1721121506609 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1721121506813 +SLAM 16.882 13.7787 -16.2339 -0.57255 0.0686163 0.680826 0.451613 +TTool-pose None -30.3318 13.2091 13.8235 0.656936 0.641232 -0.254327 0.304115 +#29100 1721121506845 +SLAM 16.8785 13.8472 -16.1593 -0.570906 0.0682381 0.680474 0.454274 +TTool-pose None -30.3255 13.2084 13.7774 0.654661 0.642461 -0.255834 0.305161 +#29101 1721121506880 +SLAM 17.0286 13.8912 -16.0408 -0.572884 0.066195 0.679069 0.454188 +TTool-pose None -30.3434 13.2129 13.803 0.654447 0.643889 -0.253016 0.304961 +#29102 1721121506914 +SLAM 17.1798 13.9823 -15.9054 -0.573317 0.0641143 0.677323 0.456542 +TTool-pose None -30.3912 13.2054 13.8027 0.65221 0.646226 -0.251692 0.305902 +#29103 1721121506945 +SLAM 17.1484 14.0176 -15.8977 -0.574709 0.0621399 0.677949 0.454129 +TTool-pose None -30.3787 13.156 13.8556 0.653655 0.646671 -0.249816 0.303404 +#29104 1721121506980 +SLAM 16.9356 13.7879 -16.1431 -0.571621 0.0688166 0.679181 0.455222 +TTool-pose None -30.3479 13.1824 13.7443 0.654201 0.64247 -0.25506 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-30.3773 13.0398 13.5862 0.653367 0.642711 -0.251199 0.311205 +#29123 1721121507610 +SLAM 17.057 13.7817 -16.0411 -0.577737 0.0639412 0.67547 0.453731 +TTool-pose None -30.4834 12.8868 13.723 0.654793 0.645418 -0.246839 0.306048 +#29124 1721121507642 +SLAM 17.2714 13.8835 -15.9326 -0.573123 0.0669933 0.673485 0.462016 +TTool-pose None -30.5504 13.1182 13.6104 0.648845 0.646394 -0.252051 0.312346 +#29125 1721121507678 +SLAM 17.197 13.6513 -16.2244 -0.570306 0.0749193 0.673694 0.463977 +TTool-pose None -30.6107 13.2334 13.5045 0.64905 0.64167 -0.257165 0.317457 +#29126 1721121507709 +SLAM 16.9702 13.5297 -16.5931 -0.572676 0.0758427 0.6763 0.457065 +TTool-pose None -30.7031 13.1036 13.6021 0.654754 0.638467 -0.255482 0.313532 +#29127 1721121507743 +SLAM 17.4551 13.8698 -16.2805 -0.573149 0.0708613 0.672292 0.463143 +TTool-pose None -30.8908 13.2332 13.6293 0.648997 0.644212 -0.252911 0.315828 +#29128 1721121507781 +SLAM 17.3197 13.8977 -16.5188 -0.577858 0.0674796 0.674248 0.454881 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0.656362 0.46858 +TTool-pose None -31.8875 13.3215 13.8186 0.64465 0.651427 -0.233125 0.325027 +#29135 1721121508026 +SLAM 19.2101 14.0028 -16.1479 -0.586559 0.0661321 0.654333 0.472676 +TTool-pose None -31.9864 13.3667 13.7774 0.641951 0.651427 -0.234646 0.329252 +#29136 1721121508062 +SLAM 19.4364 14.0233 -16.1037 -0.588747 0.064996 0.652568 0.472555 +TTool-pose None -32.0873 13.4077 13.8329 0.641953 0.652197 -0.231757 0.329768 +#29137 1721121508095 +SLAM 19.2736 13.9093 -16.3672 -0.586804 0.069103 0.654372 0.471893 +TTool-pose None -32.1104 13.4403 13.8097 0.643342 0.64913 -0.235255 0.330636 +#29138 1721121508131 +SLAM 19.6775 14.0884 -16.1513 -0.590013 0.0643314 0.650884 0.473388 +TTool-pose None -32.2851 13.4589 13.894 0.641247 0.652982 -0.229946 0.330856 +#29139 1721121508162 +SLAM 20.0205 14.1507 -15.9966 -0.592791 0.0617213 0.647449 0.474973 +TTool-pose None -32.4294 13.4686 13.94 0.639569 0.65538 -0.225681 0.332297 +#29140 1721121508192 +SLAM 19.8 14.0205 -16.3062 -0.590416 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-0.594865 0.0619754 0.647227 0.472643 +TTool-pose None -32.6832 13.6125 14.0806 0.64162 0.65438 -0.223607 0.331713 +#29147 1721121508432 +SLAM 20.1915 14.3193 -16.2309 -0.592125 0.0621103 0.647921 0.47511 +TTool-pose None -32.7146 13.6085 14.0388 0.639509 0.655157 -0.226564 0.332251 +#29148 1721121508463 +SLAM 20.2323 14.3564 -16.212 -0.592181 0.0615677 0.647444 0.47576 +TTool-pose None -32.7524 13.6031 14.0361 0.638864 0.655763 -0.226252 0.332507 +#29149 1721121508503 +SLAM 20.2412 14.394 -16.2187 -0.59238 0.0611188 0.647567 0.475402 +TTool-pose None -32.7756 13.6101 14.0455 0.639042 0.655937 -0.225946 0.332029 +#29150 1721121508537 +SLAM 19.8176 14.1776 -16.623 -0.59132 0.0662047 0.652185 0.469693 +TTool-pose None -32.6695 13.5981 14.0411 0.644707 0.650366 -0.229421 0.329645 +#29151 1721121508571 +SLAM 19.9891 14.3917 -16.4451 -0.58971 0.0633935 0.65038 0.474584 +TTool-pose None -32.7681 13.6059 14.0265 0.640046 0.654052 -0.22988 0.331111 +#29152 1721121508601 +SLAM 20.5473 14.6144 -15.978 -0.594908 0.0556422 0.644873 0.47658 +TTool-pose None -32.9099 13.5895 14.1218 0.636874 0.660093 -0.221229 0.331134 +#29153 1721121508635 +SLAM 20.0433 14.3144 -16.4429 -0.590777 0.0642705 0.649776 0.473965 +TTool-pose None -32.7592 13.6323 14.0224 0.640849 0.653252 -0.228932 0.331797 +#29154 1721121508665 +SLAM 20.1114 14.3614 -16.3839 -0.59199 0.0627203 0.64943 0.473132 +TTool-pose None -32.7714 13.635 14.0587 0.641197 0.654011 -0.227186 0.330826 +#29155 1721121508698 +SLAM 20.0334 14.394 -16.442 -0.591242 0.062776 0.65039 0.472743 +TTool-pose None -32.776 13.6256 14.0625 0.64145 0.653816 -0.228155 0.330054 +#29156 1721121508729 +SLAM 19.9185 14.2997 -16.5635 -0.591368 0.0647286 0.651946 0.470171 +TTool-pose None -32.7195 13.6585 14.0719 0.64396 0.651543 -0.228901 0.329141 +#29157 1721121508762 +SLAM 19.9562 14.266 -16.573 -0.592836 0.0645694 0.651935 0.468355 +TTool-pose None -32.7159 13.6735 14.1082 0.645449 0.651 -0.227362 0.328366 +#29158 1721121508799 +SLAM 14.6815 -24.3461 17.9997 0.136096 -0.491652 -0.483336 0.711437 +TTool-pose None -24.9888 -5.685 17.3573 -0.776467 0.547686 0.162564 0.265833 +#29159 1721121508838 +SLAM 19.998 14.4231 -16.5386 -0.591135 0.0631694 0.651524 0.471259 +TTool-pose None -32.8062 13.6673 14.0948 0.642694 0.652996 -0.228604 0.328943 +#29160 1721121508872 +SLAM 19.8597 14.4212 -16.6379 -0.58909 0.0647832 0.652892 0.471707 +TTool-pose None -32.7891 13.6797 14.0597 0.642584 0.652033 -0.231414 0.329103 +#29161 1721121508901 +SLAM 19.9563 14.4195 -16.5913 -0.590149 0.064134 0.651868 0.471889 +TTool-pose None -32.8194 13.6774 14.0718 0.64237 0.652561 -0.22995 0.329502 +#29162 1721121508934 +SLAM 19.9899 14.4197 -16.58 -0.590455 0.0639559 0.65154 0.471982 +TTool-pose None -32.8328 13.6785 14.0773 0.642278 0.652722 -0.229523 0.329659 +#29163 1721121508964 +SLAM 19.9968 14.4554 -16.5788 -0.589486 0.0640813 0.651213 0.473627 +TTool-pose None -32.8682 13.6747 14.0489 0.64095 0.653229 -0.230474 0.330576 +#29164 1721121508992 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1721121509179 +SLAM 20.338 14.6988 -16.3422 -0.59238 0.058234 0.648202 0.474899 +TTool-pose None -33.0394 13.6482 14.1281 0.638673 0.657693 -0.225237 0.329738 +#29171 1721121509212 +SLAM 20.1184 14.5005 -16.554 -0.592194 0.0622538 0.650888 0.47093 +TTool-pose None -32.9155 13.7043 14.1266 0.642801 0.653511 -0.227138 0.328726 +#29172 1721121509245 +SLAM 20.6309 14.8314 -16.1162 -0.595273 0.0539613 0.645485 0.475487 +TTool-pose None -33.1319 13.6386 14.1931 0.637307 0.660824 -0.220492 0.329328 +#29173 1721121509279 +SLAM 20.0544 14.5169 -16.6285 -0.590441 0.0631785 0.651163 0.472624 +TTool-pose None -32.9581 13.681 14.0905 0.641577 0.653485 -0.229237 0.329712 +#29174 1721121509312 +SLAM 20.0884 14.5496 -16.5951 -0.590788 0.062472 0.651032 0.472466 +TTool-pose None -32.9633 13.6919 14.1047 0.641546 0.653909 -0.228656 0.329335 +#29175 1721121509345 +SLAM 20.0083 14.4899 -16.6741 -0.589686 0.0643835 0.651625 0.472768 +TTool-pose None -32.9448 13.7047 14.0694 0.641713 0.65271 -0.230442 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-0.230758 0.331496 +#29182 1721121509601 +SLAM 20.0945 14.4841 -16.6411 -0.59054 0.0639204 0.650659 0.473095 +TTool-pose None -32.979 13.6984 14.0782 0.641414 0.653161 -0.229249 0.330663 +#29183 1721121509633 +SLAM 20.2795 14.6447 -16.4612 -0.59182 0.0601172 0.648935 0.474361 +TTool-pose None -33.0523 13.6748 14.1166 0.639544 0.656218 -0.226503 0.330124 +#29184 1721121509664 +SLAM 20.1192 14.4919 -16.6233 -0.590682 0.0636651 0.650215 0.473563 +TTool-pose None -32.9962 13.6857 14.07 0.640996 0.653509 -0.228942 0.330996 +#29185 1721121509697 +SLAM 20.4006 14.6949 -16.3666 -0.592211 0.0587861 0.647288 0.476286 +TTool-pose None -33.1116 13.6484 14.1059 0.637724 0.65783 -0.225379 0.331203 +#29186 1721121509728 +SLAM 20.1844 14.5216 -16.5454 -0.592278 0.0620567 0.649836 0.472302 +TTool-pose None -32.9849 13.6858 14.1053 0.641692 0.654156 -0.226785 0.329852 +#29187 1721121509764 +SLAM 20.3498 14.6667 -16.3909 -0.592313 0.0592617 0.647691 0.475552 +TTool-pose None -33.0853 13.6432 14.0939 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-32.9751 13.3573 13.8639 0.643004 0.653972 -0.226253 0.328022 +#29200 1721121510196 +SLAM 19.3634 14.6047 -16.8342 -0.588897 0.0633404 0.654457 0.469972 +TTool-pose None -32.9102 13.3578 13.8083 0.643531 0.652355 -0.231504 0.326541 +#29201 1721121510229 +SLAM 19.4887 14.6189 -16.7255 -0.589077 0.0628832 0.652232 0.472892 +TTool-pose None -32.9598 13.331 13.7487 0.641171 0.653756 -0.230747 0.328909 +#29202 1721121510261 +SLAM 19.595 14.7047 -16.6279 -0.589924 0.0607097 0.650802 0.47409 +TTool-pose None -33.0234 13.2853 13.7482 0.639748 0.655682 -0.228972 0.329087 +#29203 1721121510292 +SLAM 19.415 14.6249 -16.7485 -0.589084 0.0627574 0.652578 0.472424 +TTool-pose None -32.9549 13.2879 13.7248 0.641502 0.653667 -0.230773 0.328423 +#29204 1721121510323 +SLAM 19.4637 14.6734 -16.6941 -0.589363 0.061737 0.651735 0.473372 +TTool-pose None -32.9904 13.2608 13.708 0.640525 0.654713 -0.230026 0.32877 +#29205 1721121510356 +SLAM 19.4795 14.7391 -16.6395 -0.589585 0.0603889 0.651477 0.473626 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0.4753 +TTool-pose None -32.9946 13.1266 13.5784 0.638756 0.656194 -0.229082 0.329917 +#29212 1721121510584 +SLAM 19.1534 14.492 -16.845 -0.58813 0.0656249 0.65246 0.473384 +TTool-pose None -32.9183 13.1378 13.5282 0.641417 0.652068 -0.232539 0.330517 +#29213 1721121510617 +SLAM 19.3262 14.5886 -16.6893 -0.589699 0.0626295 0.650738 0.474207 +TTool-pose None -32.9661 13.1151 13.56 0.64014 0.654428 -0.229743 0.330283 +#29214 1721121510650 +SLAM 19.307 14.5232 -16.7345 -0.588962 0.06447 0.650653 0.474993 +TTool-pose None -32.9606 13.1376 13.523 0.639942 0.653463 -0.231001 0.331698 +#29215 1721121510681 +SLAM 19.0651 14.301 -16.9536 -0.589283 0.0683776 0.653428 0.470215 +TTool-pose None -32.8326 13.1706 13.5276 0.644682 0.649049 -0.232353 0.330237 +#29216 1721121510714 +SLAM 19.1229 14.5484 -16.809 -0.586486 0.0654587 0.652315 0.475642 +TTool-pose None -32.9222 13.1175 13.4869 0.63947 0.652983 -0.23412 0.331367 +#29217 1721121510747 +SLAM 18.8126 14.4177 -17.0187 -0.585926 0.0685197 0.656119 0.470643 +TTool-pose None -32.7804 13.1607 13.4938 0.644074 0.649037 -0.236322 0.328625 +#29218 1721121510780 +SLAM 18.7084 14.468 -17.0464 -0.583643 0.0689748 0.65678 0.472486 +TTool-pose None -32.7813 13.1362 13.4513 0.642547 0.649361 -0.238885 0.32912 +#29219 1721121510814 +SLAM 18.6175 14.478 -17.0722 -0.583311 0.0689496 0.657877 0.471372 +TTool-pose None -32.7422 13.1328 13.4564 0.643367 0.648953 -0.239428 0.327928 +#29220 1721121510847 +SLAM 18.6716 14.5508 -16.9886 -0.583559 0.0674465 0.657466 0.471857 +TTool-pose None -32.7467 13.1354 13.4651 0.642632 0.650158 -0.238669 0.327533 +#29221 1721121510883 +SLAM 18.6679 14.5477 -16.9796 -0.583278 0.0675106 0.657256 0.472487 +TTool-pose None -32.747 13.1203 13.4519 0.642135 0.650344 -0.238929 0.327951 +#29222 1721121510915 +SLAM 18.7769 14.6766 -16.843 -0.583028 0.0652538 0.656129 0.474674 +TTool-pose None -32.7845 13.1155 13.4512 0.639837 0.652679 -0.23831 0.328253 +#29223 1721121510954 +SLAM 18.9429 14.7867 -16.6616 -0.583711 0.0626219 0.654522 0.476404 +TTool-pose None -32.8091 13.1229 13.4644 0.637877 0.655115 -0.236541 0.328494 +#29224 1721121510987 +SLAM 18.7525 14.6352 -16.8399 -0.583688 0.0653496 0.656249 0.473682 +TTool-pose None -32.75 13.1022 13.4504 0.640694 0.652261 -0.237697 0.327855 +#29225 1721121511018 +SLAM 18.413 14.4961 -17.0897 -0.581677 0.0691921 0.659855 0.470592 +TTool-pose None -32.6415 13.1115 13.4325 0.643862 0.648452 -0.24153 0.3264 +#29226 1721121511052 +SLAM 18.5569 14.5813 -16.9449 -0.583478 0.0663854 0.658634 0.470476 +TTool-pose None -32.6596 13.1059 13.4664 0.643413 0.650356 -0.238676 0.325595 +#29227 1721121511087 +SLAM 18.6457 14.5501 -16.8864 -0.584592 0.0658907 0.657317 0.471005 +TTool-pose None -32.6733 13.0786 13.4621 0.642989 0.650918 -0.237153 0.326423 +#29228 1721121511120 +SLAM 18.3541 14.4023 -17.114 -0.582101 0.0702117 0.660075 0.469606 +TTool-pose None -32.5885 13.0906 13.416 0.644923 0.647402 -0.241434 0.326461 +#29229 1721121511153 +SLAM 18.8006 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1721121511366 +SLAM 18.3332 14.3794 -17.0623 -0.583274 0.069368 0.65935 0.469295 +TTool-pose None -32.5711 13.0075 13.3786 0.645066 0.647888 -0.239871 0.326365 +#29236 1721121511404 +SLAM 18.4235 14.4854 -16.932 -0.584222 0.0667376 0.658747 0.469344 +TTool-pose None -32.5735 13.0074 13.4063 0.644448 0.649712 -0.238047 0.325294 +#29237 1721121511438 +SLAM 18.292 14.4186 -17.0344 -0.583161 0.0686462 0.659773 0.468946 +TTool-pose None -32.5465 12.9964 13.3744 0.645137 0.648243 -0.239861 0.325527 +#29238 1721121511470 +SLAM 18.7161 14.6942 -16.6244 -0.583102 0.0636386 0.655122 0.476192 +TTool-pose None -32.6627 13.0229 13.3478 0.638248 0.654336 -0.237568 0.328586 +#29239 1721121511508 +SLAM 18.4175 14.4741 -16.9017 -0.584354 0.066669 0.658059 0.470153 +TTool-pose None -32.5757 12.963 13.3631 0.643822 0.650066 -0.237761 0.326035 +#29240 1721121511544 +SLAM 18.4781 14.5407 -16.8159 -0.585762 0.064527 0.657546 0.469417 +TTool-pose None -32.5838 12.9437 13.3837 0.643971 0.651272 -0.235624 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-0.238 0.325176 +#29247 1721121511767 +SLAM 18.6067 14.6981 -16.5707 -0.584018 0.0630408 0.653825 0.47693 +TTool-pose None -32.672 12.8672 13.1929 0.637607 0.655035 -0.236212 0.329413 +#29248 1721121511804 +SLAM 18.3585 14.5204 -16.8124 -0.585719 0.0648848 0.65641 0.47101 +TTool-pose None -32.6084 12.7956 13.2324 0.642834 0.651627 -0.235548 0.326474 +#29249 1721121511836 +SLAM 18.2906 14.4972 -16.8617 -0.585225 0.0654253 0.656898 0.470868 +TTool-pose None -32.6017 12.769 13.2248 0.643035 0.651197 -0.236298 0.326394 +#29250 1721121511880 +SLAM 18.0054 14.3969 -17.0703 -0.583007 0.0687568 0.65975 0.469153 +TTool-pose None -32.5309 12.7702 13.1938 0.644991 0.648242 -0.240044 0.325684 +#29251 1721121511912 +SLAM 18.2192 14.3603 -16.9465 -0.582957 0.0697694 0.656618 0.47344 +TTool-pose None -32.5811 12.8053 13.1132 0.641945 0.649162 -0.23977 0.330044 +#29252 1721121511944 +SLAM 18.3773 14.5423 -16.743 -0.583554 0.0660153 0.655361 0.474982 +TTool-pose None -32.6101 12.8127 13.1387 0.639847 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12.5448 13.0114 0.642015 0.652465 -0.234954 0.326841 +#29265 1721121512369 +SLAM 18.0724 14.5589 -16.7267 -0.587443 0.0623589 0.655838 0.469998 +TTool-pose None -32.56 12.5014 13.0331 0.643119 0.652993 -0.232964 0.325033 +#29266 1721121512403 +SLAM 17.8942 14.4379 -16.8807 -0.584758 0.0665719 0.656876 0.471318 +TTool-pose None -32.5302 12.51 12.9431 0.64294 0.650579 -0.237093 0.327237 +#29267 1721121512436 +SLAM 17.4593 14.1458 -17.2532 -0.585068 0.0716618 0.661325 0.463907 +TTool-pose None -32.397 12.4824 12.9401 0.649947 0.644345 -0.239078 0.32427 +#29268 1721121512467 +SLAM 18.1635 14.6906 -16.5438 -0.587786 0.0593577 0.65377 0.472831 +TTool-pose None -32.6041 12.4136 12.9773 0.640174 0.65608 -0.231337 0.325791 +#29269 1721121512500 +SLAM 18.0794 14.7093 -16.5628 -0.587599 0.0590485 0.654571 0.471992 +TTool-pose None -32.5818 12.3893 12.9724 0.640724 0.655971 -0.231595 0.324745 +#29270 1721121512532 +SLAM 17.7416 14.3171 -16.9581 -0.584021 0.0691891 0.656702 0.472096 +TTool-pose None -32.5057 12.4309 12.8217 0.64294 0.64908 -0.238549 0.329151 +#29271 1721121512564 +SLAM 17.6544 14.426 -16.9299 -0.585717 0.0658237 0.658594 0.467821 +TTool-pose None -32.4567 12.4031 12.9055 0.645528 0.649795 -0.236244 0.3243 +#29272 1721121512597 +SLAM 17.4909 14.1847 -17.1308 -0.584231 0.0714421 0.659231 0.467959 +TTool-pose None -32.4185 12.4112 12.813 0.646715 0.646005 -0.239469 0.327132 +#29273 1721121512632 +SLAM 17.5264 14.1872 -17.0988 -0.583491 0.0718844 0.6581 0.470399 +TTool-pose None -32.448 12.3884 12.76 0.644881 0.646603 -0.240122 0.329087 +#29274 1721121512666 +SLAM 17.7057 14.4497 -16.8434 -0.585219 0.0653448 0.656508 0.471429 +TTool-pose None -32.5042 12.3137 12.8186 0.642582 0.651461 -0.236204 0.326828 +#29275 1721121512697 +SLAM 17.3479 14.184 -17.1733 -0.585315 0.0702868 0.660114 0.465527 +TTool-pose None -32.4011 12.3031 12.8046 0.648388 0.645898 -0.238211 0.324938 +#29276 1721121512730 +SLAM 17.3269 14.0917 -17.2148 -0.583521 0.0735323 0.659402 0.468279 +TTool-pose None -32.4013 12.329 12.7117 0.646926 0.644688 -0.240809 0.328327 +#29277 1721121512765 +SLAM 17.6969 14.5592 -16.7426 -0.58853 0.060929 0.656653 0.467682 +TTool-pose None -32.4919 12.2265 12.8595 0.644626 0.653112 -0.231607 0.322769 +#29278 1721121512800 +SLAM 17.3334 14.1164 -17.155 -0.578959 0.0766661 0.658071 0.475259 +TTool-pose None -32.4086 12.3871 12.5574 0.64187 0.645046 -0.246019 0.333644 +#29279 1721121512832 +SLAM 17.3332 14.1048 -17.1713 -0.586151 0.0713306 0.658763 0.46623 +TTool-pose None -32.4142 12.2353 12.7091 0.6482 0.645478 -0.237402 0.326738 +#29280 1721121512865 +SLAM 17.4582 14.1909 -17.0518 -0.58338 0.0718216 0.656657 0.472559 +TTool-pose None -32.4694 12.2605 12.6236 0.643189 0.647452 -0.239934 0.330862 +#29281 1721121512896 +SLAM 17.4623 14.301 -16.9992 -0.588798 0.0657272 0.657832 0.465031 +TTool-pose None -32.4606 12.1687 12.7751 0.647934 0.648883 -0.232943 0.323714 +#29282 1721121512931 +SLAM 17.4845 14.2336 -17.0135 -0.586337 0.0688108 0.656773 0.469172 +TTool-pose None -32.4737 12.2044 12.6889 0.64532 0.648298 -0.236117 0.327785 +#29283 1721121512964 +SLAM 17.7123 14.3237 -16.832 -0.586099 0.0675005 0.653929 0.473613 +TTool-pose None -32.5382 12.2233 12.6478 0.641535 0.65084 -0.235421 0.330668 +#29284 1721121512993 +SLAM 17.6493 14.5149 -16.7957 -0.591884 0.059253 0.656139 0.464376 +TTool-pose None -32.5374 12.0744 12.8552 0.647026 0.653067 -0.22761 0.320894 +#29285 1721121513026 +SLAM 17.5112 14.1088 -17.0651 -0.584888 0.0724892 0.655564 0.47211 +TTool-pose None -32.4918 12.2395 12.6007 0.643852 0.646868 -0.238386 0.331831 +#29286 1721121513058 +SLAM 17.9649 14.5781 -16.5511 -0.586977 0.0620245 0.65176 0.476256 +TTool-pose None -32.6033 12.2187 12.6938 0.638143 0.655538 -0.232521 0.33 +#29287 1721121513098 +SLAM 17.9402 14.5377 -16.5994 -0.588013 0.061981 0.652102 0.474513 +TTool-pose None -32.6022 12.1957 12.7184 0.639582 0.654944 -0.231534 0.329087 +#29288 1721121513130 +SLAM 17.8387 14.3586 -16.7841 -0.589553 0.0642786 0.653041 0.470992 +TTool-pose None -32.5912 12.1663 12.7345 0.643048 0.652116 -0.230829 0.328441 +#29289 1721121513161 +SLAM 18.0395 14.4632 -16.6007 -0.588048 0.0635324 0.650858 0.47597 +TTool-pose None -32.6279 12.2315 12.6982 0.638856 0.654438 -0.231694 0.331383 +#29290 1721121513200 +SLAM 18.1032 14.5131 -16.5528 -0.588515 0.0622015 0.650367 0.47624 +TTool-pose None -32.6532 12.2229 12.7225 0.638341 0.655445 -0.230738 0.331053 +#29291 1721121513232 +SLAM 17.8897 14.3146 -16.81 -0.589174 0.065659 0.652916 0.471449 +TTool-pose None -32.5957 12.2312 12.7442 0.643019 0.651346 -0.231585 0.329494 +#29292 1721121513264 +SLAM 17.806 14.1574 -16.9649 -0.587498 0.069967 0.653349 0.47232 +TTool-pose None -32.5887 12.2677 12.6918 0.643297 0.648719 -0.234596 0.331996 +#29293 1721121513302 +SLAM 18.0138 14.3941 -16.7343 -0.589134 0.064403 0.651837 0.473162 +TTool-pose None -32.6486 12.2491 12.7579 0.641363 0.652832 -0.231048 0.330158 +#29294 1721121513337 +SLAM 17.87 14.214 -16.9261 -0.585903 0.0702376 0.652637 0.475237 +TTool-pose None -32.6263 12.301 12.6678 0.640956 0.649584 -0.236138 0.333736 +#29295 1721121513370 +SLAM 17.9607 14.3938 -16.7923 -0.587606 0.065502 0.652389 0.47415 +TTool-pose None -32.6581 12.259 12.7458 0.640743 0.652424 -0.233019 0.330782 +#29296 1721121513402 +SLAM 17.8662 14.2753 -16.9122 -0.586881 0.0684365 0.653125 0.473619 +TTool-pose None -32.6333 12.2821 12.7112 0.641843 0.650226 -0.234739 0.331761 +#29297 1721121513436 +SLAM 17.8394 14.2518 -16.9419 -0.586433 0.0693538 0.653369 0.473703 +TTool-pose None -32.626 12.2994 12.6962 0.641971 0.649625 -0.2355 0.33215 +#29298 1721121513468 +SLAM 17.8737 14.2979 -16.9002 -0.58702 0.0683673 0.653399 0.473079 +TTool-pose None -32.6242 12.322 12.7135 0.642257 0.650075 -0.234634 0.331331 +#29299 1721121513501 +SLAM 17.9637 14.4125 -16.8028 -0.59052 0.0632724 0.652933 0.470065 +TTool-pose None -32.6628 12.2245 12.8164 0.643589 0.652469 -0.229539 0.327584 +#29300 1721121513533 +SLAM 17.9925 14.4789 -16.7508 -0.587585 0.0640811 0.652349 0.474424 +TTool-pose None -32.6823 12.2602 12.764 0.64016 0.653485 -0.232622 0.330095 +#29301 1721121513564 +SLAM 17.8705 14.2313 -16.9455 -0.585747 0.0704248 0.652785 0.475197 +TTool-pose None -32.6439 12.3199 12.6651 0.64102 0.649439 -0.236379 0.333725 +#29302 1721121513596 +SLAM 17.9403 14.4066 -16.8178 -0.587808 0.0653547 0.652667 0.473536 +TTool-pose None -32.6712 12.2535 12.7488 0.641199 0.6523 -0.232829 0.330276 +#29303 1721121513628 +SLAM 17.645 14.0943 -17.1406 -0.586526 0.0726426 0.655618 0.469973 +TTool-pose None -32.5624 12.3333 12.6913 0.645696 0.646004 -0.236785 0.331078 +#29304 1721121513660 +SLAM 18.104 14.5663 -16.6373 -0.588454 0.0620116 0.651147 0.475273 +TTool-pose None -32.7168 12.2518 12.7663 0.639039 0.655214 -0.230904 0.330046 +#29305 1721121513696 +SLAM 17.9641 14.442 -16.7849 -0.590145 0.0630883 0.652775 0.47078 +TTool-pose None -32.672 12.221 12.7991 0.642955 0.652853 -0.229833 0.327858 +#29306 1721121513728 +SLAM 17.7257 14.3838 -16.9555 -0.585929 0.0670611 0.65507 0.472306 +TTool-pose None -32.6242 12.256 12.7405 0.642417 0.650646 -0.235694 0.329138 +#29307 1721121513759 +SLAM 17.6435 14.1132 -17.1386 -0.584544 0.0735835 0.654799 0.473426 +TTool-pose None -32.6028 12.3082 12.6288 0.643078 0.646608 -0.238889 0.333478 +#29308 1721121513794 +SLAM 17.7878 14.3431 -16.9454 -0.590046 0.0649724 0.65452 0.468217 +TTool-pose None -32.6387 12.1966 12.7957 0.645412 0.65062 -0.230821 0.326772 +#29309 1721121513830 +SLAM 18.0994 14.6215 -16.5831 -0.589035 0.0605415 0.651264 0.474581 +TTool-pose None -32.7024 12.2366 12.7746 0.639243 0.65596 -0.229915 0.328857 +#29310 1721121513865 +SLAM 17.841 14.4319 -16.8548 -0.590704 0.0627429 0.654084 0.468302 +TTool-pose None -32.6483 12.1759 12.8151 0.644826 0.65217 -0.229425 0.32582 +#29311 1721121513898 +SLAM 17.848 14.4694 -16.8243 -0.588612 0.06364 0.653731 0.471298 +TTool-pose None -32.6561 12.2061 12.7658 0.64256 0.652641 -0.231735 0.327714 +#29312 1721121513930 +SLAM 17.7363 14.321 -16.9562 -0.58806 0.0671643 0.654743 0.470091 +TTool-pose None -32.608 12.2515 12.7264 0.644353 0.649797 -0.233506 0.328589 +#29313 1721121513960 +SLAM 18.0427 14.6286 -16.5973 -0.588767 0.0605444 0.651572 0.474491 +TTool-pose None -32.6955 12.2106 12.7554 0.63929 0.65592 -0.230248 0.328613 +#29314 1721121513994 +SLAM 17.4382 14.3132 -17.1067 -0.585759 0.0687362 0.658177 0.467937 +TTool-pose None -32.5232 12.2533 12.7231 0.646193 0.64787 -0.236953 0.326305 +#29315 1721121514026 +SLAM 17.5101 14.2762 -17.0895 -0.586482 0.0688342 0.656815 0.46893 +TTool-pose None -32.5613 12.2176 12.7011 0.645526 0.648195 -0.235985 0.327679 +#29316 1721121514054 +SLAM 17.5957 14.257 -17.0492 -0.586651 0.069142 0.655257 0.470849 +TTool-pose None -32.5993 12.2009 12.6609 0.644144 0.64871 -0.235596 0.329655 +#29317 1721121514088 +SLAM 17.5277 14.2862 -17.0604 -0.590337 0.0658711 0.656873 0.464415 +TTool-pose None -32.5566 12.15 12.7622 0.648587 0.648588 -0.231235 0.324223 +#29318 1721121514118 +SLAM 17.9123 14.7318 -16.582 -0.590216 0.0573324 0.653053 0.471041 +TTool-pose None -32.6654 12.1231 12.7929 0.641242 0.656826 -0.228144 0.324437 +#29319 1721121514149 +SLAM 17.5647 14.3607 -16.9812 -0.586304 0.0673888 0.655674 0.470954 +TTool-pose None -32.5826 12.1863 12.6602 0.64358 0.649928 -0.23553 0.3284 +#29320 1721121514183 +SLAM 17.4947 14.294 -17.0534 -0.587397 0.0677284 0.656321 0.468638 +TTool-pose None -32.567 12.1516 12.6739 0.645554 0.648855 -0.234647 0.327275 +#29321 1721121514215 +SLAM 17.6847 14.5302 -16.7914 -0.586683 0.0636569 0.654384 0.472793 +TTool-pose None -32.6085 12.1515 12.6717 0.64123 0.653145 -0.23382 0.327836 +#29322 1721121514253 +SLAM 17.4087 14.2585 -17.0872 -0.584043 0.0709055 0.656494 0.472104 +TTool-pose None -32.5411 12.1934 12.5764 0.643374 0.64792 -0.238973 0.33028 +#29323 1721121514283 +SLAM 17.5868 14.5933 -16.782 -0.586813 0.0625325 0.655781 0.470841 +TTool-pose None -32.5623 12.1538 12.6831 0.642455 0.653177 -0.233641 0.32549 +#29324 1721121514321 +SLAM 17.1262 14.1122 -17.2982 -0.583475 0.0740211 0.659281 0.46843 +TTool-pose None -32.4614 12.1814 12.5562 0.646929 0.644411 -0.24097 0.328746 +#29325 1721121514353 +SLAM 17.7154 14.6815 -16.6355 -0.586352 0.0610246 0.653739 0.47444 +TTool-pose None -32.6071 12.1253 12.6406 0.639234 0.655525 -0.233262 0.32738 +#29326 1721121514383 +SLAM 17.4623 14.5058 -16.8951 -0.586875 0.0637544 0.656085 0.470177 +TTool-pose None -32.573 12.06 12.6444 0.643292 0.652106 -0.23399 0.325735 +#29327 1721121514414 +SLAM 17.6866 14.7426 -16.5923 -0.585284 0.0606756 0.653856 0.47564 +TTool-pose None -32.5968 12.1269 12.6101 0.63811 0.656181 -0.23426 0.327547 +#29328 1721121514448 +SLAM 17.1146 14.2155 -17.2227 -0.584299 0.0711752 0.659018 0.468213 +TTool-pose None -32.4775 12.0941 12.5563 0.646459 0.646284 -0.239283 0.327222 +#29329 1721121514486 +SLAM 17.4524 14.4665 -16.8765 -0.588955 0.0629649 0.655833 0.468028 +TTool-pose None -32.5506 12.0162 12.6395 0.644935 0.65188 -0.231606 0.32464 +#29330 1721121514518 +SLAM 17.4786 14.6272 -16.7461 -0.586542 0.0616254 0.655554 0.471614 +TTool-pose None -32.5509 12.0412 12.6076 0.641596 0.654071 -0.233607 0.325414 +#29331 1721121514558 +SLAM 17.2304 14.3745 -17.0177 -0.585347 0.0675895 0.657634 0.46938 +TTool-pose None -32.4859 12.0712 12.5405 0.64475 0.649179 -0.236937 0.326568 +#29332 1721121514593 +SLAM 17.0746 14.2484 -17.1617 -0.583553 0.0710513 0.658496 0.469894 +TTool-pose None -32.4632 12.055 12.4808 0.645064 0.64698 -0.239901 0.328146 +#29333 1721121514627 +SLAM 17.2589 14.3816 -16.9604 -0.581362 0.0704762 0.655903 0.47628 +TTool-pose None -32.5098 12.0987 12.3933 0.639768 0.649699 -0.24143 0.332002 +#29334 1721121514663 +SLAM 17.2982 14.5794 -16.821 -0.586497 0.0625002 0.656608 0.470086 +TTool-pose None -32.5112 11.9769 12.5503 0.642999 0.652908 -0.234113 0.324616 +#29335 1721121514697 +SLAM 17.2275 14.5556 -16.8581 -0.585739 0.0637248 0.657209 0.470026 +TTool-pose None -32.487 11.9956 12.518 0.643291 0.652042 -0.23535 0.324883 +#29336 1721121514733 +SLAM 17.0473 14.3456 -17.0668 -0.584795 0.0685145 0.658462 0.468773 +TTool-pose None -32.4463 12.0053 12.4579 0.6454 0.64831 -0.237919 0.326296 +#29337 1721121514766 +SLAM 17.3101 14.6331 -16.7401 -0.586227 0.061591 0.655718 0.471782 +TTool-pose None -32.5193 11.934 12.4985 0.641427 0.65415 -0.233948 0.325344 +#29338 1721121514800 +SLAM 16.9239 14.2799 -17.142 -0.584311 0.0699505 0.659267 0.468032 +TTool-pose None -32.4155 11.9784 12.4237 0.646287 0.647046 -0.238972 0.326281 +#29339 1721121514834 +SLAM 17.2429 14.5916 -16.7741 -0.587643 0.0614664 0.656264 0.469272 +TTool-pose None -32.492 11.9058 12.4952 0.643463 0.653327 -0.232587 0.32395 +#29340 1721121514869 +SLAM 16.8918 14.3246 -17.1168 -0.583982 0.0692464 0.659154 0.468706 +TTool-pose None -32.4226 11.9369 12.3969 0.645558 0.647768 -0.239083 0.32621 +#29341 1721121514899 +SLAM 17.2343 14.6115 -16.7372 -0.586398 0.0620552 0.655702 0.47153 +TTool-pose None -32.4939 11.9004 12.4325 0.641759 0.653747 -0.233906 0.325529 +#29342 1721121514934 +SLAM 16.7787 14.1555 -17.255 -0.584262 0.0719412 0.659314 0.467726 +TTool-pose None -32.415 11.8756 12.3505 0.647022 0.645579 -0.239594 0.327271 +#29343 1721121514965 +SLAM 16.7689 14.139 -17.249 -0.581429 0.074402 0.658688 0.471737 +TTool-pose None -32.4151 11.9097 12.2669 0.644278 0.645339 -0.243025 0.330616 +#29344 1721121514997 +SLAM 16.9421 14.3788 -17.0175 -0.588308 0.0647683 0.658193 0.465276 +TTool-pose None -32.4397 11.8041 12.4315 0.647452 0.649611 -0.233235 0.323006 +#29345 1721121515027 +SLAM 17.1031 14.5804 -16.7827 -0.585083 0.0632036 0.655894 0.472742 +TTool-pose None -32.4835 11.8257 12.357 0.640998 0.653394 -0.235603 0.326513 +#29346 1721121515061 +SLAM 16.7509 14.2863 -17.1403 -0.583737 0.0700217 0.659208 0.46882 +TTool-pose None -32.3986 11.8508 12.3024 0.645644 0.647279 -0.239561 0.326659 +#29347 1721121515093 +SLAM 16.7274 14.1773 -17.2095 -0.584077 0.0715583 0.658617 0.468996 +TTool-pose None -32.4153 11.7986 12.2706 0.645934 0.646313 -0.239539 0.328015 +#29348 1721121515125 +SLAM 16.6857 14.1976 -17.2119 -0.582897 0.0720252 0.658751 0.470203 +TTool-pose None -32.4141 11.7932 12.2393 0.645007 0.646418 -0.240889 0.328642 +#29349 1721121515162 +SLAM 16.5095 14.0962 -17.3409 -0.585528 0.0720038 0.661088 0.463611 +TTool-pose None -32.3446 11.7657 12.2897 0.650306 0.644013 -0.238662 0.324517 +#29350 1721121515191 +SLAM 16.5967 14.1523 -17.2606 -0.584059 0.0719222 0.659304 0.467996 +TTool-pose None -32.3966 11.7379 12.2307 0.646791 0.645689 -0.239792 0.327369 +#29351 1721121515225 +SLAM 16.7442 14.333 -17.0565 -0.586284 0.0670976 0.65824 0.467429 +TTool-pose None -32.4102 11.7231 12.2704 0.646212 0.6488 -0.235965 0.325129 +#29352 1721121515256 +SLAM 16.9696 14.4553 -16.8326 -0.584268 0.0663585 0.65488 0.47472 +TTool-pose None -32.471 11.7395 12.179 0.640208 0.65198 -0.237129 0.329769 +#29353 1721121515287 +SLAM 16.8324 14.4016 -16.9268 -0.58119 0.0695357 0.655737 0.476856 +TTool-pose None -32.4486 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None -32.3741 11.5659 12.0988 0.647068 0.646208 -0.23807 0.327053 +#29360 1721121515518 +SLAM 16.2932 14.0131 -17.3414 -0.581613 0.0763087 0.659224 0.470455 +TTool-pose None -32.3361 11.6139 11.9853 0.645759 0.643566 -0.243479 0.330849 +#29361 1721121515550 +SLAM 16.5367 14.4481 -16.9531 -0.587627 0.0635082 0.658342 0.466098 +TTool-pose None -32.3709 11.5168 12.1558 0.64643 0.650756 -0.233594 0.322489 +#29362 1721121515585 +SLAM 16.3378 14.1159 -17.2268 -0.581482 0.0743654 0.658321 0.472189 +TTool-pose None -32.3482 11.5756 11.9566 0.643926 0.645535 -0.242889 0.331019 +#29363 1721121515621 +SLAM 16.5285 14.4541 -16.9193 -0.587887 0.0631903 0.65779 0.466591 +TTool-pose None -32.3707 11.4793 12.1156 0.645994 0.651162 -0.233132 0.322875 +#29364 1721121515655 +SLAM 16.1992 14.0406 -17.3408 -0.589032 0.0699206 0.660359 0.46052 +TTool-pose None -32.3222 11.4182 12.0855 0.652469 0.644339 -0.23437 0.32265 +#29365 1721121515687 +SLAM 16.3382 14.2678 -17.1131 -0.587436 0.0669824 0.658843 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-0.58392 0.0733756 0.659534 0.467621 +TTool-pose None -32.2709 11.0872 11.6199 0.647431 0.644556 -0.240387 0.327898 +#29384 1721121516321 +SLAM 15.7725 14.2551 -17.1211 -0.584708 0.0690256 0.658736 0.468421 +TTool-pose None -32.2719 11.0879 11.6261 0.645792 0.64783 -0.238206 0.326266 +#29385 1721121516355 +SLAM 15.676 14.0321 -17.3019 -0.583683 0.0736413 0.658415 0.469448 +TTool-pose None -32.2864 11.037 11.5618 0.646074 0.645058 -0.240485 0.329514 +#29386 1721121516392 +SLAM 15.7872 14.2253 -17.1216 -0.58678 0.0676004 0.6577 0.467494 +TTool-pose None -32.3088 10.9712 11.6199 0.64634 0.648497 -0.235502 0.325816 +#29387 1721121516426 +SLAM 15.6054 14.0214 -17.3024 -0.583173 0.0742107 0.658482 0.469897 +TTool-pose None -32.267 11.0081 11.5093 0.645821 0.644826 -0.241173 0.329961 +#29388 1721121516458 +SLAM 15.6055 14.037 -17.2761 -0.583816 0.0733962 0.658198 0.469625 +TTool-pose None -32.2689 10.9753 11.4981 0.64589 0.645294 -0.24024 0.329591 +#29389 1721121516489 +SLAM 15.6638 14.0309 -17.2337 -0.586856 0.0712806 0.657398 0.467276 +TTool-pose None -32.2816 10.9184 11.5142 0.647454 0.645924 -0.236412 0.328051 +#29390 1721121516520 +SLAM 15.5577 14.0042 -17.2863 -0.584029 0.0737272 0.657903 0.469721 +TTool-pose None -32.2652 10.9221 11.455 0.645921 0.645111 -0.240061 0.33002 +#29391 1721121516552 +SLAM 15.5337 14.0017 -17.2855 -0.583893 0.0738166 0.657723 0.470128 +TTool-pose None -32.2673 10.894 11.4296 0.645617 0.645199 -0.240188 0.330349 +#29392 1721121516586 +SLAM 15.2848 13.891 -17.4858 -0.588234 0.072417 0.661193 0.459957 +TTool-pose None -32.2126 10.8214 11.5251 0.653452 0.642411 -0.236041 0.323285 +#29393 1721121516619 +SLAM 15.4362 13.9275 -17.344 -0.584246 0.0748856 0.65791 0.469258 +TTool-pose None -32.2532 10.8398 11.3826 0.646588 0.644155 -0.240168 0.330502 +#29394 1721121516652 +SLAM 15.6537 14.1906 -17.0582 -0.587904 0.0670872 0.656018 0.468517 +TTool-pose None -32.2928 10.7665 11.44 0.64553 0.649256 -0.233891 0.327071 +#29395 1721121516686 +SLAM 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None -32.0364 9.28712 9.99552 0.644226 0.644758 -0.238046 0.335441 +#29437 1721121518087 +SLAM 13.736 13.8987 -17.1078 -0.587057 0.0712871 0.65292 0.473263 +TTool-pose None -32.0247 9.24655 9.98248 0.642861 0.648165 -0.23533 0.333402 +#29438 1721121518121 +SLAM 13.6142 13.7288 -17.2612 -0.585552 0.0755779 0.653212 0.474058 +TTool-pose None -32.0206 9.22106 9.9291 0.643183 0.645509 -0.238116 0.335946 +#29439 1721121518154 +SLAM 13.6606 13.6857 -17.2348 -0.585697 0.0762924 0.651756 0.475765 +TTool-pose None -32.0307 9.18324 9.87951 0.642049 0.645659 -0.237874 0.337995 +#29440 1721121518186 +SLAM 13.6276 13.8874 -17.0801 -0.585544 0.0724744 0.65221 0.475928 +TTool-pose None -32 9.15724 9.86151 0.640952 0.648314 -0.237046 0.335567 +#29441 1721121518220 +SLAM 13.634 13.8626 -17.089 -0.586686 0.0720164 0.651577 0.475458 +TTool-pose None -32.0198 9.10108 9.8448 0.641308 0.648476 -0.235638 0.335565 +#29442 1721121518253 +SLAM 13.4935 13.7237 -17.2024 -0.584866 0.0761289 0.652012 0.476463 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0.650551 0.483485 +TTool-pose None -31.9513 8.90082 9.50149 0.635633 0.648107 -0.242801 0.341914 +#29449 1721121518488 +SLAM 13.2119 13.609 -17.2896 -0.588974 0.0748669 0.651883 0.471755 +TTool-pose None -31.978 8.80693 9.6138 0.645105 0.645211 -0.234194 0.335591 +#29450 1721121518521 +SLAM 13.1961 13.6971 -17.2287 -0.587737 0.0740289 0.651527 0.473917 +TTool-pose None -31.984 8.77065 9.57749 0.643107 0.646559 -0.235136 0.336172 +#29451 1721121518553 +SLAM 13.1355 13.5247 -17.3497 -0.590336 0.0754658 0.651778 0.470099 +TTool-pose None -31.9772 8.73837 9.56781 0.646656 0.644214 -0.232961 0.335379 +#29452 1721121518587 +SLAM 13.037 13.6155 -17.3108 -0.587671 0.0756819 0.652354 0.472599 +TTool-pose None -31.9553 8.72438 9.51737 0.644537 0.644943 -0.235835 0.336049 +#29453 1721121518621 +SLAM 12.9449 13.6739 -17.2936 -0.585124 0.0763747 0.652627 0.475263 +TTool-pose None -31.9446 8.69469 9.46277 0.642406 0.645405 -0.238651 0.337254 +#29454 1721121518655 +SLAM 12.9419 13.5349 -17.3794 -0.58699 0.0777222 0.651983 0.473625 +TTool-pose None -31.9627 8.65148 9.44288 0.644185 0.643919 -0.237018 0.337851 +#29455 1721121518686 +SLAM 12.8954 13.5239 -17.3733 -0.586037 0.0786147 0.651837 0.474856 +TTool-pose None -31.9462 8.63111 9.39896 0.643361 0.643747 -0.238197 0.33892 +#29456 1721121518727 +SLAM 12.8557 13.7219 -17.2626 -0.586353 0.0744878 0.652633 0.474037 +TTool-pose None -31.9387 8.59859 9.40419 0.643002 0.646262 -0.236885 0.335717 +#29457 1721121518760 +SLAM 12.787 14.0253 -17.0368 -0.58103 0.0729769 0.652733 0.480644 +TTool-pose None -31.8974 8.61341 9.29862 0.636969 0.649606 -0.241822 0.337241 +#29458 1721121518793 +SLAM 12.5554 14.0943 -17.0629 -0.573359 0.0770568 0.653954 0.487511 +TTool-pose None -31.8632 8.59882 9.19884 0.631817 0.649138 -0.250852 0.341218 +#29459 1721121518823 +SLAM 12.7384 14.052 -17.0499 -0.584226 0.0696921 0.653167 0.47665 +TTool-pose None -31.9147 8.5178 9.32013 0.639561 0.650439 -0.237777 0.333584 +#29460 1721121518856 +SLAM 12.6975 13.9014 -17.1393 -0.585047 0.0720815 0.653042 0.475458 +TTool-pose None -31.9014 8.50689 9.29169 0.641171 0.648395 -0.237604 0.334593 +#29461 1721121518893 +SLAM 12.6515 13.5494 -17.4118 -0.58791 0.0765327 0.652932 0.471364 +TTool-pose None -31.9317 8.46395 9.30826 0.645726 0.643909 -0.235946 0.335671 +#29462 1721121518926 +SLAM 12.6125 14.0297 -17.0798 -0.583958 0.070247 0.653621 0.476275 +TTool-pose None -31.8939 8.45905 9.26158 0.639968 0.649918 -0.238297 0.333448 +#29463 1721121518956 +SLAM 12.4735 14.2283 -16.9962 -0.581102 0.0685769 0.655156 0.477899 +TTool-pose None -31.8647 8.45612 9.22571 0.637999 0.651579 -0.240997 0.332033 +#29464 1721121518986 +SLAM 12.5901 13.9979 -17.0979 -0.587569 0.0681883 0.653721 0.471976 +TTool-pose None -31.8951 8.40366 9.26249 0.643115 0.649797 -0.234092 0.330591 +#29465 1721121519018 +SLAM 12.4814 13.7655 -17.3005 -0.585749 0.0739207 0.653925 0.473092 +TTool-pose None -31.9017 8.38708 9.22563 0.643536 0.646282 -0.237595 0.334148 +#29466 1721121519056 +SLAM 12.5496 13.7893 -17.2435 -0.588886 0.0711549 0.653205 0.47061 +TTool-pose None -31.9104 8.35108 9.23327 0.645048 0.647305 -0.2335 0.332131 +#29467 1721121519094 +SLAM 12.4665 13.5496 -17.4328 -0.589125 0.0754998 0.653301 0.469499 +TTool-pose None -31.9171 8.32453 9.21033 0.64702 0.643942 -0.2345 0.334125 +#29468 1721121519126 +SLAM 12.3541 14.3289 -16.9261 -0.58174 0.0659862 0.655179 0.477456 +TTool-pose None -31.8523 8.33753 9.1447 0.637741 0.653185 -0.239621 0.330366 +#29469 1721121519154 +SLAM 12.437 13.9648 -17.1405 -0.588655 0.0678363 0.653861 0.470478 +TTool-pose None -31.8898 8.27785 9.17985 0.644282 0.6495 -0.232921 0.329728 +#29470 1721121519185 +SLAM 12.3312 13.7873 -17.2744 -0.58347 0.0751108 0.653214 0.47669 +TTool-pose None -31.8875 8.26165 9.08202 0.640825 0.646755 -0.240079 0.336661 +#29471 1721121519222 +SLAM 12.2674 13.8753 -17.227 -0.583906 0.0730635 0.654031 0.475352 +TTool-pose None -31.8666 8.24426 9.07317 0.641392 0.647662 -0.23923 0.334432 +#29472 1721121519258 +SLAM 12.3147 13.8152 -17.2359 -0.587211 0.0717998 0.653415 0.47231 +TTool-pose None -31.8753 8.21184 9.07926 0.643743 0.647465 -0.235418 0.332996 +#29473 1721121519287 +SLAM 12.1497 14.2977 -16.9734 -0.581211 0.0668754 0.655546 0.477473 +TTool-pose None -31.8329 8.21555 9.03198 0.637904 0.652576 -0.240481 0.330629 +#29474 1721121519326 +SLAM 12.2525 13.7916 -17.263 -0.588948 0.0709154 0.653911 0.469587 +TTool-pose None -31.8658 8.17514 9.06904 0.645782 0.647087 -0.233509 0.331122 +#29475 1721121519363 +SLAM 12.1765 13.913 -17.1921 -0.584186 0.0720884 0.653936 0.475286 +TTool-pose None -31.8513 8.16419 9.00202 0.641225 0.648306 -0.238653 0.333915 +#29476 1721121519396 +SLAM 12.1269 14.0705 -17.1195 -0.584585 0.0685683 0.654857 0.474047 +TTool-pose None -31.8493 8.13546 9.01525 0.641328 0.650242 -0.237437 0.330802 +#29477 1721121519426 +SLAM 12.0917 13.7598 -17.3254 -0.586289 0.0734019 0.654346 0.47192 +TTool-pose None -31.8564 8.11378 8.99018 0.644363 0.646211 -0.236987 0.333122 +#29478 1721121519455 +SLAM 12.0822 13.4142 -17.5482 -0.586022 0.0801866 0.653036 0.472961 +TTool-pose None -31.8826 8.08539 8.9544 0.645217 0.641969 -0.238891 0.338275 +#29479 1721121519483 +SLAM 12.0534 14.1017 -17.0921 -0.583298 0.0688753 0.654601 0.475938 +TTool-pose None -31.8392 8.07853 8.94701 0.639816 0.650706 -0.238768 0.331861 +#29480 1721121519520 +SLAM 12.043 13.6984 -17.3605 -0.586198 0.0745358 0.653886 0.472493 +TTool-pose None -31.8579 8.05587 8.94325 0.644196 0.645651 -0.237307 0.334301 +#29481 1721121519554 +SLAM 12.0895 13.9445 -17.1834 -0.589283 0.0674782 0.654353 0.469056 +TTool-pose None -31.8538 8.03791 8.97974 0.645344 0.649224 -0.232279 0.328646 +#29482 1721121519592 +SLAM 11.92 14.2922 -16.9888 -0.580106 0.0675727 0.655536 0.478732 +TTool-pose None -31.8097 8.0519 8.88225 0.636994 0.652541 -0.241785 0.331501 +#29483 1721121519630 +SLAM 11.9688 13.9023 -17.2244 -0.585419 0.0711913 0.654614 0.472966 +TTool-pose None -31.8276 8.02921 8.90611 0.642914 0.648082 -0.237294 0.332067 +#29484 1721121519668 +SLAM 11.9552 13.9769 -17.1465 -0.582157 0.0724961 0.653896 0.477763 +TTool-pose None -31.8154 8.03086 8.83146 0.639205 0.648898 -0.240798 0.335097 +#29485 1721121519696 +SLAM 11.9214 13.8556 -17.2676 -0.585366 0.0721074 0.654726 0.472737 +TTool-pose None -31.8267 8.00661 8.88643 0.643317 0.647374 -0.237629 0.332427 +#29486 1721121519730 +SLAM 11.9613 14.0044 -17.1459 -0.585694 0.0689862 0.654422 0.473218 +TTool-pose None -31.8275 7.99082 8.88262 0.642184 0.649677 -0.236352 0.331032 +#29487 1721121519758 +SLAM 11.957 14.0258 -17.1342 -0.588717 0.0662729 0.655098 0.4689 +TTool-pose None -31.8177 7.98779 8.91673 0.645102 0.649968 -0.232654 0.327382 +#29488 1721121519792 +SLAM 11.9726 13.8992 -17.2031 -0.586138 0.0705888 0.653727 0.473392 +TTool-pose None -31.8382 7.96235 8.86814 0.642499 0.648666 -0.236221 0.332494 +#29489 1721121519830 +SLAM 11.9419 13.6358 -17.3787 -0.587285 0.0748679 0.653398 0.471764 +TTool-pose None -31.8422 7.95297 8.8532 0.644944 0.645178 -0.236205 0.334553 +#29490 1721121519865 +SLAM 11.7519 14.1427 -17.1078 -0.580086 0.0703365 0.655831 0.477954 +TTool-pose None -31.7892 7.96541 8.80225 0.638304 0.65038 -0.242653 0.332592 +#29491 1721121519893 +SLAM 11.9087 13.7841 -17.2746 -0.586227 0.0727653 0.653641 0.473071 +TTool-pose None -31.8254 7.93496 8.8267 0.643307 0.647071 -0.23673 0.333677 +#29492 1721121519922 +SLAM 11.8305 13.8834 -17.2183 -0.582645 0.0735178 0.653936 0.476956 +TTool-pose None -31.8051 7.92911 8.77535 0.640139 0.647917 -0.240604 0.335353 +#29493 1721121519952 +SLAM 11.8584 13.5986 -17.3993 -0.587218 0.0755291 0.653504 0.471597 +TTool-pose None -31.8236 7.90605 8.80585 0.645232 0.644664 -0.236479 0.334794 +#29494 1721121519987 +SLAM 11.7775 13.885 -17.2192 -0.582166 0.0740301 0.653834 0.477602 +TTool-pose None -31.8008 7.89977 8.72661 0.639718 0.647796 -0.241209 0.335955 +#29495 1721121520023 +SLAM 11.7812 14.1411 -17.0732 -0.583558 0.067606 0.654703 0.475662 +TTool-pose None -31.8086 7.86377 8.77367 0.639731 0.651469 -0.238165 0.33096 +#29496 1721121520060 +SLAM 11.7467 13.8952 -17.2015 -0.582074 0.0738509 0.653685 0.477945 +TTool-pose None -31.7922 7.86881 8.69628 0.639397 0.648043 -0.24122 0.336084 +#29497 1721121520094 +SLAM 11.7766 13.4014 -17.5213 -0.586761 0.0795453 0.652756 0.472539 +TTool-pose None -31.8235 7.83715 8.73557 0.645455 0.642267 -0.237912 0.337946 +#29498 1721121520122 +SLAM 11.8134 13.6769 -17.3316 -0.588769 0.0727278 0.653168 0.470568 +TTool-pose None -31.8212 7.81341 8.7548 0.645467 0.646219 -0.234056 0.333039 +#29499 1721121520154 +SLAM 11.6205 14.0028 -17.1809 -0.580977 0.0721209 0.654886 0.477901 +TTool-pose None -31.7826 7.8129 8.68627 0.638887 0.649174 -0.242075 0.334248 +#29500 1721121520186 +SLAM 11.72 13.6092 -17.3811 -0.58719 0.0752255 0.653292 0.471973 +TTool-pose None -31.8024 7.79016 8.70049 0.644863 0.64501 -0.23638 0.334908 +#29501 1721121520220 +SLAM 11.7248 13.8591 -17.213 -0.588052 0.0696922 0.653718 0.471159 +TTool-pose None -31.7964 7.76388 8.7043 0.644176 0.648484 -0.234032 0.331147 +#29502 1721121520254 +SLAM 11.6148 13.8316 -17.2672 -0.585737 0.0718309 0.654158 0.473106 +TTool-pose None -31.791 7.7319 8.66267 0.642997 0.647707 -0.237063 0.3328 +#29503 1721121520286 +SLAM 11.5278 13.5064 -17.4905 -0.58667 0.077483 0.653864 0.471462 +TTool-pose None -31.7913 7.69799 8.61828 0.645771 0.64327 -0.23765 0.335607 +#29504 1721121520322 +SLAM 11.2491 14.229 -17.1106 -0.57721 0.070229 0.656896 0.479983 +TTool-pose None -31.738 7.65131 8.53312 0.636401 0.651125 -0.245712 0.332537 +#29505 1721121520360 +SLAM 11.3208 13.3169 -17.6613 -0.58649 0.0809267 0.6542 0.47064 +TTool-pose None -31.7903 7.5764 8.53514 0.647236 0.640608 -0.238855 0.337019 +#29506 1721121520388 +SLAM 11.3149 13.6268 -17.4201 -0.591007 0.071814 0.654747 0.465682 +TTool-pose None -31.7605 7.52313 8.50437 0.649199 0.645055 -0.231834 0.329577 +#29507 1721121520420 +SLAM 10.9436 13.9127 -17.3319 -0.577807 0.0757817 0.656535 0.478913 +TTool-pose None -31.7108 7.44543 8.34585 0.638696 0.646973 -0.246613 0.335561 +#29508 1721121520456 +SLAM 11.2666 13.4203 -17.49 -0.592079 0.0745813 0.652357 0.467237 +TTool-pose None -31.7689 7.34734 8.37944 0.648796 0.64378 -0.231058 0.33339 +#29509 1721121520486 +SLAM 10.8384 14.0199 -17.215 -0.58135 0.0707871 0.655954 0.476178 +TTool-pose None -31.6903 7.26936 8.23198 0.639925 0.649449 -0.24154 0.332106 +#29510 1721121520518 +SLAM 10.8552 13.2799 -17.6609 -0.590728 0.0780763 0.654135 0.465889 +TTool-pose None -31.725 7.18374 8.21571 0.650581 0.640866 -0.233754 0.333646 +#29511 1721121520552 +SLAM 10.5756 13.5978 -17.4865 -0.583462 0.0772692 0.655211 0.473604 +TTool-pose None -31.668 7.07539 8.06049 0.643756 0.644138 -0.241094 0.335358 +#29512 1721121520587 +SLAM 9.65082 14.5326 -17.1837 -0.563332 0.0739075 0.663929 0.486202 +TTool-pose None -31.5507 6.97589 7.84074 0.630904 0.650458 -0.261937 0.331933 +#29513 1721121520619 +SLAM 9.55116 14.5235 -17.1857 -0.565886 0.0718472 0.663747 0.483788 +TTool-pose None -31.5494 6.84654 7.77279 0.632574 0.65106 -0.258801 0.330026 +#29514 1721121520654 +SLAM 10.4256 13.0446 -17.4643 -0.595003 0.0813611 0.649143 0.466867 +TTool-pose None -31.5108 6.77214 7.54342 0.651001 0.639068 -0.229331 0.3393 +#29515 1721121520686 +#29516 1721121520721 +SLAM 8.66267 14.669 -17.2233 -0.560302 0.0726711 0.667268 0.485318 +TTool-pose None -31.4674 6.41641 7.37875 0.630897 0.650848 -0.265244 0.328536 +#29517 1721121520755 +#29518 1721121520786 +#29519 1721121520819 +#29520 1721121520852 +#29521 1721121520885 +#29522 1721121520917 +#29523 1721121520950 +SLAM 6.78185 14.3646 -17.5909 -0.55329 0.0826562 0.669561 0.488596 +TTool-pose None -31.3425 5.18934 6.40178 0.629905 0.644955 -0.275368 0.333697 +#29524 1721121520987 +#29525 1721121521020 +#29526 1721121521055 +#29527 1721121521087 +#29528 1721121521118 +#29529 1721121521152 +#29530 1721121521184 +#29531 1721121521220 +#29532 1721121521254 +#29533 1721121521288 +#29534 1721121521320 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1721121522856 +#29581 1721121522885 +#29582 1721121522918 +#29583 1721121522955 +SLAM 20.0075 13.9851 -15.4859 -0.574677 0.0823907 0.675169 0.455088 +TTool-pose None -30.2452 16.312 14.7001 0.658099 0.633315 -0.255069 0.317295 +#29584 1721121522993 +SLAM 19.707 13.8199 -15.8334 -0.570576 0.083352 0.67755 0.456531 +TTool-pose None -30.2879 16.0149 14.839 0.656751 0.633058 -0.259889 0.316689 +#29585 1721121523022 +SLAM 19.5536 13.8212 -15.9616 -0.573805 0.0782723 0.680996 0.448181 +TTool-pose None -30.2165 15.8015 15.1746 0.662075 0.633385 -0.255771 0.308182 +#29586 1721121523054 +SLAM 18.8721 13.7019 -16.3241 -0.566401 0.0830951 0.685786 0.449426 +TTool-pose None -30.1082 15.5954 15.0167 0.66138 0.630266 -0.265378 0.307946 +#29587 1721121523094 +#29588 1721121523126 +SLAM 18.4663 13.6349 -16.3798 -0.561308 0.0837877 0.685347 0.456303 +TTool-pose None -30.1231 15.1975 14.8 0.655781 0.632256 -0.270645 0.311242 +#29589 1721121523155 +SLAM 18.1237 13.2821 -16.5906 -0.554062 0.0947382 0.685692 0.462457 +TTool-pose None -29.9975 15.2457 14.4738 0.652802 0.626783 -0.280901 0.319388 +#29590 1721121523192 +SLAM 18.1686 13.3143 -16.4927 -0.555979 0.0911094 0.684034 0.463339 +TTool-pose None -30.0554 15.0415 14.5018 0.651566 0.629719 -0.277741 0.318899 +#29591 1721121523219 +SLAM 17.9556 13.0893 -16.7338 -0.562431 0.0881929 0.685624 0.453667 +TTool-pose None -30.0679 14.6678 14.7139 0.658956 0.628263 -0.270751 0.312528 +#29592 1721121523251 +#29593 1721121523287 +SLAM 17.1396 13.3927 -16.9084 -0.557503 0.0858888 0.690942 0.452121 +TTool-pose None -30.0572 14.3233 14.4788 0.658819 0.628982 -0.275926 0.306789 +#29594 1721121523322 +SLAM 16.7842 13.5665 -16.9067 -0.553648 0.0850537 0.693652 0.452865 +TTool-pose None -29.989 14.2411 14.363 0.657486 0.629638 -0.279989 0.304611 +#29595 1721121523359 +SLAM 15.8051 12.9885 -17.5318 -0.544934 0.101283 0.699727 0.450744 +TTool-pose None -29.754 14.1802 14.023 0.661503 0.617137 -0.293928 0.30835 +#29596 1721121523388 +SLAM 16.7003 13.7896 -16.5408 -0.553138 0.0798135 0.692764 0.455792 +TTool-pose None -29.8777 14.0851 14.2275 0.653967 0.63434 -0.27893 0.303399 +#29597 1721121523426 +SLAM 16.9833 14.0585 -16.2042 -0.557371 0.0707472 0.689336 0.457328 +TTool-pose None -29.9926 13.8969 14.2996 0.651178 0.641324 -0.271622 0.301337 +#29598 1721121523459 +SLAM 15.7946 13.1297 -17.2227 -0.546524 0.0966034 0.695893 0.455755 +TTool-pose None -29.804 13.8656 13.7973 0.657019 0.62245 -0.290543 0.310459 +#29599 1721121523493 +SLAM 16.2889 13.7985 -16.5337 -0.552015 0.0799619 0.6928 0.457071 +TTool-pose None -29.8614 13.792 13.9473 0.652891 0.63468 -0.280099 0.303928 +#29600 1721121523527 +SLAM 16.2927 13.7994 -16.531 -0.551976 0.0799857 0.692754 0.457184 +TTool-pose None -29.862 13.7942 13.9456 0.652808 0.634706 -0.280138 0.304017 +#29601 1721121523560 +SLAM 16.1663 13.7761 -16.5558 -0.554308 0.0782769 0.693182 0.453997 +TTool-pose None -29.8556 13.6435 13.9414 0.655078 0.634741 -0.277399 0.301559 +#29602 1721121523589 +SLAM 16.1071 13.6436 -16.6532 -0.554696 0.0807202 0.692618 0.453958 +TTool-pose None -29.8815 13.5948 13.8746 0.655777 0.633084 -0.277596 0.303339 +#29603 1721121523620 +SLAM 16.2094 13.7 -16.5546 -0.555651 0.0792997 0.691626 0.454552 +TTool-pose None -29.8933 13.6082 13.871 0.655132 0.634338 -0.276094 0.303486 +#29604 1721121523649 +SLAM 16.2596 13.707 -16.5079 -0.553843 0.0805645 0.690559 0.458143 +TTool-pose None -29.9072 13.6444 13.8032 0.652532 0.634792 -0.278084 0.306309 +#29605 1721121523690 +SLAM 16.1609 13.5794 -16.6551 -0.555321 0.0816507 0.691353 0.454954 +TTool-pose None -29.9126 13.5762 13.8364 0.655372 0.632877 -0.277028 0.305161 +#29606 1721121523723 +SLAM 16.4992 13.6445 -16.458 -0.555831 0.0806558 0.68751 0.460301 +TTool-pose None -30.0029 13.6389 13.7972 0.651258 0.635679 -0.275628 0.309386 +#29607 1721121523758 +SLAM 16.4176 13.6443 -16.5088 -0.555254 0.0808169 0.688403 0.459634 +TTool-pose None -29.9936 13.618 13.8075 0.651706 0.635279 -0.276395 0.30858 +#29608 1721121523790 +SLAM 16.6909 13.7573 -16.3028 -0.558198 0.0768641 0.686123 0.460154 +TTool-pose None -30.0385 13.6316 13.863 0.650765 0.638324 -0.271985 0.308199 +#29609 1721121523821 +SLAM 16.8861 13.853 -16.1774 -0.562961 0.0714834 0.684625 0.457443 +TTool-pose None -30.1065 13.5417 13.983 0.652085 0.641149 -0.265455 0.305222 +#29610 1721121523850 +SLAM 16.4669 13.649 -16.5007 -0.557171 0.0795549 0.688025 0.458097 +TTool-pose None -30.0202 13.59 13.8414 0.652812 0.635637 -0.274069 0.307576 +#29611 1721121523879 +SLAM 16.7142 13.7858 -16.2973 -0.560115 0.0751011 0.686191 0.45801 +TTool-pose None -30.058 13.5975 13.9115 0.652185 0.63878 -0.269583 0.306356 +#29612 1721121523909 +SLAM 16.8471 13.748 -16.2744 -0.561311 0.0753242 0.684348 0.459264 +TTool-pose None -30.122 13.5921 13.8954 0.651482 0.639176 -0.268142 0.308285 +#29613 1721121523941 +SLAM 16.5852 13.6303 -16.487 -0.559209 0.0788177 0.686869 0.457475 +TTool-pose None -30.0707 13.5823 13.8706 0.653384 0.635999 -0.271635 0.307771 +#29614 1721121523977 +SLAM 16.7459 13.6025 -16.4271 -0.560345 0.0787739 0.6848 0.459192 +TTool-pose None -30.1231 13.587 13.8551 0.652265 0.636757 -0.270145 0.309886 +#29615 1721121524012 +SLAM 16.6651 13.571 -16.5004 -0.55918 0.0802805 0.68549 0.459321 +TTool-pose None -30.1181 13.5956 13.8323 0.652379 0.635723 -0.271843 0.310284 +#29616 1721121524046 +SLAM 16.3805 13.5441 -16.6597 -0.55674 0.0823171 0.688619 0.45724 +TTool-pose None -30.0472 13.5946 13.8197 0.654067 0.633397 -0.275355 0.308383 +#29617 1721121524075 +SLAM 16.8786 13.7461 -16.3033 -0.560332 0.0766223 0.683734 0.461155 +TTool-pose None -30.1714 13.6229 13.8546 0.650265 0.638983 -0.269383 0.310167 +#29618 1721121524104 +SLAM 17.0623 14.0522 -16.0616 -0.559455 0.0706038 0.68207 0.465624 +TTool-pose None -30.2654 13.5659 13.903 0.645275 0.644754 -0.268285 0.309597 +#29619 1721121524134 +SLAM 16.5813 13.5186 -16.5989 -0.557486 0.0827416 0.686037 0.460126 +TTool-pose None -30.1248 13.6183 13.7891 0.652146 0.634274 -0.274304 0.311571 +#29620 1721121524168 +SLAM 16.9484 13.5733 -16.3952 -0.560742 0.0797416 0.682237 0.462346 +TTool-pose None -30.2208 13.6264 13.8208 0.650216 0.637343 -0.269585 0.313456 +#29621 1721121524197 +SLAM 17.1334 13.721 -16.2312 -0.56211 0.0761446 0.680858 0.463321 +TTool-pose None -30.2672 13.6351 13.8663 0.648777 0.640232 -0.266982 0.312776 +#29622 1721121524227 +SLAM 16.7485 13.4878 -16.5515 -0.557914 0.0835268 0.683853 0.462709 +TTool-pose None -30.1868 13.652 13.7525 0.65048 0.634764 -0.273726 0.314552 +#29623 1721121524265 +SLAM 17.0117 13.7226 -16.2974 -0.560374 0.077254 0.682148 0.463344 +TTool-pose None -30.2411 13.643 13.8487 0.648798 0.639405 -0.269248 0.312482 +#29624 1721121524302 +SLAM 16.8824 13.6632 -16.412 -0.558669 0.0795592 0.68301 0.463742 +TTool-pose None -30.2382 13.633 13.806 0.648837 0.637908 -0.271738 0.313307 +#29625 1721121524338 +SLAM 16.7869 13.6606 -16.4505 -0.557459 0.0803197 0.684056 0.463525 +TTool-pose None -30.2037 13.6407 13.7949 0.649014 0.637246 -0.273333 0.312898 +#29626 1721121524373 +SLAM 17.0753 13.6753 -16.3164 -0.55962 0.0788157 0.680686 0.466133 +TTool-pose None -30.3023 13.6403 13.7955 0.646995 0.639384 -0.27018 0.315448 +#29627 1721121524404 +SLAM 17.262 13.7094 -16.2113 -0.560991 0.0774316 0.678819 0.467437 +TTool-pose None -30.3511 13.6583 13.8096 0.645859 0.640891 -0.2681 0.31649 +#29628 1721121524434 +SLAM 17.4419 13.8022 -16.0549 -0.563181 0.0741049 0.677539 0.467201 +TTool-pose None -30.3701 13.6629 13.8699 0.645495 0.643161 -0.264758 0.315438 +#29629 1721121524468 +SLAM 17.1362 13.6855 -16.295 -0.561127 0.077386 0.680576 0.46472 +TTool-pose None -30.3086 13.6304 13.8582 0.647907 0.639883 -0.268261 0.314199 +#29630 1721121524503 +SLAM 17.0725 13.6517 -16.3564 -0.559739 0.0792079 0.680945 0.465544 +TTool-pose None -30.3072 13.6493 13.8167 0.647551 0.638895 -0.270215 0.315266 +#29631 1721121524540 +SLAM 17.3441 13.7682 -16.1432 -0.562164 0.0754129 0.678454 0.466888 +TTool-pose None -30.3627 13.6557 13.8589 0.645924 0.642106 -0.266303 0.315408 +#29632 1721121524574 +SLAM 17.1292 13.6598 -16.3178 -0.560801 0.0783111 0.680493 0.46508 +TTool-pose None -30.3124 13.6448 13.8369 0.647823 0.639377 -0.268829 0.314916 +#29633 1721121524606 +SLAM 17.1611 13.5674 -16.3591 -0.561601 0.0797662 0.6798 0.464881 +TTool-pose None -30.3282 13.6493 13.8181 0.648445 0.638346 -0.268313 0.316165 +#29634 1721121524639 +SLAM 17.2407 13.606 -16.2963 -0.562284 0.0784849 0.679214 0.465129 +TTool-pose None -30.3398 13.6527 13.8428 0.648033 0.639346 -0.267173 0.315955 +#29635 1721121524673 +SLAM 17.4108 13.5787 -16.2237 -0.564213 0.0777483 0.677315 0.465686 +TTool-pose None -30.3807 13.6534 13.8566 0.64769 0.640148 -0.264706 0.317109 +#29636 1721121524704 +SLAM 17.29 13.4912 -16.363 -0.564345 0.0791942 0.678361 0.463756 +TTool-pose None -30.3798 13.6108 13.8644 0.649518 0.638426 -0.265158 0.316462 +#29637 1721121524734 +SLAM 17.3044 13.5023 -16.3571 -0.562912 0.0802385 0.678276 0.465439 +TTool-pose None -30.3791 13.6652 13.8365 0.648322 0.638299 -0.266866 0.317735 +#29638 1721121524767 +SLAM 17.4046 13.5793 -16.2807 -0.563568 0.0785113 0.677309 0.466348 +TTool-pose None -30.4239 13.6602 13.8473 0.647296 0.639855 -0.265562 0.317789 +#29639 1721121524798 +SLAM 17.3776 13.6424 -16.2669 -0.564611 0.0766143 0.678093 0.464257 +TTool-pose None -30.4149 13.6364 13.894 0.648533 0.640387 -0.264129 0.315379 +#29640 1721121524829 +SLAM 17.2076 13.5592 -16.412 -0.561647 0.0804257 0.67935 0.465368 +TTool-pose None -30.391 13.6663 13.8204 0.648249 0.638087 -0.26837 0.317042 +#29641 1721121524860 +SLAM 17.2471 13.5564 -16.4157 -0.561527 0.0807754 0.678733 0.466351 +TTool-pose None -30.4253 13.6709 13.805 0.647581 0.638221 -0.268478 0.318045 +#29642 1721121524892 +SLAM 17.3693 13.6608 -16.302 -0.562779 0.0780558 0.677989 0.466389 +TTool-pose None -30.4496 13.6774 13.8472 0.647046 0.640145 -0.266344 0.317057 +#29643 1721121524925 +SLAM 17.3422 13.6179 -16.3472 -0.563337 0.0784057 0.678126 0.465455 +TTool-pose None -30.454 13.6515 13.8541 0.647911 0.639573 -0.265908 0.316813 +#29644 1721121524956 +SLAM 17.429 13.6436 -16.2868 -0.564102 0.0776586 0.677585 0.465442 +TTool-pose None -30.4563 13.6864 13.8703 0.647836 0.640111 -0.26484 0.316774 +#29645 1721121524992 +SLAM 17.3192 13.5749 -16.3795 -0.562645 0.079957 0.678094 0.466076 +TTool-pose None -30.4488 13.6755 13.8162 0.647737 0.638724 -0.267023 0.317942 +#29646 1721121525025 +SLAM 17.2743 13.6226 -16.3749 -0.561778 0.0795263 0.678737 0.46626 +TTool-pose None -30.4356 13.676 13.8199 0.647375 0.639049 -0.267883 0.317303 +#29647 1721121525058 +SLAM 17.2746 13.5912 -16.3885 -0.562688 0.0796128 0.678632 0.465298 +TTool-pose None -30.436 13.6636 13.821 0.648241 0.638661 -0.26698 0.317074 +#29648 1721121525091 +SLAM 17.5114 13.7951 -16.1431 -0.562476 0.0760228 0.676539 0.469187 +TTool-pose None -30.4863 13.7081 13.8257 0.644386 0.642587 -0.265819 0.317974 +#29649 1721121525126 +SLAM 17.2315 13.6707 -16.3581 -0.562734 0.077964 0.679499 0.464255 +TTool-pose None -30.4144 13.6507 13.8489 0.648619 0.639384 -0.266628 0.315132 +#29650 1721121525161 +SLAM 17.2758 13.7041 -16.3209 -0.562903 0.0772707 0.679033 0.464848 +TTool-pose None -30.4325 13.6494 13.8496 0.648024 0.640092 -0.266185 0.315294 +#29651 1721121525196 +SLAM 17.4181 13.7317 -16.2397 -0.563891 0.0762491 0.677406 0.46619 +TTool-pose None -30.4806 13.6522 13.8483 0.646892 0.641348 -0.264626 0.316379 +#29652 1721121525225 +SLAM 17.1343 13.6432 -16.4359 -0.561871 0.0790907 0.680332 0.463891 +TTool-pose None -30.4081 13.6392 13.8327 0.649056 0.638437 -0.267949 0.315035 +#29653 1721121525259 +SLAM 17.0866 13.6179 -16.4832 -0.561633 0.0797864 0.680697 0.463524 +TTool-pose None -30.4081 13.6312 13.8239 0.649471 0.63781 -0.268442 0.315029 +#29654 1721121525292 +SLAM 17.1074 13.6346 -16.4663 -0.561507 0.0796701 0.680431 0.464086 +TTool-pose None -30.4186 13.6371 13.8153 0.649004 0.638101 -0.26849 0.315362 +#29655 1721121525326 +SLAM 17.0968 13.657 -16.4772 -0.561721 0.0791941 0.680708 0.463502 +TTool-pose None -30.4276 13.6307 13.8301 0.649352 0.638209 -0.268192 0.314678 +#29656 1721121525359 +SLAM 17.2233 13.7225 -16.3839 -0.563087 0.0770235 0.679425 0.464093 +TTool-pose None -30.4727 13.609 13.8527 0.648553 0.639977 -0.266001 0.314592 +#29657 1721121525395 +SLAM 17.2965 13.8034 -16.3012 -0.561888 0.0766412 0.678808 0.466506 +TTool-pose None -30.4855 13.6634 13.8273 0.646484 0.641112 -0.266984 0.315709 +#29658 1721121525431 +SLAM 17.1352 13.6791 -16.4654 -0.561657 0.0790729 0.680166 0.464395 +TTool-pose None -30.4608 13.633 13.8169 0.648645 0.638633 -0.268128 0.31533 +#29659 1721121525462 +SLAM 17.1518 13.6588 -16.4797 -0.561647 0.0796468 0.679895 0.464707 +TTool-pose None -30.474 13.6433 13.8065 0.648552 0.638363 -0.268251 0.315965 +#29660 1721121525495 +SLAM 17.0363 13.6037 -16.577 -0.560023 0.0818776 0.680868 0.464854 +TTool-pose None -30.454 13.6576 13.7726 0.648769 0.636822 -0.270656 0.316576 +#29661 1721121525526 +SLAM 16.7198 13.4205 -16.8589 -0.557861 0.0870989 0.683492 0.462649 +TTool-pose None -30.4068 13.6518 13.7093 0.651388 0.632295 -0.274691 0.316798 +#29662 1721121525560 +SLAM 16.945 13.6722 -16.6161 -0.557926 0.0824925 0.681782 0.465926 +TTool-pose None -30.4649 13.6789 13.7346 0.647823 0.636715 -0.273075 0.316653 +#29663 1721121525596 +SLAM 17.013 13.7125 -16.6211 -0.559981 0.0804809 0.681317 0.46449 +TTool-pose None -30.5326 13.6311 13.7907 0.64869 0.637632 -0.270391 0.315329 +#29664 1721121525629 +SLAM 17.0037 13.6075 -16.7251 -0.559773 0.0831491 0.681179 0.464474 +TTool-pose None -30.5551 13.6654 13.7638 0.649332 0.635796 -0.271309 0.316927 +#29665 1721121525662 +SLAM 17.5005 13.7101 -16.4069 -0.562881 0.0791988 0.676367 0.468423 +TTool-pose None -30.652 13.7188 13.8059 0.645811 0.640151 -0.266269 0.319617 +#29666 1721121525693 +SLAM 17.2662 13.4675 -16.7011 -0.562314 0.0842194 0.678197 0.465573 +TTool-pose None -30.6284 13.6929 13.7799 0.649119 0.635606 -0.268544 0.320085 +#29667 1721121525726 +SLAM 17.3291 13.5567 -16.6325 -0.562708 0.0824248 0.678023 0.465673 +TTool-pose None -30.6423 13.7063 13.8077 0.648658 0.636889 -0.267628 0.319237 +#29668 1721121525758 +SLAM 17.3866 13.729 -16.5425 -0.561419 0.0803598 0.677666 0.468102 +TTool-pose None -30.6921 13.7207 13.802 0.646145 0.639172 -0.268281 0.319221 +#29669 1721121525792 +SLAM 17.3773 13.8446 -16.4822 -0.560056 0.0793214 0.678188 0.469156 +TTool-pose None -30.6808 13.7579 13.7971 0.644906 0.64022 -0.269444 0.318644 +#29670 1721121525827 +SLAM 17.4768 13.8387 -16.4747 -0.5612 0.0786569 0.677297 0.469186 +TTool-pose None -30.7295 13.7497 13.8322 0.644874 0.640737 -0.26796 0.318921 +#29671 1721121525862 +SLAM 17.4202 13.7287 -16.583 -0.560438 0.081413 0.677526 0.469296 +TTool-pose None -30.7286 13.7666 13.8003 0.64537 0.638866 -0.269522 0.320353 +#29672 1721121525894 +SLAM 17.4536 13.6571 -16.5911 -0.561084 0.082276 0.67718 0.468874 +TTool-pose None -30.7129 13.7846 13.8038 0.64599 0.638145 -0.269056 0.320935 +#29673 1721121525929 +SLAM 17.5918 13.6051 -16.5613 -0.562551 0.0823697 0.675539 0.469466 +TTool-pose None -30.7565 13.7885 13.8077 0.645762 0.638373 -0.267324 0.322384 +#29674 1721121525961 +SLAM 17.6257 13.5543 -16.5835 -0.562775 0.0832495 0.674944 0.469898 +TTool-pose None -30.7766 13.792 13.7965 0.64568 0.637947 -0.267234 0.323465 +#29675 1721121525992 +SLAM 17.7038 13.5363 -16.5707 -0.563341 0.0834592 0.673979 0.470567 +TTool-pose None -30.8118 13.8022 13.788 0.645299 0.638083 -0.266552 0.324519 +#29676 1721121526026 +SLAM 17.6792 13.5059 -16.6326 -0.562776 0.084668 0.673923 0.471109 +TTool-pose None -30.8409 13.801 13.7635 0.645109 0.637438 -0.267435 0.325438 +#29677 1721121526065 +SLAM 17.7059 13.5546 -16.6031 -0.562868 0.0841073 0.673645 0.471494 +TTool-pose None -30.8622 13.8101 13.7497 0.644692 0.637972 -0.267138 0.325462 +#29678 1721121526101 +SLAM 17.7713 13.5543 -16.5878 -0.562889 0.0845099 0.672712 0.47273 +TTool-pose None -30.9005 13.8279 13.7216 0.643853 0.638166 -0.267054 0.326808 +#29679 1721121526132 +SLAM 17.7945 13.6179 -16.5438 -0.56312 0.0836747 0.672486 0.472923 +TTool-pose None -30.9165 13.8378 13.7038 0.643532 0.638821 -0.266553 0.32657 +#29680 1721121526164 +SLAM 17.7088 13.5101 -16.6451 -0.562698 0.0863744 0.672892 0.472363 +TTool-pose None -30.8997 13.8515 13.6548 0.644558 0.636743 -0.267787 0.327593 +#29681 1721121526201 +SLAM 17.9115 13.6104 -16.5036 -0.563998 0.0842983 0.670757 0.47422 +TTool-pose None -30.9756 13.8728 13.6411 0.642808 0.638922 -0.265526 0.328629 +#29682 1721121526236 +SLAM 17.975 13.5463 -16.5591 -0.564005 0.0856584 0.670018 0.475013 +TTool-pose None -31.0235 13.8931 13.6436 0.642533 0.638291 -0.265751 0.33021 +#29683 1721121526269 +SLAM 17.7285 13.5523 -16.7364 -0.56148 0.0875252 0.67269 0.473885 +TTool-pose None -31.0027 13.8887 13.6295 0.643517 0.636478 -0.269272 0.328936 +#29684 1721121526302 +SLAM 17.8872 13.6191 -16.6224 -0.562059 0.086204 0.671186 0.475572 +TTool-pose None -31.0423 13.9226 13.6262 0.641986 0.638047 -0.268053 0.329884 +#29685 1721121526336 +SLAM 18.0748 13.7855 -16.4636 -0.562836 0.0835167 0.669605 0.477357 +TTool-pose None -31.1142 13.9685 13.6185 0.640066 0.640591 -0.266242 0.33015 +#29686 1721121526370 +SLAM 17.7114 13.5649 -16.8433 -0.561393 0.089466 0.672837 0.473417 +TTool-pose None -31.0788 13.96 13.5669 0.644327 0.634966 -0.269914 0.329747 +#29687 1721121526401 +SLAM 17.8293 13.7698 -16.7546 -0.562439 0.0863329 0.672204 0.473657 +TTool-pose None -31.1767 13.9837 13.5767 0.643529 0.637251 -0.267904 0.328533 +#29688 1721121526432 +SLAM 17.8238 13.9588 -16.7269 -0.562242 0.0839082 0.673207 0.472902 +TTool-pose None -31.2171 14.0145 13.6094 0.64349 0.638616 -0.267624 0.326177 +#29689 1721121526461 +#29690 1721121526493 +SLAM 18.0421 13.901 -16.6994 -0.561427 0.0841986 0.671763 0.475863 +TTool-pose None -31.2533 14.0669 13.7085 0.641195 0.639502 -0.268239 0.32845 +#29691 1721121526526 +SLAM 18.076 13.8048 -16.7226 -0.561905 0.085474 0.671158 0.475924 +TTool-pose None -31.2481 14.072 13.7029 0.64152 0.638673 -0.268 0.329622 +#29692 1721121526559 +SLAM 18.137 13.7629 -16.6927 -0.563377 0.0852445 0.670637 0.474958 +TTool-pose None -31.2359 14.0791 13.7204 0.642394 0.638528 -0.266379 0.329516 +#29693 1721121526592 +SLAM 18.1855 13.4904 -16.7438 -0.565458 0.0879303 0.669701 0.473314 +TTool-pose None -31.172 14.0708 13.741 0.644562 0.636151 -0.264868 0.331092 +#29694 1721121526625 +SLAM 18.5059 13.2375 -16.6532 -0.570082 0.0887994 0.665536 0.47348 +TTool-pose None -31.208 14.0517 13.7596 0.645208 0.635794 -0.259702 0.334596 +#29695 1721121526659 +SLAM 18.5749 12.9963 -16.7382 -0.573206 0.0910754 0.664459 0.47078 +TTool-pose None -31.2056 14.0419 13.7826 0.648181 0.633321 -0.256988 0.335634 +#29696 1721121526696 +SLAM 18.7593 12.9297 -16.6877 -0.575332 0.0908037 0.662187 0.47144 +TTool-pose None -31.269 14.0293 13.7938 0.64785 0.633828 -0.254348 0.337324 +#29697 1721121526729 +SLAM 18.7596 12.9887 -16.6667 -0.575321 0.0896856 0.662565 0.471137 +TTool-pose None -31.2694 14.0276 13.82 0.647817 0.634482 -0.25413 0.336321 +#29698 1721121526763 +SLAM 18.7638 13.0719 -16.6175 -0.574844 0.0884383 0.662812 0.471607 +TTool-pose None -31.2661 14.0323 13.8299 0.647107 0.635501 -0.254317 0.335622 +#29699 1721121526799 +SLAM 18.8622 13.1818 -16.5086 -0.575182 0.0861524 0.661988 0.472774 +TTool-pose None -31.2993 14.0269 13.8456 0.645701 0.637519 -0.253197 0.335348 +#29700 1721121526831 +SLAM 18.7607 13.1778 -16.559 -0.574166 0.0868364 0.663092 0.472336 +TTool-pose None -31.2663 14.0266 13.8384 0.646088 0.636852 -0.254615 0.334796 +#29701 1721121526863 +SLAM 18.7749 13.1959 -16.5478 -0.574608 0.0861969 0.663056 0.471968 +TTool-pose None -31.2741 14.0171 13.8533 0.646267 0.637167 -0.253991 0.334325 +#29702 1721121526895 +SLAM 18.6952 13.1988 -16.5678 -0.57386 0.0865313 0.663943 0.471569 +TTool-pose None -31.2354 14.0185 13.847 0.646568 0.636762 -0.255002 0.333742 +#29703 1721121526930 +SLAM 18.6551 13.2976 -16.5001 -0.573525 0.0846471 0.664792 0.471122 +TTool-pose None -31.193 14.0102 13.8701 0.646417 0.637873 -0.254986 0.331919 +#29704 1721121526967 +SLAM 18.5057 13.5837 -16.4385 -0.57024 0.0819973 0.666907 0.472585 +TTool-pose None -31.1809 14.0196 13.8464 0.644268 0.640122 -0.257945 0.329472 +#29705 1721121527001 +SLAM 18.5245 14.0036 -16.1166 -0.566711 0.0758052 0.667725 0.476693 +TTool-pose None -31.1312 14.0447 13.8629 0.639157 0.645756 -0.259893 0.326889 +#29706 1721121527036 +SLAM 18.9597 14.0113 -15.952 -0.570892 0.0727837 0.66256 0.479374 +TTool-pose None -31.3337 13.9849 13.9043 0.636827 0.648966 -0.253871 0.329802 +#29707 1721121527071 +SLAM 18.799 13.5179 -16.3391 -0.57294 0.0814242 0.663534 0.474166 +TTool-pose None -31.2738 14.0263 13.8623 0.643231 0.641203 -0.254441 0.332111 +#29708 1721121527102 +SLAM 18.8383 13.5903 -16.2208 -0.573417 0.079196 0.663309 0.47428 +TTool-pose None -31.2427 14.0066 13.8873 0.642649 0.642783 -0.253302 0.33105 +#29709 1721121527133 +SLAM 19.0458 13.9559 -15.8709 -0.574376 0.0716518 0.662044 0.476085 +TTool-pose None -31.2809 13.9995 13.9475 0.639477 0.648623 -0.249979 0.328315 +#29710 1721121527164 +SLAM 18.6984 13.7455 -16.1913 -0.570244 0.0781053 0.664496 0.47662 +TTool-pose None -31.2287 13.9729 13.8422 0.640212 0.644294 -0.256395 0.330454 +#29711 1721121527196 +SLAM 18.7537 13.5712 -16.268 -0.573143 0.0796353 0.664018 0.473546 +TTool-pose None -31.2233 13.9818 13.8789 0.643291 0.642199 -0.253836 0.33053 +#29712 1721121527230 +SLAM 18.7797 13.4717 -16.29 -0.573716 0.0807657 0.663309 0.473654 +TTool-pose None -31.2221 13.966 13.8699 0.643551 0.641487 -0.25344 0.331708 +#29713 1721121527262 +SLAM 18.8231 13.5089 -16.2506 -0.575236 0.079139 0.663351 0.472023 +TTool-pose None -31.222 13.9613 13.9175 0.644574 0.642034 -0.251474 0.330154 +#29714 1721121527294 +SLAM 18.6151 13.4859 -16.3691 -0.573077 0.0809632 0.665469 0.471357 +TTool-pose None -31.1647 13.9605 13.8898 0.645287 0.640466 -0.254549 0.32945 +#29715 1721121527328 +SLAM 18.5547 13.6326 -16.3215 -0.572198 0.0789702 0.666712 0.471007 +TTool-pose None -31.1431 13.968 13.9092 0.644961 0.641662 -0.255113 0.327316 +#29716 1721121527360 +SLAM 18.6618 13.9952 -16.0633 -0.570669 0.0733647 0.666312 0.474324 +TTool-pose None -31.186 13.9821 13.9243 0.640839 0.646673 -0.254995 0.325637 +#29717 1721121527395 +SLAM 18.1585 13.8098 -16.4007 -0.56515 0.0801527 0.670944 0.473302 +TTool-pose None -31.0339 13.9903 13.8277 0.64264 0.641455 -0.263273 0.325824 +#29718 1721121527427 +SLAM 18.3069 13.6825 -16.4471 -0.567062 0.0819979 0.668828 0.473694 +TTool-pose None -31.1192 14.0064 13.8003 0.643034 0.640419 -0.26148 0.328516 +#29719 1721121527460 +SLAM 18.2155 13.687 -16.4726 -0.566172 0.0823161 0.669915 0.473168 +TTool-pose None -31.0751 14.0079 13.8003 0.643403 0.639968 -0.262661 0.32773 +#29720 1721121527495 +SLAM 18.1932 13.7525 -16.3859 -0.565456 0.081135 0.670684 0.473138 +TTool-pose None -31.0019 14.0352 13.8191 0.643046 0.640734 -0.263191 0.326505 +#29721 1721121527526 +#29722 1721121527556 +#29723 1721121527589 +SLAM 18.4653 13.6821 -16.1725 -0.573766 0.0768481 0.669016 0.466159 +TTool-pose None -30.9279 14.0382 13.9645 0.648306 0.641323 -0.253378 0.322684 +#29724 1721121527623 +SLAM 18.2433 13.3963 -16.4447 -0.574322 0.0813251 0.669678 0.463758 +TTool-pose None -30.9238 13.9158 13.906 0.651297 0.637374 -0.25418 0.323854 +#29725 1721121527662 +SLAM 18.4559 13.6162 -16.1971 -0.571431 0.0787041 0.667085 0.471455 +TTool-pose None -31.0019 13.94 13.8538 0.644463 0.641986 -0.255877 0.327067 +#29726 1721121527693 +#29727 1721121527728 +SLAM 18.4185 13.6338 -16.1428 -0.570117 0.0787152 0.66694 0.473245 +TTool-pose None -30.9687 13.9207 13.8098 0.64294 0.642606 -0.257165 0.327835 +#29728 1721121527758 +SLAM 18.6784 13.7198 -15.927 -0.572953 0.0747956 0.664005 0.474583 +TTool-pose None -31.0383 13.8729 13.8438 0.641267 0.645878 -0.252672 0.328175 +#29729 1721121527794 +#29730 1721121527829 +SLAM 18.5678 13.8091 -15.8921 -0.572479 0.0733581 0.665624 0.473108 +TTool-pose None -30.9695 13.87 13.858 0.641983 0.646284 -0.253053 0.325672 +#29731 1721121527860 +SLAM 18.5324 13.8099 -15.8911 -0.572063 0.0736493 0.665897 0.473182 +TTool-pose None -30.9494 13.8743 13.8398 0.64195 0.646099 -0.253604 0.325673 +#29732 1721121527894 +SLAM 18.4076 13.7445 -15.9765 -0.567544 0.0779869 0.666001 0.47776 +TTool-pose None -30.9398 13.9106 13.6967 0.638982 0.644703 -0.25934 0.329739 +#29733 1721121527926 +SLAM 18.1095 13.6668 -16.1782 -0.568047 0.0787108 0.669579 0.472008 +TTool-pose None -30.8481 13.8402 13.7592 0.643633 0.642063 -0.25973 0.325507 +#29734 1721121527959 +SLAM 18.54 13.8904 -15.8062 -0.570962 0.0723948 0.665231 0.475636 +TTool-pose None -30.9643 13.8322 13.8033 0.639621 0.647834 -0.25422 0.32633 +#29735 1721121527994 +SLAM 18.133 13.7273 -16.1183 -0.567659 0.0777398 0.66917 0.473214 +TTool-pose None -30.8593 13.8288 13.745 0.642422 0.643166 -0.259769 0.32569 +#29736 1721121528029 +SLAM 18.164 13.7365 -16.0885 -0.5679 0.077328 0.668679 0.473687 +TTool-pose None -30.8702 13.8173 13.7396 0.641989 0.643634 -0.259321 0.325978 +#29737 1721121528063 +SLAM 18.114 13.754 -16.1103 -0.567334 0.0773434 0.669115 0.473745 +TTool-pose None -30.87 13.8024 13.7323 0.641878 0.643624 -0.259972 0.325698 +#29738 1721121528098 +SLAM 18.0227 13.7575 -16.143 -0.566717 0.0776482 0.67011 0.473028 +TTool-pose None -30.8372 13.797 13.7264 0.642425 0.643121 -0.26086 0.324901 +#29739 1721121528130 +SLAM 18.1637 13.8383 -16.0157 -0.56856 0.074913 0.669008 0.472817 +TTool-pose None -30.8616 13.7943 13.7676 0.642129 0.644974 -0.258049 0.324055 +#29740 1721121528166 +SLAM 18.167 13.8495 -16.0069 -0.568979 0.0743612 0.669067 0.472316 +TTool-pose None -30.8608 13.7841 13.7819 0.642424 0.645176 -0.257487 0.323515 +#29741 1721121528198 +SLAM 18.1521 13.8528 -16.0053 -0.568672 0.0744489 0.669054 0.472691 +TTool-pose None -30.8599 13.776 13.7688 0.642122 0.645246 -0.257816 0.323712 +#29742 1721121528231 +SLAM 17.8556 13.6492 -16.2702 -0.566299 0.0798664 0.671417 0.471303 +TTool-pose None -30.7897 13.7682 13.6985 0.644238 0.640939 -0.262139 0.324593 +#29743 1721121528265 +SLAM 18.0577 13.8474 -16.0602 -0.567719 0.0751396 0.669835 0.472621 +TTool-pose None -30.849 13.7581 13.7499 0.642232 0.644713 -0.259108 0.323524 +#29744 1721121528297 +SLAM 17.8638 13.8043 -16.1693 -0.566123 0.0769931 0.671739 0.471533 +TTool-pose None -30.7892 13.7545 13.721 0.643326 0.642976 -0.261575 0.322821 +#29745 1721121528335 +SLAM 17.9377 13.7581 -16.1479 -0.565916 0.0782539 0.670452 0.473402 +TTool-pose None -30.8123 13.7798 13.6719 0.642189 0.642818 -0.26189 0.325138 +#29746 1721121528372 +SLAM 17.9086 13.7516 -16.1773 -0.567186 0.0773968 0.671194 0.470965 +TTool-pose None -30.7981 13.7574 13.7248 0.643993 0.642529 -0.260526 0.32323 +#29747 1721121528404 +SLAM 17.994 13.744 -16.1334 -0.568016 0.0769939 0.670224 0.471413 +TTool-pose None -30.8181 13.7598 13.7281 0.643655 0.643006 -0.259404 0.323857 +#29748 1721121528436 +SLAM 18.1951 13.8286 -15.9726 -0.569281 0.0746024 0.668221 0.47311 +TTool-pose None -30.8663 13.7722 13.7427 0.641915 0.645323 -0.257093 0.324544 +#29749 1721121528469 +SLAM 17.9394 13.6711 -16.1918 -0.566864 0.0791913 0.670515 0.472021 +TTool-pose None -30.7943 13.7855 13.6897 0.643595 0.641694 -0.261219 0.325118 +#29750 1721121528504 +SLAM 17.8326 13.6303 -16.2738 -0.566051 0.0806553 0.671708 0.471051 +TTool-pose None -30.7609 13.8006 13.6791 0.644593 0.640295 -0.262659 0.324739 +#29751 1721121528537 +SLAM 18.0549 13.7026 -16.1119 -0.567136 0.0784035 0.668929 0.474072 +TTool-pose None -30.8417 13.778 13.67 0.641867 0.643017 -0.260429 0.326551 +#29752 1721121528578 +SLAM 17.9148 13.6357 -16.222 -0.566612 0.0800846 0.670589 0.472067 +TTool-pose None -30.7891 13.7885 13.673 0.643749 0.641092 -0.261732 0.325587 +#29753 1721121528614 +SLAM 17.8837 13.6088 -16.2592 -0.56659 0.0805295 0.670799 0.47172 +TTool-pose None -30.7897 13.7741 13.6727 0.644121 0.640656 -0.261917 0.325562 +#29754 1721121528650 +SLAM 18.261 13.805 -15.9331 -0.569314 0.0750047 0.667267 0.474353 +TTool-pose None -30.8743 13.7874 13.7204 0.641069 0.64552 -0.256991 0.325905 +#29755 1721121528681 +SLAM 18.4025 13.9296 -15.7708 -0.570373 0.0716755 0.666213 0.475077 +TTool-pose None -30.8949 13.7837 13.765 0.639798 0.648091 -0.254794 0.325021 +#29756 1721121528716 +SLAM 18.4497 13.9211 -15.7362 -0.570677 0.0715024 0.665097 0.4763 +TTool-pose None -30.9252 13.752 13.7358 0.63885 0.648679 -0.254225 0.326159 +#29757 1721121528750 +SLAM 17.8201 13.6762 -16.1871 -0.566871 0.0786705 0.671075 0.471304 +TTool-pose None -30.7566 13.7098 13.656 0.644013 0.641777 -0.261173 0.324161 +#29758 1721121528782 +SLAM 17.7534 13.7515 -16.1276 -0.567447 0.0766706 0.671713 0.470028 +TTool-pose None -30.7204 13.6618 13.6571 0.644557 0.642677 -0.260159 0.322104 +#29759 1721121528815 +SLAM 17.0713 13.3929 -16.5868 -0.558798 0.0897392 0.676554 0.471132 +TTool-pose None -30.5276 13.7214 13.3788 0.645779 0.633793 -0.27325 0.326397 +#29760 1721121528846 +SLAM 17.5954 13.9465 -15.9548 -0.571694 0.0690561 0.672994 0.464195 +TTool-pose None -30.645 13.4367 13.7119 0.647564 0.645782 -0.253991 0.314692 +#29761 1721121528878 +SLAM 17.2953 13.8437 -16.0648 -0.563248 0.0772169 0.673923 0.471823 +TTool-pose None -30.5608 13.5237 13.4169 0.642791 0.642814 -0.264905 0.321492 +#29762 1721121528910 +SLAM 17.1332 13.9298 -16.0314 -0.561714 0.0761694 0.674499 0.472998 +TTool-pose None -30.5424 13.4238 13.3408 0.641432 0.643906 -0.266243 0.320914 +#29763 1721121528942 +SLAM 16.4623 13.5791 -16.4778 -0.559191 0.0843767 0.680027 0.466636 +TTool-pose None -30.3515 13.3441 13.2187 0.64793 0.635762 -0.272024 0.319244 +#29764 1721121528974 +SLAM 16.2169 13.3648 -16.6255 -0.561295 0.0863985 0.680965 0.462353 +TTool-pose None -30.2904 13.1932 13.1615 0.651922 0.632825 -0.270638 0.318126 +#29765 1721121529004 +SLAM 16.8985 14.0223 -15.8484 -0.568557 0.067413 0.673599 0.467401 +TTool-pose None -30.5153 12.9331 13.2917 0.64433 0.647997 -0.256782 0.314513 +#29766 1721121529034 +SLAM 16.4745 13.94 -16.0009 -0.562914 0.0735329 0.677999 0.466946 +TTool-pose None -30.312 13.0624 13.1463 0.645507 0.643439 -0.264947 0.314688 +#29767 1721121529065 +SLAM 16.2053 13.8847 -16.1197 -0.562961 0.0739839 0.680326 0.46342 +TTool-pose None -30.2445 12.9655 13.1333 0.648274 0.641777 -0.265434 0.31197 +#29768 1721121529096 +SLAM 16.2819 14.0236 -15.951 -0.564395 0.069907 0.679371 0.463709 +TTool-pose None -30.2535 12.9012 13.148 0.64721 0.644716 -0.262684 0.310441 +#29769 1721121529135 +SLAM 16.3419 14.0828 -15.8421 -0.563032 0.0692515 0.677209 0.468601 +TTool-pose None -30.3092 12.8264 13.0561 0.64318 0.646979 -0.263477 0.313423 +#29770 1721121529167 +SLAM 15.7263 13.3511 -16.5018 -0.56234 0.0845914 0.681689 0.460346 +TTool-pose None -30.1259 12.8401 12.8865 0.653123 0.633332 -0.269222 0.315845 +#29771 1721121529201 +SLAM 15.5428 13.4291 -16.5405 -0.561944 0.0823408 0.683276 0.458882 +TTool-pose None -30.124 12.7065 12.9084 0.653605 0.634282 -0.26927 0.312887 +#29772 1721121529230 +SLAM 15.5282 13.5104 -16.4042 -0.560373 0.0824007 0.683499 0.460457 +TTool-pose None -30.0391 12.7899 12.8353 0.652229 0.634778 -0.270899 0.313344 +#29773 1721121529262 +SLAM 15.2206 13.3385 -16.6386 -0.556719 0.0879362 0.684816 0.461907 +TTool-pose None -30.0318 12.7158 12.7087 0.651979 0.631377 -0.276281 0.316032 +#29774 1721121529292 +SLAM 16.0466 14.1511 -15.7801 -0.571775 0.0605205 0.678388 0.457383 +TTool-pose None -30.2586 12.415 13.0798 0.650442 0.64891 -0.252399 0.303391 +#29775 1721121529330 +SLAM 15.784 14.4744 -15.6813 -0.564507 0.0592392 0.681324 0.462192 +TTool-pose None -30.1989 12.4582 12.9894 0.645564 0.651324 -0.259848 0.302348 +#29776 1721121529366 +SLAM 14.8184 13.7389 -16.5677 -0.557828 0.0786628 0.688764 0.456337 +TTool-pose None -30.0276 12.4394 12.7287 0.653984 0.635588 -0.273282 0.30588 +#29777 1721121529404 +SLAM 15.1507 14.2711 -16.0235 -0.562035 0.0654558 0.686524 0.456637 +TTool-pose None -30.0515 12.3949 12.82 0.650989 0.644861 -0.264985 0.3001 +#29778 1721121529435 +SLAM 14.5705 13.9127 -16.5217 -0.560565 0.0727485 0.691304 0.450082 +TTool-pose None -29.9813 12.2697 12.7584 0.657476 0.637276 -0.269277 0.298335 +#29779 1721121529472 +SLAM 14.8124 14.1304 -16.2434 -0.564087 0.0659835 0.688509 0.451007 +TTool-pose None -30.0438 12.1822 12.7823 0.655557 0.64239 -0.263378 0.29685 +#29780 1721121529508 +SLAM 14.7298 13.6497 -16.5051 -0.567317 0.07362 0.687214 0.447737 +TTool-pose None -30.0292 12.1328 12.6585 0.660368 0.636086 -0.262054 0.300908 +#29781 1721121529545 +SLAM 14.3327 13.8936 -16.538 -0.557197 0.0752254 0.69042 0.455185 +TTool-pose None -30.0048 12.1018 12.5237 0.653873 0.637438 -0.273225 0.302296 +#29782 1721121529575 +SLAM 14.1714 13.7487 -16.5626 -0.557505 0.0790309 0.691447 0.452597 +TTool-pose None -29.875 12.1781 12.3911 0.656775 0.633847 -0.274129 0.302736 +#29783 1721121529607 +SLAM 13.4157 13.232 -17.234 -0.552526 0.0911292 0.69575 0.449825 +TTool-pose None -29.8822 11.9503 12.2332 0.661001 0.62421 -0.283065 0.305333 +#29784 1721121529642 +SLAM 14.1165 14.3533 -16.1922 -0.558755 0.0645235 0.690726 0.454452 +TTool-pose None -29.9939 11.8176 12.4046 0.651878 0.644465 -0.268685 0.295694 +#29785 1721121529676 +SLAM 13.3689 13.5812 -16.9695 -0.556271 0.0812954 0.695925 0.446814 +TTool-pose None -29.8867 11.7552 12.2272 0.661364 0.629941 -0.276662 0.298564 +#29786 1721121529714 +SLAM 13.4201 13.7282 -16.804 -0.555855 0.0790144 0.694308 0.450243 +TTool-pose None -29.9116 11.6975 12.1386 0.65824 0.632837 -0.276218 0.299751 +#29787 1721121529748 +SLAM 13.3818 14.3169 -16.4016 -0.551094 0.0706763 0.695388 0.45578 +TTool-pose None -29.8776 11.6994 12.1033 0.651338 0.640419 -0.278836 0.296282 +#29788 1721121529782 +SLAM 13.2073 13.8408 -16.7534 -0.556307 0.076202 0.695202 0.448788 +TTool-pose None -29.8968 11.5472 12.0522 0.65866 0.634194 -0.275118 0.296958 +#29789 1721121529813 +SLAM 13.4104 14.4792 -16.1887 -0.554699 0.0647841 0.693895 0.454557 +TTool-pose None -29.8873 11.5488 12.0487 0.651259 0.644114 -0.273324 0.293562 +#29790 1721121529844 +SLAM 13.2764 13.7683 -16.6551 -0.560335 0.0751772 0.692802 0.447659 +TTool-pose None -29.8939 11.4513 11.9524 0.659826 0.634655 -0.27041 0.297708 +#29791 1721121529876 +SLAM 13.2608 13.9419 -16.5316 -0.559481 0.0718749 0.692429 0.449842 +TTool-pose None -29.9138 11.3687 11.9278 0.657268 0.637716 -0.270297 0.296926 +#29792 1721121529907 +SLAM 13.2115 14.1863 -16.3369 -0.555811 0.0697357 0.692578 0.454474 +TTool-pose None -29.8828 11.3768 11.8458 0.652781 0.640802 -0.273412 0.29733 +#29793 1721121529941 +SLAM 13.043 14.1118 -16.4629 -0.556445 0.0700712 0.693396 0.452395 +TTool-pose None -29.9042 11.2501 11.83 0.654485 0.639787 -0.272995 0.296147 +#29794 1721121529974 +SLAM 13.1201 13.9209 -16.504 -0.56155 0.0704935 0.691181 0.449401 +TTool-pose None -29.9378 11.1498 11.784 0.657537 0.638583 -0.267629 0.296883 +#29795 1721121530006 +SLAM 12.9988 14.3656 -16.2141 -0.557807 0.0642283 0.693183 0.45191 +TTool-pose None -29.8689 11.1673 11.7578 0.65352 0.64361 -0.269933 0.292778 +#29796 1721121530039 +SLAM 12.5304 13.7316 -16.7829 -0.556194 0.0780293 0.695869 0.447578 +TTool-pose None -29.8109 11.1349 11.6111 0.659981 0.632464 -0.275835 0.297049 +#29797 1721121530071 +SLAM 12.611 13.7488 -16.7217 -0.559406 0.075224 0.693922 0.447077 +TTool-pose None -29.8707 11.0053 11.5877 0.660122 0.634343 -0.271527 0.296697 +#29798 1721121530103 +SLAM 12.9752 14.3357 -16.1706 -0.562294 0.0611974 0.690005 0.451634 +TTool-pose None -29.9689 10.8634 11.6212 0.65358 0.645771 -0.264051 0.293251 +#29799 1721121530137 +SLAM 12.6584 14.2284 -16.3217 -0.558191 0.0663422 0.692508 0.452166 +TTool-pose None -29.8938 10.8793 11.5088 0.653946 0.642307 -0.270046 0.29458 +#29800 1721121530171 +SLAM 12.3275 13.8903 -16.6562 -0.555373 0.0750504 0.694284 0.45155 +TTool-pose None -29.8661 10.8455 11.3909 0.656214 0.636022 -0.275602 0.298012 +#29801 1721121530205 +SLAM 11.8543 13.134 -17.2469 -0.55387 0.0915026 0.696489 0.446944 +TTool-pose None -29.7871 10.8536 11.2129 0.663391 0.622881 -0.281919 0.303919 +#29802 1721121530238 +SLAM 11.5341 13.0278 -17.3705 -0.550818 0.0958568 0.69894 0.445976 +TTool-pose None -29.7055 10.8607 11.1123 0.664644 0.619327 -0.286496 0.304166 +#29803 1721121530270 +SLAM 11.9087 13.5675 -16.8938 -0.555539 0.0815046 0.69558 0.448221 +TTool-pose None -29.8018 10.7077 11.1759 0.660283 0.63032 -0.277408 0.299464 +#29804 1721121530299 +SLAM 12.093 13.9239 -16.5953 -0.558223 0.0720301 0.693603 0.44957 +TTool-pose None -29.8706 10.5742 11.2092 0.657318 0.637437 -0.271785 0.296054 +#29805 1721121530332 +SLAM 12.0509 14.0224 -16.5163 -0.558077 0.0699989 0.693402 0.450382 +TTool-pose None -29.8729 10.5084 11.1671 0.656181 0.639126 -0.271333 0.295348 +#29806 1721121530363 +SLAM 11.4771 13.5259 -16.9623 -0.552004 0.0849443 0.697548 0.448891 +TTool-pose None -29.7293 10.5962 10.9598 0.660095 0.628041 -0.282191 0.300198 +#29807 1721121530397 +SLAM 11.7139 13.6241 -16.8255 -0.558794 0.0774679 0.694608 0.446395 +TTool-pose None -29.8308 10.4137 11.021 0.661092 0.632515 -0.272868 0.29721 +#29808 1721121530433 +SLAM 11.993 13.8553 -16.529 -0.563384 0.0695493 0.691242 0.447154 +TTool-pose None -29.8866 10.3063 11.0278 0.659195 0.638421 -0.265513 0.295449 +#29809 1721121530472 +SLAM 11.4338 13.521 -16.9247 -0.555449 0.0818615 0.69562 0.448206 +TTool-pose None -29.7908 10.3494 10.8731 0.660369 0.630066 -0.277602 0.29963 +#29810 1721121530503 +SLAM 11.2562 13.2117 -17.1864 -0.555538 0.0876809 0.695821 0.44668 +TTool-pose None -29.8144 10.271 10.8112 0.662918 0.625488 -0.279117 0.302177 +#29811 1721121530534 +SLAM 11.3646 13.5828 -16.8469 -0.556019 0.080142 0.694975 0.448809 +TTool-pose None -29.7905 10.2412 10.784 0.659591 0.631509 -0.276461 0.299361 +#29812 1721121530570 +SLAM 11.5561 13.6386 -16.7298 -0.560451 0.0756622 0.69223 0.448316 +TTool-pose None -29.8593 10.1216 10.79 0.659488 0.634594 -0.270342 0.298649 +#29813 1721121530602 +SLAM 11.4958 13.8637 -16.5673 -0.556956 0.0736997 0.692275 0.452906 +TTool-pose None -29.8443 10.0965 10.7147 0.655121 0.637561 -0.273328 0.299225 +#29814 1721121530636 +SLAM 11.2633 14.2584 -16.3503 -0.5521 0.0690481 0.695232 0.455049 +TTool-pose None -29.7668 10.1048 10.6661 0.65161 0.641288 -0.277345 0.295199 +#29815 1721121530671 +SLAM 11.0906 13.4757 -16.9297 -0.556328 0.0815751 0.69435 0.449135 +TTool-pose None -29.8172 9.99011 10.5959 0.659757 0.630679 -0.27645 0.30075 +#29816 1721121530708 +SLAM 11.2836 13.5689 -16.7169 -0.562273 0.0758373 0.692034 0.446302 +TTool-pose None -29.8118 9.93074 10.5751 0.661263 0.633767 -0.268514 0.298129 +#29817 1721121530741 +SLAM 11.1516 13.675 -16.7022 -0.558278 0.0761648 0.692544 0.450452 +TTool-pose None -29.827 9.86777 10.5188 0.657737 0.634987 -0.272724 0.299508 +#29818 1721121530776 +SLAM 11.2445 14.3146 -16.2268 -0.555636 0.0648876 0.691855 0.456504 +TTool-pose None -29.8458 9.79791 10.5028 0.650001 0.644863 -0.272097 0.29584 +#29819 1721121530808 +SLAM 11.0585 13.2773 -16.8797 -0.561587 0.082379 0.690831 0.44787 +TTool-pose None -29.8097 9.78344 10.359 0.66166 0.629904 -0.270831 0.303298 +#29820 1721121530841 +SLAM 10.9153 13.487 -16.8688 -0.559254 0.078878 0.692189 0.44932 +TTool-pose None -29.8651 9.66522 10.3812 0.65939 0.632745 -0.272436 0.300879 +#29821 1721121530872 +SLAM 11.1847 13.8693 -16.449 -0.562601 0.0690389 0.689287 0.451217 +TTool-pose None -29.8757 9.60085 10.3618 0.655987 0.640338 -0.265868 0.298114 +#29822 1721121530904 +SLAM 10.977 13.1529 -16.9338 -0.56446 0.0824902 0.689257 0.44666 +TTool-pose None -29.8507 9.59269 10.2517 0.66298 0.629491 -0.267711 0.304044 +#29823 1721121530935 +SLAM 10.7472 13.2687 -16.9881 -0.560378 0.0824699 0.69131 0.448627 +TTool-pose None -29.8673 9.5255 10.2327 0.660955 0.630082 -0.272151 0.303286 +#29824 1721121530970 +SLAM 10.8213 14.4662 -16.098 -0.55348 0.0632277 0.691809 0.459415 +TTool-pose None -29.8145 9.50254 10.1798 0.647092 0.647007 -0.273769 0.295994 +#29825 1721121531001 +SLAM 10.5543 13.3673 -16.901 -0.558679 0.0818984 0.691943 0.449873 +TTool-pose None -29.8159 9.45464 10.099 0.659654 0.630878 -0.273808 0.302971 +#29826 1721121531033 +SLAM 10.6551 13.8475 -16.5786 -0.558136 0.0719404 0.691152 0.453451 +TTool-pose None -29.8681 9.34217 10.1261 0.654447 0.63903 -0.271476 0.299249 +#29827 1721121531067 +SLAM 10.5045 12.8534 -17.1852 -0.563469 0.0887776 0.689794 0.445876 +TTool-pose None -29.8485 9.33376 10.0003 0.664944 0.624832 -0.270496 0.306889 +#29828 1721121531102 +SLAM 10.694 14.0166 -16.359 -0.559994 0.067372 0.689268 0.454728 +TTool-pose None -29.8647 9.23012 10.0196 0.652603 0.642718 -0.268022 0.298492 +#29829 1721121531134 +SLAM 10.7282 13.4196 -16.6793 -0.56698 0.074838 0.687066 0.448189 +TTool-pose None -29.8767 9.17511 9.95762 0.660302 0.635424 -0.262713 0.30188 +#29830 1721121531165 +SLAM 10.6079 14.2995 -16.1311 -0.558935 0.0623189 0.689246 0.45678 +TTool-pose None -29.843 9.14196 9.92765 0.649611 0.646874 -0.267638 0.296373 +#29831 1721121531197 +SLAM 10.5076 14.3113 -16.1717 -0.55565 0.0641851 0.689337 0.460378 +TTool-pose None -29.8673 9.08484 9.87781 0.64696 0.646857 -0.271478 0.29871 +#29832 1721121531231 +SLAM 10.2123 14.1396 -16.3277 -0.555317 0.0682426 0.692056 0.456097 +TTool-pose None -29.7795 9.1072 9.79941 0.651128 0.642423 -0.273404 0.297462 +#29833 1721121531265 +SLAM 10.1706 12.6768 -17.2252 -0.563738 0.0925017 0.688041 0.447484 +TTool-pose None -29.8302 9.0558 9.66776 0.664704 0.622929 -0.270954 0.310852 +#29834 1721121531298 +SLAM 10.3105 13.6762 -16.5842 -0.564361 0.0709615 0.688632 0.449719 +TTool-pose None -29.8688 8.91689 9.75526 0.657829 0.638532 -0.264527 0.299121 +#29835 1721121531330 +SLAM 10.1266 14.2096 -16.2937 -0.556153 0.0657137 0.690317 0.458081 +TTool-pose None -29.8574 8.86687 9.68521 0.649134 0.644954 -0.271571 0.298022 +#29836 1721121531367 +SLAM 9.67423 14.4971 -16.2225 -0.546453 0.0668191 0.694755 0.462861 +TTool-pose None -29.7741 8.88292 9.56826 0.644387 0.645536 -0.282257 0.297135 +#29837 1721121531402 +SLAM 9.52196 13.2602 -17.0609 -0.555382 0.0858284 0.693603 0.450665 +TTool-pose None -29.7894 8.83759 9.51211 0.659547 0.628333 -0.27845 0.304262 +#29838 1721121531435 +SLAM 9.49131 14.2641 -16.3926 -0.549661 0.0692199 0.694981 0.458348 +TTool-pose None -29.7684 8.76489 9.47753 0.64885 0.642333 -0.27979 0.296695 +#29839 1721121531467 +SLAM 9.53863 13.406 -16.9171 -0.558098 0.0808022 0.692276 0.450279 +TTool-pose None -29.8118 8.69852 9.4422 0.658999 0.631755 -0.274144 0.302263 +#29840 1721121531499 +SLAM 9.50381 13.9575 -16.5489 -0.554458 0.0719864 0.692663 0.455644 +TTool-pose None -29.8077 8.62398 9.39711 0.652297 0.639667 -0.275416 0.298984 +#29841 1721121531530 +SLAM 9.3837 13.6019 -16.8202 -0.557052 0.0771644 0.692708 0.451547 +TTool-pose None -29.8253 8.55747 9.36332 0.657006 0.634677 -0.274262 0.300365 +#29842 1721121531561 +SLAM 9.26318 13.8654 -16.6387 -0.554467 0.0737857 0.693316 0.454351 +TTool-pose None -29.7979 8.50306 9.27613 0.653707 0.637938 -0.276012 0.299048 +#29843 1721121531597 +SLAM 9.19908 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-30.2358 8.85818 9.54276 0.641055 0.647243 -0.282943 0.299965 +#29993 1721121536601 +SLAM 9.79912 13.3012 -17.4223 -0.566786 0.0811841 0.691103 0.441067 +TTool-pose None -30.2446 8.78108 9.56569 0.667039 0.628262 -0.26525 0.299831 +#29994 1721121536637 +SLAM 9.73345 15.8991 -15.7739 -0.538756 0.0461298 0.692527 0.477515 +TTool-pose None -30.3457 8.51835 9.53195 0.626597 0.664598 -0.283368 0.292051 +#29995 1721121536670 +SLAM 9.54276 14.1194 -16.9336 -0.554334 0.0734695 0.691061 0.457986 +TTool-pose None -30.2695 8.54366 9.34869 0.650935 0.639577 -0.275703 0.301868 +#29996 1721121536700 +SLAM 9.80538 13.7673 -16.9888 -0.563138 0.0744116 0.685825 0.454953 +TTool-pose None -30.321 8.39346 9.26364 0.654695 0.638198 -0.266291 0.305089 +#29997 1721121536734 +SLAM 9.19362 12.9601 -17.714 -0.561673 0.0911069 0.690236 0.446987 +TTool-pose None -30.2886 8.36771 9.18653 0.664438 0.623587 -0.273007 0.308292 +#29998 1721121536769 +SLAM 9.13204 14.1279 -16.9487 -0.553848 0.0732007 0.690961 0.458766 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0.697637 0.468927 +TTool-pose None -30.201 7.62779 8.46252 0.641386 0.638569 -0.29682 0.304411 +#30005 1721121536999 +SLAM 8.72939 12.1525 -17.8106 -0.580811 0.0942346 0.68229 0.433888 +TTool-pose None -30.2186 7.62518 8.38354 0.677215 0.61705 -0.253031 0.310675 +#30006 1721121537034 +SLAM 8.41417 13.188 -17.3701 -0.568385 0.0815542 0.685856 0.447091 +TTool-pose None -30.2586 7.43331 8.3532 0.662978 0.630484 -0.26295 0.306138 +#30007 1721121537066 +SLAM 8.09274 13.3264 -17.3565 -0.566863 0.0796228 0.688777 0.444874 +TTool-pose None -30.2219 7.37022 8.27196 0.663904 0.630849 -0.264409 0.302092 +#30008 1721121537098 +SLAM 7.39167 14.1498 -17.0665 -0.546242 0.0774077 0.694749 0.461467 +TTool-pose None -30.1971 7.22436 8.13034 0.648099 0.63781 -0.285445 0.302653 +#30009 1721121537135 +SLAM 6.77616 14.2641 -17.2126 -0.53548 0.0821641 0.699847 0.465538 +TTool-pose None -30.1948 7.12213 8.0616 0.644477 0.635491 -0.298189 0.302982 +#30010 1721121537170 +SLAM 7.61408 13.3327 -17.359 -0.562785 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5.0966 14.3285 -17.364 -0.52587 0.0858962 0.702969 0.471082 +TTool-pose None -30.2391 6.01868 7.26908 0.63957 0.634447 -0.309089 0.304644 +#30018 1721121537434 +SLAM 6.38802 12.539 -17.6581 -0.571333 0.0917686 0.684892 0.44281 +TTool-pose None -30.0875 6.04124 6.93286 0.668971 0.621925 -0.262542 0.310925 +#30019 1721121537466 +#30020 1721121537505 +#30021 1721121537538 +#30022 1721121537569 +#30023 1721121537598 +#30024 1721121537633 +#30025 1721121537666 +#30026 1721121537699 +#30027 1721121537732 +#30028 1721121537772 +#30029 1721121537805 +#30030 1721121537839 +#30031 1721121537866 +#30032 1721121537900 +#30033 1721121537933 +#30034 1721121537970 +#30035 1721121538000 +#30036 1721121538032 +#30037 1721121538066 +#30038 1721121538101 +#30039 1721121538132 +#30040 1721121538166 +#30041 1721121538199 +#30042 1721121538231 +#30043 1721121538267 +#30044 1721121538301 +#30045 1721121538333 +#30046 1721121538370 +#30047 1721121538401 +#30048 1721121538437 +#30049 1721121538467 +#30050 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1721121539970 +SLAM 16.3998 14.0698 -17.4075 -0.550756 0.0863386 0.69308 0.457004 +TTool-pose None -30.6925 14.0543 13.9341 0.654318 0.630232 -0.283142 0.307282 +#30095 1721121540005 +SLAM 16.5927 14.1369 -17.2389 -0.556357 0.0807823 0.690488 0.455157 +TTool-pose None -30.7704 13.8847 13.9836 0.655163 0.633604 -0.275615 0.30538 +#30096 1721121540036 +#30097 1721121540067 +#30098 1721121540101 +#30099 1721121540134 +#30100 1721121540172 +#30101 1721121540205 +#30102 1721121540237 +#30103 1721121540272 +#30104 1721121540305 +#30105 1721121540337 +#30106 1721121540368 +#30107 1721121540402 +#30108 1721121540438 +#30109 1721121540472 +#30110 1721121540502 +#30111 1721121540539 +#30112 1721121540574 +#30113 1721121540606 +#30114 1721121540636 +#30115 1721121540669 +#30116 1721121540701 +#30117 1721121540737 +#30118 1721121540768 +#30119 1721121540802 +#30120 1721121540834 +#30121 1721121540875 +#30122 1721121540905 +#30123 1721121540939 +#30124 1721121540968 +#30125 1721121541002 +#30126 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-0.596447 0.0800336 0.617385 0.506637 +TTool-pose None -30.6981 13.8441 13.6873 0.618888 0.654204 -0.220328 0.374687 +#30315 1721121547341 +SLAM 21.6062 11.4521 -13.6303 -0.596565 0.0806735 0.619291 0.504064 +TTool-pose None -30.6388 13.8508 13.7065 0.621188 0.652887 -0.220868 0.372855 +#30316 1721121547377 +SLAM 21.511 11.5079 -13.6749 -0.593658 0.0811575 0.61967 0.506944 +TTool-pose None -30.6586 13.8151 13.6453 0.618752 0.653535 -0.223974 0.373917 +#30317 1721121547407 +SLAM 21.3309 11.4953 -13.794 -0.59312 0.0824471 0.62231 0.504124 +TTool-pose None -30.5752 13.8355 13.6549 0.621369 0.651682 -0.225524 0.371871 +#30318 1721121547440 +SLAM 21.3906 11.5268 -13.7245 -0.594827 0.0808565 0.622082 0.502651 +TTool-pose None -30.5695 13.837 13.6958 0.622306 0.652273 -0.223335 0.370589 +#30319 1721121547475 +SLAM 21.1783 11.5294 -13.8779 -0.59158 0.0829278 0.624052 0.503701 +TTool-pose None -30.5405 13.813 13.6409 0.62174 0.651199 -0.227611 0.370825 +#30320 1721121547510 +SLAM 21.2005 11.5626 -13.8296 -0.592679 0.0818036 0.624203 0.502405 +TTool-pose None -30.5232 13.8212 13.6663 0.622608 0.651529 -0.226247 0.36962 +#30321 1721121547540 +SLAM 21.0889 11.5969 -13.8818 -0.591712 0.0819859 0.625684 0.501672 +TTool-pose None -30.4868 13.8172 13.6638 0.623194 0.651145 -0.227617 0.368466 +#30322 1721121547573 +SLAM 21.208 11.6391 -13.7715 -0.593519 0.0798939 0.624426 0.501442 +TTool-pose None -30.5177 13.8022 13.6922 0.622992 0.65251 -0.224936 0.368039 +#30323 1721121547609 +SLAM 20.9909 11.6296 -13.9281 -0.591491 0.0816669 0.626961 0.500389 +TTool-pose None -30.4613 13.7909 13.6739 0.624158 0.650917 -0.228056 0.366964 +#30324 1721121547643 +SLAM 20.9525 11.6576 -13.932 -0.590976 0.0815488 0.627451 0.500402 +TTool-pose None -30.4475 13.7916 13.667 0.624085 0.650999 -0.228652 0.366573 +#30325 1721121547682 +SLAM 21.0462 11.7146 -13.8314 -0.59263 0.0793138 0.626818 0.499598 +TTool-pose None -30.4586 13.7865 13.712 0.62431 0.652262 -0.226235 0.365439 +#30326 1721121547716 +SLAM 20.701 11.7028 -14.0874 -0.588729 0.0824536 0.630642 0.498889 +TTool-pose None -30.3862 13.7689 13.6655 0.625384 0.649829 -0.231894 0.364388 +#30327 1721121547745 +SLAM 20.6882 11.7412 -14.0714 -0.589047 0.0816547 0.631002 0.49819 +TTool-pose None -30.378 13.7635 13.6776 0.625785 0.650136 -0.231442 0.36344 +#30328 1721121547779 +SLAM 20.7893 11.8213 -13.944 -0.591816 0.0786026 0.630853 0.49558 +TTool-pose None -30.3618 13.7779 13.7538 0.627361 0.651336 -0.227804 0.36086 +#30329 1721121547812 +SLAM 20.8094 11.8684 -13.8931 -0.590798 0.078026 0.629983 0.497987 +TTool-pose None -30.3933 13.7511 13.7118 0.625192 0.652566 -0.228447 0.361995 +#30330 1721121547843 +SLAM 20.584 11.8846 -14.0344 -0.588724 0.0793755 0.632681 0.496809 +TTool-pose None -30.333 13.7394 13.6947 0.626333 0.651208 -0.23152 0.360513 +#30331 1721121547875 +SLAM 20.7768 11.9827 -13.841 -0.590471 0.0760328 0.630436 0.49811 +TTool-pose None -30.3926 13.7195 13.7153 0.62458 0.653968 -0.228317 0.360601 +#30332 1721121547909 +SLAM 20.5988 11.9459 -13.9697 -0.588958 0.0780489 0.632342 0.497172 +TTool-pose None -30.339 13.7195 13.6838 0.625731 0.652246 -0.230836 0.360121 +#30333 1721121547942 +SLAM 20.3345 11.9494 -14.1434 -0.586746 0.0797916 0.635626 0.49532 +TTool-pose None -30.262 13.7124 13.6739 0.627491 0.650372 -0.234285 0.358213 +#30334 1721121547977 +SLAM 20.2654 11.967 -14.1633 -0.586786 0.0797257 0.636759 0.493827 +TTool-pose None -30.2202 13.7223 13.6834 0.628683 0.649889 -0.234489 0.356864 +#30335 1721121548011 +SLAM 20.2085 11.9991 -14.1774 -0.586224 0.0795161 0.637381 0.493725 +TTool-pose None -30.2086 13.7092 13.6762 0.62867 0.649987 -0.235131 0.356285 +#30336 1721121548044 +SLAM 20.1621 12.0447 -14.1708 -0.586584 0.0786287 0.638279 0.492276 +TTool-pose None -30.1802 13.7057 13.6952 0.629647 0.650084 -0.23473 0.354643 +#30337 1721121548077 +SLAM 20.009 12.058 -14.2545 -0.585269 0.0793402 0.64009 0.491376 +TTool-pose None -30.1354 13.6938 13.6861 0.630436 0.649255 -0.236647 0.353484 +#30338 1721121548112 +SLAM 20.0384 12.1087 -14.2014 -0.585707 0.0780509 0.639654 0.491628 +TTool-pose None -30.1523 13.6721 13.6861 0.629955 0.650233 -0.235751 0.353141 +#30339 1721121548144 +SLAM 20.0434 12.1585 -14.1657 -0.585456 0.0771912 0.639566 0.492177 +TTool-pose None -30.1588 13.6621 13.6823 0.629282 0.651012 -0.235739 0.352913 +#30340 1721121548181 +SLAM 19.8218 12.1389 -14.3111 -0.583475 0.0791729 0.642243 0.490725 +TTool-pose None -30.0865 13.6702 13.6637 0.630764 0.649104 -0.238864 0.35168 +#30341 1721121548212 +SLAM 19.841 12.151 -14.2821 -0.58365 0.0788096 0.641757 0.491213 +TTool-pose None -30.0983 13.6572 13.6487 0.6303 0.64953 -0.23848 0.351984 +#30342 1721121548245 +SLAM 19.6893 12.0909 -14.4025 -0.580979 0.0820017 0.643058 0.492153 +TTool-pose None -30.0566 13.691 13.5798 0.63009 0.647631 -0.242311 0.353241 +#30343 1721121548277 +SLAM 19.5699 12.1531 -14.4444 -0.58093 0.0808387 0.644952 0.48992 +TTool-pose None -30.0182 13.6587 13.622 0.631586 0.647623 -0.242458 0.350472 +#30344 1721121548312 +SLAM 19.625 12.2152 -14.3728 -0.581308 0.079348 0.644406 0.490434 +TTool-pose None -30.0361 13.6518 13.6295 0.630847 0.648836 -0.241546 0.35019 +#30345 1721121548345 +SLAM 19.4947 12.1955 -14.4621 -0.580518 0.0803829 0.645906 0.489226 +TTool-pose None -29.9986 13.6429 13.6234 0.631989 0.647676 -0.242949 0.349305 +#30346 1721121548381 +SLAM 19.4814 12.2208 -14.4549 -0.58036 0.0801664 0.646213 0.489044 +TTool-pose None -29.99 13.6535 13.6228 0.632066 0.647754 -0.243113 0.348905 +#30347 1721121548413 +SLAM 19.4328 12.2471 -14.4662 -0.580961 0.0794953 0.647364 0.486914 +TTool-pose None -29.9531 13.6604 13.6583 0.633647 0.647455 -0.242581 0.346956 +#30348 1721121548448 +SLAM 19.4038 12.2782 -14.4754 -0.580146 0.0793248 0.647553 0.487661 +TTool-pose None -29.9636 13.6449 13.6483 0.632938 0.647824 -0.243383 0.347001 +#30349 1721121548480 +SLAM 19.3988 12.2982 -14.4717 -0.58 0.0789418 0.647577 0.487864 +TTool-pose None -29.971 13.6318 13.6508 0.632669 0.648156 -0.243427 0.346841 +#30350 1721121548515 +SLAM 19.1773 12.249 -14.6352 -0.578174 0.0813863 0.650248 0.486075 +TTool-pose None -29.9002 13.6451 13.6365 0.634505 0.64579 -0.246498 0.345727 +#30351 1721121548548 +SLAM 19.4078 12.3414 -14.4384 -0.580471 0.077904 0.647829 0.487136 +TTool-pose None -29.9615 13.6364 13.6716 0.633035 0.648611 -0.242724 0.345813 +#30352 1721121548586 +SLAM 19.1539 12.2674 -14.6335 -0.57818 0.0810746 0.650526 0.485748 +TTool-pose None -29.8931 13.6369 13.6362 0.634688 0.645884 -0.246466 0.345239 +#30353 1721121548617 +SLAM 19.146 12.2776 -14.6342 -0.578158 0.0808686 0.650622 0.485679 +TTool-pose None -29.8943 13.6299 13.6387 0.63469 0.646 -0.24645 0.345031 +#30354 1721121548650 +SLAM 19.1097 12.2941 -14.6474 -0.577643 0.0808537 0.651036 0.485739 +TTool-pose None -29.8878 13.6243 13.6359 0.634587 0.646019 -0.247046 0.344758 +#30355 1721121548681 +SLAM 19.2671 12.3671 -14.5014 -0.579546 0.0782266 0.649613 0.485809 +TTool-pose None -29.9152 13.6312 13.6682 0.634075 0.647886 -0.244118 0.344281 +#30356 1721121548712 +SLAM 19.1904 12.3253 -14.5692 -0.57876 0.079599 0.650176 0.48577 +TTool-pose None -29.9019 13.625 13.6427 0.634366 0.646916 -0.245403 0.344655 +#30357 1721121548744 +SLAM 19.2216 12.324 -14.5547 -0.578152 0.0798546 0.649348 0.487555 +TTool-pose None -29.9326 13.6144 13.6136 0.63296 0.647376 -0.2459 0.346022 +#30358 1721121548779 +SLAM 19.1227 12.3179 -14.6207 -0.577809 0.0802859 0.650834 0.485908 +TTool-pose None -29.8935 13.6162 13.6334 0.634332 0.646472 -0.24668 0.344638 +#30359 1721121548813 +SLAM 19.0846 12.293 -14.6526 -0.577618 0.0807912 0.651354 0.485353 +TTool-pose None -29.8725 13.6178 13.6408 0.634874 0.64592 -0.247121 0.344361 +#30360 1721121548846 +SLAM 19.0492 12.3189 -14.6609 -0.577414 0.0805766 0.651904 0.484893 +TTool-pose None -29.8618 13.6196 13.6429 0.635163 0.645893 -0.247381 0.343691 +#30361 1721121548879 +SLAM 19.0768 12.3152 -14.6462 -0.577592 0.0805339 0.651438 0.485315 +TTool-pose None -29.8752 13.6166 13.635 0.634838 0.646081 -0.247093 0.344144 +#30362 1721121548916 +SLAM 19.1941 12.3402 -14.5625 -0.578617 0.0791766 0.64999 0.486257 +TTool-pose None -29.9161 13.6027 13.6444 0.633865 0.647378 -0.245387 0.344721 +#30363 1721121548954 +SLAM 19.2539 12.3365 -14.5236 -0.578859 0.079216 0.649258 0.486941 +TTool-pose None -29.927 13.6241 13.6324 0.633358 0.647606 -0.245001 0.345499 +#30364 1721121548989 +SLAM 19.2096 12.3543 -14.541 -0.57828 0.0792187 0.649971 0.486677 +TTool-pose None -29.9084 13.6291 13.6401 0.63351 0.647494 -0.24573 0.344911 +#30365 1721121549023 +SLAM 19.111 12.2985 -14.6334 -0.577814 0.0806804 0.651055 0.485539 +TTool-pose None -29.8789 13.6269 13.636 0.63472 0.646068 -0.246832 0.344573 +#30366 1721121549058 +SLAM 19.2656 12.3268 -14.5209 -0.579252 0.0790666 0.64935 0.486375 +TTool-pose None -29.9179 13.6295 13.6524 0.633806 0.647512 -0.244588 0.345145 +#30367 1721121549100 +SLAM 19.0515 12.2522 -14.6988 -0.577258 0.081991 0.651683 0.485139 +TTool-pose None -29.8613 13.6348 13.6282 0.635299 0.645011 -0.247882 0.344733 +#30368 1721121549133 +SLAM 19.236 12.3258 -14.5417 -0.578765 0.0794135 0.649707 0.486421 +TTool-pose None -29.9102 13.6335 13.6486 0.633808 0.64728 -0.245245 0.345112 +#30369 1721121549166 +SLAM 19.2254 12.3094 -14.5545 -0.578429 0.0798574 0.649632 0.486848 +TTool-pose None -29.9114 13.6288 13.6368 0.633546 0.647124 -0.245687 0.34557 +#30370 1721121549203 +SLAM 19.2319 12.2667 -14.5798 -0.578434 0.0806226 0.649213 0.487275 +TTool-pose None -29.9273 13.6189 13.6217 0.633396 0.646756 -0.245805 0.346449 +#30371 1721121549235 +SLAM 19.2262 12.2402 -14.5899 -0.57977 0.0805757 0.649883 0.484796 +TTool-pose None -29.8894 13.6451 13.6585 0.635472 0.645918 -0.244609 0.345055 +#30372 1721121549270 +SLAM 19.1537 12.2627 -14.6277 -0.577665 0.0813367 0.65028 0.486645 +TTool-pose None -29.8959 13.6327 13.6194 0.633993 0.646019 -0.246997 0.345884 +#30373 1721121549303 +SLAM 19.2761 12.2737 -14.5417 -0.578732 0.0802619 0.648872 0.487435 +TTool-pose None -29.9251 13.6349 13.6295 0.633211 0.647068 -0.245335 0.346539 +#30374 1721121549336 +SLAM 19.3458 12.2321 -14.5278 -0.57926 0.0805712 0.647775 0.488215 +TTool-pose None -29.955 13.6297 13.6229 0.63272 0.647152 -0.244659 0.347755 +#30375 1721121549369 +SLAM 19.4885 12.2505 -14.432 -0.580966 0.0789906 0.646188 0.488549 +TTool-pose None -29.9961 13.6224 13.6448 0.632228 0.648392 -0.242178 0.348076 +#30376 1721121549408 +SLAM 19.4606 12.2598 -14.4375 -0.58064 0.0790344 0.646652 0.488316 +TTool-pose None -29.9777 13.6306 13.6475 0.632393 0.648271 -0.242616 0.347696 +#30377 1721121549442 +SLAM 19.3791 12.2593 -14.5008 -0.579538 0.0798849 0.647502 0.488359 +TTool-pose None -29.9696 13.6285 13.632 0.632464 0.64768 -0.244132 0.347607 +#30378 1721121549478 +SLAM 19.4307 12.2124 -14.4849 -0.580176 0.0802412 0.646766 0.488519 +TTool-pose None -29.9745 13.6328 13.6312 0.632484 0.647509 -0.243438 0.348375 +#30379 1721121549510 +SLAM 19.6345 12.2046 -14.3687 -0.582339 0.0788429 0.644358 0.489355 +TTool-pose None -30.0349 13.6333 13.6495 0.631676 0.648814 -0.240371 0.349544 +#30380 1721121549544 +SLAM 19.4769 12.1424 -14.5003 -0.580764 0.0812702 0.646153 0.488461 +TTool-pose None -29.9826 13.6516 13.6288 0.632835 0.646798 -0.243007 0.349359 +#30381 1721121549577 +SLAM 19.6025 12.1842 -14.3963 -0.580597 0.0804681 0.644426 0.491068 +TTool-pose None -30.0277 13.6665 13.6015 0.63055 0.648283 -0.242568 0.35104 +#30382 1721121549610 +SLAM 19.5562 12.1222 -14.4687 -0.578997 0.0828095 0.644512 0.492452 +TTool-pose None -30.0283 13.6902 13.5532 0.629867 0.647142 -0.244821 0.352805 +#30383 1721121549643 +SLAM 19.5828 12.0974 -14.4833 -0.578812 0.0836411 0.643995 0.493205 +TTool-pose None -30.0522 13.7059 13.5304 0.629447 0.646839 -0.245119 0.353902 +#30384 1721121549677 +SLAM 19.4659 12.1028 -14.5575 -0.576918 0.0853872 0.645208 0.493539 +TTool-pose None -30.0264 13.7399 13.4793 0.629421 0.645717 -0.247744 0.35417 +#30385 1721121549709 +SLAM 19.5796 12.2094 -14.4263 -0.5766 0.0839251 0.643988 0.49575 +TTool-pose None -30.0603 13.782 13.4483 0.627269 0.647504 -0.247377 0.354981 +#30386 1721121549742 +SLAM 19.4545 12.4111 -14.445 -0.572412 0.0836889 0.644982 0.499338 +TTool-pose None -30.1115 13.7884 13.3492 0.623922 0.648841 -0.251649 0.355436 +#30387 1721121549775 +SLAM 19.3151 12.7367 -14.3979 -0.569563 0.0813246 0.647564 0.499644 +TTool-pose None -30.1115 13.8606 13.298 0.622813 0.650492 -0.254367 0.352414 +#30388 1721121549810 +SLAM 19.3734 13.0648 -14.2054 -0.567961 0.0770981 0.647453 0.502275 +TTool-pose None -30.1708 13.8982 13.2608 0.619491 0.654268 -0.254717 0.351022 +#30389 1721121549843 +SLAM 19.2758 13.2906 -14.1596 -0.564877 0.0752227 0.64873 0.504385 +TTool-pose None -30.1888 13.9007 13.2209 0.61699 0.656202 -0.25748 0.3498 +#30390 1721121549880 +SLAM 19.4665 13.8593 -13.7534 -0.562585 0.0656541 0.647805 0.509447 +TTool-pose None -30.3065 13.9074 13.2581 0.610211 0.664408 -0.256736 0.346732 +#30391 1721121549913 +SLAM 18.9861 13.6844 -14.1674 -0.558412 0.0753946 0.653003 0.506042 +TTool-pose None -30.1586 14.0756 13.0613 0.614957 0.656452 -0.26477 0.34746 +#30392 1721121549946 +SLAM 19.1432 13.8247 -14.0362 -0.563388 0.0701581 0.651303 0.503464 +TTool-pose None -30.2709 13.9815 13.1227 0.616292 0.659268 -0.25807 0.344791 +#30393 1721121549980 +SLAM 19.1047 13.985 -13.9874 -0.559874 0.0701187 0.652133 0.506308 +TTool-pose None -30.2751 14.0662 13.0622 0.613586 0.660184 -0.261652 0.345164 +#30394 1721121550015 +SLAM 19.1375 13.9187 -13.9942 -0.562378 0.0705093 0.6522 0.503383 +TTool-pose None -30.2431 14.106 13.0837 0.616331 0.658967 -0.259355 0.344332 +#30395 1721121550049 +SLAM 19.1228 13.8592 -14.0467 -0.562392 0.0719845 0.652194 0.503166 +TTool-pose None -30.2419 14.1218 13.062 0.616881 0.657889 -0.259763 0.345102 +#30396 1721121550083 +SLAM 18.8852 13.9361 -14.1798 -0.56133 0.0730166 0.655196 0.500295 +TTool-pose None -30.204 14.1495 13.0193 0.619318 0.656123 -0.261765 0.342576 +#30397 1721121550116 +SLAM 19.3527 14.7375 -13.4533 -0.568116 0.0539525 0.652806 0.498173 +TTool-pose None -30.3676 14.1226 13.255 0.616816 0.668453 -0.249077 0.332557 +#30398 1721121550148 +SLAM 19.2004 14.4695 -13.7035 -0.566004 0.06386 0.652872 0.49932 +TTool-pose None -30.3375 14.2775 12.9692 0.61829 0.662135 -0.254063 0.338637 +#30399 1721121550185 +SLAM 19.4996 15.1257 -13.1335 -0.570484 0.0493619 0.651235 0.498 +TTool-pose None -30.4651 14.2624 13.1086 0.615964 0.671533 -0.245041 0.330924 +#30400 1721121550217 +SLAM 17.8099 14.8103 -14.4741 -0.546872 0.073667 0.665404 0.502734 +TTool-pose None -30.2989 14.1497 12.5278 0.615673 0.655954 -0.278172 0.336482 +#30401 1721121550249 +SLAM 19.288 15.478 -13.0281 -0.572604 0.0463749 0.653224 0.493227 +TTool-pose None -30.4678 14.3326 12.931 0.619169 0.671868 -0.242503 0.326094 +#30402 1721121550281 +SLAM 19.3056 15.8301 -12.7767 -0.569447 0.0437704 0.654016 0.496061 +TTool-pose None -30.4606 14.5168 12.8352 0.615852 0.674529 -0.244989 0.325021 +#30403 1721121550314 +SLAM 18.9428 15.9155 -12.9972 -0.566446 0.0462646 0.657921 0.494105 +TTool-pose None -30.4251 14.532 12.7264 0.617759 0.672062 -0.249535 0.323047 +#30404 1721121550346 +SLAM 19.0376 16.5013 -12.5624 -0.563697 0.0384957 0.657777 0.49809 +TTool-pose None -30.5075 14.651 12.6701 0.612097 0.678566 -0.249826 0.319987 +#30405 1721121550376 +#30406 1721121550407 +#30407 1721121550438 +SLAM 18.6685 16.9033 -12.7086 -0.575079 0.0336645 0.662295 0.479079 +TTool-pose None -30.5605 14.7417 12.5944 0.626929 0.675171 -0.238076 0.30714 +#30408 1721121550470 +SLAM 18.7502 17.1696 -12.5043 -0.575126 0.030348 0.661739 0.480011 +TTool-pose None -30.6185 14.8312 12.5542 0.625249 0.677704 -0.236889 0.305902 +#30409 1721121550501 +SLAM 18.6594 17.5627 -12.3086 -0.573137 0.0258852 0.663241 0.480578 +TTool-pose None -30.6464 14.9068 12.5066 0.623273 0.680779 -0.237773 0.302395 +#30410 1721121550532 +SLAM 18.9748 17.5563 -12.1479 -0.58089 0.0244891 0.658827 0.477404 +TTool-pose None -30.7627 14.9747 12.4449 0.626158 0.680752 -0.228713 0.303483 +#30411 1721121550563 +#30412 1721121550596 +#30413 1721121550634 +#30414 1721121550666 +SLAM 19.1575 17.8204 -12.0189 -0.587951 0.0249929 0.656333 0.47214 +TTool-pose None -30.9288 15.3054 12.1687 0.631076 0.678639 -0.22127 0.303547 +#30415 1721121550700 +#30416 1721121550734 +SLAM 18.757 18.2375 -12.1218 -0.58221 0.0235368 0.662279 0.471025 +TTool-pose None -30.927 15.4206 12.1186 0.630928 0.679024 -0.227765 0.298134 +#30417 1721121550767 +#30418 1721121550801 +SLAM 18.8338 18.796 -11.7162 -0.582814 0.0160146 0.661479 0.471717 +TTool-pose None -31.0486 15.5512 12.042 0.628189 0.684209 -0.22461 0.29443 +#30419 1721121550838 +SLAM 18.697 18.7167 -11.8814 -0.580314 0.0199691 0.663129 0.472331 +TTool-pose None -31.0112 15.5997 11.9563 0.628655 0.681791 -0.228708 0.295889 +#30420 1721121550871 +SLAM 18.8728 19.0513 -11.5671 -0.582644 0.0116915 0.662421 0.47073 +TTool-pose None -31.0709 15.6274 12.1508 0.6276 0.686641 -0.22357 0.290792 +#30421 1721121550905 +SLAM 18.7617 18.8993 -11.7883 -0.583885 0.0142328 0.663394 0.467743 +TTool-pose None -31.0532 15.5809 12.1507 0.630796 0.683898 -0.223322 0.290528 +#30422 1721121550940 +SLAM 18.8509 18.8502 -11.8255 -0.578208 0.0201406 0.661604 0.477022 +TTool-pose None -31.1696 15.6652 11.8881 0.624869 0.683374 -0.230575 0.298799 +#30423 1721121550974 +SLAM 18.7782 18.8869 -11.9914 -0.580734 0.0170261 0.663252 0.471758 +TTool-pose None -31.222 15.5497 12.1062 0.628248 0.683506 -0.227371 0.293819 +#30424 1721121551006 +#30425 1721121551037 +#30426 1721121551073 +#30427 1721121551106 +#30428 1721121551140 +SLAM 18.9353 18.0179 -12.6081 -0.571074 0.0308897 0.663021 0.483036 +TTool-pose None -31.1821 15.3968 12.3018 0.6226 0.678335 -0.241341 0.306424 +#30429 1721121551174 +SLAM 18.8528 17.7814 -12.8262 -0.575061 0.0311736 0.664003 0.476899 +TTool-pose None -31.1218 15.2581 12.4673 0.627888 0.675998 -0.237661 0.303662 +#30430 1721121551208 +SLAM 19.3376 18.0459 -12.314 -0.570456 0.0283553 0.659143 0.48919 +TTool-pose None -31.2559 15.43 12.3814 0.616979 0.682248 -0.240356 0.309864 +#30431 1721121551241 +SLAM 19.2721 17.8789 -12.4319 -0.567842 0.03268 0.659564 0.491389 +TTool-pose None -31.1994 15.4516 12.304 0.616213 0.680119 -0.244365 0.312923 +#30432 1721121551279 +SLAM 19.4062 18.0501 -12.235 -0.567237 0.0293199 0.658508 0.49371 +TTool-pose None -31.2528 15.4733 12.3406 0.613333 0.683155 -0.243685 0.312496 +#30433 1721121551316 +SLAM 19.772 18.2367 -11.8342 -0.570486 0.0220688 0.654574 0.495571 +TTool-pose None -31.3552 15.4377 12.4673 0.610076 0.68869 -0.237361 0.311589 +#30434 1721121551348 +SLAM 20.1826 18.0787 -11.5632 -0.566044 0.0269918 0.649367 0.507138 +TTool-pose None -31.3905 15.6302 12.2428 0.601777 0.689461 -0.242068 0.322229 +#30435 1721121551380 +#30436 1721121551415 +#30437 1721121551450 +#30438 1721121551480 +#30439 1721121551510 +#30440 1721121551542 +#30441 1721121551572 +#30442 1721121551602 +SLAM 21.9486 11.5932 -14.0922 -0.581229 0.0924595 0.622256 0.51616 +TTool-pose None -30.928 14.6839 13.7213 0.612911 0.648793 -0.23994 0.38181 +#30443 1721121551633 +SLAM 21.9836 11.1943 -14.2814 -0.587085 0.0963151 0.621838 0.509286 +TTool-pose None -30.891 14.667 13.8177 0.619931 0.643843 -0.235165 0.381827 +#30444 1721121551665 +#30445 1721121551698 +SLAM 22.1059 11.4313 -14.088 -0.598135 0.0851257 0.622525 0.497444 +TTool-pose None -30.9302 14.4203 14.1264 0.627795 0.647548 -0.221343 0.370811 +#30446 1721121551735 +SLAM 21.9624 11.45 -14.0911 -0.595522 0.0855973 0.622022 0.501114 +TTool-pose None -30.9311 14.3063 13.9965 0.624743 0.648489 -0.22395 0.372753 +#30447 1721121551772 +SLAM 21.8436 11.4728 -14.0865 -0.59354 0.0860858 0.622129 0.503245 +TTool-pose None -30.9028 14.2544 13.9048 0.622985 0.64888 -0.226076 0.37373 +#30448 1721121551807 +SLAM 21.8609 11.6182 -13.9502 -0.594223 0.0829371 0.621211 0.504101 +TTool-pose None -30.9348 14.1753 13.867 0.62157 0.651342 -0.224298 0.372873 +#30449 1721121551846 +SLAM 21.8598 11.6807 -13.8978 -0.596397 0.0808947 0.621217 0.501852 +TTool-pose None -30.9381 14.1283 13.8816 0.623063 0.651975 -0.221574 0.370896 +#30450 1721121551883 +SLAM 21.6347 11.6704 -14.0397 -0.59245 0.0834198 0.622503 0.504514 +TTool-pose None -30.9185 14.0798 13.7727 0.621239 0.651145 -0.226505 0.372433 +#30451 1721121551917 +SLAM 21.5107 11.7655 -14.0436 -0.591792 0.0824947 0.624426 0.50306 +TTool-pose None -30.8551 14.0839 13.7787 0.622178 0.651277 -0.227373 0.370099 +#30452 1721121551951 +SLAM 21.4883 11.8466 -14.0098 -0.592619 0.0805397 0.624969 0.501726 +TTool-pose None -30.8503 14.0478 13.8092 0.622859 0.652161 -0.22614 0.368145 +#30453 1721121551985 +SLAM 21.3673 11.9318 -14.0299 -0.593564 0.0787783 0.62716 0.498143 +TTool-pose None -30.7892 14.0218 13.8647 0.625431 0.652127 -0.225239 0.364377 +#30454 1721121552020 +SLAM 21.2876 12.0475 -13.9877 -0.59327 0.0765557 0.628133 0.497612 +TTool-pose None -30.7629 13.9675 13.8782 0.625302 0.653459 -0.225138 0.362266 +#30455 1721121552056 +SLAM 21.0363 12.0866 -14.0685 -0.590601 0.0772003 0.63036 0.497872 +TTool-pose None -30.6835 13.9083 13.8246 0.62507 0.653088 -0.228499 0.36123 +#30456 1721121552092 +SLAM 21.0394 12.1304 -13.957 -0.594151 0.0742358 0.631208 0.493001 +TTool-pose None -30.5927 13.8947 13.9087 0.628536 0.653428 -0.22433 0.35719 +#30457 1721121552126 +SLAM 21.0102 12.1467 -13.897 -0.594639 0.0731837 0.631001 0.492836 +TTool-pose None -30.5626 13.844 13.8929 0.62844 0.65409 -0.223496 0.356668 +#30458 1721121552161 +SLAM 20.9874 12.1993 -13.8135 -0.594504 0.0717702 0.630707 0.493581 +TTool-pose None -30.5394 13.7973 13.8685 0.627474 0.655315 -0.22316 0.356332 +#30459 1721121552199 +SLAM 20.7257 12.1416 -13.9784 -0.592282 0.0744269 0.633398 0.492413 +TTool-pose None -30.4448 13.7853 13.8231 0.62893 0.653073 -0.226756 0.355609 +#30460 1721121552236 +SLAM 20.6612 12.089 -14.0042 -0.591689 0.0754224 0.633528 0.492805 +TTool-pose None -30.4138 13.7593 13.7905 0.628818 0.652527 -0.227658 0.356233 +#30461 1721121552269 +SLAM 20.7905 12.1018 -13.862 -0.593612 0.073509 0.631686 0.493147 +TTool-pose None -30.4309 13.7312 13.7971 0.628201 0.65397 -0.224773 0.356508 +#30462 1721121552304 +SLAM 20.7172 12.0485 -13.8729 -0.594035 0.0740895 0.63217 0.491929 +TTool-pose None -30.371 13.7106 13.7815 0.629358 0.653148 -0.224627 0.356066 +#30463 1721121552338 +SLAM 20.503 11.9774 -14.0163 -0.593192 0.0761982 0.634166 0.490051 +TTool-pose None -30.3011 13.6771 13.7449 0.631335 0.651035 -0.226524 0.355232 +#30464 1721121552374 +SLAM 20.525 12.0222 -13.9431 -0.59463 0.0742905 0.633886 0.488962 +TTool-pose None -30.2934 13.6397 13.7644 0.631838 0.651961 -0.224483 0.353931 +#30465 1721121552410 +SLAM 20.4309 12.0014 -13.9827 -0.59408 0.0749258 0.634245 0.489069 +TTool-pose None -30.2762 13.5944 13.722 0.631872 0.651562 -0.225295 0.354091 +#30466 1721121552446 +SLAM 20.3465 11.9963 -14.0279 -0.594 0.0752804 0.635206 0.487863 +TTool-pose None -30.2462 13.5834 13.7167 0.632922 0.650889 -0.225694 0.353199 +#30467 1721121552480 +SLAM 20.1981 11.9993 -14.1173 -0.593401 0.0758356 0.637337 0.485721 +TTool-pose None -30.1866 13.5827 13.7336 0.634729 0.649735 -0.226928 0.351282 +#30468 1721121552516 +SLAM 19.9829 12.0022 -14.2533 -0.591289 0.0772532 0.63987 0.484744 +TTool-pose None -30.1292 13.5704 13.7182 0.635699 0.648389 -0.230005 0.350011 +#30469 1721121552555 +SLAM 19.9464 12.0376 -14.2528 -0.591826 0.0764785 0.640652 0.483175 +TTool-pose None -30.1072 13.5685 13.7392 0.636795 0.648358 -0.229421 0.348456 +#30470 1721121552592 +SLAM 19.6054 11.9991 -14.4814 -0.589358 0.0791242 0.645023 0.479939 +TTool-pose None -29.9887 13.5731 13.7394 0.639804 0.645335 -0.233582 0.345779 +#30471 1721121552627 +SLAM 19.6344 12.0273 -14.4462 -0.59003 0.078065 0.644591 0.479868 +TTool-pose None -30.0066 13.5468 13.7465 0.639656 0.646044 -0.232518 0.345446 +#30472 1721121552663 +SLAM 19.4837 12.027 -14.5207 -0.590625 0.0779301 0.647053 0.475828 +TTool-pose None -29.9239 13.5433 13.7936 0.64284 0.644664 -0.232398 0.342176 +#30473 1721121552700 +SLAM 19.479 12.0376 -14.4899 -0.59155 0.0769426 0.647067 0.474819 +TTool-pose None -29.9083 13.5139 13.8079 0.643461 0.644982 -0.231191 0.341226 +#30474 1721121552737 +SLAM 19.513 11.9887 -14.4856 -0.592826 0.0769065 0.646488 0.474021 +TTool-pose None -29.9145 13.4917 13.8186 0.64418 0.644733 -0.22977 0.341299 +#30475 1721121552771 +SLAM 19.3946 11.8852 -14.6081 -0.592759 0.0788955 0.647717 0.472096 +TTool-pose None -29.8735 13.4783 13.8186 0.646164 0.642663 -0.230644 0.340864 +#30476 1721121552811 +SLAM 19.4865 11.9013 -14.5426 -0.594413 0.077533 0.646785 0.47152 +TTool-pose None -29.8959 13.4682 13.8439 0.646411 0.643406 -0.228397 0.340506 +#30477 1721121552852 +SLAM 19.5245 11.9259 -14.4922 -0.594882 0.0765903 0.646395 0.471617 +TTool-pose None -29.897 13.4605 13.8551 0.646141 0.644092 -0.227578 0.340271 +#30478 1721121552893 +SLAM 19.3099 11.875 -14.6252 -0.593532 0.0784684 0.649123 0.469256 +TTool-pose None -29.8026 13.4686 13.8555 0.648326 0.641912 -0.230025 0.338584 +#30479 1721121552932 +SLAM 19.4939 11.9486 -14.4567 -0.595554 0.075569 0.646875 0.470275 +TTool-pose None -29.8562 13.4436 13.8713 0.646983 0.6443 -0.226707 0.338853 +#30480 1721121552968 +SLAM 19.3139 11.9217 -14.568 -0.593496 0.0774006 0.648755 0.469987 +TTool-pose None -29.8035 13.4409 13.8387 0.647493 0.642912 -0.22969 0.338506 +#30481 1721121553006 +SLAM 19.3605 11.9642 -14.4994 -0.593322 0.0764495 0.64793 0.471499 +TTool-pose None -29.821 13.4256 13.8235 0.646071 0.644119 -0.229435 0.339101 +#30482 1721121553041 +SLAM 19.327 12.0696 -14.4555 -0.592043 0.0752022 0.64822 0.472906 +TTool-pose None -29.8254 13.4117 13.8031 0.644562 0.645469 -0.230441 0.338725 +#30483 1721121553075 +SLAM 19.3411 12.2066 -14.3533 -0.591707 0.0728679 0.648141 0.4738 +TTool-pose None -29.8298 13.4028 13.7955 0.643253 0.647382 -0.230108 0.337785 +#30484 1721121553110 +SLAM 19.3005 12.3342 -14.307 -0.58896 0.072221 0.648218 0.477204 +TTool-pose None -29.8504 13.4037 13.7347 0.640199 0.649028 -0.232714 0.338642 +#30485 1721121553147 +SLAM 19.0212 12.6165 -14.3155 -0.58381 0.0702526 0.651951 0.478738 +TTool-pose None -29.7883 13.4031 13.7031 0.638036 0.650821 -0.238104 0.335521 +#30486 1721121553184 +SLAM 19.1362 12.6577 -14.233 -0.584652 0.0689424 0.6505 0.479874 +TTool-pose None -29.8381 13.3966 13.7029 0.636893 0.652147 -0.236585 0.336192 +#30487 1721121553220 +SLAM 19.1981 12.6508 -14.2037 -0.586421 0.068019 0.649979 0.478552 +TTool-pose None -29.8506 13.3872 13.7342 0.637854 0.652324 -0.234439 0.33553 +#30488 1721121553260 +SLAM 19.0725 12.6581 -14.2804 -0.585903 0.0682589 0.651937 0.476483 +TTool-pose None -29.8006 13.3876 13.7636 0.639482 0.651387 -0.235431 0.333549 +#30489 1721121553297 +SLAM 19.337 12.7364 -14.0666 -0.587907 0.0652432 0.648748 0.478786 +TTool-pose None -29.88 13.3846 13.7753 0.637089 0.654318 -0.231893 0.334868 +#30490 1721121553336 +SLAM 19.1266 12.6694 -14.242 -0.586579 0.0676267 0.651349 0.476547 +TTool-pose None -29.8155 13.3875 13.7715 0.639333 0.651853 -0.234451 0.333616 +#30491 1721121553374 +SLAM 19.2918 12.7076 -14.1053 -0.587951 0.06575 0.6493 0.477912 +TTool-pose None -29.8595 13.3799 13.7802 0.637908 0.653655 -0.232109 0.334455 +#30492 1721121553413 +SLAM 19.2289 12.5893 -14.2131 -0.587756 0.0680937 0.649669 0.477322 +TTool-pose None -29.8457 13.3721 13.7632 0.638954 0.651848 -0.233053 0.335327 +#30493 1721121553451 +SLAM 18.9954 12.257 -14.495 -0.585976 0.0761168 0.651515 0.47578 +TTool-pose None -29.7353 13.4368 13.6671 0.642019 0.645791 -0.237496 0.338066 +#30494 1721121553488 +SLAM 19.113 12.2676 -14.3928 -0.590082 0.0726203 0.65023 0.473002 +TTool-pose None -29.7574 13.3454 13.7483 0.643672 0.647225 -0.232108 0.335913 +#30495 1721121553533 +SLAM 19.0353 12.0937 -14.4769 -0.590645 0.0752266 0.650584 0.471402 +TTool-pose None -29.6944 13.331 13.7304 0.645615 0.644869 -0.232342 0.336554 +#30496 1721121553572 +SLAM 18.8636 11.9565 -14.5522 -0.58947 0.0780062 0.651148 0.471643 +TTool-pose None -29.618 13.2776 13.6459 0.646015 0.64304 -0.234423 0.33784 +#30497 1721121553613 +SLAM 19.0129 12.0327 -14.3669 -0.589817 0.0759329 0.648627 0.475008 +TTool-pose None -29.6595 13.2528 13.5994 0.642917 0.645708 -0.23298 0.339656 +#30498 1721121553655 +SLAM 18.8154 12.0153 -14.4721 -0.587414 0.0779037 0.650533 0.475061 +TTool-pose None -29.6038 13.2493 13.5479 0.643153 0.644337 -0.236346 0.339489 +#30499 1721121553703 +SLAM 18.7142 12.0129 -14.5049 -0.585726 0.0791478 0.650956 0.476358 +TTool-pose None -29.5869 13.2373 13.4784 0.642295 0.643932 -0.238479 0.34039 +#30500 1721121553773 +SLAM 18.7871 12.1037 -14.3822 -0.58591 0.0770752 0.649747 0.478119 +TTool-pose None -29.6125 13.2107 13.4574 0.640427 0.646 -0.237465 0.3407 +#30501 1721121553848 +SLAM 18.6516 11.988 -14.4767 -0.586891 0.0787544 0.65047 0.475652 +TTool-pose None -29.5682 13.1548 13.4207 0.642854 0.643964 -0.237097 0.340237 +#30502 1721121553884 +SLAM 18.6414 11.914 -14.5071 -0.588234 0.0792569 0.650349 0.474074 +TTool-pose None -29.5581 13.1295 13.4265 0.644327 0.643065 -0.235859 0.340014 +#30503 1721121553918 +SLAM 18.5907 11.8419 -14.56 -0.588426 0.0805335 0.650734 0.47309 +TTool-pose None -29.5325 13.1262 13.4171 0.645421 0.641831 -0.236097 0.340103 +#30504 1721121553952 +SLAM 18.6609 11.9439 -14.4498 -0.589235 0.077552 0.65034 0.473123 +TTool-pose None -29.5387 13.1003 13.4642 0.644734 0.643896 -0.234371 0.338694 +#30505 1721121553986 +SLAM 18.7011 12.0002 -14.3648 -0.589236 0.0763222 0.64994 0.473871 +TTool-pose None -29.5285 13.1064 13.4624 0.643849 0.645011 -0.233944 0.33855 +#30506 1721121554022 +SLAM 18.3863 11.8379 -14.6548 -0.587244 0.0811829 0.653133 0.471139 +TTool-pose None -29.4608 13.0965 13.4174 0.646984 0.640636 -0.237953 0.338088 +#30507 1721121554058 +SLAM 18.4185 11.8709 -14.6122 -0.588452 0.0797906 0.6532 0.469774 +TTool-pose None -29.4516 13.0955 13.4532 0.647808 0.641104 -0.236358 0.336737 +#30508 1721121554092 +SLAM 18.4647 12.0179 -14.5063 -0.588593 0.0765818 0.653417 0.46983 +TTool-pose None -29.4516 13.0902 13.5052 0.646985 0.643317 -0.235365 0.334786 +#30509 1721121554132 +SLAM 18.4585 11.8904 -14.5848 -0.589346 0.0787723 0.652783 0.469405 +TTool-pose None -29.4706 13.0757 13.4709 0.647924 0.64168 -0.235086 0.336307 +#30510 1721121554166 +SLAM 18.5578 11.9915 -14.472 -0.589348 0.076686 0.651834 0.471062 +TTool-pose None -29.4993 13.081 13.4812 0.646128 0.643722 -0.234315 0.336399 +#30511 1721121554200 +SLAM 18.5107 12.0212 -14.4969 -0.588934 0.0763041 0.6526 0.470581 +TTool-pose None -29.4934 13.0704 13.4976 0.646367 0.643794 -0.23478 0.335474 +#30512 1721121554236 +SLAM 18.4333 11.9779 -14.5741 -0.588788 0.0774061 0.653604 0.46919 +TTool-pose None -29.4703 13.0746 13.5012 0.647701 0.64252 -0.235435 0.334884 +#30513 1721121554270 +SLAM 18.3776 11.828 -14.6955 -0.5905 0.079443 0.653873 0.466313 +TTool-pose None -29.4651 13.0475 13.5008 0.650572 0.640087 -0.234314 0.334764 +#30514 1721121554304 +SLAM 18.3409 11.8165 -14.7444 -0.587622 0.0822359 0.654063 0.46919 +TTool-pose None -29.4686 13.1291 13.4244 0.648779 0.639196 -0.238044 0.337308 +#30515 1721121554340 +SLAM 18.2901 11.8245 -14.7772 -0.590382 0.0801717 0.655421 0.464159 +TTool-pose None -29.4409 13.0757 13.5165 0.65239 0.638776 -0.234933 0.333291 +#30516 1721121554376 +SLAM 18.4895 11.9224 -14.5836 -0.591071 0.0774846 0.653379 0.466612 +TTool-pose None -29.4693 13.0966 13.5358 0.64991 0.641548 -0.233094 0.334105 +#30517 1721121554408 +SLAM 18.5362 11.7821 -14.624 -0.591727 0.0793223 0.651875 0.467574 +TTool-pose None -29.5018 13.0592 13.5067 0.649681 0.640668 -0.232643 0.336546 +#30518 1721121554440 +SLAM 18.5042 11.561 -14.7678 -0.594108 0.0824709 0.651811 0.464086 +TTool-pose None -29.4942 13.0511 13.5029 0.653336 0.63725 -0.231071 0.337042 +#30519 1721121554473 +SLAM 18.5404 11.6497 -14.6918 -0.5953 0.0797559 0.652262 0.462397 +TTool-pose None -29.4735 13.045 13.5725 0.654068 0.638491 -0.229191 0.334545 +#30520 1721121554509 +SLAM 18.795 11.7426 -14.4368 -0.596757 0.0763421 0.648989 0.46569 +TTool-pose None -29.5208 13.0282 13.5754 0.650817 0.642082 -0.226118 0.336102 +#30521 1721121554544 +SLAM 18.5169 11.716 -14.6417 -0.593533 0.0791512 0.652259 0.464771 +TTool-pose None -29.4638 13.0334 13.5462 0.651951 0.639767 -0.23083 0.335116 +#30522 1721121554576 +SLAM 18.4314 11.5797 -14.755 -0.593228 0.0823981 0.6529 0.463694 +TTool-pose None -29.4293 13.0635 13.5072 0.653544 0.637136 -0.23216 0.336105 +#30523 1721121554609 +SLAM 18.6545 11.6856 -14.5536 -0.595089 0.07859 0.650274 0.465657 +TTool-pose None -29.4942 13.0262 13.5385 0.651262 0.64051 -0.228699 0.336494 +#30524 1721121554643 +SLAM 18.6042 11.7011 -14.5737 -0.593138 0.0795648 0.650692 0.467393 +TTool-pose None -29.4848 13.0474 13.5034 0.650002 0.64046 -0.231041 0.337425 +#30525 1721121554680 +SLAM 18.6629 11.6636 -14.5523 -0.591243 0.0816391 0.64925 0.471425 +TTool-pose None -29.5131 13.0925 13.4228 0.647228 0.640512 -0.233252 0.341119 +#30526 1721121554713 +SLAM 18.8255 11.7885 -14.3804 -0.592316 0.0782327 0.647942 0.472454 +TTool-pose None -29.5393 13.0995 13.4688 0.645686 0.64324 -0.230954 0.34047 +#30527 1721121554745 +SLAM 18.547 11.785 -14.5925 -0.59027 0.0798767 0.651442 0.469919 +TTool-pose None -29.4951 13.0731 13.4754 0.64788 0.641137 -0.234191 0.338048 +#30528 1721121554776 +SLAM 18.5052 11.7072 -14.652 -0.589748 0.0822025 0.65172 0.469788 +TTool-pose None -29.4728 13.1151 13.4362 0.648502 0.639488 -0.235417 0.339126 +#30529 1721121554808 +SLAM 18.4948 11.8293 -14.5964 -0.589293 0.0796941 0.652308 0.469976 +TTool-pose None -29.4719 13.0869 13.4762 0.647704 0.641263 -0.235303 0.337372 +#30530 1721121554842 +SLAM 18.5458 11.8074 -14.5804 -0.589483 0.0799396 0.651368 0.470998 +TTool-pose None -29.4989 13.0806 13.4597 0.646991 0.641481 -0.234991 0.338543 +#30531 1721121554877 +SLAM 18.5759 11.8202 -14.5588 -0.589737 0.0795448 0.65111 0.471105 +TTool-pose None -29.5064 13.0845 13.4663 0.646834 0.641795 -0.234573 0.338537 +#30532 1721121554908 +SLAM 18.6104 11.8425 -14.5292 -0.589791 0.0791291 0.650656 0.471732 +TTool-pose None -29.5222 13.086 13.4606 0.646251 0.642314 -0.234311 0.338849 +#30533 1721121554940 +SLAM 18.4808 11.7083 -14.6741 -0.588148 0.08316 0.651506 0.471918 +TTool-pose None -29.4924 13.1129 13.3935 0.646944 0.639593 -0.237258 0.340619 +#30534 1721121554971 +SLAM 18.5313 11.7628 -14.6112 -0.588996 0.0816714 0.651319 0.471378 +TTool-pose None -29.4924 13.1215 13.4173 0.647077 0.640428 -0.235953 0.339702 +#30535 1721121555004 +SLAM 18.6819 12.0148 -14.3949 -0.587577 0.0770215 0.649752 0.476071 +TTool-pose None -29.5627 13.0976 13.4291 0.642162 0.645316 -0.235775 0.339902 +#30536 1721121555036 +SLAM 18.7086 11.9768 -14.399 -0.588723 0.0770415 0.649173 0.475441 +TTool-pose None -29.5792 13.0746 13.4287 0.64276 0.645092 -0.234507 0.340075 +#30537 1721121555067 +SLAM 18.4775 11.8952 -14.5727 -0.5844 0.0819431 0.651735 0.476448 +TTool-pose None -29.4948 13.1616 13.3499 0.642785 0.642025 -0.240746 0.341469 +#30538 1721121555098 +SLAM 18.6594 11.9104 -14.4551 -0.587479 0.0793863 0.649628 0.475972 +TTool-pose None -29.5488 13.1223 13.3928 0.642813 0.643663 -0.236508 0.341293 +#30539 1721121555130 +SLAM 18.9158 12.0063 -14.2463 -0.588503 0.0763981 0.646478 0.479472 +TTool-pose None -29.6318 13.1164 13.3986 0.639427 0.64701 -0.233986 0.343061 +#30540 1721121555160 +SLAM 18.6868 11.9343 -14.4356 -0.587195 0.0787737 0.649368 0.476778 +TTool-pose None -29.5644 13.1114 13.4068 0.642008 0.644373 -0.23657 0.341426 +#30541 1721121555192 +SLAM 18.731 11.8371 -14.4548 -0.589065 0.079484 0.64847 0.475576 +TTool-pose None -29.5779 13.0904 13.4065 0.643286 0.643481 -0.234698 0.341995 +#30542 1721121555225 +SLAM 18.8702 12.002 -14.278 -0.588385 0.0763023 0.647132 0.47875 +TTool-pose None -29.6177 13.0976 13.4188 0.63996 0.646808 -0.234216 0.34229 +#30543 1721121555261 +SLAM 18.8889 11.953 -14.2732 -0.589455 0.0763628 0.647114 0.477446 +TTool-pose None -29.5922 13.1005 13.4459 0.641088 0.646308 -0.233153 0.341849 +#30544 1721121555300 +SLAM 18.6019 11.7214 -14.5814 -0.588451 0.0820208 0.649934 0.473903 +TTool-pose None -29.5206 13.0979 13.4052 0.645154 0.641116 -0.236321 0.341801 +#30545 1721121555340 +SLAM 18.7114 11.8101 -14.4704 -0.589805 0.0793476 0.649136 0.473769 +TTool-pose None -29.5432 13.0928 13.4465 0.644725 0.642921 -0.23405 0.340782 +#30546 1721121555375 +SLAM 18.6195 11.6916 -14.5704 -0.589008 0.0818122 0.649893 0.473302 +TTool-pose None -29.502 13.0912 13.4337 0.64562 0.641047 -0.235692 0.341485 +#30547 1721121555410 +SLAM 18.6594 11.7363 -14.5381 -0.58986 0.0799244 0.649654 0.472892 +TTool-pose None -29.5261 13.0477 13.4803 0.645552 0.642203 -0.23426 0.340424 +#30548 1721121555444 +SLAM 18.5917 11.6776 -14.6012 -0.588806 0.0819041 0.650264 0.47303 +TTool-pose None -29.4982 13.0739 13.4505 0.645836 0.640879 -0.235997 0.34118 +#30549 1721121555476 +SLAM 18.5833 11.7544 -14.5741 -0.588556 0.0805381 0.650636 0.473061 +TTool-pose None -29.5027 13.0635 13.4672 0.645456 0.64182 -0.235947 0.340162 +#30550 1721121555507 +SLAM 18.7497 11.9038 -14.3787 -0.588831 0.0766547 0.648955 0.475667 +TTool-pose None -29.5423 13.041 13.5035 0.642497 0.645442 -0.234245 0.340089 +#30551 1721121555537 +SLAM 18.8077 11.7414 -14.4316 -0.592408 0.0771422 0.64804 0.472382 +TTool-pose None -29.5561 12.9832 13.5532 0.645481 0.643959 -0.230577 0.339755 +#30552 1721121555569 +SLAM 18.8178 11.7047 -14.4504 -0.590774 0.0781115 0.647766 0.47464 +TTool-pose None -29.5608 12.9839 13.5544 0.643824 0.644105 -0.232446 0.341346 +#30553 1721121555601 +SLAM 18.7432 11.3476 -14.6788 -0.591635 0.0840345 0.647469 0.472958 +TTool-pose None -29.5432 12.9604 13.5253 0.64665 0.639446 -0.233153 0.34427 +#30554 1721121555632 +SLAM 18.7908 11.3869 -14.6422 -0.593156 0.0814876 0.647862 0.470957 +TTool-pose None -29.5357 12.9255 13.631 0.647715 0.640475 -0.230989 0.341804 +#30555 1721121555670 +SLAM 18.5885 11.3654 -14.7772 -0.592333 0.0824054 0.650709 0.467898 +TTool-pose None -29.4663 12.9132 13.6618 0.650236 0.638692 -0.232648 0.339216 +#30556 1721121555702 +SLAM 18.7473 11.2247 -14.747 -0.594487 0.0838933 0.64791 0.468785 +TTool-pose None -29.5227 12.9117 13.621 0.65009 0.638041 -0.230308 0.342306 +#30557 1721121555733 +SLAM 18.7549 11.2109 -14.7455 -0.59527 0.0833753 0.648043 0.467698 +TTool-pose None -29.5129 12.8962 13.6538 0.650869 0.638003 -0.229395 0.341508 +#30558 1721121555764 +SLAM 18.8188 11.2587 -14.6889 -0.595717 0.0820975 0.647284 0.468406 +TTool-pose None -29.5424 12.8828 13.6599 0.650048 0.639149 -0.228436 0.341572 +#30559 1721121555796 +SLAM 18.6818 11.3394 -14.7299 -0.592105 0.0826184 0.649127 0.47034 +TTool-pose None -29.5013 12.9072 13.6427 0.648381 0.639453 -0.232623 0.341346 +#30560 1721121555826 +SLAM 18.7472 11.2258 -14.74 -0.594242 0.0836591 0.648272 0.468637 +TTool-pose None -29.5006 12.9197 13.6501 0.650128 0.638143 -0.230566 0.341871 +#30561 1721121555858 +SLAM 18.5568 11.2343 -14.8698 -0.590421 0.0861032 0.650142 0.470431 +TTool-pose None -29.479 12.9356 13.5922 0.649004 0.637067 -0.235491 0.342655 +#30562 1721121555890 +SLAM 18.6517 11.3596 -14.7406 -0.591055 0.0828611 0.649481 0.471128 +TTool-pose None -29.4963 12.9149 13.6331 0.647739 0.639561 -0.233826 0.34154 +#30563 1721121555925 +SLAM 18.6596 11.2837 -14.7801 -0.59056 0.0845115 0.648854 0.472319 +TTool-pose None -29.5131 12.9147 13.6043 0.647171 0.638863 -0.234654 0.343352 +#30564 1721121555958 +SLAM 18.6056 11.252 -14.8376 -0.590412 0.0854313 0.649612 0.471296 +TTool-pose None -29.4965 12.9265 13.6063 0.648173 0.63785 -0.23521 0.342966 +#30565 1721121555989 +SLAM 18.7726 11.3992 -14.6462 -0.591992 0.0811908 0.648394 0.47174 +TTool-pose None -29.5166 12.9188 13.6665 0.646938 0.640948 -0.232196 0.341569 +#30566 1721121556022 +SLAM 18.7162 11.3846 -14.6903 -0.589959 0.0827431 0.648731 0.47355 +TTool-pose None -29.5109 12.9371 13.6273 0.645735 0.64052 -0.234751 0.342901 +#30567 1721121556052 +SLAM 18.7309 11.2974 -14.7378 -0.590359 0.0839201 0.648053 0.473774 +TTool-pose None -29.5358 12.9116 13.6189 0.64588 0.639804 -0.234532 0.344115 +#30568 1721121556084 +SLAM 18.7787 11.1657 -14.7542 -0.59083 0.0863443 0.646781 0.474488 +TTool-pose None -29.539 12.9381 13.5693 0.645944 0.638413 -0.234458 0.34662 +#30569 1721121556115 +SLAM 18.7308 11.2535 -14.7669 -0.58998 0.0850419 0.647813 0.474373 +TTool-pose None -29.5431 12.9211 13.6012 0.64565 0.639249 -0.235174 0.345138 +#30570 1721121556147 +SLAM 18.8903 11.2519 -14.6625 -0.591374 0.08401 0.645495 0.475978 +TTool-pose None -29.5967 12.9068 13.5888 0.644265 0.640573 -0.233002 0.346742 +#30571 1721121556181 +SLAM 18.7945 11.3396 -14.6884 -0.589676 0.083611 0.647147 0.475913 +TTool-pose None -29.569 12.927 13.5958 0.644079 0.640793 -0.23495 0.345364 +#30572 1721121556215 +SLAM 18.8781 11.2504 -14.6804 -0.5904 0.0850497 0.645399 0.477131 +TTool-pose None -29.6068 12.9331 13.5498 0.643531 0.640267 -0.234251 0.347827 +#30573 1721121556248 +SLAM 18.8117 11.2777 -14.7227 -0.589957 0.0850281 0.646748 0.475855 +TTool-pose None -29.5813 12.9511 13.574 0.644488 0.639805 -0.234972 0.346415 +#30574 1721121556281 +SLAM 18.938 11.2656 -14.6418 -0.590418 0.0846929 0.64486 0.477901 +TTool-pose None -29.6189 12.9516 13.5569 0.642843 0.640795 -0.234022 0.348281 +#30575 1721121556312 +SLAM 18.9207 11.2448 -14.6788 -0.589175 0.0859218 0.644528 0.47966 +TTool-pose None -29.6441 12.9503 13.5162 0.641652 0.640574 -0.235539 0.349858 +#30576 1721121556343 +SLAM 19.1409 11.3662 -14.4825 -0.591574 0.0819502 0.642482 0.480148 +TTool-pose None -29.6981 12.946 13.5636 0.640508 0.643514 -0.231596 0.34919 +#30577 1721121556375 +SLAM 18.942 11.321 -14.6295 -0.589237 0.0844285 0.644683 0.479641 +TTool-pose None -29.6454 12.9532 13.5366 0.641315 0.641593 -0.235099 0.348903 +#30578 1721121556406 +SLAM 18.9519 11.2476 -14.6639 -0.590931 0.0850719 0.644629 0.477511 +TTool-pose None -29.6405 12.9552 13.5499 0.643282 0.6404 -0.233559 0.348507 +#30579 1721121556438 +SLAM 18.9204 11.2337 -14.6803 -0.591708 0.0849025 0.645485 0.475419 +TTool-pose None -29.6036 12.9636 13.5834 0.644944 0.63976 -0.232908 0.347042 +#30580 1721121556474 +SLAM 18.9903 11.2663 -14.6355 -0.591616 0.0838853 0.644325 0.477282 +TTool-pose None -29.6538 12.928 13.582 0.643233 0.641141 -0.232478 0.347958 +#30581 1721121556508 +SLAM 19.0691 11.2532 -14.6112 -0.592878 0.0833657 0.643313 0.477173 +TTool-pose None -29.6921 12.9146 13.5918 0.643294 0.641477 -0.230849 0.348311 +#30582 1721121556539 +SLAM 19.0644 11.2931 -14.6075 -0.593054 0.0825864 0.643592 0.476714 +TTool-pose None -29.6997 12.9072 13.6064 0.64348 0.641845 -0.230514 0.347509 +#30583 1721121556570 +SLAM 18.9563 11.448 -14.6299 -0.591478 0.0811789 0.64532 0.476577 +TTool-pose None -29.703 12.9045 13.6049 0.64312 0.642734 -0.23208 0.345483 +#30584 1721121556601 +SLAM 18.8871 11.7589 -14.497 -0.587074 0.0779025 0.646836 0.480498 +TTool-pose None -29.679 12.9392 13.5886 0.638869 0.646332 -0.235918 0.344053 +#30585 1721121556635 +SLAM 18.8026 11.8665 -14.5065 -0.583929 0.0781362 0.647627 0.48322 +TTool-pose None -29.6869 12.9582 13.5336 0.636505 0.647104 -0.2393 0.34465 +#30586 1721121556668 +SLAM 19.1329 11.9439 -14.2422 -0.586531 0.0746196 0.643636 0.485949 +TTool-pose None -29.7715 12.9604 13.5442 0.633705 0.650544 -0.23485 0.346391 +#30587 1721121556701 +SLAM 19.0446 11.7836 -14.3895 -0.586189 0.0779668 0.644231 0.485046 +TTool-pose None -29.75 12.9624 13.5232 0.63522 0.647929 -0.236263 0.347556 +#30588 1721121556732 +SLAM 18.9703 11.5774 -14.534 -0.587613 0.0810354 0.644895 0.481928 +TTool-pose None -29.7065 12.9577 13.535 0.638557 0.644724 -0.235837 0.347689 +#30589 1721121556766 +SLAM 18.8329 11.3784 -14.6901 -0.589166 0.0838774 0.646755 0.477028 +TTool-pose None -29.6129 12.9625 13.5719 0.643227 0.641012 -0.235455 0.3462 +#30590 1721121556802 +SLAM 18.859 11.2147 -14.7392 -0.589851 0.0862567 0.645544 0.477398 +TTool-pose None -29.6213 12.9449 13.5405 0.643565 0.639527 -0.235166 0.348508 +#30591 1721121556837 +SLAM 18.8567 11.0458 -14.8034 -0.591199 0.0887308 0.645061 0.475927 +TTool-pose None -29.6021 12.9505 13.5223 0.645415 0.637309 -0.234379 0.349679 +#30592 1721121556867 +SLAM 18.9256 11.2438 -14.6596 -0.591068 0.0851126 0.645445 0.47623 +TTool-pose None -29.5919 12.9856 13.5715 0.644307 0.639904 -0.233603 0.347493 +#30593 1721121556898 +SLAM 18.8021 11.2818 -14.7391 -0.587635 0.0867143 0.646089 0.479306 +TTool-pose None -29.6146 12.9749 13.4941 0.641988 0.639873 -0.237635 0.349106 +#30594 1721121556932 +SLAM 18.8335 11.4934 -14.6199 -0.584679 0.084411 0.645838 0.483651 +TTool-pose None -29.6467 12.9911 13.4641 0.637758 0.642983 -0.239909 0.349589 +#30595 1721121556963 +SLAM 18.9712 11.6266 -14.4683 -0.583389 0.0823481 0.643979 0.488024 +TTool-pose None -29.7073 12.9968 13.4346 0.633682 0.645957 -0.24022 0.351303 +#30596 1721121556995 +SLAM 19.0425 11.5913 -14.4464 -0.584481 0.0823849 0.643113 0.487852 +TTool-pose None -29.7248 13.0036 13.4399 0.633922 0.645891 -0.238953 0.351855 +#30597 1721121557026 +SLAM 19.0777 11.5164 -14.4696 -0.585672 0.082953 0.642605 0.486997 +TTool-pose None -29.734 12.9937 13.4549 0.634842 0.645215 -0.237811 0.35221 +#30598 1721121557056 +SLAM 19.1168 11.4762 -14.4641 -0.587739 0.0822217 0.642476 0.484796 +TTool-pose None -29.7281 12.9742 13.5052 0.636587 0.644956 -0.235516 0.351075 +#30599 1721121557087 +SLAM 19.1871 11.3257 -14.4866 -0.59025 0.083634 0.641146 0.483262 +TTool-pose None -29.7411 12.964 13.499 0.638347 0.643472 -0.233102 0.352211 +#30600 1721121557122 +SLAM 19.0163 11.4203 -14.5529 -0.588553 0.0829124 0.643867 0.481837 +TTool-pose None -29.6892 12.9563 13.531 0.639163 0.643422 -0.235194 0.34942 +#30601 1721121557158 +SLAM 18.8827 11.4449 -14.5984 -0.589676 0.0824371 0.647011 0.476301 +TTool-pose None -29.5732 13.0132 13.6033 0.643491 0.64174 -0.234597 0.344939 +#30602 1721121557198 +SLAM 18.8887 11.5811 -14.5437 -0.585171 0.0821182 0.645638 0.483717 +TTool-pose None -29.6588 12.9763 13.5028 0.637196 0.644589 -0.238741 0.348455 +#30603 1721121557236 +SLAM 19.1574 11.6297 -14.3529 -0.58555 0.080583 0.641854 0.48853 +TTool-pose None -29.7561 12.9876 13.4646 0.633037 0.647388 -0.237109 0.351945 +#30604 1721121557270 +SLAM 19.4215 11.6011 -14.1854 -0.587096 0.0796069 0.638262 0.491531 +TTool-pose None -29.824 12.9998 13.4524 0.630525 0.649157 -0.234491 0.354938 +#30605 1721121557306 +SLAM 19.2478 11.487 -14.3825 -0.586811 0.0822054 0.640289 0.488799 +TTool-pose None -29.7893 12.9803 13.4638 0.63332 0.646396 -0.235956 0.354029 +#30606 1721121557342 +SLAM 19.4084 11.4434 -14.2888 -0.589661 0.0810433 0.63857 0.487812 +TTool-pose None -29.808 12.9813 13.5008 0.634054 0.64688 -0.232405 0.354178 +#30607 1721121557377 +SLAM 19.4613 11.416 -14.279 -0.590231 0.0810458 0.637675 0.488293 +TTool-pose None -29.8379 12.965 13.4991 0.633714 0.647059 -0.231636 0.354964 +#30608 1721121557413 +SLAM 19.3515 11.3825 -14.3673 -0.589837 0.0819356 0.639166 0.486668 +TTool-pose None -29.7996 12.9572 13.5155 0.635197 0.645861 -0.23261 0.353857 +#30609 1721121557452 +SLAM 19.2648 11.4006 -14.4118 -0.588887 0.0823434 0.640267 0.486302 +TTool-pose None -29.7757 12.9594 13.5083 0.635512 0.645435 -0.233917 0.353205 +#30610 1721121557488 +SLAM 19.1666 11.4138 -14.4597 -0.587844 0.0829902 0.641694 0.485573 +TTool-pose None -29.7335 12.9801 13.505 0.636164 0.644712 -0.235454 0.352329 +#30611 1721121557526 +SLAM 19.1902 11.3337 -14.4698 -0.586602 0.0854873 0.640672 0.487986 +TTool-pose None -29.7381 13.0233 13.4333 0.63474 0.643849 -0.237157 0.355324 +#30612 1721121557565 +SLAM 19.2508 11.4477 -14.3856 -0.586431 0.0828419 0.639894 0.489664 +TTool-pose None -29.7866 12.9711 13.4503 0.632751 0.646264 -0.236422 0.354975 +#30613 1721121557602 +SLAM 19.1294 11.4834 -14.4401 -0.585118 0.0831678 0.641576 0.488979 +TTool-pose None -29.747 12.9772 13.449 0.633268 0.645772 -0.238195 0.353761 +#30614 1721121557641 +SLAM 19.1131 11.5159 -14.4176 -0.584976 0.0824699 0.641828 0.488936 +TTool-pose None -29.7337 12.9663 13.4545 0.633122 0.646232 -0.238199 0.353178 +#30615 1721121557676 +SLAM 18.9563 11.4548 -14.5601 -0.583977 0.0845239 0.64379 0.487198 +TTool-pose None -29.6907 12.972 13.4559 0.634914 0.644179 -0.240195 0.35236 +#30616 1721121557711 +SLAM 19.0346 11.4495 -14.4955 -0.584993 0.0839737 0.642898 0.487251 +TTool-pose None -29.6934 12.9838 13.4581 0.634828 0.644594 -0.238835 0.352679 +#30617 1721121557747 +SLAM 19.1576 11.498 -14.3897 -0.585934 0.0822196 0.641599 0.488131 +TTool-pose None -29.7223 12.9839 13.475 0.633784 0.646131 -0.237124 0.352899 +#30618 1721121557785 +SLAM 18.8404 11.4108 -14.6522 -0.584134 0.0856677 0.645429 0.484633 +TTool-pose None -29.6437 12.9811 13.4661 0.637235 0.642467 -0.240711 0.350939 +#30619 1721121557818 +SLAM 18.9843 11.4109 -14.5601 -0.585108 0.0850767 0.643339 0.486339 +TTool-pose None -29.6932 12.9854 13.4423 0.635827 0.64351 -0.239122 0.352665 +#30620 1721121557853 +SLAM 18.9985 11.4829 -14.5105 -0.58515 0.0836514 0.643393 0.486465 +TTool-pose None -29.6961 12.9791 13.4527 0.635388 0.644534 -0.238699 0.351871 +#30621 1721121557889 +SLAM 18.9408 11.4095 -14.5795 -0.583237 0.0864395 0.643486 0.488148 +TTool-pose None -29.6845 13.0121 13.3928 0.634551 0.643192 -0.241392 0.353995 +#30622 1721121557928 +SLAM 18.9584 11.3091 -14.6289 -0.586215 0.0866327 0.643267 0.484823 +TTool-pose None -29.6918 12.9759 13.4282 0.637495 0.641913 -0.238429 0.353034 +#30623 1721121557962 +SLAM 19.0435 11.4391 -14.5209 -0.585158 0.0844353 0.642699 0.487235 +TTool-pose None -29.7182 12.9893 13.4463 0.634965 0.644275 -0.238754 0.35307 +#30624 1721121557997 +SLAM 19.2898 11.4887 -14.3335 -0.586248 0.082493 0.639467 0.4905 +TTool-pose None -29.793 12.9994 13.4293 0.631983 0.646799 -0.236411 0.355375 +#30625 1721121558033 +SLAM 19.1343 11.5171 -14.4338 -0.583396 0.0840992 0.641304 0.491229 +TTool-pose None -29.7654 13.0224 13.3955 0.631548 0.645909 -0.240103 0.355293 +#30626 1721121558070 +SLAM 19.1834 11.6251 -14.3458 -0.58283 0.0827228 0.640868 0.492701 +TTool-pose None -29.7836 13.0473 13.3743 0.629989 0.64737 -0.240184 0.355349 +#30627 1721121558105 +SLAM 19.1069 11.6297 -14.38 -0.580299 0.0842098 0.641274 0.494903 +TTool-pose None -29.7705 13.0617 13.3189 0.628357 0.647087 -0.243192 0.356705 +#30628 1721121558139 +SLAM 19.2701 11.6033 -14.3004 -0.581604 0.083901 0.638789 0.496635 +TTool-pose None -29.8391 13.0586 13.2921 0.627002 0.647939 -0.241248 0.358857 +#30629 1721121558176 +SLAM 18.8808 11.6296 -14.5601 -0.577414 0.0868089 0.643389 0.495085 +TTool-pose None -29.7653 13.0521 13.2554 0.628569 0.645305 -0.247237 0.35678 +#30630 1721121558210 +SLAM 18.8441 11.8159 -14.5248 -0.576976 0.0842399 0.644272 0.494889 +TTool-pose None -29.7994 13.038 13.2573 0.628071 0.646989 -0.247159 0.354654 +#30631 1721121558244 +SLAM 18.6044 11.8584 -14.7296 -0.573373 0.0871711 0.646631 0.495494 +TTool-pose None -29.8228 13.0544 13.1733 0.627936 0.645104 -0.252045 0.354887 +#30632 1721121558279 +SLAM 18.7752 12.0337 -14.64 -0.579502 0.0802545 0.645521 0.490957 +TTool-pose None -29.9657 12.9168 13.3053 0.630485 0.648365 -0.243835 0.350125 +#30633 1721121558312 +SLAM 18.6444 12.3046 -14.6462 -0.575032 0.0793614 0.647734 0.493437 +TTool-pose None -29.9885 12.9909 13.2516 0.627859 0.64976 -0.248491 0.348983 +#30634 1721121558346 +SLAM 18.2984 12.6852 -14.6662 -0.568926 0.0790438 0.651249 0.495934 +TTool-pose None -29.9877 13.0469 13.0502 0.625158 0.650703 -0.255181 0.347244 +#30635 1721121558382 +SLAM 17.6674 12.9028 -14.8954 -0.560714 0.0824341 0.65833 0.495385 +TTool-pose None -29.8482 13.1095 12.8856 0.625481 0.647907 -0.265707 0.343978 +#30636 1721121558415 +SLAM 17.5926 13.0398 -14.7844 -0.556261 0.0831447 0.658596 0.499911 +TTool-pose None -29.8009 13.1794 12.7539 0.62151 0.648885 -0.270287 0.345761 +#30637 1721121558448 +#30638 1721121558478 +#30639 1721121558514 +SLAM 17.3348 14.7775 -13.8276 -0.554733 0.0611749 0.662617 0.499467 +TTool-pose None -29.9114 13.3374 12.3225 0.616103 0.663572 -0.266382 0.330234 +#30640 1721121558547 +SLAM 18.1748 15.2175 -12.9354 -0.562063 0.0456407 0.655157 0.502763 +TTool-pose None -30.0034 13.4079 12.538 0.610183 0.675445 -0.253007 0.327661 +#30641 1721121558581 +SLAM 18.1793 15.0525 -12.9409 -0.554533 0.0514563 0.654708 0.511079 +TTool-pose None -29.9098 13.5125 12.4442 0.604175 0.674241 -0.261917 0.334212 +#30642 1721121558614 +SLAM 18.5372 15.2181 -12.5986 -0.562967 0.03889 0.651769 0.506708 +TTool-pose None -29.983 13.2863 12.7975 0.605221 0.681364 -0.249301 0.327448 +#30643 1721121558648 +SLAM 18.3441 15.7869 -12.3735 -0.545786 0.0368691 0.654791 0.521543 +TTool-pose None -30.0021 13.4138 12.6793 0.590467 0.687247 -0.265838 0.329082 +#30644 1721121558685 +SLAM 17.7967 15.3502 -13.1423 -0.546521 0.0500676 0.660663 0.512184 +TTool-pose None -29.9146 13.4785 12.5406 0.60186 0.675219 -0.270541 0.329511 +#30645 1721121558717 +SLAM 18.1322 15.5324 -12.9342 -0.551128 0.0442813 0.658664 0.510352 +TTool-pose None -30.0278 13.5413 12.6875 0.602351 0.678627 -0.263932 0.326959 +#30646 1721121558750 +#30647 1721121558786 +SLAM 17.2272 14.2541 -14.7291 -0.554133 0.0681885 0.667765 0.492318 +TTool-pose None -30.0333 13.2692 12.8637 0.623482 0.656203 -0.270094 0.328086 +#30648 1721121558819 +#30649 1721121558852 +#30650 1721121558882 +#30651 1721121558914 +SLAM 17.291 12.065 -16.3902 -0.570265 0.0951428 0.665549 0.472007 +TTool-pose None -30.2165 13.0118 13.3426 0.647853 0.630879 -0.26123 0.337589 +#30652 1721121558947 +SLAM 17.9103 12.4601 -15.762 -0.574555 0.0844191 0.661179 0.474976 +TTool-pose None -30.2339 13.1141 13.4766 0.643518 0.639512 -0.253191 0.335754 +#30653 1721121558984 +SLAM 17.9404 12.7473 -15.6062 -0.571283 0.0805219 0.660793 0.480109 +TTool-pose None -30.2924 13.074 13.4617 0.638231 0.643983 -0.255297 0.335706 +#30654 1721121559021 +SLAM 18.0397 12.759 -15.4898 -0.571248 0.0809212 0.65946 0.481914 +TTool-pose None -30.2764 13.145 13.3975 0.636921 0.644378 -0.255172 0.337525 +#30655 1721121559058 +SLAM 18.1877 12.8647 -15.3717 -0.571872 0.0772679 0.657504 0.484438 +TTool-pose None -30.3666 13.0431 13.4443 0.63412 0.647823 -0.25313 0.337744 +#30656 1721121559093 +SLAM 18.1305 12.7176 -15.5105 -0.571777 0.0804921 0.657999 0.483353 +TTool-pose None -30.3559 13.0734 13.4302 0.635753 0.64522 -0.254227 0.33883 +#30657 1721121559130 +SLAM 18.2213 12.8792 -15.3685 -0.57382 0.0754028 0.657805 0.482014 +TTool-pose None -30.373 13.0116 13.526 0.635762 0.64826 -0.250737 0.335594 +#30658 1721121559170 +SLAM 18.0484 12.7342 -15.5473 -0.573246 0.0790714 0.659466 0.479834 +TTool-pose None -30.3236 13.0316 13.4913 0.638308 0.644935 -0.252674 0.335716 +#30659 1721121559205 +SLAM 18.2476 12.8159 -15.3829 -0.574086 0.076686 0.657116 0.482434 +TTool-pose None -30.382 13.0246 13.4934 0.635783 0.64755 -0.250691 0.336958 +#30660 1721121559239 +SLAM 18.0094 12.6526 -15.6064 -0.573344 0.0810483 0.660338 0.478186 +TTool-pose None -30.2729 13.1 13.4923 0.640082 0.642976 -0.253302 0.335621 +#30661 1721121559277 +SLAM 18.2073 12.6762 -15.483 -0.573901 0.0796506 0.657367 0.481832 +TTool-pose None -30.3585 13.0581 13.4735 0.636967 0.6453 -0.251755 0.338244 +#30662 1721121559314 +SLAM 18.261 12.6559 -15.4677 -0.5747 0.079473 0.656749 0.481752 +TTool-pose None -30.3737 13.0549 13.4826 0.637072 0.645416 -0.250784 0.338546 +#30663 1721121559348 +SLAM 18.316 12.6716 -15.4293 -0.574322 0.0792283 0.655879 0.483425 +TTool-pose None -30.3998 13.0495 13.4695 0.635664 0.646188 -0.250911 0.339625 +#30664 1721121559381 +SLAM 18.3846 12.7107 -15.372 -0.574959 0.0779713 0.655244 0.483734 +TTool-pose None -30.4198 13.0433 13.4859 0.635179 0.647178 -0.249796 0.339468 +#30665 1721121559416 +SLAM 18.1047 12.6612 -15.5648 -0.573164 0.0802551 0.658573 0.480961 +TTool-pose None -30.3433 13.0381 13.4862 0.637714 0.644542 -0.252903 0.337424 +#30666 1721121559450 +SLAM 18.1603 12.5219 -15.6084 -0.571328 0.0842955 0.657024 0.48456 +TTool-pose None -30.3638 13.1013 13.3995 0.635686 0.643048 -0.255523 0.342097 +#30667 1721121559485 +SLAM 18.1478 12.5659 -15.5975 -0.573693 0.0816718 0.657785 0.481171 +TTool-pose None -30.3571 13.0435 13.4775 0.637954 0.643669 -0.25261 0.338854 +#30668 1721121559518 +SLAM 18.1922 12.6439 -15.5194 -0.571905 0.0816091 0.657218 0.484075 +TTool-pose None -30.3639 13.0935 13.4319 0.635476 0.644727 -0.254249 0.34027 +#30669 1721121559549 +SLAM 18.3245 12.713 -15.3954 -0.572612 0.079611 0.65562 0.485737 +TTool-pose None -30.4028 13.0796 13.4324 0.633762 0.646725 -0.252659 0.340861 +#30670 1721121559582 +SLAM 18.3496 12.6532 -15.4314 -0.57287 0.0806125 0.654965 0.486151 +TTool-pose None -30.431 13.0706 13.4185 0.63371 0.6462 -0.252544 0.342035 +#30671 1721121559617 +SLAM 18.3795 12.6651 -15.4064 -0.574949 0.0789577 0.655171 0.483684 +TTool-pose None -30.4221 13.0515 13.4759 0.635461 0.646487 -0.250065 0.34006 +#30672 1721121559652 +SLAM 18.2233 12.5574 -15.5537 -0.572907 0.0827875 0.656564 0.483578 +TTool-pose None -30.3777 13.0942 13.4201 0.636262 0.643769 -0.253446 0.341213 +#30673 1721121559686 +SLAM 18.2817 12.6398 -15.4771 -0.572175 0.0814371 0.655853 0.485634 +TTool-pose None -30.405 13.0863 13.4154 0.634243 0.645425 -0.253648 0.341693 +#30674 1721121559721 +SLAM 18.2226 12.6228 -15.5172 -0.571291 0.0826324 0.656522 0.485569 +TTool-pose None -30.3821 13.1148 13.3938 0.634489 0.644556 -0.254995 0.341875 +#30675 1721121559753 +SLAM 18.4559 12.7446 -15.3113 -0.572354 0.0793084 0.653861 0.488453 +TTool-pose None -30.4533 13.1035 13.4005 0.631523 0.647916 -0.252455 0.342899 +#30676 1721121559787 +SLAM 18.1897 12.6123 -15.5296 -0.570295 0.0836457 0.656608 0.486449 +TTool-pose None -30.3717 13.1312 13.3571 0.633933 0.644154 -0.256276 0.342704 +#30677 1721121559820 +SLAM 18.2093 12.6621 -15.4786 -0.571037 0.0821839 0.656319 0.486218 +TTool-pose None -30.3811 13.1021 13.3599 0.633842 0.645093 -0.255079 0.341999 +#30678 1721121559852 +SLAM 18.1765 12.7609 -15.4245 -0.570396 0.0805136 0.656661 0.486787 +TTool-pose None -30.3757 13.0727 13.3568 0.632916 0.646424 -0.255319 0.341021 +#30679 1721121559883 +SLAM 18.1648 12.7895 -15.4173 -0.571514 0.0792171 0.656841 0.485444 +TTool-pose None -30.3832 13.0325 13.3778 0.633775 0.646852 -0.253891 0.339677 +#30680 1721121559916 +SLAM 18.0194 12.8127 -15.5081 -0.570623 0.0797517 0.658658 0.483942 +TTool-pose None -30.3615 13.0283 13.3762 0.634983 0.645905 -0.2553 0.338162 +#30681 1721121559948 +SLAM 17.8561 12.7964 -15.6408 -0.567807 0.082586 0.659597 0.485497 +TTool-pose None -30.3797 13.0264 13.2864 0.63414 0.644446 -0.259064 0.339662 +#30682 1721121559982 +SLAM 17.8276 13.0161 -15.5256 -0.566842 0.0806659 0.661324 0.484597 +TTool-pose None -30.3247 13.1569 13.2715 0.63426 0.645392 -0.259841 0.337036 +#30683 1721121560017 +SLAM 17.2932 13.2198 -15.7681 -0.558428 0.0834498 0.667163 0.485888 +TTool-pose None -30.2689 13.182 13.1664 0.632891 0.643636 -0.270079 0.334912 +#30684 1721121560050 +SLAM 17.8814 13.6535 -15.1969 -0.564619 0.0715399 0.661519 0.488345 +TTool-pose None -30.4427 13.1485 13.2364 0.628788 0.652904 -0.259501 0.333059 +#30685 1721121560082 +SLAM 17.8015 13.8948 -15.0968 -0.562325 0.0690921 0.662583 0.489898 +TTool-pose None -30.4441 13.1626 13.1917 0.626667 0.655046 -0.261275 0.331458 +#30686 1721121560112 +SLAM 17.6958 13.8702 -15.1469 -0.561963 0.0712222 0.663232 0.48913 +TTool-pose None -30.418 13.2042 13.0948 0.627768 0.653306 -0.262373 0.331941 +#30687 1721121560144 +SLAM 17.5207 13.722 -15.3041 -0.560265 0.0759093 0.664429 0.488748 +TTool-pose None -30.3621 13.2428 13.0013 0.629036 0.649914 -0.265614 0.333618 +#30688 1721121560173 +SLAM 18.2867 13.7878 -14.7722 -0.570727 0.0658531 0.657027 0.488109 +TTool-pose None -30.4721 13.1872 13.2191 0.628222 0.656879 -0.250915 0.332889 +#30689 1721121560206 +SLAM 17.998 13.4875 -15.1479 -0.567214 0.072453 0.659536 0.487883 +TTool-pose None -30.4192 13.1294 13.2245 0.629688 0.652208 -0.256793 0.334816 +#30690 1721121560241 +#30691 1721121560271 +SLAM 17.902 13.0035 -15.6781 -0.570779 0.0782381 0.660482 0.481512 +TTool-pose None -30.5116 12.9946 13.3867 0.636521 0.646045 -0.255097 0.335142 +#30692 1721121560301 +SLAM 17.6062 12.4816 -16.0868 -0.57362 0.0862902 0.662032 0.474582 +TTool-pose None -30.4325 12.9119 13.3374 0.644169 0.638051 -0.254805 0.336063 +#30693 1721121560331 +SLAM 17.7984 13.0412 -15.6946 -0.573145 0.075479 0.662188 0.476775 +TTool-pose None -30.4674 12.9102 13.4697 0.639772 0.646241 -0.252315 0.330647 +#30694 1721121560365 +SLAM 17.4384 12.8342 -15.9627 -0.569152 0.082769 0.665693 0.475465 +TTool-pose None -30.33 13.0019 13.3653 0.642119 0.640639 -0.259009 0.331823 +#30695 1721121560395 +SLAM 17.3781 12.8585 -15.9688 -0.56652 0.0845699 0.665968 0.477902 +TTool-pose None -30.3153 13.0548 13.2874 0.640364 0.640221 -0.262173 0.33353 +#30696 1721121560425 +SLAM 17.5599 12.9227 -15.8463 -0.569373 0.0806596 0.663731 0.478299 +TTool-pose None -30.3987 12.9498 13.3422 0.639445 0.643149 -0.25782 0.333054 +#30697 1721121560455 +SLAM 17.4248 12.8368 -15.9407 -0.567405 0.083844 0.665095 0.478194 +TTool-pose None -30.3323 13.0053 13.2976 0.64007 0.640861 -0.260923 0.333847 +#30698 1721121560485 +SLAM 17.5407 12.9378 -15.8148 -0.569796 0.0799607 0.663907 0.477668 +TTool-pose None -30.374 12.9342 13.3419 0.63981 0.643405 -0.257241 0.332304 +#30699 1721121560516 +SLAM 17.2647 12.8882 -15.9923 -0.567244 0.0826368 0.667006 0.475928 +TTool-pose None -30.2999 12.9418 13.3256 0.6415 0.640831 -0.261125 0.330986 +#30700 1721121560547 +SLAM 17.3575 12.8029 -15.994 -0.56964 0.0827829 0.665618 0.474984 +TTool-pose None -30.3358 12.9151 13.3289 0.64255 0.640466 -0.258512 0.331708 +#30701 1721121560577 +SLAM 17.4437 12.8836 -15.8986 -0.56984 0.0809396 0.664925 0.476032 +TTool-pose None -30.3508 12.9173 13.3465 0.641317 0.642126 -0.257669 0.331541 +#30702 1721121560609 +SLAM 17.2919 12.5381 -16.1557 -0.569674 0.0883517 0.665427 0.474208 +TTool-pose None -30.306 12.9615 13.2555 0.644495 0.63636 -0.259966 0.33469 +#30703 1721121560640 +SLAM 17.5424 12.9721 -15.7959 -0.57007 0.078887 0.663978 0.477421 +TTool-pose None -30.379 12.9091 13.3613 0.639768 0.644055 -0.256684 0.331556 +#30704 1721121560670 +SLAM 17.4942 12.9272 -15.8475 -0.569493 0.0802249 0.664361 0.477353 +TTool-pose None -30.3669 12.9198 13.3443 0.640082 0.643096 -0.257705 0.332018 +#30705 1721121560704 +SLAM 17.4908 12.8908 -15.8625 -0.570225 0.0805602 0.664587 0.476107 +TTool-pose None -30.3481 12.9334 13.3553 0.641211 0.642427 -0.257114 0.331592 +#30706 1721121560740 +SLAM 17.476 12.8936 -15.8683 -0.569643 0.0806222 0.664511 0.476898 +TTool-pose None -30.3553 12.9132 13.3482 0.640549 0.64266 -0.257695 0.33197 +#30707 1721121560775 +SLAM 17.4208 12.8633 -15.919 -0.569218 0.081426 0.665152 0.476374 +TTool-pose None -30.34 12.9149 13.3511 0.641099 0.6419 -0.258467 0.33178 +#30708 1721121560809 +SLAM 17.3704 12.6825 -16.0336 -0.568871 0.0854777 0.664985 0.476313 +TTool-pose None -30.3219 12.9474 13.2912 0.642091 0.639092 -0.259895 0.334159 +#30709 1721121560842 +SLAM 17.3771 12.7908 -15.9734 -0.567316 0.0842124 0.665035 0.47832 +TTool-pose None -30.3309 12.948 13.2888 0.640052 0.640652 -0.261102 0.334142 +#30710 1721121560872 +SLAM 17.3455 12.7913 -15.998 -0.565646 0.0854313 0.665069 0.48003 +TTool-pose None -30.3376 12.9653 13.2509 0.638823 0.640393 -0.263097 0.335423 +#30711 1721121560903 +SLAM 17.1832 12.6256 -16.1625 -0.564492 0.0896862 0.666453 0.478691 +TTool-pose None -30.2806 13.0013 13.2065 0.640735 0.636929 -0.265675 0.336341 +#30712 1721121560933 +SLAM 17.4251 12.8123 -15.9471 -0.565605 0.0850476 0.664105 0.48148 +TTool-pose None -30.3628 12.9749 13.2427 0.637603 0.641195 -0.262839 0.336415 +#30713 1721121560966 +SLAM 17.2998 12.6755 -16.0998 -0.567153 0.0867312 0.66546 0.477471 +TTool-pose None -30.3341 12.9432 13.2674 0.641295 0.638603 -0.262038 0.334948 +#30714 1721121560996 +SLAM 17.4421 12.6539 -16.0428 -0.570316 0.0849824 0.663752 0.476394 +TTool-pose None -30.3865 12.894 13.2976 0.642079 0.639514 -0.258079 0.334781 +#30715 1721121561028 +SLAM 17.3372 12.6398 -16.1093 -0.567981 0.0869003 0.664878 0.477265 +TTool-pose None -30.3557 12.9313 13.2689 0.641594 0.638441 -0.261147 0.335381 +#30716 1721121561059 +SLAM 17.6879 12.9338 -15.7545 -0.569166 0.0800992 0.661887 0.481186 +TTool-pose None -30.4335 12.941 13.3263 0.637048 0.644599 -0.2575 0.335087 +#30717 1721121561093 +SLAM 17.6154 12.8228 -15.8433 -0.569311 0.0824815 0.662752 0.479417 +TTool-pose None -30.3869 12.9806 13.3146 0.639019 0.642319 -0.258191 0.33518 +#30718 1721121561122 +SLAM 17.5577 12.7922 -15.8991 -0.569065 0.0832625 0.663197 0.478959 +TTool-pose None -30.3851 12.9667 13.306 0.639535 0.641605 -0.25874 0.33514 +#30719 1721121561152 +SLAM 17.4967 12.7658 -15.9513 -0.567268 0.0848309 0.663441 0.480475 +TTool-pose None -30.3852 12.9678 13.2718 0.63853 0.641031 -0.261001 0.3364 +#30720 1721121561182 +SLAM 17.7019 12.9018 -15.7572 -0.568919 0.0811131 0.661661 0.481619 +TTool-pose None -30.4258 12.9736 13.3048 0.636932 0.644059 -0.257981 0.335976 +#30721 1721121561212 +SLAM 17.6138 12.8661 -15.8282 -0.567177 0.0829885 0.66212 0.482721 +TTool-pose None -30.4214 12.9729 13.2604 0.636329 0.643123 -0.260316 0.337108 +#30722 1721121561242 +SLAM 17.5384 12.7765 -15.9116 -0.567218 0.0851068 0.663012 0.481078 +TTool-pose None -30.3816 13.0097 13.2462 0.638123 0.641065 -0.261041 0.337077 +#30723 1721121561274 +SLAM 17.2919 12.348 -16.2445 -0.565473 0.095812 0.664555 0.478985 +TTool-pose None -30.2749 13.1433 13.1076 0.642067 0.632858 -0.265979 0.341213 +#30724 1721121561304 +SLAM 17.6414 12.8279 -15.8404 -0.567238 0.0840242 0.66157 0.483224 +TTool-pose None -30.4358 12.9931 13.2333 0.636196 0.642603 -0.26043 0.338262 +#30725 1721121561334 +SLAM 17.749 12.8799 -15.7477 -0.566461 0.083622 0.660277 0.485967 +TTool-pose None -30.4615 13.0282 13.2054 0.633867 0.643863 -0.260819 0.339935 +#30726 1721121561371 +SLAM 17.8981 13.127 -15.5445 -0.567183 0.078345 0.65904 0.487681 +TTool-pose None -30.5309 12.9901 13.2375 0.631317 0.648123 -0.258382 0.338441 +#30727 1721121561409 +SLAM 17.3949 12.9742 -15.9076 -0.564616 0.0849993 0.665132 0.481231 +TTool-pose None -30.3635 13.1034 13.1721 0.637663 0.641097 -0.26401 0.335569 +#30728 1721121561445 +SLAM 17.4786 13.3034 -15.7146 -0.561124 0.0811453 0.663866 0.487685 +TTool-pose None -30.4655 13.0821 13.1129 0.631272 0.645988 -0.266121 0.336605 +#30729 1721121561481 +SLAM 17.924 13.9342 -15.0847 -0.564344 0.0663789 0.660339 0.490981 +TTool-pose None -30.5938 13.0112 13.2253 0.625363 0.657355 -0.258044 0.331881 +#30730 1721121561512 +#30731 1721121561545 +SLAM 17.489 14.2314 -15.0954 -0.563351 0.0649382 0.663967 0.487407 +TTool-pose None -30.5517 12.9807 13.0072 0.627669 0.656977 -0.259362 0.327212 +#30732 1721121561578 +SLAM 17.6612 14.82 -14.6267 -0.564849 0.0535531 0.662856 0.488569 +TTool-pose None -30.6336 12.9534 13.0298 0.623921 0.665115 -0.254328 0.321842 +#30733 1721121561610 +SLAM 16.9621 14.3816 -15.3247 -0.563662 0.0659952 0.668956 0.480028 +TTool-pose None -30.5233 12.957 12.8317 0.633705 0.653533 -0.260366 0.321624 +#30734 1721121561641 +SLAM 17.0524 14.3765 -15.3529 -0.567116 0.0644704 0.668027 0.477455 +TTool-pose None -30.6058 12.9129 12.8738 0.635721 0.653735 -0.256325 0.320479 +#30735 1721121561671 +#30736 1721121561701 +SLAM 16.8813 14.0348 -15.8575 -0.554943 0.0762734 0.671438 0.485171 +TTool-pose None -30.5798 13.0878 12.993 0.631208 0.64811 -0.272351 0.327535 +#30737 1721121561727 +#30738 1721121561754 +#30739 1721121561785 +SLAM 16.601 13.2959 -16.8235 -0.560461 0.0866683 0.673758 0.473733 +TTool-pose None -30.798 12.8919 13.1792 0.643291 0.636963 -0.270249 0.327634 +#30740 1721121561818 +SLAM 16.8258 13.4396 -16.5854 -0.559033 0.0849908 0.671874 0.478377 +TTool-pose None -30.7916 12.9963 13.1596 0.639144 0.639803 -0.270843 0.329722 +#30741 1721121561853 +SLAM 16.5726 13.4116 -16.7183 -0.555989 0.0878295 0.674745 0.477369 +TTool-pose None -30.7078 13.0456 13.126 0.640188 0.63734 -0.275169 0.328884 +#30742 1721121561885 +SLAM 16.6709 13.4989 -16.6243 -0.556318 0.0855313 0.673898 0.478598 +TTool-pose None -30.7375 13.0225 13.1569 0.638739 0.639393 -0.274055 0.328647 +#30743 1721121561920 +SLAM 16.5976 13.3395 -16.7433 -0.556324 0.088991 0.67441 0.477237 +TTool-pose None -30.7025 13.0645 13.1236 0.640614 0.636509 -0.275092 0.329728 +#30744 1721121561953 +SLAM 16.507 13.4243 -16.7362 -0.554471 0.0884777 0.675659 0.477723 +TTool-pose None -30.6739 13.0722 13.1244 0.639862 0.636957 -0.277014 0.328712 +#30745 1721121561989 +SLAM 16.3343 13.2178 -16.9291 -0.554488 0.0925515 0.676713 0.475434 +TTool-pose None -30.6396 13.0562 13.0826 0.64258 0.633292 -0.278299 0.329403 +#30746 1721121562022 +SLAM 16.3201 13.266 -16.9131 -0.553888 0.0920205 0.677032 0.475781 +TTool-pose None -30.637 13.0603 13.0866 0.642106 0.63376 -0.278807 0.329 +#30747 1721121562052 +SLAM 16.4516 13.3982 -16.764 -0.557341 0.0867437 0.67657 0.473393 +TTool-pose None -30.649 13.0054 13.1848 0.643144 0.63664 -0.273882 0.325528 +#30748 1721121562095 +SLAM 16.4292 13.3773 -16.7801 -0.556888 0.0871259 0.676353 0.474163 +TTool-pose None -30.6573 12.9724 13.1696 0.642587 0.63665 -0.274393 0.326176 +#30749 1721121562126 +SLAM 16.4928 13.2541 -16.7945 -0.558296 0.0885105 0.675135 0.473989 +TTool-pose None -30.6627 12.9665 13.1488 0.643247 0.6357 -0.273152 0.327768 +#30750 1721121562156 +SLAM 16.5272 13.3757 -16.6962 -0.55876 0.0859154 0.675831 0.472926 +TTool-pose None -30.6284 13.0012 13.2002 0.643493 0.637096 -0.272114 0.325428 +#30751 1721121562186 +SLAM 16.8299 13.549 -16.465 -0.560389 0.0810359 0.672533 0.476546 +TTool-pose None -30.7406 12.9444 13.2357 0.63976 0.641876 -0.268539 0.326363 +#30752 1721121562220 +SLAM 16.7375 13.0345 -16.7855 -0.562102 0.0905511 0.671957 0.47362 +TTool-pose None -30.708 12.9963 13.1337 0.644524 0.634328 -0.269338 0.331059 +#30753 1721121562260 +SLAM 16.9643 13.3917 -16.4937 -0.561452 0.0834706 0.670541 0.477682 +TTool-pose None -30.7775 12.9715 13.2098 0.639627 0.640687 -0.267779 0.329573 +#30754 1721121562292 +SLAM 16.9802 13.2122 -16.6008 -0.564278 0.0850586 0.669805 0.475097 +TTool-pose None -30.8047 12.9235 13.216 0.642357 0.638744 -0.265276 0.330056 +#30755 1721121562329 +SLAM 17.225 13.4885 -16.3309 -0.564546 0.0792869 0.667984 0.47833 +TTool-pose None -30.8679 12.9224 13.2721 0.638496 0.643914 -0.263063 0.329272 +#30756 1721121562365 +SLAM 16.9958 13.178 -16.6121 -0.562606 0.0874499 0.669861 0.476564 +TTool-pose None -30.7794 13.0299 13.1779 0.641597 0.63759 -0.267598 0.33189 +#30757 1721121562398 +SLAM 17.1012 13.4104 -16.4344 -0.562113 0.0825315 0.669332 0.478761 +TTool-pose None -30.8149 12.9848 13.2391 0.638654 0.641762 -0.266632 0.330297 +#30758 1721121562435 +SLAM 17.3572 13.333 -16.3414 -0.566816 0.0806535 0.666376 0.477659 +TTool-pose None -30.8805 12.9371 13.2837 0.639631 0.642819 -0.260878 0.330945 +#30759 1721121562470 +SLAM 17.1752 13.1324 -16.5546 -0.566702 0.0847706 0.66795 0.474874 +TTool-pose None -30.8366 12.9405 13.2604 0.642762 0.638954 -0.262433 0.331133 +#30760 1721121562504 +SLAM 17.143 13.1322 -16.5546 -0.565004 0.0865123 0.668189 0.476246 +TTool-pose None -30.8103 13.0092 13.2025 0.64192 0.638211 -0.264642 0.332442 +#30761 1721121562537 +SLAM 17.2177 13.5179 -16.3506 -0.564815 0.0785858 0.668689 0.477141 +TTool-pose None -30.8691 12.933 13.3176 0.63927 0.643957 -0.262738 0.327942 +#30762 1721121562572 +SLAM 17.1105 13.3489 -16.5488 -0.563593 0.0836385 0.66951 0.476575 +TTool-pose None -30.8666 13.0045 13.2584 0.640793 0.640245 -0.265508 0.330003 +#30763 1721121562606 +SLAM 17.3015 13.4436 -16.3906 -0.566024 0.0798459 0.668102 0.476321 +TTool-pose None -30.8947 12.9876 13.3288 0.640363 0.642838 -0.261776 0.328775 +#30764 1721121562642 +SLAM 16.996 13.214 -16.6966 -0.56346 0.0861939 0.670753 0.474525 +TTool-pose None -30.8341 13.0107 13.2702 0.642965 0.637717 -0.266578 0.329809 +#30765 1721121562676 +SLAM 17.1696 13.5514 -16.4151 -0.562215 0.0802718 0.669623 0.478618 +TTool-pose None -30.8787 13.0091 13.3024 0.638221 0.643255 -0.265962 0.328763 +#30766 1721121562708 +SLAM 16.9308 13.3031 -16.6771 -0.562185 0.0853297 0.671403 0.475273 +TTool-pose None -30.8303 12.9939 13.2559 0.642019 0.638538 -0.267731 0.32913 +#30767 1721121562737 +SLAM 16.9601 13.2463 -16.6411 -0.561784 0.0870081 0.671259 0.475647 +TTool-pose None -30.77 13.0815 13.224 0.642087 0.637512 -0.268558 0.33031 +#30768 1721121562768 +SLAM 16.9523 13.1815 -16.6221 -0.562923 0.0868778 0.671331 0.474221 +TTool-pose None -30.7179 13.0614 13.2435 0.643293 0.637111 -0.267408 0.329669 +#30769 1721121562804 +SLAM 16.8731 12.8537 -16.7994 -0.56575 0.0904415 0.670617 0.471191 +TTool-pose None -30.7078 12.9502 13.2198 0.646818 0.633634 -0.26543 0.331069 +#30770 1721121562834 +SLAM 17.0087 12.8706 -16.6682 -0.568897 0.0871813 0.669181 0.470055 +TTool-pose None -30.7101 12.8766 13.2724 0.647295 0.635566 -0.261137 0.329845 +#30771 1721121562864 +SLAM 17.1338 12.9974 -16.4812 -0.565989 0.0865815 0.66735 0.476239 +TTool-pose None -30.7177 12.9253 13.1966 0.642064 0.638199 -0.263521 0.333075 +#30772 1721121562893 +SLAM 17.0688 12.9287 -16.5199 -0.568661 0.0858522 0.667711 0.472669 +TTool-pose None -30.6987 12.8414 13.2143 0.644952 0.637457 -0.260733 0.331104 +#30773 1721121562923 +SLAM 17.0884 12.9683 -16.4588 -0.566303 0.0866803 0.666591 0.476911 +TTool-pose None -30.7156 12.8476 13.1295 0.64161 0.638396 -0.263089 0.333914 +#30774 1721121562958 +SLAM 17.2433 13.2348 -16.195 -0.564832 0.082632 0.66529 0.48117 +TTool-pose None -30.7332 12.8831 13.1106 0.637162 0.642703 -0.263175 0.334102 +#30775 1721121562988 +SLAM 17.4238 13.3043 -16.0712 -0.567219 0.0793269 0.662701 0.482491 +TTool-pose None -30.8305 12.7852 13.1221 0.635615 0.64554 -0.259377 0.334547 +#30776 1721121563019 +SLAM 17.4451 13.2905 -16.0596 -0.568141 0.0790629 0.661892 0.48256 +TTool-pose None -30.8571 12.7445 13.0969 0.635605 0.645779 -0.258227 0.334994 +#30777 1721121563053 +SLAM 17.188 12.8788 -16.3797 -0.570204 0.0861698 0.663472 0.476705 +TTool-pose None -30.7702 12.7317 13.0262 0.642112 0.638813 -0.258461 0.335761 +#30778 1721121563085 +SLAM 17.2127 12.6589 -16.3918 -0.57037 0.0901533 0.662218 0.477512 +TTool-pose None -30.7064 12.7787 12.9491 0.64246 0.636385 -0.259132 0.339174 +#30779 1721121563120 +SLAM 17.7634 12.9435 -15.8377 -0.572438 0.0813435 0.656034 0.485096 +TTool-pose None -30.7962 12.7116 12.9948 0.63467 0.6453 -0.2534 0.341319 +#30780 1721121563153 +SLAM 17.7328 12.8498 -15.9061 -0.575638 0.0807721 0.655972 0.481475 +TTool-pose None -30.81 12.6143 13.0271 0.637706 0.644454 -0.250053 0.339723 +#30781 1721121563187 +SLAM 17.6947 13.0822 -15.7755 -0.571355 0.0790488 0.656746 0.485787 +TTool-pose None -30.7861 12.6623 12.9933 0.633448 0.647087 -0.253981 0.339772 +#30782 1721121563221 +SLAM 17.4917 12.9306 -15.9452 -0.568471 0.0847031 0.658165 0.486297 +TTool-pose None -30.7225 12.7314 12.8804 0.634103 0.643314 -0.258696 0.342151 +#30783 1721121563256 +SLAM 17.543 13.0128 -15.8319 -0.567758 0.0831206 0.657302 0.488565 +TTool-pose None -30.7254 12.7095 12.8621 0.631859 0.645205 -0.258779 0.342679 +#30784 1721121563286 +SLAM 17.631 13.156 -15.7064 -0.569401 0.0788649 0.655885 0.489262 +TTool-pose None -30.7987 12.5961 12.8769 0.630454 0.648422 -0.255675 0.341521 +#30785 1721121563321 +SLAM 17.5138 13.0912 -15.7441 -0.566172 0.0828264 0.656691 0.49127 +TTool-pose None -30.7187 12.6927 12.7708 0.629475 0.64634 -0.260125 0.343907 +#30786 1721121563358 +SLAM 17.0031 12.5959 -16.2482 -0.564229 0.0948487 0.659193 0.487969 +TTool-pose None -30.6333 12.6497 12.556 0.6347 0.636801 -0.265851 0.3477 +#30787 1721121563394 +SLAM 17.2324 13.5178 -15.4484 -0.556773 0.0815591 0.659477 0.49844 +TTool-pose None -30.5374 12.8197 12.5522 0.622358 0.649458 -0.269544 0.343732 +#30788 1721121563422 +SLAM 18.1015 14.2119 -14.3115 -0.564016 0.062876 0.65102 0.504089 +TTool-pose None -30.6126 12.8682 12.5894 0.613984 0.664437 -0.255291 0.341034 +#30789 1721121563451 +#30790 1721121563483 +#30791 1721121563517 +#30792 1721121563551 +#30793 1721121563588 +#30794 1721121563620 +SLAM 16.6291 17.3857 -12.0744 -0.53658 0.0418416 0.664864 0.517965 +TTool-pose None -30.0918 13.8216 10.7918 0.593493 0.682253 -0.278449 0.323551 +#30795 1721121563658 +SLAM 17.1254 17.0048 -12.0905 -0.554563 0.0401584 0.658079 0.50772 +TTool-pose None -30.2063 13.7529 10.8872 0.603753 0.68057 -0.259244 0.324069 +#30796 1721121563686 +SLAM 17.9006 17.767 -11.3214 -0.563154 0.0208025 0.652126 0.507107 +TTool-pose None -30.5679 13.8561 11.2075 0.599637 0.693407 -0.243548 0.31658 +#30797 1721121563718 +#30798 1721121563750 +#30799 1721121563786 +#30800 1721121563818 +#30801 1721121563854 +#30802 1721121563886 +#30803 1721121563922 +#30804 1721121563962 +#30805 1721121563992 +#30806 1721121564026 +#30807 1721121564058 +#30808 1721121564088 +#30809 1721121564125 +#30810 1721121564161 +#30811 1721121564189 +#30812 1721121564222 +#30813 1721121564256 +#30814 1721121564297 +#30815 1721121564332 +#30816 1721121564365 +#30817 1721121564399 +#30818 1721121564430 +#30819 1721121564467 +#30820 1721121564500 +#30821 1721121564532 +#30822 1721121564563 +#30823 1721121564592 +#30824 1721121564625 +#30825 1721121564655 +#30826 1721121564692 +#30827 1721121564727 +#30828 1721121564758 +#30829 1721121564788 +#30830 1721121564820 +#30831 1721121564855 +#30832 1721121564888 +#30833 1721121564925 +#30834 1721121564958 +#30835 1721121564991 +#30836 1721121565025 +#30837 1721121565056 +#30838 1721121565089 +#30839 1721121565125 +#30840 1721121565158 +#30841 1721121565192 +#30842 1721121565225 +#30843 1721121565256 +#30844 1721121565288 +#30845 1721121565321 +#30846 1721121565356 +#30847 1721121565389 +SLAM 16.9506 13.3114 -16.4174 -0.568269 0.0936012 0.655902 0.487955 +TTool-pose None -31.3152 12.6727 11.9159 0.634888 0.637797 -0.260846 0.34932 +#30848 1721121565425 +SLAM 16.8652 13.228 -16.5132 -0.565693 0.0967041 0.656589 0.489419 +TTool-pose None -31.2889 12.7086 11.8904 0.63416 0.636103 -0.264361 0.351087 +#30849 1721121565458 +SLAM 16.6593 13.0102 -16.7274 -0.564465 0.10217 0.658955 0.486537 +TTool-pose None -31.1894 12.8 11.8691 0.637525 0.631218 -0.267523 0.351415 +#30850 1721121565491 +SLAM 17.1271 13.4145 -16.2974 -0.567403 0.0908624 0.654367 0.491529 +TTool-pose None -31.3754 12.6413 11.9863 0.631331 0.640959 -0.260625 0.350145 +#30851 1721121565525 +SLAM 17.1314 13.3214 -16.3535 -0.567942 0.0923772 0.654049 0.491049 +TTool-pose None -31.3797 12.6457 11.9761 0.632126 0.639758 -0.260439 0.351043 +#30852 1721121565558 +SLAM 17.0253 13.2983 -16.4126 -0.567225 0.0936175 0.655573 0.489608 +TTool-pose None -31.3268 12.6883 11.9745 0.633473 0.638355 -0.261807 0.350151 +#30853 1721121565592 +SLAM 17.1563 13.4043 -16.2938 -0.568697 0.0900798 0.654262 0.490317 +TTool-pose None -31.3812 12.627 12.0177 0.632249 0.641099 -0.259118 0.349349 +#30854 1721121565625 +SLAM 17.113 13.306 -16.3776 -0.566755 0.0934367 0.654106 0.492141 +TTool-pose None -31.3792 12.6605 11.9593 0.631376 0.639385 -0.261904 0.351982 +#30855 1721121565662 +SLAM 16.9601 12.5411 -16.8366 -0.568589 0.107059 0.652991 0.488721 +TTool-pose None -31.3189 12.6942 11.8292 0.637366 0.628756 -0.263485 0.359088 +#30856 1721121565695 +SLAM 17.0739 12.8567 -16.6579 -0.568328 0.100056 0.653502 0.489823 +TTool-pose None -31.3637 12.6438 11.9736 0.634904 0.634017 -0.262005 0.355259 +#30857 1721121565733 +SLAM 17.3321 13.0295 -16.4167 -0.570925 0.094616 0.651328 0.490779 +TTool-pose None -31.4178 12.6141 12.0341 0.633184 0.638207 -0.25752 0.3541 +#30858 1721121565773 +SLAM 17.2883 12.9948 -16.4657 -0.571964 0.0944805 0.651909 0.48882 +TTool-pose None -31.4108 12.5868 12.0609 0.634813 0.63762 -0.256586 0.352917 +#30859 1721121565806 +SLAM 17.276 13.0299 -16.466 -0.570434 0.0946421 0.651852 0.49065 +TTool-pose None -31.4274 12.5793 12.0476 0.63324 0.638128 -0.258125 0.353703 +#30860 1721121565839 +SLAM 17.4757 13.0103 -16.3544 -0.575083 0.0915735 0.650081 0.488148 +TTool-pose None -31.4534 12.5433 12.1202 0.634991 0.639469 -0.252324 0.352324 +#30861 1721121565876 +SLAM 17.341 12.945 -16.4472 -0.570329 0.0963448 0.651681 0.490667 +TTool-pose None -31.3735 12.678 12.0576 0.633607 0.636954 -0.25865 0.354776 +#30862 1721121565910 +SLAM 17.3136 12.9566 -16.4774 -0.569453 0.0958561 0.651118 0.492525 +TTool-pose None -31.4277 12.574 12.0529 0.631928 0.637939 -0.259256 0.35556 +#30863 1721121565942 +SLAM 17.4656 13.1774 -16.2676 -0.569481 0.0917127 0.650576 0.493994 +TTool-pose None -31.437 12.6201 12.0931 0.629801 0.64133 -0.257988 0.354151 +#30864 1721121565976 +SLAM 17.3776 13.1666 -16.3331 -0.568443 0.0926186 0.651655 0.493599 +TTool-pose None -31.419 12.6269 12.0961 0.630215 0.640532 -0.25949 0.353762 +#30865 1721121566010 +SLAM 17.197 12.9419 -16.5537 -0.567381 0.0977048 0.652644 0.492532 +TTool-pose None -31.3865 12.6217 12.043 0.63212 0.636598 -0.26212 0.355521 +#30866 1721121566042 +SLAM 17.4182 13.1999 -16.2905 -0.567831 0.0921945 0.651009 0.495233 +TTool-pose None -31.4371 12.6185 12.0845 0.628749 0.641394 -0.259832 0.354557 +#30867 1721121566074 +SLAM 17.3205 13.0722 -16.4247 -0.569161 0.0938385 0.651905 0.49221 +TTool-pose None -31.4209 12.5921 12.0972 0.63168 0.63921 -0.259171 0.353774 +#30868 1721121566106 +SLAM 17.5763 13.3428 -16.1347 -0.570124 0.0877467 0.649953 0.494793 +TTool-pose None -31.4803 12.5882 12.1476 0.628298 0.644367 -0.256135 0.35265 +#30869 1721121566139 +SLAM 17.2363 12.9197 -16.5362 -0.567939 0.0983269 0.652402 0.492087 +TTool-pose None -31.3737 12.6748 12.0267 0.632676 0.636024 -0.261687 0.355879 +#30870 1721121566171 +SLAM 17.2664 13.0482 -16.4776 -0.570167 0.0938055 0.652975 0.489626 +TTool-pose None -31.399 12.5977 12.1314 0.633828 0.638326 -0.258405 0.352085 +#30871 1721121566205 +SLAM 17.5884 13.3006 -16.1555 -0.570736 0.0882435 0.64974 0.494279 +TTool-pose None -31.4844 12.5896 12.1465 0.628891 0.643858 -0.255624 0.352894 +#30872 1721121566245 +SLAM 17.2013 12.7705 -16.6178 -0.569614 0.100903 0.653133 0.488647 +TTool-pose None -31.3148 12.7556 12.0205 0.636165 0.633041 -0.260885 0.355566 +#30873 1721121566282 +SLAM 17.3766 13.0627 -16.4055 -0.570521 0.0932041 0.651404 0.491417 +TTool-pose None -31.4353 12.588 12.1125 0.632308 0.639401 -0.257553 0.353488 +#30874 1721121566317 +SLAM 17.5132 13.1925 -16.2513 -0.570226 0.0909133 0.65019 0.493792 +TTool-pose None -31.4609 12.6103 12.112 0.629855 0.64183 -0.256954 0.353902 +#30875 1721121566350 +SLAM 17.5052 13.1214 -16.304 -0.572767 0.0904195 0.650228 0.490883 +TTool-pose None -31.4703 12.5548 12.1502 0.632317 0.641192 -0.254329 0.35256 +#30876 1721121566383 +SLAM 17.2438 12.9027 -16.5438 -0.568398 0.0984323 0.652403 0.491534 +TTool-pose None -31.3722 12.6811 12.0323 0.633189 0.635765 -0.261265 0.355739 +#30877 1721121566416 +SLAM 17.2789 12.9487 -16.5092 -0.569232 0.096714 0.652158 0.491235 +TTool-pose None -31.394 12.6431 12.0626 0.633125 0.636872 -0.259932 0.35485 +#30878 1721121566451 +SLAM 17.4395 13.0663 -16.3599 -0.571836 0.0922959 0.650786 0.49088 +TTool-pose None -31.4423 12.5833 12.1223 0.632661 0.639872 -0.255878 0.35322 +#30879 1721121566483 +SLAM 17.4633 13.3018 -16.2196 -0.568746 0.0896417 0.651069 0.494572 +TTool-pose None -31.4509 12.6061 12.1238 0.628776 0.642942 -0.258253 0.352854 +#30880 1721121566515 +SLAM 17.3695 13.3117 -16.2668 -0.567758 0.0901737 0.652198 0.494124 +TTool-pose None -31.4278 12.6097 12.1215 0.62915 0.642384 -0.259616 0.352202 +#30881 1721121566549 +SLAM 16.8931 12.6167 -16.8426 -0.566747 0.106182 0.655937 0.487104 +TTool-pose None -31.2246 12.7943 11.9551 0.63824 0.628717 -0.265697 0.355958 +#30882 1721121566581 +SLAM 17.4386 13.2062 -16.2879 -0.572339 0.0888207 0.651102 0.490516 +TTool-pose None -31.4612 12.5148 12.168 0.632186 0.642147 -0.254505 0.350924 +#30883 1721121566614 +SLAM 17.2876 13.1113 -16.418 -0.57088 0.091972 0.652673 0.489546 +TTool-pose None -31.4098 12.5576 12.1378 0.63354 0.639583 -0.257141 0.351244 +#30884 1721121566647 +SLAM 17.0846 13.039 -16.5646 -0.565226 0.097548 0.654223 0.492946 +TTool-pose None -31.3589 12.6447 12.0333 0.631514 0.636786 -0.264535 0.354472 +#30885 1721121566679 +SLAM 17.32 13.0575 -16.4279 -0.570531 0.0932904 0.652085 0.490486 +TTool-pose None -31.4128 12.5824 12.1162 0.633067 0.639005 -0.257716 0.352727 +#30886 1721121566715 +SLAM 17.3632 13.117 -16.3769 -0.571763 0.0913432 0.651925 0.48963 +TTool-pose None -31.4268 12.563 12.1449 0.633421 0.640073 -0.255939 0.351445 +#30887 1721121566748 +SLAM 17.2882 13.1112 -16.4124 -0.569487 0.0932204 0.652813 0.490745 +TTool-pose None -31.3901 12.6209 12.1124 0.632733 0.639115 -0.258882 0.352272 +#30888 1721121566782 +SLAM 17.48 13.2137 -16.2651 -0.572932 0.0883483 0.650954 0.490103 +TTool-pose None -31.4618 12.5314 12.1858 0.632463 0.64234 -0.253758 0.350614 +#30889 1721121566817 +SLAM 16.9011 13.0589 -16.6619 -0.566711 0.0961663 0.657681 0.486875 +TTool-pose None -31.2829 12.6419 12.1379 0.636154 0.635578 -0.263447 0.34911 +#30890 1721121566850 +SLAM 17.4102 13.2224 -16.3009 -0.572931 0.088194 0.652026 0.488707 +TTool-pose None -31.4393 12.5287 12.2062 0.633531 0.641939 -0.253949 0.349279 +#30891 1721121566881 +SLAM 17.498 13.3965 -16.1469 -0.569821 0.0868014 0.651161 0.493719 +TTool-pose None -31.4584 12.5717 12.173 0.628896 0.64462 -0.256439 0.350894 +#30892 1721121566913 +SLAM 17.307 13.044 -16.4356 -0.567933 0.0952877 0.651537 0.493834 +TTool-pose None -31.4199 12.6049 12.0501 0.630592 0.638758 -0.260687 0.355415 +#30893 1721121566946 +SLAM 17.0673 12.9034 -16.6108 -0.568199 0.0983586 0.654809 0.48857 +TTool-pose None -31.2982 12.6687 12.0654 0.635493 0.634731 -0.26196 0.352953 +#30894 1721121566978 +SLAM 17.3617 13.3773 -16.237 -0.572412 0.0853046 0.653013 0.488509 +TTool-pose None -31.4317 12.4926 12.2392 0.632943 0.643835 -0.25388 0.346895 +#30895 1721121567011 +SLAM 17.4161 13.5691 -16.0567 -0.569003 0.0836998 0.653024 0.492736 +TTool-pose None -31.3963 12.5722 12.2224 0.628844 0.646367 -0.256795 0.347496 +#30896 1721121567046 +SLAM 17.1578 13.0063 -16.5247 -0.569211 0.0953846 0.654101 0.48893 +TTool-pose None -31.3415 12.6245 12.1065 0.634638 0.636952 -0.260015 0.351926 +#30897 1721121567077 +SLAM 17.0968 12.7327 -16.6669 -0.569935 0.100428 0.654128 0.487036 +TTool-pose None -31.2817 12.6788 12.0596 0.637363 0.632793 -0.260655 0.354028 +#30898 1721121567110 +SLAM 17.3859 13.1373 -16.3159 -0.567821 0.0928565 0.651084 0.495022 +TTool-pose None -31.4133 12.5943 12.0883 0.62907 0.640861 -0.260038 0.354799 +#30899 1721121567145 +SLAM 17.5759 13.2034 -16.1519 -0.569898 0.0903577 0.649432 0.495267 +TTool-pose None -31.4292 12.6221 12.1062 0.628513 0.642734 -0.256956 0.354644 +#30900 1721121567181 +SLAM 17.5367 12.9295 -16.3173 -0.572146 0.0940267 0.648816 0.492795 +TTool-pose None -31.4273 12.5821 12.0828 0.631574 0.639378 -0.255609 0.356243 +#30901 1721121567214 +SLAM 17.4596 12.8101 -16.4374 -0.572988 0.0959573 0.649971 0.489912 +TTool-pose None -31.3935 12.6076 12.1074 0.634396 0.637026 -0.255553 0.355482 +#30902 1721121567246 +SLAM 17.8057 13.2029 -16.0291 -0.574216 0.0868394 0.647269 0.493739 +TTool-pose None -31.4814 12.5684 12.1918 0.629344 0.644724 -0.251267 0.353632 +#30903 1721121567281 +SLAM 17.3534 12.8134 -16.4862 -0.570739 0.097365 0.650881 0.491051 +TTool-pose None -31.3695 12.6167 12.0751 0.633581 0.6364 -0.258345 0.356039 +#30904 1721121567317 +SLAM 17.6619 13.2641 -16.0776 -0.570686 0.0880312 0.648818 0.495583 +TTool-pose None -31.4529 12.5892 12.1583 0.627795 0.644471 -0.255409 0.353881 +#30905 1721121567351 +SLAM 17.4683 12.9624 -16.3312 -0.569834 0.0953634 0.650235 0.493345 +TTool-pose None -31.3723 12.6772 12.0723 0.631203 0.638587 -0.258556 0.356194 +#30906 1721121567386 +SLAM 17.735 13.3133 -16.0142 -0.572062 0.0861315 0.648296 0.495013 +TTool-pose None -31.4724 12.5742 12.188 0.62794 0.64561 -0.253419 0.352975 +#30907 1721121567419 +SLAM 17.3876 12.9369 -16.3946 -0.567952 0.0970065 0.650615 0.494692 +TTool-pose None -31.3717 12.6688 12.0374 0.630305 0.637879 -0.260927 0.357321 +#30908 1721121567453 +SLAM 17.599 13.192 -16.1494 -0.570082 0.0901369 0.649268 0.495312 +TTool-pose None -31.4329 12.6142 12.1268 0.628445 0.642908 -0.256679 0.354651 +#30909 1721121567489 +SLAM 17.6371 13.3068 -16.0742 -0.570066 0.0876358 0.649137 0.49595 +TTool-pose None -31.4563 12.5832 12.1572 0.627343 0.644857 -0.25598 0.353567 +#30910 1721121567522 +SLAM 17.6244 13.3153 -16.0759 -0.568683 0.0885581 0.649103 0.497415 +TTool-pose None -31.4553 12.6085 12.1248 0.626243 0.644708 -0.257579 0.354625 +#30911 1721121567555 +SLAM 17.5762 13.2777 -16.116 -0.569554 0.0889526 0.649919 0.495279 +TTool-pose None -31.4241 12.6225 12.1388 0.628136 0.643695 -0.257017 0.353522 +#30912 1721121567587 +SLAM 17.6557 13.2326 -16.1036 -0.573907 0.0864746 0.649049 0.491821 +TTool-pose None -31.4588 12.5279 12.2086 0.630754 0.644276 -0.251865 0.351504 +#30913 1721121567621 +SLAM 17.3935 13.0382 -16.345 -0.569708 0.0938058 0.651233 0.492472 +TTool-pose None -31.3772 12.627 12.0994 0.631523 0.639344 -0.258478 0.354319 +#30914 1721121567652 +SLAM 17.2892 13.1622 -16.3287 -0.567935 0.0923273 0.65275 0.492791 +TTool-pose None -31.3525 12.608 12.1171 0.630734 0.640424 -0.26015 0.352545 +#30915 1721121567684 +SLAM 17.5524 13.5118 -15.9893 -0.568447 0.0847878 0.650829 0.496086 +TTool-pose None -31.4211 12.5866 12.1788 0.626381 0.646813 -0.257157 0.350833 +#30916 1721121567717 +SLAM 17.2446 13.2395 -16.3159 -0.566913 0.0916487 0.65356 0.493022 +TTool-pose None -31.343 12.6188 12.1211 0.630278 0.640943 -0.261145 0.351681 +#30917 1721121567750 +SLAM 17.3543 13.2546 -16.2329 -0.56984 0.0894815 0.652578 0.491342 +TTool-pose None -31.3564 12.5991 12.1509 0.631422 0.641919 -0.257466 0.350559 +#30918 1721121567787 +SLAM 17.5799 13.6255 -15.9186 -0.569635 0.0813877 0.650488 0.49574 +TTool-pose None -31.4621 12.4987 12.2144 0.625962 0.649053 -0.254973 0.349032 +#30919 1721121567822 +SLAM 17.6401 13.7359 -15.822 -0.570236 0.0793772 0.650597 0.49523 +TTool-pose None -31.4573 12.5447 12.2348 0.625941 0.650261 -0.253846 0.347639 +#30920 1721121567858 +SLAM 17.287 13.4666 -16.1646 -0.567238 0.0873927 0.653811 0.493087 +TTool-pose None -31.3565 12.6112 12.1451 0.629257 0.643905 -0.259717 0.349146 +#30921 1721121567898 +SLAM 17.7127 13.7571 -15.7744 -0.574521 0.0759453 0.650002 0.491584 +TTool-pose None -31.4879 12.4599 12.305 0.62844 0.651409 -0.248536 0.344805 +#30922 1721121567930 +SLAM 17.7433 13.7523 -15.7619 -0.575933 0.075486 0.650072 0.489907 +TTool-pose None -31.4797 12.4846 12.3246 0.629799 0.651152 -0.247027 0.343892 +#30923 1721121567963 +SLAM 17.6151 13.5632 -15.9355 -0.574073 0.0806219 0.651077 0.489938 +TTool-pose None -31.4297 12.5429 12.2703 0.630852 0.647609 -0.250524 0.346118 +#30924 1721121567997 +SLAM 17.5039 13.3378 -16.134 -0.574443 0.0848234 0.652126 0.487393 +TTool-pose None -31.3893 12.5677 12.267 0.63392 0.643817 -0.25155 0.346841 +#30925 1721121568030 +SLAM 17.732 13.5281 -15.9087 -0.572918 0.0815936 0.649779 0.492844 +TTool-pose None -31.4578 12.578 12.2735 0.628664 0.647964 -0.251649 0.348612 +#30926 1721121568062 +SLAM 17.8427 13.5847 -15.8046 -0.574706 0.0789872 0.648785 0.492496 +TTool-pose None -31.4784 12.5495 12.3129 0.628485 0.649668 -0.248941 0.347704 +#30927 1721121568094 +SLAM 17.7328 13.2806 -15.9968 -0.574033 0.0855581 0.649188 0.49165 +TTool-pose None -31.4054 12.6159 12.2387 0.630684 0.644847 -0.251519 0.350831 +#30928 1721121568125 +SLAM 17.8237 13.2386 -15.958 -0.574891 0.085406 0.648093 0.492118 +TTool-pose None -31.4152 12.6126 12.2513 0.630361 0.645143 -0.25039 0.351673 +#30929 1721121568159 +SLAM 17.7805 13.0405 -16.075 -0.576474 0.087787 0.647813 0.490214 +TTool-pose None -31.4029 12.567 12.2441 0.6326 0.64286 -0.249421 0.352521 +#30930 1721121568192 +SLAM 18.3039 13.3899 -15.5628 -0.576985 0.0789978 0.641263 0.49963 +TTool-pose None -31.5861 12.455 12.2519 0.622985 0.652265 -0.244999 0.355458 +#30931 1721121568227 +SLAM 17.9761 12.9161 -15.9776 -0.576843 0.0894152 0.644164 0.494277 +TTool-pose None -31.441 12.5588 12.1627 0.629779 0.64321 -0.248689 0.357419 +#30932 1721121568262 +SLAM 18.0323 12.9412 -15.9289 -0.577726 0.087951 0.643504 0.494369 +TTool-pose None -31.4608 12.5219 12.185 0.629442 0.644271 -0.24727 0.357086 +#30933 1721121568299 +SLAM 17.9227 12.8281 -16.0418 -0.57324 0.0936278 0.643797 0.498152 +TTool-pose None -31.4282 12.6153 12.0624 0.627303 0.641601 -0.253296 0.361411 +#30934 1721121568334 +SLAM 17.8527 12.7308 -16.1365 -0.57532 0.0942866 0.645002 0.494054 +TTool-pose None -31.3913 12.6135 12.1071 0.630946 0.639734 -0.251704 0.359485 +#30935 1721121568368 +SLAM 18.0524 12.9095 -15.9467 -0.577156 0.0888176 0.643066 0.495447 +TTool-pose None -31.4761 12.5268 12.174 0.628729 0.644047 -0.247969 0.35826 +#30936 1721121568402 +SLAM 17.9701 12.8761 -16.0066 -0.574799 0.0913032 0.643867 0.496694 +TTool-pose None -31.4432 12.583 12.1308 0.628087 0.642724 -0.251149 0.359545 +#30937 1721121568436 +SLAM 17.9931 12.8581 -16.0034 -0.575545 0.0912607 0.643742 0.495999 +TTool-pose None -31.4416 12.592 12.1395 0.628707 0.642524 -0.250376 0.35936 +#30938 1721121568468 +SLAM 18.2822 13.1412 -15.6797 -0.57753 0.0839619 0.641474 0.497917 +TTool-pose None -31.5117 12.5629 12.2172 0.625622 0.648271 -0.245898 0.357508 +#30939 1721121568503 +SLAM 18.3271 13.0492 -15.7013 -0.576992 0.0861078 0.640236 0.499764 +TTool-pose None -31.5313 12.5771 12.1648 0.624593 0.64744 -0.246734 0.360227 +#30940 1721121568536 +SLAM 18.2856 13.0735 -15.7211 -0.577153 0.0854895 0.641082 0.498598 +TTool-pose None -31.5195 12.5697 12.1955 0.625402 0.647456 -0.246602 0.358882 +#30941 1721121568568 +SLAM 18.2773 13.0332 -15.7449 -0.577461 0.0862229 0.641137 0.498044 +TTool-pose None -31.5105 12.5818 12.189 0.626053 0.646762 -0.246514 0.359059 +#30942 1721121568599 +SLAM 18.0205 12.7562 -16.0776 -0.578584 0.0908775 0.643238 0.49318 +TTool-pose None -31.4829 12.5145 12.1891 0.631163 0.64185 -0.247163 0.358482 +#30943 1721121568629 +SLAM 18.3353 13.0354 -15.708 -0.578603 0.0853562 0.640471 0.497725 +TTool-pose None -31.5264 12.5664 12.2003 0.626207 0.647268 -0.244997 0.358915 +#30944 1721121568660 +SLAM 18.2718 13.0407 -15.7464 -0.577952 0.0858115 0.64136 0.497257 +TTool-pose None -31.5076 12.5779 12.2024 0.626634 0.646776 -0.245969 0.358393 +#30945 1721121568697 +SLAM 18.1906 12.8683 -15.8909 -0.578683 0.088729 0.64155 0.495648 +TTool-pose None -31.5002 12.5533 12.1763 0.628687 0.644213 -0.246095 0.359326 +#30946 1721121568730 +SLAM 18.0277 12.7622 -16.0315 -0.577426 0.0921722 0.643595 0.493831 +TTool-pose None -31.4244 12.6247 12.1546 0.630835 0.641164 -0.248739 0.359195 +#30947 1721121568761 +SLAM 18.3319 13.0839 -15.6918 -0.579102 0.0840081 0.640906 0.496813 +TTool-pose None -31.5263 12.553 12.235 0.626665 0.64788 -0.244233 0.35753 +#30948 1721121568791 +SLAM 18.3239 13.0733 -15.6982 -0.580805 0.0832486 0.641526 0.494145 +TTool-pose None -31.5028 12.5576 12.2761 0.62878 0.647486 -0.242483 0.355717 +#30949 1721121568821 +SLAM 18.5 13.2256 -15.5141 -0.581195 0.079465 0.639516 0.496907 +TTool-pose None -31.5709 12.5124 12.2963 0.625674 0.651066 -0.240583 0.355948 +#30950 1721121568854 +SLAM 18.537 13.1971 -15.5021 -0.582261 0.0791524 0.639105 0.496238 +TTool-pose None -31.573 12.5015 12.312 0.626229 0.651062 -0.239348 0.355812 +#30951 1721121568883 +SLAM 18.4079 13.1627 -15.5937 -0.580147 0.0814098 0.640663 0.496338 +TTool-pose None -31.525 12.5449 12.2897 0.626514 0.649514 -0.242424 0.356059 +#30952 1721121568914 +SLAM 18.139 12.799 -15.9432 -0.579203 0.0898066 0.642488 0.493628 +TTool-pose None -31.4521 12.5842 12.1953 0.63061 0.642761 -0.246091 0.35856 +#30953 1721121568944 +SLAM 18.4004 13.1978 -15.5697 -0.577795 0.0820734 0.640143 0.499633 +TTool-pose None -31.5401 12.5419 12.2364 0.623804 0.650179 -0.244804 0.35797 +#30954 1721121568978 +SLAM 18.0327 12.911 -15.9615 -0.580295 0.0866219 0.644864 0.489801 +TTool-pose None -31.4212 12.5371 12.2999 0.633015 0.643601 -0.244668 0.353753 +#30955 1721121569009 +SLAM 18.3237 12.9297 -15.7705 -0.582473 0.0845253 0.640829 0.492868 +TTool-pose None -31.5131 12.5031 12.2741 0.630257 0.646186 -0.241029 0.356453 +#30956 1721121569039 +SLAM 18.0207 12.7007 -16.0474 -0.577222 0.0932578 0.643594 0.493867 +TTool-pose None -31.3981 12.6409 12.1515 0.63104 0.640423 -0.249234 0.359815 +#30957 1721121569069 +SLAM 18.2024 12.7453 -15.9381 -0.579939 0.0899744 0.641475 0.49405 +TTool-pose None -31.4752 12.5621 12.2007 0.630377 0.642812 -0.245179 0.359502 +#30958 1721121569100 +SLAM 18.2436 12.825 -15.8804 -0.579267 0.0883976 0.641094 0.495614 +TTool-pose None -31.4999 12.536 12.2194 0.628689 0.644441 -0.245324 0.359442 +#30959 1721121569130 +SLAM 18.3546 12.8488 -15.7972 -0.582887 0.0852494 0.640269 0.492982 +TTool-pose None -31.5193 12.4843 12.2895 0.630375 0.645738 -0.240691 0.357286 +#30960 1721121569160 +SLAM 18.1775 12.7305 -15.9684 -0.579642 0.0900947 0.641835 0.493908 +TTool-pose None -31.4714 12.5482 12.2219 0.630492 0.642672 -0.245587 0.359271 +#30961 1721121569191 +SLAM 18.0247 12.6541 -16.08 -0.575951 0.0945095 0.643258 0.495547 +TTool-pose None -31.4077 12.6398 12.1454 0.629861 0.640129 -0.250749 0.361347 +#30962 1721121569221 +SLAM 18.3098 12.8581 -15.8076 -0.578681 0.0880631 0.640436 0.497207 +TTool-pose None -31.498 12.5667 12.2096 0.627274 0.645225 -0.245659 0.360276 +#30963 1721121569256 +SLAM 18.2872 12.8288 -15.8543 -0.581191 0.086681 0.640857 0.493969 +TTool-pose None -31.5093 12.4946 12.2702 0.629775 0.645074 -0.242899 0.358047 +#30964 1721121569287 +SLAM 18.0883 12.6763 -16.0417 -0.576937 0.0928422 0.642343 0.495903 +TTool-pose None -31.4485 12.5754 12.1721 0.629283 0.64143 -0.249119 0.361175 +#30965 1721121569318 +SLAM 18.26 12.9203 -15.8145 -0.577011 0.087699 0.641202 0.498224 +TTool-pose None -31.4938 12.5634 12.2206 0.626217 0.645801 -0.247378 0.359908 +#30966 1721121569349 +SLAM 18.1189 12.6459 -16.0336 -0.575811 0.0942838 0.641588 0.497913 +TTool-pose None -31.4546 12.6071 12.1268 0.627893 0.641124 -0.250443 0.363218 +#30967 1721121569380 +SLAM 18.1485 12.7305 -15.9824 -0.578342 0.0906625 0.642028 0.495077 +TTool-pose None -31.4648 12.5479 12.2141 0.629569 0.64267 -0.24707 0.359876 +#30968 1721121569411 +SLAM 18.1597 12.7112 -15.9883 -0.578219 0.0911002 0.641747 0.495504 +TTool-pose None -31.4713 12.5497 12.2046 0.629316 0.642518 -0.247246 0.360468 +#30969 1721121569441 +SLAM 18.323 12.9229 -15.7706 -0.577517 0.0872614 0.640454 0.498676 +TTool-pose None -31.5054 12.5661 12.2198 0.625794 0.646274 -0.246587 0.360338 +#30970 1721121569471 +SLAM 18.3389 12.831 -15.8306 -0.580299 0.0867499 0.6399 0.496241 +TTool-pose None -31.5402 12.4767 12.2594 0.627886 0.645818 -0.243579 0.35956 +#30971 1721121569500 +SLAM 18.3955 12.9963 -15.694 -0.577399 0.0855484 0.639889 0.499833 +TTool-pose None -31.5268 12.5571 12.2448 0.624441 0.647858 -0.246099 0.360175 +#30972 1721121569530 +SLAM 18.3262 12.8506 -15.8152 -0.576849 0.0888263 0.640077 0.499656 +TTool-pose None -31.5121 12.5692 12.2067 0.62531 0.645529 -0.247586 0.361825 +#30973 1721121569559 +SLAM 18.4271 12.9658 -15.7017 -0.577438 0.0859161 0.63917 0.500645 +TTool-pose None -31.5523 12.5381 12.2351 0.623874 0.647892 -0.245995 0.361164 +#30974 1721121569598 +SLAM 18.2058 12.6645 -15.9822 -0.576168 0.0929763 0.640453 0.499205 +TTool-pose None -31.4933 12.5631 12.1508 0.62658 0.642493 -0.249476 0.36373 +#30975 1721121569628 +SLAM 18.3701 12.9287 -15.751 -0.576555 0.0873157 0.639662 0.500792 +TTool-pose None -31.5335 12.554 12.2148 0.624007 0.646964 -0.247362 0.361666 +#30976 1721121569662 +SLAM 18.2568 12.803 -15.9024 -0.576979 0.0895367 0.640391 0.498976 +TTool-pose None -31.5303 12.516 12.203 0.626039 0.644802 -0.247726 0.361766 +#30977 1721121569692 +SLAM 18.2782 12.7722 -15.8873 -0.578437 0.0895365 0.640416 0.497253 +TTool-pose None -31.5063 12.5438 12.209 0.627562 0.644222 -0.246298 0.361133 +#30978 1721121569725 +SLAM 18.3705 12.9509 -15.7393 -0.577622 0.0864817 0.639831 0.499489 +TTool-pose None -31.5341 12.5474 12.2244 0.624961 0.647099 -0.246125 0.360618 +#30979 1721121569759 +SLAM 18.0356 12.5906 -16.1212 -0.57539 0.0959766 0.642676 0.496671 +TTool-pose None -31.4275 12.638 12.1235 0.629241 0.639502 -0.251564 0.362968 +#30980 1721121569792 +SLAM 18.1622 12.68 -15.999 -0.575719 0.0937253 0.641104 0.498748 +TTool-pose None -31.475 12.6084 12.1232 0.627081 0.641804 -0.250271 0.363537 +#30981 1721121569825 +SLAM 18.4671 12.9577 -15.6651 -0.577525 0.0863205 0.638386 0.501474 +TTool-pose None -31.5577 12.5555 12.1957 0.623305 0.647908 -0.245837 0.362225 +#30982 1721121569858 +SLAM 18.2118 12.803 -15.9127 -0.575771 0.0911572 0.641146 0.49911 +TTool-pose None -31.488 12.602 12.1617 0.626198 0.643706 -0.249531 0.362201 +#30983 1721121569891 +SLAM 18.3205 12.799 -15.8385 -0.577855 0.0896125 0.63971 0.498824 +TTool-pose None -31.5171 12.5632 12.174 0.626259 0.644714 -0.246729 0.362223 +#30984 1721121569926 +SLAM 18.1064 12.7374 -15.9859 -0.568375 0.0973527 0.640721 0.506902 +TTool-pose None -31.4698 12.6917 11.9889 0.620586 0.641987 -0.258333 0.368686 +#30985 1721121569958 +SLAM 18.1803 12.7932 -15.9379 -0.573284 0.0930508 0.641163 0.501594 +TTool-pose None -31.4837 12.6397 12.114 0.624394 0.64322 -0.252487 0.364127 +#30986 1721121569993 +SLAM 18.1054 12.6379 -16.0408 -0.570391 0.0982391 0.640695 0.504492 +TTool-pose None -31.4628 12.6915 11.9973 0.622949 0.64058 -0.256605 0.368356 +#30987 1721121570025 +SLAM 18.2813 12.7809 -15.8671 -0.574629 0.0923512 0.639681 0.502076 +TTool-pose None -31.5067 12.6253 12.0995 0.623968 0.643904 -0.250634 0.364929 +#30988 1721121570062 +SLAM 17.9534 12.5655 -16.1696 -0.570977 0.0996997 0.642806 0.500845 +TTool-pose None -31.4079 12.7074 12.0193 0.626294 0.638295 -0.256919 0.366425 +#30989 1721121570092 +SLAM 18.1738 12.6485 -16.0113 -0.575106 0.0946107 0.640347 0.500259 +TTool-pose None -31.4983 12.5911 12.0893 0.626007 0.641713 -0.250937 0.365089 +#30990 1721121570131 +SLAM 18.2554 12.7627 -15.9101 -0.577757 0.0903257 0.640127 0.498272 +TTool-pose None -31.5242 12.5297 12.1692 0.626863 0.644026 -0.247116 0.362139 +#30991 1721121570165 +SLAM 18.0266 12.6559 -16.0873 -0.573514 0.0956834 0.642204 0.4995 +TTool-pose None -31.4512 12.6083 12.0854 0.626715 0.640665 -0.253218 0.364136 +#30992 1721121570205 +SLAM 18.1248 12.6705 -16.0152 -0.573035 0.0954988 0.640344 0.502464 +TTool-pose None -31.4968 12.5878 12.0401 0.624228 0.641829 -0.253203 0.366364 +#30993 1721121570241 +SLAM 18.0354 12.733 -16.0294 -0.573754 0.093823 0.641889 0.499982 +TTool-pose None -31.4693 12.556 12.0843 0.625922 0.642128 -0.252406 0.363487 +#30994 1721121570275 +SLAM 17.854 12.6377 -16.1497 -0.571862 0.0976956 0.643711 0.499065 +TTool-pose None -31.3865 12.6305 12.0196 0.627364 0.639076 -0.255724 0.364058 +#30995 1721121570311 +SLAM 18.0916 12.8586 -15.8978 -0.576184 0.0895735 0.641409 0.498582 +TTool-pose None -31.4827 12.4786 12.119 0.626293 0.64462 -0.248753 0.360945 +#30996 1721121570344 +SLAM 17.9572 13.0886 -15.834 -0.571672 0.0884205 0.643769 0.500933 +TTool-pose None -31.4257 12.5465 12.1035 0.62369 0.646138 -0.253402 0.3595 +#30997 1721121570377 +SLAM 17.8672 12.9717 -15.9218 -0.572611 0.0903009 0.644282 0.498863 +TTool-pose None -31.391 12.5329 12.0764 0.625894 0.644133 -0.253118 0.359467 +#30998 1721121570413 +SLAM 17.2966 12.6303 -16.4035 -0.567758 0.101067 0.649357 0.495754 +TTool-pose None -31.2381 12.5924 11.9504 0.630359 0.635441 -0.261923 0.360827 +#30999 1721121570450 +SLAM 17.6404 13.1409 -15.9291 -0.571133 0.0880445 0.647319 0.497025 +TTool-pose None -31.3278 12.4904 12.0957 0.62669 0.644991 -0.254638 0.355444 +#31000 1721121570485 +SLAM 17.3383 12.7974 -16.2755 -0.569898 0.0958383 0.649262 0.49446 +TTool-pose None -31.2611 12.4878 12.0125 0.63043 0.638662 -0.258405 0.357535 +#31001 1721121570519 +SLAM 17.4354 12.9515 -16.1431 -0.571322 0.091439 0.648695 0.494394 +TTool-pose None -31.2964 12.4296 12.0719 0.629612 0.641716 -0.25569 0.355453 +#31002 1721121570552 +SLAM 17.3721 12.8659 -16.2131 -0.571459 0.093284 0.649241 0.493173 +TTool-pose None -31.267 12.4496 12.0528 0.63103 0.640008 -0.256177 0.355668 +#31003 1721121570584 +SLAM 17.1569 12.8373 -16.328 -0.566989 0.0974765 0.651655 0.494336 +TTool-pose None -31.1814 12.5554 11.9825 0.630592 0.637396 -0.262226 0.356728 +#31004 1721121570617 +SLAM 17.2785 13.2063 -16.083 -0.567761 0.0889999 0.651617 0.495098 +TTool-pose None -31.2377 12.4678 12.0965 0.628098 0.643543 -0.259164 0.352297 +#31005 1721121570651 +SLAM 17.0217 12.9202 -16.3825 -0.568822 0.0946015 0.654356 0.489194 +TTool-pose None -31.1514 12.5075 12.0843 0.634206 0.637577 -0.260242 0.351407 +#31006 1721121570683 +SLAM 17.1591 13.2673 -16.1541 -0.568973 0.0874484 0.654722 0.489859 +TTool-pose None -31.1842 12.5071 12.2021 0.632017 0.64275 -0.258226 0.347389 +#31007 1721121570716 +SLAM 16.5744 12.5666 -16.8586 -0.566366 0.104072 0.659816 0.482744 +TTool-pose None -31.0124 12.6466 12.0813 0.641139 0.628567 -0.266329 0.350497 +#31008 1721121570750 +SLAM 16.7324 12.8568 -16.7112 -0.56668 0.0979054 0.659756 0.483747 +TTool-pose None -31.0945 12.6249 12.2051 0.638997 0.633223 -0.264375 0.34749 +#31009 1721121570783 +SLAM 17.3061 13.7726 -16.0342 -0.566746 0.0796144 0.657362 0.490241 +TTool-pose None -31.293 12.6236 12.4507 0.629567 0.64818 -0.258811 0.341256 +#31010 1721121570816 +#31011 1721121570852 +#31012 1721121570883 +#31013 1721121570914 +#31014 1721121570944 +#31015 1721121570974 +#31016 1721121571006 +#31017 1721121571040 +#31018 1721121571074 +#31019 1721121571106 +#31020 1721121571138 +#31021 1721121571169 +#31022 1721121571201 +#31023 1721121571234 +#31024 1721121571265 +#31025 1721121571301 +#31026 1721121571338 +SLAM 16.7874 31.0411 34.9472 -0.123269 -0.498921 0.495058 0.700572 +TTool-pose None -42.3872 13.9625 15.1473 -0.0096753 0.949189 -0.300236 0.0273372 +#31027 1721121571378 +#31028 1721121571412 +#31029 1721121571449 +#31030 1721121571480 +#31031 1721121571512 +#31032 1721121571542 +#31033 1721121571573 +#31034 1721121571605 +#31035 1721121571635 +#31036 1721121571665 +#31037 1721121571696 +#31038 1721121571728 +SLAM 17.7748 16.0097 -16.7708 -0.572598 0.0751625 0.701999 0.416749 +TTool-pose None -30.6776 16.7581 14.243 0.683571 0.622714 -0.258915 0.278958 +#31039 1721121571761 +SLAM 18.1709 16.5266 -16.5014 -0.570524 0.0679171 0.69948 0.424991 +TTool-pose None -30.9702 16.8073 14.3474 0.675646 0.630916 -0.258802 0.279938 +#31040 1721121571794 +SLAM 17.9168 15.9101 -16.9973 -0.568855 0.0760453 0.70043 0.424286 +TTool-pose None -30.9406 16.5777 14.3806 0.677991 0.625043 -0.262903 0.283603 +#31041 1721121571828 +SLAM 17.8081 15.8389 -17.0972 -0.565211 0.0780042 0.700383 0.428854 +TTool-pose None -30.9913 16.4664 14.3221 0.674734 0.625399 -0.267214 0.286545 +#31042 1721121571861 +#31043 1721121571897 +SLAM 17.4281 14.9055 -17.6379 -0.561773 0.0900008 0.69974 0.43206 +TTool-pose None -30.9148 16.044 14.244 0.67491 0.618341 -0.273909 0.295014 +#31044 1721121571930 +SLAM 17.4503 15.4938 -17.3841 -0.557782 0.0820277 0.699712 0.43881 +TTool-pose None -31.0878 15.9585 14.2365 0.667539 0.626309 -0.275851 0.293157 +#31045 1721121571962 +SLAM 17.1216 15.0505 -17.6831 -0.55377 0.0904139 0.69925 0.44296 +TTool-pose None -31.072 15.7496 14.0208 0.665988 0.622025 -0.282118 0.299776 +#31046 1721121571993 +#31047 1721121572033 +SLAM 16.5525 15.0166 -17.9687 -0.549783 0.0897255 0.701481 0.444537 +TTool-pose None -31.1753 15.2618 13.9721 0.664048 0.622895 -0.286269 0.298332 +#31048 1721121572069 +SLAM 16.7978 15.3607 -17.6475 -0.547414 0.0857918 0.697675 0.454123 +TTool-pose None -31.3435 15.2189 13.8233 0.655761 0.629272 -0.287038 0.302517 +#31049 1721121572113 +SLAM 16.7449 15.352 -17.6138 -0.544538 0.0877865 0.695465 0.460544 +TTool-pose None -31.4233 15.1035 13.6131 0.651071 0.630269 -0.290094 0.307619 +#31050 1721121572149 +SLAM 15.5748 14.4947 -18.4635 -0.542085 0.101583 0.702995 0.449024 +TTool-pose None -31.149 14.7486 13.4841 0.662337 0.616063 -0.29732 0.305438 +#31051 1721121572181 +SLAM 15.9109 14.7443 -18.1204 -0.54532 0.0934631 0.698487 0.453879 +TTool-pose None -31.3016 14.5168 13.5032 0.657449 0.623793 -0.291306 0.306102 +#31052 1721121572221 +SLAM 15.9238 14.668 -18.071 -0.544093 0.0946716 0.695606 0.459492 +TTool-pose None -31.3676 14.3492 13.358 0.653425 0.625105 -0.292403 0.310964 +#31053 1721121572253 +SLAM 15.5841 14.4239 -18.2791 -0.543834 0.0976278 0.696225 0.458241 +TTool-pose None -31.3551 14.0969 13.2652 0.654997 0.622562 -0.293539 0.311686 +#31054 1721121572285 +#31055 1721121572318 +#31056 1721121572350 +#31057 1721121572381 +#31058 1721121572412 +#31059 1721121572442 +#31060 1721121572473 +#31061 1721121572504 +#31062 1721121572536 +#31063 1721121572565 +#31064 1721121572596 +#31065 1721121572630 +#31066 1721121572662 +#31067 1721121572696 +#31068 1721121572728 +#31069 1721121572761 +#31070 1721121572794 +#31071 1721121572828 +#31072 1721121572861 +#31073 1721121572893 +#31074 1721121572929 +#31075 1721121572962 +#31076 1721121572996 +#31077 1721121573030 +SLAM 12.8206 15.9538 -16.7551 -0.544408 0.0789416 0.702909 0.450896 +TTool-pose None -30.6693 12.9513 11.011 0.655908 0.63247 -0.288937 0.293579 +#31078 1721121573064 +SLAM 12.8468 16.4465 -16.5424 -0.547413 0.0699753 0.704368 0.446439 +TTool-pose None -30.7448 13.034 11.0635 0.657338 0.636948 -0.283636 0.285756 +#31079 1721121573096 +SLAM 12.7978 17.0178 -16.3019 -0.545212 0.0642053 0.706168 0.447157 +TTool-pose None -30.8206 13.2035 10.9926 0.65494 0.640986 -0.284457 0.28138 +#31080 1721121573129 +#31081 1721121573165 +#31082 1721121573200 +#31083 1721121573232 +SLAM 12.1296 19.0765 -15.4491 -0.539683 0.0448522 0.717794 0.437609 +TTool-pose None -30.8667 14.064 10.61 0.655467 0.649657 -0.28584 0.257845 +#31084 1721121573265 +SLAM 11.5126 18.9261 -15.8253 -0.539166 0.0484383 0.722947 0.429303 +TTool-pose None -30.803 13.9908 10.5199 0.662188 0.64381 -0.287998 0.252882 +#31085 1721121573298 +SLAM 11.6832 19.6207 -15.231 -0.538822 0.0382719 0.721206 0.433668 +TTool-pose None -30.8925 14.1001 10.4065 0.656199 0.652326 -0.285117 0.249907 +#31086 1721121573332 +SLAM 11.2913 20.1178 -14.7973 -0.536056 0.0312642 0.7246 0.431997 +TTool-pose None -30.7413 14.1678 10.2325 0.654807 0.656044 -0.286132 0.242541 +#31087 1721121573364 +#31088 1721121573396 +#31089 1721121573430 +#31090 1721121573462 +#31091 1721121573495 +#31092 1721121573528 +#31093 1721121573565 +#31094 1721121573596 +#31095 1721121573628 +#31096 1721121573661 +#31097 1721121573695 +#31098 1721121573728 +#31099 1721121573764 +#31100 1721121573796 +#31101 1721121573829 +#31102 1721121573862 +#31103 1721121573896 +#31104 1721121573931 +#31105 1721121573962 +#31106 1721121573996 +#31107 1721121574029 +#31108 1721121574073 +#31109 1721121574112 +#31110 1721121574146 +#31111 1721121574179 +#31112 1721121574210 +#31113 1721121574240 +#31114 1721121574268 +#31115 1721121574297 +#31116 1721121574333 +#31117 1721121574368 +#31118 1721121574398 +#31119 1721121574433 +#31120 1721121574461 +#31121 1721121574493 +#31122 1721121574532 +#31123 1721121574560 +#31124 1721121574592 +#31125 1721121574631 +#31126 1721121574667 +#31127 1721121574705 +#31128 1721121574744 +#31129 1721121574779 +#31130 1721121574810 +#31131 1721121574842 +#31132 1721121574872 +#31133 1721121574902 +#31134 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-24.3911 20.3174 19.2678 0.409925 0.705212 0.0312445 0.577612 +#32091 1721121609495 +SLAM 31.5914 -8.61303 16.0125 -0.702191 0.0220933 0.280447 0.654056 +TTool-pose None -24.509 20.1911 19.3284 0.413206 0.70385 0.0329544 0.57684 +#32092 1721121609538 +SLAM 31.613 -8.62066 16.1877 -0.704772 0.0168011 0.271038 0.655403 +TTool-pose None -25.0122 19.7698 19.2322 0.406965 0.705782 0.0419038 0.578333 +#32093 1721121609578 +SLAM 31.6312 -8.53933 16.1653 -0.707419 0.0145216 0.264455 0.655295 +TTool-pose None -25.4438 19.3792 19.0586 0.403943 0.705847 0.048544 0.579852 +#32094 1721121609614 +SLAM 31.5568 -8.66446 15.614 -0.701 0.0223228 0.266766 0.661012 +TTool-pose None -25.4048 19.5023 18.6679 0.401834 0.703045 0.0387148 0.585434 +#32095 1721121609651 +SLAM 31.681 -8.67026 15.9018 -0.709709 0.0204781 0.261924 0.653674 +TTool-pose None -25.6753 19.2485 18.9142 0.406309 0.700921 0.0501172 0.584025 +#32096 1721121609689 +SLAM 31.6613 -8.84308 15.6452 -0.705862 0.0235471 0.258219 0.659187 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-0.57944 0.0697201 0.704449 0.403906 +TTool-pose None -28.535 16.3291 16.0647 0.691979 0.621349 -0.250387 0.268857 +#32246 1721121614647 +SLAM 19.1382 14.0024 -15.3474 -0.584103 0.0657677 0.698577 0.40803 +TTool-pose None -28.7152 16.3095 16.098 0.688751 0.62596 -0.243769 0.272512 +#32247 1721121614679 +SLAM 19.0525 13.8219 -15.4109 -0.58487 0.0680216 0.697648 0.40815 +TTool-pose None -28.7181 16.2017 15.9957 0.689357 0.624523 -0.243488 0.274521 +#32248 1721121614710 +#32249 1721121614738 +#32250 1721121614769 +SLAM 19.1269 15.3695 -14.2535 -0.580774 0.0487393 0.692798 0.424685 +TTool-pose None -29.0291 16.2466 15.3906 0.672105 0.644115 -0.241778 0.273538 +#32251 1721121614799 +SLAM 19.3442 15.3557 -14.0444 -0.583527 0.0449178 0.688353 0.428542 +TTool-pose None -29.1599 16.024 15.386 0.668653 0.648341 -0.237205 0.276013 +#32252 1721121614832 +SLAM 19.2198 15.4259 -13.8931 -0.58065 0.0438688 0.689117 0.431323 +TTool-pose None -29.039 15.9983 15.3108 0.666013 0.650049 -0.239999 0.27596 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-0.244684 0.287601 +#32259 1721121615062 +SLAM 18.4712 15.2455 -14.3815 -0.573985 0.0488527 0.685768 0.444833 +TTool-pose None -29.513 15.166 14.6286 0.656801 0.651876 -0.247903 0.286555 +#32260 1721121615097 +SLAM 18.4622 15.2169 -14.4222 -0.575065 0.0477933 0.684602 0.44535 +TTool-pose None -29.6035 15.009 14.6239 0.65627 0.652832 -0.246307 0.28697 +#32261 1721121615133 +SLAM 18.7022 15.1373 -14.3334 -0.578916 0.0452609 0.681612 0.445211 +TTool-pose None -29.6815 14.8903 14.7292 0.656151 0.654616 -0.241144 0.287564 +#32262 1721121615166 +SLAM 18.1266 14.1142 -15.1686 -0.572422 0.0642212 0.683722 0.448033 +TTool-pose None -29.558 14.6439 14.5136 0.658404 0.642782 -0.253664 0.298155 +#32263 1721121615203 +SLAM 18.0447 13.7867 -15.4134 -0.571319 0.0678781 0.683435 0.449337 +TTool-pose None -29.5779 14.4681 14.5681 0.658259 0.640784 -0.255784 0.300958 +#32264 1721121615237 +SLAM 18.4202 14.0735 -15.0871 -0.575401 0.059195 0.680876 0.44924 +TTool-pose None -29.6751 14.4352 14.7587 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+TTool-pose None -29.5491 13.7536 14.4737 0.66314 0.640322 -0.239489 0.304612 +#32272 1721121615509 +SLAM 18.2804 12.9301 -15.006 -0.586829 0.0656166 0.67348 0.444692 +TTool-pose None -29.3527 13.7769 14.5077 0.662949 0.641058 -0.237657 0.304915 +#32273 1721121615544 +#32274 1721121615582 +SLAM 19.0594 12.6719 -13.9909 -0.586094 0.0653882 0.660355 0.464919 +TTool-pose None -29.1463 13.8406 14.2286 0.647669 0.649002 -0.23607 0.32173 +#32275 1721121615615 +#32276 1721121615649 +SLAM 19.121 12.346 -13.6382 -0.591587 0.0623529 0.661337 0.456913 +TTool-pose None -28.6469 13.8004 14.5045 0.653482 0.648135 -0.229772 0.316234 +#32277 1721121615681 +SLAM 19.3053 12.1477 -13.4167 -0.591257 0.063619 0.657084 0.463258 +TTool-pose None -28.5981 13.7528 14.4172 0.64897 0.649691 -0.22969 0.322338 +#32278 1721121615713 +SLAM 19.6072 12.0845 -13.0827 -0.593582 0.0612172 0.652217 0.467467 +TTool-pose None -28.5947 13.7079 14.4 0.645322 0.652942 -0.225691 0.325901 +#32279 1721121615746 +SLAM 19.2224 11.8995 -13.2573 -0.590345 0.0656992 0.656239 0.465324 +TTool-pose None -28.3555 13.6925 14.3425 0.647847 0.649047 -0.231057 0.324907 +#32280 1721121615779 +SLAM 19.039 11.8562 -13.2318 -0.588033 0.0667716 0.657842 0.465835 +TTool-pose None -28.1977 13.6779 14.2907 0.647517 0.648462 -0.234022 0.324612 +#32281 1721121615811 +SLAM 19.2523 11.9246 -12.9035 -0.589602 0.0624088 0.653954 0.469913 +TTool-pose None -28.2133 13.5848 14.2697 0.643398 0.652976 -0.230421 0.326327 +#32282 1721121615846 +SLAM 19.5235 11.8745 -12.5302 -0.586359 0.064164 0.648975 0.480519 +TTool-pose None -28.1637 13.7323 14.0736 0.635314 0.655652 -0.233183 0.334735 +#32283 1721121615878 +SLAM 18.9233 11.4841 -12.92 -0.583816 0.0728004 0.654456 0.474918 +TTool-pose None -27.8652 13.6524 13.9601 0.641655 0.647677 -0.239332 0.333825 +#32284 1721121615911 +SLAM 18.8824 11.4779 -12.7674 -0.583309 0.0713952 0.653568 0.476972 +TTool-pose None -27.7813 13.5649 13.9076 0.639655 0.649381 -0.239263 0.334402 +#32285 1721121615945 +SLAM 18.6331 11.3684 -12.815 -0.584098 0.0719516 0.656194 0.472295 +TTool-pose None -27.5937 13.4801 13.9219 0.643497 0.647283 -0.239155 0.331158 +#32286 1721121615978 +SLAM 18.2284 10.9392 -13.0743 -0.575731 0.085358 0.65832 0.47735 +TTool-pose None -27.3451 13.6088 13.6268 0.642038 0.63979 -0.251705 0.339159 +#32287 1721121616010 +SLAM 18.3385 11.0658 -12.745 -0.577042 0.0797941 0.657155 0.478333 +TTool-pose None -27.2401 13.5557 13.6764 0.640061 0.644001 -0.248624 0.337192 +#32288 1721121616043 +SLAM 17.8105 10.8953 -13.0209 -0.573612 0.0845745 0.661963 0.474996 +TTool-pose None -27.0479 13.4375 13.5863 0.643435 0.639382 -0.25433 0.335298 +#32289 1721121616075 +SLAM 18.0774 11.2647 -12.5461 -0.576521 0.0739711 0.659747 0.476326 +TTool-pose None -27.0486 13.3872 13.6788 0.640113 0.647205 -0.248036 0.331336 +#32290 1721121616107 +SLAM 17.9901 11.2686 -12.4405 -0.577174 0.0724565 0.660258 0.475057 +TTool-pose None -26.9349 13.3265 13.6638 0.640781 0.647781 -0.247057 0.329646 +#32291 1721121616142 +SLAM 17.9278 11.3133 -12.2842 -0.579299 0.0688481 0.660214 0.473065 +TTool-pose None -26.8433 13.203 13.6695 0.641625 0.649545 -0.243894 0.326876 +#32292 1721121616176 +SLAM 18.0461 11.4061 -11.995 -0.582857 0.0633034 0.657169 0.473707 +TTool-pose None -26.8483 13.0544 13.6496 0.64006 0.653631 -0.238127 0.326048 +#32293 1721121616214 +SLAM 17.3506 10.7789 -12.5939 -0.576833 0.0805618 0.661553 0.472356 +TTool-pose None -26.6221 13.0216 13.3228 0.644844 0.64124 -0.24992 0.332344 +#32294 1721121616251 +SLAM 17.5836 10.7924 -12.2663 -0.580343 0.0763005 0.656576 0.475699 +TTool-pose None -26.6496 12.8953 13.2707 0.641582 0.645497 -0.24423 0.33464 +#32295 1721121616282 +SLAM 17.7495 10.6747 -12.0125 -0.583534 0.0750844 0.652399 0.47773 +TTool-pose None -26.6067 12.8172 13.2026 0.640014 0.647159 -0.23984 0.337595 +#32296 1721121616314 +SLAM 18.2637 10.7244 -11.4345 -0.590234 0.0668141 0.643114 0.483285 +TTool-pose None -26.716 12.6424 13.1814 0.634148 0.654941 -0.228809 0.341296 +#32297 1721121616346 +SLAM 17.9343 10.0684 -11.7702 -0.589322 0.080791 0.642939 0.482496 +TTool-pose None -26.5355 12.6063 12.926 0.638192 0.645127 -0.233635 0.349097 +#32298 1721121616374 +#32299 1721121616401 +SLAM 19.4889 9.93847 -10.3919 -0.607725 0.0638478 0.617538 0.495218 +TTool-pose None -26.8848 12.344 13.0161 0.624832 0.661274 -0.204502 0.361131 +#32300 1721121616433 +SLAM 20.1056 9.62187 -9.96649 -0.613897 0.063398 0.605789 0.502126 +TTool-pose None -27.0537 12.2997 12.9562 0.619175 0.663873 -0.195236 0.3711 +#32301 1721121616463 +SLAM 21.0494 9.23161 -9.19758 -0.623912 0.0602408 0.588121 0.511096 +TTool-pose None -27.2911 12.256 12.8998 0.610813 0.668743 -0.179576 0.383906 +#32302 1721121616497 +SLAM 22.0545 8.84921 -8.30511 -0.634512 0.0552534 0.56907 0.520097 +TTool-pose None -27.5598 12.2008 12.8803 0.601386 0.674536 -0.162073 0.396248 +#32303 1721121616527 +SLAM 22.8476 8.36211 -7.56835 -0.641892 0.0542346 0.552105 0.529351 +TTool-pose None -27.7543 12.1789 12.7979 0.592352 0.677596 -0.149277 0.409447 +#32304 1721121616562 +SLAM 23.3033 7.89534 -7.19496 -0.6471 0.0560004 0.541366 0.533899 +TTool-pose None -27.8574 12.145 12.7561 0.588184 0.677352 -0.141229 0.418613 +#32305 1721121616604 +SLAM 23.9514 7.41582 -6.52588 -0.653523 0.0549961 0.526034 0.541453 +TTool-pose None -28.0259 12.0955 12.6939 0.580103 0.679596 -0.129529 0.429889 +#32306 1721121616641 +SLAM 24.4648 7.00026 -5.95546 -0.657509 0.0544336 0.51277 0.549351 +TTool-pose None -28.1727 12.0498 12.6105 0.571748 0.681672 -0.120907 0.440186 +#32307 1721121616678 +SLAM 25.0724 6.61801 -5.20388 -0.664134 0.0509209 0.497491 0.55573 +TTool-pose None -28.36 11.9726 12.568 0.563415 0.684891 -0.10791 0.449221 +#32308 1721121616713 +SLAM 25.4517 6.20623 -4.7438 -0.669917 0.0510792 0.487225 0.557865 +TTool-pose None -28.4367 11.9456 12.553 0.560191 0.684544 -0.0985085 0.455892 +#32309 1721121616745 +SLAM 25.9297 5.85281 -4.07143 -0.676219 0.048167 0.474379 0.561581 +TTool-pose None 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None -29.7275 9.76863 10.6346 0.352923 0.681017 0.152321 0.623248 +#32393 1721121620009 +SLAM 28.4923 -5.29766 12.3038 -0.744701 0.00651378 0.144627 0.651506 +TTool-pose None -29.7258 9.77922 10.6363 0.353247 0.68089 0.15224 0.623223 +#32394 1721121620053 +SLAM 28.4945 -5.28938 12.3165 -0.745012 0.00636706 0.144625 0.651153 +TTool-pose None -29.7268 9.77918 10.6425 0.353516 0.680867 0.152594 0.62301 +#32395 1721121620092 +SLAM 28.4921 -5.29775 12.3178 -0.744612 0.00611461 0.144322 0.65168 +TTool-pose None -29.7317 9.76453 10.6381 0.352817 0.681123 0.152458 0.623158 +#32396 1721121620132 +SLAM 28.4976 -5.28027 12.3534 -0.74531 0.00566784 0.144124 0.650929 +TTool-pose None -29.7382 9.75853 10.6495 0.353251 0.681109 0.153401 0.622697 +#32397 1721121620172 +SLAM 28.4946 -5.29235 12.3115 -0.744823 0.00636672 0.14458 0.651379 +TTool-pose None -29.7287 9.77652 10.6389 0.353292 0.68093 0.152433 0.623106 +#32398 1721121620213 +SLAM 28.4932 -5.30076 12.2999 -0.744407 0.00634232 0.144537 0.651864 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0.651267 +TTool-pose None -29.7342 9.76761 10.6473 0.353063 0.681073 0.152975 0.622947 +#32405 1721121620496 +SLAM 28.4939 -5.29649 12.3366 -0.744992 0.00604315 0.144178 0.651278 +TTool-pose None -29.7337 9.76603 10.6432 0.353084 0.680997 0.152935 0.623028 +#32406 1721121620538 +SLAM 28.4966 -5.2944 12.3371 -0.744956 0.00602286 0.144364 0.651278 +TTool-pose None -29.7311 9.77414 10.6508 0.353169 0.68106 0.152801 0.622944 +#32407 1721121620577 +SLAM 28.4874 -5.30804 12.3192 -0.744753 0.00626259 0.144162 0.651553 +TTool-pose None -29.7295 9.76138 10.6365 0.3529 0.680942 0.152638 0.623265 +#32408 1721121620617 +SLAM 28.4956 -5.29464 12.3341 -0.745025 0.00621535 0.144351 0.6512 +TTool-pose None -29.7311 9.778 10.6433 0.353292 0.680907 0.152812 0.623039 +#32409 1721121620655 +SLAM 28.4958 -5.30223 12.3326 -0.744612 0.0060459 0.14419 0.65171 +TTool-pose None -29.735 9.77085 10.6414 0.352704 0.681142 0.152556 0.623178 +#32410 1721121620698 +SLAM 28.4942 -5.29934 12.3326 -0.744983 0.00617808 0.14427 0.651266 +TTool-pose None -29.7316 9.77177 10.6442 0.353182 0.680931 0.15283 0.623071 +#32411 1721121620737 +SLAM 28.4956 -5.29754 12.3224 -0.74497 0.0064243 0.144514 0.651225 +TTool-pose None -29.7282 9.78337 10.6428 0.353415 0.680824 0.152596 0.623113 +#32412 1721121620776 +SLAM 28.4934 -5.31652 12.3162 -0.744028 0.00628448 0.144224 0.652367 +TTool-pose None -29.7326 9.77798 10.6329 0.352209 0.681215 0.151887 0.623541 +#32413 1721121620819 +SLAM 28.4979 -5.31355 12.3559 -0.744653 0.00589348 0.143834 0.651744 +TTool-pose None -29.7403 9.7708 10.6457 0.352453 0.681156 0.152849 0.623233 +#32414 1721121620857 +SLAM 28.4889 -5.33 12.315 -0.744016 0.0063674 0.143988 0.652431 +TTool-pose None -29.733 9.76939 10.6301 0.352062 0.681119 0.151983 0.623705 +#32415 1721121620900 +SLAM 28.4949 -5.316 12.3231 -0.744737 0.00655479 0.144319 0.651533 +TTool-pose None -29.7297 9.78534 10.6412 0.353086 0.68079 0.152437 0.623375 +#32416 1721121620942 +SLAM 28.4951 -5.30455 12.3522 -0.744873 0.00585218 0.143903 0.651477 +TTool-pose None -29.7381 9.76363 10.6454 0.352712 0.681112 0.153038 0.623087 +#32417 1721121620985 +SLAM 28.4955 -5.31255 12.3254 -0.744589 0.00636597 0.144299 0.651709 +TTool-pose None -29.731 9.7819 10.6421 0.35286 0.680964 0.152366 0.62333 +#32418 1721121621025 +SLAM 28.4937 -5.31324 12.3244 -0.744558 0.00635185 0.144194 0.651768 +TTool-pose None -29.7325 9.77661 10.6373 0.352752 0.680965 0.1524 0.623383 +#32419 1721121621066 +SLAM 28.496 -5.30541 12.3502 -0.744884 0.00598454 0.143991 0.651443 +TTool-pose None -29.7366 9.77103 10.6451 0.352827 0.681039 0.152956 0.623123 +#32420 1721121621105 +SLAM 28.4911 -5.31063 12.3388 -0.744956 0.00623451 0.144016 0.651353 +TTool-pose None -29.7326 9.76937 10.6403 0.352998 0.680855 0.152929 0.623233 +#32421 1721121621146 +SLAM 28.4966 -5.30302 12.3608 -0.744728 0.00564979 0.143831 0.65166 +TTool-pose None -29.7401 9.76358 10.6472 0.352449 0.681284 0.153005 0.623056 +#32422 1721121621195 +SLAM 28.4954 -5.30591 12.3482 -0.745001 0.00611833 0.14408 0.651288 +TTool-pose None -29.7336 9.77584 10.6464 0.353051 0.680926 0.152976 0.623115 +#32423 1721121621235 +SLAM 28.4945 -5.31021 12.3233 -0.744586 0.00632305 0.144275 0.651718 +TTool-pose None -29.7317 9.77716 10.6399 0.352826 0.680989 0.152391 0.623317 +#32424 1721121621285 +SLAM 28.4945 -5.30607 12.3321 -0.744869 0.00622208 0.144196 0.651413 +TTool-pose None -29.7329 9.77226 10.6431 0.353028 0.680931 0.152746 0.623178 +#32425 1721121621324 +SLAM 28.4945 -5.30861 12.3434 -0.744704 0.00599243 0.143959 0.651656 +TTool-pose None -29.737 9.76687 10.6417 0.352624 0.681096 0.152796 0.623214 +#32426 1721121621365 +SLAM 28.4948 -5.29191 12.3195 -0.744583 0.00597407 0.144302 0.651719 +TTool-pose None -29.7356 9.76091 10.6375 0.352729 0.681222 0.152487 0.623094 +#32427 1721121621406 +SLAM 28.4942 -5.29728 12.3346 -0.744756 0.00598266 0.144151 0.651554 +TTool-pose None -29.7351 9.76545 10.6402 0.352805 0.68112 0.15274 0.623099 +#32428 1721121621451 +SLAM 28.4952 -5.31422 12.3068 -0.7443 0.00651049 0.144459 0.652002 +TTool-pose None -29.7298 9.78283 10.6374 0.352721 0.681012 0.151944 0.62346 +#32429 1721121621490 +SLAM 28.49 -5.32219 12.3051 -0.744345 0.00654459 0.144259 0.651995 +TTool-pose None -29.7296 9.77219 10.6339 0.352641 0.680933 0.152091 0.623555 +#32430 1721121621531 +SLAM 28.4686 -5.44049 12.402 -0.743362 0.00667493 0.141613 0.653692 +TTool-pose None -29.7436 9.7746 10.6039 0.349869 0.680697 0.152604 0.625247 +#32431 1721121621570 +SLAM 28.4264 -5.59446 12.7846 -0.741807 0.00292558 0.134854 0.656908 +TTool-pose None -29.7938 9.72329 10.5892 0.342466 0.682337 0.156209 0.626666 +#32432 1721121621602 +SLAM 28.3221 -5.92204 13.3366 -0.741325 0.000157735 0.124776 0.659446 +TTool-pose None -29.8237 9.70197 10.5753 0.33426 0.682175 0.162496 0.629668 +#32433 1721121621634 +SLAM 28.0519 -6.59654 14.1892 -0.744637 -0.000103719 0.107718 0.658721 +TTool-pose None -29.8025 9.67208 10.563 0.326104 0.677305 0.175804 0.635599 +#32434 1721121621670 +#32435 1721121621702 +SLAM 27.2452 -8.44282 16.1827 -0.748911 0.00475727 0.0674443 0.659212 +TTool-pose None -29.6938 9.88907 10.5451 0.305592 0.662502 0.202534 0.653197 +#32436 1721121621737 +SLAM 26.9421 -8.94822 17.0305 -0.748873 0.000665713 0.0510199 0.660747 +TTool-pose None -29.7553 9.82556 10.5327 0.293695 0.660615 0.213931 0.656922 +#32437 1721121621768 +SLAM 26.8002 -9.193 17.5393 -0.744926 -0.0052841 0.0411727 0.665854 +TTool-pose None -29.8525 9.75253 10.5108 0.281534 0.663038 0.21818 0.658406 +#32438 1721121621801 +SLAM 26.5138 -9.72761 17.8993 -0.743016 -0.00264597 0.0301392 0.66859 +TTool-pose None -29.8359 9.78125 10.406 0.27349 0.658749 0.222352 0.664677 +#32439 1721121621840 +SLAM 26.3071 -9.96022 18.4018 -0.745246 -0.00488565 0.0207507 0.666448 +TTool-pose None -29.8725 9.71341 10.4133 0.26917 0.656479 0.231178 0.665674 +#32440 1721121621877 +SLAM 26.1964 -10.0358 18.5962 -0.746841 -0.00569192 0.0169249 0.664763 +TTool-pose None -29.8642 9.66126 10.4124 0.268154 0.655208 0.23542 0.66585 +#32441 1721121621916 +SLAM 26.181 -9.99843 18.6405 -0.74789 -0.00650013 0.0167425 0.663579 +TTool-pose None -29.8546 9.63452 10.4341 0.26885 0.655278 0.236826 0.665001 +#32442 1721121621961 +SLAM 26.1744 -9.9512 18.6855 -0.749132 -0.00746027 0.0163405 0.662177 +TTool-pose None -29.8605 9.58836 10.4482 0.269559 0.655301 0.238611 0.664052 +#32443 1721121622002 +SLAM 26.2045 -9.91358 18.5518 -0.748582 -0.00614274 0.0183772 0.662759 +TTool-pose None -29.8357 9.61674 10.4188 0.270681 0.65531 0.236343 0.664398 +#32444 1721121622037 +SLAM 26.249 -9.82019 18.4502 -0.74869 -0.00632183 0.0208832 0.662561 +TTool-pose None -29.8146 9.61499 10.4385 0.272293 0.656169 0.234922 0.663395 +#32445 1721121622077 +SLAM 26.291 -9.66221 18.2906 -0.749296 -0.00682402 0.0240565 0.661763 +TTool-pose None -29.7768 9.56039 10.4441 0.274728 0.657249 0.233675 0.66176 +#32446 1721121622114 +SLAM 26.3923 -9.47061 17.8508 -0.749308 -0.00310469 0.0319405 0.661444 +TTool-pose None -29.6765 9.62518 10.412 0.280858 0.65728 0.227484 0.661313 +#32447 1721121622152 +SLAM 26.5285 -9.02923 17.4681 -0.75018 -0.0052378 0.0402422 0.659988 +TTool-pose None -29.6208 9.50568 10.4192 0.2863 0.66079 0.223856 0.656703 +#32448 1721121622198 +SLAM 26.5882 -8.98267 17.2018 -0.747359 -0.00340221 0.043802 0.662966 +TTool-pose None -29.5976 9.5503 10.3573 0.286267 0.661711 0.21828 0.657667 +#32449 1721121622233 +SLAM 26.567 -9.01326 17.2412 -0.746901 -0.00399914 0.0429333 0.663536 +TTool-pose None -29.5972 9.53698 10.3634 0.28506 0.662009 0.218574 0.657794 +#32450 1721121622272 +SLAM 26.5741 -8.98559 17.2441 -0.748049 -0.00356716 0.0432913 0.66222 +TTool-pose None -29.5952 9.54459 10.366 0.286592 0.661412 0.219324 0.657479 +#32451 1721121622309 +SLAM 26.5861 -8.99444 17.2711 -0.747727 -0.00372246 0.0432166 0.662588 +TTool-pose None -29.6072 9.57006 10.3731 0.286168 0.661609 0.219109 0.657537 +#32452 1721121622346 +SLAM 26.5802 -8.99425 17.2514 -0.747619 -0.00378324 0.0432364 0.662708 +TTool-pose None -29.6021 9.5513 10.3707 0.286051 0.661694 0.219012 0.657535 +#32453 1721121622387 +SLAM 26.5719 -8.99595 17.258 -0.748058 -0.00358192 0.0431353 0.662221 +TTool-pose None -29.596 9.55015 10.3715 0.286497 0.661373 0.219435 0.657522 +#32454 1721121622427 +SLAM 26.5705 -8.99389 17.2813 -0.747968 -0.00410243 0.0428241 0.662339 +TTool-pose None -29.6024 9.54035 10.3766 0.286043 0.661648 0.219714 0.65735 +#32455 1721121622466 +SLAM 26.5724 -9.00467 17.2581 -0.747567 -0.00392631 0.0429327 0.662785 +TTool-pose None -29.6019 9.5396 10.3719 0.285761 0.661716 0.219198 0.657577 +#32456 1721121622504 +SLAM 26.5668 -9.00372 17.2767 -0.748084 -0.00374798 0.0428616 0.662208 +TTool-pose None -29.5971 9.54862 10.3761 0.286298 0.661389 0.219686 0.657509 +#32457 1721121622548 +SLAM 26.5717 -8.99593 17.2743 -0.747794 -0.00400232 0.0428504 0.662535 +TTool-pose None -29.6031 9.5437 10.3704 0.285914 0.661656 0.219495 0.657471 +#32458 1721121622588 +SLAM 26.5723 -9.00656 17.2618 -0.747934 -0.00356504 0.0431234 0.662361 +TTool-pose None -29.5958 9.55635 10.378 0.286369 0.661404 0.219316 0.657586 +#32459 1721121622626 +SLAM 26.5687 -8.9831 17.2896 -0.748456 -0.00423595 0.0427549 0.661791 +TTool-pose None -29.6027 9.52737 10.3819 0.286453 0.661531 0.220277 0.6571 +#32460 1721121622666 +SLAM 26.5698 -8.99523 17.2509 -0.747775 -0.00380339 0.0430251 0.662546 +TTool-pose None -29.5975 9.53677 10.3662 0.286069 0.661587 0.219301 0.657538 +#32461 1721121622706 +SLAM 26.5728 -8.98846 17.2717 -0.74795 -0.00415712 0.0429705 0.66235 +TTool-pose None -29.6014 9.53533 10.3786 0.2861 0.661732 0.219624 0.65727 +#32462 1721121622745 +SLAM 26.5793 -8.97577 17.2724 -0.748177 -0.00413879 0.0432008 0.662078 +TTool-pose None -29.6021 9.54121 10.3822 0.286483 0.661703 0.219696 0.657109 +#32463 1721121622785 +SLAM 26.5779 -8.99564 17.2407 -0.747778 -0.00338613 0.0433085 0.662526 +TTool-pose None -29.5981 9.55668 10.3621 0.286385 0.661402 0.218989 0.657691 +#32464 1721121622825 +SLAM 26.5785 -9.00091 17.2317 -0.747817 -0.00319694 0.0435379 0.662468 +TTool-pose None -29.5922 9.56341 10.3701 0.28663 0.661333 0.218822 0.657709 +#32465 1721121622864 +SLAM 26.5705 -8.98466 17.273 -0.748177 -0.00399641 0.0429561 0.662096 +TTool-pose None -29.5996 9.53725 10.3737 0.286373 0.661541 0.2198 0.657285 +#32466 1721121622902 +SLAM 26.5789 -9.00014 17.2314 -0.747514 -0.00349073 0.0434186 0.662817 +TTool-pose None -29.5963 9.55389 10.3677 0.286152 0.661599 0.218699 0.65769 +#32467 1721121622938 +SLAM 26.5741 -8.9985 17.2614 -0.747491 -0.00406968 0.0429335 0.66287 +TTool-pose None -29.6039 9.53942 10.3701 0.285638 0.661835 0.219172 0.657518 +#32468 1721121622975 +SLAM 26.5671 -8.99008 17.2777 -0.748201 -0.00401237 0.0427689 0.66208 +TTool-pose None -29.6009 9.5325 10.3722 0.286274 0.661487 0.219946 0.657333 +#32469 1721121623014 +SLAM 26.5636 -8.995 17.288 -0.747684 -0.00463078 0.0423786 0.662685 +TTool-pose None -29.6079 9.5135 10.3716 0.285304 0.66196 0.219892 0.657297 +#32470 1721121623053 +SLAM 26.572 -8.98341 17.2821 -0.748373 -0.00405175 0.0430165 0.66187 +TTool-pose None -29.5989 9.54084 10.3838 0.286593 0.661521 0.219972 0.657152 +#32471 1721121623094 +SLAM 26.5721 -8.9949 17.2614 -0.747923 -0.00374414 0.043069 0.662377 +TTool-pose None -29.598 9.54757 10.3708 0.286266 0.661507 0.219398 0.6575 +#32472 1721121623130 +SLAM 26.576 -8.9777 17.2885 -0.748378 -0.00416505 0.0430192 0.661863 +TTool-pose None -29.6029 9.54288 10.384 0.286563 0.661592 0.220013 0.657079 +#32473 1721121623174 +SLAM 26.5729 -8.98793 17.2838 -0.748018 -0.00415488 0.0428708 0.662279 +TTool-pose None -29.6037 9.54177 10.3767 0.286107 0.661676 0.219752 0.657281 +#32474 1721121623214 +SLAM 26.5715 -8.96652 17.2966 -0.748442 -0.00461611 0.042802 0.661802 +TTool-pose None -29.605 9.52148 10.3835 0.286348 0.661793 0.220361 0.656854 +#32475 1721121623265 +SLAM 26.5711 -8.99634 17.2681 -0.747892 -0.00380384 0.0429259 0.66242 +TTool-pose None -29.6006 9.54657 10.3681 0.286126 0.661515 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None 1.2161 16.0583 18.6121 0.502041 0.762186 0.0293757 0.407614 +#38999 1721121862443 +SLAM 13.1496 -11.4136 25.8891 -0.715654 -0.0190638 0.409491 0.565502 +TTool-pose None 1.47327 15.9473 18.6036 0.509482 0.754392 0.0314345 0.412697 +#39000 1721121862475 +SLAM 12.926 -11.3913 26.0035 -0.721569 -0.0113682 0.407419 0.55966 +TTool-pose None 1.59034 15.7663 18.6195 0.516174 0.747356 0.0360887 0.41678 +#39001 1721121862507 +SLAM 12.9448 -11.2331 26.2613 -0.728382 0.000654477 0.412461 0.547116 +TTool-pose None 1.96735 15.6888 18.787 0.531636 0.735933 0.0379933 0.4175 +#39002 1721121862542 +SLAM 12.5206 -11.353 26.0483 -0.733608 -0.00110762 0.402942 0.547225 +TTool-pose None 1.67028 15.1734 18.7528 0.527944 0.73584 0.0476169 0.421345 +#39003 1721121862575 +SLAM 12.6745 -11.1145 26.2787 -0.737768 0.00922686 0.408519 0.537332 +TTool-pose None 1.9259 15.2691 18.8469 0.540745 0.726411 0.0471008 0.421532 +#39004 1721121862610 +SLAM 12.7413 -10.9824 26.3837 -0.741677 0.00717228 0.409497 0.531202 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0.525379 +TTool-pose None 2.17175 14.5296 18.99 0.548461 0.727595 0.0542135 0.408462 +#39011 1721121862875 +SLAM 12.6518 -10.8566 26.09 -0.738677 0.0131068 0.424718 0.523258 +TTool-pose None 2.58619 14.7916 18.8532 0.557607 0.720382 0.0415841 0.410342 +#39012 1721121862910 +SLAM 12.6757 -10.7245 26.1989 -0.740584 0.0138864 0.425796 0.519655 +TTool-pose None 2.64564 14.8056 18.8761 0.560859 0.718568 0.043168 0.408922 +#39013 1721121862946 +SLAM 12.5763 -10.8042 26.2107 -0.741275 0.00928346 0.423263 0.520839 +TTool-pose None 2.60502 14.7068 18.9185 0.557672 0.721533 0.0461866 0.407729 +#39014 1721121862981 +SLAM 12.6708 -10.702 26.3311 -0.742965 0.00892156 0.425778 0.516368 +TTool-pose None 2.713 14.7073 19.0316 0.561611 0.720221 0.0474272 0.404485 +#39015 1721121863016 +SLAM 12.661 -10.7236 26.3418 -0.742513 0.00859956 0.426585 0.516359 +TTool-pose None 2.7773 14.703 19.0356 0.561757 0.720508 0.0467544 0.40385 +#39016 1721121863048 +SLAM 12.705 -10.7865 26.3383 -0.739515 0.0131067 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-0.715585 0.234368 +#41892 1721121962873 +SLAM 0.217608 15.6202 16.1282 0.647433 0.00630852 0.0502334 0.760439 +TTool-pose None -6.04471 -7.03448 15.9212 -0.594183 0.283974 -0.713988 0.237668 +#41893 1721121962914 +SLAM 0.210264 15.6147 16.174 0.649155 0.00629474 0.0505031 0.758952 +TTool-pose None -6.04647 -7.00336 15.9398 -0.594574 0.28251 -0.714753 0.236129 +#41894 1721121962949 +SLAM 0.201159 15.6127 16.2125 0.650554 0.00647914 0.0504721 0.757753 +TTool-pose None -6.04018 -6.98354 15.9578 -0.59499 0.28113 -0.715291 0.235098 +#41895 1721121962985 +SLAM 0.211172 15.6169 16.1458 0.648538 0.00619123 0.0505559 0.759476 +TTool-pose None -6.04654 -7.00087 15.9352 -0.594371 0.283141 -0.714532 0.236553 +#41896 1721121963017 +SLAM 0.198526 15.611 16.2181 0.650881 0.00639346 0.0504341 0.757476 +TTool-pose None -6.03499 -6.97491 15.9626 -0.595152 0.280878 -0.715358 0.234786 +#41897 1721121963056 +SLAM 0.198879 15.614 16.2195 0.650907 0.00666549 0.0500271 0.757478 +TTool-pose None -6.02698 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-0.595077 0.281218 -0.715209 0.235019 +#41927 1721121964094 +SLAM 0.195407 15.6176 16.338 0.654487 0.00670197 0.0503645 0.754364 +TTool-pose None -6.03897 -6.94271 16.0177 -0.596267 0.277409 -0.716689 0.232002 +#41928 1721121964130 +SLAM 0.229877 15.6356 16.2404 0.651214 0.00589187 0.0497811 0.757237 +TTool-pose None -6.04113 -6.9879 15.9964 -0.595872 0.280701 -0.714942 0.234435 +#41929 1721121964161 +SLAM 0.207586 15.6206 16.1967 0.649801 0.00657165 0.0500351 0.758427 +TTool-pose None -6.03458 -7.00587 15.9557 -0.595004 0.281633 -0.7148 0.235951 +#41930 1721121964195 +SLAM 0.691195 15.9283 17.5774 0.663974 0.0168902 0.0298122 0.74697 +TTool-pose None -6.07368 -8.04203 16.393 -0.60947 0.256729 -0.711221 0.238243 +#41931 1721121964228 +SLAM 0.204647 15.6118 16.1914 0.65008 0.00624463 0.0505617 0.758156 +TTool-pose None -6.042 -6.98019 15.9522 -0.594855 0.281724 -0.715101 0.235307 +#41932 1721121964264 +SLAM 0.201001 15.6117 16.1228 0.64791 0.00666897 0.0499912 0.760045 +TTool-pose None 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None -5.0822 -13.1905 10.111 -0.44035 0.0139639 -0.753917 0.487333 +#42259 1721121976669 +SLAM 0.207798 13.0448 20.1191 0.598187 0.406144 -0.00383369 0.6908 +TTool-pose None -5.05914 -13.4608 10.1811 -0.440443 -0.00119024 -0.752311 0.489923 +#42260 1721121976706 +SLAM 0.482879 13.0698 20.2513 0.601192 0.41386 -0.00821611 0.683536 +TTool-pose None -5.1194 -13.6126 10.2197 -0.440142 -0.0129563 -0.751586 0.491136 +#42261 1721121976742 +SLAM 0.506678 13.0257 20.0328 0.591562 0.422248 -0.00437066 0.686834 +TTool-pose None -5.19822 -13.7051 9.80919 -0.430034 -0.0113166 -0.751423 0.500294 +#42262 1721121976777 +SLAM 0.88133 13.0837 20.0582 0.587471 0.436969 -0.00556596 0.681105 +TTool-pose None -5.36398 -14.0349 9.54339 -0.421488 -0.0228386 -0.750744 0.508133 +#42263 1721121976813 +SLAM 0.853636 12.9937 19.856 0.59158 0.434751 0.00545664 0.678966 +TTool-pose None -5.82673 -13.7267 9.3854 -0.416873 -0.020818 -0.758584 0.500322 +#42264 1721121976849 +SLAM 1.30894 13.222 20.0466 0.575179 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None -1.28593 -7.01451 16.2556 -0.588246 0.270363 -0.719007 0.25271 +#42587 1721121989073 +SLAM -4.80035 15.5387 15.7706 0.64716 0.0280188 0.0475386 0.760354 +TTool-pose None -1.2806 -7.01784 16.2526 -0.58829 0.270145 -0.719044 0.252738 +#42588 1721121989112 +SLAM -4.79833 15.5423 15.8779 0.650865 0.0279669 0.0477349 0.757175 +TTool-pose None -1.29121 -6.96472 16.3072 -0.589394 0.2669 -0.720461 0.249557 +#42589 1721121989152 +SLAM -4.80609 15.5286 15.8257 0.648853 0.028122 0.0476217 0.758901 +TTool-pose None -1.27944 -6.99803 16.2656 -0.588755 0.268584 -0.719727 0.251369 +#42590 1721121989191 +SLAM -4.79556 15.5043 16.9027 0.684124 0.0278222 0.047207 0.727304 +TTool-pose None -1.30015 -6.4975 16.7643 -0.600261 0.235984 -0.731451 0.221202 +#42591 1721121989232 +SLAM -4.79904 15.5374 15.76 0.647001 0.0278973 0.0476679 0.760486 +TTool-pose None -1.28374 -7.01374 16.2499 -0.588194 0.270399 -0.719025 0.252743 +#42592 1721121989274 +SLAM -4.80481 15.5349 15.9251 0.652362 0.0282406 0.0474714 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None -4.51849 -7.00616 16.7083 -0.607695 0.27294 -0.704259 0.245338 +#43814 1721122034457 +SLAM -0.746226 16.1448 15.8809 0.650204 0.0101271 0.0294669 0.75912 +TTool-pose None -4.50803 -7.00453 16.6979 -0.607611 0.273299 -0.704096 0.245613 +#43815 1721122034495 +SLAM -0.745551 16.1428 15.8555 0.649434 0.010117 0.0294615 0.75978 +TTool-pose None -4.50782 -7.01319 16.6855 -0.607365 0.273997 -0.703816 0.246247 +#43816 1721122034534 +SLAM -0.74467 16.1433 15.8682 0.649501 0.0101903 0.0295743 0.759717 +TTool-pose None -4.51384 -7.0223 16.6842 -0.607287 0.273924 -0.703929 0.246197 +#43817 1721122034572 +SLAM -0.755746 16.136 15.841 0.648858 0.010645 0.0294554 0.760265 +TTool-pose None -4.50541 -7.02605 16.6677 -0.606996 0.274191 -0.703771 0.247066 +#43818 1721122034614 +SLAM -0.751682 16.1505 15.8625 0.649925 0.010928 0.0291833 0.759359 +TTool-pose None -4.5064 -7.00555 16.698 -0.607429 0.27298 -0.704081 0.246462 +#43819 1721122034655 +SLAM -0.755977 16.1393 15.8793 0.650389 0.0107417 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1721122035120 +SLAM -0.749685 16.1443 15.9286 0.651934 0.0107405 0.0294947 0.757626 +TTool-pose None -4.51617 -6.97764 16.7185 -0.607946 0.271375 -0.704918 0.244558 +#43832 1721122035162 +SLAM -0.753036 16.1463 15.8571 0.64987 0.010804 0.0293504 0.759402 +TTool-pose None -4.50808 -7.00022 16.6935 -0.607343 0.273154 -0.70412 0.246367 +#43833 1721122035202 +SLAM -0.752035 16.1459 15.8759 0.650495 0.010684 0.0294568 0.758864 +TTool-pose None -4.51085 -6.98973 16.7019 -0.60752 0.272695 -0.704368 0.245732 +#43834 1721122035238 +SLAM -0.752252 16.1443 15.8402 0.649104 0.0109025 0.0292435 0.760059 +TTool-pose None -4.50666 -7.01836 16.6799 -0.607128 0.273752 -0.703815 0.247105 +#43835 1721122035275 +SLAM -0.753964 16.1439 15.8652 0.649938 0.0108372 0.0293903 0.759341 +TTool-pose None -4.50901 -7.00472 16.6908 -0.607328 0.273084 -0.704178 0.246317 +#43836 1721122035330 +SLAM -0.752579 16.1487 15.8665 0.649772 0.0111461 0.0288052 0.759501 +TTool-pose None -4.49681 -7.01978 16.6936 -0.607553 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None -3.96284 -14.3177 13.6724 -0.52917 -0.0478622 -0.719183 0.447715 +#44226 1721122050691 +SLAM -0.0931845 13.4282 19.7868 0.608658 0.348668 -0.0103458 0.712642 +TTool-pose None -4.97834 -12.863 11.1105 -0.477608 0.0418032 -0.744507 0.464586 +#44227 1721122050726 +SLAM -0.0200678 13.4252 19.9657 0.608106 0.354361 -0.0139023 0.710241 +TTool-pose None -4.83933 -13.0592 11.1017 -0.476872 0.0358923 -0.742995 0.468242 +#44228 1721122050762 +SLAM -0.0721806 13.3753 19.9501 0.607816 0.355787 -0.0125403 0.709801 +TTool-pose None -4.83178 -13.0193 11.0529 -0.475184 0.035283 -0.743923 0.468529 +#44229 1721122050805 +SLAM -0.044956 13.3246 20.1141 0.606427 0.363233 -0.0152647 0.70716 +TTool-pose None -4.66172 -13.1912 10.9906 -0.472729 0.0287167 -0.742839 0.47316 +#44230 1721122050846 +SLAM -0.0501296 13.2818 20.1685 0.60683 0.365707 -0.0150101 0.705543 +TTool-pose None -4.63407 -13.2098 10.9629 -0.471443 0.0261247 -0.743482 0.473583 +#44231 1721122050884 +SLAM -0.0198493 13.2592 20.2769 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1721122053398 +SLAM 2.51455 14.6553 20.4718 0.674905 0.392288 -0.0408731 0.623653 +TTool-pose None -7.46247 -12.5714 13.3508 -0.493995 -0.0745965 -0.752513 0.429083 +#44306 1721122053437 +SLAM 1.07835 14.3825 18.7224 0.592204 0.434162 -0.0284312 0.678225 +TTool-pose None -6.32824 -13.3164 10.9633 -0.439237 -0.0318949 -0.738233 0.510935 +#44307 1721122053471 +SLAM 1.08122 14.3813 18.7328 0.591591 0.435038 -0.0288235 0.678182 +TTool-pose None -6.30292 -13.3443 10.9505 -0.43881 -0.0323623 -0.737862 0.511807 +#44308 1721122053505 +SLAM 1.05043 14.3775 18.6829 0.590204 0.435265 -0.0288033 0.679245 +TTool-pose None -6.28735 -13.3308 10.9226 -0.438224 -0.0313246 -0.73741 0.513023 +#44309 1721122053536 +SLAM 1.03116 14.3682 18.6695 0.591033 0.43389 -0.0269756 0.679479 +TTool-pose None -6.34517 -13.2837 10.915 -0.43808 -0.0300535 -0.738689 0.51138 +#44310 1721122053567 +SLAM 1.03778 14.3684 18.6832 0.589961 0.435407 -0.0282416 0.679389 +TTool-pose None -6.28807 -13.3297 10.9044 -0.43771 -0.0310552 -0.737683 0.513086 +#44311 1721122053601 +SLAM 1.04369 14.3814 18.6785 0.591103 0.434104 -0.0279796 0.679241 +TTool-pose None -6.32528 -13.2979 10.9404 -0.438625 -0.0306788 -0.738119 0.511699 +#44312 1721122053632 +SLAM 1.01963 14.3653 18.6602 0.588664 0.43603 -0.0281076 0.680119 +TTool-pose None -6.27106 -13.3414 10.8713 -0.436863 -0.0304663 -0.737369 0.514294 +#44313 1721122053663 +SLAM 0.989928 14.3572 18.6237 0.588613 0.434896 -0.0265609 0.680952 +TTool-pose None -6.31259 -13.2979 10.8504 -0.43648 -0.0287375 -0.738189 0.513541 +#44314 1721122053695 +SLAM 1.01716 14.364 18.6608 0.590073 0.434757 -0.0272366 0.679749 +TTool-pose None -6.31706 -13.2975 10.8958 -0.437461 -0.0301512 -0.738276 0.512499 +#44315 1721122053726 +SLAM 1.03769 14.3692 18.6867 0.590477 0.43491 -0.0278411 0.679276 +TTool-pose None -6.3063 -13.3171 10.9126 -0.437894 -0.0308805 -0.738062 0.512395 +#44316 1721122053758 +SLAM 1.04036 14.3743 18.6799 0.59008 0.435262 -0.0281818 0.679381 +TTool-pose None -6.29803 -13.3267 10.91 -0.43779 -0.0309945 -0.737748 0.512929 +#44317 1721122053789 +SLAM 1.03674 14.3736 18.673 0.59174 0.43325 -0.0268151 0.679278 +TTool-pose None -6.36489 -13.2691 10.9341 -0.438555 -0.0299931 -0.738973 0.510565 +#44318 1721122053823 +SLAM 1.04279 14.3718 18.6767 0.59031 0.434566 -0.0277786 0.679643 +TTool-pose None -6.31397 -13.3182 10.9065 -0.437987 -0.0303588 -0.738008 0.512423 +#44319 1721122053861 +SLAM 1.09264 14.3902 18.7236 0.592448 0.433364 -0.0285959 0.678515 +TTool-pose None -6.33611 -13.3196 10.9739 -0.439856 -0.0313641 -0.73814 0.510569 +#44320 1721122053898 +SLAM 1.12895 14.374 18.8378 0.597478 0.425587 -0.0237577 0.679214 +TTool-pose None -6.49289 -13.2702 11.012 -0.442619 -0.0264418 -0.742085 0.502679 +#44321 1721122053937 +SLAM 1.12817 14.4002 18.7423 0.595901 0.424961 -0.0291795 0.680778 +TTool-pose None -6.36197 -13.2456 11.0918 -0.445908 -0.0262267 -0.738149 0.505571 +#44322 1721122053973 +SLAM 1.18805 14.4519 18.7391 0.596971 0.424186 -0.0302286 0.680278 +TTool-pose None -6.41096 -13.255 11.1535 -0.447338 -0.026787 -0.737799 0.504789 +#44323 1721122054006 +SLAM 1.13363 14.3745 18.8186 0.598456 0.421563 -0.0263795 0.680764 +TTool-pose None -6.42717 -13.2228 11.0974 -0.446782 -0.0241895 -0.740407 0.501584 +#44324 1721122054040 +SLAM 1.12231 14.3476 18.9648 0.604813 0.413292 -0.0234839 0.680323 +TTool-pose None -6.49328 -13.1219 11.2318 -0.451412 -0.020783 -0.743503 0.492936 +#44325 1721122054082 +SLAM 0.900783 14.2546 18.8353 0.603824 0.404013 -0.0170316 0.686935 +TTool-pose None -6.51625 -12.9091 11.1453 -0.451907 -0.00854006 -0.74606 0.488968 +#44326 1721122054114 +SLAM 0.883727 14.1797 18.9231 0.603783 0.411444 -0.0357435 0.681823 +TTool-pose None -5.87483 -12.93 11.4185 -0.459871 -0.0222298 -0.735413 0.497171 +#44327 1721122054141 +#44328 1721122054168 +#44329 1721122054195 +#44330 1721122054222 +#44331 1721122054253 +#44332 1721122054282 +#44333 1721122054320 +#44334 1721122054359 +SLAM -0.881159 13.9528 19.1201 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-1.61539 15.8176 16.3472 0.650811 0.000302271 0.0296235 0.758662 +TTool-pose None -3.48762 -7.38081 16.4092 -0.611101 0.278732 -0.701314 0.238707 +#44516 1721122061032 +SLAM -1.61059 15.814 16.4608 0.654341 -1.27052e-05 0.0300361 0.755603 +TTool-pose None -3.50319 -7.33495 16.4577 -0.612088 0.275852 -0.702705 0.235409 +#44517 1721122061067 +SLAM -1.61731 15.8143 16.3764 0.651765 0.000280977 0.029831 0.757834 +TTool-pose None -3.49255 -7.3665 16.4195 -0.611283 0.277945 -0.701767 0.237824 +#44518 1721122061102 +SLAM -1.62287 15.8114 16.1781 0.645269 0.00083129 0.0290501 0.763402 +TTool-pose None -3.46616 -7.4579 16.3211 -0.609472 0.283217 -0.699165 0.243845 +#44519 1721122061137 +SLAM -1.61979 15.8164 16.4928 0.655662 0.00031168 0.0295435 0.754476 +TTool-pose None -3.48343 -7.31365 16.4823 -0.612732 0.274314 -0.702984 0.234694 +#44520 1721122061173 +SLAM -1.61178 15.814 16.2737 0.64828 0.000286378 0.0296981 0.760822 +TTool-pose None -3.49192 -7.41659 16.367 -0.610225 0.281038 -0.700452 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+TTool-pose None -3.49044 -7.39134 16.3957 -0.610707 0.278223 -0.701561 0.239582 +#44533 1721122061648 +SLAM -1.62888 15.8105 16.2183 0.646341 0.00163379 0.0289782 0.762497 +TTool-pose None -3.47092 -7.45486 16.3314 -0.609598 0.281757 -0.699762 0.243509 +#44534 1721122061686 +SLAM -1.61972 15.8101 16.2347 0.646859 0.00119016 0.0294438 0.76204 +TTool-pose None -3.48871 -7.44381 16.3384 -0.609614 0.281695 -0.70008 0.242622 +#44535 1721122061725 +SLAM -1.6185 15.8224 16.2569 0.64783 0.00113558 0.0293786 0.761217 +TTool-pose None -3.48782 -7.42603 16.3666 -0.609997 0.280839 -0.700372 0.241809 +#44536 1721122061766 +SLAM -1.62167 15.8089 16.2366 0.646863 0.00117743 0.0295293 0.762033 +TTool-pose None -3.48935 -7.44484 16.3368 -0.609563 0.281724 -0.700128 0.24258 +#44537 1721122061805 +SLAM -1.62113 15.8133 16.2227 0.646398 0.0014065 0.0291232 0.762443 +TTool-pose None -3.48015 -7.45515 16.3348 -0.609599 0.281884 -0.699795 0.243261 +#44538 1721122061840 +SLAM -1.63087 15.8136 16.2562 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+SLAM -1.63175 15.8111 16.237 0.646945 0.00145435 0.0292809 0.761973 +TTool-pose None -3.47553 -7.445 16.3406 -0.60966 0.281412 -0.700099 0.242782 +#44545 1721122062096 +SLAM -1.63139 15.8112 16.2374 0.647075 0.00151657 0.0291489 0.761867 +TTool-pose None -3.47249 -7.44083 16.3434 -0.609769 0.28122 -0.700088 0.242764 +#44546 1721122062131 +SLAM -1.61951 15.8127 16.2119 0.646138 0.00129412 0.0295051 0.762649 +TTool-pose None -3.49218 -7.45276 16.3297 -0.609299 0.282296 -0.69989 0.243263 +#44547 1721122062168 +SLAM -1.62555 15.8013 16.2945 0.648486 0.0011409 0.0297469 0.760644 +TTool-pose None -3.49288 -7.42952 16.3514 -0.609967 0.280355 -0.700824 0.241134 +#44548 1721122062208 +SLAM -1.62353 15.8093 16.2414 0.646908 0.00126102 0.0292648 0.762006 +TTool-pose None -3.48035 -7.44969 16.338 -0.609724 0.281557 -0.700015 0.242694 +#44549 1721122062245 +SLAM -1.6065 15.824 16.2488 0.647689 0.000830925 0.0299282 0.761316 +TTool-pose None -3.51288 -7.41945 16.3654 -0.609691 0.281309 -0.700547 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-0.610163 0.280394 -0.700358 0.241948 +#44556 1721122062511 +SLAM -1.62467 15.8062 16.3095 0.64911 0.0011836 0.0297432 0.760112 +TTool-pose None -3.49474 -7.41828 16.3659 -0.61016 0.279768 -0.701058 0.240647 +#44557 1721122062548 +SLAM -1.6246 15.8075 16.329 0.649541 0.00108113 0.0298064 0.759741 +TTool-pose None -3.49585 -7.41837 16.3729 -0.610296 0.27946 -0.701217 0.240199 +#44558 1721122062584 +SLAM -1.62799 15.8117 16.2688 0.647847 0.00148669 0.0290861 0.761213 +TTool-pose None -3.47412 -7.43871 16.3544 -0.610075 0.280528 -0.700318 0.24213 +#44559 1721122062622 +SLAM -1.62796 15.8124 16.227 0.646602 0.00154413 0.0291665 0.762268 +TTool-pose None -3.47685 -7.45091 16.3367 -0.609591 0.281631 -0.699937 0.243166 +#44560 1721122062660 +SLAM -1.62651 15.7984 16.2321 0.646458 0.00123547 0.029701 0.762371 +TTool-pose None -3.49056 -7.45554 16.3183 -0.609296 0.282102 -0.700101 0.242889 +#44561 1721122062698 +SLAM -1.62115 15.8157 16.2215 0.646525 0.00131384 0.029294 0.762329 +TTool-pose None -3.48426 -7.44753 16.3396 -0.60956 0.281876 -0.699912 0.243033 +#44562 1721122062736 +SLAM -1.62813 15.8156 16.3594 0.651213 0.00126389 0.0299278 0.758304 +TTool-pose None -3.49965 -7.37728 16.4079 -0.610701 0.277881 -0.70194 0.238886 +#44563 1721122062776 +SLAM -1.62742 15.8015 16.2401 0.646823 0.00137726 0.0295318 0.762067 +TTool-pose None -3.48655 -7.44974 16.3273 -0.60948 0.281641 -0.700178 0.242741 +#44564 1721122062818 +SLAM -1.61548 15.8115 16.2184 0.646453 0.0011875 0.0294399 0.762384 +TTool-pose None -3.49247 -7.44531 16.3343 -0.609483 0.282059 -0.699931 0.242957 +#44565 1721122062858 +SLAM -1.62772 15.8132 16.2166 0.646384 0.00144425 0.0292175 0.762451 +TTool-pose None -3.47699 -7.4495 16.3351 -0.60952 0.281902 -0.699858 0.243262 +#44566 1721122062898 +SLAM -1.62396 15.8136 16.2341 0.646758 0.00139136 0.0291585 0.762137 +TTool-pose None -3.47847 -7.45083 16.3403 -0.6097 0.281582 -0.69994 0.242941 +#44567 1721122062932 +SLAM -1.62321 15.8133 16.2271 0.646759 0.00137406 0.0292847 0.76213 +TTool-pose None -3.4828 -7.4429 16.3408 -0.609623 0.281628 -0.700009 0.242883 +#44568 1721122062978 +SLAM -1.62651 15.806 16.2382 0.647014 0.00124849 0.0294758 0.761907 +TTool-pose None -3.48371 -7.44025 16.3367 -0.609624 0.281531 -0.700173 0.242521 +#44569 1721122063021 +SLAM -1.61898 15.8231 16.2468 0.647546 0.00117273 0.0289728 0.761475 +TTool-pose None -3.47453 -7.43109 16.3648 -0.610159 0.280953 -0.700044 0.242217 +#44570 1721122063059 +SLAM -1.58417 15.8197 16.4099 0.649292 0.00158551 0.0284433 0.760005 +TTool-pose None -3.50297 -7.51927 16.369 -0.610943 0.278983 -0.700488 0.241232 +#44571 1721122063103 +SLAM -1.62106 15.8245 16.2132 0.646875 0.00145002 0.029427 0.762027 +TTool-pose None -3.49069 -7.42537 16.3553 -0.609541 0.28152 -0.700158 0.242784 +#44572 1721122063146 +SLAM -1.62695 15.7912 16.2831 0.64789 0.000978219 0.0298502 0.761148 +TTool-pose None -3.4918 -7.44124 16.3319 -0.609758 0.281018 -0.70062 0.241484 +#44573 1721122063186 +SLAM -1.622 15.8007 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-0.700438 0.241938 +#44585 1721122063649 +SLAM -1.61393 15.8131 16.2873 0.648228 0.00118903 0.0293256 0.76088 +TTool-pose None -3.49194 -7.43771 16.3601 -0.610145 0.280435 -0.7005 0.241533 +#44586 1721122063684 +SLAM -1.54935 15.8695 16.785 0.658064 0.00291393 0.0255735 0.752522 +TTool-pose None -3.47356 -7.53491 16.5441 -0.615239 0.269402 -0.702318 0.235816 +#44587 1721122063722 +SLAM -1.63296 15.7897 16.4612 0.652132 0.00120991 0.029661 0.757524 +TTool-pose None -3.48736 -7.43566 16.3866 -0.611196 0.277006 -0.702092 0.238183 +#44588 1721122063761 +SLAM -1.62123 15.8034 16.2596 0.646552 0.00119856 0.0294688 0.7623 +TTool-pose None -3.4889 -7.48045 16.3216 -0.609493 0.281972 -0.699988 0.242872 +#44589 1721122063797 +SLAM -1.61677 15.81 16.2511 0.647009 0.00122307 0.0294346 0.761913 +TTool-pose None -3.49238 -7.45359 16.3384 -0.609659 0.281539 -0.700139 0.242523 +#44590 1721122063836 +SLAM -1.61596 15.8154 16.2351 0.64683 0.00107629 0.0292976 0.762071 +TTool-pose None -3.48625 -7.44664 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-0.609257 0.28239 -0.699879 0.243291 +#44626 1721122065209 +SLAM -1.62267 15.8182 16.2113 0.646382 0.00140527 0.0293609 0.762447 +TTool-pose None -3.48614 -7.44397 16.3402 -0.609437 0.281968 -0.699929 0.243186 +#44627 1721122065244 +SLAM -1.62387 15.8094 16.2163 0.646435 0.00127049 0.0293221 0.762404 +TTool-pose None -3.48137 -7.44499 16.3327 -0.609527 0.281991 -0.699883 0.243069 +#44628 1721122065281 +SLAM -1.62235 15.8178 16.3307 0.650499 0.00118353 0.0295852 0.758929 +TTool-pose None -3.49247 -7.3818 16.402 -0.610721 0.278472 -0.70146 0.239552 +#44629 1721122065320 +SLAM -1.62362 15.8091 16.2317 0.646921 0.00130214 0.0293912 0.761989 +TTool-pose None -3.48462 -7.4389 16.3389 -0.609631 0.281557 -0.700107 0.242663 +#44630 1721122065358 +SLAM -1.62664 15.8179 16.2161 0.646478 0.00150906 0.0290839 0.762376 +TTool-pose None -3.47488 -7.44678 16.3418 -0.609617 0.28174 -0.699834 0.243275 +#44631 1721122065393 +SLAM -1.61666 15.8176 16.2043 0.646074 0.0012636 0.0294287 0.762707 +TTool-pose None -3.49207 -7.44912 16.3348 -0.609339 0.282349 -0.699813 0.243324 +#44632 1721122065429 +SLAM -1.57789 15.8577 16.3393 0.648221 0.00157374 0.0273398 0.76096 +TTool-pose None -3.4728 -7.50828 16.4007 -0.611324 0.279629 -0.699454 0.242515 +#44633 1721122065471 +SLAM -1.63102 15.8167 16.2089 0.646226 0.0016576 0.0288408 0.762599 +TTool-pose None -3.46469 -7.45252 16.3373 -0.609643 0.281805 -0.699648 0.243669 +#44634 1721122065506 +SLAM -1.62251 15.8144 16.2076 0.646518 0.00124834 0.0294365 0.76233 +TTool-pose None -3.48598 -7.43289 16.3403 -0.609486 0.281964 -0.699972 0.242945 +#44635 1721122065543 +SLAM -1.61857 15.8121 16.2114 0.646238 0.00118743 0.0295945 0.762561 +TTool-pose None -3.49429 -7.44689 16.3313 -0.60931 0.282297 -0.699945 0.243078 +#44636 1721122065580 +SLAM -1.61955 15.8146 16.2024 0.646016 0.0012392 0.0295793 0.76275 +TTool-pose None -3.49353 -7.44837 16.3307 -0.609229 0.282459 -0.699873 0.2433 +#44637 1721122065616 +SLAM -1.63096 15.8148 16.2363 0.646946 0.00165493 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1721122066060 +SLAM -1.61587 15.8179 16.2126 0.646177 0.00114394 0.0295372 0.762615 +TTool-pose None -3.49482 -7.45181 16.336 -0.609343 0.282361 -0.699876 0.243121 +#44650 1721122066092 +SLAM -1.61614 15.8201 16.2406 0.647154 0.0012412 0.0291476 0.7618 +TTool-pose None -3.48396 -7.4404 16.354 -0.60989 0.281314 -0.700028 0.24252 +#44651 1721122066125 +SLAM -1.62615 15.8138 16.2013 0.646161 0.00122298 0.0295449 0.762628 +TTool-pose None -3.48542 -7.44134 16.3335 -0.609305 0.282329 -0.699899 0.243183 +#44652 1721122066159 +SLAM -1.62831 15.8121 16.2163 0.646555 0.0014999 0.0292158 0.762306 +TTool-pose None -3.47705 -7.44197 16.3372 -0.609558 0.281715 -0.699936 0.243158 +#44653 1721122066192 +SLAM -1.62344 15.8177 16.2185 0.646631 0.00141924 0.0291165 0.762246 +TTool-pose None -3.47775 -7.4419 16.3444 -0.609677 0.281666 -0.699879 0.24308 +#44654 1721122066230 +SLAM -1.62436 15.816 16.2367 0.647115 0.00134282 0.0293017 0.761828 +TTool-pose None -3.482 -7.43741 16.349 -0.60974 0.281333 -0.700137 0.242563 +#44655 1721122066273 +SLAM -1.62367 15.8152 16.2146 0.646442 0.00134516 0.0293304 0.762398 +TTool-pose None -3.48319 -7.44418 16.3384 -0.609498 0.281942 -0.699913 0.243109 +#44656 1721122066306 +SLAM -1.61962 15.815 16.2325 0.646944 0.0013299 0.0292757 0.761975 +TTool-pose None -3.48558 -7.44033 16.3453 -0.609706 0.281487 -0.700056 0.242705 +#44657 1721122066338 +SLAM -1.62033 15.8116 16.2132 0.646397 0.00123421 0.0295158 0.762429 +TTool-pose None -3.49065 -7.4425 16.3338 -0.609398 0.282104 -0.69997 0.243006 +#44658 1721122066372 +SLAM -1.61847 15.815 16.2348 0.647149 0.00114236 0.0294127 0.761795 +TTool-pose None -3.48829 -7.43218 16.3492 -0.609747 0.281455 -0.70015 0.242364 +#44659 1721122066406 +SLAM -1.61749 15.8163 16.2437 0.647267 0.00120173 0.0293425 0.761697 +TTool-pose None -3.48821 -7.43671 16.3514 -0.609812 0.281294 -0.700171 0.24233 +#44660 1721122066442 +SLAM -1.61784 15.8165 16.2191 0.646447 0.00128058 0.0292467 0.762397 +TTool-pose None -3.48552 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-0.609366 0.282302 -0.69984 0.243231 +#44690 1721122067642 +SLAM -1.62782 15.8118 16.2137 0.64636 0.00146464 0.0292618 0.76247 +TTool-pose None -3.4785 -7.44733 16.3335 -0.609475 0.281924 -0.699881 0.243279 +#44691 1721122067682 +SLAM -1.62031 15.8165 16.2249 0.646788 0.00127711 0.0292778 0.762107 +TTool-pose None -3.48404 -7.43965 16.3452 -0.609671 0.281659 -0.699985 0.242799 +#44692 1721122067720 +SLAM -1.63163 15.8131 16.2474 0.647545 0.00152715 0.0292511 0.761464 +TTool-pose None -3.47594 -7.43015 16.3525 -0.609852 0.280823 -0.700319 0.242345 +#44693 1721122067754 +SLAM -1.62409 15.8121 16.2054 0.646495 0.00123427 0.0295505 0.762344 +TTool-pose None -3.48772 -7.43059 16.3376 -0.609408 0.282025 -0.700027 0.242912 +#44694 1721122067792 +SLAM -1.63082 15.8132 16.234 0.647056 0.00142635 0.0292404 0.76188 +TTool-pose None -3.47465 -7.43775 16.3456 -0.609733 0.281318 -0.700106 0.242687 +#44695 1721122067829 +SLAM -1.57918 15.8522 16.3042 0.647996 0.00103847 0.0281076 0.761124 +TTool-pose 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1721122080122 +SLAM -1.61932 15.8139 16.2186 0.646526 0.00124067 0.0295006 0.76232 +TTool-pose None -3.4915 -7.44277 16.3377 -0.609449 0.28198 -0.70001 0.242909 +#45034 1721122080159 +SLAM -1.61681 15.8196 16.2242 0.646807 0.00116104 0.0292845 0.76209 +TTool-pose None -3.48608 -7.43798 16.3492 -0.609712 0.281712 -0.699959 0.242705 +#45035 1721122080198 +SLAM -1.62189 15.8113 16.2326 0.647032 0.0013027 0.0294595 0.761892 +TTool-pose None -3.48867 -7.43491 16.3428 -0.609622 0.281477 -0.700187 0.242547 +#45036 1721122080241 +SLAM -1.6263 15.8123 16.2211 0.646644 0.00139554 0.0294215 0.762223 +TTool-pose None -3.48428 -7.44115 16.3379 -0.609487 0.281758 -0.700055 0.242942 +#45037 1721122080280 +SLAM -1.62069 15.8181 16.3196 0.649887 0.00107651 0.029796 0.759446 +TTool-pose None -3.4993 -7.39561 16.3916 -0.610418 0.279149 -0.701332 0.239913 +#45038 1721122080326 +SLAM -1.6256 15.8156 16.235 0.647042 0.00137468 0.0293354 0.761888 +TTool-pose None -3.4823 -7.43869 16.3471 -0.609683 0.281389 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-0.700044 0.242969 +#45103 1721122082765 +SLAM -1.61878 15.8215 16.2411 0.647279 0.00114707 0.029232 0.761692 +TTool-pose None -3.48264 -7.43501 16.3579 -0.609908 0.281283 -0.700093 0.242326 +#45104 1721122082803 +SLAM -1.62469 15.8156 16.1944 0.645762 0.00145172 0.0291557 0.762981 +TTool-pose None -3.47777 -7.45507 16.3289 -0.609352 0.282435 -0.6996 0.243803 +#45105 1721122082840 +SLAM -1.62612 15.8133 16.221 0.646631 0.00140186 0.0294635 0.762233 +TTool-pose None -3.48597 -7.44159 16.3384 -0.609453 0.281778 -0.700077 0.242941 +#45106 1721122082878 +SLAM -1.62113 15.8119 16.2028 0.646088 0.00132398 0.0294164 0.762694 +TTool-pose None -3.4878 -7.44651 16.3298 -0.609331 0.282296 -0.69983 0.243355 +#45107 1721122082915 +SLAM -1.61588 15.8174 16.2216 0.646561 0.00120415 0.0293867 0.762295 +TTool-pose None -3.49092 -7.44516 16.3419 -0.609548 0.281937 -0.699944 0.242899 +#45108 1721122082953 +SLAM -1.62232 15.8155 16.2366 0.647068 0.0013091 0.0293586 0.761865 +TTool-pose None -3.48537 -7.43865 16.3474 -0.609699 0.281412 -0.700143 0.242558 +#45109 1721122082993 +SLAM -1.62325 15.8188 16.2204 0.64669 0.00127505 0.0292952 0.762189 +TTool-pose None -3.48164 -7.43984 16.3463 -0.609627 0.281753 -0.699959 0.242872 +#45110 1721122083038 +SLAM -1.61803 15.8214 16.2214 0.646632 0.00118504 0.0292657 0.76224 +TTool-pose None -3.4847 -7.44334 16.3479 -0.609659 0.28185 -0.699893 0.242872 +#45111 1721122083076 +SLAM -1.62473 15.8166 16.219 0.646639 0.001428 0.0291588 0.762237 +TTool-pose None -3.47793 -7.44173 16.3433 -0.609648 0.281666 -0.699909 0.243063 +#45112 1721122083115 +SLAM -1.62292 15.8109 16.2454 0.647508 0.00120462 0.0296854 0.761479 +TTool-pose None -3.49367 -7.42527 16.3493 -0.609663 0.281176 -0.700459 0.242007 +#45113 1721122083154 +SLAM -1.6254 15.8151 16.2007 0.646034 0.00141696 0.0291678 0.76275 +TTool-pose None -3.47699 -7.44937 16.3329 -0.609446 0.282217 -0.699694 0.243552 +#45114 1721122083190 +SLAM -1.62519 15.8164 16.2101 0.646184 0.00153977 0.0289982 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-3.47519 -7.4415 16.3337 -0.609496 0.281809 -0.699857 0.24343 +#45138 1721122084043 +SLAM -1.62079 15.8171 16.3696 0.651587 0.00106469 0.0298039 0.757988 +TTool-pose None -3.50014 -7.37098 16.4163 -0.610973 0.277627 -0.701936 0.23849 +#45139 1721122084076 +SLAM -1.62674 15.8119 16.2262 0.646924 0.00127855 0.0295927 0.761979 +TTool-pose None -3.48763 -7.43268 16.3421 -0.609507 0.281628 -0.700219 0.242572 +#45140 1721122084112 +SLAM -1.61539 15.8208 16.2266 0.646867 0.00105735 0.0294743 0.762033 +TTool-pose None -3.49219 -7.43641 16.3508 -0.609642 0.281777 -0.700059 0.242519 +#45141 1721122084149 +SLAM -1.62551 15.8182 16.2212 0.646922 0.00121735 0.029231 0.761995 +TTool-pose None -3.47628 -7.43081 16.3508 -0.609766 0.281561 -0.699987 0.242666 +#45142 1721122084188 +SLAM -1.62196 15.8159 16.2388 0.647121 0.00124518 0.0294228 0.761819 +TTool-pose None -3.48691 -7.43797 16.3486 -0.609696 0.281422 -0.700179 0.24245 +#45143 1721122084222 +SLAM -1.62924 15.811 16.1993 0.645952 0.00160574 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-1.6139 15.8167 16.2328 0.647099 0.00100377 0.0294718 0.761835 +TTool-pose None -3.49269 -7.43162 16.3505 -0.609739 0.2816 -0.700124 0.242293 +#45214 1721122086953 +SLAM -1.61668 15.8141 16.2086 0.646352 0.00110714 0.0294168 0.762472 +TTool-pose None -3.48911 -7.44032 16.337 -0.609493 0.282191 -0.699856 0.242997 +#45215 1721122086991 +SLAM -1.62194 15.8204 16.2185 0.646564 0.00125301 0.0293261 0.762295 +TTool-pose None -3.48368 -7.44329 16.3457 -0.609573 0.281888 -0.699925 0.24295 +#45216 1721122087029 +SLAM -1.62127 15.8177 16.2029 0.645972 0.00132777 0.0292854 0.762798 +TTool-pose None -3.4838 -7.45339 16.3337 -0.609378 0.28236 -0.699713 0.243502 +#45217 1721122087069 +SLAM -1.62174 15.8168 16.2361 0.647093 0.00127526 0.0293089 0.761846 +TTool-pose None -3.48385 -7.43745 16.3496 -0.609752 0.281395 -0.700112 0.242534 +#45218 1721122087108 +SLAM -1.6205 15.8149 16.2099 0.646286 0.00130206 0.0293842 0.762528 +TTool-pose None -3.48734 -7.44561 16.3357 -0.609426 0.282123 -0.699875 0.24319 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-0.609628 0.281393 -0.700314 0.242263 +#45225 1721122087370 +SLAM -1.62512 15.8147 16.2186 0.646521 0.00133844 0.029388 0.762329 +TTool-pose None -3.48359 -7.44438 16.3386 -0.609488 0.281892 -0.699973 0.243018 +#45226 1721122087411 +SLAM -1.6195 15.8146 16.2142 0.646443 0.00120364 0.0294501 0.762393 +TTool-pose None -3.48903 -7.44223 16.3379 -0.609468 0.282061 -0.699939 0.242972 +#45227 1721122087453 +SLAM -1.5812 15.8582 16.291 0.647655 0.000944536 0.0279253 0.761421 +TTool-pose None -3.4777 -7.47948 16.3985 -0.610966 0.280686 -0.699397 0.242361 +#45228 1721122087493 +SLAM -1.62626 15.8157 16.2192 0.64663 0.00133433 0.0293593 0.762237 +TTool-pose None -3.48146 -7.44061 16.3418 -0.609545 0.281789 -0.699994 0.242936 +#45229 1721122087534 +SLAM -1.62041 15.8162 16.2221 0.646643 0.00116774 0.0294049 0.762225 +TTool-pose None -3.48636 -7.44186 16.3426 -0.609576 0.281891 -0.699973 0.242801 +#45230 1721122087572 +SLAM -1.62105 15.8159 16.2333 0.647004 0.00119204 0.02946 0.761917 +TTool-pose 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None -3.47981 -7.44969 16.3366 -0.609507 0.281913 -0.699863 0.243264 +#45295 1721122089961 +SLAM -1.62068 15.8157 16.2203 0.646552 0.00135915 0.0292542 0.762308 +TTool-pose None -3.48408 -7.4456 16.3402 -0.60958 0.281814 -0.699912 0.243055 +#45296 1721122089995 +SLAM -1.62052 15.8156 16.2183 0.646517 0.00125315 0.0293212 0.762335 +TTool-pose None -3.48473 -7.44429 16.34 -0.60956 0.281928 -0.699906 0.242991 +#45297 1721122090029 +SLAM -1.61827 15.8224 16.239 0.647239 0.00112368 0.0292644 0.761724 +TTool-pose None -3.48383 -7.43454 16.3583 -0.609881 0.281343 -0.70009 0.242331 +#45298 1721122090062 +SLAM -1.61953 15.8157 16.2201 0.646576 0.00122125 0.0294323 0.762281 +TTool-pose None -3.48888 -7.44271 16.3406 -0.609517 0.281927 -0.699982 0.242881 +#45299 1721122090095 +SLAM -1.59499 15.8459 16.2521 0.64733 0.000655453 0.0286459 0.761671 +TTool-pose None -3.48126 -7.44838 16.3851 -0.610482 0.281361 -0.699612 0.242179 +#45300 1721122090129 +SLAM -1.62065 15.8189 16.236 0.647123 0.00122044 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-1.61434 15.8193 16.2347 0.647105 0.00107132 0.029347 0.761835 +TTool-pose None -3.48941 -7.43471 16.3531 -0.6098 0.281519 -0.700074 0.242378 +#45371 1721122092647 +SLAM -1.60309 15.8415 16.2509 0.64745 0.00093771 0.0283964 0.761578 +TTool-pose None -3.46907 -7.4442 16.3834 -0.610589 0.281012 -0.699597 0.242354 +#45372 1721122092684 +SLAM -1.59456 15.8467 16.2545 0.646967 0.00106174 0.0281877 0.761996 +TTool-pose None -3.47328 -7.4707 16.3782 -0.610525 0.281309 -0.699341 0.24291 +#45373 1721122092720 +SLAM -1.62511 15.813 16.2109 0.646343 0.00134141 0.0292449 0.762485 +TTool-pose None -3.47873 -7.44498 16.3353 -0.609523 0.282008 -0.699826 0.243219 +#45374 1721122092755 +SLAM -1.61694 15.8209 16.2402 0.647254 0.0011142 0.0293376 0.761709 +TTool-pose None -3.48736 -7.43425 16.3566 -0.609841 0.281356 -0.700135 0.242286 +#45375 1721122092793 +SLAM -1.61729 15.8151 16.2418 0.647239 0.00110771 0.0295425 0.761714 +TTool-pose None -3.49337 -7.43433 16.3495 -0.609703 0.281434 -0.700248 0.242219 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-0.609716 0.2815 -0.700048 0.242685 +#45382 1721122093053 +SLAM -1.6179 15.8182 16.2418 0.64719 0.00125059 0.0294177 0.76176 +TTool-pose None -3.49105 -7.43815 16.3515 -0.60972 0.281355 -0.700203 0.242398 +#45383 1721122093092 +SLAM -1.61899 15.8146 16.2256 0.646804 0.00115078 0.0295244 0.762083 +TTool-pose None -3.49136 -7.43734 16.3431 -0.609556 0.281791 -0.700095 0.242613 +#45384 1721122093127 +SLAM -1.62437 15.8132 16.2374 0.647187 0.00126442 0.0294649 0.761761 +TTool-pose None -3.48596 -7.43327 16.3472 -0.609683 0.281363 -0.700233 0.242392 +#45385 1721122093164 +SLAM -1.62061 15.8169 16.2017 0.645958 0.00141242 0.029117 0.762817 +TTool-pose None -3.48021 -7.45397 16.3331 -0.609456 0.282273 -0.699636 0.24363 +#45386 1721122093200 +SLAM -1.62796 15.8136 16.2293 0.646868 0.00149198 0.0292744 0.762038 +TTool-pose None -3.47955 -7.44117 16.3425 -0.609626 0.281457 -0.70008 0.242873 +#45387 1721122093238 +SLAM -1.6222 15.8116 16.2045 0.646366 0.00115434 0.0295732 0.762453 +TTool-pose None -3.48913 -7.43475 16.3349 -0.609378 0.282196 -0.699968 0.242959 +#45388 1721122093271 +SLAM -1.62106 15.815 16.2104 0.646307 0.00131435 0.0293227 0.762513 +TTool-pose None -3.48498 -7.44569 16.3363 -0.609469 0.282079 -0.69985 0.243203 +#45389 1721122093309 +SLAM -1.62196 15.8124 16.2293 0.646893 0.00131506 0.0294564 0.762011 +TTool-pose None -3.48869 -7.43786 16.3416 -0.609574 0.281594 -0.700139 0.242671 +#45390 1721122093350 +SLAM -1.61986 15.817 16.2283 0.646911 0.00120979 0.0294312 0.761996 +TTool-pose None -3.48853 -7.43654 16.3473 -0.609633 0.281633 -0.700098 0.242597 +#45391 1721122093390 +SLAM -1.61855 15.8195 16.2149 0.64645 0.00118206 0.0292498 0.762394 +TTool-pose None -3.48339 -7.44458 16.3436 -0.60961 0.282009 -0.699817 0.243026 +#45392 1721122093430 +SLAM -1.62455 15.8146 16.2272 0.646875 0.00139079 0.0292423 0.762034 +TTool-pose None -3.48034 -7.43864 16.3444 -0.609684 0.281502 -0.700031 0.242813 +#45393 1721122093468 +SLAM -1.61373 15.8203 16.2277 0.646928 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1721122119673 +SLAM -1.69173 15.7909 16.6665 0.657853 -8.95555e-05 0.0312031 0.7525 +TTool-pose None -3.46426 -7.37776 16.4742 -0.612478 0.273044 -0.704597 0.231986 +#46108 1721122119705 +SLAM -1.69218 15.7932 16.5031 0.652294 0.000228329 0.0308482 0.757338 +TTool-pose None -3.45389 -7.46253 16.3892 -0.6108 0.277794 -0.702534 0.236975 +#46109 1721122119740 +SLAM -1.70322 15.7883 16.7129 0.659248 3.45936e-05 0.031158 0.75128 +TTool-pose None -3.45409 -7.36322 16.4932 -0.612915 0.271683 -0.705097 0.230908 +#46110 1721122119778 +SLAM 1.62661 12.1622 8.44251 0.288528 -0.0730576 0.0807835 0.951256 +TTool-pose None -6.60412 -8.60611 10.7438 -0.446869 0.588492 -0.539459 0.403675 +#46111 1721122119820 +SLAM -1.68329 15.7941 16.5316 0.653173 -0.00016795 0.0313406 0.75656 +TTool-pose None -3.47355 -7.44784 16.4029 -0.610897 0.277381 -0.703008 0.235804 +#46112 1721122119858 +SLAM -1.68184 15.7922 16.4795 0.651453 -0.000247371 0.0312523 0.758045 +TTool-pose None -3.46976 -7.47092 16.3753 -0.610421 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None -3.46804 -7.43456 16.404 -0.611007 0.277305 -0.702931 0.235836 +#46119 1721122120117 +SLAM -1.69356 15.7888 16.6904 0.659054 -8.0985e-05 0.0311011 0.751452 +TTool-pose None -3.45934 -7.34903 16.4932 -0.61293 0.271913 -0.704959 0.231017 +#46120 1721122120149 +SLAM -1.68179 15.79 16.464 0.651763 -0.000126015 0.0310619 0.757786 +TTool-pose None -3.4645 -7.44347 16.3818 -0.610607 0.278548 -0.702359 0.237108 +#46121 1721122120182 +SLAM -1.68867 15.7888 16.4636 0.651797 -4.60008e-05 0.0310097 0.757759 +TTool-pose None -3.45704 -7.44232 16.3814 -0.610625 0.278455 -0.702366 0.237151 +#46122 1721122120216 +SLAM -1.69124 15.7881 16.6357 0.657594 -0.000293021 0.0314735 0.752714 +TTool-pose None -3.46929 -7.3558 16.4703 -0.612285 0.27348 -0.7046 0.231971 +#46123 1721122120255 +SLAM -1.68821 15.7886 16.4176 0.65032 -0.000106821 0.0311821 0.75902 +TTool-pose None -3.46125 -7.45958 16.3584 -0.610048 0.279872 -0.701923 0.238276 +#46124 1721122120290 +SLAM -1.69458 15.7846 16.4866 0.652372 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-0.610161 0.278736 -0.70304 0.236015 +#46234 1721122124290 +SLAM -1.70572 15.7604 16.4601 0.65251 -0.0006259 0.03226 0.757093 +TTool-pose None -3.47008 -7.39491 16.3664 -0.610228 0.27852 -0.703166 0.23572 +#46235 1721122124325 +SLAM -1.70238 15.7616 16.4016 0.650748 -0.000573602 0.0323508 0.758604 +TTool-pose None -3.47587 -7.41303 16.3408 -0.609574 0.280104 -0.702611 0.237186 +#46236 1721122124361 +SLAM -1.71517 15.7564 16.3908 0.650435 -0.000407344 0.0325173 0.758866 +TTool-pose None -3.47054 -7.41528 16.3302 -0.609303 0.280336 -0.70265 0.237493 +#46237 1721122124395 +SLAM -1.74055 15.7433 16.3834 0.650244 -0.000447522 0.0332654 0.758997 +TTool-pose None -3.46809 -7.41072 16.3128 -0.608758 0.280748 -0.703007 0.23735 +#46238 1721122124428 +SLAM -1.7681 15.7405 16.3753 0.650565 -0.000111481 0.0337307 0.758701 +TTool-pose None -3.46007 -7.38812 16.3153 -0.608439 0.280391 -0.703499 0.237129 +#46239 1721122124464 +SLAM -1.79584 15.7236 16.4061 0.65178 -0.000257513 0.03473 0.757613 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1721122124907 +SLAM -1.85095 15.7043 16.3971 0.652006 -4.57853e-05 0.0364169 0.757339 +TTool-pose None -3.46358 -7.32986 16.2971 -0.607103 0.279822 -0.705599 0.234976 +#46252 1721122124941 +SLAM -1.86441 15.6984 16.3327 0.650154 0.00051915 0.0358424 0.758957 +TTool-pose None -3.43809 -7.35142 16.2651 -0.606685 0.280989 -0.704785 0.237097 +#46253 1721122124978 +SLAM -1.87363 15.689 16.3836 0.65152 0.000108759 0.0368269 0.757737 +TTool-pose None -3.45542 -7.3345 16.2732 -0.606618 0.280285 -0.705714 0.235329 +#46254 1721122125018 +SLAM -1.90005 15.6783 16.3296 0.650294 0.000177529 0.0377181 0.758746 +TTool-pose None -3.4566 -7.32847 16.2443 -0.6056 0.281603 -0.70582 0.23606 +#46255 1721122125056 +SLAM -1.9294 15.6668 16.477 0.655183 -5.53109e-05 0.0387684 0.754475 +TTool-pose None -3.4607 -7.25553 16.3049 -0.606575 0.27762 -0.708086 0.231439 +#46256 1721122125096 +SLAM -2.00935 15.5152 14.785 0.606482 0.0118843 0.024752 0.794623 +TTool-pose None -3.07575 -7.69785 15.5554 -0.595109 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None -3.4738 -7.30309 16.2329 -0.604803 0.281484 -0.707038 0.234595 +#46263 1721122125362 +SLAM -1.9367 15.6708 16.3296 0.650586 0.000127806 0.0390351 0.758429 +TTool-pose None -3.46112 -7.30834 16.2393 -0.604836 0.281743 -0.706675 0.235293 +#46264 1721122125395 +SLAM -1.95308 15.6605 16.5049 0.656455 -2.58363e-05 0.0398883 0.75331 +TTool-pose None -3.47382 -7.22136 16.316 -0.606231 0.276763 -0.709193 0.229973 +#46265 1721122125431 +SLAM -1.94358 15.6616 16.3088 0.649911 0.000289574 0.0391744 0.759 +TTool-pose None -3.46013 -7.31553 16.2194 -0.604466 0.282293 -0.706567 0.235906 +#46266 1721122125467 +SLAM -1.94484 15.6585 16.3884 0.652384 0.000118296 0.0394584 0.756861 +TTool-pose None -3.46739 -7.28501 16.2521 -0.605145 0.280247 -0.707556 0.233632 +#46267 1721122125502 +SLAM -1.94107 15.6579 16.3498 0.650982 0.000193039 0.0394141 0.758069 +TTool-pose None -3.46993 -7.3074 16.2297 -0.604691 0.281454 -0.707057 0.234864 +#46268 1721122125537 +SLAM -1.95625 15.6599 16.5113 0.656738 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None -3.40282 -7.27866 16.2583 -0.604022 0.278999 -0.709042 0.233523 +#46292 1721122126439 +SLAM -2.03598 15.6694 16.3709 0.651699 0.00177944 0.0394343 0.75745 +TTool-pose None -3.40113 -7.30959 16.2494 -0.604367 0.279861 -0.707825 0.23529 +#46293 1721122126476 +SLAM -2.00628 15.6794 16.3566 0.6511 0.00167164 0.0384282 0.758017 +TTool-pose None -3.39697 -7.32696 16.2526 -0.604878 0.280181 -0.706992 0.236095 +#46294 1721122126516 +SLAM -1.96924 15.6935 16.398 0.652542 0.00164803 0.037617 0.756816 +TTool-pose None -3.40911 -7.31058 16.2899 -0.605897 0.278663 -0.707024 0.235182 +#46295 1721122126557 +SLAM -1.96693 15.7012 16.3471 0.651143 0.00150064 0.037088 0.758047 +TTool-pose None -3.39112 -7.32452 16.2806 -0.605843 0.279864 -0.706174 0.236448 +#46296 1721122126592 +SLAM -1.9687 15.6916 16.5049 0.656379 0.0013965 0.0376159 0.753492 +TTool-pose None -3.40808 -7.24869 16.3487 -0.607231 0.275335 -0.708295 0.231811 +#46297 1721122126630 +SLAM -1.96899 15.6916 16.3572 0.651229 0.00168413 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-3.39248 -7.26854 16.4033 -0.609105 0.273126 -0.707674 0.231403 +#46321 1721122127561 +SLAM -1.87727 15.7403 16.3769 0.651019 0.00160483 0.034027 0.758297 +TTool-pose None -3.38653 -7.37947 16.3195 -0.607801 0.279037 -0.704376 0.237757 +#46322 1721122127604 +SLAM -1.86215 15.7425 16.3806 0.65085 0.00151312 0.0341765 0.758435 +TTool-pose None -3.40545 -7.38874 16.3169 -0.607678 0.279287 -0.704375 0.237782 +#46323 1721122127644 +SLAM -1.87504 15.7297 16.5543 0.656843 0.00105965 0.0347644 0.753225 +TTool-pose None -3.40784 -7.29385 16.397 -0.609393 0.274301 -0.706688 0.232264 +#46324 1721122127682 +SLAM -1.88668 15.7364 16.3766 0.651123 0.00150941 0.0345372 0.758185 +TTool-pose None -3.39197 -7.37111 16.3166 -0.607529 0.279147 -0.704681 0.237419 +#46325 1721122127721 +SLAM -1.89668 15.7278 16.3851 0.651471 0.00146247 0.0351473 0.757857 +TTool-pose None -3.40074 -7.35986 16.3119 -0.607254 0.279036 -0.705146 0.236873 +#46326 1721122127757 +SLAM -1.90494 15.7224 16.3607 0.650581 0.00151089 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1721122128214 +SLAM -1.91446 15.7236 16.3902 0.652017 0.0016068 0.0353708 0.757377 +TTool-pose None -3.39209 -7.34071 16.317 -0.607234 0.278521 -0.705516 0.236429 +#46339 1721122128250 +SLAM -1.92129 15.7196 16.5031 0.655637 0.00157957 0.0352499 0.754251 +TTool-pose None -3.38335 -7.29556 16.3684 -0.608502 0.275225 -0.706713 0.233432 +#46340 1721122128286 +SLAM -1.91348 15.7232 16.5255 0.656469 0.00140219 0.0355799 0.753513 +TTool-pose None -3.39983 -7.27899 16.3842 -0.608613 0.27467 -0.707141 0.232497 +#46341 1721122128325 +SLAM -1.91597 15.716 16.4042 0.652435 0.00149758 0.0355336 0.757009 +TTool-pose None -3.39413 -7.334 16.3155 -0.6073 0.278255 -0.705724 0.235949 +#46342 1721122128362 +SLAM -1.91119 15.7243 16.4481 0.653718 0.00136361 0.0355912 0.7559 +TTool-pose None -3.40031 -7.32202 16.3426 -0.607726 0.277193 -0.706168 0.234771 +#46343 1721122128400 +SLAM -1.91636 15.7185 16.5874 0.658356 0.0011717 0.0356394 0.751861 +TTool-pose None -3.39668 -7.25609 16.409 -0.609262 0.273105 -0.707763 0.230739 +#46344 1721122128436 +SLAM -1.90498 15.7183 16.362 0.651032 0.00128469 0.0353941 0.758224 +TTool-pose None -3.39652 -7.35294 16.2976 -0.607007 0.27961 -0.705078 0.237031 +#46345 1721122128475 +SLAM -1.90774 15.7244 16.5066 0.655883 0.00113731 0.0356995 0.754017 +TTool-pose None -3.40504 -7.28411 16.377 -0.608435 0.275396 -0.706922 0.232772 +#46346 1721122128513 +SLAM -1.91208 15.7184 16.3804 0.651444 0.00142733 0.0353741 0.757871 +TTool-pose None -3.3915 -7.35427 16.3028 -0.607106 0.279147 -0.705257 0.236789 +#46347 1721122128552 +SLAM -1.91039 15.7238 16.4902 0.655228 0.00117656 0.0356381 0.754589 +TTool-pose None -3.40066 -7.29692 16.3662 -0.60825 0.275949 -0.706669 0.233369 +#46348 1721122128591 +SLAM -1.907 15.7236 16.4094 0.652506 0.00138953 0.0354578 0.756952 +TTool-pose None -3.39959 -7.33686 16.324 -0.607411 0.278234 -0.705671 0.235848 +#46349 1721122128628 +SLAM -1.91496 15.7268 16.5116 0.656054 0.0012358 0.0355602 0.753874 +TTool-pose None -3.39505 -7.28343 16.3826 -0.608549 0.27514 -0.706932 0.232744 +#46350 1721122128666 +SLAM -1.90166 12.1904 24.0444 0.88951 -0.0108026 0.0623691 0.452509 +TTool-pose None -4.24633 -1.79101 18.2908 0.6393 -0.0148751 0.766843 0.0389361 +#46351 1721122128703 +SLAM -1.90116 15.7298 16.4097 0.652467 0.00121706 0.0355334 0.756983 +TTool-pose None -3.40564 -7.33847 16.3296 -0.607407 0.278395 -0.705647 0.235741 +#46352 1721122128745 +SLAM -1.92569 15.7144 16.605 0.659026 0.00131017 0.0356744 0.751272 +TTool-pose None -3.39073 -7.24438 16.4154 -0.609406 0.27242 -0.708062 0.230252 +#46353 1721122128781 +SLAM -1.91765 15.7203 16.4014 0.652187 0.00131421 0.0356117 0.75722 +TTool-pose None -3.39248 -7.34168 16.3159 -0.60723 0.278612 -0.705624 0.236008 +#46354 1721122128819 +SLAM -1.91249 15.7199 16.4007 0.652267 0.00119989 0.0359542 0.757135 +TTool-pose None -3.4069 -7.33476 16.3161 -0.607068 0.278707 -0.705815 0.23574 +#46355 1721122128857 +SLAM -1.92281 15.7145 16.5241 0.656114 0.00112081 0.0361039 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-0.308536 12.776 21.3914 0.54337 0.578529 -0.0497965 0.606278 +TTool-pose None -1.92438 -14.4582 10.4581 -0.351481 -0.155196 -0.71471 0.584426 +#46508 1721122134136 +SLAM -0.346759 12.7986 21.3217 0.542101 0.576183 -0.0489382 0.609709 +TTool-pose None -1.95025 -14.4572 10.4058 -0.352055 -0.150852 -0.714835 0.585066 +#46509 1721122134171 +SLAM -0.407346 12.8214 21.2266 0.544172 0.570155 -0.0463469 0.61372 +TTool-pose None -2.10088 -14.3858 10.3953 -0.354953 -0.144523 -0.717202 0.582007 +#46510 1721122134204 +SLAM -0.319806 12.9048 21.2285 0.550156 0.564223 -0.0480922 0.613733 +TTool-pose None -2.2468 -14.3518 10.5605 -0.361716 -0.143566 -0.71817 0.576864 +#46511 1721122134238 +SLAM -0.236771 12.9695 21.2315 0.553909 0.559636 -0.0502206 0.614386 +TTool-pose None -2.31897 -14.3483 10.6715 -0.367131 -0.142355 -0.718105 0.573817 +#46512 1721122134272 +SLAM -0.455827 12.9787 20.9582 0.550194 0.550924 -0.0428667 0.626044 +TTool-pose None -2.49923 -14.2562 10.4393 -0.366809 -0.12595 -0.721343 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None -7.8329 -9.19395 15.2921 -0.58529 0.179532 -0.727095 0.310664 +#46550 1721122135616 +SLAM 1.91006 15.717 17.6112 0.666617 0.113075 0.013849 0.736644 +TTool-pose None -7.94037 -8.79903 15.365 -0.585132 0.186396 -0.730292 0.299204 +#46551 1721122135653 +SLAM 1.96953 15.7774 17.7195 0.668144 0.109703 0.0134553 0.735777 +TTool-pose None -7.94819 -8.83351 15.4766 -0.587186 0.187205 -0.729683 0.296144 +#46552 1721122135687 +SLAM 1.98955 15.8032 17.8067 0.669282 0.104703 0.0155699 0.73543 +TTool-pose None -7.97909 -8.82076 15.5405 -0.588101 0.190256 -0.729986 0.2916 +#46553 1721122135727 +SLAM 1.93214 15.7887 17.895 0.6753 0.0985231 0.0187566 0.730693 +TTool-pose None -7.97154 -8.56203 15.6861 -0.590259 0.189825 -0.732223 0.281744 +#46554 1721122135760 +SLAM 1.88433 15.7907 17.8708 0.675042 0.0919536 0.0218719 0.7317 +TTool-pose None -7.95357 -8.46801 15.72 -0.590655 0.195492 -0.732188 0.27709 +#46555 1721122135792 +SLAM 1.97436 15.8162 17.742 0.671542 0.0835457 0.0198732 0.735973 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1721122137409 +SLAM -0.353295 15.7506 16.265 0.648715 0.00410254 0.0359059 0.760173 +TTool-pose None -5.00263 -7.29152 16.2021 -0.604936 0.280146 -0.705442 0.240589 +#46604 1721122137441 +SLAM -0.357428 15.7427 16.3632 0.652683 0.00394677 0.0359978 0.756765 +TTool-pose None -5.00044 -7.21486 16.257 -0.606229 0.27669 -0.706856 0.237156 +#46605 1721122137476 +SLAM -0.358621 15.7462 16.3198 0.65154 0.00461892 0.0364969 0.757722 +TTool-pose None -5.02457 -7.2212 16.2371 -0.605291 0.27746 -0.706953 0.238357 +#46606 1721122137510 +SLAM -0.400304 15.7454 16.1592 0.645924 0.00877355 0.0353232 0.762534 +TTool-pose None -5.00488 -7.33684 16.133 -0.602785 0.279654 -0.705569 0.246124 +#46607 1721122137543 +SLAM -0.308164 15.8525 16.6086 0.651416 0.018831 0.0278099 0.757977 +TTool-pose None -5.0187 -7.67034 16.2486 -0.606064 0.266398 -0.706255 0.250769 +#46608 1721122137576 +SLAM -0.428855 15.7406 16.5928 0.655134 0.0227614 0.0330605 0.754446 +TTool-pose None -5.12026 -7.45849 16.1621 -0.602412 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1721122138690 +SLAM 0.55192 15.1123 18.2876 0.646609 0.17123 -0.00727722 0.743319 +TTool-pose None -6.1283 -10.4029 14.2965 -0.569013 0.156051 -0.725339 0.354591 +#46639 1721122138722 +SLAM 0.345914 15.0057 17.9569 0.640347 0.177894 0.000228612 0.747201 +TTool-pose None -6.26104 -10.258 13.995 -0.559322 0.159107 -0.729214 0.360655 +#46640 1721122138755 +SLAM 0.47549 15.0124 18.4048 0.641133 0.199841 -0.0107881 0.740875 +TTool-pose None -6.07982 -10.8069 13.9277 -0.557413 0.138079 -0.727899 0.374659 +#46641 1721122138786 +SLAM 0.485297 14.7767 18.7266 0.647416 0.226954 -0.014618 0.727414 +TTool-pose None -6.07075 -10.9244 13.7263 -0.550094 0.109707 -0.733652 0.383534 +#46642 1721122138821 +#46643 1721122138854 +#46644 1721122138887 +SLAM 0.746781 14.6309 18.7261 0.643964 0.266642 -0.0198931 0.71681 +TTool-pose None -6.33332 -11.2339 13.2666 -0.534465 0.0785372 -0.737176 0.405874 +#46645 1721122138919 +#46646 1721122138947 +#46647 1721122138978 +#46648 1721122139017 +#46649 1721122139049 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-0.423762 -0.057724 -0.733037 0.528903 +#46663 1721122139492 +SLAM 2.90304 15.6476 17.1445 0.586308 0.470469 -0.0399579 0.65826 +TTool-pose None -8.72936 -13.7944 10.7281 -0.424401 -0.068262 -0.732135 0.528385 +#46664 1721122139524 +SLAM 2.65412 15.5695 16.9556 0.579314 0.470296 -0.0328822 0.664933 +TTool-pose None -8.73859 -13.7023 10.4502 -0.417783 -0.0591788 -0.734069 0.532059 +#46665 1721122139561 +SLAM 2.63389 15.5484 17.079 0.578902 0.476675 -0.0365446 0.660543 +TTool-pose None -8.54378 -13.8067 10.4918 -0.416335 -0.0668744 -0.732118 0.534962 +#46666 1721122139597 +SLAM 2.58931 15.5372 17.0998 0.577799 0.479226 -0.0375866 0.659605 +TTool-pose None -8.45602 -13.833 10.4924 -0.415178 -0.0689647 -0.731262 0.536764 +#46667 1721122139627 +SLAM 2.57153 15.5214 17.1876 0.579408 0.480226 -0.0370022 0.657496 +TTool-pose None -8.43647 -13.8312 10.521 -0.414752 -0.0713017 -0.732251 0.535439 +#46668 1721122139662 +SLAM 2.54106 15.5084 17.21 0.579017 0.481639 -0.0373578 0.656785 +TTool-pose None -8.38552 -13.8403 10.5215 -0.414038 -0.0725896 -0.731988 0.536177 +#46669 1721122139696 +SLAM 2.49204 15.4853 17.2111 0.577127 0.484152 -0.0374828 0.656595 +TTool-pose None -8.31252 -13.8692 10.4733 -0.412063 -0.0736096 -0.731414 0.538338 +#46670 1721122139731 +SLAM 2.38838 15.4455 17.144 0.573889 0.485498 -0.0357194 0.658534 +TTool-pose None -8.2698 -13.8496 10.3656 -0.409128 -0.0714863 -0.73146 0.540795 +#46671 1721122139769 +SLAM 2.42975 15.4593 17.2227 0.576514 0.485366 -0.0365006 0.656292 +TTool-pose None -8.27952 -13.8528 10.4458 -0.410544 -0.074013 -0.731886 0.538802 +#46672 1721122139802 +SLAM 2.39359 15.4424 17.2151 0.575976 0.485735 -0.0357894 0.65653 +TTool-pose None -8.26787 -13.8374 10.4209 -0.409708 -0.07367 -0.732161 0.539111 +#46673 1721122139836 +SLAM 2.38892 15.4412 17.2217 0.575677 0.486485 -0.0363989 0.656204 +TTool-pose None -8.23895 -13.8498 10.426 -0.409564 -0.0744212 -0.731727 0.539707 +#46674 1721122139872 +SLAM 2.41998 15.4506 17.2732 0.577571 0.486061 -0.0367464 0.654833 +TTool-pose None -8.25502 -13.8479 10.4792 -0.410637 -0.0758186 -0.732144 0.538129 +#46675 1721122139905 +SLAM 2.38639 15.4377 17.2539 0.575888 0.487239 -0.0368208 0.655436 +TTool-pose None -8.20954 -13.8649 10.4398 -0.409463 -0.0755787 -0.731586 0.539814 +#46676 1721122139939 +SLAM 2.38715 15.441 17.2523 0.577168 0.485364 -0.0357225 0.655761 +TTool-pose None -8.26529 -13.8213 10.4585 -0.410264 -0.0743351 -0.732595 0.538008 +#46677 1721122139972 +SLAM 2.41049 15.4472 17.2776 0.577583 0.485936 -0.0368999 0.654907 +TTool-pose None -8.24045 -13.8436 10.4874 -0.41081 -0.0757482 -0.732046 0.538141 +#46678 1721122140005 +SLAM 2.40854 15.4497 17.2626 0.577579 0.484755 -0.0366748 0.655797 +TTool-pose None -8.25212 -13.8304 10.4901 -0.411349 -0.0743899 -0.73211 0.537831 +#46679 1721122140039 +SLAM 2.42047 15.4561 17.2761 0.57792 0.484642 -0.0371544 0.655553 +TTool-pose None -8.24533 -13.8385 10.5102 -0.411826 -0.0747492 -0.731924 0.537668 +#46680 1721122140078 +SLAM 2.3606 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+#46686 1721122140306 +SLAM 2.37733 15.4411 17.1705 0.577459 0.478103 -0.0332978 0.660946 +TTool-pose None -8.36086 -13.7322 10.4488 -0.412998 -0.0659441 -0.733718 0.535473 +#46687 1721122140342 +SLAM 2.3843 15.4499 17.1528 0.578363 0.475948 -0.0320186 0.661774 +TTool-pose None -8.42896 -13.6922 10.4557 -0.41371 -0.0640201 -0.734674 0.533843 +#46688 1721122140374 +SLAM 2.50465 15.4764 17.2616 0.580876 0.47875 -0.0386021 0.657185 +TTool-pose None -8.30579 -13.7799 10.6169 -0.41708 -0.0716302 -0.731672 0.534377 +#46689 1721122140408 +SLAM 2.44598 15.4666 17.1819 0.57988 0.474637 -0.0333598 0.661321 +TTool-pose None -8.43858 -13.7051 10.5127 -0.415799 -0.0644739 -0.734285 0.5327 +#46690 1721122140442 +SLAM 2.46639 15.474 17.1821 0.579827 0.474432 -0.0340976 0.661477 +TTool-pose None -8.42927 -13.7215 10.5237 -0.416366 -0.0644657 -0.733797 0.53293 +#46691 1721122140477 +SLAM 2.50922 15.4976 17.1805 0.582462 0.470941 -0.0332546 0.6617 +TTool-pose None -8.53216 -13.6602 10.5849 -0.418667 -0.062865 -0.734985 0.529671 +#46692 1721122140511 +SLAM 2.45272 15.4792 17.1017 0.579299 0.470923 -0.0317299 0.664558 +TTool-pose None -8.52146 -13.6632 10.4816 -0.416692 -0.0594281 -0.73482 0.531851 +#46693 1721122140545 +SLAM 2.49997 15.5035 17.1063 0.581739 0.467665 -0.0309514 0.664764 +TTool-pose None -8.61762 -13.6152 10.5373 -0.418832 -0.0579329 -0.735911 0.528817 +#46694 1721122140581 +SLAM 2.50043 15.5111 17.0562 0.579647 0.467765 -0.0320221 0.666468 +TTool-pose None -8.57865 -13.6495 10.5105 -0.418779 -0.0565058 -0.734526 0.530934 +#46695 1721122140615 +SLAM 2.58246 15.5403 17.1108 0.583137 0.465175 -0.0337974 0.665147 +TTool-pose None -8.61259 -13.63 10.6363 -0.422496 -0.0575723 -0.734456 0.527963 +#46696 1721122140648 +SLAM 2.66029 15.5727 17.1782 0.586615 0.462388 -0.0352934 0.663954 +TTool-pose None -8.64476 -13.6169 10.7645 -0.426132 -0.0583453 -0.734527 0.524849 +#46697 1721122140684 +SLAM 2.63045 15.5754 17.1365 0.585762 0.460725 -0.0354035 0.665855 +TTool-pose None -8.62725 -13.5929 10.7721 -0.426866 -0.0558548 -0.734032 0.525216 +#46698 1721122140722 +SLAM 2.61309 15.5696 17.161 0.587137 0.458139 -0.0355499 0.66642 +TTool-pose None -8.61104 -13.5475 10.835 -0.428853 -0.054456 -0.734213 0.523488 +#46699 1721122140757 +SLAM 2.57512 15.5353 17.241 0.589914 0.455916 -0.0342867 0.665557 +TTool-pose None -8.60638 -13.4763 10.8918 -0.430186 -0.0542373 -0.735775 0.520213 +#46700 1721122140796 +SLAM 2.57187 15.555 17.263 0.592755 0.44859 -0.0341799 0.668012 +TTool-pose None -8.62704 -13.3834 11.0301 -0.435113 -0.0491914 -0.736207 0.515988 +#46701 1721122140834 +SLAM 2.52888 15.5291 17.3458 0.595116 0.445478 -0.034872 0.66796 +TTool-pose None -8.54826 -13.3273 11.1364 -0.438031 -0.0483898 -0.736323 0.513424 +#46702 1721122140869 +SLAM 2.38732 15.4746 17.3436 0.594859 0.440275 -0.0314442 0.671797 +TTool-pose None -8.51096 -13.2213 11.1224 -0.438651 -0.0416033 -0.737881 0.511247 +#46703 1721122140908 +SLAM 2.23889 15.4271 17.4215 0.599311 0.42839 -0.0205678 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-10.5521 13.6641 -0.532194 0.101496 -0.739978 0.398602 +#46728 1721122141818 +SLAM 1.41513 15.4698 17.2922 0.639244 0.239734 -0.00258965 0.730677 +TTool-pose None -8.01946 -10.3146 13.7023 -0.534023 0.110782 -0.740721 0.392253 +#46729 1721122141853 +SLAM 1.52325 15.5138 17.2999 0.6411 0.232007 -0.00259144 0.731544 +TTool-pose None -8.07577 -10.2534 13.8172 -0.538065 0.115339 -0.739777 0.387164 +#46730 1721122141891 +SLAM 1.73548 15.5871 17.2562 0.647172 0.214385 -0.00135343 0.731577 +TTool-pose None -8.23956 -9.94759 14.1024 -0.546962 0.124232 -0.738894 0.373384 +#46731 1721122141929 +SLAM 1.86119 15.6524 17.2029 0.645913 0.207636 -0.00293857 0.734626 +TTool-pose None -8.25968 -9.96593 14.1883 -0.550521 0.13019 -0.736035 0.371768 +#46732 1721122141968 +SLAM 1.9218 15.6574 17.1406 0.650425 0.195234 0.00169902 0.734049 +TTool-pose None -8.4067 -9.63875 14.3339 -0.554287 0.137169 -0.737621 0.360342 +#46733 1721122142003 +SLAM 2.08405 15.7397 17.1232 0.647868 0.189406 -0.0015335 0.737828 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1721122142905 +SLAM 1.37329 15.8453 16.7664 0.656823 0.0392223 0.0260013 0.752575 +TTool-pose None -6.93107 -7.72771 16.0424 -0.601768 0.248234 -0.713289 0.25969 +#46758 1721122142942 +SLAM 1.32977 15.8453 16.7491 0.653379 0.0364926 0.0261899 0.755698 +TTool-pose None -6.85197 -7.83775 16.0024 -0.601507 0.253142 -0.711371 0.260814 +#46759 1721122142980 +SLAM 1.18067 15.8023 16.8335 0.659782 0.0328888 0.0290357 0.750175 +TTool-pose None -6.74703 -7.58365 16.1002 -0.602984 0.250416 -0.7142 0.252156 +#46760 1721122143019 +SLAM 3.14956 16.2338 22.5137 0.747084 0.0706121 -0.0597058 0.658267 +TTool-pose None -5.61593 -9.93549 19.1216 -0.67092 0.109984 -0.698115 0.224394 +#46761 1721122143059 +SLAM 0.968777 15.8624 16.7476 0.654847 0.028803 0.0271064 0.754726 +TTool-pose None -6.41617 -7.71237 16.1425 -0.604124 0.256906 -0.710106 0.254455 +#46762 1721122143096 +SLAM 0.808276 15.7941 16.519 0.654271 0.0227432 0.0332066 0.755188 +TTool-pose None -6.36118 -7.4039 16.1112 -0.602042 0.262969 -0.711627 0.248881 +#46763 1721122143131 +SLAM 0.770024 15.8133 16.6182 0.657403 0.0201627 0.0326585 0.752561 +TTool-pose None -6.27075 -7.35785 16.2081 -0.604329 0.261559 -0.711614 0.244825 +#46764 1721122143169 +SLAM 0.727152 15.8297 16.54 0.654012 0.0187576 0.0321019 0.75557 +TTool-pose None -6.18871 -7.42732 16.188 -0.604093 0.265345 -0.709665 0.246982 +#46765 1721122143208 +SLAM 1.77322 16.2954 19.8518 0.698495 0.0386452 -0.00611998 0.714544 +TTool-pose None -6.15843 -9.20176 17.4774 -0.635773 0.199379 -0.707867 0.234347 +#46766 1721122143245 +SLAM 0.634589 15.861 16.6939 0.657318 0.0148265 0.0304601 0.752852 +TTool-pose None -5.98972 -7.43252 16.3156 -0.607631 0.26428 -0.70865 0.242314 +#46767 1721122143291 +SLAM 0.504146 15.7988 16.4566 0.655509 0.0112578 0.0349634 0.754293 +TTool-pose None -5.94288 -7.20657 16.255 -0.605302 0.269403 -0.709539 0.239886 +#46768 1721122143330 +SLAM 0.491649 15.7934 16.4273 0.654417 0.00932548 0.0353025 0.755252 +TTool-pose None -5.91119 -7.20938 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1721122144217 +SLAM 3.40303 15.7469 18.1046 0.666517 -0.118453 0.23554 0.697312 +TTool-pose None -12.6494 -2.17461 15.4743 -0.507897 0.369744 -0.776066 0.0490761 +#46793 1721122144254 +SLAM 0.484385 15.7813 16.3936 0.652149 0.0050236 0.0362018 0.75721 +TTool-pose None -5.86676 -7.23697 16.2253 -0.605547 0.276582 -0.707124 0.238222 +#46794 1721122144296 +SLAM 0.478823 15.768 16.3676 0.651755 0.00482468 0.0363027 0.757545 +TTool-pose None -5.85979 -7.22431 16.2096 -0.60542 0.277087 -0.706981 0.238384 +#46795 1721122144336 +SLAM 0.488263 15.7778 16.3642 0.651528 0.00476012 0.0362171 0.757745 +TTool-pose None -5.86607 -7.2322 16.216 -0.605425 0.277306 -0.70683 0.238563 +#46796 1721122144374 +SLAM 0.479704 15.7739 16.3394 0.650774 0.00489164 0.0362927 0.758388 +TTool-pose None -5.86112 -7.24015 16.2002 -0.605082 0.277928 -0.706648 0.239246 +#46797 1721122144413 +SLAM 0.474243 15.771 16.3023 0.649691 0.00513887 0.0360196 0.759327 +TTool-pose None -5.84956 -7.25416 16.1822 -0.604823 0.278676 -0.706182 0.240407 +#46798 1721122144448 +SLAM 0.47926 15.7777 16.3396 0.650818 0.00485617 0.0361808 0.758356 +TTool-pose None -5.85676 -7.23988 16.2059 -0.605183 0.277878 -0.706587 0.239229 +#46799 1721122144486 +SLAM 0.485936 15.7757 16.3737 0.651673 0.00477037 0.0364261 0.75761 +TTool-pose None -5.87079 -7.23309 16.2139 -0.60533 0.277228 -0.707007 0.23837 +#46800 1721122144521 +SLAM 0.510579 15.7969 16.3531 0.650858 0.00417397 0.0357237 0.758347 +TTool-pose None -5.86464 -7.25305 16.2308 -0.605736 0.278122 -0.70612 0.238925 +#46801 1721122144557 +SLAM 0.484045 15.7779 16.3842 0.652202 0.00460605 0.0362835 0.757163 +TTool-pose None -5.86211 -7.22141 16.2273 -0.605654 0.276809 -0.707059 0.237877 +#46802 1721122144598 +SLAM 0.48389 15.7755 16.3621 0.651467 0.004706 0.0364953 0.757784 +TTool-pose None -5.86963 -7.22958 16.2116 -0.605238 0.277473 -0.706954 0.238475 +#46803 1721122144634 +SLAM 0.480759 15.7699 16.3361 0.650572 0.00499266 0.0362371 0.758563 +TTool-pose None -5.86164 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None -5.86191 -7.20203 16.1945 -0.604751 0.277753 -0.706877 0.239615 +#46839 1721122145988 +SLAM -4.08577 5.82791 20.5653 -0.177192 0.479657 -0.0270054 0.858954 +TTool-pose None 9.03399 -3.98533 -6.47625 -0.0186789 0.322946 -0.315556 0.892062 +#46840 1721122146025 +SLAM 0.471544 15.7738 16.277 0.650481 0.00531653 0.0365312 0.758625 +TTool-pose None -5.86475 -7.1919 16.1992 -0.604681 0.278004 -0.706817 0.239676 +#46841 1721122146065 +SLAM 0.467786 15.7749 16.281 0.650426 0.00532756 0.0366253 0.758667 +TTool-pose None -5.86444 -7.19767 16.198 -0.604596 0.278073 -0.706856 0.239693 +#46842 1721122146110 +SLAM 0.464047 15.7775 16.2729 0.650392 0.00560213 0.0363682 0.758707 +TTool-pose None -5.85651 -7.19596 16.2009 -0.604661 0.277865 -0.70678 0.239995 +#46843 1721122146144 +SLAM 0.464609 15.7764 16.2748 0.650308 0.0056521 0.0360641 0.758793 +TTool-pose None -5.84814 -7.20457 16.1997 -0.604819 0.277822 -0.706589 0.240209 +#46844 1721122146178 +SLAM 0.471804 15.7743 16.2752 0.650262 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1721122146620 +SLAM 1.46069 15.5927 19.1248 0.714702 -0.0568781 0.142354 0.682423 +TTool-pose None -9.43699 -4.76504 16.6209 -0.571586 0.277199 -0.766068 0.0968971 +#46857 1721122146660 +SLAM 0.470861 15.7701 16.4582 0.654583 0.00506784 0.0364767 0.755092 +TTool-pose None -5.86342 -7.19199 16.2505 -0.606142 0.27443 -0.708158 0.236116 +#46858 1721122146695 +SLAM 0.481077 15.7731 16.3941 0.652161 0.00512557 0.0362017 0.757198 +TTool-pose None -5.86451 -7.23653 16.2167 -0.605516 0.276509 -0.707161 0.238277 +#46859 1721122146732 +SLAM 0.480319 15.7742 16.3649 0.651291 0.00497852 0.0365704 0.75793 +TTool-pose None -5.87273 -7.24091 16.2039 -0.605037 0.277488 -0.707021 0.238769 +#46860 1721122146771 +SLAM 0.483072 15.7695 16.3612 0.651039 0.00500413 0.0363809 0.758155 +TTool-pose None -5.86947 -7.24929 16.1958 -0.605072 0.277646 -0.706829 0.239066 +#46861 1721122146808 +SLAM 0.489355 15.7728 16.3482 0.650782 0.00486062 0.0359409 0.758398 +TTool-pose None -5.85925 -7.25111 16.2002 -0.60533 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None -5.86064 -7.23588 16.1616 -0.6043 0.279941 -0.705788 0.241409 +#46967 1721122150650 +SLAM 0.482056 15.7673 16.2309 0.648234 0.00526096 0.0361245 0.760565 +TTool-pose None -5.86029 -7.24498 16.1593 -0.604232 0.27994 -0.705762 0.241654 +#46968 1721122150689 +SLAM 0.481415 15.7698 16.3067 0.650834 0.00484908 0.0364075 0.758331 +TTool-pose None -5.86427 -7.20318 16.2016 -0.60504 0.277933 -0.706723 0.239127 +#46969 1721122150728 +SLAM 0.483618 15.7686 16.2325 0.648371 0.00494092 0.0365105 0.760433 +TTool-pose None -5.86941 -7.23508 16.1628 -0.604131 0.280121 -0.705935 0.241191 +#46970 1721122150769 +SLAM 0.489215 15.7742 16.225 0.648701 0.00405515 0.0367053 0.760147 +TTool-pose None -5.8676 -7.20664 16.1815 -0.604416 0.280415 -0.705888 0.240273 +#46971 1721122150810 +SLAM 0.486095 15.7659 16.3417 0.651934 0.00457353 0.0367958 0.757368 +TTool-pose None -5.87779 -7.18394 16.2131 -0.605237 0.277217 -0.707253 0.237888 +#46972 1721122150844 +SLAM 0.513386 15.7914 16.3721 0.651805 0.00484812 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1721122151302 +SLAM 0.477027 15.7684 16.3425 0.651473 0.00526717 0.0361203 0.757793 +TTool-pose None -5.85803 -7.21638 16.2061 -0.605296 0.277022 -0.706914 0.238972 +#46985 1721122151340 +SLAM 0.508849 15.7574 16.4228 0.653435 0.00347028 0.0364976 0.756094 +TTool-pose None -5.87619 -7.19268 16.2318 -0.606306 0.27644 -0.707262 0.236034 +#46986 1721122151377 +SLAM 0.545525 15.734 16.4229 0.652044 0.000302819 0.0375246 0.757252 +TTool-pose None -5.89735 -7.217 16.1988 -0.606259 0.279895 -0.706368 0.234758 +#46987 1721122151422 +SLAM 0.554733 15.7386 16.4188 0.652128 0.000880094 0.0368194 0.757214 +TTool-pose None -5.89264 -7.22023 16.2054 -0.606557 0.279271 -0.70617 0.235326 +#46988 1721122151457 +SLAM 0.539787 15.7331 16.402 0.651951 0.0013332 0.0367702 0.757368 +TTool-pose None -5.88204 -7.21473 16.1964 -0.606376 0.279145 -0.706222 0.235786 +#46989 1721122151490 +SLAM 0.544615 15.7369 16.3036 0.64828 0.00120037 0.0369067 0.760506 +TTool-pose None -5.88741 -7.27333 16.1436 -0.605127 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-5.87659 -7.22007 16.1776 -0.606025 0.280073 -0.705807 0.236829 +#46996 1721122151749 +SLAM 10.373 4.14597 6.3083 -0.101564 -0.207825 0.0478808 0.9717 +TTool-pose None -11.9465 -6.03591 9.54498 -0.287146 0.806109 -0.230559 0.46321 +#46997 1721122151783 +SLAM 0.582338 15.7622 16.4567 0.651559 0.00100315 0.0356561 0.757758 +TTool-pose None -5.88807 -7.29651 16.2179 -0.607102 0.279378 -0.705329 0.236312 +#46998 1721122151819 +SLAM 0.541887 15.7295 16.4283 0.651432 0.00116501 0.0372086 0.757793 +TTool-pose None -5.89702 -7.25688 16.1768 -0.605973 0.279839 -0.70624 0.235945 +#46999 1721122151854 +SLAM 0.531402 15.7193 16.5319 0.654242 0.00101897 0.0369617 0.75538 +TTool-pose None -5.87876 -7.23868 16.2099 -0.607103 0.277315 -0.707043 0.233599 +#47000 1721122151887 +SLAM 0.542384 15.7374 16.4277 0.652274 0.000966334 0.037466 0.757056 +TTool-pose None -5.90263 -7.21735 16.2009 -0.606145 0.279271 -0.706626 0.235019 +#47001 1721122151920 +SLAM 0.55115 15.7249 16.3233 0.648884 0.000788954 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1721122152337 +SLAM 0.538109 15.7349 16.3629 0.650843 0.00165494 0.0365451 0.758331 +TTool-pose None -5.87708 -7.22849 16.1814 -0.606053 0.279887 -0.705799 0.237001 +#47014 1721122152373 +SLAM 0.555602 15.7397 16.2456 0.647019 0.00141157 0.0367874 0.761585 +TTool-pose None -5.89612 -7.27239 16.1297 -0.604717 0.283538 -0.7045 0.239921 +#47015 1721122152407 +SLAM 0.543935 15.7302 16.2621 0.647447 0.0013326 0.0364495 0.761237 +TTool-pose None -5.87239 -7.27242 16.1297 -0.60511 0.283105 -0.704431 0.239642 +#47016 1721122152445 +SLAM 0.551335 15.7368 16.2465 0.646883 0.00159951 0.0362392 0.761726 +TTool-pose None -5.87714 -7.2855 16.1266 -0.604972 0.28339 -0.704191 0.240359 +#47017 1721122152479 +SLAM 0.546347 15.735 16.2643 0.647705 0.00144682 0.0366358 0.761009 +TTool-pose None -5.88269 -7.26309 16.1366 -0.605032 0.282859 -0.704668 0.239433 +#47018 1721122152513 +SLAM 0.544008 15.7322 16.3727 0.651131 0.00105828 0.0371867 0.758053 +TTool-pose None -5.89459 -7.21477 16.183 -0.605926 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-0.588703 15.8317 0.539085 -0.203346 0.814521 0.0646331 +#47025 1721122152772 +SLAM 0.549151 15.7333 16.2825 0.648235 0.00107312 0.0370642 0.760537 +TTool-pose None -5.8939 -7.25129 16.1423 -0.605051 0.28273 -0.704989 0.238593 +#47026 1721122152806 +SLAM 0.549696 15.737 16.2998 0.64878 0.00139024 0.0367271 0.760088 +TTool-pose None -5.8891 -7.25089 16.1536 -0.605345 0.281954 -0.705088 0.238473 +#47027 1721122152838 +SLAM 0.546812 15.7303 16.2711 0.647727 0.00139729 0.0365971 0.760991 +TTool-pose None -5.88119 -7.26806 16.132 -0.605083 0.282857 -0.704638 0.239397 +#47028 1721122152870 +SLAM 0.550899 15.7348 16.2475 0.647161 0.00112897 0.0367942 0.761464 +TTool-pose None -5.88707 -7.26587 16.1299 -0.604857 0.283582 -0.704465 0.239618 +#47029 1721122152903 +SLAM 0.543747 15.7329 16.3297 0.649408 0.00143353 0.0369745 0.759539 +TTool-pose None -5.89245 -7.251 16.1552 -0.605372 0.281434 -0.705469 0.237888 +#47030 1721122152939 +SLAM 0.546043 15.7361 16.304 0.649022 0.00136184 0.0368166 0.759877 +TTool-pose None -5.88787 -7.24374 16.1565 -0.605375 0.281779 -0.705217 0.238221 +#47031 1721122152972 +SLAM 0.546569 15.732 16.2793 0.647858 0.00126789 0.0368836 0.760866 +TTool-pose None -5.88853 -7.26722 16.1339 -0.60498 0.282899 -0.704811 0.239098 +#47032 1721122153005 +SLAM 0.542382 15.7351 16.3574 0.650783 0.00137569 0.0368814 0.758366 +TTool-pose None -5.88769 -7.22026 16.1811 -0.605905 0.280205 -0.705886 0.236744 +#47033 1721122153038 +SLAM 0.551602 15.7369 16.2037 0.645843 0.00119557 0.036914 0.762577 +TTool-pose None -5.89162 -7.27838 16.112 -0.604318 0.284756 -0.704084 0.240704 +#47034 1721122153071 +SLAM 0.54294 15.7319 16.266 0.647541 0.00145701 0.0367327 0.761143 +TTool-pose None -5.88255 -7.27051 16.1296 -0.604911 0.283027 -0.70467 0.239539 +#47035 1721122153106 +SLAM 0.54364 15.7341 16.2637 0.647903 0.00128338 0.0368408 0.76083 +TTool-pose None -5.88385 -7.25088 16.1397 -0.605018 0.282837 -0.704807 0.239087 +#47036 1721122153141 +SLAM 0.541234 15.7337 16.3055 0.648989 0.00167879 0.0365739 0.759916 +TTool-pose None -5.88005 -7.25084 16.1525 -0.605417 0.281549 -0.705164 0.238543 +#47037 1721122153174 +SLAM 0.567214 15.7532 16.274 0.647593 0.000806154 0.0359812 0.761136 +TTool-pose None -5.87438 -7.28154 16.1599 -0.605651 0.283156 -0.704044 0.239353 +#47038 1721122153211 +SLAM 0.545078 15.7338 16.2556 0.64747 0.00148342 0.036628 0.761209 +TTool-pose None -5.88142 -7.26469 16.1321 -0.604948 0.283045 -0.704592 0.239654 +#47039 1721122153242 +SLAM 0.551975 15.7335 16.2254 0.646237 0.00122758 0.0369584 0.76224 +TTool-pose None -5.89442 -7.28214 16.1122 -0.604408 0.284396 -0.704261 0.240383 +#47040 1721122153276 +SLAM 0.546763 15.7362 16.3988 0.651757 0.00126581 0.0369366 0.757527 +TTool-pose None -5.89348 -7.21788 16.1951 -0.606225 0.279408 -0.706229 0.235842 +#47041 1721122153315 +SLAM 0.548735 15.7347 16.2789 0.64793 0.0012933 0.0366022 0.760819 +TTool-pose None -5.88217 -7.26705 16.1398 -0.605182 0.28274 -0.704681 0.23916 +#47042 1721122153347 +SLAM 0.542167 15.735 16.2625 0.647595 0.00164083 0.0364319 0.761111 +TTool-pose None -5.87493 -7.26947 16.1348 -0.605065 0.282782 -0.704572 0.239726 +#47043 1721122153383 +SLAM 0.551839 15.738 16.2862 0.648659 0.000767033 0.0368025 0.760188 +TTool-pose None -5.88371 -7.23799 16.1589 -0.60547 0.282458 -0.704891 0.23814 +#47044 1721122153421 +SLAM 0.529086 15.7291 16.2368 0.646659 0.00216563 0.0364923 0.761903 +TTool-pose None -5.87088 -7.28654 16.1107 -0.604535 0.283322 -0.704437 0.240817 +#47045 1721122153458 +SLAM 0.503716 15.7295 16.3632 0.650624 0.00401182 0.0366121 0.758506 +TTool-pose None -5.88035 -7.25351 16.1535 -0.605125 0.278685 -0.706505 0.238684 +#47046 1721122153497 +SLAM 0.51488 15.7436 16.4628 0.65033 0.00728201 0.0340793 0.758852 +TTool-pose None -5.86368 -7.4114 16.1369 -0.605581 0.276248 -0.70595 0.241979 +#47047 1721122153531 +SLAM 0.41584 15.7003 16.497 0.650666 0.0127107 0.0338828 0.758501 +TTool-pose None -5.83679 -7.46382 16.0582 -0.603935 0.272588 -0.707649 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None -1.56993 -14.7851 9.68659 -0.243189 -0.269955 -0.67007 0.647287 +#48217 1721122192470 +#48218 1721122192507 +SLAM 0.129965 13.1819 20.4614 0.465569 0.710173 -0.0670087 0.52384 +TTool-pose None -1.41755 -14.9326 9.74122 -0.244707 -0.266426 -0.66722 0.65111 +#48219 1721122192541 +#48220 1721122192577 +SLAM 0.13642 13.1581 20.5162 0.470696 0.708022 -0.0651357 0.522406 +TTool-pose None -1.54572 -14.8872 9.80865 -0.246848 -0.267235 -0.6705 0.646585 +#48221 1721122192610 +#48222 1721122192641 +#48223 1721122192669 +#48224 1721122192703 +SLAM 0.0327578 13.0577 20.5207 0.469856 0.709351 -0.0610833 0.521848 +TTool-pose None -1.56613 -14.8164 9.72078 -0.243077 -0.266823 -0.672613 0.645988 +#48225 1721122192736 +#48226 1721122192769 +SLAM 0.0479641 13.1263 20.4452 0.468785 0.709193 -0.0667263 0.522334 +TTool-pose None -1.49943 -14.7832 9.82166 -0.246311 -0.267832 -0.668652 0.648454 +#48227 1721122192803 +#48228 1721122192836 +SLAM 0.0858719 13.1941 20.5079 0.470384 0.708148 -0.0680952 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-0.676669 0.646064 +#48244 1721122193370 +SLAM -0.381525 13.062 20.493 0.465348 0.707012 -0.0561661 0.529557 +TTool-pose None -1.53212 -14.6859 9.73626 -0.240425 -0.257305 -0.674538 0.648829 +#48245 1721122193403 +SLAM -0.302923 13.0907 20.5343 0.468856 0.705614 -0.0569358 0.528244 +TTool-pose None -1.59437 -14.7069 9.80687 -0.243092 -0.258769 -0.675463 0.646286 +#48246 1721122193435 +#48247 1721122193470 +#48248 1721122193504 +SLAM -0.401124 13.0917 20.5122 0.470839 0.705493 -0.0580463 0.526518 +TTool-pose None -1.65018 -14.5725 9.94066 -0.244497 -0.260851 -0.675454 0.644927 +#48249 1721122193538 +SLAM -0.315954 13.043 20.6263 0.470873 0.710062 -0.0591019 0.520191 +TTool-pose None -1.56713 -14.595 9.98595 -0.24163 -0.268048 -0.674118 0.644454 +#48250 1721122193570 +SLAM -0.271824 13.1172 20.6181 0.473814 0.707912 -0.0628602 0.520009 +TTool-pose None -1.59923 -14.5722 10.1319 -0.246517 -0.269077 -0.673033 0.643307 +#48251 1721122193605 +SLAM -0.0708449 13.2071 20.6328 0.485665 0.703539 -0.0684377 0.514275 +TTool-pose None -1.84824 -14.4813 10.4387 -0.256931 -0.276018 -0.674036 0.635189 +#48252 1721122193637 +SLAM -0.570254 12.9118 20.3793 0.464276 0.714226 -0.0592563 0.520402 +TTool-pose None -1.52666 -14.3313 9.86301 -0.236413 -0.26819 -0.67113 0.649429 +#48253 1721122193671 +SLAM -0.574789 13.0773 20.4896 0.463583 0.708103 -0.0567103 0.529589 +TTool-pose None -1.48965 -14.573 9.85933 -0.239355 -0.257505 -0.673422 0.650303 +#48254 1721122193708 +#48255 1721122193738 +#48256 1721122193770 +SLAM -0.527954 13.0193 20.5925 0.469777 0.710915 -0.0583884 0.520096 +TTool-pose None -1.57515 -14.4379 10.0682 -0.240187 -0.268019 -0.674072 0.645054 +#48257 1721122193805 +SLAM -0.692163 13.0727 20.4485 0.464658 0.706129 -0.0542266 0.531539 +TTool-pose None -1.58681 -14.499 9.86713 -0.239681 -0.254637 -0.675653 0.648997 +#48258 1721122193837 +#48259 1721122193869 +SLAM -0.573398 13.1218 20.4822 0.469561 0.708022 -0.0615959 0.523855 +TTool-pose None -1.60342 -14.4058 10.1434 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None 5.27996 -11.3884 13.619 -0.233856 -0.254462 -0.664079 0.662986 +#55083 1721122435794 +SLAM -5.34574 8.05626 26.4135 0.467734 0.711622 -0.0453241 0.522269 +TTool-pose None 5.23192 -11.3093 13.4861 -0.228722 -0.249237 -0.670174 0.660625 +#55084 1721122435830 +SLAM -4.91027 8.2456 26.5439 0.473495 0.712666 -0.0557407 0.51459 +TTool-pose None 5.23729 -11.3805 13.6824 -0.236445 -0.259992 -0.665507 0.658475 +#55085 1721122435863 +SLAM -5.09253 8.09851 26.5445 0.475047 0.710177 -0.0487244 0.517306 +TTool-pose None 5.18301 -11.3768 13.6049 -0.234359 -0.255122 -0.670903 0.655644 +#55086 1721122435894 +SLAM -5.07589 8.09841 26.6083 0.474221 0.710716 -0.048202 0.517373 +TTool-pose None 5.23419 -11.4331 13.6077 -0.233357 -0.254968 -0.670851 0.656114 +#55087 1721122435931 +SLAM -5.33491 8.00609 26.4305 0.468437 0.711858 -0.0445136 0.521386 +TTool-pose None 5.22777 -11.2991 13.475 -0.228262 -0.249956 -0.670902 0.659773 +#55088 1721122435966 +SLAM -5.1542 8.12046 26.4417 0.46838 0.713538 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-11.3718 13.5745 -0.233771 -0.252157 -0.670222 0.657694 +#55118 1721122436957 +SLAM -5.22363 8.30017 26.2885 0.466116 0.711846 -0.0540081 0.522585 +TTool-pose None 5.23114 -11.2805 13.5536 -0.233536 -0.251214 -0.66407 0.664345 +#55119 1721122436992 +SLAM -5.88145 7.56406 26.2918 0.472369 0.704587 -0.025863 0.528919 +TTool-pose None 5.03611 -11.1602 13.2345 -0.222915 -0.236343 -0.685026 0.652059 +#55120 1721122437027 +SLAM -5.63633 7.8844 26.3052 0.468449 0.708056 -0.0373815 0.527082 +TTool-pose None 5.14451 -11.2265 13.3665 -0.226505 -0.241772 -0.675947 0.658277 +#55121 1721122437062 +SLAM -5.57576 7.94939 26.3348 0.469555 0.707979 -0.0397428 0.526027 +TTool-pose None 5.14745 -11.2399 13.4304 -0.228446 -0.2435 -0.674892 0.658051 +#55122 1721122437093 +SLAM -5.39519 8.02389 26.4191 0.471056 0.70919 -0.0432514 0.522767 +TTool-pose None 5.16521 -11.3026 13.5032 -0.230296 -0.247938 -0.67306 0.657626 +#55123 1721122437125 +SLAM -5.18408 7.94755 26.5736 0.472348 0.711976 -0.0443831 0.517695 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0.707623 -0.0384376 0.525151 +TTool-pose None 5.12099 -11.2434 13.4286 -0.228409 -0.244021 -0.676352 0.65637 +#55130 1721122437358 +SLAM -5.54654 7.88419 26.363 0.470235 0.708654 -0.0383832 0.524609 +TTool-pose None 5.13755 -11.2442 13.408 -0.227302 -0.244667 -0.675887 0.656993 +#55131 1721122437392 +SLAM -5.49389 7.91639 26.4153 0.472453 0.70766 -0.0392557 0.523894 +TTool-pose None 5.13258 -11.2803 13.457 -0.229328 -0.245547 -0.6763 0.655534 +#55132 1721122437425 +SLAM -5.41496 7.91737 26.4248 0.467876 0.711476 -0.0408278 0.522711 +TTool-pose None 5.22226 -11.3033 13.4062 -0.226003 -0.24756 -0.673066 0.65925 +#55133 1721122437460 +SLAM -5.54383 7.90015 26.3853 0.47108 0.707932 -0.0383853 0.524826 +TTool-pose None 5.13716 -11.2646 13.4281 -0.228115 -0.244374 -0.676302 0.656392 +#55134 1721122437494 +SLAM -5.6125 7.92901 26.3135 0.467048 0.709159 -0.0385085 0.52676 +TTool-pose None 5.16475 -11.2455 13.3837 -0.22595 -0.242515 -0.674565 0.659611 +#55135 1721122437527 +SLAM -5.54241 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None 5.31066 -9.40539 15.5442 -0.244638 -0.252418 -0.640196 0.683065 +#55664 1721122455141 +SLAM -8.60842 8.43344 25.5525 0.456276 0.705505 -0.0523122 0.539757 +TTool-pose None 5.01199 -9.02771 15.2543 -0.233762 -0.232227 -0.662393 0.672795 +#55665 1721122455173 +SLAM -8.56204 8.35065 25.6598 0.454037 0.708469 -0.0506671 0.537917 +TTool-pose None 5.07886 -9.08667 15.224 -0.229789 -0.233985 -0.662163 0.67378 +#55666 1721122455205 +#55667 1721122455240 +SLAM -8.2536 8.32831 26.1384 0.468419 0.705813 -0.0523942 0.528836 +TTool-pose None 5.14285 -9.1891 15.4893 -0.237725 -0.243738 -0.66685 0.662858 +#55668 1721122455273 +#55669 1721122455308 +SLAM -8.35001 8.64365 25.6505 0.452946 0.710086 -0.0610372 0.535624 +TTool-pose None 5.10336 -9.09331 15.3525 -0.234795 -0.239209 -0.654944 0.677266 +#55670 1721122455339 +SLAM -8.39587 7.8185 26.3416 0.468578 0.709424 -0.0392515 0.524987 +TTool-pose None 5.18776 -9.17839 15.3663 -0.226741 -0.244584 -0.674622 0.658515 +#55671 1721122455372 +SLAM 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26.1838 0.466253 0.70876 -0.0363943 0.528149 +TTool-pose None 5.13905 -9.03794 15.3453 -0.224618 -0.240458 -0.675648 0.65971 +#55697 1721122456265 +SLAM -8.63201 7.74971 26.2171 0.468291 0.707953 -0.0365136 0.52742 +TTool-pose None 5.13261 -9.03752 15.3707 -0.22597 -0.241174 -0.676445 0.658169 +#55698 1721122456300 +SLAM -8.69903 7.78743 26.1425 0.464593 0.708745 -0.0366268 0.529615 +TTool-pose None 5.14467 -9.03833 15.3399 -0.224221 -0.238991 -0.674891 0.661151 +#55699 1721122456334 +SLAM -8.66755 7.76623 26.1746 0.466089 0.708566 -0.0365551 0.528544 +TTool-pose None 5.13945 -9.03599 15.3501 -0.224809 -0.240073 -0.675516 0.65992 +#55700 1721122456366 +SLAM -8.6151 7.79659 26.2179 0.468484 0.707667 -0.0376555 0.527552 +TTool-pose None 5.13377 -9.04618 15.3923 -0.226979 -0.241321 -0.675848 0.658381 +#55701 1721122456399 +SLAM -8.61375 7.8613 26.1628 0.465724 0.708582 -0.0392489 0.528652 +TTool-pose None 5.14322 -9.05353 15.3749 -0.226406 -0.240693 -0.673701 0.661003 +#55702 1721122456431 +SLAM -8.56151 7.83966 26.2214 0.46879 0.707768 -0.0392978 0.527025 +TTool-pose None 5.13312 -9.05385 15.4043 -0.228061 -0.242323 -0.674921 0.658589 +#55703 1721122456465 +SLAM -8.6456 7.77479 26.1942 0.467555 0.707877 -0.0368864 0.52815 +TTool-pose None 5.13418 -9.03943 15.3678 -0.22602 -0.240509 -0.675953 0.658899 +#55704 1721122456498 +SLAM -8.68125 7.75077 26.1732 0.467997 0.707273 -0.0358256 0.52864 +TTool-pose None 5.11614 -9.02601 15.3563 -0.225928 -0.239654 -0.676865 0.658306 +#55705 1721122456532 +SLAM -8.6371 7.79224 26.1783 0.466064 0.708578 -0.037518 0.528483 +TTool-pose None 5.14841 -9.04668 15.3527 -0.225412 -0.2404 -0.674906 0.66022 +#55706 1721122456566 +SLAM -8.61102 7.8388 26.1786 0.469083 0.706869 -0.038728 0.528014 +TTool-pose None 5.11003 -9.03045 15.3987 -0.228453 -0.241056 -0.675518 0.658307 +#55707 1721122456602 +SLAM -8.62548 7.88035 26.1607 0.466609 0.70764 -0.0393724 0.529123 +TTool-pose None 5.13756 -9.05411 15.3908 -0.227473 -0.240149 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None 5.11889 -9.04552 15.3871 -0.228559 -0.239901 -0.675653 0.658553 +#55720 1721122457050 +SLAM -8.60134 7.79216 26.2042 0.470731 0.706106 -0.0373744 0.527663 +TTool-pose None 5.10221 -9.04208 15.385 -0.228692 -0.240978 -0.677078 0.656647 +#55721 1721122457083 +SLAM -8.64474 7.81031 26.1705 0.468696 0.706393 -0.0372435 0.529099 +TTool-pose None 5.11772 -9.04888 15.3685 -0.22772 -0.239478 -0.676371 0.658261 +#55722 1721122457121 +SLAM -8.67233 7.75228 26.169 0.469551 0.705972 -0.0357625 0.529006 +TTool-pose None 5.10673 -9.02915 15.3519 -0.227361 -0.239131 -0.677668 0.657176 +#55723 1721122457155 +SLAM -8.63054 7.85183 26.1595 0.469406 0.705705 -0.0382071 0.52932 +TTool-pose None 5.10646 -9.0503 15.3845 -0.22908 -0.239444 -0.676133 0.658046 +#55724 1721122457189 +SLAM -8.772 7.77167 26.0939 0.467311 0.705554 -0.0348538 0.531601 +TTool-pose None 5.10305 -9.02145 15.329 -0.226331 -0.236139 -0.677467 0.658819 +#55725 1721122457226 +SLAM -8.59643 7.79874 26.2047 0.471189 0.705591 -0.0375293 0.527934 +TTool-pose None 5.10552 -9.04699 15.3844 -0.229322 -0.240688 -0.677225 0.656382 +#55726 1721122457266 +SLAM -8.73425 7.83069 26.0846 0.46627 0.706094 -0.0366726 0.531675 +TTool-pose None 5.11426 -9.03606 15.3358 -0.226756 -0.236609 -0.675873 0.66014 +#55727 1721122457302 +SLAM -8.63471 7.76545 26.2017 0.470587 0.705669 -0.036156 0.528462 +TTool-pose None 5.1099 -9.05048 15.3672 -0.228181 -0.239774 -0.677848 0.656471 +#55728 1721122457341 +SLAM -8.63588 7.81749 26.159 0.470232 0.705346 -0.0375498 0.529111 +TTool-pose None 5.0986 -9.03578 15.3737 -0.229196 -0.239447 -0.676898 0.657217 +#55729 1721122457383 +SLAM -8.6653 7.8718 26.1303 0.468463 0.705508 -0.0381611 0.530419 +TTool-pose None 5.10793 -9.05092 15.3796 -0.228878 -0.238268 -0.675842 0.658841 +#55730 1721122457418 +SLAM -8.78223 7.72083 26.127 0.468529 0.705172 -0.0334142 0.531128 +TTool-pose None 5.10246 -9.02306 15.3292 -0.226091 -0.2362 -0.678866 0.657438 +#55731 1721122457456 +SLAM -8.71438 7.83379 26.1141 0.467487 0.705671 -0.0367371 0.531163 +TTool-pose None 5.11269 -9.046 15.3547 -0.227516 -0.237121 -0.676345 0.659211 +#55732 1721122457492 +SLAM -8.55837 7.81301 26.2617 0.472644 0.705194 -0.0377693 0.527146 +TTool-pose None 5.11286 -9.07706 15.4173 -0.23025 -0.241532 -0.677666 0.655292 +#55733 1721122457527 +SLAM -8.67265 7.74035 26.1998 0.469864 0.705766 -0.0349634 0.529056 +TTool-pose None 5.11729 -9.05633 15.3541 -0.227102 -0.23884 -0.67831 0.656709 +#55734 1721122457562 +SLAM -8.64048 7.86937 26.1414 0.468977 0.705514 -0.0383673 0.529941 +TTool-pose None 5.10577 -9.05452 15.3797 -0.229178 -0.238823 -0.675903 0.658473 +#55735 1721122457598 +SLAM -8.65026 7.79316 26.1741 0.470305 0.705316 -0.0365793 0.529154 +TTool-pose None 5.10241 -9.04525 15.3694 -0.228618 -0.239135 -0.677534 0.656877 +#55736 1721122457638 +SLAM -8.69723 7.79748 26.1236 0.468478 0.705641 -0.0363127 0.530358 +TTool-pose None 5.10208 -9.03265 15.3456 -0.227598 -0.237841 -0.676979 0.658271 +#55737 1721122457672 +SLAM -8.75716 7.8005 26.0902 0.466129 0.706062 -0.0355789 0.531915 +TTool-pose None 5.11846 -9.04015 15.324 -0.226028 -0.236057 -0.676505 0.65994 +#55738 1721122457706 +SLAM -8.66191 7.78032 26.1682 0.469662 0.705639 -0.0362682 0.529316 +TTool-pose None 5.10825 -9.04281 15.3582 -0.227967 -0.238914 -0.677443 0.657277 +#55739 1721122457739 +SLAM -8.70213 7.81337 26.1314 0.468049 0.705766 -0.0364879 0.53056 +TTool-pose None 5.11169 -9.04323 15.3557 -0.227476 -0.237692 -0.676694 0.658661 +#55740 1721122457770 +SLAM -8.68536 7.74074 26.1806 0.46973 0.705956 -0.0351886 0.528906 +TTool-pose None 5.10476 -9.03127 15.3587 -0.227063 -0.239076 -0.678093 0.656861 +#55741 1721122457801 +SLAM -8.67348 7.74049 26.1908 0.469629 0.706389 -0.0354549 0.5284 +TTool-pose None 5.10664 -9.02863 15.3657 -0.226883 -0.239717 -0.677827 0.656964 +#55742 1721122457832 +SLAM -8.57393 7.82938 26.2152 0.47028 0.706738 -0.0387392 0.527121 +TTool-pose None 5.11033 -9.04356 15.4087 -0.228955 -0.241973 -0.675969 0.657332 +#55743 1721122457863 +SLAM -8.58815 7.85419 26.2024 0.46804 0.707684 -0.0392234 0.527809 +TTool-pose None 5.13494 -9.05552 15.402 -0.227824 -0.241481 -0.674705 0.659202 +#55744 1721122457895 +SLAM -8.6168 7.77057 26.2251 0.468385 0.708075 -0.0370398 0.527137 +TTool-pose None 5.13029 -9.04362 15.385 -0.226251 -0.241623 -0.676134 0.658227 +#55745 1721122457926 +SLAM -8.57463 7.78543 26.2544 0.468947 0.708307 -0.0378311 0.526268 +TTool-pose None 5.13508 -9.05418 15.4028 -0.226775 -0.242763 -0.675812 0.657957 +#55746 1721122457957 +SLAM -8.59028 7.77173 26.2412 0.468781 0.708367 -0.0375518 0.526355 +TTool-pose None 5.13029 -9.0399 15.3956 -0.226496 -0.242603 -0.675916 0.658005 +#55747 1721122457989 +SLAM -8.66788 7.74646 26.1891 0.466452 0.708815 -0.036146 0.527918 +TTool-pose None 5.13316 -9.02881 15.3573 -0.224486 -0.240636 -0.675868 0.659465 +#55748 1721122458025 +SLAM -8.60455 7.74773 26.2492 0.46833 0.708672 -0.0367698 0.526402 +TTool-pose None 5.13762 -9.04487 15.3862 -0.225619 -0.24237 -0.676192 0.65811 +#55749 1721122458058 +SLAM -8.6882 7.72574 26.1822 0.465764 0.709096 -0.0355574 0.528188 +TTool-pose None 5.13957 -9.02498 15.3432 -0.22367 -0.24022 -0.675938 0.659822 +#55750 1721122458093 +SLAM -8.64072 7.78654 26.1859 0.466437 0.70882 -0.0374118 0.527836 +TTool-pose None 5.13461 -9.03345 15.3697 -0.225291 -0.241066 -0.675074 0.659846 +#55751 1721122458124 +SLAM -8.57978 7.75912 26.255 0.469607 0.708208 -0.0374088 0.525843 +TTool-pose None 5.12446 -9.03585 15.4017 -0.226796 -0.24308 -0.676332 0.657299 +#55752 1721122458156 +SLAM -8.68615 7.73019 26.1842 0.465893 0.709006 -0.0356105 0.528192 +TTool-pose None 5.13864 -9.02761 15.3462 -0.223813 -0.240222 -0.675965 0.659744 +#55753 1721122458189 +SLAM -8.64671 7.74127 26.2046 0.466346 0.709223 -0.0363698 0.527449 +TTool-pose None 5.14245 -9.03401 15.3563 -0.224294 -0.241223 -0.675628 0.659561 +#55754 1721122458218 +SLAM -8.65637 7.7657 26.1983 0.466611 0.708722 -0.0367352 0.527861 +TTool-pose None 5.13986 -9.03381 15.3704 -0.224986 -0.240848 -0.675574 0.659519 +#55755 1721122458250 +SLAM -8.65045 7.72501 26.2156 0.467135 0.70888 -0.0358435 0.527247 +TTool-pose None 5.13599 -9.03269 15.3601 -0.224472 -0.241258 -0.676298 0.658801 +#55756 1721122458280 +SLAM -8.5766 7.79162 26.2538 0.467785 0.708973 -0.0380935 0.526387 +TTool-pose None 5.1507 -9.05856 15.3991 -0.226067 -0.242773 -0.675122 0.658905 +#55757 1721122458311 +SLAM -8.63353 7.73246 26.2213 0.467058 0.709114 -0.036315 0.526968 +TTool-pose None 5.1406 -9.03415 15.3631 -0.224577 -0.241698 -0.675941 0.65897 +#55758 1721122458342 +SLAM -8.67673 7.74068 26.1877 0.465635 0.709202 -0.0359745 0.528131 +TTool-pose None 5.14439 -9.03244 15.349 -0.223817 -0.240403 -0.675615 0.660036 +#55759 1721122458374 +SLAM -8.58191 7.83221 26.2192 0.466154 0.70946 -0.0391347 0.527101 +TTool-pose None 5.15741 -9.05737 15.393 -0.225831 -0.242358 -0.6738 0.660491 +#55760 1721122458413 +SLAM -8.64495 7.77937 26.1973 0.465793 0.709321 -0.0372506 0.527743 +TTool-pose None 5.14721 -9.0384 15.37 -0.224603 -0.241165 -0.674862 0.660262 +#55761 1721122458449 +SLAM -8.62385 7.76858 26.2187 0.466957 0.709154 -0.0372866 0.526936 +TTool-pose None 5.13966 -9.03385 15.3822 -0.225139 -0.242001 -0.675293 0.659332 +#55762 1721122458485 +SLAM -8.62464 7.71385 26.2339 0.4667 0.709868 -0.0362651 0.526273 +TTool-pose None 5.14532 -9.02696 15.3628 -0.223871 -0.242477 -0.675726 0.659144 +#55763 1721122458518 +SLAM -8.65443 7.71654 26.217 0.465303 0.710305 -0.0360247 0.526937 +TTool-pose None 5.1545 -9.02727 15.354 -0.222926 -0.24176 -0.675295 0.660169 +#55764 1721122458553 +SLAM -8.62173 7.77128 26.2256 0.465208 0.710422 -0.0376659 0.526748 +TTool-pose None 5.16309 -9.03771 15.3799 -0.223863 -0.242414 -0.674221 0.66071 +#55765 1721122458584 +SLAM -8.62869 7.71803 26.2356 0.464787 0.711162 -0.0365666 0.526197 +TTool-pose None 5.16623 -9.03005 15.3596 -0.22247 -0.242754 -0.674638 0.66063 +#55766 1721122458616 +SLAM -8.57481 7.71826 26.284 0.466522 0.711092 -0.0372473 0.524707 +TTool-pose None 5.16559 -9.03358 15.3886 -0.223539 -0.244484 -0.674863 0.6594 +#55767 1721122458646 +SLAM -8.59601 7.73576 26.2524 0.464886 0.711612 -0.0376207 0.525427 +TTool-pose None 5.1727 -9.02769 15.3771 -0.222849 -0.243883 -0.673949 0.66079 +#55768 1721122458677 +SLAM -8.55956 7.73664 26.2746 0.465304 0.711966 -0.0381662 0.524538 +TTool-pose None 5.17564 -9.03048 15.3857 -0.223078 -0.244987 -0.673708 0.66055 +#55769 1721122458707 +SLAM -8.57558 7.73656 26.2722 0.465387 0.711768 -0.0379596 0.524748 +TTool-pose None 5.17341 -9.02685 15.3909 -0.223119 -0.244696 -0.673898 0.66045 +#55770 1721122458741 +SLAM -8.56709 7.72933 26.2829 0.465428 0.711942 -0.037896 0.524481 +TTool-pose None 5.17733 -9.03019 15.3906 -0.222963 -0.244972 -0.673926 0.660372 +#55771 1721122458777 +SLAM -8.58669 7.71092 26.271 0.465065 0.712031 -0.0373378 0.524721 +TTool-pose None 5.17545 -9.02257 15.3779 -0.222418 -0.244577 -0.674127 0.660497 +#55772 1721122458807 +SLAM -8.59794 7.71616 26.2631 0.464332 0.712228 -0.037322 0.525104 +TTool-pose None 5.18222 -9.02592 15.3728 -0.222016 -0.244193 -0.673836 0.661071 +#55773 1721122458842 +SLAM -8.60119 7.70457 26.2644 0.464935 0.711958 -0.0370098 0.524959 +TTool-pose None 5.1736 -9.01978 15.3738 -0.222218 -0.244235 -0.674294 0.66052 +#55774 1721122458880 +SLAM -8.57927 7.71263 26.2786 0.465152 0.712077 -0.0374337 0.524575 +TTool-pose None 5.17805 -9.02634 15.3811 -0.222474 -0.24476 -0.674092 0.660446 +#55775 1721122458910 +SLAM -8.64666 7.72771 26.2284 0.462488 0.712445 -0.0369997 0.526457 +TTool-pose None 5.19222 -9.02732 15.3573 -0.22103 -0.242712 -0.673322 0.662469 +#55776 1721122458941 +SLAM -8.58447 7.7201 26.2681 0.464438 0.712332 -0.0375938 0.52485 +TTool-pose None 5.1827 -9.02729 15.3752 -0.22215 -0.24454 -0.67369 0.661047 +#55777 1721122458972 +SLAM -8.60174 7.74174 26.2528 0.463879 0.71218 -0.0378091 0.525534 +TTool-pose None 5.18567 -9.03044 15.3772 -0.222213 -0.243872 -0.673373 0.661595 +#55778 1721122459002 +SLAM -8.60114 7.75176 26.2503 0.463742 0.712177 -0.0380207 0.525644 +TTool-pose None 5.1868 -9.03249 15.3797 -0.222305 -0.243814 -0.673191 0.66177 +#55779 1721122459034 +SLAM -8.59253 7.6951 26.2789 0.464997 0.712141 -0.0368667 0.524666 +TTool-pose None 5.17904 -9.02519 15.3739 -0.222011 -0.244517 -0.674378 0.6604 +#55780 1721122459065 +SLAM -8.56783 7.72456 26.2821 0.464971 0.712243 -0.0378505 0.524479 +TTool-pose None 5.18265 -9.03078 15.3848 -0.222559 -0.244987 -0.67374 0.660692 +#55781 1721122459094 +SLAM -8.68989 7.63928 26.236 0.462404 0.712793 -0.0346193 0.526223 +TTool-pose None 5.18946 -9.01124 15.3295 -0.219213 -0.242337 -0.674717 0.66179 +#55782 1721122459125 +SLAM -8.51658 7.77731 26.2808 0.462682 0.713876 -0.0399468 0.524128 +TTool-pose None 5.21186 -9.04759 15.3839 -0.221929 -0.24606 -0.671335 0.662949 +#55783 1721122459155 +SLAM -8.59081 7.67988 26.2826 0.463315 0.713491 -0.0368821 0.524318 +TTool-pose None 5.19757 -9.02359 15.3617 -0.220459 -0.245 -0.673539 0.661595 +#55784 1721122459186 +SLAM -8.50953 7.76136 26.3097 0.463972 0.713595 -0.0395531 0.523401 +TTool-pose None 5.20366 -9.04578 15.403 -0.222317 -0.246688 -0.6721 0.66181 +#55785 1721122459217 +SLAM -8.55123 7.66902 26.3328 0.465106 0.713317 -0.0369214 0.522965 +TTool-pose None 5.19282 -9.03114 15.3886 -0.221212 -0.246403 -0.674201 0.660148 +#55786 1721122459247 +SLAM -8.45819 7.7688 26.3424 0.465009 0.713822 -0.0404026 0.522104 +TTool-pose None 5.20199 -9.04795 15.4241 -0.223039 -0.248284 -0.671915 0.661158 +#55787 1721122459277 +SLAM -8.48251 7.74042 26.3312 0.464792 0.71391 -0.0396058 0.522238 +TTool-pose None 5.19666 -9.03539 15.4106 -0.222391 -0.247937 -0.672319 0.661096 +#55788 1721122459310 +SLAM -8.49741 7.80422 26.2906 0.462373 0.71443 -0.0409242 0.523571 +TTool-pose None 5.21475 -9.04623 15.4056 -0.222042 -0.24695 -0.670524 0.663402 +#55789 1721122459347 +SLAM -8.4712 7.69536 26.3637 0.465003 0.714409 -0.0387247 0.521433 +TTool-pose None 5.20551 -9.04054 15.4029 -0.221525 -0.248578 -0.672867 0.660588 +#55790 1721122459378 +SLAM -8.51279 7.78375 26.2929 0.461807 0.714791 -0.0403059 0.523625 +TTool-pose None 5.22054 -9.04614 15.3967 -0.221187 -0.246758 -0.670645 0.663637 +#55791 1721122459409 +SLAM -8.50706 7.72909 26.3271 0.464039 0.714148 -0.0390493 0.522624 +TTool-pose None 5.20369 -9.03653 15.4031 -0.221606 -0.247406 -0.672353 0.661524 +#55792 1721122459441 +SLAM -8.49676 7.71497 26.3421 0.464583 0.714118 -0.0388084 0.5222 +TTool-pose None 5.20232 -9.03804 15.4049 -0.221655 -0.247779 -0.672707 0.661007 +#55793 1721122459474 +SLAM -8.5106 7.72766 26.3182 0.463871 0.71419 -0.0390495 0.522715 +TTool-pose None 5.20155 -9.03206 15.3979 -0.221519 -0.247316 -0.672284 0.661656 +#55794 1721122459506 +SLAM -8.47331 7.72108 26.3492 0.464783 0.714267 -0.0392753 0.521783 +TTool-pose None 5.2028 -9.03981 15.4078 -0.221911 -0.248352 -0.672466 0.660952 +#55795 1721122459538 +SLAM -8.48594 7.74578 26.3234 0.463813 0.714399 -0.0397675 0.522427 +TTool-pose None 5.20505 -9.03772 15.4033 -0.221805 -0.247826 -0.671782 0.66188 +#55796 1721122459568 +SLAM -8.5356 7.68074 26.3337 0.465094 0.713548 -0.0374836 0.52262 +TTool-pose None 5.19091 -9.0279 15.3952 -0.221397 -0.246934 -0.67381 0.660286 +#55797 1721122459600 +SLAM -8.52676 7.74284 26.2981 0.463784 0.713715 -0.0390586 0.52344 +TTool-pose None 5.1965 -9.03351 15.3941 -0.221848 -0.246523 -0.672321 0.661804 +#55798 1721122459632 +SLAM -8.4542 7.75866 26.3582 0.46555 0.713504 -0.0400026 0.522087 +TTool-pose None 5.20568 -9.05901 15.4237 -0.223198 -0.248166 -0.672413 0.660642 +#55799 1721122459662 +SLAM -8.65359 7.66485 26.2441 0.462569 0.713032 -0.0356855 0.525682 +TTool-pose None 5.19013 -9.01528 15.3406 -0.219779 -0.243213 -0.674079 0.661931 +#55800 1721122459693 +SLAM -8.61302 7.7369 26.2439 0.464329 0.711685 -0.0374763 0.525832 +TTool-pose None 5.17749 -9.02726 15.3734 -0.222516 -0.243428 -0.673822 0.661199 +#55801 1721122459726 +SLAM -8.61343 7.75796 26.246 0.464662 0.711007 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None 5.30646 -13.0469 11.8359 -0.220445 -0.251249 -0.672668 0.660142 +#57511 1721122517388 +SLAM -3.01643 7.73419 26.604 0.471701 0.714945 -0.0363318 0.514812 +TTool-pose None 5.20491 -12.9554 11.8593 -0.221793 -0.254815 -0.676697 0.654179 +#57512 1721122517422 +SLAM -3.40001 7.80739 26.4201 0.472542 0.707716 -0.030852 0.524299 +TTool-pose None 5.01214 -12.8988 11.8062 -0.223905 -0.242832 -0.681545 0.652982 +#57513 1721122517456 +SLAM -2.87547 7.93325 26.6451 0.46786 0.71712 -0.0414927 0.514902 +TTool-pose None 5.31816 -13.0787 11.9125 -0.222218 -0.256318 -0.671736 0.658546 +#57514 1721122517488 +SLAM -3.22221 7.63775 26.6177 0.472158 0.710976 -0.0277265 0.520395 +TTool-pose None 5.14192 -13.0318 11.721 -0.219347 -0.246314 -0.682833 0.651879 +#57515 1721122517522 +SLAM -3.11248 7.66684 26.678 0.473852 0.711187 -0.0291923 0.518484 +TTool-pose None 5.14392 -13.0888 11.7682 -0.220693 -0.248712 -0.682504 0.650858 +#57516 1721122517555 +SLAM -3.23933 7.88175 26.4808 0.466859 0.712458 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1721122517961 +SLAM -3.37488 7.68822 26.4547 0.468375 0.711176 -0.0288039 0.523473 +TTool-pose None 5.13008 -12.9086 11.6864 -0.218648 -0.24345 -0.680763 0.655345 +#57529 1721122517994 +SLAM -3.24868 7.77117 26.4929 0.469303 0.711994 -0.0322227 0.521326 +TTool-pose None 5.14052 -12.9527 11.7624 -0.220559 -0.246695 -0.678859 0.655466 +#57530 1721122518026 +SLAM -2.96071 7.87129 26.6846 0.469148 0.714561 -0.0368061 0.517638 +TTool-pose None 5.28818 -13.1416 11.8448 -0.22155 -0.251998 -0.675546 0.656537 +#57531 1721122518057 +SLAM -3.26327 7.78012 26.5124 0.46833 0.711745 -0.0312978 0.522597 +TTool-pose None 5.16586 -12.9967 11.7344 -0.219825 -0.245102 -0.679117 0.656044 +#57532 1721122518090 +SLAM -2.81491 8.03619 26.7021 0.47292 0.713344 -0.0430534 0.515397 +TTool-pose None 5.24569 -13.1646 12.0189 -0.227694 -0.255882 -0.673197 0.655345 +#57533 1721122518122 +SLAM -3.20561 7.67886 26.6215 0.47434 0.70958 -0.0283444 0.520283 +TTool-pose None 5.09004 -13.048 11.7673 -0.221496 -0.246465 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0.523271 +TTool-pose None 5.19586 -12.976 11.7606 -0.219833 -0.244975 -0.677146 0.658122 +#57547 1721122518607 +SLAM -3.33528 7.87287 26.4488 0.463641 0.713372 -0.0336605 0.524408 +TTool-pose None 5.23348 -12.9549 11.746 -0.218582 -0.244015 -0.67568 0.660398 +#57548 1721122518641 +SLAM -3.30116 7.77586 26.5182 0.466687 0.712847 -0.031342 0.522562 +TTool-pose None 5.20445 -12.9726 11.7454 -0.218492 -0.24525 -0.678317 0.65726 +#57549 1721122518676 +SLAM -3.32401 7.87625 26.4583 0.462616 0.713924 -0.0335873 0.524567 +TTool-pose None 5.25933 -12.975 11.7281 -0.217784 -0.243876 -0.675262 0.661141 +#57550 1721122518710 +SLAM -3.30137 7.91868 26.4553 0.462182 0.714019 -0.0348212 0.52474 +TTool-pose None 5.27232 -12.9898 11.7411 -0.218362 -0.244042 -0.67432 0.661849 +#57551 1721122518742 +SLAM -3.24978 7.78908 26.5315 0.466772 0.713105 -0.0320495 0.52209 +TTool-pose None 5.21554 -12.9993 11.743 -0.218785 -0.245958 -0.67787 0.65736 +#57552 1721122518777 +SLAM -3.29201 7.79718 26.4994 0.467311 0.712195 -0.0318571 0.52286 +TTool-pose None 5.18206 -12.9742 11.7486 -0.219514 -0.245024 -0.678329 0.656991 +#57553 1721122518812 +SLAM -3.30993 7.87741 26.4605 0.46411 0.713177 -0.0336715 0.524258 +TTool-pose None 5.22915 -12.9769 11.7442 -0.218891 -0.244158 -0.675876 0.660042 +#57554 1721122518849 +SLAM -3.23031 7.79043 26.5313 0.467115 0.713219 -0.0326995 0.521587 +TTool-pose None 5.21617 -12.9914 11.7537 -0.219234 -0.246668 -0.677574 0.657248 +#57555 1721122518883 +SLAM -3.25841 7.91969 26.4702 0.464086 0.713509 -0.0354217 0.523711 +TTool-pose None 5.24592 -12.9947 11.7702 -0.219764 -0.245235 -0.674729 0.660526 +#57556 1721122518917 +SLAM -3.29389 7.76236 26.4911 0.467158 0.712539 -0.0315544 0.522547 +TTool-pose None 5.18811 -12.9522 11.7291 -0.219014 -0.245297 -0.678407 0.656977 +#57557 1721122518949 +SLAM -3.24508 7.85024 26.4944 0.464954 0.713809 -0.0344204 0.522599 +TTool-pose None 5.24944 -12.9796 11.7558 -0.219188 -0.246142 -0.675623 0.659466 +#57558 1721122518979 +SLAM 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None 5.2038 -8.67782 15.9008 -0.234724 -0.249595 -0.665175 0.663431 +#58063 1721122535817 +SLAM -9.26298 7.99184 26.0349 0.464421 0.707098 -0.0430967 0.531478 +TTool-pose None 5.14098 -8.5693 15.8197 -0.229519 -0.238643 -0.671031 0.663385 +#58064 1721122535850 +SLAM -9.09956 8.19284 26.0401 0.46264 0.708564 -0.0499706 0.530475 +TTool-pose None 5.17746 -8.60562 15.8741 -0.232226 -0.241645 -0.665835 0.666583 +#58065 1721122535884 +SLAM -8.59395 8.53572 26.1538 0.463201 0.712147 -0.0648487 0.523532 +TTool-pose None 5.23707 -8.66741 16.0067 -0.239168 -0.253031 -0.656048 0.669601 +#58066 1721122535920 +SLAM -9.28623 7.96495 26.1037 0.465304 0.707701 -0.0431698 0.529895 +TTool-pose None 5.16185 -8.53093 15.887 -0.229422 -0.240371 -0.671225 0.662597 +#58067 1721122535955 +SLAM -9.26065 8.02416 26.0921 0.465159 0.707707 -0.0449538 0.529865 +TTool-pose None 5.16044 -8.52838 15.9088 -0.230509 -0.240879 -0.670052 0.663222 +#58068 1721122535989 +SLAM -9.08191 7.6051 26.488 0.475208 0.709184 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None -6.56883 -7.23073 16.1155 -0.586378 0.287089 -0.72186 0.229382 +#58946 1721122566053 +SLAM 0.797113 14.7831 17.0905 0.66123 0.000174377 0.0525424 0.748341 +TTool-pose None -6.56928 -7.29141 16.0378 -0.584629 0.29161 -0.720195 0.233347 +#58947 1721122566094 +SLAM 0.828305 14.8027 17.3166 0.667584 -0.000383366 0.0514675 0.742754 +TTool-pose None -6.56837 -7.24576 16.1703 -0.587665 0.285794 -0.721736 0.228091 +#58948 1721122566134 +SLAM 0.801974 14.7837 17.1074 0.661821 0.000293539 0.0518854 0.747864 +TTool-pose None -6.5553 -7.29047 16.052 -0.585237 0.290829 -0.72007 0.233183 +#58949 1721122566170 +SLAM 0.884483 14.8346 17.2607 0.662572 0.000922899 0.0493206 0.747372 +TTool-pose None -6.5767 -7.44279 16.1082 -0.587032 0.289109 -0.719056 0.233938 +#58950 1721122566207 +SLAM 0.80182 14.7764 17.2272 0.66547 0.0001415 0.0524106 0.744583 +TTool-pose None -6.57395 -7.24225 16.1011 -0.586144 0.287681 -0.721665 0.229851 +#58951 1721122566249 +SLAM 0.807104 14.7778 17.1691 0.663649 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+SLAM 0.799699 14.7766 17.2365 0.665997 0.000132988 0.0523544 0.744115 +TTool-pose None -6.57004 -7.22916 16.1115 -0.586361 0.287182 -0.721823 0.229427 +#58958 1721122566512 +SLAM 0.802787 14.7775 17.2254 0.665483 0.000163387 0.0524461 0.744568 +TTool-pose None -6.57632 -7.23969 16.1021 -0.586117 0.287664 -0.721697 0.229841 +#58959 1721122566548 +SLAM 0.803506 14.7809 17.2072 0.664914 -5.5134e-05 0.0525225 0.745071 +TTool-pose None -6.57593 -7.24444 16.0974 -0.585949 0.288342 -0.721468 0.230142 +#58960 1721122566582 +SLAM 0.789112 14.7751 17.1885 0.664446 0.000468263 0.0523641 0.745499 +TTool-pose None -6.56273 -7.25226 16.082 -0.585727 0.288421 -0.721362 0.230938 +#58961 1721122566617 +SLAM 0.882025 14.83 17.3818 0.665269 0.00216841 0.0486187 0.745016 +TTool-pose None -6.57394 -7.4612 16.1393 -0.587994 0.285688 -0.720011 0.232781 +#58962 1721122566655 +SLAM 0.792306 14.7774 17.187 0.664457 0.000472824 0.0519717 0.745517 +TTool-pose None -6.55339 -7.25478 16.0876 -0.585998 0.28831 -0.721142 0.23108 +#58963 1721122566691 +SLAM 0.790729 14.7809 17.2188 0.665323 0.000220758 0.0526787 0.744695 +TTool-pose None -6.57262 -7.23922 16.1014 -0.585886 0.287837 -0.72179 0.229926 +#58964 1721122566724 +SLAM 2.47417 14.7497 16.1735 0.617088 -0.0375017 0.0854562 0.781341 +TTool-pose None -8.68752 -7.22465 15.3047 -0.558773 0.360645 -0.710372 0.230303 +#58965 1721122566757 +SLAM 0.795666 14.7764 17.2547 0.66644 0.000257206 0.052702 0.743693 +TTool-pose None -6.57984 -7.22496 16.1145 -0.586228 0.286784 -0.722222 0.229008 +#58966 1721122566789 +SLAM 0.804466 14.7817 17.1957 0.664825 0.000514669 0.0520598 0.745183 +TTool-pose None -6.5695 -7.24616 16.0963 -0.586046 0.287966 -0.721339 0.230768 +#58967 1721122566821 +SLAM 0.895666 14.8318 17.4247 0.666294 0.0015003 0.048125 0.744133 +TTool-pose None -6.56388 -7.45887 16.1664 -0.588895 0.285014 -0.719901 0.231668 +#58968 1721122566854 +SLAM 0.798956 14.785 17.1147 0.662328 0.000726871 0.0518824 0.747415 +TTool-pose None -6.55853 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None -6.58023 -7.34132 16.1423 -0.587392 0.287089 -0.720625 0.230667 +#59073 1721122570677 +SLAM 0.800354 14.7727 17.2874 0.667556 0.00012859 0.0528703 0.74268 +TTool-pose None -6.58897 -7.2049 16.1291 -0.586525 0.285866 -0.722686 0.227927 +#59074 1721122570713 +SLAM 2.33717 14.9672 17.5527 0.65175 -0.0182999 0.0607879 0.755773 +TTool-pose None -8.17254 -7.77235 15.9829 -0.581863 0.313235 -0.715803 0.225615 +#59075 1721122570749 +SLAM 0.79798 14.7751 17.1927 0.664848 0.000232724 0.052153 0.745156 +TTool-pose None -6.56127 -7.23899 16.0928 -0.586084 0.288137 -0.721317 0.230527 +#59076 1721122570787 +SLAM 0.909224 14.8454 17.388 0.664632 0.0022221 0.0473611 0.745665 +TTool-pose None -6.56273 -7.50959 16.1486 -0.588624 0.285924 -0.719068 0.233816 +#59077 1721122570823 +SLAM 0.797886 14.7741 17.1556 0.663356 0.000189068 0.0524501 0.746463 +TTool-pose None -6.56896 -7.26346 16.0642 -0.585398 0.289618 -0.720928 0.231627 +#59078 1721122570863 +SLAM 0.796724 14.7788 17.2125 0.665122 0.00042743 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None -6.57339 -7.23832 16.0757 -0.585461 0.28894 -0.721415 0.230796 +#59102 1721122571744 +SLAM 10.8855 15.8075 22.8325 0.516505 0.412081 -0.522647 0.53875 +TTool-pose None 12.0271 -14.7375 18.0426 -0.679668 -0.217712 -0.332671 0.616418 +#59103 1721122571781 +SLAM 0.797566 14.7722 17.2221 0.665586 0.000250429 0.0526142 0.744465 +TTool-pose None -6.57705 -7.23042 16.0975 -0.586007 0.287559 -0.721857 0.22975 +#59104 1721122571818 +SLAM 0.792654 14.7738 17.2197 0.665571 0.000372301 0.0523766 0.744495 +TTool-pose None -6.56622 -7.23278 16.1002 -0.586124 0.28744 -0.721752 0.229933 +#59105 1721122571854 +SLAM 0.789444 14.7728 17.2385 0.666324 0.000273496 0.0526341 0.743802 +TTool-pose None -6.57039 -7.21494 16.1112 -0.586231 0.286865 -0.722145 0.229141 +#59106 1721122571893 +SLAM 3.24914 14.8584 16.134 0.593738 -0.0467735 0.0866387 0.798612 +TTool-pose None -9.42457 -7.85932 15.0134 -0.552256 0.38581 -0.698578 0.241072 +#59107 1721122571934 +SLAM 0.794653 14.7717 17.238 0.666282 0.000307706 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1721122573245 +SLAM 0.79695 14.7763 17.2436 0.666217 0.000344137 0.0523579 0.743918 +TTool-pose None -6.5707 -7.22815 16.1131 -0.586361 0.286853 -0.721968 0.229382 +#59143 1721122573282 +SLAM 0.803465 14.7803 17.2597 0.666706 0.000121951 0.0521417 0.743494 +TTool-pose None -6.56795 -7.22347 16.1283 -0.586745 0.286477 -0.721956 0.228907 +#59144 1721122573319 +SLAM 0.791765 14.7721 17.2587 0.666917 0.000311111 0.0524373 0.743284 +TTool-pose None -6.56765 -7.21124 16.1213 -0.586549 0.286242 -0.722259 0.228745 +#59145 1721122573355 +SLAM 0.785504 14.7725 17.2597 0.666834 0.000541024 0.0524415 0.743359 +TTool-pose None -6.56505 -7.21802 16.1183 -0.586442 0.286183 -0.7223 0.228966 +#59146 1721122573394 +SLAM 0.884747 14.8355 17.2254 0.661313 0.00127987 0.0491699 0.748496 +TTool-pose None -6.57607 -7.46689 16.0856 -0.586595 0.290016 -0.718612 0.235274 +#59147 1721122573437 +SLAM 0.799585 14.7803 17.2482 0.666365 0.000248276 0.0522305 0.743794 +TTool-pose None -6.56831 -7.22721 16.1212 -0.586529 0.286741 -0.72192 0.229243 +#59148 1721122573483 +SLAM 0.801736 14.779 17.2122 0.665054 0.000231901 0.0523364 0.744959 +TTool-pose None -6.57235 -7.24732 16.0968 -0.586027 0.287993 -0.721498 0.230285 +#59149 1721122573516 +SLAM 0.873913 14.8278 17.4081 0.667235 0.001476 0.04898 0.743234 +TTool-pose None -6.56767 -7.39231 16.1783 -0.588631 0.284372 -0.720731 0.230547 +#59150 1721122573551 +SLAM 0.879279 14.8317 17.4264 0.667752 0.00145084 0.0485951 0.742794 +TTool-pose None -6.56109 -7.39186 16.1939 -0.589073 0.283808 -0.720689 0.230241 +#59151 1721122573589 +SLAM 0.8556 14.8149 17.3402 0.666725 0.000555619 0.0501899 0.743611 +TTool-pose None -6.57086 -7.32724 16.1624 -0.587942 0.285706 -0.720968 0.229911 +#59152 1721122573624 +SLAM 0.797584 14.7829 17.1854 0.664358 0.000239306 0.052696 0.745554 +TTool-pose None -6.57906 -7.24788 16.0872 -0.585547 0.288723 -0.721452 0.230735 +#59153 1721122573658 +SLAM 0.870249 14.8288 17.3544 0.666795 0.000421066 0.049753 0.743578 +TTool-pose None -6.57121 -7.34257 16.1798 -0.588309 0.28561 -0.720701 0.229926 +#59154 1721122573699 +SLAM 0.799708 14.7745 17.332 0.668849 0.000195727 0.0527039 0.741528 +TTool-pose None -6.58587 -7.19476 16.1528 -0.587043 0.28458 -0.72308 0.226951 +#59155 1721122573733 +SLAM 0.793276 14.7773 17.2056 0.665048 0.000491804 0.0521694 0.744976 +TTool-pose None -6.56169 -7.24521 16.0954 -0.586053 0.2878 -0.721477 0.230526 +#59156 1721122573765 +SLAM 0.870924 14.8275 17.4114 0.667752 0.00110459 0.0492215 0.742753 +TTool-pose None -6.56704 -7.3677 16.1899 -0.588761 0.284175 -0.720947 0.229778 +#59157 1721122573800 +SLAM 0.801699 14.7799 17.2376 0.66605 0.00026927 0.0520186 0.744091 +TTool-pose None -6.56342 -7.23285 16.117 -0.586563 0.286967 -0.72169 0.229599 +#59158 1721122573832 +SLAM 0.796231 14.7766 17.2482 0.666493 0.000132994 0.0528974 0.743632 +TTool-pose None -6.58443 -7.21312 16.116 -0.586153 0.286859 -0.722316 0.228808 +#59159 1721122573867 +SLAM 0.794339 14.7745 17.2495 0.666581 0.0002808 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1721122576137 +SLAM 0.801672 14.7758 17.1442 0.663038 0.000284937 0.0521715 0.746765 +TTool-pose None -6.56479 -7.26971 16.062 -0.585451 0.289784 -0.72068 0.23206 +#59224 1721122576170 +SLAM 0.794484 14.7714 17.1704 0.664092 0.000273841 0.0525187 0.745804 +TTool-pose None -6.56908 -7.24589 16.0735 -0.585568 0.288905 -0.721263 0.231046 +#59225 1721122576205 +SLAM 0.794886 14.7722 17.2405 0.666284 0.000219613 0.0525757 0.743843 +TTool-pose None -6.57328 -7.21851 16.1102 -0.586275 0.28692 -0.722081 0.229162 +#59226 1721122576240 +SLAM 0.794745 14.7712 17.2061 0.665234 0.00034479 0.0523249 0.744799 +TTool-pose None -6.56543 -7.23398 16.093 -0.586057 0.287756 -0.721591 0.230215 +#59227 1721122576275 +SLAM 0.798107 14.775 17.2581 0.66682 0.000422407 0.052077 0.743397 +TTool-pose None -6.56421 -7.21956 16.1238 -0.586727 0.286175 -0.72205 0.229035 +#59228 1721122576308 +SLAM 0.800305 14.7773 17.1844 0.664289 0.000339798 0.052298 0.745644 +TTool-pose None -6.56995 -7.25434 16.0824 -0.585763 0.288627 -0.721228 0.231009 +#59229 1721122576340 +SLAM 0.788909 14.7743 17.2477 0.666464 0.000348302 0.0522205 0.743706 +TTool-pose None -6.55821 -7.22337 16.1173 -0.586535 0.286587 -0.721981 0.22923 +#59230 1721122576374 +SLAM 0.79604 14.7782 17.2562 0.66658 0.000220339 0.0526061 0.743575 +TTool-pose None -6.57669 -7.22133 16.12 -0.586352 0.286652 -0.722206 0.228903 +#59231 1721122576405 +SLAM 0.802777 14.7758 17.1727 0.66412 8.14952e-05 0.0523987 0.745787 +TTool-pose None -6.57118 -7.24677 16.0803 -0.585724 0.288963 -0.721147 0.23094 +#59232 1721122576441 +SLAM 0.798759 14.7776 17.2032 0.664946 0.000251465 0.0523178 0.745057 +TTool-pose None -6.56845 -7.24353 16.0945 -0.585997 0.288077 -0.721453 0.230396 +#59233 1721122576483 +SLAM 0.799808 14.7747 17.2043 0.665031 0.000165547 0.0523136 0.744981 +TTool-pose None -6.56788 -7.23995 16.0939 -0.586057 0.288048 -0.721457 0.230269 +#59234 1721122576519 +SLAM 0.79607 14.7756 17.2067 0.665082 0.000356493 0.0524501 0.744926 +TTool-pose None -6.57149 -7.24026 16.093 -0.585917 0.287921 -0.72161 0.230302 +#59235 1721122576552 +SLAM 2.85407 14.9473 16.8036 0.623658 -0.0328327 0.0760316 0.777298 +TTool-pose None -8.93475 -7.75132 15.5018 -0.566198 0.350157 -0.709133 0.232164 +#59236 1721122576593 +SLAM 0.796721 14.777 17.2638 0.666976 0.000320393 0.0521962 0.743249 +TTool-pose None -6.56561 -7.21666 16.1283 -0.586731 0.286121 -0.722145 0.228793 +#59237 1721122576626 +SLAM 0.798565 14.7807 17.2097 0.664974 0.000343999 0.0525408 0.745016 +TTool-pose None -6.57744 -7.24723 16.0947 -0.585823 0.288051 -0.72162 0.23035 +#59238 1721122576660 +SLAM 0.801662 14.7807 17.2051 0.664701 0.000256804 0.0524761 0.745264 +TTool-pose None -6.57713 -7.25449 16.0909 -0.585806 0.28834 -0.721456 0.230544 +#59239 1721122576696 +SLAM 0.865515 14.8189 17.3736 0.66676 0.0012145 0.0496898 0.743614 +TTool-pose None -6.57629 -7.36894 16.1608 -0.588075 0.285152 -0.720889 0.230506 +#59240 1721122576733 +SLAM 0.795846 14.7764 17.1302 0.662645 0.000627266 0.0516035 0.747153 +TTool-pose None -6.54508 -7.28231 16.0583 -0.585594 0.289798 -0.720311 0.232827 +#59241 1721122576769 +SLAM 0.796136 14.775 17.2334 0.665774 0.000339098 0.0525014 0.744304 +TTool-pose None -6.57407 -7.23567 16.1029 -0.586117 0.287303 -0.721888 0.229694 +#59242 1721122576805 +SLAM 0.805526 14.782 17.2224 0.665507 3.41876e-05 0.052194 0.744565 +TTool-pose None -6.56918 -7.2379 16.1104 -0.586341 0.287656 -0.721522 0.22983 +#59243 1721122576839 +SLAM 0.80084 14.7801 17.2374 0.665988 0.000126002 0.0522424 0.744131 +TTool-pose None -6.56781 -7.23193 16.1156 -0.586437 0.287167 -0.721753 0.229472 +#59244 1721122576872 +SLAM 0.86119 14.8169 17.3454 0.666861 0.000362896 0.0504224 0.743474 +TTool-pose None -6.58159 -7.32222 16.1661 -0.587893 0.285754 -0.721094 0.229582 +#59245 1721122576907 +SLAM 0.79112 14.7747 17.2029 0.665015 0.00054907 0.0522028 0.745003 +TTool-pose None -6.56109 -7.24394 16.0918 -0.586 0.287806 -0.721501 0.230579 +#59246 1721122576943 +SLAM 0.801578 14.7783 17.2075 0.664901 0.000198416 0.0523849 0.745093 +TTool-pose None -6.57305 -7.24854 16.0936 -0.585954 0.288167 -0.72146 0.230373 +#59247 1721122576977 +SLAM 0.787016 14.771 17.2768 0.66734 0.000429281 0.0525755 0.742895 +TTool-pose None -6.56983 -7.21018 16.1248 -0.586555 0.285813 -0.722528 0.228418 +#59248 1721122577013 +SLAM 0.802847 14.7786 17.2581 0.666582 0.000172734 0.0522648 0.743597 +TTool-pose None -6.57192 -7.22619 16.1229 -0.586603 0.286593 -0.721997 0.228998 +#59249 1721122577046 +SLAM 0.80033 14.7792 17.2562 0.66658 0.000155482 0.0524063 0.743589 +TTool-pose None -6.57366 -7.22294 16.1229 -0.586511 0.286641 -0.722072 0.228935 +#59250 1721122577085 +SLAM 0.862188 14.8208 17.375 0.667444 0.000666606 0.0499307 0.742984 +TTool-pose None -6.57264 -7.33402 16.1797 -0.58832 0.284905 -0.721114 0.22948 +#59251 1721122577125 +SLAM 0.794429 14.7767 17.2262 0.665726 0.000309797 0.0523851 0.744355 +TTool-pose None -6.56789 -7.23206 16.1059 -0.586191 0.287335 -0.721795 0.229759 +#59252 1721122577160 +SLAM 0.919947 14.8515 17.4734 0.666337 0.00275954 0.0468626 0.744171 +TTool-pose None -6.56879 -7.52875 16.1788 -0.58935 0.283893 -0.719563 0.232935 +#59253 1721122577194 +SLAM 0.802859 14.7789 17.2317 0.665632 0.000303893 0.05242 0.744437 +TTool-pose None -6.57796 -7.24082 16.1047 -0.586138 0.287435 -0.721779 0.22982 +#59254 1721122577231 +SLAM 0.794228 14.7767 17.2973 0.667664 0.000284665 0.0528401 0.742585 +TTool-pose None -6.58504 -7.21222 16.1334 -0.586529 0.285664 -0.722755 0.227951 +#59255 1721122577272 +SLAM 0.794054 14.7779 17.2195 0.665577 0.000359306 0.0522831 0.744496 +TTool-pose None -6.56472 -7.23363 16.1052 -0.586195 0.287418 -0.721696 0.229954 +#59256 1721122577305 +SLAM 0.851649 14.8151 17.3613 0.66752 0.000692696 0.0503853 0.742885 +TTool-pose None -6.5759 -7.31232 16.1739 -0.588026 0.284934 -0.721411 0.229264 +#59257 1721122577346 +SLAM 0.794646 14.7808 17.2477 0.666143 0.000249412 0.0526819 0.743961 +TTool-pose None -6.57822 -7.23176 16.114 -0.586146 0.28706 -0.7221 0.229259 +#59258 1721122577382 +SLAM 0.869547 14.825 17.3282 0.665726 0.000801491 0.0494619 0.744555 +TTool-pose None -6.56546 -7.36925 16.1561 -0.588027 0.286301 -0.720257 0.23118 +#59259 1721122577417 +SLAM 0.795222 14.7795 17.1861 0.66443 0.000332514 0.0524495 0.745508 +TTool-pose None -6.56982 -7.24866 16.0865 -0.585708 0.288539 -0.721365 0.23083 +#59260 1721122577454 +SLAM 0.795132 14.7759 17.2227 0.665677 0.000220682 0.0524538 0.744394 +TTool-pose None -6.56928 -7.22926 16.1047 -0.586157 0.287451 -0.72179 0.229714 +#59261 1721122577493 +SLAM 0.79531 14.7713 17.2183 0.665622 0.00034469 0.0523195 0.744453 +TTool-pose None -6.56628 -7.22916 16.0994 -0.586189 0.287395 -0.721729 0.229894 +#59262 1721122577527 +SLAM 0.803852 14.7759 17.2383 0.666122 8.96367e-05 0.0523288 0.744005 +TTool-pose None -6.57267 -7.22499 16.1134 -0.586434 0.287086 -0.721841 0.229303 +#59263 1721122577565 +SLAM 0.795915 14.7735 17.2161 0.66555 0.000365399 0.0521405 0.74453 +TTool-pose None -6.56151 -7.23255 16.1017 -0.586281 0.287404 -0.721606 0.230034 +#59264 1721122577600 +SLAM 0.806107 14.7796 17.0588 0.660492 6.68592e-05 0.0521104 0.749023 +TTool-pose None -6.56106 -7.29502 16.0273 -0.584714 0.292245 -0.719642 0.234048 +#59265 1721122577637 +SLAM 0.804301 14.7807 17.2103 0.664994 1.95715e-05 0.0525001 0.745001 +TTool-pose None -6.5772 -7.24475 16.098 -0.585966 0.288217 -0.721507 0.230133 +#59266 1721122577672 +SLAM 0.791181 14.7747 17.2694 0.667151 0.000484345 0.0525638 0.743065 +TTool-pose None -6.57436 -7.21171 16.1249 -0.586482 0.285952 -0.722469 0.228617 +#59267 1721122577706 +SLAM 0.795408 14.7754 17.2277 0.665742 0.000444831 0.0520893 0.744362 +TTool-pose None -6.56125 -7.23703 16.1058 -0.586354 0.287166 -0.721671 0.229946 +#59268 1721122577741 +SLAM 0.784924 14.7703 17.2338 0.666064 0.000549418 0.0524052 0.744051 +TTool-pose None -6.56221 -7.22635 16.1038 -0.586209 0.286883 -0.722001 0.229628 +#59269 1721122577776 +SLAM 0.803881 14.7775 17.224 0.665642 9.31199e-05 0.052546 0.744419 +TTool-pose None -6.57936 -7.2296 16.1052 -0.586125 0.287584 -0.721792 0.229625 +#59270 1721122577810 +SLAM 0.794172 14.7745 17.2291 0.665735 0.000387434 0.0522325 0.744358 +TTool-pose None -6.56385 -7.23666 16.1041 -0.586273 0.287242 -0.721733 0.22986 +#59271 1721122577845 +SLAM 0.791531 14.7766 17.1254 0.662528 0.000488 0.0523824 0.747203 +TTool-pose None -6.56369 -7.27321 16.0521 -0.585069 0.290186 -0.720675 0.232539 +#59272 1721122577884 +SLAM 0.795404 14.771 17.2406 0.666224 0.000335757 0.0523703 0.74391 +TTool-pose None -6.56881 -7.22419 16.1084 -0.586357 0.286854 -0.721976 0.229366 +#59273 1721122577924 +SLAM 0.862584 14.8183 17.3341 0.666201 0.000677962 0.0499067 0.7441 +TTool-pose None -6.5707 -7.34817 16.1566 -0.587921 0.286047 -0.72065 0.230536 +#59274 1721122577960 +SLAM 0.806632 14.7813 17.0632 0.660326 0.000256089 0.0519764 0.749179 +TTool-pose None -6.56059 -7.30958 16.0245 -0.584686 0.29225 -0.71956 0.234361 +#59275 1721122577996 +SLAM 0.874419 14.8323 17.285 0.664379 0.000758925 0.048894 0.745795 +TTool-pose None -6.55022 -7.39199 16.1456 -0.587981 0.287429 -0.719424 0.232487 +#59276 1721122578035 +SLAM 0.794844 14.7748 17.192 0.664503 0.000339528 0.0524067 0.745445 +TTool-pose None -6.56812 -7.25135 16.0829 -0.58576 0.288456 -0.721369 0.23079 +#59277 1721122578072 +SLAM 0.790097 14.7733 17.3018 0.66802 0.000503063 0.0524625 0.742291 +TTool-pose None -6.57155 -7.20689 16.138 -0.586833 0.285107 -0.722733 0.22794 +#59278 1721122578107 +SLAM 0.861013 14.8186 17.3265 0.666079 0.000565286 0.050145 0.744193 +TTool-pose None -6.57491 -7.34263 16.1544 -0.587755 0.286288 -0.720709 0.230474 +#59279 1721122578152 +SLAM 0.806749 14.7818 17.1724 0.663729 0.000264546 0.052134 0.746154 +TTool-pose None -6.57007 -7.26818 16.0787 -0.585714 0.289149 -0.720906 0.231487 +#59280 1721122578189 +SLAM 0.890748 14.8295 17.4865 0.668999 0.00156434 0.0487864 0.741659 +TTool-pose None -6.5829 -7.39413 16.2075 -0.589316 0.282627 -0.721286 0.2292 +#59281 1721122578228 +SLAM 0.81126 14.7789 17.1379 0.662839 -3.5366e-05 0.0523109 0.746932 +TTool-pose None -6.57422 -7.26792 16.063 -0.585396 0.290194 -0.720591 0.23196 +#59282 1721122578262 +SLAM 0.855207 14.8155 17.2498 0.664079 0.000311321 0.0506965 0.745942 +TTool-pose None -6.57997 -7.34629 16.1177 -0.586798 0.288433 -0.72022 0.231765 +#59283 1721122578301 +SLAM 0.798768 14.7751 17.2248 0.665644 0.0003713 0.052269 0.744436 +TTool-pose None -6.5692 -7.2355 16.1029 -0.586222 0.287345 -0.721716 0.229911 +#59284 1721122578335 +SLAM 0.79612 14.7761 17.2315 0.665915 0.000236558 0.0524277 0.744183 +TTool-pose None -6.57003 -7.22794 16.1086 -0.586249 0.287215 -0.721866 0.229537 +#59285 1721122578371 +SLAM 0.808956 14.7866 17.2117 0.664867 -0.000150776 0.0530233 0.745078 +TTool-pose None -6.59695 -7.24479 16.098 -0.585622 0.288568 -0.72171 0.229929 +#59286 1721122578406 +SLAM 0.790042 14.7729 17.2476 0.66644 0.000438553 0.0525861 0.743702 +TTool-pose None -6.57233 -7.22058 16.1115 -0.586247 0.286646 -0.722209 0.229172 +#59287 1721122578441 +SLAM 0.801782 14.7772 17.1817 0.664085 0.000258497 0.0524205 0.745817 +TTool-pose None -6.57421 -7.25849 16.0782 -0.585638 0.288896 -0.721199 0.231079 +#59288 1721122578476 +SLAM 0.799911 14.772 17.2252 0.665637 0.000249356 0.0522644 0.744444 +TTool-pose None -6.56824 -7.23509 16.1007 -0.586264 0.287425 -0.721675 0.229839 +#59289 1721122578510 +SLAM 0.796137 14.7697 17.33 0.669086 0.000108379 0.052602 0.741321 +TTool-pose None -6.57702 -7.18269 16.1548 -0.58722 0.284385 -0.723081 0.226732 +#59290 1721122578553 +SLAM 0.797556 14.7754 17.2205 0.665447 0.000263672 0.0524344 0.744601 +TTool-pose None -6.57171 -7.2374 16.0994 -0.58608 0.287635 -0.721707 0.229943 +#59291 1721122578593 +SLAM 0.876292 14.83 17.2892 0.664201 0.00104209 0.048882 0.745953 +TTool-pose None -6.55599 -7.4057 16.1366 -0.587836 0.287421 -0.719437 0.232826 +#59292 1721122578629 +SLAM 0.869855 14.8248 17.3113 0.664531 0.00136228 0.0492584 0.745634 +TTool-pose None -6.5671 -7.41112 16.1301 -0.587581 0.28702 -0.71987 0.232624 +#59293 1721122578664 +SLAM 0.882337 14.8296 17.3915 0.666132 0.0018344 0.0485259 0.744251 +TTool-pose None -6.56636 -7.43165 16.1593 -0.588456 0.285065 -0.720173 0.231875 +#59294 1721122578698 +SLAM 0.797604 14.7737 17.2512 0.666435 0.000271514 0.0524486 0.743716 +TTool-pose None -6.57334 -7.2243 16.1138 -0.586395 0.286716 -0.722078 0.229118 +#59295 1721122578733 +SLAM 0.785166 14.7674 17.2939 0.668331 0.000251102 0.0526794 0.741997 +TTool-pose None -6.56871 -7.18088 16.1401 -0.58687 0.285023 -0.722895 0.227431 +#59296 1721122578774 +SLAM 0.890748 14.8422 17.3582 0.665305 0.00145517 0.0480328 0.745024 +TTool-pose None -6.55283 -7.43853 16.1654 -0.588645 0.285934 -0.719474 0.232498 +#59297 1721122578814 +SLAM 0.787145 14.7737 17.1944 0.664764 0.000627055 0.0523276 0.745218 +TTool-pose None -6.56187 -7.2458 16.0853 -0.585805 0.288023 -0.721504 0.230793 +#59298 1721122578851 +SLAM 0.85752 14.8144 17.3329 0.666829 0.000245227 0.0504457 0.743502 +TTool-pose None -6.57603 -7.31015 16.1654 -0.587905 0.28586 -0.721061 0.229523 +#59299 1721122578886 +SLAM 0.792287 14.7764 17.1852 0.664425 0.000248307 0.0527871 0.745488 +TTool-pose None -6.57627 -7.24343 16.0817 -0.585504 0.288679 -0.721532 0.230651 +#59300 1721122578922 +SLAM 0.799115 14.7748 17.218 0.665534 0.000192956 0.0523026 0.744532 +TTool-pose None -6.56769 -7.23193 16.1024 -0.586222 0.287562 -0.721642 0.229872 +#59301 1721122578959 +SLAM 0.87061 14.8229 17.4001 0.667699 0.000964468 0.0494734 0.742785 +TTool-pose None -6.57192 -7.35449 16.1848 -0.588618 0.284373 -0.721031 0.229635 +#59302 1721122579002 +SLAM 0.798934 14.7771 17.1662 0.66379 0.000332221 0.0519754 0.746111 +TTool-pose None -6.5573 -7.2617 16.0771 -0.58582 0.289011 -0.720857 0.23154 +#59303 1721122579037 +SLAM 0.800528 14.7752 17.2838 0.667328 0.000131739 0.052429 0.742916 +TTool-pose None -6.57511 -7.21659 16.1309 -0.586751 0.285965 -0.722351 0.228285 +#59304 1721122579072 +SLAM 0.801912 14.777 17.1418 0.662879 0.000190437 0.0524029 0.746891 +TTool-pose None -6.57121 -7.27114 16.0593 -0.585271 0.290046 -0.720726 0.232043 +#59305 1721122579108 +SLAM 0.870329 14.8227 17.334 0.665739 0.000815307 0.0497837 0.744522 +TTool-pose None -6.57711 -7.37059 16.1508 -0.587806 0.286362 -0.720452 0.231058 +#59306 1721122579148 +SLAM 0.890981 14.8342 17.4458 0.667425 0.00167808 0.0484923 0.743095 +TTool-pose None -6.57427 -7.42776 16.1855 -0.588959 0.28395 -0.720578 0.230704 +#59307 1721122579190 +SLAM 0.890625 14.834 17.4473 0.667494 0.0016689 0.048505 0.743032 +TTool-pose None -6.57422 -7.42595 16.1866 -0.588977 0.283894 -0.720608 0.230635 +#59308 1721122579227 +SLAM 0.803044 14.777 17.2419 0.666099 0.000121864 0.05236 0.744023 +TTool-pose None -6.5737 -7.22967 16.1132 -0.586394 0.287096 -0.72186 0.229332 +#59309 1721122579261 +SLAM 0.797122 14.7748 17.1508 0.663576 6.59944e-05 0.0526966 0.74625 +TTool-pose None -6.57387 -7.24556 16.0691 -0.585344 0.28955 -0.721114 0.23127 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0.290944 -0.720102 0.233377 +#59316 1721122579517 +SLAM 0.794373 14.7754 17.2103 0.665162 0.000388202 0.0524921 0.744852 +TTool-pose None -6.57178 -7.24028 16.0935 -0.585904 0.287839 -0.721673 0.230241 +#59317 1721122579552 +SLAM 2.55169 14.8644 16.9884 0.646222 -0.0397177 0.102246 0.755226 +TTool-pose None -9.29438 -6.51554 15.6983 -0.558016 0.339925 -0.730386 0.198884 +#59318 1721122579589 +SLAM 0.791673 14.7785 17.2079 0.664989 0.000334063 0.0526597 0.744995 +TTool-pose None -6.57397 -7.24374 16.0927 -0.58575 0.288074 -0.72169 0.230286 +#59319 1721122579624 +SLAM 0.799717 14.7769 17.2009 0.664675 0.000196285 0.0524911 0.745287 +TTool-pose None -6.57425 -7.25062 16.0876 -0.585807 0.288405 -0.721438 0.23052 +#59320 1721122579659 +SLAM 0.790563 14.7738 17.2165 0.665565 0.000195502 0.0526653 0.744479 +TTool-pose None -6.5707 -7.22554 16.0998 -0.585984 0.287624 -0.721863 0.229712 +#59321 1721122579693 +SLAM 0.808387 14.7821 17.1028 0.661388 0.000233761 0.0519575 0.748242 +TTool-pose None -6.56313 -7.30278 16.0419 -0.585063 0.291282 -0.719934 0.233475 +#59322 1721122579729 +SLAM 0.793665 14.7706 17.2607 0.666795 0.000309175 0.0522532 0.743407 +TTool-pose None -6.56371 -7.22038 16.1185 -0.586635 0.28631 -0.722108 0.228915 +#59323 1721122579764 +SLAM 0.871688 14.8236 17.346 0.665355 0.0015639 0.0491085 0.744909 +TTool-pose None -6.56829 -7.41227 16.141 -0.58789 0.286097 -0.720145 0.232127 +#59324 1721122579798 +SLAM 0.797333 14.7742 17.1967 0.664697 0.000348787 0.0523369 0.745278 +TTool-pose None -6.56858 -7.24825 16.086 -0.585869 0.288254 -0.721402 0.230661 +#59325 1721122579834 +SLAM 0.794106 14.7763 17.1907 0.664671 0.000253734 0.0524114 0.745295 +TTool-pose None -6.56617 -7.24237 16.0887 -0.585841 0.288353 -0.721407 0.230591 +#59326 1721122579869 +SLAM 0.845889 14.8108 17.4317 0.669632 0.000572877 0.0504237 0.740979 +TTool-pose None -6.57207 -7.28759 16.2062 -0.588736 0.283047 -0.722164 0.227399 +#59327 1721122579905 +SLAM 0.794519 14.7758 17.1255 0.66263 0.000253736 0.0524285 0.747109 +TTool-pose None -6.56462 -7.26638 16.0548 -0.585149 0.290244 -0.720669 0.232281 +#59328 1721122579941 +SLAM 0.849836 14.8118 17.375 0.66876 3.75658e-06 0.0503932 0.741769 +TTool-pose None -6.56399 -7.26604 16.2005 -0.588659 0.284195 -0.72166 0.227765 +#59329 1721122579976 +SLAM 0.789973 14.7701 17.2756 0.667473 0.00014394 0.0525353 0.742779 +TTool-pose None -6.5671 -7.20127 16.1294 -0.586722 0.285851 -0.722468 0.228133 +#59330 1721122580011 +SLAM 0.79063 14.768 17.2231 0.665716 0.000419399 0.0523451 0.744367 +TTool-pose None -6.56351 -7.23005 16.097 -0.586178 0.287269 -0.721801 0.229855 +#59331 1721122580052 +SLAM 0.791734 14.7719 17.2412 0.666387 -3.15362e-05 0.0528552 0.74373 +TTool-pose None -6.57548 -7.20993 16.1121 -0.586202 0.287045 -0.722204 0.228804 +#59332 1721122580086 +SLAM 0.797647 14.775 17.2633 0.666949 0.000191189 0.0522663 0.743268 +TTool-pose None -6.56677 -7.21534 16.1263 -0.586717 0.286241 -0.722137 0.228703 +#59333 1721122580120 +SLAM 0.859035 14.8133 17.3181 0.666361 6.0479e-05 0.0507459 0.7439 +TTool-pose None -6.58401 -7.31115 16.1556 -0.587606 0.286482 -0.721008 0.229678 +#59334 1721122580160 +SLAM 0.792548 14.7711 17.2122 0.665267 0.000415095 0.0523187 0.74477 +TTool-pose None -6.56444 -7.23936 16.0924 -0.586049 0.287682 -0.72162 0.230237 +#59335 1721122580202 +SLAM 0.802889 14.7733 17.2387 0.665983 0.000111104 0.0523446 0.744128 +TTool-pose None -6.5725 -7.23128 16.1078 -0.58637 0.287206 -0.721806 0.229427 +#59336 1721122580242 +SLAM 0.797788 14.7761 17.1783 0.664181 0.000218727 0.0524143 0.745732 +TTool-pose None -6.56904 -7.25088 16.0801 -0.585688 0.288828 -0.721219 0.230974 +#59337 1721122580279 +SLAM 0.793401 14.7749 17.2265 0.665744 0.000148157 0.0526887 0.744318 +TTool-pose None -6.57421 -7.22694 16.1035 -0.586043 0.287492 -0.721928 0.229522 +#59338 1721122580320 +SLAM 0.80494 14.7779 17.2192 0.665283 8.0673e-05 0.0523582 0.744753 +TTool-pose None -6.57424 -7.24254 16.1005 -0.586139 0.287877 -0.721549 0.229986 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-0.589195 0.283801 -0.720486 0.230574 +#59345 1721122580582 +SLAM 0.808583 14.7779 17.2395 0.666156 -8.77172e-05 0.0522824 0.743977 +TTool-pose None -6.57354 -7.22386 16.1176 -0.586536 0.287149 -0.721774 0.229174 +#59346 1721122580622 +SLAM 0.797064 14.7773 17.1886 0.664228 0.000319418 0.0524004 0.745691 +TTool-pose None -6.57008 -7.26009 16.0803 -0.585679 0.288722 -0.721258 0.231008 +#59347 1721122580658 +SLAM 0.793146 14.7747 17.1975 0.664664 0.000311345 0.0526421 0.745285 +TTool-pose None -6.57384 -7.24707 16.0839 -0.585662 0.288383 -0.721555 0.230548 +#59348 1721122580693 +SLAM 0.812227 14.7818 17.2403 0.666058 -5.10122e-05 0.0521276 0.744076 +TTool-pose None -6.57314 -7.23104 16.12 -0.586598 0.287179 -0.72166 0.229339 +#59349 1721122580728 +SLAM 0.80835 14.7859 17.179 0.663807 -4.04448e-07 0.0522656 0.746075 +TTool-pose None -6.5728 -7.26829 16.0847 -0.585738 0.289268 -0.720931 0.231196 +#59350 1721122580762 +SLAM 0.7996 14.7748 17.2628 0.66671 0.00023373 0.0523107 0.74348 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-4.19013e-05 0.0522121 0.746903 +TTool-pose None -6.57011 -7.26799 16.0678 -0.58548 0.290136 -0.720548 0.231959 +#59357 1721122581011 +SLAM 0.860751 14.8212 17.3793 0.667524 0.00082183 0.0495534 0.742937 +TTool-pose None -6.56137 -7.34018 16.1831 -0.588553 0.284641 -0.720971 0.229657 +#59358 1721122581045 +SLAM 0.797629 14.7755 17.2736 0.667154 0.00024738 0.052235 0.743086 +TTool-pose None -6.5671 -7.21736 16.1295 -0.586787 0.286009 -0.72221 0.228581 +#59359 1721122581082 +SLAM 0.801834 14.7725 17.1838 0.664292 0.000214277 0.0523014 0.745641 +TTool-pose None -6.56935 -7.25199 16.0788 -0.585803 0.2887 -0.721193 0.230922 +#59360 1721122581121 +SLAM 0.799127 14.7747 17.2484 0.66637 2.12418e-05 0.052566 0.743766 +TTool-pose None -6.575 -7.22119 16.1151 -0.586377 0.286956 -0.722048 0.228962 +#59361 1721122581157 +SLAM 0.810378 14.7802 17.1597 0.663419 2.3307e-06 0.0520685 0.746434 +TTool-pose None -6.56711 -7.26756 16.075 -0.585743 0.289575 -0.720676 0.231594 +#59362 1721122581193 +SLAM 0.808488 14.781 17.1968 0.66456 -4.90733e-05 0.052512 0.745388 +TTool-pose None -6.58028 -7.24931 16.0913 -0.585836 0.288663 -0.721334 0.230445 +#59363 1721122581227 +SLAM 0.906183 14.845 17.38 0.664979 0.001741 0.0478222 0.745327 +TTool-pose None -6.56719 -7.47801 16.1571 -0.588585 0.28601 -0.719318 0.233037 +#59364 1721122581265 +SLAM 0.799037 14.7725 17.2006 0.664932 0.000238071 0.0525304 0.745055 +TTool-pose None -6.57482 -7.23846 16.0879 -0.585851 0.288151 -0.721567 0.230319 +#59365 1721122581301 +SLAM 0.793492 14.7757 17.2368 0.666112 0.000178575 0.0525842 0.743995 +TTool-pose None -6.57178 -7.22246 16.1111 -0.586226 0.287106 -0.722011 0.229274 +#59366 1721122581338 +SLAM 0.801726 14.776 17.2475 0.66614 0.000333587 0.0521192 0.744003 +TTool-pose None -6.56792 -7.23766 16.1125 -0.586502 0.28687 -0.7218 0.229529 +#59367 1721122581379 +SLAM 0.866881 14.8199 17.3121 0.665329 0.000693227 0.0499212 0.744879 +TTool-pose None -6.57514 -7.36436 16.1423 -0.587617 0.28685 -0.720345 0.231268 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-0.575304 -0.183989 -0.36461 0.708677 +#59374 1721122581642 +SLAM 0.788066 14.7761 17.1865 0.664486 0.000342722 0.0528037 0.745433 +TTool-pose None -6.57397 -7.24291 16.0817 -0.585481 0.288571 -0.721592 0.230657 +#59375 1721122581681 +SLAM 0.804046 14.7789 17.2212 0.665447 8.1552e-07 0.0526914 0.744583 +TTool-pose None -6.58301 -7.23322 16.1026 -0.585992 0.287857 -0.721777 0.229671 +#59376 1721122581715 +SLAM 0.796439 14.7785 17.2524 0.666356 0.000120935 0.0527483 0.743765 +TTool-pose None -6.58024 -7.22508 16.1159 -0.586214 0.286955 -0.722177 0.228971 +#59377 1721122581753 +SLAM 0.802519 14.7774 17.2387 0.666127 4.68172e-05 0.0525064 0.743988 +TTool-pose None -6.5766 -7.22318 16.114 -0.586328 0.287152 -0.721932 0.229204 +#59378 1721122581791 +SLAM 0.863368 14.8216 17.2765 0.665045 -2.85976e-06 0.0501015 0.74512 +TTool-pose None -6.56561 -7.335 16.1474 -0.587632 0.287576 -0.720137 0.230975 +#59379 1721122581825 +SLAM 0.810685 14.7781 17.1843 0.664159 0.000118804 0.0519484 0.745785 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-6.56837 -7.21885 16.1277 -0.586769 0.285944 -0.722267 0.228529 +#59403 1721122582712 +SLAM 0.79741 14.7724 17.2313 0.666015 0.000225203 0.0525087 0.744088 +TTool-pose None -6.57335 -7.22177 16.1064 -0.58623 0.287149 -0.721946 0.229415 +#59404 1721122582748 +SLAM 0.798806 14.7766 17.1978 0.664694 8.07033e-05 0.0526566 0.745258 +TTool-pose None -6.57676 -7.24403 16.0878 -0.585738 0.288498 -0.721505 0.230365 +#59405 1721122582786 +SLAM 0.801347 14.7765 17.2363 0.665846 0.000245742 0.052172 0.744263 +TTool-pose None -6.56754 -7.23826 16.1088 -0.586398 0.287209 -0.721697 0.229696 +#59406 1721122582825 +SLAM 0.801758 14.7759 17.1816 0.664386 9.45977e-05 0.0524283 0.745549 +TTool-pose None -6.57167 -7.24382 16.0844 -0.585788 0.288717 -0.721265 0.230717 +#59407 1721122582861 +SLAM 0.805326 14.7715 17.1736 0.663917 0.000119584 0.05238 0.745969 +TTool-pose None -6.57359 -7.25635 16.0715 -0.585656 0.289123 -0.721073 0.231141 +#59408 1721122582898 +SLAM 0.796698 14.773 17.2093 0.665161 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-6.56949 -7.23671 16.1095 -0.58646 0.28724 -0.721663 0.229602 +#59582 1721122589244 +SLAM 0.800081 14.7758 17.1795 0.664027 0.000292917 0.0524307 0.745868 +TTool-pose None -6.57313 -7.25883 16.0757 -0.5856 0.28893 -0.721194 0.231146 +#59583 1721122589277 +SLAM 0.798977 14.7702 17.3037 0.668027 0.000129838 0.0524198 0.742288 +TTool-pose None -6.57353 -7.20528 16.138 -0.586989 0.285313 -0.722599 0.227702 +#59584 1721122589310 +SLAM 0.807261 14.7785 17.2436 0.666166 -8.80292e-05 0.0523369 0.743965 +TTool-pose None -6.5743 -7.22701 16.1176 -0.586503 0.287153 -0.721809 0.229145 +#59585 1721122589342 +SLAM 0.791357 14.7705 17.2262 0.665765 0.000391155 0.0523192 0.744325 +TTool-pose None -6.56336 -7.23128 16.1005 -0.586222 0.287234 -0.721795 0.229805 +#59586 1721122589374 +SLAM 0.8065 14.7767 17.1802 0.663995 7.46441e-05 0.0528688 0.745865 +TTool-pose None -6.59065 -7.25407 16.0738 -0.585363 0.289201 -0.72137 0.230863 +#59587 1721122589406 +SLAM 0.808462 14.779 17.2339 0.66571 -1.32721e-05 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1721122590585 +SLAM 0.809999 14.7777 17.213 0.664988 8.16884e-05 0.0522025 0.745027 +TTool-pose None -6.57411 -7.25066 16.096 -0.586147 0.28811 -0.721352 0.230291 +#59623 1721122590616 +SLAM 0.799186 14.7751 17.2603 0.666803 0.000158968 0.0525145 0.743381 +TTool-pose None -6.5758 -7.21565 16.122 -0.586509 0.286458 -0.722217 0.22871 +#59624 1721122590650 +SLAM 0.797024 14.773 17.2631 0.666919 0.000275518 0.0523065 0.743292 +TTool-pose None -6.56853 -7.21645 16.1228 -0.586652 0.286228 -0.722174 0.228769 +#59625 1721122590682 +SLAM 0.802166 14.772 17.3111 0.668485 5.48387e-05 0.0523218 0.741883 +TTool-pose None -6.57266 -7.19294 16.1494 -0.587232 0.284908 -0.722686 0.227306 +#59626 1721122590714 +SLAM 0.900428 14.8399 17.4082 0.665469 0.00210679 0.0480707 0.744873 +TTool-pose None -6.57568 -7.48416 16.154 -0.588456 0.2854 -0.71975 0.232778 +#59627 1721122590747 +SLAM 0.860589 14.8168 17.383 0.667646 0.000605342 0.0501945 0.742785 +TTool-pose None -6.57879 -7.32938 16.1775 -0.588227 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-6.57042 -7.2361 16.1095 -0.586401 0.287253 -0.721714 0.229579 +#59634 1721122590989 +SLAM 0.806852 14.7746 17.193 0.664446 6.42318e-05 0.05235 0.745501 +TTool-pose None -6.5744 -7.25262 16.0835 -0.585872 0.28866 -0.721233 0.230676 +#59635 1721122591021 +SLAM 0.802494 14.7814 17.2325 0.665794 0.000155441 0.052142 0.744311 +TTool-pose None -6.56659 -7.23693 16.1139 -0.586432 0.287303 -0.721634 0.22969 +#59636 1721122591053 +SLAM 0.805913 14.7799 17.1386 0.663091 3.94115e-06 0.0519812 0.746732 +TTool-pose None -6.55873 -7.26221 16.0716 -0.585693 0.289856 -0.720506 0.231901 +#59637 1721122591087 +SLAM 0.790327 14.7721 17.1911 0.664728 0.000443395 0.0523222 0.745251 +TTool-pose None -6.56191 -7.24244 16.0849 -0.585858 0.288165 -0.721433 0.230703 +#59638 1721122591123 +SLAM 0.868013 14.8203 17.3705 0.667014 0.00102262 0.0491135 0.743424 +TTool-pose None -6.55696 -7.35971 16.174 -0.588618 0.284884 -0.720592 0.230382 +#59639 1721122591161 +SLAM 0.801652 14.7738 17.2466 0.666352 3.3622e-05 0.0523903 0.743795 +TTool-pose None -6.57184 -7.22198 16.1152 -0.586487 0.286922 -0.721944 0.229051 +#59640 1721122591194 +SLAM 0.883999 14.8329 17.3908 0.665025 0.00233458 0.0485679 0.745236 +TTool-pose None -6.57757 -7.48283 16.1348 -0.587893 0.285802 -0.719942 0.233114 +#59641 1721122591229 +SLAM 0.800635 14.7732 17.2659 0.666745 0.000100455 0.0526347 0.743425 +TTool-pose None -6.58059 -7.22171 16.1178 -0.586427 0.286578 -0.722247 0.228675 +#59642 1721122591263 +SLAM 0.897871 14.8393 17.4286 0.666128 0.00236284 0.0477223 0.744306 +TTool-pose None -6.56601 -7.48128 16.1654 -0.588826 0.284547 -0.719865 0.232528 +#59643 1721122591294 +SLAM 0.797013 14.7752 17.2165 0.665292 0.000260705 0.0523898 0.744743 +TTool-pose None -6.56955 -7.24067 16.097 -0.58606 0.287768 -0.721624 0.230086 +#59644 1721122591328 +SLAM 0.892515 14.8362 17.3896 0.665853 0.00129904 0.0488226 0.744483 +TTool-pose None -6.5792 -7.43481 16.162 -0.588339 0.285722 -0.720083 0.231643 +#59645 1721122591360 +SLAM 0.791342 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+#59651 1721122591582 +SLAM 0.804868 14.7783 17.1938 0.664608 5.52069e-05 0.0521653 0.745369 +TTool-pose None -6.56652 -7.24895 16.092 -0.586055 0.288469 -0.721183 0.230604 +#59652 1721122591615 +SLAM 0.797755 14.7788 17.2325 0.665678 0.00022579 0.0523964 0.744397 +TTool-pose None -6.571 -7.23966 16.1067 -0.586195 0.287433 -0.721758 0.229739 +#59653 1721122591648 +SLAM 0.806856 14.7762 17.2196 0.665469 -5.49787e-05 0.0521531 0.744601 +TTool-pose None -6.56729 -7.23584 16.1053 -0.586386 0.287734 -0.721458 0.229818 +#59654 1721122591681 +SLAM 0.799224 14.7768 17.2453 0.666055 0.000245308 0.0523749 0.744061 +TTool-pose None -6.57241 -7.23588 16.1107 -0.586329 0.287066 -0.72189 0.229445 +#59655 1721122591712 +SLAM 0.909145 14.8444 17.4885 0.667699 0.00271851 0.0464883 0.742973 +TTool-pose None -6.5445 -7.48757 16.2024 -0.59007 0.282556 -0.719831 0.231909 +#59656 1721122591746 +SLAM 0.80379 14.7734 17.2322 0.665932 0.000166968 0.0523589 0.744173 +TTool-pose None -6.57426 -7.2272 16.1069 -0.586325 0.287223 -0.721812 0.229502 +#59657 1721122591779 +SLAM 0.80273 14.7771 17.1628 0.663741 6.94947e-05 0.0522743 0.746134 +TTool-pose None -6.56675 -7.25499 16.0762 -0.585687 0.28929 -0.720933 0.231294 +#59658 1721122591810 +SLAM 0.798556 14.7795 17.248 0.666239 0.000102876 0.052428 0.743893 +TTool-pose None -6.57163 -7.22924 16.1177 -0.586401 0.286994 -0.721945 0.229177 +#59659 1721122591842 +SLAM 0.797027 14.7768 17.2539 0.666381 2.50245e-05 0.0528984 0.743733 +TTool-pose None -6.58424 -7.22286 16.1142 -0.586152 0.287028 -0.722244 0.22883 +#59660 1721122591874 +SLAM 0.795888 14.7745 17.1932 0.664773 3.02898e-05 0.0526733 0.745186 +TTool-pose None -6.57311 -7.23549 16.0885 -0.58577 0.288459 -0.721529 0.230259 +#59661 1721122591909 +SLAM 0.803784 14.774 17.1694 0.663743 0.0002559 0.0520145 0.74615 +TTool-pose None -6.56231 -7.26522 16.0728 -0.585803 0.289111 -0.720839 0.231514 +#59662 1721122591944 +SLAM 0.895911 14.8313 17.4802 0.669045 0.0012402 0.0486365 0.741627 +TTool-pose None -6.57824 -7.38496 16.2146 -0.589542 0.28274 -0.72112 0.229002 +#59663 1721122591983 +SLAM 0.80042 14.7769 17.1955 0.664554 0.000252553 0.0523653 0.745403 +TTool-pose None -6.57144 -7.25227 16.0863 -0.585834 0.288451 -0.721338 0.230705 +#59664 1721122592024 +SLAM 0.802354 14.7801 17.1009 0.66163 0.000165885 0.0523523 0.748001 +TTool-pose None -6.56834 -7.28563 16.0429 -0.584896 0.291199 -0.72023 0.233081 +#59665 1721122592061 +SLAM 0.81328 14.7824 17.1772 0.663787 1.17683e-05 0.0519792 0.746113 +TTool-pose None -6.56826 -7.26991 16.0829 -0.585924 0.289207 -0.720762 0.231328 +#59666 1721122592102 +SLAM 0.801103 14.7739 17.2576 0.666538 0.000156534 0.0523143 0.743633 +TTool-pose None -6.5712 -7.22657 16.1173 -0.58656 0.286656 -0.722004 0.229006 +#59667 1721122592136 +SLAM 0.794731 14.7717 17.1859 0.664703 3.13365e-05 0.0525178 0.74526 +TTool-pose None -6.56631 -7.23291 16.0864 -0.585853 0.288484 -0.721414 0.230377 +#59668 1721122592168 +SLAM 0.880971 14.828 17.345 0.665541 0.000916681 0.0492204 0.744736 +TTool-pose None -6.57209 -7.39711 16.1536 -0.588092 0.286342 -0.720085 0.231501 +#59669 1721122592201 +SLAM 0.797371 14.7718 17.2129 0.665292 0.000225798 0.0522645 0.744752 +TTool-pose None -6.56485 -7.2379 16.0953 -0.586157 0.287758 -0.721542 0.230111 +#59670 1721122592238 +SLAM 0.797973 14.7761 17.1642 0.663678 0.000309992 0.0522081 0.746194 +TTool-pose None -6.56342 -7.26177 16.0725 -0.585631 0.289188 -0.720943 0.231531 +#59671 1721122592276 +SLAM 0.926415 14.8548 17.5221 0.666736 0.00360091 0.046186 0.743853 +TTool-pose None -6.56753 -7.57297 16.1824 -0.589662 0.282843 -0.719567 0.23341 +#59672 1721122592308 +SLAM 0.806876 14.7785 17.2133 0.665045 0.000211998 0.0519431 0.744995 +TTool-pose None -6.56453 -7.25268 16.099 -0.5863 0.287914 -0.721262 0.230428 +#59673 1721122592344 +SLAM 0.805756 14.7807 17.1741 0.663965 0.000133814 0.0519946 0.745953 +TTool-pose None -6.5625 -7.26015 16.0845 -0.585932 0.288973 -0.720873 0.231255 +#59674 1721122592384 +SLAM 0.892729 14.8347 17.4241 0.666325 0.00207383 0.0481271 0.744104 +TTool-pose None -6.56928 -7.4615 16.165 -0.588712 0.284641 -0.720085 0.232022 +#59675 1721122592416 +SLAM 0.802213 14.7762 17.2407 0.66603 -0.000118279 0.0527629 0.744056 +TTool-pose None -6.58235 -7.22513 16.1101 -0.586176 0.287405 -0.721995 0.229078 +#59676 1721122592454 +SLAM 0.804219 14.7792 17.2247 0.665457 6.56745e-05 0.0521763 0.74461 +TTool-pose None -6.56774 -7.2425 16.1063 -0.586326 0.287679 -0.721503 0.2299 +#59677 1721122592491 +SLAM 0.79447 14.7743 17.2499 0.666466 0.000177367 0.0524967 0.743685 +TTool-pose None -6.57036 -7.22075 16.1159 -0.586404 0.286756 -0.722089 0.229011 +#59678 1721122592530 +SLAM 0.791415 14.7722 17.1508 0.663418 0.00043164 0.0521351 0.746431 +TTool-pose None -6.55532 -7.26161 16.065 -0.585553 0.289336 -0.720842 0.231856 +#59679 1721122592572 +SLAM 0.813414 14.7846 17.08 0.660693 0.000214007 0.0515916 0.748881 +TTool-pose None -6.55539 -7.31427 16.036 -0.585087 0.29184 -0.719461 0.234174 +#59680 1721122592606 +SLAM 0.802205 14.7798 17.2068 0.664703 1.97703e-05 0.0528728 0.745234 +TTool-pose None -6.58712 -7.24976 16.0887 -0.585614 0.28858 -0.721615 0.230235 +#59681 1721122592638 +SLAM 0.897917 14.8371 17.3905 0.665746 0.00153797 0.0482701 0.744614 +TTool-pose None -6.57014 -7.44806 16.1626 -0.588602 0.285537 -0.719796 0.232097 +#59682 1721122592673 +SLAM 0.804944 14.7789 17.2254 0.665511 -2.67833e-05 0.0523721 0.744548 +TTool-pose None -6.57343 -7.23792 16.1062 -0.586241 0.287733 -0.721608 0.229719 +#59683 1721122592711 +SLAM 0.808882 14.7748 17.0708 0.660784 -7.36886e-05 0.0521434 0.748763 +TTool-pose None -6.56303 -7.29212 16.0278 -0.584836 0.292069 -0.719727 0.233701 +#59684 1721122592744 +SLAM 0.795897 14.7698 17.2072 0.665246 0.000147155 0.0524882 0.744777 +TTool-pose None -6.56896 -7.23114 16.092 -0.586015 0.287904 -0.72163 0.230013 +#59685 1721122592778 +SLAM 0.798464 14.7687 17.3863 0.670863 -0.000317018 0.0530524 0.739681 +TTool-pose None -6.58989 -7.15162 16.1836 -0.587638 0.283093 -0.723856 0.224786 +#59686 1721122592810 +SLAM 0.80426 14.7806 17.1352 0.662689 0.000137127 0.0520647 0.747083 +TTool-pose None -6.5619 -7.27652 16.0628 -0.585457 0.290168 -0.720446 0.232292 +#59687 1721122592850 +SLAM 0.80817 14.7797 17.2619 0.666396 0.000128421 0.0521171 0.743775 +TTool-pose None -6.57234 -7.23913 16.1211 -0.586657 0.286755 -0.721831 0.22918 +#59688 1721122592881 +SLAM 0.807153 14.7806 17.2277 0.66561 3.29602e-05 0.0519681 0.744489 +TTool-pose None -6.56364 -7.2409 16.1122 -0.58653 0.287504 -0.72143 0.229829 +#59689 1721122592917 +SLAM 0.795828 14.778 17.2098 0.664952 0.000187439 0.0527105 0.745024 +TTool-pose None -6.57776 -7.24517 16.0919 -0.585752 0.288209 -0.721662 0.230201 +#59690 1721122592955 +SLAM 0.812516 14.7787 17.0715 0.660723 -2.46255e-05 0.0520192 0.748825 +TTool-pose None -6.56376 -7.29733 16.0307 -0.584884 0.292064 -0.719647 0.233831 +#59691 1721122592989 +SLAM 0.795489 14.7723 17.2544 0.666508 0.000208965 0.0524443 0.743651 +TTool-pose None -6.57024 -7.22386 16.1144 -0.586443 0.286685 -0.722084 0.229017 +#59692 1721122593022 +SLAM 0.801966 14.7788 17.2566 0.666266 0.000156623 0.0523119 0.743877 +TTool-pose None -6.57256 -7.23798 16.1168 -0.586471 0.286908 -0.721904 0.229234 +#59693 1721122593054 +SLAM 0.796025 14.7755 17.3233 0.668492 0.000165607 0.0526262 0.741855 +TTool-pose None -6.57909 -7.20288 16.1487 -0.586989 0.284911 -0.722897 0.227259 +#59694 1721122593089 +SLAM 0.795997 14.776 17.1874 0.664287 0.000250495 0.0524238 0.745637 +TTool-pose None -6.56854 -7.25554 16.0809 -0.585706 0.288714 -0.721273 0.230904 +#59695 1721122593126 +SLAM 0.800255 14.7781 17.2188 0.665236 0.000156808 0.0525176 0.744784 +TTool-pose None -6.57585 -7.24337 16.0982 -0.585988 0.287915 -0.721646 0.230016 +#59696 1721122593158 +SLAM 0.806608 14.7801 17.1407 0.662949 0.000152087 0.0519674 0.746859 +TTool-pose None -6.5614 -7.27167 16.0674 -0.585606 0.289894 -0.72049 0.232122 +#59697 1721122593196 +SLAM 0.804968 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-0.586719 0.286119 -0.722479 0.227768 +#59709 1721122593627 +SLAM 0.803029 14.7771 17.2584 0.666452 0.000146006 0.0524694 0.743699 +TTool-pose None -6.57835 -7.22943 16.1174 -0.586429 0.286781 -0.722059 0.229012 +#59710 1721122593661 +SLAM 0.806667 14.7788 17.1674 0.663588 0.000128048 0.051967 0.746291 +TTool-pose None -6.56221 -7.27002 16.076 -0.585827 0.289319 -0.720717 0.231576 +#59711 1721122593697 +SLAM 0.800874 14.7712 17.2281 0.665665 0.000218113 0.0522897 0.744416 +TTool-pose None -6.56968 -7.23603 16.1001 -0.586267 0.287423 -0.72169 0.229784 +#59712 1721122593736 +SLAM 0.797753 14.773 17.2369 0.665942 0.00037528 0.0521881 0.744176 +TTool-pose None -6.56602 -7.23527 16.1061 -0.586376 0.287046 -0.72178 0.229696 +#59713 1721122593767 +SLAM 0.916513 14.8482 17.4493 0.666114 0.00228245 0.0472345 0.744349 +TTool-pose None -6.56936 -7.507 16.175 -0.589182 0.284482 -0.719555 0.232668 +#59714 1721122593809 +SLAM 0.796808 14.7763 17.1863 0.664417 0.000148846 0.0526908 0.745502 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0.000157136 0.0521034 0.745667 +TTool-pose None -6.5654 -7.25962 16.0853 -0.585953 0.288697 -0.721057 0.23097 +#59721 1721122594056 +SLAM 0.804896 14.7787 17.1605 0.663354 0.000148594 0.0524427 0.746466 +TTool-pose None -6.57582 -7.26822 16.0681 -0.585416 0.289642 -0.720911 0.231605 +#59722 1721122594087 +SLAM 0.804834 14.7785 17.2209 0.665461 1.71602e-06 0.0520627 0.744615 +TTool-pose None -6.56345 -7.23927 16.1075 -0.586427 0.287685 -0.72142 0.229896 +#59723 1721122594120 +SLAM 0.789847 14.7728 17.2246 0.665691 0.00048966 0.0522439 0.744397 +TTool-pose None -6.56099 -7.2349 16.1013 -0.586216 0.287225 -0.721754 0.229961 +#59724 1721122594152 +SLAM 0.808993 14.7728 17.1783 0.664102 4.56781e-05 0.0521073 0.745824 +TTool-pose None -6.56763 -7.25528 16.0785 -0.585929 0.288928 -0.720962 0.231041 +#59725 1721122594185 +SLAM 2.16768 14.7313 17.5403 0.673509 -0.0444943 0.107591 0.729952 +TTool-pose None -8.99866 -5.79642 16.0505 -0.564854 0.318495 -0.741831 0.170642 +#59726 1721122594224 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-0.720856 0.231188 +#59732 1721122594430 +SLAM 0.805285 14.778 17.1904 0.664255 7.9965e-05 0.0524531 0.745664 +TTool-pose None -6.57668 -7.25788 16.0825 -0.585732 0.288853 -0.721227 0.230806 +#59733 1721122594463 +SLAM 0.802334 14.775 17.2327 0.665873 -3.67311e-05 0.0523844 0.744224 +TTool-pose None -6.57094 -7.22892 16.109 -0.586356 0.287406 -0.721744 0.229406 +#59734 1721122594502 +SLAM 0.797467 14.7751 17.2073 0.665008 0.000336512 0.0520556 0.74502 +TTool-pose None -6.55995 -7.24833 16.0942 -0.586169 0.287902 -0.721351 0.230499 +#59735 1721122594538 +SLAM 0.806425 14.7799 17.071 0.660514 0.000277105 0.0518246 0.749023 +TTool-pose None -6.55604 -7.31085 16.0269 -0.584846 0.292026 -0.719548 0.234277 +#59736 1721122594572 +SLAM 0.802988 14.7776 17.2206 0.665261 0.000277421 0.0521468 0.744787 +TTool-pose None -6.5684 -7.24877 16.0997 -0.58621 0.287726 -0.721478 0.230215 +#59737 1721122594604 +SLAM 0.79816 14.7764 17.2465 0.666144 0.000291642 0.0525746 0.743967 +TTool-pose None -6.57843 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-7.27027 16.0618 -0.585458 0.28957 -0.72076 0.232061 +#59767 1721122595686 +SLAM 0.791234 14.774 17.2212 0.665531 0.000390437 0.0523935 0.744529 +TTool-pose None -6.56578 -7.2361 16.0992 -0.586093 0.287471 -0.721752 0.229972 +#59768 1721122595728 +SLAM 0.79802 14.7726 17.2432 0.666385 0.000105471 0.0522253 0.743777 +TTool-pose None -6.56357 -7.21971 16.116 -0.586587 0.286806 -0.721882 0.229133 +#59769 1721122595763 +SLAM 0.919535 14.8465 17.4559 0.666435 0.0020869 0.0475183 0.744044 +TTool-pose None -6.57893 -7.49444 16.1785 -0.58916 0.284374 -0.719777 0.232165 +#59770 1721122595798 +SLAM 0.805357 14.7773 17.2204 0.665143 0.000133382 0.0523346 0.74488 +TTool-pose None -6.57482 -7.25038 16.0966 -0.586091 0.287969 -0.7215 0.230147 +#59771 1721122595833 +SLAM 0.791444 14.7693 17.2634 0.667098 0.000207025 0.052825 0.743095 +TTool-pose None -6.57828 -7.2026 16.1194 -0.586378 0.286234 -0.722517 0.228379 +#59772 1721122595869 +SLAM 0.882306 14.8285 17.4445 0.667611 0.00176058 0.0486803 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1721122597107 +SLAM 0.796507 14.7722 17.2427 0.666286 0.000273381 0.0519774 0.743883 +TTool-pose None -6.55651 -7.22769 16.1142 -0.586668 0.286735 -0.721753 0.22942 +#59808 1721122597142 +SLAM 0.796933 14.7731 17.2372 0.666026 7.40788e-05 0.0527023 0.744064 +TTool-pose None -6.57742 -7.22396 16.1065 -0.586152 0.287278 -0.722016 0.229232 +#59809 1721122597176 +SLAM 0.805972 14.7825 17.1646 0.663532 2.44088e-05 0.0523367 0.746315 +TTool-pose None -6.57209 -7.2652 16.0768 -0.585589 0.289526 -0.720878 0.231415 +#59810 1721122597212 +SLAM 0.797595 14.776 17.1859 0.664242 0.000281413 0.0523218 0.745685 +TTool-pose None -6.56722 -7.25719 16.0805 -0.58575 0.288712 -0.721207 0.231001 +#59811 1721122597248 +SLAM 0.793904 14.7682 17.2132 0.665395 0.000293041 0.0524223 0.744648 +TTool-pose None -6.56709 -7.23228 16.0922 -0.586061 0.287662 -0.72169 0.23001 +#59812 1721122597290 +SLAM 0.813194 14.785 17.0813 0.660861 1.61854e-05 0.0517795 0.74872 +TTool-pose None -6.55833 -7.30476 16.0399 -0.585081 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-6.56194 -7.27015 16.0588 -0.585496 0.290125 -0.720474 0.232159 +#59819 1721122597545 +SLAM 0.882666 14.8308 17.4433 0.668078 0.00136889 0.0485391 0.742505 +TTool-pose None -6.56218 -7.39398 16.1987 -0.589246 0.28354 -0.720751 0.229935 +#59820 1721122597581 +SLAM 0.797895 14.7717 17.2322 0.665943 9.74612e-05 0.0522662 0.744169 +TTool-pose None -6.56426 -7.22756 16.1072 -0.586415 0.287231 -0.721742 0.229481 +#59821 1721122597614 +SLAM 0.811452 14.7756 17.2418 0.665891 -2.93133e-05 0.0523472 0.744211 +TTool-pose None -6.57957 -7.23698 16.1084 -0.586385 0.287377 -0.721732 0.22941 +#59822 1721122597650 +SLAM 0.791255 14.7716 17.2131 0.665364 0.000443301 0.0521455 0.744696 +TTool-pose None -6.55797 -7.2383 16.0959 -0.58619 0.287531 -0.721564 0.230239 +#59823 1721122597685 +SLAM 0.798815 14.7741 17.2384 0.665975 0.000297843 0.0521435 0.744149 +TTool-pose None -6.56467 -7.23529 16.1086 -0.586443 0.287051 -0.721743 0.229634 +#59824 1721122597722 +SLAM 0.80225 14.7711 17.3096 0.668227 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-0.719848 0.231975 +#59865 1721122599222 +SLAM 0.792663 14.7748 17.2285 0.665679 0.000420189 0.0522862 0.744404 +TTool-pose None -6.56459 -7.23834 16.1027 -0.586206 0.287288 -0.721753 0.229909 +#59866 1721122599257 +SLAM 0.885254 14.8302 17.4418 0.668123 0.00132092 0.0484253 0.742472 +TTool-pose None -6.56018 -7.39119 16.2005 -0.589355 0.283498 -0.720687 0.229908 +#59867 1721122599291 +SLAM 0.803944 14.7738 17.2765 0.667005 -2.58249e-05 0.0527051 0.743187 +TTool-pose None -6.58486 -7.21885 16.1227 -0.586507 0.28643 -0.722345 0.228347 +#59868 1721122599332 +SLAM 0.79706 14.7748 17.2063 0.66514 7.06739e-05 0.0526699 0.744858 +TTool-pose None -6.57532 -7.23265 16.0942 -0.585881 0.288093 -0.721673 0.229981 +#59869 1721122599369 +SLAM 0.806392 14.78 17.1577 0.663242 -2.58379e-05 0.052516 0.74656 +TTool-pose None -6.57719 -7.26832 16.0684 -0.585387 0.289869 -0.72086 0.231555 +#59870 1721122599403 +SLAM 0.793043 14.7734 17.2544 0.66644 0.000317082 0.0524006 0.743714 +TTool-pose None -6.5681 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17.1897 0.664355 0.000319236 0.051847 0.745617 +TTool-pose None -6.55901 -7.26126 16.086 -0.586101 0.288464 -0.720986 0.23111 +#59883 1721122599883 +SLAM 0.797344 14.7763 17.2376 0.665935 0.000304236 0.0523107 0.744173 +TTool-pose None -6.56886 -7.23479 16.1088 -0.586313 0.287126 -0.721826 0.229608 +#59884 1721122599928 +SLAM 0.910978 14.8436 17.4072 0.665157 0.00216283 0.047541 0.745185 +TTool-pose None -6.57012 -7.50289 16.1544 -0.588695 0.28552 -0.719346 0.233273 +#59885 1721122599966 +SLAM 0.79205 14.7722 17.1993 0.664976 9.76582e-05 0.0528064 0.744996 +TTool-pose None -6.57459 -7.23167 16.0881 -0.585724 0.288264 -0.7217 0.230085 +#59886 1721122600002 +SLAM 0.897537 14.8365 17.3868 0.664978 0.00203507 0.0482424 0.7453 +TTool-pose None -6.57625 -7.48183 16.1423 -0.588199 0.285942 -0.719648 0.233076 +#59887 1721122600040 +SLAM 0.794648 14.7733 17.188 0.664637 1.70791e-05 0.0525527 0.745316 +TTool-pose None -6.56748 -7.23754 16.0863 -0.585812 0.288562 -0.721405 0.230409 +#59888 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-0.585986 0.287815 -0.721816 0.229612 +#59894 1721122600316 +SLAM 0.801898 14.7674 17.2573 0.666596 3.88281e-06 0.0526074 0.74356 +TTool-pose None -6.57867 -7.21851 16.111 -0.586429 0.286767 -0.722149 0.228745 +#59895 1721122600351 +SLAM 0.801411 14.7744 17.1702 0.664199 2.05314e-05 0.0521608 0.745734 +TTool-pose None -6.56092 -7.24309 16.0833 -0.585933 0.288867 -0.721021 0.230924 +#59896 1721122600386 +SLAM 0.809517 14.776 17.1849 0.664151 5.55918e-05 0.0522523 0.745771 +TTool-pose None -6.57362 -7.2585 16.0806 -0.585843 0.288913 -0.721066 0.230953 +#59897 1721122600423 +SLAM 0.802048 14.7755 17.2417 0.666025 0.000118747 0.0521789 0.744103 +TTool-pose None -6.56676 -7.23464 16.1118 -0.586495 0.287121 -0.721728 0.22946 +#59898 1721122600464 +SLAM 0.804537 14.7778 17.2871 0.667475 -0.000114979 0.0522783 0.742795 +TTool-pose None -6.57097 -7.21331 16.1392 -0.586985 0.285939 -0.722244 0.228056 +#59899 1721122600504 +SLAM 0.901364 14.8396 17.3292 0.664194 0.00172632 0.0473841 0.746055 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-9.44019 -6.06637 15.7942 -0.556881 0.33903 -0.736038 0.182022 +#59923 1721122601410 +SLAM 0.800857 14.7738 17.2421 0.666038 0.000101444 0.0523855 0.744076 +TTool-pose None -6.57188 -7.23192 16.1089 -0.586364 0.287171 -0.721847 0.22936 +#59924 1721122601445 +SLAM 0.886166 14.8294 17.4282 0.667235 0.00165909 0.0486057 0.743258 +TTool-pose None -6.57162 -7.41706 16.1784 -0.588825 0.284167 -0.720569 0.230808 +#59925 1721122601481 +SLAM 0.80933 14.777 17.1725 0.663965 4.59153e-05 0.0521031 0.745946 +TTool-pose None -6.5679 -7.25609 16.0806 -0.585887 0.289054 -0.720909 0.231157 +#59926 1721122601518 +SLAM 0.804469 14.7788 17.2307 0.665704 6.10607e-05 0.0523292 0.744379 +TTool-pose None -6.573 -7.23587 16.109 -0.586305 0.287491 -0.72168 0.229633 +#59927 1721122601555 +SLAM 0.800361 14.7764 17.157 0.663225 0.00031478 0.0523954 0.746584 +TTool-pose None -6.57187 -7.27217 16.0628 -0.58535 0.28965 -0.720886 0.231841 +#59928 1721122601592 +SLAM 0.800342 14.778 17.212 0.664976 0.000220155 0.0523893 0.745025 +TTool-pose None -6.57248 -7.24983 16.094 -0.585969 0.288086 -0.721496 0.230323 +#59929 1721122601632 +SLAM 0.804989 14.7735 17.2584 0.666694 -0.000109712 0.0524636 0.743482 +TTool-pose None -6.57593 -7.21654 16.1209 -0.586598 0.286708 -0.722068 0.228642 +#59930 1721122601667 +SLAM 0.800111 14.7747 17.2046 0.664999 0.000165714 0.0525403 0.744994 +TTool-pose None -6.57555 -7.23903 16.0914 -0.585891 0.288135 -0.721575 0.230211 +#59931 1721122601703 +SLAM 0.807216 14.7746 17.2135 0.665017 -2.23475e-05 0.0526049 0.744973 +TTool-pose None -6.5826 -7.24447 16.0913 -0.585916 0.288247 -0.721563 0.230047 +#59932 1721122601738 +SLAM 0.797705 14.7753 17.1835 0.66438 0.000212922 0.0523792 0.745558 +TTool-pose None -6.56785 -7.24766 16.0831 -0.58578 0.288639 -0.72127 0.230819 +#59933 1721122601774 +SLAM 0.80235 14.7758 17.2076 0.665157 -7.49843e-05 0.0523517 0.744866 +TTool-pose None -6.56837 -7.23548 16.0988 -0.586153 0.288085 -0.721453 0.229991 +#59934 1721122601809 +SLAM 0.801341 14.7721 17.1917 0.664528 0.000230695 0.0523382 0.745428 +TTool-pose None -6.57057 -7.24926 16.0818 -0.585851 0.288481 -0.721306 0.230722 +#59935 1721122601841 +SLAM 0.797196 14.7747 17.2234 0.665771 0.000215746 0.0519616 0.744345 +TTool-pose None -6.55523 -7.23109 16.1091 -0.586527 0.287244 -0.721539 0.229818 +#59936 1721122601874 +SLAM 0.803927 14.7762 17.2336 0.665639 4.6755e-05 0.0525721 0.74442 +TTool-pose None -6.58016 -7.23851 16.103 -0.586121 0.287621 -0.721792 0.229587 +#59937 1721122601907 +SLAM 0.802214 14.7786 17.1795 0.663891 0.000202462 0.052188 0.746006 +TTool-pose None -6.56649 -7.26708 16.0783 -0.585751 0.289049 -0.720977 0.23129 +#59938 1721122601941 +SLAM 0.803391 14.7797 17.1686 0.663736 0.000191279 0.052072 0.746152 +TTool-pose None -6.56324 -7.26427 16.0786 -0.585783 0.28917 -0.720851 0.231455 +#59939 1721122601974 +SLAM 0.800425 14.7723 17.2554 0.666584 0.000361647 0.0518925 0.743622 +TTool-pose None -6.55952 -7.22847 16.1185 -0.586795 0.286384 -0.721839 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0.000281325 0.0500981 0.742793 +TTool-pose None -6.56906 -7.3118 16.1813 -0.5884 0.284993 -0.721168 0.228995 +#59958 1721122602626 +SLAM 0.903929 14.8388 17.487 0.667218 0.00271279 0.0475617 0.743337 +TTool-pose None -6.5743 -7.4951 16.1787 -0.58918 0.283282 -0.720274 0.231908 +#59959 1721122602661 +SLAM 0.802534 14.7795 17.2481 0.666232 7.69827e-05 0.0521463 0.743919 +TTool-pose None -6.56614 -7.23242 16.1198 -0.5866 0.286946 -0.721772 0.229272 +#59960 1721122602698 +SLAM 0.89616 14.8319 17.4137 0.667212 0.00119954 0.0482404 0.743303 +TTool-pose None -6.56242 -7.40402 16.1884 -0.589221 0.284371 -0.720213 0.230659 +#59961 1721122602736 +SLAM 0.810668 14.7803 17.2296 0.66542 -0.000238889 0.0526795 0.744608 +TTool-pose None -6.5865 -7.24083 16.1043 -0.586071 0.288023 -0.721689 0.229539 +#59962 1721122602771 +SLAM 0.80068 14.7722 17.1856 0.664496 0.000150078 0.0521859 0.745467 +TTool-pose None -6.56346 -7.24583 16.084 -0.585972 0.288521 -0.721183 0.230753 +#59963 1721122602806 +SLAM 0.792091 14.7726 17.2346 0.665909 0.000342451 0.0524707 0.744185 +TTool-pose None -6.56887 -7.23139 16.1037 -0.586182 0.287168 -0.721921 0.229595 +#59964 1721122602840 +SLAM 0.804919 14.7802 17.2443 0.66593 0.00014912 0.0522688 0.744181 +TTool-pose None -6.5736 -7.24087 16.113 -0.586392 0.287214 -0.721754 0.229526 +#59965 1721122602874 +SLAM 0.799307 14.7746 17.2048 0.665236 0.000158978 0.0521228 0.744812 +TTool-pose None -6.56096 -7.23362 16.0995 -0.586258 0.287814 -0.721419 0.230166 +#59966 1721122602914 +SLAM 0.799199 14.775 17.1847 0.664249 8.49877e-05 0.0527481 0.745648 +TTool-pose None -6.57958 -7.24927 16.0781 -0.585526 0.28893 -0.721396 0.230704 +#59967 1721122602949 +SLAM 0.798363 14.7727 17.2674 0.66694 3.86282e-05 0.0524833 0.743261 +TTool-pose None -6.57242 -7.21595 16.123 -0.586616 0.286396 -0.722213 0.228528 +#59968 1721122602986 +SLAM 0.794395 14.7693 17.2081 0.665252 0.0004134 0.0519977 0.744806 +TTool-pose None -6.55549 -7.23925 16.0932 -0.586264 0.287615 -0.72143 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0.665072 0.000341639 0.0518936 0.744974 +TTool-pose None -6.55797 -7.2494 16.096 -0.5863 0.287799 -0.721283 0.23051 +#59987 1721122603677 +SLAM 0.799958 14.7755 17.1832 0.66419 0.000268549 0.0521902 0.74574 +TTool-pose None -6.56497 -7.25795 16.0803 -0.585828 0.288734 -0.721108 0.231085 +#59988 1721122603717 +SLAM 0.793255 14.7744 17.2309 0.665815 0.00035273 0.0522343 0.744286 +TTool-pose None -6.56252 -7.23471 16.1057 -0.586309 0.287189 -0.721753 0.22977 +#59989 1721122603751 +SLAM 0.910013 14.8438 17.3407 0.663527 0.00170992 0.0478731 0.746617 +TTool-pose None -6.57094 -7.50143 16.1301 -0.588077 0.287385 -0.718806 0.234205 +#59990 1721122603784 +SLAM 0.798763 14.7785 17.2298 0.6655 0.00016328 0.0527393 0.744533 +TTool-pose None -6.58215 -7.2404 16.1008 -0.585922 0.287723 -0.721872 0.229717 +#59991 1721122603824 +SLAM 0.803428 14.7768 17.1975 0.664535 0.000159394 0.052492 0.745412 +TTool-pose None -6.57734 -7.25281 16.0852 -0.585772 0.288557 -0.721376 0.230612 +#59992 1721122603864 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-0.721922 0.229245 +#59998 1721122604090 +SLAM 0.810723 14.7746 17.2738 0.666934 -7.6184e-07 0.0525964 0.743258 +TTool-pose None -6.58841 -7.22032 16.1226 -0.58655 0.286454 -0.722264 0.228464 +#59999 1721122604128 +SLAM 0.795285 14.7752 17.2035 0.664843 0.000247845 0.0525285 0.745134 +TTool-pose None -6.57167 -7.24594 16.0886 -0.58582 0.288227 -0.721536 0.2304 +#60000 1721122604167 +SLAM 0.802261 14.778 17.23 0.665513 0.000290423 0.0519463 0.744576 +TTool-pose None -6.56182 -7.24956 16.1056 -0.586427 0.287434 -0.721458 0.230088 +#60001 1721122604202 +SLAM 0.801347 14.7774 17.1889 0.664441 0.000186526 0.0522083 0.745515 +TTool-pose None -6.56605 -7.25193 16.0871 -0.585926 0.288555 -0.721186 0.230814 +#60002 1721122604236 +SLAM 0.799457 14.7696 17.2175 0.665541 0.00023203 0.0522714 0.744528 +TTool-pose None -6.56714 -7.23118 16.0974 -0.586233 0.287525 -0.721639 0.229904 +#60003 1721122604276 +SLAM 0.805303 14.7763 17.0851 0.661025 0.000109255 0.0523111 0.748539 +TTool-pose None -6.56834 -7.29561 16.0295 -0.584741 0.29178 -0.719966 0.23356 +#60004 1721122604314 +SLAM 0.798894 14.7725 17.2144 0.665242 0.000211043 0.0521909 0.744801 +TTool-pose None -6.56399 -7.24231 16.0955 -0.586196 0.287794 -0.721477 0.23017 +#60005 1721122604351 +SLAM 0.801165 14.778 17.1153 0.662146 0.000105404 0.0524528 0.747537 +TTool-pose None -6.56984 -7.27579 16.0492 -0.585021 0.290785 -0.72046 0.232575 +#60006 1721122604394 +SLAM 0.803032 14.7742 17.2203 0.665435 0.000251836 0.0520142 0.744641 +TTool-pose None -6.56333 -7.24178 16.1011 -0.586368 0.287546 -0.721458 0.230102 +#60007 1721122604429 +SLAM 0.800382 14.7763 17.1736 0.664097 0.000157085 0.0519255 0.745841 +TTool-pose None -6.55476 -7.25479 16.0835 -0.586015 0.28882 -0.720889 0.231187 +#60008 1721122604466 +SLAM 0.801023 14.7726 17.2896 0.667464 -7.5698e-05 0.0528377 0.742765 +TTool-pose None -6.58589 -7.20997 16.129 -0.586585 0.286066 -0.722573 0.22788 +#60009 1721122604505 +SLAM 0.807971 14.7775 17.1748 0.663782 0.000211939 0.0519897 0.746117 +TTool-pose None -6.56565 -7.26895 16.0767 -0.585848 0.289095 -0.720826 0.231462 +#60010 1721122604544 +SLAM 0.807105 14.7769 17.2215 0.665343 8.49063e-05 0.052416 0.744696 +TTool-pose None -6.57834 -7.24127 16.0998 -0.586118 0.287833 -0.721605 0.229917 +#60011 1721122604581 +SLAM 0.805759 14.7769 17.1782 0.664003 0.000223754 0.0518795 0.745928 +TTool-pose None -6.56003 -7.26403 16.0811 -0.585993 0.288855 -0.720848 0.231327 +#60012 1721122604623 +SLAM 0.80388 14.781 17.2095 0.665013 0.000166425 0.052057 0.745015 +TTool-pose None -6.56454 -7.24917 16.101 -0.586227 0.287999 -0.721303 0.230381 +#60013 1721122604662 +SLAM 0.796011 14.7718 17.2457 0.66652 -4.68001e-05 0.0526925 0.743623 +TTool-pose None -6.57444 -7.20999 16.1154 -0.586362 0.28689 -0.722155 0.228744 +#60014 1721122604700 +SLAM 0.796523 14.7714 17.304 0.667987 -0.000124483 0.0529485 0.742286 +TTool-pose None -6.58468 -7.19982 16.1366 -0.586698 0.285636 -0.722813 0.227368 +#60015 1721122604740 +SLAM 0.932657 14.8553 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1721122604960 +SLAM 0.79766 14.7711 17.2218 0.665644 0.000335322 0.052005 0.744455 +TTool-pose None -6.55855 -7.23497 16.1018 -0.586416 0.2873 -0.721554 0.229986 +#60022 1721122604998 +SLAM 0.795177 14.7728 17.2956 0.667752 0.00020212 0.0524794 0.742532 +TTool-pose None -6.57263 -7.20971 16.135 -0.586833 0.285542 -0.722555 0.227958 +#60023 1721122605039 +SLAM 0.805596 14.7794 17.176 0.663748 0.000184252 0.0523483 0.746122 +TTool-pose None -6.57472 -7.26771 16.0753 -0.5856 0.289233 -0.721012 0.231337 +#60024 1721122605079 +SLAM 0.807938 14.7793 17.1732 0.663844 1.77416e-05 0.0522954 0.74604 +TTool-pose None -6.57265 -7.25998 16.0792 -0.585724 0.28923 -0.720967 0.231166 +#60025 1721122605116 +SLAM 0.802481 14.7753 17.203 0.664784 0.000226845 0.0522404 0.745207 +TTool-pose None -6.56926 -7.25056 16.0896 -0.586005 0.288222 -0.721342 0.230543 +#60026 1721122605151 +SLAM 0.792048 14.77 17.3087 0.668397 0.000181217 0.052544 0.741946 +TTool-pose None -6.57135 -7.19341 16.1437 -0.587008 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-6.57225 -7.51359 16.1591 -0.588837 0.285241 -0.719349 0.233248 +#60033 1721122605415 +SLAM 0.792557 14.7682 17.2427 0.666401 3.55339e-05 0.0528317 0.743719 +TTool-pose None -6.57631 -7.21111 16.1081 -0.5862 0.286986 -0.722216 0.228845 +#60034 1721122605450 +SLAM 0.794332 14.775 17.2494 0.666302 0.00038958 0.0520606 0.743863 +TTool-pose None -6.55937 -7.23396 16.115 -0.586577 0.286672 -0.721842 0.229453 +#60035 1721122605485 +SLAM 0.802499 14.7758 17.278 0.667167 -4.78135e-05 0.0525101 0.743055 +TTool-pose None -6.57692 -7.21567 16.1297 -0.586702 0.286244 -0.722285 0.228271 +#60036 1721122605522 +SLAM 0.796169 14.7717 17.2477 0.666283 0.000237567 0.0525482 0.743845 +TTool-pose None -6.5744 -7.22602 16.1088 -0.586288 0.286903 -0.72207 0.229184 +#60037 1721122605558 +SLAM 0.938995 14.863 17.4056 0.662487 0.00375942 0.0457055 0.747668 +TTool-pose None -6.56356 -7.65011 16.1168 -0.588523 0.286555 -0.71778 0.23723 +#60038 1721122605595 +SLAM 0.792653 14.7745 17.2041 0.664976 0.000318024 0.0524029 0.745024 +TTool-pose None -6.56586 -7.24282 16.091 -0.585927 0.288031 -0.721533 0.230383 +#60039 1721122605632 +SLAM 0.801045 14.7757 17.2429 0.666104 0.000319602 0.0520635 0.74404 +TTool-pose None -6.56493 -7.23517 16.1126 -0.586533 0.286898 -0.72175 0.229571 +#60040 1721122605665 +SLAM 0.80722 14.7797 17.196 0.664374 0.00013275 0.0523861 0.745563 +TTool-pose None -6.5776 -7.25935 16.0858 -0.5858 0.288695 -0.721248 0.230768 +#60041 1721122605702 +SLAM 0.803001 14.7795 17.236 0.665811 2.40153e-05 0.0524642 0.744273 +TTool-pose None -6.57569 -7.23485 16.1106 -0.58626 0.287447 -0.721786 0.229468 +#60042 1721122605739 +SLAM 0.796434 14.77 17.2193 0.665509 0.000235388 0.0522566 0.744559 +TTool-pose None -6.56388 -7.23484 16.0972 -0.586231 0.287549 -0.721619 0.229939 +#60043 1721122605773 +SLAM 0.804664 14.7804 17.2141 0.665073 1.28872e-05 0.0524588 0.744933 +TTool-pose None -6.57629 -7.24531 16.0992 -0.586023 0.288137 -0.72151 0.230078 +#60044 1721122605806 +SLAM 0.794508 14.7723 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17.3142 0.668082 -4.53732e-06 0.0527709 0.742214 +TTool-pose None -6.58644 -7.20861 16.1407 -0.586811 0.285431 -0.722781 0.227435 +#60068 1721122606674 +SLAM 0.846541 14.8056 17.3807 0.668649 0.000114817 0.0508704 0.741836 +TTool-pose None -6.57783 -7.27159 16.1869 -0.588259 0.284352 -0.721928 0.227753 +#60069 1721122606707 +SLAM 0.794282 14.7715 17.2832 0.667538 0.000351648 0.0522201 0.742742 +TTool-pose None -6.56476 -7.21077 16.1317 -0.58689 0.285586 -0.722373 0.228334 +#60070 1721122606739 +SLAM 0.797496 14.7717 17.3033 0.668035 8.00847e-05 0.0525887 0.74227 +TTool-pose None -6.57689 -7.2026 16.1389 -0.586892 0.285379 -0.722684 0.2276 +#60071 1721122606772 +SLAM 0.792578 14.7706 17.2453 0.66639 0.000354637 0.052217 0.743773 +TTool-pose None -6.56145 -7.2237 16.112 -0.586511 0.28665 -0.721953 0.229297 +#60072 1721122606806 +SLAM 0.79848 14.7724 17.2434 0.666168 0.000147814 0.0524352 0.743956 +TTool-pose None -6.57163 -7.22734 16.1093 -0.586357 0.287035 -0.721937 0.229263 +#60073 1721122606839 +SLAM 0.803528 14.7775 17.0902 0.661229 7.23291e-05 0.052221 0.748364 +TTool-pose None -6.56339 -7.29286 16.0354 -0.584883 0.291591 -0.719979 0.2334 +#60074 1721122606872 +SLAM 0.803348 14.7747 17.2576 0.666551 -5.09938e-05 0.0524028 0.743615 +TTool-pose None -6.57335 -7.22339 16.1194 -0.586573 0.28679 -0.721998 0.228823 +#60075 1721122606906 +SLAM 0.79534 14.769 17.2694 0.667357 2.60258e-05 0.0524526 0.742889 +TTool-pose None -6.56768 -7.1998 16.1281 -0.586779 0.286008 -0.722343 0.228182 +#60076 1721122606938 +SLAM 0.797805 14.7762 17.2421 0.665978 0.000230593 0.0524119 0.744128 +TTool-pose None -6.57179 -7.23566 16.1088 -0.586282 0.287156 -0.721878 0.229486 +#60077 1721122606972 +SLAM 0.796208 14.7708 17.1782 0.664124 0.000290711 0.0521968 0.745798 +TTool-pose None -6.56113 -7.25578 16.075 -0.585794 0.288783 -0.721094 0.231152 +#60078 1721122607005 +SLAM 0.802413 14.7763 17.191 0.66436 0.000253688 0.0521206 0.745594 +TTool-pose None -6.56539 -7.25891 16.0842 -0.585937 0.288569 -0.721126 0.23096 +#60079 1721122607041 +SLAM 0.793567 14.7686 17.2214 0.665842 8.47077e-05 0.0525115 0.744243 +TTool-pose None -6.56679 -7.21844 16.1017 -0.586218 0.287395 -0.721842 0.229465 +#60080 1721122607075 +SLAM 0.807304 14.7746 17.2248 0.66546 6.41485e-05 0.0521291 0.744611 +TTool-pose None -6.56892 -7.24233 16.102 -0.58636 0.287665 -0.721477 0.229914 +#60081 1721122607112 +SLAM 0.800193 14.7719 17.2466 0.666228 0.000115993 0.0522822 0.743913 +TTool-pose None -6.56806 -7.22922 16.111 -0.586492 0.28696 -0.721861 0.22925 +#60082 1721122607144 +SLAM 0.801722 14.7725 17.2178 0.665555 3.53813e-05 0.0524365 0.744505 +TTool-pose None -6.57212 -7.22771 16.1008 -0.586191 0.287672 -0.72168 0.2297 +#60083 1721122607181 +SLAM 0.79574 14.773 17.2246 0.665643 9.19047e-05 0.0526307 0.744412 +TTool-pose None -6.57367 -7.2293 16.1006 -0.586068 0.287605 -0.721841 0.229591 +#60084 1721122607215 +SLAM 0.802036 14.7727 17.2475 0.666328 1.78798e-06 0.0523555 0.743818 +TTool-pose None -6.57065 -7.22396 16.1141 -0.586513 0.286953 -0.721905 0.229063 +#60085 1721122607252 +SLAM 0.805835 14.7782 17.2831 0.667264 -9.9824e-05 0.0523981 0.742976 +TTool-pose None -6.57631 -7.21727 16.1346 -0.586828 0.286156 -0.722241 0.228197 +#60086 1721122607288 +SLAM 0.808636 14.7813 17.1877 0.664235 7.69272e-05 0.0519842 0.745714 +TTool-pose None -6.56493 -7.26148 16.0892 -0.586047 0.288755 -0.720949 0.230998 +#60087 1721122607326 +SLAM 0.808372 14.7781 17.1658 0.663556 2.00718e-05 0.0523702 0.746291 +TTool-pose None -6.57521 -7.26422 16.0724 -0.585576 0.289514 -0.720905 0.231379 +#60088 1721122607361 +SLAM 0.800483 14.7723 17.2566 0.666662 -1.98873e-05 0.0529787 0.743475 +TTool-pose None -6.58918 -7.21127 16.1146 -0.586204 0.286814 -0.722379 0.228535 +#60089 1721122607398 +SLAM 0.899588 14.8361 17.4652 0.667063 0.00237476 0.0479709 0.743452 +TTool-pose None -6.57723 -7.47329 16.1752 -0.588962 0.283734 -0.720353 0.231662 +#60090 1721122607430 +SLAM 0.801898 14.7772 17.2803 0.667276 5.5531e-05 0.0523869 0.742966 +TTool-pose None -6.57398 -7.2154 16.1331 -0.586788 0.286049 -0.722285 0.228294 +#60091 1721122607464 +SLAM 0.799092 14.7778 17.1867 0.664243 0.000250952 0.0524261 0.745676 +TTool-pose None -6.57183 -7.25661 16.0816 -0.585689 0.288755 -0.721258 0.23094 +#60092 1721122607498 +SLAM 0.808779 14.7755 17.1368 0.662724 -9.88642e-05 0.0524683 0.747023 +TTool-pose None -6.57569 -7.26946 16.0569 -0.585271 0.290379 -0.720621 0.231954 +#60093 1721122607529 +SLAM 0.799491 14.7753 17.2381 0.666181 0.000211738 0.0520067 0.743974 +TTool-pose None -6.55957 -7.22706 16.1158 -0.586633 0.286876 -0.721713 0.229456 +#60094 1721122607570 +SLAM 0.789304 14.7729 17.2105 0.66526 0.000327813 0.0524395 0.744767 +TTool-pose None -6.56388 -7.23639 16.0943 -0.585993 0.28777 -0.721661 0.230138 +#60095 1721122607609 +SLAM 0.808579 14.7756 17.2331 0.665852 -2.01115e-05 0.0520868 0.744263 +TTool-pose None -6.56788 -7.23328 16.1109 -0.586547 0.287341 -0.721571 0.229546 +#60096 1721122607653 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0.665413 0.000289725 0.0520589 0.744658 +TTool-pose None -6.56492 -7.24616 16.1016 -0.586317 0.287556 -0.721486 0.230129 +#60195 1721122611094 +SLAM 0.805145 14.7724 17.2265 0.665695 0.000180077 0.0523324 0.744387 +TTool-pose None -6.5747 -7.23215 16.1017 -0.58626 0.287429 -0.721714 0.229718 +#60196 1721122611127 +SLAM 0.803267 14.776 17.2201 0.665366 7.00109e-05 0.0524004 0.744676 +TTool-pose None -6.57361 -7.23916 16.1 -0.586141 0.287817 -0.7216 0.229894 +#60197 1721122611165 +SLAM 0.799775 14.7736 17.2163 0.665209 0.000207007 0.0523984 0.744817 +TTool-pose None -6.57175 -7.24332 16.094 -0.586044 0.28788 -0.721583 0.230117 +#60198 1721122611200 +SLAM 0.796405 14.7751 17.2297 0.665692 0.000209392 0.0525455 0.744375 +TTool-pose None -6.57374 -7.23421 16.1026 -0.586103 0.287468 -0.721844 0.22966 +#60199 1721122611235 +SLAM 0.789195 14.7732 17.228 0.665775 0.000356769 0.0524144 0.744309 +TTool-pose None -6.5641 -7.2317 16.1028 -0.586172 0.287269 -0.721844 0.229738 +#60200 1721122611270 +SLAM 0.803236 14.7784 17.1545 0.663338 -3.57128e-05 0.0527208 0.746461 +TTool-pose None -6.58005 -7.25856 16.0677 -0.585282 0.289838 -0.72101 0.231392 +#60201 1721122611301 +SLAM 0.803823 14.7732 17.2083 0.665189 0.000195098 0.0523476 0.744838 +TTool-pose None -6.57339 -7.23636 16.0943 -0.586076 0.287893 -0.721542 0.230145 +#60202 1721122611333 +SLAM 0.874294 14.826 17.4185 0.667877 0.00123372 0.0488462 0.742666 +TTool-pose None -6.56021 -7.37394 16.1919 -0.589015 0.283886 -0.720815 0.229899 +#60203 1721122611364 +SLAM 0.79942 14.7819 17.2057 0.66468 -1.07972e-05 0.0529079 0.745253 +TTool-pose None -6.58515 -7.24953 16.0906 -0.585592 0.288629 -0.721617 0.230222 +#60204 1721122611396 +SLAM 0.797588 14.7755 17.1664 0.663773 0.000423868 0.0518768 0.746133 +TTool-pose None -6.554 -7.26432 16.0752 -0.585851 0.288948 -0.720821 0.231652 +#60205 1721122611432 +SLAM 0.805355 14.7797 17.1317 0.662509 0.000293027 0.0517412 0.747264 +TTool-pose None -6.55468 -7.28551 16.0599 -0.585566 0.290158 -0.72024 0.232666 +#60206 1721122611466 +SLAM 0.807367 14.7786 17.1824 0.664251 6.20914e-05 0.0519683 0.745701 +TTool-pose None -6.56235 -7.25533 16.0879 -0.586068 0.288745 -0.720941 0.23098 +#60207 1721122611503 +SLAM 0.797299 14.7766 17.2118 0.665148 0.000117442 0.052589 0.744858 +TTool-pose None -6.57413 -7.23921 16.0956 -0.585923 0.288038 -0.721643 0.230037 +#60208 1721122611548 +SLAM 0.883692 14.825 17.5588 0.671605 0.00123392 0.0488686 0.739295 +TTool-pose None -6.57587 -7.34716 16.2518 -0.590226 0.280411 -0.722177 0.226759 +#60209 1721122611586 +SLAM 0.800307 14.7776 17.2087 0.665178 0.0001172 0.0520296 0.74487 +TTool-pose None -6.55891 -7.24102 16.102 -0.586317 0.28787 -0.721333 0.230221 +#60210 1721122611620 +SLAM 0.793347 14.7716 17.193 0.664681 0.000170628 0.0527145 0.745265 +TTool-pose None -6.57378 -7.23968 16.0823 -0.585664 0.28847 -0.72156 0.230414 +#60211 1721122611652 +SLAM 0.804947 14.7765 17.1842 0.664223 -1.2899e-05 0.0524303 0.745694 +TTool-pose None -6.57375 -7.25253 16.0822 -0.585768 0.288932 -0.721175 0.23078 +#60212 1721122611685 +SLAM 0.79269 14.77 17.2147 0.665424 0.000384748 0.0522476 0.744635 +TTool-pose None -6.56178 -7.23543 16.095 -0.58616 0.287536 -0.721627 0.230112 +#60213 1721122611719 +SLAM 0.802127 14.7755 17.1939 0.664553 0.000122242 0.0522693 0.745411 +TTool-pose None -6.56797 -7.25065 16.0869 -0.585943 0.288506 -0.721243 0.230655 +#60214 1721122611752 +SLAM 0.79828 14.7759 17.2933 0.667447 0.000219221 0.0526278 0.742796 +TTool-pose None -6.58114 -7.21935 16.1307 -0.586625 0.285853 -0.722534 0.22817 +#60215 1721122611787 +SLAM 0.800633 14.7757 17.1988 0.664631 0.000195954 0.0521635 0.745348 +TTool-pose None -6.56439 -7.2539 16.0884 -0.586017 0.288362 -0.721233 0.230679 +#60216 1721122611823 +SLAM 0.805089 14.776 17.2722 0.667045 -9.28409e-05 0.0524993 0.743165 +TTool-pose None -6.57822 -7.21477 16.1284 -0.586684 0.28638 -0.722221 0.228346 +#60217 1721122611860 +SLAM 0.797524 14.7701 17.1749 0.664124 0.000254419 0.0522546 0.745794 +TTool-pose None -6.5635 -7.25136 16.0744 -0.585767 0.288819 -0.721117 0.231105 +#60218 1721122611895 +SLAM 0.883554 14.8302 17.3704 0.665403 0.00125854 0.0494467 0.744844 +TTool-pose None -6.5888 -7.42829 16.1449 -0.587777 0.286322 -0.720267 0.231759 +#60219 1721122611936 +SLAM 0.801418 14.7743 17.1827 0.664272 0.000153805 0.0522718 0.745661 +TTool-pose None -6.5672 -7.25198 16.0811 -0.585837 0.288748 -0.721151 0.23091 +#60220 1721122611972 +SLAM 0.798476 14.7713 17.2676 0.66704 -4.66195e-05 0.0528115 0.743148 +TTool-pose None -6.58171 -7.2073 16.1217 -0.586453 0.286436 -0.722413 0.228264 +#60221 1721122612008 +SLAM 0.806936 14.7734 17.1522 0.663248 -0.000166748 0.0526967 0.746542 +TTool-pose None -6.58061 -7.25866 16.0624 -0.585312 0.289992 -0.720924 0.231388 +#60222 1721122612042 +SLAM 0.800042 14.7732 17.2573 0.666548 0.000303126 0.0520389 0.743643 +TTool-pose None -6.56326 -7.23 16.1178 -0.586703 0.286489 -0.721893 0.229198 +#60223 1721122612086 +SLAM 0.810397 14.78 17.1722 0.663847 -1.16244e-05 0.051994 0.746059 +TTool-pose None -6.56494 -7.26198 16.0826 -0.585941 0.28917 -0.720786 0.231258 +#60224 1721122612124 +SLAM 0.799967 14.7722 17.2248 0.665509 0.000173581 0.0525136 0.744541 +TTool-pose None -6.57536 -7.23694 16.097 -0.586076 0.287651 -0.721749 0.229801 +#60225 1721122612161 +SLAM 0.807075 14.7805 17.2558 0.666333 0.00012572 0.0518999 0.743846 +TTool-pose None -6.5639 -7.23847 16.1232 -0.586786 0.28676 -0.721682 0.229312 +#60226 1721122612194 +SLAM 0.794479 14.7724 17.2309 0.665825 0.000419777 0.052146 0.744283 +TTool-pose None -6.56169 -7.23544 16.104 -0.586351 0.287117 -0.721726 0.229839 +#60227 1721122612228 +SLAM 0.800267 14.7764 17.2257 0.665542 0.000321787 0.0520207 0.744545 +TTool-pose None -6.56223 -7.24334 16.1043 -0.586375 0.287407 -0.721521 0.230057 +#60228 1721122612266 +SLAM 0.793063 14.777 17.2209 0.665305 0.000198751 0.0528703 0.744697 +TTool-pose None -6.58067 -7.23911 16.0955 -0.585756 0.287915 -0.721887 0.229854 +#60229 1721122612299 +SLAM 0.804158 14.7785 17.2455 0.665994 0.000147841 0.0522862 0.744122 +TTool-pose None -6.57326 -7.23889 16.1124 -0.586402 0.287159 -0.721787 0.229464 +#60230 1721122612331 +SLAM 0.796785 14.7739 17.2508 0.666631 7.99219e-05 0.0523354 0.743548 +TTool-pose None -6.56591 -7.21527 16.1207 -0.586601 0.286621 -0.722027 0.228869 +#60231 1721122612366 +SLAM 0.801655 14.775 17.2309 0.665851 -2.27153e-05 0.0525944 0.744228 +TTool-pose None -6.57713 -7.22584 16.1069 -0.5862 0.287471 -0.721861 0.229355 +#60232 1721122612398 +SLAM 0.801049 14.7776 17.2121 0.665126 0.000125073 0.0524066 0.74489 +TTool-pose None -6.57221 -7.24241 16.0973 -0.586039 0.288008 -0.721533 0.230128 +#60233 1721122612438 +SLAM 0.908274 14.8409 17.4309 0.665571 0.00260299 0.0474691 0.744819 +TTool-pose None -6.57215 -7.51201 16.1544 -0.588734 0.284853 -0.719587 0.233245 +#60234 1721122612470 +SLAM 0.795101 14.7746 17.265 0.6668 0.000291225 0.0525322 0.743383 +TTool-pose None -6.57449 -7.2214 16.1199 -0.586452 0.286387 -0.722265 0.228794 +#60235 1721122612502 +SLAM 0.80375 14.7689 17.2938 0.66767 4.86853e-05 0.052491 0.742605 +TTool-pose None -6.57898 -7.20928 16.1304 -0.586849 0.285713 -0.722486 0.227921 +#60236 1721122612534 +SLAM 0.802024 14.7695 17.1781 0.664243 0.000133739 0.0523831 0.745679 +TTool-pose None -6.57043 -7.24661 16.0756 -0.585758 0.288814 -0.721199 0.230878 +#60237 1721122612566 +SLAM 0.903497 14.8391 17.4652 0.6675 0.00194058 0.0476468 0.743081 +TTool-pose None -6.56426 -7.45457 16.1935 -0.589474 0.283506 -0.720196 0.231129 +#60238 1721122612604 +SLAM 0.797116 14.7714 17.2637 0.666775 0.000203395 0.0524593 0.743411 +TTool-pose None -6.57258 -7.22099 16.1175 -0.586523 0.286445 -0.722188 0.228784 +#60239 1721122612636 +SLAM 0.805964 14.7734 17.2069 0.664822 -4.77948e-06 0.0527248 0.745139 +TTool-pose None -6.5851 -7.24511 16.0859 -0.585763 0.288447 -0.721566 0.230176 +#60240 1721122612667 +SLAM 0.798014 14.7747 17.2016 0.664828 0.000240003 0.0523936 0.745156 +TTool-pose None -6.56976 -7.24591 16.089 -0.58591 0.288211 -0.721451 0.230457 +#60241 1721122612700 +SLAM 0.795466 14.773 17.2072 0.665076 0.000300377 0.0524811 0.744929 +TTool-pose None -6.57093 -7.24006 16.0906 -0.585913 0.287968 -0.72161 0.230258 +#60242 1721122612730 +SLAM 0.798324 14.7741 17.2576 0.666423 0.000240405 0.0524808 0.743725 +TTool-pose None -6.57514 -7.23058 16.1133 -0.586379 0.286754 -0.722083 0.229095 +#60243 1721122612765 +SLAM 0.922663 14.8525 17.5451 0.667503 0.00358139 0.046144 0.743167 +TTool-pose None -6.56272 -7.56234 16.1944 -0.589951 0.282131 -0.719817 0.232771 +#60244 1721122612802 +SLAM 0.895453 14.8344 17.4205 0.666098 0.0020571 0.0482641 0.744298 +TTool-pose None -6.57618 -7.46598 16.1593 -0.588549 0.284896 -0.720076 0.232149 +#60245 1721122612836 +SLAM 0.80748 14.7785 17.1832 0.664006 4.15187e-05 0.0523944 0.74589 +TTool-pose None -6.5762 -7.26186 16.0795 -0.585702 0.289092 -0.721091 0.23101 +#60246 1721122612868 +SLAM 0.900408 14.8424 17.3933 0.665804 0.00130864 0.0483638 0.744556 +TTool-pose None -6.57294 -7.44593 16.1699 -0.588634 0.285644 -0.719803 0.231861 +#60247 1721122612901 +SLAM 0.807305 14.7824 17.2235 0.665416 -4.7676e-06 0.0521242 0.744651 +TTool-pose None -6.56833 -7.24337 16.1096 -0.586371 0.287746 -0.721437 0.229907 +#60248 1721122612933 +SLAM 0.919699 14.8506 17.502 0.667388 0.00253347 0.0468509 0.74323 +TTool-pose None -6.56578 -7.50932 16.1986 -0.589782 0.28305 -0.719872 0.231912 +#60249 1721122612966 +SLAM 0.87532 14.83 17.2916 0.664282 0.000723109 0.0491677 0.745862 +TTool-pose None -6.55985 -7.39911 16.1386 -0.587774 0.287609 -0.719536 0.232441 +#60250 1721122612998 +SLAM 0.808603 14.781 17.2089 0.664777 8.44615e-05 0.0521119 0.745222 +TTool-pose None -6.57002 -7.25729 16.0963 -0.586138 0.288281 -0.721223 0.230503 +#60251 1721122613036 +SLAM 0.809039 14.7808 17.1783 0.663975 1.38836e-06 0.0520751 0.74594 +TTool-pose None -6.56675 -7.26182 16.0845 -0.585924 0.289064 -0.720883 0.23113 +#60252 1721122613071 +SLAM 0.807748 14.7768 17.1835 0.664545 -0.000283058 0.0524669 0.745404 +TTool-pose None -6.57348 -7.23529 16.0909 -0.58594 0.288806 -0.721233 0.230319 +#60253 1721122613109 +SLAM 0.799393 14.7754 17.2089 0.664927 0.000256047 0.0521871 0.745083 +TTool-pose None -6.56517 -7.25123 16.0923 -0.586079 0.288058 -0.721373 0.230463 +#60254 1721122613147 +SLAM 0.810053 14.7772 17.2653 0.666624 -0.00024926 0.0526378 0.743533 +TTool-pose None -6.58543 -7.22352 16.1219 -0.586502 0.286901 -0.722101 0.228543 +#60255 1721122613185 +SLAM 0.882042 14.8279 17.3467 0.665921 0.000533289 0.0496533 0.744368 +TTool-pose None -6.58155 -7.37438 16.161 -0.58805 0.28633 -0.720359 0.230769 +#60256 1721122613228 +SLAM 0.811845 14.7787 17.0925 0.661161 9.99507e-05 0.0519297 0.748444 +TTool-pose None -6.563 -7.30106 16.0364 -0.585051 0.291563 -0.719794 0.233584 +#60257 1721122613261 +SLAM 2.80667 14.7967 16.1065 0.617796 -0.0751223 0.142077 0.769739 +TTool-pose None -10.0346 -5.60161 15.3384 -0.530702 0.392146 -0.729644 0.179273 +#60258 1721122613298 +SLAM 0.806338 14.7761 17.1736 0.663992 -1.0478e-05 0.052237 0.745913 +TTool-pose None -6.5684 -7.25418 16.0798 -0.585823 0.289096 -0.720979 0.231047 +#60259 1721122613336 +SLAM 0.80121 14.7732 17.205 0.664919 0.000264641 0.0522915 0.745083 +TTool-pose None -6.57003 -7.24619 16.0893 -0.586002 0.288087 -0.721432 0.230437 +#60260 1721122613377 +SLAM 0.804834 14.7717 17.2374 0.665816 3.62133e-05 0.0524588 0.744269 +TTool-pose None -6.57699 -7.2351 16.1026 -0.586262 0.287434 -0.721788 0.229474 +#60261 1721122613416 +SLAM 0.799045 14.779 17.1515 0.663198 0.000161879 0.052426 0.746605 +TTool-pose None -6.56921 -7.26688 16.0668 -0.585371 0.289774 -0.720848 0.231749 +#60262 1721122613454 +SLAM 0.792613 14.7737 17.2113 0.665063 0.000228107 0.0525506 0.744936 +TTool-pose None -6.56965 -7.24374 16.0908 -0.585885 0.288041 -0.721623 0.230195 +#60263 1721122613487 +SLAM 0.874066 14.8218 17.3994 0.666621 0.00167701 0.0489705 0.743785 +TTool-pose None -6.56989 -7.41161 16.159 -0.588367 0.28482 -0.720561 0.231197 +#60264 1721122613525 +SLAM 0.802044 14.7748 17.1992 0.664824 -0.000172831 0.0526977 0.745139 +TTool-pose None -6.5775 -7.23706 16.0903 -0.585838 0.288539 -0.721501 0.230073 +#60265 1721122613559 +SLAM 2.49511 14.8237 16.4158 0.62986 -0.0519613 0.115368 0.766333 +TTool-pose None -9.37941 -6.27941 15.4816 -0.546911 0.364012 -0.727436 0.197918 +#60266 1721122613598 +SLAM 0.804942 14.7773 17.1662 0.663518 0.000263155 0.052075 0.746346 +TTool-pose None -6.56578 -7.2715 16.0713 -0.585684 0.289329 -0.720794 0.231683 +#60267 1721122613634 +SLAM 0.799293 14.7777 17.2095 0.664949 0.000234369 0.0524662 0.745044 +TTool-pose None -6.57396 -7.24781 16.0929 -0.585902 0.288122 -0.721535 0.230326 +#60268 1721122613670 +SLAM 0.800944 14.7769 17.2403 0.666047 9.9231e-05 0.0522882 0.744075 +TTool-pose None -6.5689 -7.23118 16.1131 -0.586434 0.28714 -0.721793 0.229388 +#60269 1721122613704 +SLAM 0.797784 14.7755 17.2648 0.666696 0.000222741 0.0521907 0.7435 +TTool-pose None -6.56531 -7.22905 16.1219 -0.586675 0.286438 -0.722011 0.228964 +#60270 1721122613740 +SLAM 0.792782 14.7731 17.2321 0.665848 0.00034268 0.0522764 0.744253 +TTool-pose None -6.56322 -7.23375 16.1048 -0.586295 0.287175 -0.721787 0.229719 +#60271 1721122613776 +SLAM 0.80516 14.7807 17.2122 0.664818 0.000106129 0.0523126 0.745171 +TTool-pose None -6.57355 -7.25695 16.0948 -0.586007 0.288281 -0.72136 0.230408 +#60272 1721122613815 +SLAM 0.792926 14.7732 17.1951 0.664689 0.000452299 0.0521316 0.745299 +TTool-pose None -6.55887 -7.25021 16.086 -0.585972 0.288147 -0.721312 0.230813 +#60273 1721122613850 +SLAM 0.801165 14.7744 17.2059 0.664931 0.000242221 0.0523245 0.745069 +TTool-pose None -6.57088 -7.2462 16.0906 -0.585991 0.288097 -0.721449 0.230399 +#60274 1721122613885 +SLAM 0.810464 14.7829 17.2159 0.664961 6.88714e-05 0.0523271 0.745043 +TTool-pose None -6.57905 -7.25379 16.0993 -0.586057 0.288174 -0.72141 0.230258 +#60275 1721122613920 +SLAM 0.92847 14.8564 17.4705 0.664774 0.00382293 0.0458933 0.745624 +TTool-pose None -6.56166 -7.61282 16.149 -0.589136 0.284453 -0.718747 0.235302 +#60276 1721122613957 +SLAM 0.806653 14.7819 17.2334 0.665471 0.000152907 0.0523498 0.744586 +TTool-pose None -6.57782 -7.24929 16.1059 -0.586183 0.287657 -0.721634 0.229881 +#60277 1721122613993 +SLAM 0.836769 14.8016 17.3053 0.667122 -0.000320954 0.0513007 0.74318 +TTool-pose None -6.57189 -7.25652 16.1613 -0.587606 0.286144 -0.721491 0.228581 +#60278 1721122614031 +SLAM 0.810611 14.778 17.1764 0.663961 -9.64108e-05 0.0522263 0.745941 +TTool-pose None -6.57145 -7.25769 16.0813 -0.585849 0.289173 -0.720936 0.231019 +#60279 1721122614066 +SLAM 0.796514 14.7766 17.1979 0.664772 0.00039439 0.0520867 0.745228 +TTool-pose None -6.56053 -7.24955 16.0913 -0.58605 0.288094 -0.721299 0.230722 +#60280 1721122614102 +SLAM 0.807475 14.7782 17.1581 0.6632 0.000130158 0.0522909 0.746613 +TTool-pose None -6.57317 -7.27383 16.066 -0.585475 0.289757 -0.720762 0.231778 +#60281 1721122614138 +SLAM 0.803303 14.7794 17.1708 0.663898 0.000187965 0.0520376 0.74601 +TTool-pose None -6.56197 -7.25975 16.0816 -0.585862 0.289013 -0.72089 0.231331 +#60282 1721122614174 +SLAM 0.896758 14.8336 17.5139 0.668384 0.00248969 0.047934 0.742267 +TTool-pose None -6.57653 -7.46461 16.1942 -0.589386 0.282427 -0.720847 0.230646 +#60283 1721122614211 +SLAM 0.79675 14.7721 17.2262 0.665734 0.000307722 0.0521647 0.744363 +TTool-pose None -6.56269 -7.23358 16.103 -0.586345 0.287273 -0.72167 0.229833 +#60284 1721122614248 +SLAM 0.800021 14.7757 17.2505 0.666336 0.000304938 0.0521236 0.743828 +TTool-pose None -6.56594 -7.23187 16.1161 -0.586574 0.286707 -0.721865 0.229345 +#60285 1721122614284 +SLAM 0.808829 14.7818 17.1858 0.664074 -9.53034e-05 0.0526216 0.745813 +TTool-pose None -6.58327 -7.25818 16.0831 -0.585615 0.289168 -0.721205 0.230777 +#60286 1721122614318 +SLAM 0.802971 14.7765 17.2064 0.664969 0.000250407 0.0520976 0.745052 +TTool-pose None -6.56563 -7.24777 16.095 -0.586156 0.288 -0.721335 0.230458 +#60287 1721122614355 +SLAM 0.793003 14.7708 17.2464 0.666363 0.000329931 0.0522939 0.743791 +TTool-pose None -6.56412 -7.22483 16.1111 -0.586458 0.286709 -0.721981 0.229274 +#60288 1721122614391 +SLAM 5.35451 15.6013 20.0517 0.647305 -0.0382176 0.0685292 0.758181 +TTool-pose None -11.5328 -9.73179 16.184 -0.581428 0.330558 -0.712344 0.21258 +#60289 1721122614427 +SLAM 0.804946 14.7784 17.2502 0.666195 0.000165177 0.0522693 0.743944 +TTool-pose None -6.57387 -7.235 16.1158 -0.586474 0.286958 -0.721856 0.229315 +#60290 1721122614464 +SLAM 0.859097 14.8174 17.3549 0.667388 0.000302545 0.0500586 0.743026 +TTool-pose None -6.56699 -7.31238 16.1798 -0.588336 0.285208 -0.721058 0.229238 +#60291 1721122614499 +SLAM 0.799147 14.771 17.2352 0.666124 8.97716e-05 0.0522601 0.744008 +TTool-pose None -6.56518 -7.22251 16.1098 -0.586482 0.287067 -0.721802 0.229327 +#60292 1721122614534 +SLAM 0.80259 14.7756 17.204 0.664924 -5.42492e-06 0.052436 0.745068 +TTool-pose None -6.57231 -7.24163 16.0931 -0.585995 0.288281 -0.721437 0.230199 +#60293 1721122614570 +SLAM 0.798124 14.773 17.2071 0.664939 0.000248286 0.052448 0.745054 +TTool-pose None -6.57188 -7.24575 16.0884 -0.585907 0.288118 -0.721525 0.230351 +#60294 1721122614604 +SLAM 0.797154 14.7713 17.2289 0.66578 0.000303754 0.052135 0.744324 +TTool-pose None -6.56215 -7.2344 16.1031 -0.586382 0.287226 -0.721669 0.229803 +#60295 1721122614639 +SLAM 0.808892 14.7808 17.1755 0.663782 0.000104298 0.0520908 0.74611 +TTool-pose None -6.56859 -7.26801 16.0799 -0.585814 0.289184 -0.720852 0.231352 +#60296 1721122614673 +SLAM 0.908217 14.8417 17.4422 0.666442 0.00201687 0.0476666 0.744029 +TTool-pose None -6.57035 -7.4787 16.1757 -0.589085 0.284448 -0.719845 0.232057 +#60297 1721122614709 +SLAM 0.802243 14.7746 17.2285 0.665551 0.00014433 0.0523202 0.744517 +TTool-pose None -6.57137 -7.24084 16.1014 -0.586232 0.287581 -0.721644 0.22982 +#60298 1721122614752 +SLAM 0.803922 14.7772 17.1702 0.663623 0.000166228 0.0520324 0.746256 +TTool-pose None -6.56216 -7.27079 16.0741 -0.585781 0.28928 -0.720779 0.231548 +#60299 1721122614793 +SLAM 0.88672 14.829 17.3893 0.6656 0.00184272 0.0486974 0.744716 +TTool-pose None -6.57671 -7.45058 16.1463 -0.588159 0.285598 -0.72008 0.232261 +#60300 1721122614833 +SLAM 0.866319 14.8176 17.2442 0.663699 0.000223389 0.050222 0.746312 +TTool-pose None -6.57453 -7.36151 16.1166 -0.587026 0.288717 -0.719781 0.232201 +#60301 1721122614871 +SLAM 0.800384 14.7765 17.209 0.664917 0.000287758 0.0522375 0.745088 +TTool-pose None -6.56833 -7.25142 16.0923 -0.586031 0.288061 -0.721407 0.230474 +#60302 1721122614913 +SLAM 0.899627 14.8382 17.4256 0.666444 0.00181712 0.0479044 0.744013 +TTool-pose None -6.56549 -7.45831 16.1744 -0.58899 0.284628 -0.719923 0.231835 +#60303 1721122614955 +SLAM 0.803624 14.7777 17.2068 0.664915 -0.000115843 0.0529544 0.74504 +TTool-pose None -6.58884 -7.23832 16.0914 -0.585674 0.288486 -0.721699 0.229938 +#60304 1721122614996 +SLAM 0.79709 14.7764 17.1911 0.664558 0.000206451 0.0523906 0.745398 +TTool-pose None -6.56795 -7.24738 16.0869 -0.585834 0.288481 -0.72134 0.230662 +#60305 1721122615034 +SLAM 0.804361 14.7798 17.2253 0.665604 0.000117988 0.0518753 0.7445 +TTool-pose None -6.55887 -7.24052 16.1118 -0.586563 0.287435 -0.721399 0.229924 +#60306 1721122615078 +SLAM 0.80906 14.7758 17.201 0.664816 -8.10768e-05 0.0522325 0.745179 +TTool-pose None -6.571 -7.24469 16.0933 -0.586123 0.288375 -0.721257 0.230316 +#60307 1721122615122 +SLAM 0.792686 14.7712 17.2865 0.667595 0.000235909 0.0526651 0.74266 +TTool-pose None -6.57603 -7.20582 16.1297 -0.586643 0.285714 -0.722615 0.228043 +#60308 1721122615161 +SLAM 0.799052 14.7748 17.2209 0.665429 0.000231216 0.0523961 0.74462 +TTool-pose None -6.57149 -7.2386 16.0989 -0.586111 0.287661 -0.721669 0.22995 +#60309 1721122615198 +SLAM 0.800873 14.7798 17.1773 0.663822 0.000285477 0.0523299 0.746058 +TTool-pose None -6.57092 -7.2671 16.0766 -0.585604 0.289099 -0.721059 0.231349 +#60310 1721122615234 +SLAM 0.798378 14.7757 17.1899 0.664635 0.000268053 0.0520177 0.745355 +TTool-pose None -6.55787 -7.24727 16.0902 -0.586094 0.288279 -0.721172 0.230778 +#60311 1721122615271 +SLAM -2.98712 7.27871 22.8553 -0.0437944 0.61817 -0.0713403 0.781575 +TTool-pose None 12.3438 -7.89506 -3.48545 -0.0482274 0.141822 -0.373688 0.915375 +#60312 1721122615307 +SLAM 0.801594 14.777 17.2132 0.66516 5.51167e-06 0.0527979 0.744832 +TTool-pose None -6.58365 -7.23661 16.0952 -0.585822 0.288147 -0.721734 0.229874 +#60313 1721122615345 +SLAM 0.799309 14.7682 17.225 0.665661 0.000176006 0.0523016 0.744419 +TTool-pose None -6.56745 -7.2325 16.0977 -0.586271 0.287455 -0.721683 0.229756 +#60314 1721122615381 +SLAM 0.803248 14.7715 17.284 0.667344 -0.000135139 0.0530446 0.742858 +TTool-pose None -6.59357 -7.20657 16.1248 -0.586424 0.286265 -0.722631 0.227863 +#60315 1721122615416 +SLAM 0.802617 14.7751 17.178 0.664097 -8.87614e-06 0.0524863 0.745801 +TTool-pose None -6.57289 -7.25132 16.0786 -0.585686 0.28906 -0.721162 0.230866 +#60316 1721122615452 +SLAM 0.803151 14.7763 17.1891 0.66439 0.000240089 0.0522384 0.745558 +TTool-pose None -6.56957 -7.25415 16.0841 -0.585871 0.288578 -0.721201 0.230881 +#60317 1721122615488 +SLAM 0.847638 14.8057 17.413 0.669824 -0.000122736 0.0509502 0.740769 +TTool-pose None -6.57918 -7.24902 16.2088 -0.588671 0.283418 -0.722329 0.226579 +#60318 1721122615523 +SLAM 0.800453 14.7748 17.2251 0.66544 0.000157121 0.0524715 0.744605 +TTool-pose None -6.57455 -7.24085 16.0986 -0.586088 0.287715 -0.721694 0.229864 +#60319 1721122615564 +SLAM 0.794626 14.7733 17.2212 0.665645 0.000124413 0.0526012 0.744412 +TTool-pose None -6.57187 -7.22656 16.1014 -0.586078 0.287576 -0.721834 0.229622 +#60320 1721122615598 +SLAM 0.803198 14.7766 17.2208 0.665212 0.000144185 0.0525824 0.7448 +TTool-pose None -6.58073 -7.24511 16.0953 -0.58594 0.287961 -0.721671 0.230003 +#60321 1721122615634 +SLAM 0.794824 14.7725 17.2321 0.665855 0.000371267 0.0520727 0.744262 +TTool-pose None -6.55904 -7.23582 16.1055 -0.586427 0.287101 -0.72168 0.229809 +#60322 1721122615671 +SLAM 0.797261 14.7724 17.2232 0.665581 0.000299267 0.0524264 0.744482 +TTool-pose None -6.57149 -7.23426 16.0986 -0.586118 0.287486 -0.721762 0.229857 +#60323 1721122615709 +SLAM 0.805837 14.7766 17.1825 0.664257 1.09162e-05 0.0524922 0.745659 +TTool-pose None -6.57683 -7.24876 16.0824 -0.585729 0.288902 -0.72123 0.230744 +#60324 1721122615744 +SLAM 0.799314 14.7773 17.1494 0.663149 0.000161821 0.0525125 0.746643 +TTool-pose None -6.57203 -7.26572 16.0637 -0.585295 0.289841 -0.72088 0.231758 +#60325 1721122615779 +SLAM 0.867388 14.8208 17.3058 0.665165 0.000621665 0.0496104 0.745046 +TTool-pose None -6.56434 -7.36841 16.1437 -0.587799 0.286966 -0.720084 0.231473 +#60326 1721122615814 +SLAM 0.793615 14.7677 17.2466 0.666284 0.000228255 0.0524512 0.743851 +TTool-pose None -6.56819 -7.22561 16.1061 -0.586358 0.286883 -0.722012 0.229214 +#60327 1721122615850 +SLAM 0.801882 14.77 17.3161 0.668419 -1.81868e-05 0.0527543 0.741912 +TTool-pose None -6.58556 -7.19525 16.1427 -0.586938 0.285122 -0.722889 0.22715 +#60328 1721122615892 +SLAM 0.808749 14.7718 17.2919 0.667653 -8.84005e-05 0.0526321 0.74261 +TTool-pose None -6.58666 -7.20546 16.133 -0.586792 0.285846 -0.72252 0.227791 +#60329 1721122615933 +SLAM 0.787608 14.7714 17.1879 0.664723 0.000340681 0.0523723 0.745252 +TTool-pose None -6.55907 -7.23833 16.0852 -0.585856 0.288244 -0.72143 0.230621 +#60330 1721122615970 +SLAM 0.802737 14.7819 17.1896 0.664037 6.37685e-05 0.0527753 0.745835 +TTool-pose None -6.58477 -7.26343 16.0798 -0.585444 0.289145 -0.721328 0.230856 +#60331 1721122616006 +SLAM 0.809023 14.7744 17.1793 0.663979 2.79575e-05 0.0522248 0.745925 +TTool-pose None -6.57151 -7.26038 16.0768 -0.585814 0.289081 -0.720979 0.231087 +#60332 1721122616041 +SLAM 0.793999 14.7728 17.1941 0.664617 0.000317134 0.0524429 0.745341 +TTool-pose None -6.56801 -7.2478 16.0829 -0.58578 0.288373 -0.721425 0.230666 +#60333 1721122616084 +SLAM 0.80808 14.7754 17.2304 0.665744 -4.96426e-05 0.0523143 0.744344 +TTool-pose None -6.5742 -7.23258 16.1073 -0.586365 0.287517 -0.721653 0.229532 +#60334 1721122616121 +SLAM 0.806689 14.7781 17.1603 0.663409 0.000217823 0.05199 0.746449 +TTool-pose None -6.56389 -7.27106 16.0715 -0.585721 0.289436 -0.720692 0.231776 +#60335 1721122616166 +SLAM 0.800955 14.7754 17.2226 0.665421 0.00022302 0.0521866 0.744641 +TTool-pose None -6.56669 -7.24286 16.1008 -0.586255 0.28762 -0.721543 0.23003 +#60336 1721122616203 +SLAM 0.799037 14.7723 17.2924 0.667696 0.00023248 0.0521413 0.742605 +TTool-pose None -6.56577 -7.21266 16.136 -0.587036 0.28549 -0.722349 0.228152 +#60337 1721122616238 +SLAM 0.803862 14.7778 17.183 0.663986 0.000126443 0.0525251 0.745898 +TTool-pose None -6.57799 -7.26184 16.0768 -0.585578 0.289092 -0.721184 0.231034 +#60338 1721122616273 +SLAM 0.811349 14.7806 17.1884 0.664245 -0.000177348 0.0524251 0.745674 +TTool-pose None -6.57818 -7.25461 16.0872 -0.585834 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-6.56367 -7.23713 16.1131 -0.586517 0.287317 -0.72156 0.229689 +#60397 1721122618276 +SLAM 0.790661 14.7707 17.2365 0.666092 0.000459059 0.0523671 0.744029 +TTool-pose None -6.56558 -7.22715 16.1051 -0.586275 0.286902 -0.721963 0.229559 +#60398 1721122618308 +SLAM 0.794578 14.7708 17.2288 0.665813 0.000397153 0.0521641 0.744293 +TTool-pose None -6.56179 -7.23335 16.1024 -0.586342 0.287147 -0.721726 0.229827 +#60399 1721122618341 +SLAM 0.802921 14.7783 17.2203 0.665383 0.000133894 0.0522361 0.744672 +TTool-pose None -6.56906 -7.2412 16.1034 -0.586238 0.287721 -0.721531 0.229984 +#60400 1721122618376 +SLAM 0.807196 14.7777 17.1858 0.664064 0.000124715 0.0524376 0.745835 +TTool-pose None -6.57856 -7.26192 16.0785 -0.585664 0.288999 -0.721161 0.231001 +#60401 1721122618410 +SLAM 0.805999 14.7786 17.1632 0.663505 0.00019099 0.0519605 0.746365 +TTool-pose None -6.56201 -7.26995 16.0741 -0.585782 0.289355 -0.720702 0.231689 +#60402 1721122618445 +SLAM 0.805935 14.7804 17.1528 0.663292 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-0.721427 0.230151 +#60472 1721122620898 +SLAM 0.799562 14.7744 17.239 0.665954 0.000260904 0.0522305 0.744162 +TTool-pose None -6.56778 -7.2355 16.108 -0.586389 0.287114 -0.721775 0.229594 +#60473 1721122620930 +SLAM 0.800605 14.7708 17.1766 0.664349 -6.90013e-06 0.0523822 0.745584 +TTool-pose None -6.56687 -7.2398 16.0806 -0.585841 0.2888 -0.721195 0.230697 +#60474 1721122620963 +SLAM 0.859185 14.8159 17.3673 0.667681 0.000266522 0.05009 0.742761 +TTool-pose None -6.56803 -7.31103 16.183 -0.588423 0.284965 -0.721172 0.228957 +#60475 1721122620996 +SLAM 0.905106 14.8403 17.4486 0.666957 0.00187279 0.047759 0.743562 +TTool-pose None -6.56811 -7.46035 16.1849 -0.58924 0.28408 -0.720043 0.231497 +#60476 1721122621029 +SLAM 0.814305 14.783 17.1825 0.664046 -0.000257368 0.0523259 0.745859 +TTool-pose None -6.57676 -7.25808 16.0877 -0.585862 0.289217 -0.720977 0.230804 +#60477 1721122621062 +SLAM 0.792143 14.7706 17.2332 0.665904 0.000334857 0.0523844 0.744196 +TTool-pose None -6.56578 -7.23098 16.1025 -0.586242 0.287156 -0.721867 0.229627 +#60478 1721122621094 +SLAM 0.795467 14.7748 17.2275 0.665742 8.98641e-05 0.0526882 0.74432 +TTool-pose None -6.57547 -7.22741 16.1036 -0.586062 0.287529 -0.721909 0.229485 +#60479 1721122621134 +SLAM 0.798966 14.7745 17.2339 0.665883 0.000336887 0.0519376 0.744246 +TTool-pose None -6.55856 -7.23756 16.109 -0.58654 0.287061 -0.721603 0.229814 +#60480 1721122621173 +SLAM 0.923564 14.8511 17.4584 0.666008 0.00234354 0.0470909 0.744453 +TTool-pose None -6.57337 -7.52255 16.1749 -0.589224 0.284507 -0.719451 0.23285 +#60481 1721122621210 +SLAM 0.809868 14.7744 17.2125 0.665203 -8.37652e-05 0.0522144 0.744834 +TTool-pose None -6.57149 -7.23909 16.0985 -0.586266 0.288013 -0.721388 0.229997 +#60482 1721122621244 +SLAM 0.79341 14.7752 17.2349 0.665944 0.000204376 0.0526077 0.744144 +TTool-pose None -6.57282 -7.22785 16.1069 -0.586146 0.287252 -0.721971 0.229423 +#60483 1721122621279 +SLAM 0.805593 14.7733 17.1906 0.664416 -0.00012682 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-0.587674 0.287628 -0.719467 0.232885 +#60501 1721122621924 +SLAM 0.802375 14.7778 17.2149 0.665275 1.82125e-05 0.0524962 0.744751 +TTool-pose None -6.57494 -7.23678 16.1003 -0.586062 0.287956 -0.721607 0.2299 +#60502 1721122621957 +SLAM 0.807753 14.7729 17.0833 0.660924 0.000133841 0.0520874 0.748643 +TTool-pose None -6.56365 -7.30036 16.0258 -0.584852 0.291801 -0.719808 0.233744 +#60503 1721122621990 +SLAM 0.796315 14.7741 17.1941 0.664739 0.000241376 0.0523319 0.74524 +TTool-pose None -6.56563 -7.24315 16.0881 -0.585922 0.288278 -0.721383 0.230556 +#60504 1721122622028 +SLAM 0.803678 14.7756 17.2381 0.66583 0.000101148 0.0523286 0.744266 +TTool-pose None -6.57291 -7.23767 16.1072 -0.586334 0.28735 -0.721738 0.229555 +#60505 1721122622061 +SLAM 0.792156 14.767 17.2587 0.66679 0.000152733 0.0526634 0.743383 +TTool-pose None -6.5728 -7.21263 16.1133 -0.586405 0.286512 -0.722296 0.228662 +#60506 1721122622098 +SLAM 0.892435 14.8405 17.2127 0.661079 0.00103015 0.0486091 0.748739 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1721122622541 +SLAM 0.790776 14.7733 17.2332 0.665871 0.00034385 0.052562 0.744213 +TTool-pose None -6.57053 -7.2308 16.1031 -0.586107 0.287225 -0.72196 0.229593 +#60519 1721122622574 +SLAM 0.809059 14.7757 17.1157 0.662217 -6.41244e-05 0.0520113 0.747505 +TTool-pose None -6.56082 -7.27598 16.0529 -0.585403 0.29071 -0.720182 0.23257 +#60520 1721122622608 +SLAM 0.797968 14.7717 17.2451 0.666333 0.000170043 0.0523296 0.743816 +TTool-pose None -6.56793 -7.22315 16.1124 -0.586477 0.286842 -0.721942 0.22918 +#60521 1721122622652 +SLAM 0.803325 14.7737 17.1421 0.662873 0.000288025 0.052052 0.74692 +TTool-pose None -6.56248 -7.27587 16.0577 -0.585476 0.289904 -0.720551 0.232244 +#60522 1721122622694 +SLAM 0.788225 14.7724 17.2774 0.667291 0.000372039 0.0525934 0.742938 +TTool-pose None -6.57099 -7.21231 16.1254 -0.586546 0.285897 -0.722504 0.228414 +#60523 1721122622727 +SLAM 0.806194 14.7755 17.1743 0.663982 4.4723e-05 0.0521991 0.745924 +TTool-pose None -6.56785 -7.25605 16.0787 -0.585827 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0.66443 0.000177797 0.0520848 0.745533 +TTool-pose None -6.56595 -7.2537 16.0842 -0.58601 0.288539 -0.721109 0.230864 +#60536 1721122623205 +SLAM 0.805245 14.7796 17.1555 0.663351 0.00012911 0.0520134 0.746498 +TTool-pose None -6.56178 -7.26819 16.0732 -0.585716 0.289548 -0.720657 0.231756 +#60537 1721122623238 +SLAM 0.795455 14.772 17.2138 0.665409 0.000153095 0.0526281 0.744622 +TTool-pose None -6.57359 -7.22927 16.0956 -0.585972 0.287785 -0.721772 0.229828 +#60538 1721122623274 +SLAM 0.804756 14.7733 17.22 0.665416 -5.86695e-05 0.0525699 0.744619 +TTool-pose None -6.57846 -7.23371 16.0981 -0.586084 0.287891 -0.721678 0.229703 +#60539 1721122623311 +SLAM 0.793008 14.7729 17.3121 0.668408 0.000142056 0.052582 0.741934 +TTool-pose None -6.57343 -7.19581 16.1464 -0.586999 0.284992 -0.722834 0.22733 +#60540 1721122623345 +SLAM 0.799458 14.782 17.2069 0.664863 0.000220305 0.0521426 0.745143 +TTool-pose None -6.56372 -7.25305 16.0984 -0.5861 0.288128 -0.721313 0.23051 +#60541 1721122623386 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0.744495 +TTool-pose None -6.57628 -7.23078 16.0987 -0.586002 0.28767 -0.721835 0.229694 +#60559 1721122624036 +SLAM 0.794866 14.772 17.2276 0.66578 0.000166915 0.0524915 0.7443 +TTool-pose None -6.56938 -7.22836 16.1025 -0.586183 0.287398 -0.721833 0.229579 +#60560 1721122624075 +SLAM 0.803131 14.7805 17.1389 0.662792 9.63468e-05 0.0522658 0.746977 +TTool-pose None -6.56682 -7.27324 16.0632 -0.585367 0.290148 -0.720587 0.232104 +#60561 1721122624117 +SLAM 0.895007 14.8321 17.4666 0.667099 0.00284449 0.0475101 0.743447 +TTool-pose None -6.56396 -7.48144 16.1717 -0.589132 0.2833 -0.72024 0.232114 +#60562 1721122624154 +SLAM 0.801642 14.7784 17.1974 0.664648 7.98229e-05 0.0524848 0.745311 +TTool-pose None -6.57419 -7.24756 16.0899 -0.585841 0.288497 -0.721389 0.230467 +#60563 1721122624199 +SLAM 0.90165 14.8382 17.473 0.666978 0.00250865 0.0478177 0.743537 +TTool-pose None -6.57685 -7.48758 16.1745 -0.588994 0.283694 -0.720273 0.231879 +#60564 1721122624234 +SLAM 0.800999 14.7771 17.2351 0.666065 0.000206576 0.0519958 0.744079 +TTool-pose None -6.56069 -7.22929 16.1157 -0.586604 0.286985 -0.721663 0.229554 +#60565 1721122624269 +SLAM 0.80241 14.773 17.2473 0.666247 3.31118e-05 0.0523173 0.743893 +TTool-pose None -6.57032 -7.228 16.1127 -0.586502 0.287001 -0.721863 0.229165 +#60566 1721122624303 +SLAM 0.79313 14.7692 17.2129 0.665353 0.000316607 0.0525414 0.744678 +TTool-pose None -6.5706 -7.23281 16.0912 -0.585958 0.287717 -0.72175 0.230016 +#60567 1721122624341 +SLAM 0.803173 14.7731 17.2293 0.665847 9.82748e-05 0.0521529 0.744263 +TTool-pose None -6.56587 -7.22991 16.1075 -0.586461 0.287292 -0.721642 0.229605 +#60568 1721122624378 +SLAM 0.799647 14.7761 17.235 0.665837 0.000247092 0.0519968 0.744283 +TTool-pose None -6.5601 -7.23939 16.1098 -0.586515 0.287172 -0.721593 0.22977 +#60569 1721122624416 +SLAM 0.791936 14.7704 17.2282 0.66576 0.00045126 0.052042 0.744349 +TTool-pose None -6.55598 -7.23695 16.1017 -0.58639 0.287133 -0.721652 0.229953 +#60570 1721122624454 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-0.722211 0.228909 +#60576 1721122624669 +SLAM 0.801256 14.779 17.1543 0.663307 0.000363165 0.0518893 0.746546 +TTool-pose None -6.55708 -7.27215 16.071 -0.585708 0.289417 -0.72064 0.231994 +#60577 1721122624703 +SLAM 0.800207 14.7742 17.2489 0.666251 0.000109832 0.0523386 0.743889 +TTool-pose None -6.57013 -7.23007 16.1131 -0.586463 0.286957 -0.7219 0.229206 +#60578 1721122624738 +SLAM 0.80973 14.7796 17.1874 0.664131 6.84775e-05 0.0521875 0.745793 +TTool-pose None -6.5724 -7.26299 16.0839 -0.585877 0.288908 -0.721025 0.231002 +#60579 1721122624772 +SLAM 0.806416 14.7726 17.2095 0.664952 0.000163024 0.0521669 0.745062 +TTool-pose None -6.56996 -7.24948 16.0904 -0.586132 0.288086 -0.721342 0.230389 +#60580 1721122624808 +SLAM 0.804502 14.781 17.2101 0.664774 0.000160176 0.0522374 0.745216 +TTool-pose None -6.57116 -7.25806 16.0946 -0.586026 0.28827 -0.721317 0.230509 +#60581 1721122624842 +SLAM 0.803637 14.7785 17.2489 0.666233 -2.07074e-05 0.0525039 0.743893 +TTool-pose None -6.57735 -7.22818 16.1167 -0.586388 0.287093 -0.721949 0.229071 +#60582 1721122624875 +SLAM 0.881488 14.8266 17.3173 0.664214 0.000878336 0.0497475 0.745885 +TTool-pose None -6.58853 -7.42133 16.1243 -0.587303 0.287727 -0.719892 0.232384 +#60583 1721122624910 +SLAM 0.802166 14.7792 17.2068 0.664898 7.73713e-05 0.0524059 0.745094 +TTool-pose None -6.57261 -7.24695 16.0954 -0.585979 0.288248 -0.721434 0.230287 +#60584 1721122624945 +SLAM 0.916562 14.8448 17.4192 0.66512 0.00250629 0.04714 0.745242 +TTool-pose None -6.56822 -7.52305 16.1533 -0.588842 0.285245 -0.719204 0.23368 +#60585 1721122624978 +SLAM 0.908356 14.8405 17.4445 0.66601 0.00265369 0.0473125 0.744436 +TTool-pose None -6.56826 -7.50829 16.1624 -0.58897 0.284376 -0.719672 0.232971 +#60586 1721122625021 +SLAM 0.807737 14.7814 17.1806 0.663716 0.000139954 0.0523217 0.746152 +TTool-pose None -6.57586 -7.2737 16.0765 -0.585623 0.289282 -0.720972 0.231344 +#60587 1721122625053 +SLAM 0.802931 14.7765 17.2501 0.666355 1.93281e-05 0.0525315 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-6.56929 -7.21449 16.147 -0.587082 0.285214 -0.722532 0.2278 +#60634 1721122626762 +SLAM 0.802784 14.7728 17.226 0.665536 0.000237451 0.0522312 0.744536 +TTool-pose None -6.57007 -7.24044 16.0995 -0.586257 0.287517 -0.721615 0.229927 +#60635 1721122626806 +SLAM 0.795289 14.7734 17.163 0.663775 0.000346975 0.052011 0.746122 +TTool-pose None -6.55454 -7.25882 16.0734 -0.585786 0.289026 -0.720876 0.231549 +#60636 1721122626843 +SLAM 0.802134 14.7737 17.2312 0.66592 1.33655e-05 0.0521869 0.744195 +TTool-pose None -6.56483 -7.22781 16.1099 -0.58649 0.287283 -0.721663 0.229474 +#60637 1721122626874 +SLAM 0.913516 14.8472 17.4636 0.665599 0.00333332 0.0467255 0.744838 +TTool-pose None -6.5656 -7.557 16.1566 -0.589007 0.284198 -0.719384 0.233982 +#60638 1721122626910 +SLAM 0.807828 14.7796 17.1624 0.663543 7.5526e-05 0.051963 0.746331 +TTool-pose None -6.56223 -7.26664 16.0769 -0.585832 0.28939 -0.720683 0.231579 +#60639 1721122626947 +SLAM 0.804787 14.7807 17.0826 0.660888 0.00015033 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-0.588729 0.285164 -0.720185 0.231024 +#60657 1721122627600 +SLAM 0.812031 14.7843 17.0826 0.660892 3.3074e-05 0.0518705 0.748686 +TTool-pose None -6.56035 -7.30381 16.0389 -0.585023 0.291836 -0.719641 0.233784 +#60658 1721122627638 +SLAM 0.797303 14.7768 17.233 0.665707 0.000265388 0.0523131 0.744377 +TTool-pose None -6.56829 -7.23999 16.1056 -0.586249 0.287361 -0.721733 0.229772 +#60659 1721122627674 +SLAM 0.802239 14.7774 17.2117 0.665011 9.76889e-05 0.0524413 0.74499 +TTool-pose None -6.57419 -7.24638 16.0948 -0.585986 0.288139 -0.721502 0.230193 +#60660 1721122627710 +SLAM 0.801791 14.7746 17.2098 0.66534 4.24646e-05 0.0521962 0.744714 +TTool-pose None -6.56437 -7.2322 16.1013 -0.586281 0.287807 -0.721465 0.229975 +#60661 1721122627744 +SLAM 0.793407 14.774 17.1819 0.66413 0.000359083 0.0525397 0.745769 +TTool-pose None -6.57088 -7.25631 16.0747 -0.585538 0.288823 -0.721314 0.231063 +#60662 1721122627782 +SLAM 0.790984 14.7685 17.2755 0.667309 0.000346006 0.0522333 0.742947 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0.0529428 0.745725 +TTool-pose None -6.58492 -7.24289 16.0799 -0.585483 0.289296 -0.72136 0.230468 +#60692 1721122628906 +SLAM 0.803431 14.7765 17.2126 0.665173 -3.71357e-05 0.0524838 0.744843 +TTool-pose None -6.57464 -7.23853 16.0978 -0.586055 0.288081 -0.721546 0.229953 +#60693 1721122628938 +SLAM 0.801252 14.773 17.2181 0.665407 0.000149588 0.0523193 0.744645 +TTool-pose None -6.56972 -7.2367 16.0982 -0.586183 0.287711 -0.721592 0.229944 +#60694 1721122628970 +SLAM 0.87233 14.8237 17.2902 0.664177 0.000666741 0.0498403 0.745912 +TTool-pose None -6.57748 -7.39393 16.1256 -0.587298 0.287912 -0.719868 0.23224 +#60695 1721122629008 +SLAM 0.798362 14.7724 17.2476 0.666527 -1.9357e-05 0.0524276 0.743635 +TTool-pose None -6.5688 -7.21463 16.1176 -0.586537 0.2868 -0.722013 0.228856 +#60696 1721122629045 +SLAM 0.793278 14.7741 17.23 0.665822 0.00022262 0.0525797 0.744256 +TTool-pose None -6.57174 -7.22868 16.104 -0.586119 0.287348 -0.721916 0.229548 +#60697 1721122629077 +SLAM 0.816678 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-6.56877 -7.24424 16.1053 -0.586411 0.287489 -0.721507 0.229911 +#60715 1721122629707 +SLAM 0.793732 14.7718 17.2528 0.666544 0.000202593 0.0525275 0.743613 +TTool-pose None -6.57091 -7.21982 16.1143 -0.5864 0.286676 -0.722143 0.228951 +#60716 1721122629741 +SLAM 0.794452 14.7728 17.209 0.665301 0.000372771 0.0522228 0.744746 +TTool-pose None -6.56251 -7.23553 16.0961 -0.58614 0.287651 -0.721565 0.230216 +#60717 1721122629777 +SLAM 0.806323 14.7715 17.2463 0.666106 0.000118188 0.0521855 0.744029 +TTool-pose None -6.57113 -7.23479 16.1085 -0.586517 0.287048 -0.721761 0.22939 +#60718 1721122629815 +SLAM 0.799784 14.7767 17.2218 0.66552 0.000149674 0.0523388 0.744542 +TTool-pose None -6.56933 -7.23576 16.1037 -0.586208 0.28761 -0.721645 0.229841 +#60719 1721122629851 +SLAM 0.791443 14.7682 17.1871 0.664725 0.000201813 0.0523543 0.745251 +TTool-pose None -6.56 -7.23597 16.0832 -0.585916 0.28832 -0.721379 0.230533 +#60720 1721122629892 +SLAM 0.805646 14.7797 17.2385 0.665624 9.80653e-05 0.0523684 0.744448 +TTool-pose None -6.57666 -7.24687 16.1067 -0.586239 0.287553 -0.721685 0.22971 +#60721 1721122629931 +SLAM 0.800787 14.7823 17.2033 0.664559 0.000170557 0.0526807 0.745377 +TTool-pose None -6.58177 -7.2562 16.089 -0.585647 0.288575 -0.721496 0.230528 +#60722 1721122629966 +SLAM 0.801177 14.7715 17.2589 0.666675 0.000126721 0.0521598 0.743522 +TTool-pose None -6.56561 -7.2231 16.119 -0.586721 0.286508 -0.721957 0.22893 +#60723 1721122630004 +SLAM 0.806292 14.7721 17.1415 0.662859 -9.43657e-06 0.0524023 0.746908 +TTool-pose None -6.5723 -7.2694 16.0556 -0.585332 0.290184 -0.720659 0.231927 +#60724 1721122630038 +SLAM 0.801201 14.7746 17.2528 0.66643 0.00026395 0.0520724 0.743747 +TTool-pose None -6.56485 -7.23005 16.1173 -0.586654 0.286631 -0.721858 0.229258 +#60725 1721122630102 +SLAM 0.805046 14.7714 17.1556 0.663176 3.61538e-05 0.0523841 0.746628 +TTool-pose None -6.57173 -7.27017 16.0594 -0.585434 0.289859 -0.720779 0.231701 +#60726 1721122630144 +SLAM 0.802437 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-0.585449 0.289315 -0.721194 0.231049 +#60738 1721122630565 +SLAM 0.803514 14.7759 17.2615 0.666517 6.65155e-05 0.0523175 0.743652 +TTool-pose None -6.57285 -7.23067 16.1191 -0.58658 0.28673 -0.721972 0.228962 +#60739 1721122630603 +SLAM 0.796127 14.772 17.2322 0.66583 0.000203592 0.052388 0.744262 +TTool-pose None -6.5681 -7.2321 16.1034 -0.586259 0.287304 -0.721802 0.229601 +#60740 1721122630637 +SLAM 0.805991 14.7755 17.161 0.66339 0.00017802 0.0520646 0.74646 +TTool-pose None -6.56489 -7.27118 16.0683 -0.585677 0.289496 -0.720716 0.231737 +#60741 1721122630674 +SLAM 0.786099 14.7686 17.2204 0.665821 0.000141821 0.052864 0.744236 +TTool-pose None -6.57151 -7.21539 16.0986 -0.58595 0.287469 -0.722055 0.229388 +#60742 1721122630711 +SLAM 0.802562 14.7755 17.2278 0.66562 0.000199234 0.0522158 0.744462 +TTool-pose None -6.56906 -7.23876 16.1042 -0.586309 0.287458 -0.721626 0.229837 +#60743 1721122630752 +SLAM 0.792186 14.774 17.2393 0.666011 0.000397143 0.052448 0.744095 +TTool-pose None -6.56936 -7.23241 16.1063 -0.586213 0.287034 -0.721961 0.229555 +#60744 1721122630788 +SLAM 0.804651 14.7801 17.2723 0.666587 1.02704e-06 0.0525212 0.743575 +TTool-pose None -6.58064 -7.23597 16.1223 -0.586486 0.286756 -0.722095 0.228784 +#60745 1721122630821 +SLAM 0.797525 14.7716 17.2649 0.666711 0.000141078 0.0525791 0.743459 +TTool-pose None -6.57612 -7.22315 16.116 -0.586441 0.286571 -0.722216 0.228751 +#60746 1721122630856 +SLAM 0.808591 14.776 17.1952 0.664629 -2.42652e-05 0.052069 0.745357 +TTool-pose None -6.56588 -7.24942 16.0912 -0.586154 0.288473 -0.721112 0.230571 +#60747 1721122630889 +SLAM 0.800237 14.7749 17.2092 0.665005 0.000109165 0.0525036 0.744991 +TTool-pose None -6.57401 -7.24334 16.092 -0.585937 0.288154 -0.72154 0.230182 +#60748 1721122630925 +SLAM 0.801693 14.7726 17.2459 0.666124 0.000133027 0.0522338 0.74401 +TTool-pose None -6.56835 -7.23369 16.1098 -0.586485 0.287034 -0.7218 0.229366 +#60749 1721122630958 +SLAM 0.803963 14.7741 17.2285 0.665666 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-0.586524 0.28713 -0.721594 0.229797 +#60767 1721122631608 +SLAM 0.806272 14.7758 17.2467 0.66643 -0.000155109 0.0524847 0.743718 +TTool-pose None -6.57686 -7.21615 16.1194 -0.586511 0.286986 -0.72197 0.228825 +#60768 1721122631642 +SLAM 0.803548 14.7754 17.236 0.665695 0.000122271 0.052381 0.744384 +TTool-pose None -6.57475 -7.24111 16.1039 -0.586246 0.287476 -0.721725 0.229662 +#60769 1721122631678 +SLAM 0.813468 14.7793 17.1609 0.663113 0.000124035 0.0520243 0.746709 +TTool-pose None -6.57082 -7.28307 16.0668 -0.585631 0.289774 -0.720575 0.231946 +#60770 1721122631719 +SLAM 0.800382 14.7754 17.2353 0.665971 4.38993e-05 0.052382 0.744136 +TTool-pose None -6.57018 -7.22797 16.1105 -0.586363 0.287267 -0.721803 0.229379 +#60771 1721122631764 +SLAM 0.803443 14.7759 17.2962 0.667724 0.000183607 0.0519124 0.742597 +TTool-pose None -6.56257 -7.21749 16.1417 -0.587218 0.285436 -0.722213 0.228183 +#60772 1721122631806 +SLAM 0.80316 14.7742 17.2381 0.665898 0.000189608 0.0521272 0.74422 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1721122632241 +SLAM 0.805704 14.7806 17.2049 0.664842 2.23076e-05 0.0524653 0.74514 +TTool-pose None -6.57729 -7.24634 16.0956 -0.585938 0.288348 -0.721432 0.230275 +#60785 1721122632278 +SLAM 0.803382 14.778 17.1585 0.663289 0.000317128 0.0520046 0.746554 +TTool-pose None -6.56248 -7.27525 16.0684 -0.585638 0.28949 -0.720686 0.231935 +#60786 1721122632314 +SLAM 0.791854 14.7694 17.213 0.665449 0.000288626 0.0523626 0.744604 +TTool-pose None -6.56309 -7.23068 16.0951 -0.586121 0.287599 -0.721674 0.229984 +#60787 1721122632350 +SLAM 0.80875 14.7776 17.2032 0.664795 -8.79701e-05 0.0524212 0.745185 +TTool-pose None -6.57699 -7.24579 16.0929 -0.58599 0.288446 -0.721356 0.230258 +#60788 1721122632386 +SLAM 0.919091 14.8539 17.4722 0.666207 0.00262084 0.046862 0.744289 +TTool-pose None -6.56617 -7.53263 16.1799 -0.589354 0.284097 -0.719474 0.232953 +#60789 1721122632425 +SLAM 0.806724 14.7794 17.1394 0.6628 -3.07867e-05 0.0525185 0.746952 +TTool-pose None -6.57665 -7.26925 16.0611 -0.585239 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-6.5793 -7.25818 16.0757 -0.585441 0.289408 -0.721141 0.231119 +#60796 1721122632689 +SLAM 0.798103 14.7748 17.2528 0.66656 2.40574e-05 0.0526661 0.743589 +TTool-pose None -6.57738 -7.21628 16.1177 -0.58637 0.286804 -0.722175 0.228767 +#60797 1721122632722 +SLAM 0.805097 14.7765 17.2231 0.665322 0.000180337 0.0523547 0.744719 +TTool-pose None -6.57583 -7.24526 16.0985 -0.586121 0.28778 -0.721591 0.230021 +#60798 1721122632756 +SLAM 0.794908 14.773 17.2256 0.665644 0.000344026 0.0522371 0.744439 +TTool-pose None -6.56383 -7.23655 16.1015 -0.586254 0.287354 -0.72169 0.229905 +#60799 1721122632790 +SLAM 0.800893 14.7774 17.1347 0.662871 0.000213899 0.0520198 0.746924 +TTool-pose None -6.55775 -7.26911 16.0633 -0.585523 0.289942 -0.72051 0.232209 +#60800 1721122632827 +SLAM 0.794757 14.7765 17.2686 0.666938 0.000243409 0.0523593 0.743271 +TTool-pose None -6.56815 -7.2208 16.1261 -0.586632 0.286243 -0.722202 0.228712 +#60801 1721122632860 +SLAM 0.857609 14.8158 17.3588 0.667579 6.87449e-05 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-0.586366 0.287034 -0.721981 0.229102 +#60819 1721122633472 +SLAM 0.802379 14.7752 17.2271 0.665623 0.000106602 0.0523311 0.744451 +TTool-pose None -6.57119 -7.23594 16.1039 -0.586261 0.28754 -0.721665 0.22973 +#60820 1721122633506 +SLAM 0.796377 14.7702 17.2291 0.665923 0.000155332 0.0523048 0.744185 +TTool-pose None -6.56452 -7.2253 16.105 -0.586363 0.287225 -0.721774 0.229522 +#60821 1721122633541 +SLAM 0.905836 14.8419 17.4141 0.66517 0.00256428 0.0474658 0.745177 +TTool-pose None -6.56846 -7.51297 16.1495 -0.588617 0.285247 -0.719427 0.233555 +#60822 1721122633577 +SLAM 0.787783 14.7686 17.3428 0.669643 7.99459e-05 0.0527254 0.74081 +TTool-pose None -6.57254 -7.16972 16.1634 -0.587328 0.283914 -0.723346 0.226199 +#60823 1721122633614 +SLAM 2.41937 14.8382 16.494 0.62467 -0.0334151 0.080333 0.776026 +TTool-pose None -8.57389 -7.38283 15.4716 -0.563764 0.350608 -0.711783 0.229277 +#60824 1721122633650 +SLAM 0.797589 14.7745 17.2566 0.666396 0.00016707 0.0525727 0.743742 +TTool-pose None -6.57632 -7.22929 16.1133 -0.586332 0.286846 -0.722104 0.229034 +#60825 1721122633685 +SLAM 0.924731 14.8505 17.5846 0.669935 0.00227178 0.0469769 0.740928 +TTool-pose None -6.57413 -7.475 16.2436 -0.590623 0.280866 -0.720791 0.229556 +#60826 1721122633723 +SLAM 0.803017 14.7835 17.1788 0.663763 0.000197718 0.0524242 0.746103 +TTool-pose None -6.57529 -7.2697 16.0788 -0.585549 0.28923 -0.721066 0.231304 +#60827 1721122633757 +SLAM 0.798599 14.774 17.221 0.665331 0.000306713 0.0521737 0.744723 +TTool-pose None -6.565 -7.24594 16.0973 -0.586206 0.28765 -0.721528 0.230165 +#60828 1721122633794 +SLAM 0.893516 14.84 17.4294 0.666272 0.00215571 0.0480196 0.744158 +TTool-pose None -6.56846 -7.47131 16.1687 -0.588741 0.284614 -0.720028 0.23216 +#60829 1721122633831 +SLAM 0.794048 14.7772 17.2696 0.66718 9.00881e-05 0.0524466 0.743048 +TTool-pose None -6.56794 -7.2092 16.1321 -0.586704 0.286132 -0.722295 0.228375 +#60830 1721122633866 +SLAM 0.791135 14.7702 17.2566 0.66659 0.000243605 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-6.57398 -7.26091 16.0758 -0.585616 0.289088 -0.721127 0.231121 +#60981 1721122639359 +SLAM 0.797605 14.7764 17.256 0.666527 6.60122e-05 0.0526116 0.743622 +TTool-pose None -6.57611 -7.22197 16.1184 -0.586383 0.286796 -0.722144 0.228843 +#60982 1721122639397 +SLAM 0.804564 14.7783 17.2304 0.665525 9.08156e-05 0.0525971 0.74452 +TTool-pose None -6.58229 -7.24053 16.1025 -0.586052 0.287706 -0.721778 0.229701 +#60983 1721122639434 +SLAM 0.81879 14.7827 17.168 0.66353 -0.000411538 0.0524209 0.74631 +TTool-pose None -6.58155 -7.26363 16.079 -0.585677 0.289809 -0.720796 0.231095 +#60984 1721122639470 +SLAM 0.806391 14.7793 17.0984 0.661502 -7.14266e-05 0.0522942 0.748118 +TTool-pose None -6.56696 -7.28729 16.0421 -0.584972 0.291445 -0.720079 0.233052 +#60985 1721122639504 +SLAM 0.807534 14.7738 17.2108 0.665214 -0.000151955 0.0523938 0.744812 +TTool-pose None -6.57379 -7.23454 16.0976 -0.586169 0.288089 -0.721475 0.229876 +#60986 1721122639539 +SLAM 0.803985 14.7803 17.2311 0.665509 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0.663298 1.3049e-05 0.0520723 0.746542 +TTool-pose None -6.56487 -7.26453 16.0711 -0.585696 0.289682 -0.720637 0.231701 +#61016 1721122640628 +SLAM 0.801386 14.7754 17.2291 0.665462 0.00019753 0.0524339 0.744588 +TTool-pose None -6.57514 -7.24456 16.099 -0.586107 0.28766 -0.721693 0.229886 +#61017 1721122640664 +SLAM 0.809358 14.7822 17.1748 0.663628 9.22292e-05 0.0522481 0.746236 +TTool-pose None -6.57416 -7.27228 16.0771 -0.58566 0.289374 -0.720883 0.231413 +#61018 1721122640699 +SLAM 0.803602 14.7793 17.1982 0.664482 0.000174785 0.0524148 0.745464 +TTool-pose None -6.57554 -7.25705 16.087 -0.585802 0.288577 -0.721316 0.230695 +#61019 1721122640736 +SLAM -0.244431 9.47918 24.0973 0.891796 -0.0357485 0.25944 0.368935 +TTool-pose None -11.001 1.54592 13.9456 0.484075 -0.0461483 0.859786 0.155686 +#61020 1721122640772 +SLAM 0.795275 14.7718 17.2383 0.666078 0.000384155 0.0521161 0.74406 +TTool-pose None -6.56123 -7.23173 16.1082 -0.586467 0.286897 -0.72179 0.229616 +#61021 1721122640807 +SLAM 0.79492 14.7724 17.2214 0.665598 0.000132277 0.0526111 0.744454 +TTool-pose None -6.57258 -7.22866 16.0993 -0.586053 0.287618 -0.721825 0.229663 +#61022 1721122640841 +SLAM 0.81242 14.7777 17.0722 0.660764 -0.000100826 0.0520798 0.748785 +TTool-pose None -6.56444 -7.29493 16.0305 -0.584882 0.292087 -0.719674 0.233723 +#61023 1721122640875 +SLAM 0.884223 14.8284 17.4347 0.667915 0.00144399 0.0483504 0.742664 +TTool-pose None -6.55805 -7.39488 16.1948 -0.589296 0.283598 -0.720605 0.230192 +#61024 1721122640909 +SLAM 0.800931 14.7762 17.1483 0.663309 0.000166668 0.0518947 0.746544 +TTool-pose None -6.55348 -7.2644 16.0707 -0.58577 0.289535 -0.720585 0.23186 +#61025 1721122640946 +SLAM 0.802234 14.777 17.2266 0.6655 0.000214329 0.0523694 0.744558 +TTool-pose None -6.57405 -7.24132 16.102 -0.586159 0.287598 -0.721675 0.229889 +#61026 1721122640983 +SLAM 0.796557 14.7725 17.2229 0.66585 -6.28547e-05 0.0525628 0.744231 +TTool-pose None -6.56971 -7.21811 16.1064 -0.586235 0.287488 -0.721831 0.229341 +#61027 1721122641022 +SLAM 0.801379 14.7763 17.154 0.663313 0.000274265 0.0521032 0.746526 +TTool-pose None -6.56258 -7.26827 16.0675 -0.585593 0.289519 -0.720738 0.23185 +#61028 1721122641060 +SLAM 0.791003 14.7691 17.2619 0.666855 0.000392562 0.0522116 0.743356 +TTool-pose None -6.56082 -7.21999 16.1178 -0.586656 0.286194 -0.722132 0.228936 +#61029 1721122641100 +SLAM 0.801062 14.7779 17.154 0.663215 -3.91515e-05 0.0529602 0.746552 +TTool-pose None -6.58561 -7.26083 16.0631 -0.585078 0.290013 -0.721102 0.231401 +#61030 1721122641139 +SLAM 0.802783 14.7794 17.2313 0.665707 6.67493e-05 0.0520432 0.744396 +TTool-pose None -6.56227 -7.23984 16.112 -0.5865 0.287413 -0.721518 0.229742 +#61031 1721122641176 +SLAM 0.86779 14.8187 17.3584 0.666437 0.000730868 0.0500008 0.743883 +TTool-pose None -6.58109 -7.36087 16.1574 -0.587918 0.285821 -0.720806 0.230339 +#61032 1721122641211 +SLAM 0.804609 14.7762 17.2713 0.666675 0.00018774 0.0520407 0.743529 +TTool-pose None -6.56729 -7.23743 16.1226 -0.586782 0.286441 -0.721906 0.229014 +#61033 1721122641247 +SLAM 0.801184 14.7778 17.1633 0.663607 0.000188546 0.0521514 0.746261 +TTool-pose None -6.56318 -7.26374 16.0742 -0.585687 0.289311 -0.720848 0.231531 +#61034 1721122641282 +SLAM 0.801182 14.7707 17.2275 0.665714 -1.82372e-05 0.0525117 0.744357 +TTool-pose None -6.57362 -7.22904 16.101 -0.58621 0.287575 -0.721765 0.229504 +#61035 1721122641317 +SLAM 0.806879 14.7768 17.2688 0.66655 -1.92628e-05 0.0526697 0.743597 +TTool-pose None -6.58689 -7.23172 16.1175 -0.586379 0.28684 -0.722161 0.228745 +#61036 1721122641351 +SLAM 0.79752 14.7751 17.1978 0.664941 0.000100617 0.0526045 0.745041 +TTool-pose None -6.57372 -7.23389 16.0916 -0.58585 0.288243 -0.721572 0.230192 +#61037 1721122641389 +SLAM 0.79851 14.7764 17.2054 0.66482 0.00022414 0.0524776 0.745158 +TTool-pose None -6.57314 -7.24913 16.0894 -0.585855 0.28825 -0.721491 0.230423 +#61038 1721122641427 +SLAM 0.798415 14.7716 17.2429 0.666135 0.000227038 0.0524893 0.743982 +TTool-pose None -6.57438 -7.22808 16.1067 -0.586283 0.287032 -0.721979 0.229323 +#61039 1721122641464 +SLAM 0.808494 14.7768 17.1501 0.662964 0.000258601 0.0520074 0.746843 +TTool-pose None -6.56646 -7.28006 16.0619 -0.585547 0.289827 -0.72055 0.232166 +#61040 1721122641498 +SLAM 0.802602 14.7774 17.193 0.664427 0.000248071 0.0522892 0.745522 +TTool-pose None -6.57109 -7.25613 16.085 -0.585845 0.288552 -0.721246 0.230836 +#61041 1721122641533 +SLAM 0.793348 14.7708 17.2064 0.665111 0.000114388 0.052814 0.744875 +TTool-pose None -6.57662 -7.23259 16.0883 -0.585758 0.288131 -0.721758 0.229981 +#61042 1721122641566 +SLAM 0.794362 14.7723 17.1774 0.66403 0.000312819 0.052527 0.745858 +TTool-pose None -6.5704 -7.25575 16.0719 -0.585529 0.28894 -0.721257 0.23112 +#61043 1721122641601 +SLAM 0.807325 14.7784 17.1475 0.662928 0.000114432 0.0521117 0.746867 +TTool-pose None -6.56658 -7.2772 16.0636 -0.585512 0.289972 -0.720554 0.232061 +#61044 1721122641637 +SLAM 0.871598 14.8186 17.3725 0.666993 0.000574878 0.0499388 0.743388 +TTool-pose None -6.58104 -7.34968 16.1687 -0.588196 0.285382 -0.720927 0.229794 +#61045 1721122641672 +SLAM 0.801537 14.7753 17.1826 0.664363 0.000156014 0.0521486 0.745588 +TTool-pose None -6.56336 -7.24939 16.085 -0.585951 0.288631 -0.721114 0.230881 +#61046 1721122641707 +SLAM 0.811354 14.7785 17.1956 0.664379 1.09076e-05 0.0522852 0.745565 +TTool-pose None -6.57658 -7.2586 16.0865 -0.585911 0.288738 -0.721155 0.230721 +#61047 1721122641744 +SLAM 0.79518 14.7704 17.22 0.665538 0.000107964 0.0525384 0.744513 +TTool-pose None -6.56995 -7.23031 16.097 -0.586091 0.28767 -0.721754 0.229724 +#61048 1721122641786 +SLAM 0.794315 14.7757 17.2402 0.666074 0.000230504 0.0523682 0.744045 +TTool-pose None -6.56664 -7.2303 16.1111 -0.586344 0.287056 -0.721888 0.229422 +#61049 1721122641821 +SLAM 0.803682 14.7782 17.1689 0.663758 6.88853e-05 0.0520098 0.746137 +TTool-pose None -6.55965 -7.2633 16.079 -0.585874 0.289207 -0.720787 0.231379 +#61050 1721122641858 +SLAM 0.795924 14.7732 17.2346 0.665958 0.000234363 0.0522311 0.744159 +TTool-pose None -6.5634 -7.231 16.1079 -0.586398 0.287127 -0.721768 0.229573 +#61051 1721122641899 +SLAM 0.809039 14.78 17.1966 0.664611 3.40005e-05 0.0520295 0.745376 +TTool-pose None -6.56631 -7.25287 16.0944 -0.586156 0.288445 -0.7211 0.230639 +#61052 1721122641938 +SLAM 0.912661 14.8449 17.4382 0.665617 0.00231432 0.0475034 0.744776 +TTool-pose None -6.57427 -7.51492 16.1605 -0.588823 0.284993 -0.719538 0.233003 +#61053 1721122641973 +SLAM 0.910874 14.843 17.393 0.664497 0.0024603 0.0473198 0.745787 +TTool-pose None -6.5666 -7.52221 16.1409 -0.588527 0.285895 -0.719066 0.234101 +#61054 1721122642017 +SLAM 0.798732 14.7742 17.2203 0.665383 0.000221654 0.0524404 0.744658 +TTool-pose None -6.57243 -7.23946 16.0972 -0.586068 0.28772 -0.721675 0.229965 +#61055 1721122642059 +SLAM 0.792993 14.7694 17.2117 0.665599 0.000212564 0.0524513 0.744464 +TTool-pose None -6.56575 -7.22119 16.0982 -0.586136 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-6.57962 -7.20368 16.1157 -0.586325 0.286777 -0.722337 0.228404 +#61062 1721122642316 +SLAM 0.798224 14.7698 17.198 0.664742 0.000277998 0.0523504 0.745236 +TTool-pose None -6.56858 -7.24632 16.0828 -0.585899 0.288258 -0.721406 0.230571 +#61063 1721122642350 +SLAM 0.805755 14.7772 17.2567 0.666383 -7.55878e-05 0.0526448 0.743749 +TTool-pose None -6.58351 -7.22701 16.1167 -0.586359 0.287022 -0.722069 0.228857 +#61064 1721122642385 +SLAM 0.804872 14.7788 17.1931 0.664293 0.000111274 0.0524376 0.745631 +TTool-pose None -6.57642 -7.25934 16.0836 -0.585745 0.288795 -0.721242 0.230801 +#61065 1721122642420 +SLAM 0.899678 14.8371 17.4176 0.665771 0.00212313 0.0480031 0.744607 +TTool-pose None -6.57307 -7.48089 16.1568 -0.588597 0.285093 -0.719826 0.232563 +#61066 1721122642461 +SLAM 0.800149 14.7733 17.2411 0.666104 0.000220838 0.0523418 0.74402 +TTool-pose None -6.5713 -7.22942 16.1091 -0.586375 0.287028 -0.721881 0.229401 +#61067 1721122642496 +SLAM 0.79879 14.774 17.231 0.665702 0.000145078 0.0524154 0.744375 +TTool-pose None -6.57099 -7.23575 16.1031 -0.586217 0.287464 -0.721754 0.229658 +#61068 1721122642532 +SLAM 0.802153 14.7731 17.2336 0.66613 -9.29671e-05 0.0522967 0.744 +TTool-pose None -6.56677 -7.21893 16.1134 -0.58652 0.287179 -0.721771 0.229187 +#61069 1721122642566 +SLAM 0.808968 14.7801 17.261 0.666224 -6.85017e-05 0.0525422 0.743898 +TTool-pose None -6.58419 -7.23954 16.1165 -0.586375 0.287139 -0.721954 0.229033 +#61070 1721122642601 +SLAM 0.80094 14.7757 17.1646 0.66361 0.00027109 0.052037 0.746266 +TTool-pose None -6.56036 -7.26651 16.0722 -0.585739 0.28923 -0.720808 0.231626 +#61071 1721122642638 +SLAM 0.798396 14.7733 17.3146 0.668255 0.000101341 0.0525252 0.742076 +TTool-pose None -6.57673 -7.205 16.1439 -0.587001 0.285145 -0.722734 0.227453 +#61072 1721122642674 +SLAM 0.888171 14.8292 17.4343 0.667087 0.00185402 0.0484071 0.743403 +TTool-pose None -6.57038 -7.43314 16.1741 -0.588847 0.284137 -0.720459 0.231135 +#61073 1721122642707 +SLAM 0.80185 14.7746 17.1589 0.663717 1.82982e-05 0.0523357 0.746151 +TTool-pose None -6.56667 -7.25087 16.0738 -0.585654 0.289358 -0.720944 0.231257 +#61074 1721122642751 +SLAM 0.800472 14.7749 17.1831 0.66432 0.000249066 0.0520026 0.745637 +TTool-pose None -6.55897 -7.25406 16.084 -0.586006 0.288578 -0.721042 0.231034 +#61075 1721122642788 +SLAM 0.80743 14.7811 17.2085 0.664965 4.75648e-05 0.0520059 0.745061 +TTool-pose None -6.5647 -7.24973 16.1015 -0.586285 0.288102 -0.72122 0.230361 +#61076 1721122642823 +SLAM 0.799438 14.7735 17.2182 0.665287 0.000225642 0.052067 0.74477 +TTool-pose None -6.56104 -7.24572 16.0977 -0.586291 0.287713 -0.721426 0.230189 +#61077 1721122642859 +SLAM 0.799177 14.7738 17.2382 0.665979 0.000336332 0.0519968 0.744156 +TTool-pose None -6.56081 -7.23684 16.1092 -0.586532 0.286987 -0.721671 0.229711 +#61078 1721122642897 +SLAM 0.801903 14.7764 17.2514 0.66647 0.00010185 0.0521282 0.743707 +TTool-pose None -6.56502 -7.22527 16.121 -0.586683 0.286705 -0.721856 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+#61102 1721122643763 +SLAM 0.808088 14.7816 17.1655 0.663487 0.000154232 0.052034 0.746376 +TTool-pose None -6.56635 -7.27217 16.0761 -0.585738 0.289413 -0.720726 0.231652 +#61103 1721122643798 +SLAM 0.898023 14.8355 17.4107 0.666111 0.00184955 0.0480747 0.744299 +TTool-pose None -6.56908 -7.45622 16.165 -0.588752 0.284961 -0.71991 0.232071 +#61104 1721122643834 +SLAM 0.923897 14.8502 17.4655 0.665997 0.00258835 0.0469363 0.744471 +TTool-pose None -6.57244 -7.53345 16.172 -0.589244 0.28433 -0.719431 0.233078 +#61105 1721122643868 +SLAM 0.847764 14.8063 17.3292 0.667151 -7.42224e-05 0.0509575 0.743177 +TTool-pose None -6.57719 -7.28415 16.1637 -0.587768 0.285882 -0.721377 0.228849 +#61106 1721122643906 +SLAM 0.812867 14.7849 17.0869 0.660887 9.47473e-05 0.0517944 0.748696 +TTool-pose None -6.55996 -7.3096 16.0388 -0.585053 0.291785 -0.719614 0.233859 +#61107 1721122643940 +SLAM 0.807598 14.7772 17.2588 0.666378 -8.3691e-05 0.0525833 0.743758 +TTool-pose None -6.58339 -7.22983 16.1167 -0.586402 0.287017 -0.722029 0.228879 +#61108 1721122643975 +SLAM 0.808197 14.7838 17.1789 0.663862 6.8561e-06 0.0522796 0.746025 +TTool-pose None -6.57298 -7.26544 16.0836 -0.585745 0.289216 -0.720962 0.23115 +#61109 1721122644007 +SLAM 0.795084 14.7696 17.2259 0.665998 1.45789e-05 0.052656 0.744093 +TTool-pose None -6.5722 -7.21396 16.1047 -0.586194 0.287328 -0.721962 0.229234 +#61110 1721122644044 +SLAM 0.805946 14.7722 17.2221 0.665397 -4.84072e-05 0.0525172 0.74464 +TTool-pose None -6.57816 -7.23697 16.0966 -0.586111 0.287888 -0.721644 0.229745 +#61111 1721122644084 +SLAM 0.810843 14.7804 17.1691 0.663586 -9.39968e-05 0.0522598 0.746272 +TTool-pose None -6.57285 -7.26674 16.0767 -0.5857 0.289527 -0.720819 0.23132 +#61112 1721122644122 +SLAM 0.900915 14.839 17.4422 0.666854 0.00181832 0.0479854 0.74364 +TTool-pose None -6.57017 -7.45578 16.1811 -0.58907 0.284267 -0.72012 0.231463 +#61113 1721122644155 +SLAM 0.801124 14.7743 17.2127 0.665117 0.000287151 0.052177 0.744914 +TTool-pose None -6.567 -7.24683 16.0942 -0.586139 0.287861 -0.721446 0.23033 +#61114 1721122644204 +SLAM 0.799028 14.7739 17.2561 0.666425 9.8802e-05 0.0524826 0.743723 +TTool-pose None -6.57375 -7.22793 16.1145 -0.586426 0.286838 -0.722043 0.228999 +#61115 1721122644241 +SLAM 0.910246 14.8432 17.4231 0.665665 0.00209748 0.0475314 0.744733 +TTool-pose None -6.56867 -7.49602 16.1634 -0.588892 0.285086 -0.719507 0.23281 +#61116 1721122644286 +SLAM 0.920828 14.8493 17.6007 0.669958 0.00274247 0.0467283 0.740922 +TTool-pose None -6.56952 -7.49628 16.2393 -0.590643 0.280497 -0.720796 0.229941 +#61117 1721122644321 +SLAM 0.803779 14.7733 17.2257 0.665458 0.000114846 0.0523227 0.744599 +TTool-pose None -6.57235 -7.2416 16.0987 -0.58621 0.287686 -0.721603 0.229877 +#61118 1721122644362 +SLAM 0.797129 14.7729 17.2212 0.66553 0.000168791 0.0524943 0.744523 +TTool-pose None -6.57162 -7.23285 16.0989 -0.586098 0.287629 -0.721744 0.229788 +#61119 1721122644401 +SLAM 0.852692 14.8101 17.2993 0.665696 0.000209042 0.0507083 0.744498 +TTool-pose None -6.57774 -7.32332 16.1404 -0.587362 0.287 -0.720788 0.230346 +#61120 1721122644438 +SLAM 0.798992 14.7701 17.2082 0.66523 0.000173684 0.0523129 0.744803 +TTool-pose None -6.56688 -7.23478 16.0929 -0.586121 0.287858 -0.721531 0.230109 +#61121 1721122644474 +SLAM 0.794543 14.7717 17.2252 0.665594 0.000335952 0.0524735 0.744467 +TTool-pose None -6.5709 -7.23554 16.0974 -0.586078 0.287464 -0.721805 0.229853 +#61122 1721122644508 +SLAM 0.802419 14.7757 17.2384 0.665882 0.000185156 0.052221 0.744227 +TTool-pose None -6.56937 -7.23765 16.1085 -0.586396 0.287224 -0.72172 0.229608 +#61123 1721122644543 +SLAM 0.797126 14.7751 17.277 0.667108 0.000228527 0.052488 0.74311 +TTool-pose None -6.57475 -7.21974 16.126 -0.586605 0.286127 -0.722333 0.228512 +#61124 1721122644577 +SLAM 0.8832 14.8276 17.3747 0.665885 0.00123737 0.0490362 0.74444 +TTool-pose None -6.57442 -7.41559 16.1554 -0.588225 0.285783 -0.7202 0.231495 +#61125 1721122644614 +SLAM 0.805577 14.7807 17.1891 0.664354 7.89114e-05 0.0519322 0.745611 +TTool-pose None -6.56017 -7.25835 16.0915 -0.586122 0.28863 -0.720963 0.230919 +#61126 1721122644650 +SLAM 0.797828 14.7742 17.2642 0.66678 0.000160074 0.0524152 0.743409 +TTool-pose None -6.57149 -7.22163 16.1211 -0.58657 0.286454 -0.722152 0.228768 +#61127 1721122644685 +SLAM 0.791611 14.7719 17.2278 0.665695 0.000350568 0.052412 0.744381 +TTool-pose None -6.56631 -7.23476 16.0999 -0.586148 0.287347 -0.721811 0.229802 +#61128 1721122644718 +SLAM 0.798568 14.7725 17.2127 0.665121 0.000197493 0.0526717 0.744876 +TTool-pose None -6.57898 -7.2404 16.0895 -0.585831 0.288036 -0.721705 0.230081 +#61129 1721122644751 +SLAM 0.794838 14.7672 17.2582 0.666768 0.000284474 0.0523727 0.743423 +TTool-pose None -6.56797 -7.21708 16.114 -0.586553 0.286381 -0.72216 0.228877 +#61130 1721122644784 +SLAM 0.788973 14.7661 17.2773 0.667358 0.000406115 0.052238 0.742903 +TTool-pose None -6.56018 -7.21286 16.123 -0.5868 0.285725 -0.722333 0.228515 +#61131 1721122644818 +SLAM 0.797001 14.775 17.2131 0.66514 0.000372159 0.0522392 0.744889 +TTool-pose None -6.56618 -7.24646 16.0943 -0.586075 0.287805 -0.721515 0.230344 +#61132 1721122644852 +SLAM 2.32793 14.8332 17.1332 0.654693 -0.0377298 0.10133 0.748122 +TTool-pose None -9.07235 -6.37501 15.8105 -0.560913 0.330918 -0.733681 0.193725 +#61133 1721122644888 +SLAM 0.870169 14.8209 17.3972 0.667582 0.000965619 0.0493466 0.742899 +TTool-pose None -6.56713 -7.35809 16.1817 -0.588665 0.284449 -0.720916 0.229781 +#61134 1721122644923 +SLAM 0.89568 14.835 17.3528 0.664495 0.00138868 0.0487528 0.745699 +TTool-pose None -6.58012 -7.45891 16.1368 -0.587906 0.286908 -0.719573 0.23286 +#61135 1721122644959 +SLAM 0.795699 14.7716 17.2381 0.666016 0.000254634 0.0523814 0.744096 +TTool-pose None -6.56838 -7.23024 16.1057 -0.586308 0.287099 -0.721882 0.229482 +#61136 1721122644996 +SLAM 0.805619 14.7795 17.2177 0.665258 -4.035e-05 0.0522779 0.744781 +TTool-pose None -6.57064 -7.24237 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+TTool-pose None -6.55904 -7.23367 16.1009 -0.586384 0.287252 -0.721611 0.229945 +#61143 1721122645253 +SLAM 0.888714 14.8321 17.3305 0.664489 0.00108099 0.0489778 0.74569 +TTool-pose None -6.57454 -7.43252 16.1377 -0.587853 0.287156 -0.719609 0.232577 +#61144 1721122645287 +SLAM 0.907115 14.8382 17.4684 0.666607 0.00263527 0.0476868 0.743878 +TTool-pose None -6.5798 -7.50128 16.1669 -0.588919 0.283929 -0.720101 0.232321 +#61145 1721122645325 +SLAM 0.799713 14.774 17.234 0.665911 7.77695e-05 0.0522307 0.744201 +TTool-pose None -6.56498 -7.23121 16.1089 -0.586435 0.287265 -0.721704 0.229509 +#61146 1721122645361 +SLAM 0.796818 14.7715 17.2971 0.667781 9.75317e-05 0.0527466 0.742486 +TTool-pose None -6.58137 -7.2059 16.1328 -0.586694 0.285644 -0.722688 0.227764 +#61147 1721122645396 +SLAM 0.807297 14.7811 17.098 0.661264 0.000105446 0.052193 0.748335 +TTool-pose None -6.5675 -7.29978 16.0383 -0.584903 0.291532 -0.719986 0.233403 +#61148 1721122645432 +SLAM 0.802486 14.7713 17.1561 0.663375 3.01787e-05 0.0524225 0.746449 +TTool-pose None -6.57016 -7.26164 16.0631 -0.585476 0.289689 -0.720872 0.231517 +#61149 1721122645468 +SLAM 0.791175 14.7702 17.2275 0.666037 0.000161917 0.0526414 0.744058 +TTool-pose None -6.57007 -7.21539 16.105 -0.586168 0.2872 -0.722012 0.229304 +#61150 1721122645504 +SLAM 0.800745 14.7713 17.2835 0.667351 8.46367e-05 0.0525595 0.742886 +TTool-pose None -6.57851 -7.21303 16.1269 -0.586685 0.286005 -0.72242 0.228186 +#61151 1721122645540 +SLAM 0.80806 14.7787 17.0997 0.661416 -5.42712e-07 0.0522225 0.748199 +TTool-pose None -6.56747 -7.29349 16.0395 -0.584969 0.291464 -0.720027 0.233197 +#61152 1721122645577 +SLAM 0.798693 14.7719 17.2185 0.665459 6.31611e-05 0.0526722 0.744573 +TTool-pose None -6.57721 -7.23035 16.0963 -0.585988 0.287803 -0.721789 0.22971 +#61153 1721122645615 +SLAM 0.908647 14.8436 17.4677 0.666248 0.00290255 0.0472241 0.744228 +TTool-pose None -6.57055 -7.52392 16.1662 -0.589026 0.283983 -0.719782 0.23297 +#61154 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-0.586327 0.287335 -0.72168 0.229774 +#61322 1721122651690 +SLAM 0.794334 14.7696 17.1853 0.664604 2.63353e-05 0.052728 0.745333 +TTool-pose None -6.5725 -7.23392 16.0808 -0.585678 0.288631 -0.721497 0.230377 +#61323 1721122651726 +SLAM 0.794992 14.7747 17.2914 0.667595 7.4241e-07 0.0529405 0.74264 +TTool-pose None -6.58446 -7.20599 16.1323 -0.586532 0.285924 -0.722703 0.227783 +#61324 1721122651768 +SLAM 0.801386 14.7781 17.2451 0.666031 1.19159e-06 0.0526092 0.744067 +TTool-pose None -6.57873 -7.23233 16.1117 -0.586241 0.287294 -0.721943 0.229215 +#61325 1721122651801 +SLAM 0.875384 14.8272 17.3122 0.665151 0.00068898 0.0490512 0.745096 +TTool-pose None -6.55596 -7.38221 16.1524 -0.588154 0.286797 -0.719776 0.231739 +#61326 1721122651833 +SLAM 0.932235 14.857 17.4452 0.66476 0.00291357 0.0463067 0.745615 +TTool-pose None -6.5649 -7.57707 16.1569 -0.589154 0.285119 -0.718711 0.234559 +#61327 1721122651872 +SLAM 0.885157 14.8308 17.4486 0.667777 0.00195959 0.0479285 0.742814 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0.665684 0.00011599 0.0525475 0.744382 +TTool-pose None -6.5796 -7.23693 16.1035 -0.58613 0.287532 -0.721815 0.229604 +#61334 1721122652104 +SLAM 0.80068 14.7743 17.2471 0.666405 -5.03847e-05 0.0526087 0.743731 +TTool-pose None -6.57674 -7.2172 16.1157 -0.586383 0.286977 -0.722064 0.228868 +#61335 1721122652139 +SLAM 0.808476 14.7783 17.1456 0.663143 5.60168e-05 0.0518284 0.746697 +TTool-pose None -6.55741 -7.26863 16.0708 -0.585797 0.289738 -0.720452 0.23195 +#61336 1721122652172 +SLAM 0.789829 14.7665 17.3008 0.66818 0.000251844 0.0524652 0.742147 +TTool-pose None -6.567 -7.19633 16.1369 -0.586968 0.28511 -0.722717 0.227638 +#61337 1721122652209 +SLAM 0.929072 14.854 17.426 0.664825 0.00241044 0.0467854 0.745529 +TTool-pose None -6.56901 -7.54614 16.1584 -0.589018 0.285485 -0.718862 0.233994 +#61338 1721122652244 +SLAM 1.78375 2.08686 5.5588 -0.135012 -0.00232822 0.0192254 0.990655 +TTool-pose None -6.00529 -5.75226 4.49568 -0.20302 0.709769 -0.251851 0.625757 +#61339 1721122652284 +SLAM 0.800869 14.772 17.2441 0.666132 0.000217787 0.0521464 0.744009 +TTool-pose None -6.56574 -7.23312 16.1096 -0.58652 0.286954 -0.721778 0.229449 +#61340 1721122652318 +SLAM 0.802914 14.7782 17.1974 0.664453 0.000166516 0.0525446 0.74548 +TTool-pose None -6.57881 -7.25592 16.0845 -0.585706 0.288641 -0.721378 0.230665 +#61341 1721122652350 +SLAM 0.806054 14.7741 17.2063 0.664827 3.5995e-05 0.0523499 0.745161 +TTool-pose None -6.57371 -7.24901 16.0894 -0.586008 0.288324 -0.721364 0.23034 +#61342 1721122652386 +SLAM 0.798294 14.7749 17.182 0.664227 0.000119948 0.0524292 0.74569 +TTool-pose None -6.56872 -7.25146 16.0802 -0.585726 0.288849 -0.721215 0.230865 +#61343 1721122652422 +SLAM 0.798323 14.7753 17.2285 0.66566 0.000229795 0.0524657 0.744409 +TTool-pose None -6.57333 -7.23536 16.1027 -0.58614 0.287465 -0.721793 0.229731 +#61344 1721122652461 +SLAM 0.926947 14.8566 17.4241 0.663884 0.0031803 0.0464592 0.746384 +TTool-pose None -6.56779 -7.59495 16.1374 -0.588669 0.285808 -0.718558 0.235407 +#61345 1721122652496 +SLAM 0.797877 14.7684 17.249 0.666413 0.000269168 0.0522503 0.74375 +TTool-pose None -6.56664 -7.2247 16.1101 -0.586524 0.286688 -0.721956 0.229209 +#61346 1721122652529 +SLAM 0.800085 14.7736 17.1838 0.664195 0.000225831 0.0524743 0.745715 +TTool-pose None -6.57353 -7.25458 16.0766 -0.585649 0.288826 -0.721261 0.230945 +#61347 1721122652565 +SLAM 0.795817 14.7744 17.2169 0.66528 0.000209638 0.0525059 0.744745 +TTool-pose None -6.57135 -7.23995 16.0955 -0.585994 0.28784 -0.721672 0.230019 +#61348 1721122652600 +SLAM 0.80228 14.7745 17.2508 0.666451 -8.19167e-05 0.0527735 0.743679 +TTool-pose None -6.58343 -7.21667 16.1153 -0.586296 0.286995 -0.722166 0.228747 +#61349 1721122652635 +SLAM 0.808617 14.7757 17.2487 0.666274 0.000148252 0.0519782 0.743893 +TTool-pose None -6.56749 -7.23268 16.1171 -0.586705 0.286821 -0.721712 0.229347 +#61350 1721122652670 +SLAM 0.800095 14.7726 17.1431 0.663033 0.000310459 0.0520921 0.746775 +TTool-pose None -6.56071 -7.2697 16.0594 -0.585495 0.289753 -0.72064 0.232111 +#61351 1721122652702 +SLAM 0.804903 14.778 17.1925 0.664524 1.05498e-05 0.0524535 0.745424 +TTool-pose None -6.57519 -7.24776 16.0883 -0.585845 0.288646 -0.721305 0.230536 +#61352 1721122652738 +SLAM 0.80097 14.7713 17.2446 0.66634 7.83061e-05 0.0523202 0.74381 +TTool-pose None -6.56922 -7.22151 16.1129 -0.586516 0.286888 -0.721912 0.229117 +#61353 1721122652773 +SLAM 0.790213 14.7674 17.2578 0.667072 0.000107327 0.0525711 0.743136 +TTool-pose None -6.56692 -7.20026 16.1207 -0.586577 0.286254 -0.722332 0.22843 +#61354 1721122652807 +SLAM 0.800813 14.7744 17.2056 0.664866 0.000166744 0.0523014 0.74513 +TTool-pose None -6.56874 -7.24847 16.0902 -0.58601 0.288198 -0.721389 0.230413 +#61355 1721122652844 +SLAM 0.802683 14.7759 17.1809 0.66397 0.000158493 0.0525228 0.745912 +TTool-pose None -6.57691 -7.26055 16.0747 -0.585563 0.289087 -0.721186 0.231069 +#61356 1721122652878 +SLAM 2.80792 14.9168 16.9625 0.634819 -0.054448 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14.7759 17.241 0.665972 6.92853e-05 0.0522974 0.744141 +TTool-pose None -6.56941 -7.23468 16.1107 -0.586413 0.287229 -0.721762 0.229427 +#61363 1721122653133 +SLAM 0.796612 14.7723 17.1946 0.664703 0.000146431 0.0525377 0.745258 +TTool-pose None -6.57112 -7.24198 16.0847 -0.585801 0.288419 -0.72146 0.230445 +#61364 1721122653168 +SLAM 0.798162 14.774 17.1577 0.663399 3.27263e-05 0.0528912 0.746394 +TTool-pose None -6.5813 -7.25756 16.0626 -0.585163 0.289783 -0.721151 0.231322 +#61365 1721122653206 +SLAM 0.803999 14.7734 17.3138 0.668156 5.77736e-05 0.0523884 0.742175 +TTool-pose None -6.57731 -7.20938 16.1433 -0.587077 0.285229 -0.722607 0.227558 +#61366 1721122653242 +SLAM 0.804993 14.7791 17.1559 0.663356 -4.74503e-05 0.0524168 0.746466 +TTool-pose None -6.57197 -7.26255 16.071 -0.5855 0.289752 -0.720839 0.231483 +#61367 1721122653276 +SLAM 0.797734 14.7734 17.2318 0.665898 6.08213e-05 0.0526304 0.744184 +TTool-pose None -6.57548 -7.22499 16.1054 -0.586163 0.287387 -0.721924 0.229358 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-0.585178 0.290939 -0.720151 0.232945 +#61374 1721122653521 +SLAM 0.798647 14.774 17.1612 0.663502 0.000330607 0.0520796 0.74636 +TTool-pose None -6.56005 -7.26777 16.0681 -0.585653 0.289306 -0.720811 0.23174 +#61375 1721122653554 +SLAM 0.799842 14.7756 17.2243 0.665638 0.000202477 0.0519949 0.744461 +TTool-pose None -6.55901 -7.23719 16.1069 -0.586465 0.287383 -0.721506 0.229907 +#61376 1721122653588 +SLAM 0.790736 14.7682 17.2465 0.666277 0.000323097 0.0519862 0.74389 +TTool-pose None -6.55173 -7.23205 16.1096 -0.586642 0.286716 -0.72177 0.229457 +#61377 1721122653621 +SLAM 0.794153 14.7712 17.2313 0.66581 0.000338626 0.0523096 0.744285 +TTool-pose None -6.56543 -7.23394 16.1019 -0.586261 0.287221 -0.721791 0.229736 +#61378 1721122653656 +SLAM 0.79325 14.7732 17.2151 0.665295 0.000260945 0.0525503 0.744729 +TTool-pose None -6.57073 -7.23745 16.0942 -0.585951 0.287806 -0.721718 0.230024 +#61379 1721122653690 +SLAM 0.921262 14.8506 17.4776 0.666622 0.00246693 0.046855 0.743918 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0.666642 0.00028501 0.0524792 0.743528 +TTool-pose None -6.56888 -7.22285 16.1166 -0.586438 0.286524 -0.722175 0.228942 +#61386 1721122653928 +SLAM 0.799634 14.7776 17.2594 0.666548 0.00010022 0.0525502 0.743607 +TTool-pose None -6.57694 -7.22528 16.1197 -0.58642 0.28674 -0.722127 0.228871 +#61387 1721122653963 +SLAM 0.797098 14.7754 17.2026 0.664856 0.000179239 0.0525195 0.745123 +TTool-pose None -6.57214 -7.244 16.0897 -0.585854 0.288254 -0.721515 0.230347 +#61388 1721122653997 +SLAM 0.802091 14.7756 17.2118 0.665227 8.66641e-05 0.052285 0.744808 +TTool-pose None -6.5685 -7.2385 16.0987 -0.586168 0.287907 -0.721488 0.230064 +#61389 1721122654032 +SLAM 0.850344 14.8085 17.3212 0.666799 -4.74442e-05 0.0508679 0.7435 +TTool-pose None -6.5772 -7.29296 16.16 -0.587704 0.286171 -0.721206 0.229195 +#61390 1721122654073 +SLAM 0.883067 14.8255 17.4247 0.667198 0.00157345 0.0488803 0.743273 +TTool-pose None -6.57582 -7.41134 16.1729 -0.588654 0.284322 -0.720689 0.230679 +#61391 1721122654112 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-0.72955 0.19269 +#61397 1721122654338 +SLAM 0.795859 14.7774 17.2419 0.665995 0.000299405 0.0522447 0.744125 +TTool-pose None -6.56551 -7.23736 16.1113 -0.58638 0.287057 -0.721809 0.22958 +#61398 1721122654373 +SLAM 0.795113 14.7724 17.2414 0.666225 3.34327e-05 0.0527397 0.743884 +TTool-pose None -6.57627 -7.21882 16.1095 -0.586205 0.287127 -0.722098 0.229025 +#61399 1721122654408 +SLAM 0.804759 14.7777 17.1883 0.664259 0.000215859 0.0521378 0.745681 +TTool-pose None -6.56776 -7.26011 16.0839 -0.585904 0.288688 -0.721088 0.231011 +#61400 1721122654443 +SLAM 0.794632 14.7733 17.2461 0.666154 0.000275392 0.0523888 0.743972 +TTool-pose None -6.5684 -7.23239 16.109 -0.586342 0.28696 -0.721942 0.229377 +#61401 1721122654478 +SLAM 0.803524 14.7776 17.2351 0.665665 0.000136723 0.0523426 0.744413 +TTool-pose None -6.57383 -7.24225 16.1057 -0.586258 0.287485 -0.721696 0.229711 +#61402 1721122654515 +SLAM 0.802212 14.7712 17.2456 0.666188 -7.91015e-05 0.0527858 0.743914 +TTool-pose None -6.58344 -7.22264 16.1072 -0.586199 0.287241 -0.722078 0.228964 +#61403 1721122654550 +SLAM 0.799695 14.7706 17.2177 0.665547 0.000215537 0.0521435 0.744533 +TTool-pose None -6.5631 -7.23251 16.0996 -0.586328 0.287498 -0.721562 0.229937 +#61404 1721122654584 +SLAM 0.799666 14.7742 17.1882 0.664429 0.000108553 0.0523027 0.745519 +TTool-pose None -6.56602 -7.24993 16.0839 -0.585884 0.288637 -0.721213 0.230737 +#61405 1721122654618 +SLAM 0.790376 14.7708 17.2524 0.666547 0.000367243 0.0523706 0.743621 +TTool-pose None -6.56476 -7.22239 16.1134 -0.586454 0.286536 -0.722103 0.229117 +#61406 1721122654654 +SLAM 0.7977 14.7733 17.2373 0.665968 0.000236819 0.0522524 0.744148 +TTool-pose None -6.56607 -7.23284 16.1076 -0.586386 0.287121 -0.721785 0.229558 +#61407 1721122654690 +SLAM 0.79523 14.771 17.2128 0.665217 0.000276386 0.0525564 0.744798 +TTool-pose None -6.57286 -7.23821 16.0904 -0.585916 0.287871 -0.721697 0.230097 +#61408 1721122654725 +SLAM 0.79577 14.7732 17.2357 0.665969 0.000234094 0.0523772 0.744138 +TTool-pose None -6.56802 -7.22996 16.1068 -0.586302 0.287153 -0.721856 0.229509 +#61409 1721122654759 +SLAM 0.803915 14.7737 17.2439 0.666045 8.82115e-05 0.0523224 0.744074 +TTool-pose None -6.57281 -7.23382 16.1091 -0.586413 0.287157 -0.721809 0.229369 +#61410 1721122654793 +SLAM 0.815453 14.7833 17.2591 0.666253 4.55095e-05 0.05185 0.743921 +TTool-pose None -6.56999 -7.24493 16.1245 -0.58682 0.28687 -0.7216 0.229344 +#61411 1721122654834 +SLAM 0.800516 14.775 17.2265 0.665507 0.000147266 0.0520836 0.744572 +TTool-pose None -6.56199 -7.24357 16.1032 -0.586379 0.28756 -0.721493 0.229947 +#61412 1721122654869 +SLAM 0.92404 14.8557 17.5292 0.667737 0.00271407 0.0467236 0.742925 +TTool-pose None -6.57015 -7.52382 16.2072 -0.589924 0.282584 -0.719979 0.231787 +#61413 1721122654903 +SLAM 0.804069 14.7738 17.2469 0.666336 8.09185e-05 0.0521145 0.743829 +TTool-pose None -6.56606 -7.2263 16.1165 -0.586655 0.286839 -0.721793 0.2292 +#61414 1721122654939 +SLAM 0.807411 14.7786 17.1878 0.664171 9.77262e-05 0.0524948 0.745735 +TTool-pose None -6.58034 -7.25848 16.0811 -0.58567 0.28893 -0.721226 0.230872 +#61415 1721122654976 +SLAM 0.800108 14.7733 17.2526 0.666375 0.000195729 0.0522079 0.743787 +TTool-pose None -6.5671 -7.23024 16.1146 -0.586565 0.286757 -0.721895 0.229208 +#61416 1721122655012 +SLAM 0.801208 14.7753 17.206 0.664662 6.31048e-05 0.0525105 0.745297 +TTool-pose None -6.57469 -7.25472 16.0862 -0.585834 0.288501 -0.721404 0.230435 +#61417 1721122655053 +SLAM 0.799722 14.7738 17.2002 0.664864 0.000176818 0.0523273 0.745129 +TTool-pose None -6.56821 -7.24298 16.0899 -0.585988 0.288199 -0.721406 0.230411 +#61418 1721122655089 +SLAM 0.797064 14.769 17.2216 0.665626 0.000229422 0.0523175 0.74445 +TTool-pose None -6.56636 -7.23112 16.0979 -0.586231 0.28746 -0.721695 0.229815 +#61419 1721122655126 +SLAM 0.797999 14.7708 17.1945 0.664778 0.000191677 0.0523147 0.745207 +TTool-pose None -6.56576 -7.24122 16.086 -0.585964 0.288267 -0.721372 0.230497 +#61420 1721122655161 +SLAM 0.805039 14.7752 17.2529 0.666361 7.55326e-05 0.0522019 0.7438 +TTool-pose None -6.57027 -7.2302 16.117 -0.586605 0.286841 -0.721851 0.229142 +#61421 1721122655194 +SLAM 0.911926 14.8444 17.484 0.66671 0.00273413 0.0471752 0.743818 +TTool-pose None -6.57051 -7.519 16.1765 -0.589269 0.283642 -0.719872 0.232491 +#61422 1721122655231 +SLAM 0.803217 14.7787 17.224 0.665499 8.68332e-05 0.0523851 0.744558 +TTool-pose None -6.57366 -7.23779 16.1049 -0.58619 0.28768 -0.721645 0.2298 +#61423 1721122655267 +SLAM 0.798247 14.7731 17.1933 0.66458 0.000122845 0.0526092 0.745363 +TTool-pose None -6.57481 -7.24504 16.0827 -0.585719 0.288566 -0.721449 0.230505 +#61424 1721122655303 +SLAM 2.79797 14.8793 16.7223 0.630106 -0.0633243 0.130063 0.762916 +TTool-pose None -9.99502 -6.08152 15.4703 -0.540075 0.372854 -0.731865 0.18335 +#61425 1721122655342 +SLAM 0.809711 14.7779 17.2046 0.66492 6.69306e-05 0.0519349 0.745107 +TTool-pose None -6.56448 -7.24825 16.0981 -0.586312 0.288114 -0.721169 0.230438 +#61426 1721122655375 +SLAM 0.803346 14.7727 17.2177 0.665378 0.000148968 0.0523793 0.744667 +TTool-pose None -6.57371 -7.23674 16.0967 -0.586133 0.287754 -0.721616 0.229945 +#61427 1721122655409 +SLAM 0.802855 14.7732 17.2275 0.665814 0.000123364 0.0523434 0.744279 +TTool-pose None -6.57198 -7.22769 16.1054 -0.586311 0.287355 -0.721747 0.229577 +#61428 1721122655443 +SLAM 0.795073 14.77 17.2635 0.66709 6.43781e-05 0.0526755 0.743112 +TTool-pose None -6.57508 -7.20349 16.1222 -0.586526 0.286289 -0.722386 0.228347 +#61429 1721122655481 +SLAM 0.802237 14.7746 17.2336 0.666001 -7.59308e-05 0.0522568 0.744118 +TTool-pose None -6.56606 -7.22531 16.1124 -0.586498 0.28728 -0.721706 0.229322 +#61430 1721122655516 +SLAM 0.799378 14.7714 17.3038 0.667876 0.000184755 0.0525459 0.742415 +TTool-pose None -6.57905 -7.21104 16.1347 -0.586834 0.285453 -0.722633 0.227818 +#61431 1721122655551 +SLAM 0.800154 14.7722 17.2408 0.666009 0.000154043 0.0523948 0.744101 +TTool-pose None -6.57204 -7.23208 16.1063 -0.58633 0.287169 -0.721857 0.229416 +#61432 1721122655586 +SLAM 0.798687 14.7725 17.2517 0.666581 0.000173725 0.0522458 0.7436 +TTool-pose None -6.56627 -7.21977 16.118 -0.586615 0.286589 -0.721986 0.229007 +#61433 1721122655628 +SLAM 0.800043 14.7744 17.2113 0.665243 -0.000265481 0.0527582 0.74476 +TTool-pose None -6.57652 -7.22949 16.0973 -0.585967 0.288222 -0.721661 0.229639 +#61434 1721122655662 +SLAM 0.797644 14.7739 17.2428 0.666041 0.00024416 0.0524769 0.744066 +TTool-pose None -6.57373 -7.23273 16.1071 -0.586255 0.287105 -0.721943 0.229417 +#61435 1721122655698 +SLAM 0.802262 14.7741 17.2041 0.664768 0.000198216 0.0524844 0.745204 +TTool-pose None -6.57651 -7.24932 16.0863 -0.585842 0.288315 -0.721468 0.230446 +#61436 1721122655738 +SLAM 0.798564 14.777 17.2206 0.665347 0.000123037 0.0525179 0.744685 +TTool-pose None -6.57362 -7.24 16.0995 -0.586036 0.287833 -0.721677 0.229901 +#61437 1721122655772 +SLAM 0.791919 14.7687 17.235 0.666152 0.000150523 0.0526943 0.743952 +TTool-pose None -6.57264 -7.21694 16.1046 -0.586173 0.287114 -0.722081 0.229181 +#61438 1721122655806 +SLAM 0.894775 14.8341 17.4428 0.666408 0.00239039 0.0481966 0.744024 +TTool-pose None -6.57908 -7.47763 16.1605 -0.588586 0.284391 -0.720249 0.232135 +#61439 1721122655841 +SLAM 0.79383 14.769 17.2579 0.666733 0.000272732 0.0523818 0.743453 +TTool-pose None -6.56725 -7.21837 16.1153 -0.586539 0.286422 -0.722149 0.228894 +#61440 1721122655878 +SLAM 0.789827 14.7718 17.2085 0.665163 0.000460155 0.0522896 0.744865 +TTool-pose None -6.56134 -7.24109 16.0915 -0.586019 0.287743 -0.721579 0.230364 +#61441 1721122655914 +SLAM 0.795993 14.7748 17.2167 0.665214 0.00019139 0.0527546 0.744786 +TTool-pose None -6.57937 -7.23972 16.0927 -0.585807 0.287974 -0.721785 0.229968 +#61442 1721122655948 +SLAM 0.87397 14.8235 17.4117 0.667563 0.00120103 0.0490964 0.742932 +TTool-pose None -6.56724 -7.37774 16.1819 -0.588752 0.284262 -0.720835 0.230047 +#61443 1721122655985 +SLAM 0.793559 14.7688 17.2186 0.665546 0.000420686 0.0522669 0.744524 +TTool-pose None -6.56384 -7.23381 16.0953 -0.586175 0.287406 -0.721694 0.230027 +#61444 1721122656021 +SLAM 0.906807 14.8424 17.4182 0.665409 0.0025173 0.0473397 0.744972 +TTool-pose None -6.56474 -7.50762 16.1559 -0.588798 0.285022 -0.719428 0.233372 +#61445 1721122656058 +SLAM 0.792765 14.7725 17.1843 0.664266 0.000280323 0.0527037 0.745636 +TTool-pose None -6.57431 -7.25023 16.0751 -0.585497 0.288786 -0.721435 0.230836 +#61446 1721122656094 +SLAM 0.801645 14.7726 17.2189 0.665348 0.000296552 0.0520706 0.744715 +TTool-pose None -6.56428 -7.24386 16.0972 -0.586285 0.287615 -0.721472 0.230183 +#61447 1721122656131 +SLAM 0.792147 14.773 17.1913 0.664825 0.000319873 0.0525938 0.745145 +TTool-pose None -6.57069 -7.23441 16.0866 -0.585745 0.288217 -0.721588 0.230438 +#61448 1721122656166 +SLAM 0.791371 14.7722 17.2242 0.665871 0.000200534 0.0523857 0.744225 +TTool-pose None -6.56267 -7.22274 16.1058 -0.586275 0.287267 -0.721815 0.229565 +#61449 1721122656201 +SLAM 0.795276 14.7767 17.2666 0.667011 5.5178e-05 0.0525119 0.743195 +TTool-pose None -6.5707 -7.21256 16.1283 -0.586615 0.286327 -0.72226 0.228469 +#61450 1721122656235 +SLAM 0.794113 14.7728 17.2368 0.666041 0.000188422 0.0525249 0.744063 +TTool-pose None -6.57047 -7.22601 16.1071 -0.58624 0.287151 -0.721954 0.229363 +#61451 1721122656268 +SLAM 0.802693 14.7711 17.2084 0.665105 0.000248766 0.0522532 0.74492 +TTool-pose None -6.56993 -7.24147 16.0909 -0.586095 0.287915 -0.721473 0.230286 +#61452 1721122656304 +SLAM 0.792354 14.7647 17.2349 0.666124 0.000350841 0.0524399 0.743995 +TTool-pose None -6.56745 -7.22189 16.1003 -0.586272 0.286956 -0.721984 0.229433 +#61453 1721122656338 +SLAM 0.790829 14.7696 17.2329 0.665929 0.000413383 0.0523033 0.744179 +TTool-pose None -6.56286 -7.23096 16.1021 -0.58628 0.287064 -0.721853 0.229688 +#61454 1721122656382 +SLAM 0.835874 14.806 17.3185 0.667526 -0.000321966 0.0510472 0.742835 +TTool-pose None -6.5636 -7.25516 16.1745 -0.587913 0.285704 -0.721492 0.228338 +#61455 1721122656416 +SLAM 0.796488 14.7741 17.2901 0.667581 0.00023209 0.0525363 0.742681 +TTool-pose None -6.57609 -7.21138 16.1327 -0.586727 0.285697 -0.722534 0.2281 +#61456 1721122656450 +SLAM 0.898437 14.8384 17.3628 0.665019 0.00122304 0.0485077 0.745249 +TTool-pose None -6.57295 -7.44771 16.153 -0.588303 0.28646 -0.719574 0.232405 +#61457 1721122656485 +SLAM 0.806106 14.7841 17.1637 0.663391 1.58457e-05 0.0524326 0.746434 +TTool-pose None -6.5754 -7.26945 16.0751 -0.58548 0.289685 -0.720879 0.23149 +#61458 1721122656525 +SLAM 0.806923 14.7779 17.1782 0.664111 -2.83329e-05 0.0527523 0.745771 +TTool-pose None -6.58568 -7.24776 16.0794 -0.585515 0.289126 -0.721314 0.230742 +#61459 1721122656560 +SLAM 0.801647 14.7742 17.1675 0.663772 0.0002681 0.0521696 0.746114 +TTool-pose None -6.56522 -7.2606 16.0725 -0.585703 0.289116 -0.720943 0.23144 +#61460 1721122656593 +SLAM 0.872247 14.8219 17.3183 0.664399 0.00144179 0.0493711 0.745744 +TTool-pose None -6.57462 -7.42255 16.1219 -0.587434 0.287122 -0.71991 0.232744 +#61461 1721122656628 +SLAM 0.792467 14.7694 17.2217 0.66571 0.0003748 0.0523342 0.744373 +TTool-pose None -6.56437 -7.22876 16.0988 -0.586199 0.287299 -0.721779 0.229834 +#61462 1721122656670 +SLAM 0.802092 14.7697 17.1664 0.663862 4.97965e-05 0.0525173 0.746009 +TTool-pose None -6.5732 -7.24957 16.0691 -0.585568 0.289251 -0.721111 0.231089 +#61463 1721122656708 +SLAM 0.794113 14.7752 17.2486 0.666228 0.000259633 0.0524361 0.743902 +TTool-pose None -6.56944 -7.23127 16.1119 -0.586339 0.286913 -0.721992 0.229287 +#61464 1721122656749 +SLAM 0.797853 14.7715 17.2123 0.665178 0.000314304 0.0521867 0.744859 +TTool-pose None -6.56414 -7.24371 16.0926 -0.586143 0.287791 -0.721482 0.230293 +#61465 1721122656786 +SLAM 0.809419 14.7767 17.229 0.665399 9.01581e-05 0.0522087 0.74466 +TTool-pose None -6.57447 -7.24849 16.1013 -0.586276 0.287726 -0.721508 0.229952 +#61466 1721122656822 +SLAM 0.805595 14.7749 17.1681 0.663849 0.00012358 0.0520095 0.746056 +TTool-pose None -6.56193 -7.25837 16.0771 -0.585886 0.28909 -0.720836 0.23134 +#61467 1721122656856 +SLAM 0.894438 14.8325 17.3521 0.664295 0.00181065 0.0484902 0.745894 +TTool-pose None -6.57622 -7.47273 16.1286 -0.587878 0.286773 -0.719474 0.233404 +#61468 1721122656893 +SLAM 0.800691 14.778 17.185 0.664321 0.000125265 0.0521779 0.745624 +TTool-pose None -6.56344 -7.25339 16.0866 -0.585927 0.288695 -0.721106 0.230885 +#61469 1721122656937 +SLAM 0.793091 14.771 17.2178 0.665461 0.000324575 0.0523059 0.744598 +TTool-pose None -6.56345 -7.23583 16.0964 -0.586152 0.287553 -0.721657 0.23002 +#61470 1721122656980 +SLAM 0.894527 14.8348 17.5091 0.669407 0.00171828 0.0480568 0.741338 +TTool-pose None -6.56641 -7.40795 16.223 -0.589897 0.281967 -0.721059 0.229231 +#61471 1721122657017 +SLAM 0.802406 14.7749 17.2052 0.665043 -0.000118842 0.0525498 0.744954 +TTool-pose None -6.57407 -7.23545 16.0948 -0.585995 0.288267 -0.721512 0.229981 +#61472 1721122657052 +SLAM 0.797913 14.7728 17.253 0.66647 -1.2283e-05 0.0527395 0.743664 +TTool-pose None -6.57899 -7.21914 16.1136 -0.586302 0.286927 -0.722174 0.228791 +#61473 1721122657087 +SLAM 0.911214 14.8425 17.3269 0.663109 0.00173444 0.0481123 0.746973 +TTool-pose None -6.5797 -7.50325 16.1196 -0.587766 0.287818 -0.718798 0.23448 +#61474 1721122657124 +SLAM 0.795782 14.7735 17.1824 0.66418 0.000345219 0.0521734 0.74575 +TTool-pose None -6.56118 -7.25843 16.078 -0.58581 0.288693 -0.721118 0.23115 +#61475 1721122657169 +SLAM 0.794863 14.7703 17.1849 0.664605 0.000223164 0.0523069 0.745362 +TTool-pose None -6.56231 -7.23976 16.0831 -0.585901 0.288406 -0.721314 0.230665 +#61476 1721122657202 +SLAM 0.802637 14.7735 17.224 0.665509 0.000234285 0.0521723 0.744565 +TTool-pose None -6.56792 -7.24033 16.1004 -0.586289 0.287529 -0.72157 0.22997 +#61477 1721122657236 +SLAM 0.794449 14.7733 17.2422 0.666095 0.000349262 0.0524679 0.74402 +TTool-pose None -6.57163 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-0.721636 0.230154 +#61501 1721122658112 +SLAM 0.79358 14.7722 17.2077 0.665041 0.00023071 0.052697 0.744945 +TTool-pose None -6.57502 -7.23925 16.088 -0.585776 0.288096 -0.7217 0.23016 +#61502 1721122658148 +SLAM 0.805372 14.777 17.2507 0.666176 0.000289991 0.0518468 0.74399 +TTool-pose None -6.56238 -7.24184 16.1161 -0.586715 0.286794 -0.721643 0.229572 +#61503 1721122658184 +SLAM 0.798475 14.7752 17.2355 0.665949 -6.04551e-05 0.0527229 0.744132 +TTool-pose None -6.57781 -7.22469 16.1081 -0.586157 0.287436 -0.72196 0.2292 +#61504 1721122658222 +SLAM 0.802345 14.7762 17.2125 0.665304 0.00012831 0.0523191 0.744737 +TTool-pose None -6.57047 -7.23582 16.1001 -0.586157 0.287819 -0.721548 0.230015 +#61505 1721122658257 +SLAM 0.801833 14.7766 17.1852 0.664509 5.15225e-05 0.0521893 0.745456 +TTool-pose None -6.56361 -7.24451 16.0895 -0.586007 0.288568 -0.72116 0.230675 +#61506 1721122658294 +SLAM 0.803091 14.7768 17.1723 0.663997 -0.000181916 0.0527139 0.745875 +TTool-pose None -6.57804 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1721122658962 +SLAM 0.797636 14.7751 17.2322 0.665823 0.000290462 0.052165 0.744284 +TTool-pose None -6.56389 -7.23568 16.1072 -0.58638 0.287202 -0.721698 0.229747 +#61525 1721122658999 +SLAM 0.795387 14.7742 17.2143 0.66518 0.000249264 0.0524999 0.744835 +TTool-pose None -6.5712 -7.24214 16.0933 -0.585951 0.287907 -0.721643 0.230131 +#61526 1721122659034 +SLAM 0.795981 14.7729 17.2392 0.666116 0.000343757 0.0524177 0.744003 +TTool-pose None -6.57119 -7.22726 16.1078 -0.586287 0.286961 -0.721966 0.229443 +#61527 1721122659068 +SLAM 0.796769 14.7756 17.227 0.665648 0.000180142 0.0525905 0.744411 +TTool-pose None -6.57504 -7.23282 16.1024 -0.586067 0.287537 -0.721845 0.229661 +#61528 1721122659103 +SLAM 0.792897 14.7713 17.2096 0.665136 0.000318418 0.052461 0.744877 +TTool-pose None -6.56795 -7.24014 16.09 -0.58594 0.287896 -0.721626 0.230228 +#61529 1721122659138 +SLAM 0.797743 14.7752 17.2007 0.664726 0.000346549 0.0523292 0.745253 +TTool-pose None -6.56902 -7.25105 16.0871 -0.585885 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-6.57368 -7.21745 16.1233 -0.586581 0.286134 -0.722328 0.22858 +#61536 1721122659384 +SLAM 0.79308 14.7704 17.229 0.665727 0.00031716 0.0525569 0.744342 +TTool-pose None -6.5719 -7.23237 16.098 -0.586071 0.287374 -0.721896 0.229698 +#61537 1721122659420 +SLAM 0.799894 14.7762 17.1877 0.664266 0.000213193 0.0523789 0.745659 +TTool-pose None -6.5705 -7.25671 16.0811 -0.585742 0.288744 -0.721228 0.230913 +#61538 1721122659456 +SLAM 0.915558 14.8473 17.4384 0.665697 0.00250201 0.0470809 0.744731 +TTool-pose None -6.56609 -7.51776 16.1661 -0.589075 0.284698 -0.719379 0.233218 +#61539 1721122659490 +SLAM 0.803116 14.7759 17.1716 0.663962 5.50548e-05 0.0522247 0.74594 +TTool-pose None -6.56562 -7.25432 16.079 -0.585799 0.289081 -0.720981 0.231119 +#61540 1721122659526 +SLAM 0.794819 14.7688 17.2175 0.665538 0.000157479 0.0524378 0.74452 +TTool-pose None -6.56676 -7.22919 16.0961 -0.586143 0.287615 -0.721711 0.229795 +#61541 1721122659562 +SLAM 0.911529 14.8433 17.4747 0.666445 0.00285393 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1721122659997 +SLAM 0.803689 14.7779 17.2212 0.66535 7.58283e-05 0.0525213 0.744682 +TTool-pose None -6.57826 -7.23981 16.1004 -0.586051 0.287859 -0.721666 0.229866 +#61554 1721122660033 +SLAM 0.795139 14.7726 17.2011 0.664973 0.000225655 0.0524323 0.745025 +TTool-pose None -6.56761 -7.23858 16.0899 -0.585936 0.288096 -0.721522 0.230313 +#61555 1721122660072 +SLAM 2.67731 14.9604 17.0002 0.630541 -0.0281893 0.0728522 0.772215 +TTool-pose None -8.73713 -7.79056 15.6009 -0.569364 0.340754 -0.711488 0.231206 +#61556 1721122660110 +SLAM 0.809604 14.777 17.2712 0.666741 -3.09465e-05 0.0522206 0.743457 +TTool-pose None -6.57492 -7.23052 16.1248 -0.586754 0.286556 -0.721969 0.228746 +#61557 1721122660155 +SLAM 0.79736 14.7732 17.2136 0.665449 0.000322452 0.0520675 0.744625 +TTool-pose None -6.55988 -7.23487 16.1005 -0.586312 0.287505 -0.721514 0.230118 +#61558 1721122660190 +SLAM 0.794361 14.7726 17.2097 0.665242 0.0002665 0.052323 0.744792 +TTool-pose None -6.56423 -7.23694 16.0949 -0.586087 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0.000429122 0.0523852 0.74396 +TTool-pose None -6.56314 -7.22221 16.1019 -0.586297 0.286855 -0.721991 0.22947 +#61571 1721122660665 +SLAM 0.804175 14.7769 17.2721 0.666809 2.6284e-05 0.0523973 0.743384 +TTool-pose None -6.57604 -7.2273 16.1244 -0.586636 0.286503 -0.722112 0.228662 +#61572 1721122660702 +SLAM 0.79717 14.775 17.2368 0.665857 0.000176651 0.0524688 0.744233 +TTool-pose None -6.57188 -7.23464 16.1059 -0.586221 0.287315 -0.721851 0.22953 +#61573 1721122660737 +SLAM 0.805346 14.7752 17.1898 0.664379 0.00013333 0.0523696 0.745559 +TTool-pose None -6.57443 -7.25286 16.0825 -0.585813 0.288685 -0.72124 0.23077 +#61574 1721122660772 +SLAM 0.801448 14.777 17.2308 0.665493 0.000149466 0.0525298 0.744554 +TTool-pose None -6.57782 -7.24356 16.1008 -0.586068 0.287684 -0.721745 0.229793 +#61575 1721122660807 +SLAM 0.791556 14.7718 17.1945 0.664757 0.000467817 0.052145 0.745238 +TTool-pose None -6.55795 -7.24664 16.0859 -0.585981 0.288079 -0.721349 0.230762 +#61576 1721122660847 +SLAM 0.800261 14.7764 17.1563 0.663506 5.69133e-05 0.0525404 0.746324 +TTool-pose None -6.57241 -7.25579 16.0697 -0.58543 0.289582 -0.720996 0.231382 +#61577 1721122660886 +SLAM 0.803357 14.7765 17.2064 0.664851 0.000271621 0.0521795 0.745151 +TTool-pose None -6.56907 -7.25208 16.0917 -0.586054 0.288117 -0.721345 0.23054 +#61578 1721122660922 +SLAM 0.794986 14.7707 17.2905 0.667649 0.00011717 0.0526466 0.742612 +TTool-pose None -6.5762 -7.20645 16.1309 -0.586713 0.28573 -0.722588 0.227925 +#61579 1721122660958 +SLAM 0.809698 14.7805 17.1577 0.663283 1.18364e-05 0.0522282 0.746544 +TTool-pose None -6.57174 -7.26988 16.0714 -0.585585 0.289736 -0.720721 0.231654 +#61580 1721122660993 +SLAM 0.792723 14.7697 17.2374 0.666079 0.00033111 0.0522993 0.744045 +TTool-pose None -6.56361 -7.22826 16.1053 -0.586359 0.286974 -0.72188 0.229511 +#61581 1721122661030 +SLAM 0.813688 14.782 17.1951 0.664485 -0.000139301 0.052107 0.745483 +TTool-pose None -6.57113 -7.25465 16.0947 -0.586119 0.288684 -0.721046 0.230599 +#61582 1721122661064 +SLAM 0.799331 14.7672 17.2418 0.666126 0.000268518 0.0523964 0.743997 +TTool-pose None -6.57247 -7.22821 16.1026 -0.586329 0.286992 -0.721935 0.229393 +#61583 1721122661100 +SLAM 0.79598 14.7739 17.2167 0.665417 0.000230496 0.0520971 0.744652 +TTool-pose None -6.55844 -7.23851 16.1009 -0.586312 0.287597 -0.721492 0.230072 +#61584 1721122661134 +SLAM 0.846084 14.8082 17.3525 0.667628 0.000145806 0.0509125 0.742752 +TTool-pose None -6.57847 -7.28869 16.1712 -0.587883 0.285295 -0.721591 0.228613 +#61585 1721122661172 +SLAM 0.7968 14.7745 17.2217 0.665483 0.000102269 0.0526143 0.744556 +TTool-pose None -6.57442 -7.23379 16.0992 -0.586022 0.287743 -0.721776 0.229738 +#61586 1721122661208 +SLAM 0.803761 14.7745 17.2542 0.666235 1.71469e-05 0.0525085 0.743891 +TTool-pose None -6.57822 -7.2331 16.1117 -0.586373 0.28707 -0.721964 0.229093 +#61587 1721122661244 +SLAM 0.789157 14.7676 17.2799 0.667642 0.000355987 0.0520809 0.742658 +TTool-pose None -6.55459 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0.742088 +TTool-pose None -6.57702 -7.20081 16.1403 -0.586929 0.285108 -0.722786 0.227522 +#61594 1721122661500 +SLAM 0.803357 14.7751 17.1667 0.663788 -1.79856e-05 0.0526214 0.746067 +TTool-pose None -6.57737 -7.25195 16.0727 -0.585494 0.289386 -0.721124 0.231066 +#61595 1721122661536 +SLAM 0.796151 14.7774 17.1815 0.664087 0.000293738 0.0524739 0.745812 +TTool-pose None -6.57083 -7.2583 16.0781 -0.585591 0.288886 -0.721241 0.23108 +#61596 1721122661571 +SLAM 0.803699 14.7728 17.2861 0.667285 6.66882e-05 0.0524172 0.742956 +TTool-pose None -6.57697 -7.21997 16.1279 -0.586766 0.286041 -0.722309 0.228283 +#61597 1721122661606 +SLAM 0.812973 14.775 17.2332 0.665948 -0.000155124 0.0524803 0.74415 +TTool-pose None -6.58286 -7.22333 16.1099 -0.586355 0.287432 -0.721792 0.229229 +#61598 1721122661643 +SLAM 0.801845 14.7784 17.2347 0.665821 1.71633e-05 0.0525116 0.744262 +TTool-pose None -6.57577 -7.23248 16.1095 -0.586233 0.287455 -0.721815 0.229438 +#61599 1721122661678 +SLAM 0.796567 14.7747 17.2295 0.665696 0.000355718 0.0522415 0.744392 +TTool-pose None -6.56615 -7.23825 16.1035 -0.586264 0.2873 -0.721715 0.229868 +#61600 1721122661720 +SLAM 0.801394 14.7741 17.1622 0.663678 0.000200258 0.0520968 0.746202 +TTool-pose None -6.56137 -7.25977 16.0725 -0.585744 0.289225 -0.720846 0.2315 +#61601 1721122661760 +SLAM 0.800012 14.7699 17.2205 0.665486 0.000246577 0.0521975 0.744583 +TTool-pose None -6.5658 -7.23746 16.0966 -0.586261 0.287549 -0.72158 0.229988 +#61602 1721122661796 +SLAM 0.791254 14.7713 17.237 0.666087 0.000270453 0.0524203 0.744029 +TTool-pose None -6.56527 -7.22602 16.1068 -0.5863 0.287033 -0.721935 0.229418 +#61603 1721122661832 +SLAM 0.914514 14.8427 17.4294 0.666074 0.00182431 0.0477962 0.744351 +TTool-pose None -6.57774 -7.47906 16.1707 -0.588938 0.284939 -0.719728 0.232189 +#61604 1721122661871 +SLAM 0.79446 14.7742 17.1955 0.664722 0.000183256 0.0525916 0.745237 +TTool-pose None -6.57144 -7.24209 16.0862 -0.585758 0.288394 -0.721509 0.230434 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-0.586326 0.287797 -0.721435 0.229965 +#61611 1721122662137 +SLAM 0.807159 14.7767 17.2678 0.666814 5.13652e-05 0.0523054 0.743387 +TTool-pose None -6.57607 -7.22373 16.1251 -0.586692 0.28646 -0.722068 0.228709 +#61612 1721122662173 +SLAM 0.807706 14.7822 17.1569 0.663259 3.4705e-05 0.0523015 0.746561 +TTool-pose None -6.57255 -7.2698 16.0721 -0.585519 0.289763 -0.720761 0.231662 +#61613 1721122662208 +SLAM 0.79594 14.7748 17.2297 0.665825 0.000157132 0.052412 0.744264 +TTool-pose None -6.56807 -7.22949 16.1066 -0.586256 0.287342 -0.721801 0.229564 +#61614 1721122662243 +SLAM 0.802115 14.7772 17.168 0.663898 0.000127258 0.0520887 0.746007 +TTool-pose None -6.5612 -7.25583 16.0799 -0.585847 0.289063 -0.720901 0.231272 +#61615 1721122662281 +SLAM 0.804071 14.7787 17.2083 0.664798 0.00021378 0.0521993 0.745197 +TTool-pose None -6.56995 -7.25585 16.093 -0.586042 0.288206 -0.721319 0.230539 +#61616 1721122662318 +SLAM 0.790939 14.7697 17.2251 0.665728 0.000434956 0.0522642 0.744362 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0.662208 0.000197576 0.052378 0.747487 +TTool-pose None -6.56949 -7.27714 16.0483 -0.585061 0.290654 -0.720467 0.232613 +#61623 1721122662581 +SLAM 0.796653 14.7722 17.2187 0.665458 0.000118332 0.052652 0.744576 +TTool-pose None -6.57536 -7.23138 16.0963 -0.585983 0.287766 -0.721793 0.229755 +#61624 1721122662617 +SLAM 0.930221 14.8539 17.4832 0.666437 0.00248086 0.0468058 0.744087 +TTool-pose None -6.57391 -7.53231 16.1844 -0.589515 0.283954 -0.719484 0.232689 +#61625 1721122662657 +SLAM 0.802173 14.7777 17.2463 0.666202 3.21682e-05 0.0522134 0.743942 +TTool-pose None -6.56707 -7.23072 16.1175 -0.586559 0.287017 -0.721786 0.229242 +#61626 1721122662693 +SLAM 0.797905 14.7756 17.2305 0.665627 0.000231787 0.0526647 0.744424 +TTool-pose None -6.57956 -7.23653 16.1005 -0.585993 0.287544 -0.721896 0.229684 +#61627 1721122662728 +SLAM 0.797189 14.771 17.2053 0.665116 0.000119497 0.052523 0.744891 +TTool-pose None -6.57106 -7.23432 16.0908 -0.585957 0.28805 -0.721594 0.23009 +#61628 1721122662766 +SLAM 0.850577 14.8126 17.3139 0.666495 -4.53627e-05 0.0507235 0.743782 +TTool-pose None -6.5729 -7.30119 16.1598 -0.587701 0.286415 -0.721012 0.229505 +#61629 1721122662802 +SLAM 0.793037 14.7716 17.2159 0.665447 4.75511e-05 0.0528527 0.744571 +TTool-pose None -6.57699 -7.2265 16.0951 -0.585865 0.287868 -0.721883 0.229641 +#61630 1721122662839 +SLAM 0.797218 14.7752 17.2315 0.666075 -1.0154e-05 0.0525219 0.744033 +TTool-pose None -6.57038 -7.21785 16.1123 -0.58632 0.287238 -0.721905 0.229204 +#61631 1721122662874 +SLAM 0.797668 14.7731 17.2074 0.665119 0.000141544 0.0526644 0.744878 +TTool-pose None -6.57672 -7.23501 16.0913 -0.585854 0.288069 -0.721684 0.230048 +#61632 1721122662909 +SLAM 0.808255 14.7779 17.2195 0.665418 2.70047e-05 0.0520764 0.744652 +TTool-pose None -6.56756 -7.23953 16.1057 -0.586394 0.287713 -0.72142 0.229944 +#61633 1721122662945 +SLAM 0.796187 14.7733 17.1992 0.664883 0.000271217 0.0522057 0.745121 +TTool-pose None -6.56201 -7.24347 16.0904 -0.586047 0.288095 -0.721372 0.230503 +#61634 1721122662981 +SLAM 0.925776 14.8544 17.4156 0.664753 0.00225583 0.0469117 0.745585 +TTool-pose None -6.56716 -7.53677 16.1591 -0.588959 0.285677 -0.718862 0.233905 +#61635 1721122663028 +SLAM 0.806449 14.7764 17.2114 0.664995 2.40867e-05 0.0524498 0.745004 +TTool-pose None -6.57751 -7.24571 16.0938 -0.585999 0.288201 -0.721479 0.230155 +#61636 1721122663064 +SLAM 0.792777 14.7677 17.2452 0.66638 0.000284678 0.052427 0.743767 +TTool-pose None -6.5672 -7.22077 16.1079 -0.586387 0.286754 -0.72205 0.22918 +#61637 1721122663103 +SLAM 0.801342 14.7774 17.1991 0.664773 0.000120151 0.0523949 0.745205 +TTool-pose None -6.57149 -7.245 16.0917 -0.585931 0.288334 -0.721395 0.230423 +#61638 1721122663139 +SLAM 0.804464 14.7795 17.0907 0.661068 0.00013314 0.0522828 0.748502 +TTool-pose None -6.56754 -7.30026 16.033 -0.584767 0.291718 -0.719974 0.23355 +#61639 1721122663176 +SLAM 0.790405 14.7694 17.2121 0.6656 0.000265088 0.0522954 0.744475 +TTool-pose None -6.55893 -7.22392 16.0991 -0.586225 0.287457 -0.721683 0.229868 +#61640 1721122663218 +SLAM 0.800188 14.776 17.1462 0.663145 3.39182e-05 0.0526877 0.746635 +TTool-pose None -6.57638 -7.25963 16.0623 -0.585217 0.289966 -0.720941 0.231611 +#61641 1721122663259 +SLAM 8.94797 -8.11853 16.9302 -0.718464 -0.24288 -0.212828 0.616055 +TTool-pose None -13.1204 -4.33748 6.31381 0.0240248 0.730635 0.4713 0.493412 +#61642 1721122663298 +SLAM 0.8028 14.7762 17.2046 0.664735 5.41579e-05 0.0526061 0.745225 +TTool-pose None -6.57913 -7.24904 16.0879 -0.585796 0.288463 -0.721483 0.230332 +#61643 1721122663337 +SLAM 0.796243 14.77 17.1742 0.664112 0.000336471 0.0522051 0.745808 +TTool-pose None -6.56176 -7.25247 16.0739 -0.585769 0.288769 -0.721108 0.231189 +#61644 1721122663372 +SLAM 0.804621 14.7743 17.2082 0.665136 -9.16485e-05 0.052606 0.744867 +TTool-pose None -6.57855 -7.23372 16.0949 -0.585978 0.288179 -0.721586 0.229901 +#61645 1721122663403 +SLAM 0.900802 14.8367 17.3876 0.665499 0.00159367 0.0482207 0.744837 +TTool-pose None -6.57218 -7.45671 16.1571 -0.588535 0.285719 -0.719694 0.232357 +#61646 1721122663437 +SLAM 0.9143 14.8461 17.4098 0.664549 0.0027815 0.0471114 0.745753 +TTool-pose None -6.56888 -7.54127 16.1417 -0.588579 0.285601 -0.71906 0.234348 +#61647 1721122663470 +SLAM 0.923871 14.8523 17.5443 0.667792 0.00334945 0.0462249 0.742904 +TTool-pose None -6.56307 -7.54614 16.2016 -0.590069 0.282022 -0.719899 0.232346 +#61648 1721122663509 +SLAM 0.801406 14.7713 17.2099 0.665245 0.000225027 0.0521313 0.744803 +TTool-pose None -6.56436 -7.2381 16.095 -0.586233 0.287768 -0.721448 0.230199 +#61649 1721122663545 +SLAM 0.793558 14.7749 17.2152 0.665219 0.000329067 0.0524267 0.744805 +TTool-pose None -6.56824 -7.24294 16.0946 -0.585988 0.287805 -0.721639 0.230179 +#61650 1721122663584 +SLAM 0.801055 14.7766 17.2193 0.665208 0.000134795 0.0525175 0.744808 +TTool-pose None -6.57627 -7.2446 16.0962 -0.585987 0.287954 -0.72163 0.230024 +#61651 1721122663625 +SLAM 0.801189 14.7766 17.2182 0.665173 0.000132044 0.0525198 0.74484 +TTool-pose None -6.57641 -7.24509 16.0956 -0.585974 0.287989 -0.721617 0.230051 +#61652 1721122663664 +SLAM 0.800269 14.7742 17.205 0.66476 6.64273e-05 0.0526364 0.7452 +TTool-pose None -6.57762 -7.24807 16.0862 -0.585779 0.28844 -0.721513 0.230308 +#61653 1721122663698 +SLAM 0.807795 14.7738 17.1881 0.66413 0.000127879 0.052616 0.745763 +TTool-pose None -6.58474 -7.25879 16.0742 -0.585563 0.288981 -0.72129 0.230881 +#61654 1721122663737 +SLAM 0.805428 14.7822 17.1418 0.662552 7.6788e-05 0.0526491 0.747163 +TTool-pose None -6.58175 -7.28206 16.0567 -0.585031 0.290477 -0.720714 0.232146 +#61655 1721122663774 +SLAM 0.800553 14.7744 17.1896 0.664493 0.000139955 0.0524008 0.745455 +TTool-pose None -6.57056 -7.24761 16.084 -0.585827 0.288584 -0.721302 0.230668 +#61656 1721122663809 +SLAM 0.79834 14.7684 17.2416 0.66635 -0.000203513 0.052807 0.743766 +TTool-pose None -6.57782 -7.21046 16.1093 -0.58628 0.28717 -0.722112 0.228738 +#61657 1721122663843 +SLAM 0.802159 14.7772 17.1386 0.662788 7.17412e-05 0.0524615 0.746967 +TTool-pose None -6.57153 -7.27043 16.0586 -0.58524 0.290216 -0.720691 0.232017 +#61658 1721122663880 +SLAM 0.896222 14.835 17.4001 0.665372 0.00234197 0.047876 0.744972 +TTool-pose None -6.56767 -7.48403 16.1478 -0.588478 0.285299 -0.719671 0.233088 +#61659 1721122663916 +SLAM 0.794846 14.7708 17.1935 0.664785 0.000225924 0.0524313 0.745192 +TTool-pose None -6.5668 -7.23903 16.0852 -0.585875 0.28827 -0.721452 0.23047 +#61660 1721122663948 +SLAM 0.813062 14.7798 17.2311 0.665335 0.000113745 0.0519853 0.744733 +TTool-pose None -6.57167 -7.25609 16.1042 -0.5864 0.287715 -0.721363 0.230105 +#61661 1721122663983 +SLAM 0.792242 14.7736 17.2611 0.666749 0.000322659 0.0524719 0.743433 +TTool-pose None -6.56986 -7.22087 16.1187 -0.586466 0.2864 -0.722221 0.228881 +#61662 1721122664016 +SLAM 0.80352 14.7786 17.338 0.66882 0.000166596 0.0522157 0.741588 +TTool-pose None -6.57423 -7.20747 16.1596 -0.587378 0.284501 -0.722781 0.227139 +#61663 1721122664050 +SLAM 0.796818 14.7676 17.2352 0.666026 0.000232722 0.0523427 0.74409 +TTool-pose None -6.56741 -7.22668 16.1027 -0.586345 0.287093 -0.721857 0.229473 +#61664 1721122664093 +SLAM 0.800321 14.7729 17.2377 0.665892 0.000224618 0.0522003 0.74422 +TTool-pose None -6.56691 -7.23692 16.106 -0.586401 0.287186 -0.721723 0.229633 +#61665 1721122664128 +SLAM 0.80616 14.7773 17.2084 0.665022 7.83304e-05 0.0520771 0.745006 +TTool-pose None -6.56582 -7.24633 16.0981 -0.586245 0.28805 -0.721291 0.230308 +#61666 1721122664166 +SLAM 0.796638 14.7725 17.2296 0.66571 0.000266686 0.0523831 0.74437 +TTool-pose None -6.56933 -7.23525 16.1013 -0.586201 0.287376 -0.721775 0.229744 +#61667 1721122664200 +SLAM 0.796199 14.7705 17.2753 0.667112 0.000265355 0.0524854 0.743106 +TTool-pose None -6.57379 -7.21775 16.1215 -0.586596 0.2861 -0.722345 0.228534 +#61668 1721122664236 +SLAM 0.798964 14.7735 17.2267 0.665515 0.000111984 0.0525239 0.744534 +TTool-pose None -6.57404 -7.23819 16.0987 -0.586092 0.287684 -0.721739 0.229751 +#61669 1721122664270 +SLAM 0.903981 14.8403 17.3795 0.664477 0.00216578 0.0478785 0.74577 +TTool-pose None -6.57286 -7.50148 16.138 -0.588238 0.286234 -0.719293 0.233715 +#61670 1721122664306 +SLAM 0.804129 14.7781 17.1908 0.66433 0.000272097 0.0518157 0.745641 +TTool-pose None -6.55768 -7.26355 16.0875 -0.586129 0.288507 -0.720945 0.231111 +#61671 1721122664341 +SLAM 0.806772 14.7785 17.1811 0.66412 7.69231e-07 0.0521862 0.745803 +TTool-pose None -6.56794 -7.25689 16.0841 -0.585896 0.288958 -0.721 0.230967 +#61672 1721122664381 +SLAM 0.849824 14.8093 17.3198 0.6672 -0.000288219 0.0507676 0.743147 +TTool-pose None -6.56956 -7.27349 16.1721 -0.587986 0.285917 -0.721222 0.228738 +#61673 1721122664422 +SLAM 0.791221 14.7692 17.2373 0.666185 0.000265254 0.0524739 0.743938 +TTool-pose None -6.56666 -7.22117 16.1063 -0.586297 0.286959 -0.722 0.229313 +#61674 1721122664459 +SLAM 0.808902 14.7814 17.1547 0.663176 4.89758e-05 0.0521657 0.746643 +TTool-pose None -6.56943 -7.2726 16.0707 -0.58558 0.289796 -0.720657 0.231791 +#61675 1721122664504 +SLAM 0.906712 14.8421 17.3693 0.665254 0.00124113 0.0479907 0.745072 +TTool-pose None -6.56504 -7.44956 16.1643 -0.588729 0.286099 -0.719367 0.232414 +#61676 1721122664541 +SLAM 0.868985 14.8213 17.3948 0.667619 0.00100832 0.0491851 0.742876 +TTool-pose None -6.56114 -7.35627 16.1841 -0.588774 0.284348 -0.720849 0.229839 +#61677 1721122664581 +SLAM 0.799759 14.7703 17.2272 0.665674 0.00017288 0.0522177 0.744413 +TTool-pose None -6.56545 -7.23522 16.1006 -0.586334 0.287424 -0.721638 0.229774 +#61678 1721122664614 +SLAM 0.796847 14.7695 17.2174 0.665583 0.000114143 0.0523447 0.744486 +TTool-pose None -6.56515 -7.22772 16.0988 -0.586236 0.287575 -0.721661 0.229763 +#61679 1721122664649 +SLAM 0.79426 14.7706 17.2443 0.666261 0.000357109 0.0521582 0.743892 +TTool-pose None -6.56132 -7.22883 16.1099 -0.586508 0.286753 -0.721873 0.229429 +#61680 1721122664682 +SLAM 0.812018 14.7772 17.2722 0.666773 2.15325e-05 0.0524075 0.743416 +TTool-pose None -6.58417 -7.22827 16.1234 -0.586618 0.286542 -0.722103 0.228685 +#61681 1721122664721 +SLAM 0.786627 14.7707 17.3238 0.668768 0.00051972 0.0522549 0.741632 +TTool-pose None -6.5622 -7.19816 16.1499 -0.587216 0.284348 -0.72289 0.227402 +#61682 1721122664754 +SLAM 0.801662 14.775 17.1804 0.664274 -8.75267e-05 0.0525485 0.745639 +TTool-pose None -6.57279 -7.24478 16.0821 -0.585729 0.28896 -0.721239 0.230643 +#61683 1721122664788 +SLAM 0.896222 14.8341 17.4463 0.667382 0.00186676 0.0479345 0.743169 +TTool-pose None -6.56398 -7.43734 16.187 -0.589263 0.283734 -0.720297 0.231072 +#61684 1721122664823 +SLAM 0.799765 14.7762 17.26 0.666742 4.45116e-05 0.0524429 0.743442 +TTool-pose None -6.57254 -7.21807 16.1234 -0.586576 0.286566 -0.722119 0.228713 +#61685 1721122664856 +SLAM 0.804655 14.7733 17.1733 0.66393 0.000205933 0.0519284 0.745989 +TTool-pose None -6.55972 -7.26144 16.0765 -0.585941 0.288945 -0.720844 0.231357 +#61686 1721122664889 +SLAM 0.838615 14.7951 17.3597 0.669076 -0.000346774 0.0516637 0.741396 +TTool-pose None -6.58641 -7.2192 16.1855 -0.588011 0.284431 -0.722402 0.226791 +#61687 1721122664928 +SLAM 0.801391 14.7762 17.1998 0.664755 3.35182e-05 0.0525541 0.74521 +TTool-pose None -6.5754 -7.24388 16.0895 -0.585845 0.288443 -0.721455 0.230321 +#61688 1721122664960 +SLAM 0.805206 14.7795 17.1926 0.664298 0.000191616 0.0523008 0.745636 +TTool-pose None -6.57351 -7.26084 16.0848 -0.585813 0.288708 -0.721188 0.230902 +#61689 1721122664993 +SLAM 0.795426 14.7725 17.2201 0.665581 0.000302988 0.0521996 0.744498 +TTool-pose None -6.56219 -7.23395 16.1009 -0.586272 0.287427 -0.721633 0.229945 +#61690 1721122665025 +SLAM 0.80379 14.7817 17.2126 0.66498 5.33926e-05 0.052394 0.745021 +TTool-pose None -6.574 -7.24918 16.099 -0.586022 0.288183 -0.721451 0.230207 +#61691 1721122665059 +SLAM 0.799392 14.7709 17.2255 0.665578 0.000202713 0.0522596 0.744496 +TTool-pose None -6.56689 -7.23756 16.0988 -0.586263 0.287505 -0.721636 0.229858 +#61692 1721122665100 +SLAM 0.793712 14.7742 17.1661 0.663718 0.00043637 0.0521972 0.746159 +TTool-pose None -6.56058 -7.26303 16.0705 -0.585609 0.289071 -0.720989 0.231585 +#61693 1721122665137 +SLAM 0.814601 14.782 17.1749 0.663853 1.83299e-05 0.051656 0.746077 +TTool-pose None -6.55899 -7.26839 16.0866 -0.586164 0.289061 -0.720602 0.2314 +#61694 1721122665174 +SLAM 9.15174 -8.06611 17.8952 -0.731483 -0.260767 -0.249328 0.578592 +TTool-pose None -13.5495 -5.29879 5.95364 0.0128153 0.709926 0.519651 0.47517 +#61695 1721122665209 +SLAM 0.92592 14.8535 17.4644 0.665954 0.00248691 0.0468117 0.744518 +TTool-pose None -6.56915 -7.53508 16.1763 -0.589349 0.284399 -0.719313 0.233094 +#61696 1721122665244 +SLAM 0.80536 14.7787 17.1969 0.66431 0.000138381 0.0523863 0.745619 +TTool-pose None -6.57588 -7.26313 16.0836 -0.585777 0.28875 -0.721226 0.230825 +#61697 1721122665278 +SLAM 0.797165 14.7729 17.1944 0.664772 0.000249485 0.0521499 0.745224 +TTool-pose None -6.56061 -7.24395 16.0888 -0.586055 0.288196 -0.721293 0.230602 +#61698 1721122665315 +SLAM 0.795734 14.7761 17.2487 0.666185 0.000192877 0.0525628 0.743932 +TTool-pose None -6.5743 -7.23125 16.1115 -0.58626 0.287024 -0.72203 0.229231 +#61699 1721122665350 +SLAM 0.792002 14.7714 17.2367 0.665984 0.000348156 0.0523698 0.744125 +TTool-pose None -6.56559 -7.23132 16.1046 -0.586274 0.28707 -0.721892 0.229574 +#61700 1721122665381 +SLAM 0.872218 14.8204 17.4513 0.668856 0.00119931 0.0493523 0.741751 +TTool-pose None -6.57497 -7.35692 16.1991 -0.589004 0.283123 -0.721452 0.228867 +#61701 1721122665416 +SLAM 0.812689 14.7771 17.1669 0.663381 -0.000164948 0.0527401 0.746421 +TTool-pose None -6.58895 -7.26696 16.0663 -0.585326 0.28988 -0.720998 0.231263 +#61702 1721122665448 +SLAM 0.80506 14.7774 17.2471 0.666289 0.000108131 0.052009 0.743877 +TTool-pose None -6.56437 -7.23024 16.1196 -0.586702 0.286839 -0.721724 0.229296 +#61703 1721122665485 +SLAM 0.8043 14.7723 17.1963 0.664575 6.19425e-05 0.0522956 0.745389 +TTool-pose None -6.56999 -7.25075 16.0841 -0.585953 0.288528 -0.721249 0.230587 +#61704 1721122665522 +SLAM 0.800142 14.7766 17.175 0.66394 3.61827e-05 0.0526698 0.745929 +TTool-pose None -6.57705 -7.25385 16.0756 -0.585493 0.289225 -0.721223 0.230958 +#61705 1721122665559 +SLAM 0.795337 14.7735 17.1868 0.664365 0.000392908 0.0523267 0.745574 +TTool-pose None -6.56649 -7.25341 16.0796 -0.585751 0.288532 -0.721288 0.23097 +#61706 1721122665591 +SLAM 0.801022 14.7733 17.2522 0.666226 0.000127901 0.0527104 0.743885 +TTool-pose None -6.58338 -7.23014 16.1081 -0.586195 0.287062 -0.72211 0.229098 +#61707 1721122665629 +SLAM 0.797991 14.7752 17.2209 0.665496 0.000116203 0.0524536 0.744556 +TTool-pose None -6.57061 -7.23434 16.1013 -0.586132 0.287682 -0.721692 0.229796 +#61708 1721122665666 +SLAM 0.80458 14.7768 17.2296 0.665735 0.000125912 0.0520802 0.744368 +TTool-pose None -6.56574 -7.23641 16.1091 -0.586464 0.28736 -0.721568 0.229744 +#61709 1721122665706 +SLAM 0.806684 14.7785 17.2313 0.665812 7.47704e-05 0.0519674 0.744307 +TTool-pose None -6.56363 -7.23566 16.1134 -0.586584 0.287291 -0.721515 0.229688 +#61710 1721122665738 +SLAM 0.79933 14.7759 17.2692 0.666755 0.000183154 0.0526233 0.743417 +TTool-pose None -6.58054 -7.22557 16.1198 -0.586411 0.286516 -0.722269 0.228726 +#61711 1721122665770 +SLAM 0.80866 14.7786 17.187 0.664231 -0.000196487 0.0525689 0.745677 +TTool-pose None -6.57962 -7.252 16.0843 -0.585737 0.28907 -0.721202 0.230599 +#61712 1721122665804 +SLAM 0.800663 14.7716 17.2897 0.667779 -0.000206956 0.0526096 0.742498 +TTool-pose None -6.5759 -7.1978 16.1373 -0.586889 0.285794 -0.722518 0.227615 +#61713 1721122665842 +SLAM 0.800202 14.7759 17.2181 0.665166 0.000272864 0.0524005 0.744855 +TTool-pose None -6.57354 -7.2476 16.0946 -0.586007 0.287881 -0.721588 0.230195 +#61714 1721122665877 +SLAM 0.803051 14.7738 17.1545 0.663433 0.000176205 0.0522023 0.746413 +TTool-pose None -6.56576 -7.2613 16.0674 -0.585598 0.289492 -0.72081 0.231648 +#61715 1721122665911 +SLAM 0.79637 14.7729 17.1954 0.664626 2.30173e-05 0.052839 0.745306 +TTool-pose None -6.579 -7.24191 16.0824 -0.58561 0.288641 -0.721568 0.230315 +#61716 1721122665943 +SLAM 0.796158 14.7693 17.1644 0.663889 0.000243858 0.0523585 0.745995 +TTool-pose None -6.56478 -7.25 16.0695 -0.58562 0.289069 -0.721088 0.231255 +#61717 1721122665978 +SLAM 0.811387 14.7767 17.1526 0.663126 2.07894e-05 0.0521144 0.746691 +TTool-pose None -6.56939 -7.27242 16.0659 -0.585608 0.289846 -0.720601 0.231833 +#61718 1721122666018 +SLAM 0.798936 14.7755 17.1945 0.664544 0.000102235 0.0526805 0.745389 +TTool-pose None -6.57781 -7.24709 16.0837 -0.585665 0.288629 -0.721471 0.230495 +#61719 1721122666053 +SLAM 0.807257 14.7783 17.1782 0.664115 7.25816e-05 0.0521078 0.745812 +TTool-pose None -6.56671 -7.25558 16.0841 -0.585924 0.2889 -0.720975 0.231047 +#61720 1721122666086 +SLAM 0.929477 14.852 17.476 0.666178 0.00258867 0.0466592 0.744327 +TTool-pose None -6.56951 -7.5388 16.1782 -0.589494 0.284091 -0.719337 0.23303 +#61721 1721122666131 +SLAM 0.792733 14.7713 17.2281 0.665815 0.000374589 0.0522658 0.744284 +TTool-pose None -6.56291 -7.23146 16.1026 -0.58628 0.287185 -0.721778 0.229772 +#61722 1721122666166 +SLAM 0.80503 14.7708 17.1362 0.662921 0.000137859 0.0520991 0.746874 +TTool-pose None -6.56286 -7.26584 16.0574 -0.58551 0.289962 -0.720551 0.232087 +#61723 1721122666204 +SLAM 0.801873 14.7757 17.2459 0.666218 9.57401e-05 0.0527399 0.74389 +TTool-pose None -6.58447 -7.22385 16.1111 -0.586183 0.287097 -0.722115 0.229072 +#61724 1721122666241 +SLAM 0.794461 14.7739 17.2429 0.666183 0.000164934 0.0526055 0.743931 +TTool-pose None -6.57344 -7.22487 16.1099 -0.58624 0.287054 -0.722045 0.229199 +#61725 1721122666273 +SLAM 0.798898 14.7759 17.2447 0.666147 8.36626e-05 0.0525662 0.743966 +TTool-pose None -6.57574 -7.22791 16.1117 -0.586282 0.287126 -0.721985 0.229189 +#61726 1721122666305 +SLAM 0.792279 14.7706 17.2204 0.665633 0.000269849 0.0523913 0.744438 +TTool-pose None -6.5646 -7.22957 16.0991 -0.586169 0.287448 -0.721752 0.229808 +#61727 1721122666339 +SLAM 0.793443 14.7686 17.1843 0.664586 0.000274324 0.0523855 0.745374 +TTool-pose None -6.56402 -7.23942 16.0802 -0.585824 0.288414 -0.721367 0.230686 +#61728 1721122666371 +SLAM 0.887049 14.8315 17.366 0.665328 0.0015775 0.0485516 0.744969 +TTool-pose None -6.56749 -7.43935 16.1494 -0.588257 0.285972 -0.719818 0.232366 +#61729 1721122666402 +SLAM 0.894026 14.833 17.4365 0.666523 0.00233339 0.0479758 0.743936 +TTool-pose None -6.56975 -7.46836 16.1649 -0.588794 0.284262 -0.720147 0.232085 +#61730 1721122666435 +SLAM 0.799357 14.7735 17.2362 0.665889 0.00028059 0.0520241 0.744235 +TTool-pose None -6.561 -7.23802 16.1076 -0.586502 0.287111 -0.721638 0.229739 +#61731 1721122666472 +SLAM 0.798271 14.7735 17.1955 0.664539 0.000253382 0.0525451 0.745404 +TTool-pose None -6.57487 -7.25075 16.0813 -0.585706 0.28851 -0.721436 0.230651 +#61732 1721122666506 +SLAM 0.799687 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-0.585944 0.287653 -0.721822 0.229903 +#61744 1721122666906 +SLAM 0.801651 14.778 17.1836 0.6642 0.00012912 0.0523487 0.74572 +TTool-pose None -6.56998 -7.25537 16.0828 -0.585769 0.288849 -0.721161 0.230924 +#61745 1721122666938 +SLAM 0.800399 14.7779 17.2367 0.665955 0.000203128 0.0521521 0.744167 +TTool-pose None -6.56537 -7.23402 16.1128 -0.586462 0.287129 -0.721712 0.229585 +#61746 1721122666974 +SLAM 0.803449 14.7719 17.2313 0.665659 0.00013235 0.0524119 0.744413 +TTool-pose None -6.57523 -7.23732 16.0999 -0.58621 0.287511 -0.721733 0.229687 +#61747 1721122667006 +SLAM 0.805339 14.7798 17.2094 0.66506 -4.68732e-05 0.0527106 0.744928 +TTool-pose None -6.58387 -7.23789 16.0973 -0.585866 0.288249 -0.721632 0.229955 +#61748 1721122667038 +SLAM 0.796999 14.7679 17.2003 0.66507 0.000203406 0.0523553 0.744944 +TTool-pose None -6.56613 -7.23359 16.088 -0.586029 0.288 -0.721506 0.230246 +#61749 1721122667078 +SLAM 0.799402 14.7749 17.2581 0.666519 0.000290199 0.0521669 0.74366 +TTool-pose None -6.56679 -7.23068 16.118 -0.58661 0.286556 -0.721953 0.229165 +#61750 1721122667114 +SLAM 0.799929 14.7734 17.2615 0.666589 0.000257931 0.0521885 0.743597 +TTool-pose None -6.5676 -7.23036 16.1176 -0.586629 0.286516 -0.721981 0.229078 +#61751 1721122667156 +SLAM 0.93341 14.8561 17.4896 0.665471 0.00364533 0.045798 0.745008 +TTool-pose None -6.56151 -7.60054 16.1632 -0.589493 0.283889 -0.718894 0.234639 +#61752 1721122667197 +SLAM 0.797221 14.7728 17.2243 0.665581 0.000375974 0.0520815 0.744506 +TTool-pose None -6.56153 -7.23984 16.1009 -0.586329 0.287354 -0.721587 0.230038 +#61753 1721122667233 +SLAM 0.809112 14.7764 17.1724 0.663765 9.46861e-05 0.0522898 0.746111 +TTool-pose None -6.57454 -7.26284 16.0741 -0.585676 0.289256 -0.720958 0.231285 +#61754 1721122667266 +SLAM 0.796284 14.7709 17.1617 0.663697 0.000405849 0.0521811 0.746179 +TTool-pose None -6.56164 -7.25902 16.0675 -0.585624 0.289105 -0.720963 0.231589 +#61755 1721122667302 +SLAM 0.803722 14.7786 17.2364 0.665513 0.000166434 0.0526452 0.744527 +TTool-pose None -6.58454 -7.24709 16.1008 -0.58599 0.287685 -0.721824 0.229744 +#61756 1721122667336 +SLAM 0.793905 14.77 17.2085 0.665413 0.000143352 0.0524354 0.744632 +TTool-pose None -6.56516 -7.2258 16.0961 -0.586108 0.287739 -0.721659 0.229891 +#61757 1721122667375 +SLAM 0.805164 14.7747 17.2526 0.666054 -3.15433e-05 0.0527498 0.744036 +TTool-pose None -6.5868 -7.23632 16.1068 -0.586164 0.287328 -0.722022 0.229122 +#61758 1721122667416 +SLAM 0.794297 14.7727 17.2437 0.666104 0.000330587 0.0523893 0.744017 +TTool-pose None -6.56872 -7.23256 16.1073 -0.586306 0.286974 -0.721941 0.229456 +#61759 1721122667449 +SLAM 0.804032 14.7792 17.2022 0.664691 5.20295e-05 0.0523677 0.745281 +TTool-pose None -6.57275 -7.25146 16.0921 -0.585945 0.288444 -0.721329 0.230457 +#61760 1721122667481 +SLAM 0.783532 14.7657 17.254 0.666698 0.00020344 0.0531675 0.743429 +TTool-pose None -6.58087 -7.20717 16.1067 -0.586012 0.286694 -0.722567 0.228582 +#61761 1721122667517 +SLAM 0.799027 14.7724 17.2349 0.66599 0.000106173 0.0522771 0.744127 +TTool-pose None -6.56607 -7.22818 16.1083 -0.58642 0.287186 -0.721768 0.229444 +#61762 1721122667549 +SLAM 0.802397 14.7724 17.1956 0.664577 0.000190311 0.0522817 0.745389 +TTool-pose None -6.56946 -7.2513 16.0834 -0.58592 0.288446 -0.72128 0.230676 +#61763 1721122667586 +SLAM 0.891731 14.834 17.4306 0.667391 0.00126674 0.0485148 0.743124 +TTool-pose None -6.56899 -7.4109 16.1898 -0.58907 0.284234 -0.720457 0.230451 +#61764 1721122667618 +SLAM 0.798557 14.7768 17.1792 0.664166 8.66511e-05 0.0525383 0.745737 +TTool-pose None -6.57204 -7.25004 16.0806 -0.585642 0.288953 -0.721246 0.230853 +#61765 1721122667657 +SLAM 0.789875 14.7733 17.21 0.665096 0.000334583 0.0527218 0.744894 +TTool-pose None -6.57381 -7.23992 16.0891 -0.585743 0.28799 -0.721766 0.230174 +#61766 1721122667691 +SLAM 0.796118 14.7704 17.2847 0.667383 2.8214e-05 0.0528004 0.742841 +TTool-pose None -6.58086 -7.20992 16.1253 -0.586549 0.28607 -0.722553 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1721122668521 +SLAM 0.802123 14.7731 17.2064 0.665151 1.41985e-05 0.0523159 0.744874 +TTool-pose None -6.56798 -7.23528 16.0957 -0.586146 0.288028 -0.721457 0.230068 +#61791 1721122668554 +SLAM 0.802667 14.7742 17.1907 0.664411 0.000111183 0.0522124 0.745541 +TTool-pose None -6.56632 -7.25404 16.0837 -0.585938 0.288629 -0.721155 0.230788 +#61792 1721122668588 +SLAM 0.796752 14.7727 17.2081 0.665041 0.000186008 0.0524255 0.744964 +TTool-pose None -6.56885 -7.24221 16.0908 -0.585977 0.288055 -0.721531 0.230233 +#61793 1721122668624 +SLAM 0.794376 14.7735 17.2344 0.665859 0.000324212 0.0523511 0.744238 +TTool-pose None -6.56714 -7.23457 16.1046 -0.586254 0.287195 -0.721828 0.22967 +#61794 1721122668661 +SLAM 0.905865 14.8422 17.4597 0.666475 0.00251144 0.0476308 0.744 +TTool-pose None -6.57486 -7.4987 16.1708 -0.588954 0.284112 -0.719983 0.232371 +#61795 1721122668701 +SLAM 0.792448 14.7717 17.2287 0.665852 0.000196663 0.0525164 0.744233 +TTool-pose None -6.56819 -7.22634 16.1033 -0.586181 0.287319 -0.721883 0.229529 +#61796 1721122668737 +SLAM 0.801598 14.7721 17.1998 0.664898 2.54792e-05 0.0525682 0.745082 +TTool-pose None -6.57549 -7.23706 16.0883 -0.585885 0.28832 -0.721512 0.230192 +#61797 1721122668776 +SLAM 0.809394 14.7758 17.2564 0.666469 -0.00021132 0.0524838 0.743683 +TTool-pose None -6.57977 -7.22341 16.1193 -0.586543 0.286983 -0.721967 0.228755 +#61798 1721122668810 +SLAM 0.795688 14.7729 17.2271 0.665753 0.000189219 0.0523575 0.744333 +TTool-pose None -6.56627 -7.23079 16.1038 -0.586259 0.287376 -0.721752 0.229667 +#61799 1721122668847 +SLAM 0.795959 14.7712 17.2852 0.667427 0.000262516 0.0524214 0.742828 +TTool-pose None -6.57188 -7.21456 16.128 -0.586745 0.285793 -0.722422 0.228292 +#61800 1721122668882 +SLAM 0.800417 14.7745 17.223 0.66535 0.000117055 0.0526112 0.744676 +TTool-pose None -6.57836 -7.24074 16.096 -0.585975 0.287857 -0.72173 0.22986 +#61801 1721122668920 +SLAM 0.887044 14.8294 17.38 0.665958 0.00119982 0.0489338 0.744382 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-0.000179267 0.0526069 0.742889 +TTool-pose None -6.58222 -7.21558 16.1342 -0.586738 0.286181 -0.722366 0.227998 +#61808 1721122669177 +SLAM 0.797429 14.7715 17.2933 0.667584 0.000136673 0.0526232 0.742673 +TTool-pose None -6.57849 -7.21249 16.13 -0.586701 0.285774 -0.722557 0.228002 +#61809 1721122669214 +SLAM 0.800588 14.7742 17.191 0.664549 0.000132391 0.052184 0.74542 +TTool-pose None -6.56353 -7.24891 16.0866 -0.585997 0.288482 -0.721195 0.230698 +#61810 1721122669251 +SLAM 0.79686 14.7694 17.2327 0.666034 0.00022747 0.0522117 0.744092 +TTool-pose None -6.56311 -7.22551 16.106 -0.586439 0.287056 -0.721783 0.229512 +#61811 1721122669287 +SLAM 0.914923 14.8475 17.4411 0.665101 0.00302545 0.0468467 0.745277 +TTool-pose None -6.56576 -7.55299 16.1507 -0.588862 0.284875 -0.719181 0.234148 +#61812 1721122669322 +SLAM 0.806597 14.7779 17.166 0.663602 -0.000122415 0.0524931 0.746242 +TTool-pose None -6.57531 -7.26014 16.0735 -0.585555 0.289588 -0.72095 0.2312 +#61813 1721122669359 +SLAM 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None -6.56668 -7.25569 16.0801 -0.585784 0.288758 -0.721178 0.230948 +#61877 1721122671698 +SLAM 0.846007 14.8113 17.2696 0.665713 -0.000223284 0.0505648 0.744492 +TTool-pose None -6.55832 -7.29225 16.1509 -0.587611 0.287207 -0.720583 0.230098 +#61878 1721122671733 +SLAM 0.788458 14.7702 17.3303 0.669062 -6.39125e-05 0.0532198 0.741298 +TTool-pose None -6.58696 -7.17646 16.1519 -0.586847 0.284666 -0.723377 0.226405 +#61879 1721122671771 +SLAM 0.801989 14.7709 17.2517 0.666445 0.00018857 0.0523366 0.743715 +TTool-pose None -6.5727 -7.22441 16.1125 -0.586503 0.286729 -0.721993 0.229096 +#61880 1721122671806 +SLAM 0.861355 14.8172 17.3843 0.667477 0.000984789 0.0495135 0.742982 +TTool-pose None -6.56306 -7.34842 16.1764 -0.58851 0.284578 -0.72098 0.22982 +#61881 1721122671842 +SLAM 0.801454 14.7768 17.2119 0.66501 0.000256565 0.0523317 0.744999 +TTool-pose None -6.57212 -7.24894 16.0936 -0.586007 0.288018 -0.721486 0.23034 +#61882 1721122671881 +SLAM 0.798303 14.7713 17.209 0.665346 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-0.72115 0.231051 +#61894 1721122672302 +SLAM 0.794837 14.7727 17.2276 0.665895 3.62277e-05 0.052711 0.744181 +TTool-pose None -6.5745 -7.22001 16.105 -0.586115 0.287425 -0.721962 0.229313 +#61895 1721122672340 +SLAM 0.795224 14.7699 17.2242 0.665718 0.000203746 0.0524422 0.744359 +TTool-pose None -6.56834 -7.22827 16.0996 -0.586184 0.287421 -0.721793 0.229674 +#61896 1721122672376 +SLAM 0.805422 14.7736 17.2103 0.664941 -7.49193e-05 0.0529698 0.745015 +TTool-pose None -6.5916 -7.24011 16.0868 -0.585658 0.288441 -0.721729 0.229938 +#61897 1721122672417 +SLAM 0.791444 14.7683 17.2207 0.665605 0.000390074 0.0523326 0.744467 +TTool-pose None -6.56347 -7.23247 16.0957 -0.58616 0.287387 -0.721744 0.229933 +#61898 1721122672454 +SLAM 0.793376 14.7687 17.2401 0.666283 0.000262965 0.0524288 0.743854 +TTool-pose None -6.56737 -7.21995 16.1077 -0.586361 0.286858 -0.722009 0.229247 +#61899 1721122672494 +SLAM 0.801029 14.7749 17.1444 0.663093 0.000236248 0.0521037 0.746721 +TTool-pose None 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-0.58653 0.286843 -0.721876 0.229253 +#61923 1721122673356 +SLAM 0.801075 14.7776 17.2242 0.665363 0.000138321 0.0524587 0.744674 +TTool-pose None -6.57471 -7.24356 16.1002 -0.586077 0.287793 -0.721653 0.22992 +#61924 1721122673389 +SLAM 0.798429 14.7756 17.2344 0.665948 8.70556e-06 0.0524078 0.744155 +TTool-pose None -6.56854 -7.2277 16.1105 -0.586349 0.287315 -0.721799 0.229365 +#61925 1721122673420 +SLAM 0.794167 14.7708 17.1827 0.664351 0.000342579 0.0520712 0.745605 +TTool-pose None -6.55588 -7.25223 16.0796 -0.585938 0.288511 -0.721121 0.231044 +#61926 1721122673453 +SLAM 0.896414 14.8332 17.4837 0.667746 0.00221505 0.0482095 0.742823 +TTool-pose None -6.58 -7.45773 16.1841 -0.589079 0.283257 -0.720692 0.230896 +#61927 1721122673492 +SLAM 0.798704 14.7718 17.2651 0.666651 6.1122e-05 0.05262 0.74351 +TTool-pose None -6.57756 -7.22489 16.1152 -0.586419 0.286685 -0.722193 0.228733 +#61928 1721122673527 +SLAM 0.799913 14.7776 17.2304 0.665708 9.86062e-05 0.0524238 0.744369 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-6.57244 -7.20089 16.1197 -0.586604 0.286473 -0.722267 0.228292 +#61952 1721122674349 +SLAM 0.805549 14.7773 17.2283 0.665348 7.95621e-05 0.0521336 0.74471 +TTool-pose None -6.5681 -7.25112 16.102 -0.586315 0.28776 -0.721443 0.230015 +#61953 1721122674382 +SLAM 0.914469 14.8491 17.3333 0.663135 0.00160153 0.0477945 0.74697 +TTool-pose None -6.57154 -7.5116 16.1296 -0.588036 0.287792 -0.718584 0.234488 +#61954 1721122674415 +SLAM 0.798643 14.7712 17.2295 0.665637 0.00019597 0.0524665 0.744429 +TTool-pose None -6.57296 -7.23662 16.0983 -0.586144 0.287507 -0.721775 0.229727 +#61955 1721122674448 +SLAM 0.795545 14.7693 17.2154 0.665526 0.000223645 0.0522896 0.744541 +TTool-pose None -6.56356 -7.22977 16.0972 -0.586219 0.287548 -0.721641 0.229904 +#61956 1721122674482 +SLAM 0.802577 14.7721 17.2989 0.667722 7.50162e-05 0.0524088 0.742563 +TTool-pose None -6.5761 -7.21357 16.1347 -0.586914 0.285627 -0.722466 0.227925 +#61957 1721122674518 +SLAM 0.809043 14.7758 17.2312 0.665729 -6.54466e-05 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None -6.58195 -7.21766 16.1212 -0.586496 0.286213 -0.722449 0.22832 +#61981 1721122675328 +SLAM 0.871202 14.8184 17.3607 0.666105 0.00124739 0.0493998 0.74422 +TTool-pose None -6.57269 -7.38785 16.15 -0.588046 0.285666 -0.720493 0.231183 +#61982 1721122675359 +SLAM 0.802031 14.7745 17.2179 0.665332 0.000178248 0.0523188 0.744713 +TTool-pose None -6.57107 -7.24016 16.0979 -0.586149 0.287764 -0.721573 0.230025 +#61983 1721122675393 +SLAM 0.80518 14.778 17.1432 0.663002 0.000175796 0.0519326 0.746814 +TTool-pose None -6.55916 -7.2723 16.0663 -0.585639 0.289822 -0.720496 0.232107 +#61984 1721122675429 +SLAM 0.812088 14.78 17.2317 0.665449 1.51488e-05 0.0520923 0.744623 +TTool-pose None -6.5727 -7.24993 16.1068 -0.586398 0.287695 -0.721437 0.229904 +#61985 1721122675462 +SLAM 0.872764 14.8252 17.3012 0.664988 0.000685805 0.0490331 0.745243 +TTool-pose None -6.55202 -7.37866 16.1487 -0.588113 0.286945 -0.719705 0.231879 +#61986 1721122675499 +SLAM 0.807046 14.7751 17.2269 0.665606 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1721122675722 +SLAM 0.802338 14.7808 17.1688 0.663739 0.00025621 0.0521006 0.746148 +TTool-pose None -6.56415 -7.26474 16.0789 -0.585743 0.289136 -0.720888 0.231485 +#61993 1721122675759 +SLAM 0.79541 14.7743 17.2008 0.664803 0.00031748 0.0524335 0.745176 +TTool-pose None -6.56951 -7.24645 16.0873 -0.585849 0.288199 -0.721488 0.230515 +#61994 1721122675794 +SLAM 0.801526 14.7726 17.2405 0.66614 -1.61584e-05 0.0524313 0.743981 +TTool-pose None -6.57203 -7.22435 16.1106 -0.586406 0.287158 -0.721875 0.229179 +#61995 1721122675831 +SLAM 0.801026 14.7731 17.1753 0.663974 -6.59854e-05 0.0526404 0.7459 +TTool-pose None -6.57523 -7.25178 16.0739 -0.585559 0.289247 -0.721188 0.230873 +#61996 1721122675866 +SLAM 0.793751 14.7662 17.312 0.668582 0.000191561 0.0524126 0.741789 +TTool-pose None -6.5687 -7.18964 16.1441 -0.587156 0.284758 -0.722815 0.227281 +#61997 1721122675903 +SLAM 0.7966 14.7712 17.1847 0.66437 0.000354681 0.0521616 0.745582 +TTool-pose None -6.56154 -7.25237 16.0792 -0.585878 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None -6.56947 -7.22706 16.1031 -0.586299 0.287178 -0.721874 0.229428 +#62004 1721122676169 +SLAM 0.796382 14.7713 17.3461 0.669372 -3.26709e-05 0.0528244 0.741047 +TTool-pose None -6.5834 -7.18269 16.1599 -0.587209 0.284259 -0.723271 0.226314 +#62005 1721122676205 +SLAM 0.798107 14.7699 17.2367 0.666063 0.000207097 0.0522759 0.744061 +TTool-pose None -6.56642 -7.22728 16.1063 -0.586412 0.287057 -0.721824 0.22945 +#62006 1721122676242 +SLAM 0.802012 14.7725 17.2312 0.665808 0.000107326 0.0523485 0.744285 +TTool-pose None -6.57128 -7.23138 16.1043 -0.586311 0.287372 -0.721743 0.22957 +#62007 1721122676278 +SLAM 0.804667 14.7802 17.2452 0.666143 6.02054e-05 0.0521137 0.744001 +TTool-pose None -6.56691 -7.23356 16.1193 -0.586598 0.28703 -0.721716 0.229347 +#62008 1721122676316 +SLAM 0.805514 14.7767 17.1398 0.662882 7.93955e-05 0.0517973 0.74693 +TTool-pose None -6.55353 -7.27485 16.0649 -0.585724 0.289957 -0.720346 0.232194 +#62009 1721122676358 +SLAM 0.799944 14.7709 17.2415 0.666335 0.000112061 0.05225 0.74382 +TTool-pose None -6.56618 -7.21966 16.1131 -0.586551 0.286855 -0.72188 0.22917 +#62010 1721122676401 +SLAM 0.801947 14.7742 17.21 0.664957 0.000279664 0.051937 0.745074 +TTool-pose None -6.55993 -7.25367 16.0931 -0.586252 0.287953 -0.721247 0.230548 +#62011 1721122676438 +SLAM 0.797945 14.7726 17.163 0.663753 0.000325163 0.0522191 0.746127 +TTool-pose None -6.56353 -7.25693 16.0705 -0.585643 0.289112 -0.720981 0.231475 +#62012 1721122676472 +SLAM 0.797125 14.7703 17.1632 0.663801 -0.000103833 0.0528347 0.74604 +TTool-pose None -6.57617 -7.24485 16.0681 -0.585381 0.289479 -0.721226 0.230918 +#62013 1721122676505 +SLAM 0.800644 14.7748 17.2446 0.66616 5.84459e-05 0.0524426 0.743963 +TTool-pose None -6.57302 -7.22823 16.1119 -0.586379 0.287098 -0.721911 0.229208 +#62014 1721122676538 +SLAM 0.872044 14.8218 17.4091 0.667841 0.000727421 0.0497299 0.74264 +TTool-pose None -6.57871 -7.35239 16.1855 -0.588569 0.284448 -0.72116 0.229263 +#62015 1721122676570 +SLAM 0.901087 14.8357 17.5269 0.669345 0.00185457 0.0480152 0.741396 +TTool-pose None -6.57472 -7.42951 16.2195 -0.58986 0.281933 -0.721053 0.229389 +#62016 1721122676603 +SLAM 0.803854 14.7748 17.2469 0.666312 -9.0897e-05 0.0526549 0.743812 +TTool-pose None -6.58093 -7.22013 16.1142 -0.586334 0.2871 -0.722044 0.228903 +#62017 1721122676638 +SLAM 0.8104 14.7729 17.1987 0.664286 -5.33234e-05 0.0524057 0.745639 +TTool-pose None -6.57847 -7.26337 16.0783 -0.585819 0.288892 -0.721171 0.23071 +#62018 1721122676671 +SLAM 0.798803 14.7751 17.2735 0.666824 3.37783e-06 0.0529609 0.743331 +TTool-pose None -6.58851 -7.22163 16.1188 -0.586262 0.286644 -0.722435 0.228422 +#62019 1721122676703 +SLAM 0.800663 14.7757 17.2335 0.665872 0.000106489 0.0523492 0.744227 +TTool-pose None -6.5703 -7.23136 16.1087 -0.586332 0.287313 -0.721766 0.229515 +#62020 1721122676735 +SLAM 0.802203 14.7811 17.2092 0.665072 0.000189922 0.0521958 0.744953 +TTool-pose None -6.56762 -7.24505 16.1011 -0.586143 0.287966 -0.721411 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0.740884 +TTool-pose None -6.57991 -7.23362 16.1953 -0.588293 0.283728 -0.722541 0.226497 +#62033 1721122677161 +SLAM 0.792888 14.7686 17.2606 0.666842 0.000118411 0.0528827 0.74332 +TTool-pose None -6.58031 -7.2095 16.1141 -0.586284 0.286539 -0.722431 0.228512 +#62034 1721122677192 +SLAM 0.801717 14.7721 17.2679 0.666705 0.000110279 0.0523579 0.74348 +TTool-pose None -6.57296 -7.22834 16.1178 -0.5866 0.286539 -0.722077 0.228819 +#62035 1721122677224 +SLAM 0.797022 14.7662 17.2636 0.666972 1.23004e-05 0.0526615 0.743219 +TTool-pose None -6.57565 -7.20799 16.1165 -0.586514 0.286426 -0.722319 0.228416 +#62036 1721122677260 +SLAM 0.799711 14.769 17.2493 0.666349 2.85184e-05 0.0524525 0.743792 +TTool-pose None -6.57167 -7.22376 16.1097 -0.586445 0.286943 -0.721977 0.229026 +#62037 1721122677293 +SLAM 0.79515 14.7759 17.1907 0.66435 5.49434e-05 0.0527938 0.745554 +TTool-pose None -6.57698 -7.25052 16.0805 -0.585539 0.288866 -0.721451 0.230582 +#62038 1721122677326 +SLAM 0.791307 14.7698 17.258 0.66641 0.000289271 0.0525883 0.743729 +TTool-pose None -6.57203 -7.2307 16.1079 -0.586285 0.286765 -0.722155 0.229098 +#62039 1721122677358 +SLAM 0.78893 14.7648 17.2404 0.66614 0.000349133 0.0523759 0.743985 +TTool-pose None -6.56233 -7.22762 16.1008 -0.586321 0.286926 -0.721952 0.229443 +#62040 1721122677391 +SLAM 0.793224 14.7645 17.2715 0.667032 0.000294592 0.0522715 0.743193 +TTool-pose None -6.56369 -7.21972 16.116 -0.586706 0.286103 -0.722201 0.2287 +#62041 1721122677424 +SLAM 0.796574 14.767 17.258 0.666578 -2.63778e-05 0.0527383 0.743567 +TTool-pose None -6.5772 -7.21868 16.1098 -0.586344 0.286835 -0.722208 0.228691 +#62042 1721122677456 +SLAM 0.792541 14.7671 17.2696 0.666835 5.64295e-05 0.052582 0.743348 +TTool-pose None -6.56989 -7.22163 16.1145 -0.586508 0.286507 -0.722237 0.22859 +#62043 1721122677488 +SLAM 0.794175 14.7705 17.3004 0.667754 0.00028285 0.0522962 0.742543 +TTool-pose None -6.56702 -7.21684 16.1331 -0.586932 0.285445 -0.722474 0.228079 +#62044 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-6.57776 -7.24476 16.0845 -0.58561 0.288786 -0.721455 0.230489 +#62056 1721122677959 +SLAM 0.792572 14.7717 17.2249 0.665574 0.00030265 0.0525316 0.74448 +TTool-pose None -6.57034 -7.23539 16.097 -0.586043 0.287517 -0.721821 0.229825 +#62057 1721122678000 +SLAM 0.804938 14.7704 17.1666 0.663444 -1.02167e-05 0.05237 0.746391 +TTool-pose None -6.57092 -7.26912 16.063 -0.585549 0.289636 -0.720855 0.231453 +#62058 1721122678038 +SLAM 0.808242 14.7842 17.155 0.663236 -3.65755e-06 0.0523676 0.746576 +TTool-pose None -6.5747 -7.268 16.0736 -0.585479 0.289824 -0.720779 0.231631 +#62059 1721122678073 +SLAM 0.795076 14.7685 17.2308 0.665894 4.59942e-05 0.0527298 0.74418 +TTool-pose None -6.57538 -7.22264 16.1001 -0.586099 0.287424 -0.721976 0.229314 +#62060 1721122678105 +SLAM 0.791959 14.7693 17.2446 0.666258 0.00028812 0.0525395 0.743868 +TTool-pose None -6.57027 -7.2245 16.1063 -0.586269 0.286893 -0.722071 0.229242 +#62061 1721122678143 +SLAM 0.801796 14.7811 17.2534 0.666425 6.57768e-05 0.0523123 0.743735 +TTool-pose None -6.5709 -7.22747 16.1234 -0.586554 0.286815 -0.721935 0.22904 +#62062 1721122678176 +SLAM 0.790275 14.7687 17.252 0.666515 0.000352911 0.0526375 0.743631 +TTool-pose None -6.5729 -7.22 16.1087 -0.586265 0.286641 -0.722241 0.229033 +#62063 1721122678209 +SLAM 0.804311 14.7767 17.2354 0.666011 9.96197e-05 0.0520324 0.744125 +TTool-pose None -6.56368 -7.23048 16.1146 -0.586597 0.287108 -0.721633 0.229514 +#62064 1721122678241 +SLAM 0.903325 14.836 17.4678 0.666499 0.00277232 0.0476392 0.743977 +TTool-pose None -6.57628 -7.50704 16.162 -0.588869 0.283934 -0.720074 0.23252 +#62065 1721122678274 +SLAM 0.801012 14.77 17.2169 0.665403 0.000235961 0.0521611 0.74466 +TTool-pose None -6.56531 -7.23777 16.0958 -0.586262 0.287623 -0.721526 0.230063 +#62066 1721122678306 +SLAM 0.799616 14.7703 17.3273 0.668795 -0.000154894 0.0527388 0.741574 +TTool-pose None -6.58128 -7.18916 16.1509 -0.587119 0.284849 -0.722976 0.22675 +#62067 1721122678344 +SLAM 0.799773 14.7733 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1721122678564 +SLAM 0.800979 14.7742 17.223 0.665365 0.000149558 0.0524951 0.74467 +TTool-pose None -6.5756 -7.24158 16.0966 -0.586049 0.287794 -0.721678 0.229912 +#62074 1721122678600 +SLAM 0.803771 14.7754 17.2401 0.666 0.000142097 0.0521124 0.744129 +TTool-pose None -6.56657 -7.23497 16.1115 -0.586524 0.287113 -0.721687 0.229521 +#62075 1721122678636 +SLAM 0.801068 14.7749 17.1593 0.663494 0.000251213 0.0522404 0.746355 +TTool-pose None -6.56644 -7.26382 16.0682 -0.585567 0.2894 -0.720877 0.231633 +#62076 1721122678671 +SLAM 0.799442 14.7724 17.2185 0.665529 7.89618e-05 0.0525145 0.744522 +TTool-pose None -6.57307 -7.22917 16.0992 -0.586114 0.287689 -0.721728 0.229721 +#62077 1721122678707 +SLAM 0.790211 14.7729 17.2184 0.665469 0.000197009 0.0525994 0.744569 +TTool-pose None -6.56841 -7.23231 16.0974 -0.585997 0.287695 -0.721791 0.229817 +#62078 1721122678738 +SLAM 0.799932 14.7759 17.1992 0.664718 0.000187955 0.0526717 0.745235 +TTool-pose None -6.57993 -7.24476 16.0864 -0.5857 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-6.56112 -7.23912 16.0994 -0.58639 0.287375 -0.72151 0.230094 +#62085 1721122678966 +SLAM 0.794224 14.7703 17.2205 0.665523 0.000134469 0.0527387 0.744511 +TTool-pose None -6.57588 -7.22945 16.0948 -0.58594 0.287718 -0.721872 0.229678 +#62086 1721122679000 +SLAM 0.798836 14.772 17.2565 0.666541 0.000183755 0.0524836 0.743619 +TTool-pose None -6.57456 -7.22358 16.1141 -0.586436 0.28668 -0.722111 0.228958 +#62087 1721122679032 +SLAM 0.806132 14.7776 17.2104 0.665218 0.000148502 0.0518308 0.744848 +TTool-pose None -6.55882 -7.24302 16.1034 -0.586455 0.287764 -0.721242 0.230284 +#62088 1721122679063 +SLAM 0.804161 14.7785 17.1862 0.664398 4.17576e-05 0.052296 0.745547 +TTool-pose None -6.56954 -7.24903 16.0881 -0.5859 0.288704 -0.721178 0.230721 +#62089 1721122679098 +SLAM 0.897035 14.8325 17.4165 0.666866 0.00151579 0.0480474 0.743625 +TTool-pose None -6.56199 -7.42644 16.1802 -0.589133 0.284453 -0.72007 0.231229 +#62090 1721122679130 +SLAM 0.80484 14.7764 17.136 0.66269 0.000211035 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-0.585814 0.288841 -0.721052 0.23116 +#62108 1721122679740 +SLAM 0.807761 14.7788 17.0786 0.661082 -7.90656e-05 0.0522498 0.748492 +TTool-pose None -6.5658 -7.28619 16.036 -0.584865 0.291824 -0.719896 0.23341 +#62109 1721122679775 +SLAM 0.87745 14.823 17.3279 0.665364 0.000762286 0.0494109 0.744881 +TTool-pose None -6.57127 -7.3843 16.1471 -0.587955 0.286646 -0.720084 0.231475 +#62110 1721122679807 +SLAM 0.869566 14.8247 17.4016 0.667783 0.000977363 0.0490368 0.742739 +TTool-pose None -6.55698 -7.35755 16.1915 -0.588939 0.284176 -0.720814 0.229737 +#62111 1721122679839 +SLAM 0.796781 14.7758 17.18 0.664114 0.00024838 0.0526026 0.745778 +TTool-pose None -6.5747 -7.2536 16.0766 -0.585527 0.28892 -0.721312 0.230979 +#62112 1721122679874 +SLAM 0.794767 14.7721 17.2114 0.665226 0.000283715 0.0524826 0.744795 +TTool-pose None -6.5701 -7.23746 16.0923 -0.585967 0.287839 -0.72166 0.230122 +#62113 1721122679910 +SLAM 0.798325 14.7757 17.232 0.665823 0.000127467 0.0525337 0.744258 +TTool-pose None -6.57417 -7.23021 16.1063 -0.586182 0.287393 -0.721861 0.229501 +#62114 1721122679945 +SLAM 0.80772 14.7784 17.127 0.662292 0.00010331 0.0520077 0.747438 +TTool-pose None -6.56268 -7.28557 16.0542 -0.585375 0.290539 -0.720257 0.23262 +#62115 1721122679977 +SLAM 0.902934 14.8404 17.4376 0.666534 0.00216149 0.0475827 0.743951 +TTool-pose None -6.56393 -7.47223 16.1765 -0.589124 0.284255 -0.719873 0.232107 +#62116 1721122680009 +SLAM 0.804905 14.7772 17.1847 0.664347 0.000130209 0.052082 0.745608 +TTool-pose None -6.5645 -7.25269 16.0868 -0.586 0.288645 -0.721062 0.230903 +#62117 1721122680042 +SLAM 0.805685 14.7774 17.2112 0.665019 0.000156353 0.0522483 0.744996 +TTool-pose None -6.5722 -7.24785 16.0957 -0.586101 0.288048 -0.721412 0.230298 +#62118 1721122680076 +SLAM 0.801441 14.7766 17.2562 0.666603 0.000150057 0.0521998 0.743583 +TTool-pose None -6.56779 -7.2238 16.1224 -0.586662 0.28657 -0.72196 0.22899 +#62119 1721122680110 +SLAM 0.890453 14.8328 17.4454 0.667301 0.00193175 0.0483102 0.743217 +TTool-pose None -6.57135 -7.43653 16.1809 -0.588958 0.283866 -0.720504 0.231044 +#62120 1721122680144 +SLAM 0.805088 14.7762 17.2246 0.665493 1.07673e-05 0.0525188 0.744554 +TTool-pose None -6.5786 -7.23618 16.1017 -0.586121 0.287765 -0.721697 0.229705 +#62121 1721122680177 +SLAM 0.804669 14.7792 17.2532 0.666463 0.000105544 0.0520164 0.743721 +TTool-pose None -6.56457 -7.22873 16.1242 -0.586756 0.286681 -0.72179 0.229146 +#62122 1721122680209 +SLAM 0.882902 14.8349 17.3115 0.664458 0.00097309 0.0487133 0.745736 +TTool-pose None -6.55764 -7.41803 16.1456 -0.58806 0.287182 -0.719413 0.23263 +#62123 1721122680242 +SLAM 0.884369 14.8302 17.3339 0.664717 0.00137678 0.048448 0.745522 +TTool-pose None -6.55702 -7.43414 16.142 -0.588192 0.286632 -0.719475 0.232781 +#62124 1721122680275 +SLAM 0.796169 14.7723 17.2419 0.666381 -0.000159797 0.0527564 0.743743 +TTool-pose None -6.57495 -7.21091 16.1139 -0.58631 0.287103 -0.722107 0.228761 +#62125 1721122680309 +SLAM 0.813937 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1721122683188 +SLAM 0.796583 14.7736 17.2458 0.666255 0.000367194 0.0520709 0.743904 +TTool-pose None -6.5613 -7.23178 16.1131 -0.586562 0.286731 -0.721824 0.229473 +#62207 1721122683226 +SLAM 0.791383 14.7705 17.2189 0.665763 0.000229436 0.0521438 0.744339 +TTool-pose None -6.5549 -7.22502 16.1042 -0.586395 0.287289 -0.721645 0.229765 +#62208 1721122683264 +SLAM 0.801018 14.7748 17.1872 0.664629 0.000148286 0.0521248 0.745353 +TTool-pose None -6.56198 -7.24253 16.0895 -0.586059 0.288383 -0.721196 0.230664 +#62209 1721122683301 +SLAM 0.802981 14.7786 17.1854 0.664174 0.000194586 0.0523446 0.745744 +TTool-pose None -6.57231 -7.25869 16.0821 -0.585741 0.288832 -0.721169 0.230991 +#62210 1721122683338 +SLAM 0.808521 14.7786 17.0793 0.660842 0.000126861 0.0520101 0.748721 +TTool-pose None -6.56208 -7.30142 16.0309 -0.584879 0.291862 -0.719731 0.233836 +#62211 1721122683373 +SLAM 0.80307 14.7715 17.2579 0.666611 0.000172219 0.0522544 0.743572 +TTool-pose None -6.5712 -7.22399 16.1166 -0.58662 0.286563 -0.722001 0.228977 +#62212 1721122683409 +SLAM 0.80119 14.7757 17.2396 0.665962 0.000152559 0.0521784 0.744158 +TTool-pose None -6.5663 -7.23563 16.1107 -0.586463 0.287158 -0.721715 0.229535 +#62213 1721122683453 +SLAM 0.797028 14.7708 17.2198 0.665551 0.000221628 0.0524047 0.74451 +TTool-pose None -6.56911 -7.23171 16.0976 -0.586148 0.287556 -0.721715 0.229839 +#62214 1721122683488 +SLAM 0.7951 14.7752 17.18 0.664144 0.000212619 0.0524682 0.745761 +TTool-pose None -6.5681 -7.25363 16.0781 -0.585641 0.28888 -0.721235 0.230981 +#62215 1721122683529 +SLAM 0.804057 14.7727 17.2289 0.66606 -0.000193756 0.0527065 0.744034 +TTool-pose None -6.58014 -7.2118 16.1095 -0.586249 0.287409 -0.721951 0.229025 +#62216 1721122683565 +SLAM 0.790774 14.7713 17.2384 0.666147 0.000282966 0.052414 0.743976 +TTool-pose None -6.5648 -7.22493 16.1078 -0.58632 0.286968 -0.721957 0.229378 +#62217 1721122683605 +SLAM 0.806815 14.7745 17.1789 0.664181 -7.59308e-07 0.0523388 0.745737 +TTool-pose None -6.57235 -7.24982 16.0805 -0.585813 0.288941 -0.72111 0.230857 +#62218 1721122683642 +SLAM 0.793987 14.7684 17.2343 0.666016 0.000313603 0.0523204 0.7441 +TTool-pose None -6.56504 -7.22734 16.103 -0.58633 0.287048 -0.721865 0.229543 +#62219 1721122683677 +SLAM 0.796448 14.774 17.1711 0.663957 0.000220449 0.0525519 0.745922 +TTool-pose None -6.57173 -7.25186 16.0734 -0.585518 0.28907 -0.721216 0.231111 +#62220 1721122683716 +SLAM 0.85423 14.8089 17.2914 0.665508 0.000168555 0.0507975 0.74466 +TTool-pose None -6.58115 -7.32222 16.1359 -0.587252 0.287222 -0.720758 0.230443 +#62221 1721122683757 +SLAM 0.812492 14.779 17.0773 0.660869 -1.9634e-05 0.0519738 0.748699 +TTool-pose None -6.56262 -7.29732 16.0334 -0.584963 0.291915 -0.719677 0.23373 +#62222 1721122683792 +SLAM 0.805316 14.7721 17.1402 0.66316 -0.000272069 0.052685 0.746621 +TTool-pose None -6.57626 -7.25003 16.0619 -0.585326 0.290134 -0.720854 0.231396 +#62223 1721122683830 +SLAM 0.797043 14.7672 17.2782 0.667411 0.000275999 0.052333 0.742848 +TTool-pose None -6.56951 -7.20888 16.125 -0.586796 0.285777 -0.722369 0.228348 +#62224 1721122683865 +SLAM 0.801179 14.7693 17.275 0.667189 0.000275759 0.0521266 0.743062 +TTool-pose None -6.56711 -7.21769 16.1243 -0.586864 0.285932 -0.722169 0.228611 +#62225 1721122683901 +SLAM 0.798072 14.7747 17.2388 0.666009 0.000339984 0.0521588 0.744118 +TTool-pose None -6.56508 -7.23451 16.1094 -0.586429 0.286998 -0.721776 0.229628 +#62226 1721122683937 +SLAM 0.804155 14.7816 17.1509 0.662955 0.000101093 0.0527009 0.746802 +TTool-pose None -6.58268 -7.27323 16.0625 -0.585122 0.290104 -0.720899 0.231808 +#62227 1721122683978 +SLAM 0.858965 14.815 17.3605 0.667747 7.79926e-05 0.0502128 0.742693 +TTool-pose None -6.56852 -7.29848 16.185 -0.588424 0.285048 -0.721211 0.228731 +#62228 1721122684017 +SLAM 0.80245 14.7745 17.1761 0.663943 0.000212508 0.0521717 0.745961 +TTool-pose None -6.56573 -7.26118 16.0757 -0.585777 0.288991 -0.720991 0.231259 +#62229 1721122684056 +SLAM 0.802852 14.7711 17.2387 0.666153 2.10056e-05 0.0523991 0.743972 +TTool-pose None -6.57258 -7.22239 16.1094 -0.586419 0.287116 -0.721872 0.229206 +#62230 1721122684093 +SLAM 0.810138 14.7746 17.177 0.664005 9.42786e-05 0.0522643 0.745899 +TTool-pose None -6.57467 -7.25692 16.0768 -0.585774 0.289028 -0.721031 0.231095 +#62231 1721122684129 +SLAM 0.886117 14.8277 17.4318 0.66823 0.000725037 0.0492429 0.742323 +TTool-pose None -6.57836 -7.36278 16.1999 -0.589031 0.283964 -0.72102 0.229118 +#62232 1721122684163 +SLAM 0.891614 14.8318 17.3798 0.664873 0.00210604 0.0485479 0.745374 +TTool-pose None -6.58064 -7.47654 16.1336 -0.587932 0.286075 -0.719807 0.233097 +#62233 1721122684197 +SLAM 0.803528 14.7728 17.1816 0.66435 -1.76281e-05 0.0526731 0.745563 +TTool-pose None -6.5795 -7.2413 16.0795 -0.585646 0.288879 -0.72136 0.23058 +#62234 1721122684238 +SLAM 0.806843 14.7792 17.1579 0.663462 8.38441e-05 0.0520285 0.746399 +TTool-pose None -6.56322 -7.26504 16.0748 -0.585757 0.289477 -0.720693 0.231628 +#62235 1721122684275 +SLAM 0.798888 14.7759 17.1909 0.664535 0.000117526 0.0526113 0.745403 +TTool-pose None -6.57555 -7.24489 16.0848 -0.585704 0.288612 -0.721432 0.230539 +#62236 1721122684311 +SLAM 0.800576 14.7719 17.2254 0.665738 -0.000135143 0.0526523 0.744325 +TTool-pose None -6.5758 -7.22359 16.1029 -0.58616 0.287658 -0.72182 0.229353 +#62237 1721122684348 +SLAM 0.815829 14.7821 17.2614 0.666299 -4.20574e-05 0.052073 0.743865 +TTool-pose None -6.57634 -7.24186 16.123 -0.586712 0.286936 -0.721719 0.229164 +#62238 1721122684382 +SLAM 0.798747 14.7739 17.165 0.663789 0.000231702 0.0521914 0.746096 +TTool-pose None -6.5623 -7.25708 16.0733 -0.585706 0.289127 -0.720951 0.231393 +#62239 1721122684419 +SLAM 0.807646 14.78 17.2096 0.664782 0.000177614 0.0519421 0.74523 +TTool-pose None -6.5649 -7.2604 16.0959 -0.586225 0.288178 -0.721155 0.230625 +#62240 1721122684458 +SLAM 0.806647 14.7773 17.0737 0.660631 0.000205918 0.052083 0.748902 +TTool-pose None -6.56342 -7.30467 16.0249 -0.584733 0.292027 -0.719719 0.234036 +#62241 1721122684494 +SLAM 0.807388 14.7723 17.1754 0.663937 8.9841e-05 0.0522346 0.745962 +TTool-pose None -6.5707 -7.25855 16.0738 -0.585773 0.289086 -0.720988 0.23116 +#62242 1721122684530 +SLAM 0.801236 14.7685 17.2887 0.667598 -1.5214e-05 0.0526309 0.74266 +TTool-pose None -6.57976 -7.20546 16.1287 -0.586751 0.285853 -0.722521 0.227886 +#62243 1721122684567 +SLAM 0.900491 14.8395 17.5337 0.668769 0.00263202 0.0476285 0.741938 +TTool-pose None -6.57355 -7.472 16.2069 -0.589674 0.281904 -0.720852 0.230531 +#62244 1721122684603 +SLAM 0.877422 14.8243 17.318 0.665056 0.000578864 0.049716 0.745137 +TTool-pose None -6.5783 -7.38342 16.1424 -0.587705 0.28712 -0.720092 0.231497 +#62245 1721122684641 +SLAM 0.878056 14.8254 17.2808 0.66423 0.00061578 0.0491298 0.745912 +TTool-pose None -6.55883 -7.38968 16.1354 -0.587819 0.287713 -0.719463 0.232427 +#62246 1721122684676 +SLAM 0.810059 14.7806 17.1907 0.664364 -0.000124383 0.0522405 0.745582 +TTool-pose None -6.57175 -7.2543 16.0905 -0.585982 0.288821 -0.721084 0.23066 +#62247 1721122684714 +SLAM 0.901852 14.8382 17.4589 0.667084 0.00205772 0.0479927 0.743432 +TTool-pose None -6.5755 -7.46371 16.181 -0.589061 0.283911 -0.720279 0.231427 +#62248 1721122684751 +SLAM 0.807504 14.7739 17.1566 0.663289 7.58638e-05 0.0521662 0.746543 +TTool-pose None -6.56788 -7.26905 16.0652 -0.585608 0.289676 -0.720706 0.231715 +#62249 1721122684786 +SLAM 0.801843 14.7777 17.1595 0.663593 1.22504e-05 0.052452 0.746253 +TTool-pose None -6.57073 -7.25582 16.0734 -0.585535 0.289505 -0.720963 0.231313 +#62250 1721122684821 +SLAM 0.796794 14.7754 17.1779 0.664014 0.000256637 0.0524421 0.745879 +TTool-pose None -6.56958 -7.2577 16.0756 -0.585601 0.288967 -0.721185 0.231128 +#62251 1721122684858 +SLAM 0.807997 14.7814 17.1458 0.662896 0.000270704 0.0518007 0.746917 +TTool-pose None -6.55962 -7.28174 16.0672 -0.585662 0.28983 -0.72041 0.232308 +#62252 1721122684893 +SLAM 0.812327 14.783 17.0824 0.660914 -5.8841e-05 0.0520521 0.748654 +TTool-pose None -6.56504 -7.29981 16.0374 -0.584937 0.291917 -0.719726 0.233638 +#62253 1721122684935 +SLAM 0.887004 14.8287 17.4631 0.668501 0.00145891 0.048533 0.742124 +TTool-pose None -6.56829 -7.39514 16.2022 -0.58936 0.283089 -0.720928 0.229642 +#62254 1721122684975 +SLAM 0.798845 14.7741 17.2456 0.666217 0.000228657 0.0522054 0.743928 +TTool-pose None -6.56597 -7.23067 16.1128 -0.586504 0.286884 -0.721846 0.229363 +#62255 1721122685009 +SLAM 0.804536 14.776 17.1684 0.663677 0.000175502 0.0525113 0.746173 +TTool-pose None -6.57806 -7.26102 16.0702 -0.585468 0.289344 -0.721077 0.231328 +#62256 1721122685047 +SLAM 0.803154 14.7769 17.2235 0.665522 2.10499e-05 0.052467 0.744532 +TTool-pose None -6.5751 -7.23471 16.1036 -0.586163 0.287718 -0.721681 0.229706 +#62257 1721122685081 +SLAM 0.80504 14.7759 17.2554 0.666262 -9.90585e-06 0.0525238 0.743866 +TTool-pose None -6.57977 -7.23287 16.1135 -0.58638 0.287065 -0.721974 0.229047 +#62258 1721122685119 +SLAM 0.792224 14.7733 17.2379 0.66604 0.000336015 0.0522513 0.744084 +TTool-pose None -6.56199 -7.23145 16.1085 -0.586378 0.286995 -0.72184 0.229564 +#62259 1721122685155 +SLAM 0.804573 14.7753 17.1334 0.662606 0.000235998 0.052208 0.747147 +TTool-pose None -6.56779 -7.2768 16.0541 -0.585298 0.290221 -0.720527 0.232373 +#62260 1721122685194 +SLAM 0.812484 14.7817 17.0909 0.661171 -5.46281e-05 0.0520733 0.748426 +TTool-pose None -6.56616 -7.2967 16.04 -0.585007 0.291683 -0.719835 0.233419 +#62261 1721122685229 +SLAM 0.803206 14.7732 17.1704 0.663817 0.000113985 0.0521731 0.746073 +TTool-pose None -6.56475 -7.26018 16.0734 -0.585767 0.289167 -0.720916 0.231299 +#62262 1721122685267 +SLAM 0.815497 14.7785 17.1636 0.663399 1.2856e-05 0.0521298 0.746448 +TTool-pose None -6.57448 -7.27104 16.0715 -0.58569 0.289603 -0.720707 0.231595 +#62263 1721122685305 +SLAM 0.800874 14.7752 17.1843 0.664261 0.000186291 0.052213 0.745675 +TTool-pose None -6.56543 -7.25508 16.0819 -0.585863 0.288724 -0.721123 0.230962 +#62264 1721122685339 +SLAM 0.804212 14.776 17.2753 0.66715 7.91097e-06 0.0523298 0.743083 +TTool-pose None -6.57344 -7.21601 16.1307 -0.586801 0.28618 -0.722192 0.228389 +#62265 1721122685379 +SLAM 0.806146 14.7731 17.1608 0.663458 0.000101604 0.0523149 0.746383 +TTool-pose None -6.57175 -7.26433 16.066 -0.585554 0.289542 -0.720862 0.231536 +#62266 1721122685416 +SLAM 0.802195 14.7723 17.1554 0.663373 9.11963e-05 0.0526252 0.746436 +TTool-pose None -6.57731 -7.25933 16.062 -0.585317 0.289705 -0.721006 0.231483 +#62267 1721122685452 +SLAM 0.793398 14.7724 17.232 0.665846 0.000409334 0.0519763 0.744277 +TTool-pose None -6.55504 -7.2375 16.1058 -0.586477 0.287062 -0.721633 0.229878 +#62268 1721122685488 +SLAM 0.800222 14.7748 17.2332 0.665854 0.00010553 0.0523293 0.744245 +TTool-pose None -6.56913 -7.23194 16.1076 -0.58634 0.287325 -0.721748 0.229537 +#62269 1721122685524 +SLAM 0.798191 14.7681 17.2353 0.666037 0.000117046 0.0525113 0.744068 +TTool-pose None -6.57259 -7.22354 16.103 -0.586272 0.287194 -0.721923 0.229324 +#62270 1721122685561 +SLAM 0.797073 14.7751 17.2368 0.665967 0.000176512 0.0523333 0.744143 +TTool-pose None -6.5673 -7.23128 16.1093 -0.586351 0.287179 -0.721813 0.229489 +#62271 1721122685598 +SLAM 0.797643 14.7745 17.2251 0.665808 8.18288e-05 0.0521935 0.744295 +TTool-pose None -6.5613 -7.22745 16.1088 -0.586425 0.287347 -0.721646 0.229611 +#62272 1721122685634 +SLAM 0.854926 14.8098 17.3378 0.667662 -0.000384594 0.0508596 0.742725 +TTool-pose None -6.57704 -7.26891 16.1797 -0.588108 0.285568 -0.721414 0.228253 +#62273 1721122685675 +SLAM 0.81239 14.7735 17.1444 0.663246 -0.000332276 0.0524837 0.746559 +TTool-pose None -6.57626 -7.25188 16.0662 -0.585513 0.29004 -0.720752 0.23136 +#62274 1721122685709 +SLAM 0.810391 14.7769 17.1622 0.663442 0.00013583 0.0518585 0.746428 +TTool-pose None -6.56216 -7.27197 16.0724 -0.58585 0.289421 -0.720603 0.231743 +#62275 1721122685752 +SLAM 0.801711 14.7806 17.2161 0.665255 0.000127267 0.0523047 0.744782 +TTool-pose None -6.57 -7.24222 16.1032 -0.58615 0.287862 -0.721522 0.230061 +#62276 1721122685788 +SLAM 0.800681 14.7735 17.2231 0.665528 0.000247584 0.0521525 0.744549 +TTool-pose None -6.56545 -7.23907 16.1011 -0.586305 0.287498 -0.72157 0.22997 +#62277 1721122685827 +SLAM 0.89102 14.8318 17.3563 0.665207 0.00135642 0.0484771 0.745082 +TTool-pose None -6.5654 -7.43411 16.1506 -0.588342 0.286198 -0.719665 0.232348 +#62278 1721122685867 +SLAM 0.806532 14.7768 17.2089 0.665099 7.23972e-05 0.0521437 0.744933 +TTool-pose None -6.56817 -7.24257 16.0986 -0.586227 0.287999 -0.721356 0.230215 +#62279 1721122685906 +SLAM 0.805559 14.7743 17.1899 0.664651 -8.14659e-05 0.052256 0.745324 +TTool-pose None -6.56756 -7.24072 16.0899 -0.586053 0.288533 -0.721211 0.230443 +#62280 1721122685943 +SLAM 0.899379 14.8352 17.4042 0.665376 0.00226531 0.0478567 0.744969 +TTool-pose None -6.56936 -7.4873 16.1483 -0.588518 0.285336 -0.719639 0.23304 +#62281 1721122685980 +SLAM 0.919617 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1721122686202 +SLAM 0.888189 14.8308 17.2986 0.662953 0.00182727 0.0485145 0.747086 +TTool-pose None -6.56874 -7.47851 16.1057 -0.587408 0.288009 -0.719001 0.234521 +#62288 1721122686249 +SLAM 0.79861 14.7731 17.2493 0.666436 0.000225346 0.0522268 0.743731 +TTool-pose None -6.56635 -7.22445 16.1157 -0.586563 0.286688 -0.721937 0.22917 +#62289 1721122686284 +SLAM 0.803463 14.7743 17.1774 0.664106 0.000280836 0.0520285 0.745826 +TTool-pose None -6.56302 -7.25744 16.0791 -0.585906 0.288763 -0.720988 0.231223 +#62290 1721122686317 +SLAM 0.798393 14.7704 17.2417 0.666259 -1.49541e-05 0.0526509 0.743859 +TTool-pose None -6.5758 -7.21785 16.109 -0.586294 0.287103 -0.722045 0.228998 +#62291 1721122686354 +SLAM 0.798321 14.7743 17.2184 0.665294 0.00029384 0.05219 0.744755 +TTool-pose None -6.56494 -7.24484 16.0971 -0.586186 0.287696 -0.72152 0.230182 +#62292 1721122686387 +SLAM 0.808979 14.7803 17.1823 0.664151 0.000131774 0.0518538 0.745798 +TTool-pose None -6.56149 -7.26151 16.0877 -0.58609 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-6.58037 -7.21721 16.1012 -0.585846 0.287562 -0.722166 0.229186 +#62299 1721122686630 +SLAM 0.800067 14.7753 17.1978 0.664806 0.000129655 0.0524394 0.745173 +TTool-pose None -6.5715 -7.24174 16.09 -0.585908 0.28831 -0.721436 0.230386 +#62300 1721122686661 +SLAM 0.802368 14.7701 17.2748 0.667227 0.000301581 0.0519312 0.743042 +TTool-pose None -6.56237 -7.21819 16.1272 -0.587001 0.285832 -0.722078 0.22867 +#62301 1721122686694 +SLAM 0.802251 14.7742 17.2181 0.665469 0.000115901 0.0521657 0.744601 +TTool-pose None -6.56532 -7.23562 16.1021 -0.58632 0.287635 -0.721516 0.229927 +#62302 1721122686726 +SLAM 0.799135 14.7722 17.2743 0.667113 0.000151455 0.0523593 0.743114 +TTool-pose None -6.57107 -7.21733 16.1251 -0.586721 0.286136 -0.722238 0.228504 +#62303 1721122686758 +SLAM 0.788951 14.7706 17.2254 0.665738 0.000431108 0.052387 0.744344 +TTool-pose None -6.5637 -7.23137 16.0994 -0.586153 0.287252 -0.721837 0.229828 +#62304 1721122686792 +SLAM 0.794684 14.7738 17.1957 0.664902 0.000263157 0.0523499 0.745094 +TTool-pose None -6.56482 -7.23768 16.0906 -0.585957 0.288119 -0.721459 0.230428 +#62305 1721122686826 +SLAM 0.803553 14.7771 17.2377 0.665828 0.000230201 0.051958 0.744294 +TTool-pose None -6.56276 -7.24262 16.1105 -0.586544 0.287181 -0.721562 0.229781 +#62306 1721122686863 +SLAM 0.803802 14.7728 17.2887 0.667451 -2.61996e-05 0.0525785 0.742795 +TTool-pose None -6.58095 -7.21273 16.1304 -0.586742 0.285983 -0.722434 0.228022 +#62307 1721122686895 +SLAM 0.799449 14.7695 17.2271 0.665862 0.00015937 0.0522678 0.744242 +TTool-pose None -6.56631 -7.22617 16.1033 -0.586366 0.28727 -0.721732 0.229589 +#62308 1721122686930 +SLAM 0.802217 14.7734 17.1558 0.663535 1.06822e-06 0.0524986 0.746301 +TTool-pose None -6.57191 -7.25359 16.0681 -0.585487 0.289578 -0.720966 0.231336 +#62309 1721122686969 +SLAM 0.795501 14.7717 17.1728 0.664162 3.58729e-05 0.0527459 0.745726 +TTool-pose None -6.57411 -7.24086 16.0752 -0.585515 0.289039 -0.721348 0.230745 +#62310 1721122687006 +SLAM 0.800854 14.7747 17.1837 0.664266 0.000280279 0.0522043 0.745671 +TTool-pose None -6.56638 -7.25489 16.0807 -0.585839 0.28866 -0.721148 0.231024 +#62311 1721122687041 +SLAM 0.801436 14.7762 17.2554 0.666401 0.00015672 0.0523699 0.743752 +TTool-pose None -6.57349 -7.22999 16.1166 -0.586476 0.286797 -0.721987 0.229099 +#62312 1721122687077 +SLAM 0.796689 14.7704 17.2395 0.66603 0.000169991 0.0526041 0.744068 +TTool-pose None -6.57533 -7.22766 16.1036 -0.586188 0.287193 -0.72199 0.22933 +#62313 1721122687111 +SLAM 0.902504 14.8399 17.4235 0.666149 0.00210901 0.0476734 0.74429 +TTool-pose None -6.56516 -7.47381 16.1693 -0.588952 0.284666 -0.719769 0.23236 +#62314 1721122687147 +SLAM 0.803993 14.7775 17.1505 0.663299 0.000117005 0.0523264 0.746523 +TTool-pose None -6.56999 -7.26175 16.0683 -0.585488 0.289683 -0.720815 0.231674 +#62315 1721122687182 +SLAM 0.802358 14.7753 17.2251 0.665537 0.000110421 0.0525611 0.744512 +TTool-pose None -6.5786 -7.23514 16.1006 -0.586074 0.287674 -0.721768 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+TTool-pose None -6.56183 -7.2373 16.1072 -0.586441 0.287504 -0.721472 0.229921 +#62328 1721122687680 +SLAM 0.808448 14.78 17.2299 0.665671 -1.62435e-05 0.051877 0.74444 +TTool-pose None -6.56132 -7.24085 16.1136 -0.586629 0.287453 -0.721385 0.229779 +#62329 1721122687716 +SLAM 0.809345 14.7764 17.1966 0.664509 7.28908e-05 0.0521561 0.745458 +TTool-pose None -6.57108 -7.2557 16.0875 -0.586022 0.288548 -0.721147 0.230702 +#62330 1721122687757 +SLAM 0.808476 14.7818 17.2435 0.666127 2.14597e-05 0.0519757 0.744025 +TTool-pose None -6.5657 -7.23377 16.1219 -0.5867 0.287033 -0.721619 0.229387 +#62331 1721122687798 +SLAM 0.806423 14.7768 17.2171 0.665179 0.000155175 0.0520522 0.744868 +TTool-pose None -6.56678 -7.24877 16.0992 -0.586289 0.287852 -0.721357 0.230238 +#62332 1721122687840 +SLAM 0.805205 14.7797 17.1055 0.661549 0.000145366 0.0523018 0.748075 +TTool-pose None -6.56962 -7.29386 16.0407 -0.584911 0.291273 -0.720165 0.233153 +#62333 1721122687877 +SLAM 0.798771 14.7715 17.2551 0.66656 0.000315073 0.052049 0.743632 +TTool-pose None -6.5622 -7.22711 16.1165 -0.586696 0.286473 -0.721907 0.229192 +#62334 1721122687914 +SLAM 0.933044 14.8571 17.4365 0.664435 0.00297491 0.0463466 0.745901 +TTool-pose None -6.56763 -7.58262 16.1503 -0.588998 0.285393 -0.718633 0.234855 +#62335 1721122687950 +SLAM 0.795934 14.7711 17.231 0.665879 0.000279701 0.0524059 0.744217 +TTool-pose None -6.56937 -7.22898 16.1028 -0.586237 0.287217 -0.721853 0.229603 +#62336 1721122687986 +SLAM 0.800556 14.7753 17.2527 0.666318 9.12763e-05 0.0524184 0.743823 +TTool-pose None -6.57307 -7.22991 16.1146 -0.586437 0.286926 -0.721965 0.229107 +#62337 1721122688022 +SLAM 0.798846 14.7744 17.2786 0.66707 0.000179446 0.0524989 0.743143 +TTool-pose None -6.57621 -7.22237 16.1246 -0.586601 0.286194 -0.722311 0.228507 +#62338 1721122688060 +SLAM 0.803522 14.7766 17.2383 0.666133 -7.87732e-05 0.0524326 0.743988 +TTool-pose None -6.57332 -7.22232 16.1151 -0.586423 0.287203 -0.721855 0.229143 +#62339 1721122688096 +SLAM 0.801485 14.773 17.1351 0.66267 0.000253849 0.05225 0.747087 +TTool-pose None -6.56621 -7.27534 16.0526 -0.585285 0.290162 -0.72058 0.232315 +#62340 1721122688137 +SLAM 0.81359 14.7805 17.1012 0.661516 -0.000152633 0.0521356 0.748117 +TTool-pose None -6.56813 -7.29026 16.0448 -0.585113 0.291441 -0.719968 0.233046 +#62341 1721122688172 +SLAM 0.79946 14.775 17.1983 0.66478 0.000144748 0.0524468 0.745196 +TTool-pose None -6.57139 -7.24339 16.089 -0.58589 0.288326 -0.721435 0.230414 +#62342 1721122688207 +SLAM 0.927313 14.8491 17.4824 0.666329 0.00269694 0.0468251 0.744181 +TTool-pose None -6.57436 -7.53727 16.1755 -0.589394 0.283929 -0.71952 0.232915 +#62343 1721122688243 +SLAM 0.807695 14.781 17.1471 0.662916 -0.000133559 0.0525268 0.746849 +TTool-pose None -6.57695 -7.27112 16.0648 -0.585307 0.290237 -0.720715 0.23175 +#62344 1721122688281 +SLAM 0.790778 14.7699 17.2355 0.666075 0.000239497 0.0526266 0.744026 +TTool-pose None -6.57081 -7.22237 16.104 -0.586165 0.287115 -0.72204 0.22933 +#62345 1721122688319 +SLAM 0.817063 14.782 17.0809 0.660922 -0.000101763 0.051887 0.748659 +TTool-pose None -6.56362 -7.299 16.0381 -0.585067 0.291894 -0.719622 0.233664 +#62346 1721122688359 +SLAM 0.811947 14.7806 17.1452 0.662953 -7.14984e-05 0.0520883 0.746847 +TTool-pose None -6.56774 -7.2726 16.0681 -0.585599 0.290055 -0.720494 0.231925 +#62347 1721122688400 +SLAM 0.800103 14.7711 17.2194 0.665483 0.000273223 0.0521745 0.744588 +TTool-pose None -6.56555 -7.23706 16.0979 -0.586267 0.28753 -0.721574 0.230017 +#62348 1721122688436 +SLAM 0.799614 14.771 17.2465 0.666181 0.000185981 0.0526066 0.743932 +TTool-pose None -6.57892 -7.22787 16.106 -0.586231 0.287043 -0.722051 0.229213 +#62349 1721122688472 +SLAM 0.810623 14.7765 17.2727 0.667164 -0.000198722 0.0524447 0.743062 +TTool-pose None -6.5804 -7.20958 16.1323 -0.586796 0.28632 -0.722201 0.228197 +#62350 1721122688508 +SLAM 0.797234 14.776 17.2272 0.665707 0.00013599 0.0523523 0.744374 +TTool-pose None -6.56716 -7.23281 16.1063 -0.586265 0.287449 -0.721717 0.229672 +#62351 1721122688544 +SLAM 0.806036 14.7757 17.2315 0.665621 7.926e-05 0.0524194 0.744447 +TTool-pose None -6.57763 -7.23897 16.1032 -0.586209 0.28758 -0.721707 0.229681 +#62352 1721122688581 +SLAM 0.803731 14.7744 17.2234 0.66556 4.51281e-05 0.0522756 0.744511 +TTool-pose None -6.5696 -7.235 16.1031 -0.586299 0.28762 -0.721592 0.229763 +#62353 1721122688617 +SLAM 0.806505 14.7775 17.1971 0.664624 -3.0844e-05 0.0525945 0.745324 +TTool-pose None -6.58091 -7.24579 16.0884 -0.585795 0.288614 -0.721411 0.230372 +#62354 1721122688653 +SLAM 0.868289 14.8223 17.4085 0.667795 0.00109802 0.0491389 0.742721 +TTool-pose None -6.56101 -7.36347 16.1868 -0.588833 0.284119 -0.720913 0.229768 +#62355 1721122688692 +SLAM 0.795873 14.7708 17.2196 0.665755 9.86207e-05 0.0522973 0.744335 +TTool-pose None -6.56252 -7.22307 16.1039 -0.586331 0.287413 -0.721692 0.229627 +#62356 1721122688726 +SLAM 0.795901 14.7733 17.1603 0.66372 0.000237282 0.0527329 0.74612 +TTool-pose None -6.57669 -7.24946 16.0677 -0.58531 0.289324 -0.721239 0.231251 +#62357 1721122688762 +SLAM 0.803295 14.7778 17.1613 0.663584 0.000117378 0.0521956 0.746279 +TTool-pose None -6.56557 -7.26154 16.0741 -0.585672 0.289386 -0.720844 0.231486 +#62358 1721122688797 +SLAM 0.803126 14.774 17.2311 0.665892 8.52469e-06 0.0523207 0.744211 +TTool-pose None -6.5701 -7.22731 16.1086 -0.58639 0.287346 -0.721728 0.229445 +#62359 1721122688834 +SLAM 0.796557 14.77 17.2936 0.667633 3.69666e-05 0.0529152 0.742607 +TTool-pose None -6.58547 -7.20648 16.128 -0.586551 0.28586 -0.722714 0.227784 +#62360 1721122688874 +SLAM 0.797263 14.7701 17.2412 0.666136 0.000221353 0.0523928 0.743988 +TTool-pose None -6.5698 -7.22735 16.1064 -0.586351 0.28701 -0.721922 0.229355 +#62361 1721122688911 +SLAM 0.845476 14.8026 17.1616 0.663412 -0.000843545 0.0512288 0.746498 +TTool-pose None -6.56463 -7.27312 16.1088 -0.586598 0.289876 -0.719937 0.231353 +#62362 1721122688949 +SLAM 0.796864 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-0.589374 0.28373 -0.720052 0.231557 +#62374 1721122689383 +SLAM 0.803644 14.7765 17.226 0.665688 5.99532e-05 0.05227 0.744398 +TTool-pose None -6.56977 -7.2324 16.1074 -0.58634 0.287492 -0.72164 0.229668 +#62375 1721122689424 +SLAM 0.798457 14.7747 17.2208 0.66552 0.000163808 0.0523095 0.744545 +TTool-pose None -6.56704 -7.23507 16.102 -0.586223 0.287595 -0.721632 0.229862 +#62376 1721122689464 +SLAM 0.808259 14.7775 17.1135 0.661757 1.30752e-05 0.0522788 0.747893 +TTool-pose None -6.57019 -7.29157 16.0429 -0.58504 0.291155 -0.720189 0.232902 +#62377 1721122689500 +SLAM 0.805152 14.775 17.2537 0.666269 5.07711e-05 0.0523935 0.743868 +TTool-pose None -6.57635 -7.23261 16.1135 -0.586452 0.286989 -0.72192 0.22913 +#62378 1721122689534 +SLAM 0.790605 14.7647 17.2195 0.665663 0.000389266 0.0523225 0.744415 +TTool-pose None -6.56187 -7.2285 16.0935 -0.586186 0.28733 -0.721759 0.229887 +#62379 1721122689569 +SLAM 0.85235 14.8067 17.3252 0.666813 9.22434e-05 0.0507363 0.743496 +TTool-pose 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-0.720806 0.231748 +#62397 1721122690230 +SLAM 0.809593 14.7746 17.1956 0.664695 2.03636e-05 0.0521607 0.745292 +TTool-pose None -6.57033 -7.24595 16.09 -0.586099 0.288408 -0.721202 0.23051 +#62398 1721122690266 +SLAM 0.797541 14.7715 17.2307 0.665766 0.000284552 0.052375 0.74432 +TTool-pose None -6.57016 -7.23397 16.1011 -0.586219 0.287311 -0.721796 0.229712 +#62399 1721122690300 +SLAM 0.805565 14.7803 17.2239 0.665376 4.12115e-05 0.052381 0.744669 +TTool-pose None -6.57545 -7.24281 16.1043 -0.586167 0.28782 -0.721584 0.229874 +#62400 1721122690335 +SLAM 0.795804 14.7729 17.238 0.666006 0.000248638 0.0523706 0.744106 +TTool-pose None -6.56816 -7.23081 16.1069 -0.586314 0.287109 -0.72187 0.22949 +#62401 1721122690366 +SLAM 0.903687 14.836 17.4186 0.665581 0.00223835 0.0480603 0.744773 +TTool-pose None -6.58069 -7.48991 16.15 -0.588456 0.285215 -0.719824 0.232776 +#62402 1721122690402 +SLAM 0.802066 14.7741 17.2677 0.666827 0.000199509 0.0524566 0.743364 +TTool-pose None -6.57779 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-6.56157 -7.42541 16.1822 -0.588928 0.284492 -0.720188 0.231333 +#62432 1721122691615 +SLAM 0.805412 14.7596 17.2013 0.664697 -0.000211576 0.0524835 0.745267 +TTool-pose None -6.57248 -7.24493 16.0743 -0.585956 0.288626 -0.721319 0.230234 +#62433 1721122691652 +SLAM 1.73505 14.4305 20.0922 0.728504 -0.0546702 0.133558 0.669668 +TTool-pose None -9.53699 -5.18534 16.6306 -0.56592 0.273955 -0.77069 0.10269 +#62434 1721122691689 +SLAM 0.80489 14.7954 17.3896 0.667818 0.00190768 0.0500994 0.742634 +TTool-pose None -6.53744 -7.34047 16.152 -0.587914 0.283855 -0.721717 0.229927 +#62435 1721122691721 +SLAM 0.514622 14.63 17.4088 0.661039 0.0245634 0.0470944 0.748469 +TTool-pose None -6.44887 -7.83462 15.6954 -0.580031 0.275525 -0.724133 0.251487 +#62436 1721122691753 +SLAM 0.322792 14.477 17.6418 0.661072 0.0401717 0.0449374 0.747898 +TTool-pose None -6.37312 -8.16771 15.424 -0.576103 0.265142 -0.727335 0.262215 +#62437 1721122691785 +SLAM 0.170585 14.3497 17.8563 0.664489 0.0509442 0.0454382 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0.00918689 0.67611 +TTool-pose None -12.4358 -11.3419 11.9122 -0.424023 0.000813244 -0.759603 0.493148 +#65023 1721122778181 +SLAM 2.95646 16.5548 15.1048 0.610322 0.413204 0.00795957 0.6758 +TTool-pose None -12.4017 -11.3613 11.9171 -0.424217 -0.00025518 -0.758853 0.494136 +#65024 1721122778215 +SLAM 2.98056 16.564 15.1367 0.611431 0.413157 0.00727404 0.674834 +TTool-pose None -12.4041 -11.3627 11.9521 -0.425063 -0.00144335 -0.758841 0.493424 +#65025 1721122778250 +SLAM 2.91294 16.5463 15.0746 0.608826 0.412726 0.0103556 0.677408 +TTool-pose None -12.4258 -11.3519 11.8525 -0.42237 0.00231319 -0.759688 0.494429 +#65026 1721122778286 +SLAM 2.9495 16.5539 15.124 0.610125 0.414498 0.00689981 0.675198 +TTool-pose None -12.3615 -11.3965 11.9257 -0.42419 -0.00168042 -0.758272 0.495047 +#65027 1721122778318 +SLAM 2.91038 16.5447 15.1477 0.60961 0.417372 0.00452419 0.673911 +TTool-pose None -12.2612 -11.4475 11.9501 -0.424115 -0.00479467 -0.756936 0.497131 +#65028 1721122778353 +SLAM 2.84455 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-0.000828403 -0.753524 0.515405 +#65040 1721122778782 +SLAM 2.26543 16.4173 14.982 0.594135 0.428763 0.00879881 0.680506 +TTool-pose None -11.811 -11.5897 11.6523 -0.410176 -0.000798076 -0.754828 0.511838 +#65041 1721122778813 +SLAM 2.26379 16.4108 14.9856 0.593116 0.430777 0.00694755 0.680144 +TTool-pose None -11.7475 -11.6502 11.6458 -0.410015 -0.00245701 -0.753524 0.51388 +#65042 1721122778848 +SLAM 2.21955 16.3953 14.9331 0.591657 0.430463 0.00868143 0.681593 +TTool-pose None -11.7635 -11.6242 11.5907 -0.408527 -0.000302458 -0.753984 0.514396 +#65043 1721122778879 +SLAM 2.2327 16.4019 14.9537 0.591927 0.431567 0.00716287 0.680677 +TTool-pose None -11.7326 -11.654 11.6162 -0.409055 -0.00211559 -0.753277 0.515006 +#65044 1721122778916 +SLAM 2.34423 16.4605 15.0493 0.594125 0.432626 0.00205815 0.678119 +TTool-pose None -11.6755 -11.7566 11.755 -0.412642 -0.00670601 -0.751141 0.515225 +#65045 1721122778950 +SLAM 2.1946 16.3853 14.9051 0.591309 0.428998 0.0109949 0.682784 +TTool-pose None -11.8084 -11.5773 11.5538 -0.407628 0.00217234 -0.755098 0.513469 +#65046 1721122778990 +SLAM 2.30029 16.4318 15.0234 0.594671 0.430276 0.00606841 0.679111 +TTool-pose None -11.7583 -11.6489 11.7016 -0.411389 -0.0036243 -0.753535 0.512757 +#65047 1721122779029 +SLAM 2.23865 16.4042 14.9559 0.592227 0.431076 0.0073278 0.680726 +TTool-pose None -11.7426 -11.6446 11.623 -0.409303 -0.00183995 -0.753445 0.514565 +#65048 1721122779067 +SLAM 2.20982 16.3881 14.9327 0.591592 0.43043 0.00910503 0.681664 +TTool-pose None -11.7649 -11.6165 11.5798 -0.40824 -8.70088e-05 -0.754208 0.514295 +#65049 1721122779104 +SLAM 2.2064 16.394 14.909 0.590092 0.432044 0.00732577 0.681964 +TTool-pose None -11.7124 -11.6731 11.5767 -0.408073 -0.000885668 -0.752729 0.516588 +#65050 1721122779140 +SLAM 2.25087 16.4105 14.9823 0.592685 0.431812 0.00632281 0.67987 +TTool-pose None -11.7232 -11.6663 11.6457 -0.409743 -0.00330244 -0.753081 0.51474 +#65051 1721122779176 +SLAM 2.23702 16.4059 14.9606 0.592172 0.431206 0.00721954 0.680692 +TTool-pose None -11.7366 -11.6515 11.6256 -0.409289 -0.00195461 -0.753371 0.514684 +#65052 1721122779209 +SLAM 2.19162 16.3862 14.9184 0.592102 0.42884 0.0113679 0.682189 +TTool-pose None -11.8237 -11.5536 11.5655 -0.407731 0.00171918 -0.755603 0.512646 +#65053 1721122779244 +SLAM 2.19519 16.3948 14.9389 0.591329 0.431718 0.00814558 0.68109 +TTool-pose None -11.7332 -11.6385 11.5948 -0.408117 -0.0014383 -0.753652 0.515205 +#65054 1721122779282 +SLAM 2.13261 16.3835 14.8746 0.589246 0.432501 0.00936431 0.682382 +TTool-pose None -11.7292 -11.6269 11.5392 -0.406185 8.99756e-06 -0.753664 0.516713 +#65055 1721122779315 +SLAM 2.10808 16.3733 14.9053 0.589856 0.433029 0.00959303 0.681516 +TTool-pose None -11.7134 -11.6146 11.5471 -0.405964 -0.00101713 -0.754075 0.516287 +#65056 1721122779353 +SLAM 2.07354 16.372 14.9345 0.589764 0.435138 0.00820326 0.680269 +TTool-pose None -11.6494 -11.6425 11.572 -0.405755 -0.00349287 -0.753395 0.517431 +#65057 1721122779390 +SLAM 2.00304 16.372 14.8949 0.58717 0.439089 0.00600063 0.679998 +TTool-pose None -11.5487 -11.7041 11.5617 -0.404263 -0.0058313 -0.751443 0.521401 +#65058 1721122779427 +SLAM 1.95256 16.3574 14.9437 0.588346 0.439565 0.00734195 0.678659 +TTool-pose None -11.5475 -11.6634 11.5688 -0.403519 -0.00699688 -0.752723 0.520116 +#65059 1721122779465 +SLAM 1.91757 16.35 15.0407 0.589671 0.442647 0.0053424 0.675517 +TTool-pose None -11.4581 -11.6956 11.6247 -0.403673 -0.0119684 -0.752277 0.520552 +#65060 1721122779497 +SLAM 1.86225 16.331 15.042 0.588257 0.444655 0.00495367 0.675434 +TTool-pose None -11.3924 -11.7264 11.5996 -0.402389 -0.01287 -0.751677 0.522387 +#65061 1721122779531 +SLAM 1.78353 16.3101 15.0097 0.586403 0.446188 0.00572991 0.676029 +TTool-pose None -11.3534 -11.7259 11.5546 -0.400429 -0.0125426 -0.751568 0.524056 +#65062 1721122779569 +SLAM 1.72181 16.3005 15.0179 0.586214 0.447644 0.00587366 0.675228 +TTool-pose None -11.3198 -11.7099 11.5598 -0.399496 -0.0138405 -0.751696 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-0.316539 -0.16736 -0.71401 0.601642 +#65092 1721122780642 +SLAM -1.62294 14.0996 18.681 0.535112 0.611105 -0.0348942 0.582227 +TTool-pose None -5.34987 -12.935 11.722 -0.313613 -0.168603 -0.711136 0.606214 +#65093 1721122780673 +SLAM -1.70754 14.0172 18.8423 0.533704 0.613312 -0.0344327 0.581226 +TTool-pose None -5.15976 -12.9686 11.7375 -0.311428 -0.169982 -0.710803 0.607346 +#65094 1721122780714 +SLAM -1.6741 13.9981 19.0274 0.535361 0.616485 -0.0393577 0.576009 +TTool-pose None -4.97908 -12.9703 11.9107 -0.313072 -0.177369 -0.708159 0.607476 +#65095 1721122780746 +SLAM -1.7612 13.936 19.1024 0.533234 0.617965 -0.0380471 0.576484 +TTool-pose None -4.85736 -12.9939 11.8802 -0.310576 -0.176839 -0.708132 0.608941 +#65096 1721122780783 +SLAM -1.70609 13.8817 19.3119 0.535184 0.622061 -0.0421166 0.569951 +TTool-pose None -4.68857 -12.9954 12.0187 -0.311127 -0.185495 -0.706033 0.608522 +#65097 1721122780814 +SLAM -1.81384 13.8388 19.3239 0.531352 0.623765 -0.0407713 0.571769 +TTool-pose None -4.57495 -13.0272 11.9568 -0.307913 -0.183628 -0.70541 0.611438 +#65098 1721122780847 +SLAM -1.84441 13.7903 19.3804 0.531301 0.624474 -0.0405585 0.571057 +TTool-pose None -4.51042 -13.0144 11.961 -0.307292 -0.184445 -0.705478 0.611427 +#65099 1721122780881 +SLAM -1.91925 13.6721 19.4905 0.528995 0.628754 -0.0407513 0.568483 +TTool-pose None -4.32814 -13.0055 11.9379 -0.303842 -0.188005 -0.704251 0.613478 +#65100 1721122780913 +SLAM -1.97555 13.6179 19.4934 0.528041 0.62956 -0.0390029 0.5686 +TTool-pose None -4.31035 -12.9849 11.8854 -0.301876 -0.18757 -0.704945 0.613785 +#65101 1721122780946 +SLAM -2.07636 13.5497 19.4832 0.524771 0.631049 -0.0365702 0.570136 +TTool-pose None -4.24346 -12.9907 11.7864 -0.298263 -0.185624 -0.705189 0.615859 +#65102 1721122780980 +SLAM -2.10126 13.5095 19.4873 0.525579 0.630789 -0.0351121 0.569771 +TTool-pose None -4.26898 -12.9512 11.7648 -0.297757 -0.185545 -0.706399 0.614739 +#65103 1721122781012 +SLAM -2.1097 13.4657 19.4812 0.524338 0.632555 -0.0354087 0.568937 +TTool-pose None -4.22652 -12.9419 11.7253 -0.296373 -0.18683 -0.705647 0.615881 +#65104 1721122781051 +SLAM -2.17529 13.4366 19.4276 0.524267 0.630019 -0.0315977 0.572034 +TTool-pose None -4.29489 -12.9159 11.6419 -0.295572 -0.182094 -0.708158 0.614802 +#65105 1721122781087 +SLAM -2.19713 13.4133 19.4055 0.521674 0.631537 -0.0316086 0.572729 +TTool-pose None -4.23825 -12.9423 11.5828 -0.293726 -0.18168 -0.707116 0.617005 +#65106 1721122781122 +SLAM -2.22433 13.3961 19.371 0.520654 0.631061 -0.02966 0.574284 +TTool-pose None -4.26181 -12.9501 11.5136 -0.292446 -0.17944 -0.707983 0.617274 +#65107 1721122781155 +SLAM -2.20866 13.3539 19.4264 0.520932 0.6328 -0.0301688 0.572087 +TTool-pose None -4.21757 -12.9457 11.5175 -0.291714 -0.182185 -0.707649 0.617199 +#65108 1721122781190 +SLAM -2.20236 13.3404 19.4596 0.519655 0.634868 -0.0310586 0.570908 +TTool-pose None -4.15521 -12.9738 11.5141 -0.290497 -0.184046 -0.706493 0.618544 +#65109 1721122781221 +SLAM -2.22692 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0.00303641 0.0503039 0.745448 +TTool-pose None 9.81191 -7.63208 16.848 -0.586348 0.286164 -0.721017 0.233237 +#65239 1721122785701 +SLAM -15.551 14.2814 16.428 0.664752 0.0029643 0.0502805 0.745364 +TTool-pose None 9.81263 -7.63144 16.8463 -0.58642 0.286112 -0.721017 0.233119 +#65240 1721122785737 +SLAM -15.5497 14.2916 16.4034 0.664052 0.00302693 0.050111 0.745999 +TTool-pose None 9.81628 -7.63578 16.8442 -0.586282 0.286679 -0.720682 0.233806 +#65241 1721122785774 +SLAM -15.5517 14.2752 16.4935 0.666727 0.00288396 0.0503674 0.743592 +TTool-pose None 9.80969 -7.61069 16.8713 -0.587043 0.284351 -0.721765 0.231385 +#65242 1721122785808 +SLAM -15.5633 14.2572 16.5854 0.669304 0.00323678 0.0504711 0.741265 +TTool-pose None 9.81042 -7.58249 16.9014 -0.587705 0.281766 -0.722866 0.229421 +#65243 1721122785846 +SLAM -15.5678 14.2636 16.5909 0.670278 0.00340622 0.050583 0.740376 +TTool-pose None 9.80849 -7.54446 16.9305 -0.587892 0.280782 -0.723333 0.228673 +#65244 1721122785886 +SLAM -15.5873 14.2374 17.0168 0.682918 0.00289295 0.050558 0.728738 +TTool-pose None 9.82242 -7.40285 17.1066 -0.592173 0.269137 -0.727669 0.217594 +#65245 1721122785930 +SLAM -15.5622 14.2638 16.4374 0.664545 0.00337046 0.0501577 0.745556 +TTool-pose None 9.82254 -7.64108 16.8291 -0.586299 0.286029 -0.720991 0.233606 +#65246 1721122785966 +SLAM -15.5597 14.2721 16.576 0.669406 0.0033763 0.0502625 0.741187 +TTool-pose None 9.81128 -7.56498 16.9181 -0.587834 0.281533 -0.722824 0.229506 +#65247 1721122786008 +SLAM -15.5576 14.2616 16.5471 0.668335 0.00314132 0.0504124 0.742143 +TTool-pose None 9.80931 -7.58831 16.8882 -0.587458 0.282711 -0.722452 0.230192 +#65248 1721122786046 +SLAM -15.546 14.2886 16.4344 0.664511 0.00299615 0.0499148 0.745604 +TTool-pose None 9.81841 -7.64358 16.8432 -0.586579 0.286223 -0.720728 0.233477 +#65249 1721122786082 +SLAM -15.5508 14.2715 16.4557 0.665395 0.00300339 0.050278 0.74479 +TTool-pose None 9.81154 -7.62875 16.8464 -0.586622 0.285492 -0.721263 0.232609 +#65250 1721122786118 +SLAM -15.5495 14.2827 16.5549 0.668863 0.00282826 0.0504758 0.741664 +TTool-pose None 9.80218 -7.57955 16.9141 -0.587693 0.282424 -0.722587 0.229519 +#65251 1721122786155 +SLAM -15.5529 14.2784 16.5621 0.668909 0.00303249 0.0502942 0.741634 +TTool-pose None 9.80854 -7.57909 16.9108 -0.587764 0.282212 -0.72256 0.229683 +#65252 1721122786190 +SLAM -15.545 14.2838 16.442 0.664809 0.00295875 0.0501268 0.745324 +TTool-pose None 9.81092 -7.6407 16.8456 -0.586546 0.286024 -0.720948 0.233125 +#65253 1721122786228 +SLAM -15.544 14.3003 16.4585 0.665757 0.00274365 0.0500174 0.744485 +TTool-pose None 9.81544 -7.6186 16.8736 -0.587008 0.285247 -0.721168 0.232233 +#65254 1721122786263 +SLAM -15.56 14.2742 16.5157 0.66739 0.00328553 0.0502719 0.743002 +TTool-pose None 9.81446 -7.5966 16.8862 -0.587193 0.283469 -0.722071 0.231132 +#65255 1721122786301 +SLAM -15.5553 14.2711 16.4924 0.666498 0.00307499 0.0504675 0.74379 +TTool-pose None 9.80723 -7.61813 16.8674 -0.586835 0.284474 -0.721796 0.231665 +#65256 1721122786341 +SLAM -15.555 14.2795 16.4208 0.664244 0.00321693 0.0500919 0.745829 +TTool-pose None 9.81936 -7.64049 16.837 -0.586295 0.286383 -0.720798 0.233779 +#65257 1721122786380 +SLAM -15.5634 14.2641 16.5572 0.668606 0.00334563 0.0505202 0.741891 +TTool-pose None 9.80777 -7.58528 16.9 -0.587404 0.282364 -0.722673 0.23006 +#65258 1721122786414 +SLAM -12.5135 16.8815 24.4054 0.731304 0.0177575 -0.0531082 0.679749 +TTool-pose None 10.6307 -10.5841 19.7455 -0.67037 0.180607 -0.685777 0.218267 +#65259 1721122786450 +SLAM -15.5438 14.3148 16.4238 0.664662 0.00266274 0.0497354 0.745482 +TTool-pose None 9.826 -7.63165 16.8655 -0.586864 0.286238 -0.72058 0.233198 +#65260 1721122786487 +SLAM -15.5588 14.2661 16.5503 0.668585 0.00310375 0.0506269 0.741904 +TTool-pose None 9.80345 -7.58433 16.8996 -0.587406 0.282556 -0.722655 0.229878 +#65261 1721122786522 +SLAM -15.5515 14.279 16.4323 0.664726 0.00311678 0.0502915 0.745386 +TTool-pose None 9.81038 -7.63451 16.8455 -0.586353 0.286047 -0.72106 0.233237 +#65262 1721122786558 +SLAM -15.5515 14.282 16.5227 0.667291 0.00313556 0.0501088 0.743103 +TTool-pose None 9.8127 -7.60819 16.886 -0.587322 0.28361 -0.721896 0.231177 +#65263 1721122786597 +SLAM -15.548 14.281 16.4286 0.664503 0.0030637 0.0501921 0.745592 +TTool-pose None 9.81094 -7.64015 16.8411 -0.586364 0.28626 -0.720905 0.233425 +#65264 1721122786632 +SLAM -15.5547 14.2686 16.4405 0.66503 0.00312103 0.0503744 0.745109 +TTool-pose None 9.81126 -7.62925 16.8416 -0.586396 0.285784 -0.72122 0.232955 +#65265 1721122786668 +SLAM -15.5511 14.2802 16.4274 0.664572 0.00305972 0.0502065 0.74553 +TTool-pose None 9.81378 -7.63623 16.8421 -0.586379 0.286203 -0.720937 0.23336 +#65266 1721122786702 +SLAM -15.5606 14.2679 16.5088 0.667485 0.00316027 0.0505241 0.7429 +TTool-pose None 9.80941 -7.59006 16.8842 -0.587094 0.28352 -0.722214 0.230875 +#65267 1721122786737 +SLAM -15.5444 14.2873 16.4747 0.665768 0.00296431 0.0500143 0.744475 +TTool-pose None 9.81264 -7.62948 16.8625 -0.58694 0.285103 -0.721236 0.232371 +#65268 1721122786775 +SLAM -15.559 14.2704 16.5112 0.667405 0.00322426 0.0504178 0.742979 +TTool-pose None 9.81004 -7.59383 16.8842 -0.587119 0.283529 -0.722142 0.231024 +#65269 1721122786809 +SLAM -15.5537 14.2718 16.4342 0.664798 0.00313196 0.0503382 0.745318 +TTool-pose None 9.81131 -7.63293 16.8406 -0.58634 0.285983 -0.721118 0.233169 +#65270 1721122786850 +SLAM -15.5586 14.2621 16.6248 0.671234 0.00303433 0.0507155 0.739503 +TTool-pose None 9.79926 -7.54186 16.9396 -0.588239 0.280146 -0.723644 0.227573 +#65271 1721122786883 +SLAM -15.5568 14.2776 16.4285 0.664455 0.00324356 0.0502063 0.745632 +TTool-pose None 9.81679 -7.63986 16.8404 -0.586279 0.2862 -0.720949 0.233578 +#65272 1721122786919 +SLAM -15.563 14.263 16.5601 0.668767 0.00333787 0.0504455 0.741751 +TTool-pose None 9.81014 -7.58004 16.9005 -0.587511 0.282199 -0.722686 0.229948 +#65273 1721122786954 +SLAM -15.5626 14.2607 16.5826 0.669613 0.0032607 0.0506159 0.740976 +TTool-pose None 9.80459 -7.56778 16.9135 -0.587699 0.281499 -0.723069 0.229123 +#65274 1721122786989 +SLAM -15.5611 14.2733 16.6162 0.670542 0.00329539 0.0502376 0.740161 +TTool-pose None 9.81309 -7.55533 16.9358 -0.588252 0.280515 -0.723197 0.228507 +#65275 1721122787021 +SLAM -15.5573 14.2742 16.5731 0.669226 0.00311193 0.050277 0.74135 +TTool-pose None 9.8122 -7.57436 16.913 -0.587853 0.281865 -0.722688 0.229477 +#65276 1721122787056 +SLAM -15.5575 14.2747 16.5552 0.668517 0.00319511 0.0503615 0.741983 +TTool-pose None 9.80877 -7.58808 16.904 -0.587534 0.282497 -0.722505 0.230095 +#65277 1721122787090 +SLAM -15.5525 14.2744 16.4328 0.664846 0.0030601 0.050422 0.74527 +TTool-pose None 9.80829 -7.6318 16.8441 -0.586323 0.286003 -0.721162 0.23305 +#65278 1721122787130 +SLAM 4.65335 15.7088 43.3687 0.486532 0.504261 -0.386715 0.59955 +TTool-pose None 29.1635 -18.6161 15.145 -0.558878 -0.181968 -0.442023 0.677605 +#65279 1721122787163 +SLAM -15.5297 14.3052 16.6757 0.668308 0.004233 0.0488599 0.742266 +TTool-pose None 9.8068 -7.68285 16.9106 -0.588144 0.281684 -0.721871 0.231517 +#65280 1721122787197 +SLAM -15.5549 14.2774 16.5712 0.668992 0.0031137 0.0503512 0.741556 +TTool-pose None 9.80698 -7.584 16.9127 -0.587725 0.282101 -0.722647 0.229647 +#65281 1721122787229 +SLAM -15.5393 14.3014 16.6583 0.670049 0.00343981 0.0495043 0.740656 +TTool-pose None 9.809 -7.60854 16.9403 -0.588543 0.280702 -0.722639 0.229291 +#65282 1721122787264 +SLAM -15.5486 14.2883 16.4354 0.664534 0.00307702 0.0499848 0.745578 +TTool-pose None 9.81739 -7.64336 16.8456 -0.586512 0.286171 -0.720801 0.233485 +#65283 1721122787297 +SLAM -15.5524 14.2844 16.5846 0.669122 0.00320043 0.0499871 0.741463 +TTool-pose None 9.81429 -7.58598 16.9169 -0.587988 0.281835 -0.72251 0.229731 +#65284 1721122787335 +SLAM 0.859649 15.2429 40.5803 0.3513 0.581966 -0.3216 0.659149 +TTool-pose None 28.647 -16.3569 9.97876 -0.42652 -0.124369 -0.434363 0.783539 +#65285 1721122787371 +SLAM -15.5537 14.2773 16.4373 0.664744 0.00315517 0.0501675 0.745378 +TTool-pose None 9.81601 -7.63635 16.8426 -0.586431 0.285976 -0.721006 0.233293 +#65286 1721122787405 +SLAM -15.5458 14.2882 16.4306 0.664404 0.0030536 0.0500474 0.74569 +TTool-pose None 9.81303 -7.64534 16.8438 -0.586434 0.286321 -0.720782 0.233554 +#65287 1721122787439 +SLAM -15.5473 14.2903 16.433 0.664363 0.00313764 0.0498999 0.745735 +TTool-pose None 9.81794 -7.64664 16.8442 -0.586493 0.286271 -0.720707 0.233699 +#65288 1721122787473 +SLAM -15.5628 14.2559 16.5919 0.670164 0.00317355 0.0507276 0.740471 +TTool-pose None 9.80259 -7.55483 16.9186 -0.587833 0.281065 -0.723306 0.22856 +#65289 1721122787506 +SLAM -15.5546 14.2791 16.5651 0.668789 0.00311062 0.0502874 0.741743 +TTool-pose None 9.80895 -7.58634 16.9101 -0.587703 0.282275 -0.722536 0.229838 +#65290 1721122787540 +SLAM -15.5541 14.277 16.5536 0.668476 0.00318258 0.0502714 0.742026 +TTool-pose None 9.80848 -7.58733 16.904 -0.587587 0.28252 -0.722434 0.230155 +#65291 1721122787574 +SLAM -15.5359 14.3094 16.4568 0.664964 0.0028426 0.0497876 0.745209 +TTool-pose None 9.81238 -7.64793 16.8651 -0.586868 0.285864 -0.720775 0.233046 +#65292 1721122787609 +SLAM -15.5507 14.2843 16.5346 0.667695 0.0031532 0.0500575 0.742744 +TTool-pose None 9.81275 -7.60133 16.8944 -0.587484 0.28321 -0.722018 0.23087 +#65293 1721122787644 +SLAM -15.5535 14.2767 16.4257 0.664314 0.00323734 0.0501681 0.745761 +TTool-pose None 9.81495 -7.64257 16.8362 -0.58626 0.286325 -0.720873 0.233706 +#65294 1721122787679 +SLAM -15.5617 14.2768 16.638 0.67098 0.00331384 0.050055 0.739777 +TTool-pose None 9.8184 -7.55507 16.9434 -0.588514 0.280048 -0.723255 0.228219 +#65295 1721122787716 +SLAM -15.5486 14.2882 16.4501 0.665059 0.00302487 0.0501169 0.745101 +TTool-pose None 9.81321 -7.63733 16.855 -0.586614 0.28575 -0.721053 0.232964 +#65296 1721122787753 +SLAM -15.5516 14.2743 16.4387 0.664779 0.00316083 0.0502984 0.745338 +TTool-pose None 9.8096 -7.63742 16.8419 -0.586351 0.285974 -0.721096 0.233219 +#65297 1721122787792 +SLAM -15.5521 14.2909 16.3877 0.664632 0.00248557 0.0503736 0.745467 +TTool-pose None 9.81948 -7.60628 16.852 -0.586477 0.286535 -0.720885 0.232867 +#65298 1721122787829 +SLAM -15.5501 14.2886 16.4537 0.665119 0.00313837 0.0499186 0.745061 +TTool-pose None 9.81958 -7.63406 16.8553 -0.586731 0.285576 -0.720995 0.233063 +#65299 1721122787871 +SLAM -15.5488 14.2868 16.4591 0.665254 0.00308924 0.0500638 0.74493 +TTool-pose None 9.81401 -7.63579 16.8566 -0.586693 0.285516 -0.721113 0.232864 +#65300 1721122787906 +SLAM -15.5538 14.2775 16.4083 0.663565 0.0033448 0.0499894 0.746439 +TTool-pose None 9.82013 -7.65446 16.8237 -0.586096 0.286907 -0.720528 0.234467 +#65301 1721122787942 +SLAM -15.5486 14.2859 16.6314 0.670523 0.00316847 0.0500047 0.740195 +TTool-pose None 9.80857 -7.5705 16.9404 -0.588447 0.28055 -0.723018 0.228526 +#65302 1721122787979 +SLAM -15.5628 14.2646 16.5804 0.669623 0.00322163 0.050519 0.740974 +TTool-pose None 9.80849 -7.56495 16.9158 -0.587782 0.281489 -0.723004 0.229125 +#65303 1721122788022 +SLAM -15.5485 14.2866 16.4363 0.664645 0.00311206 0.050087 0.745472 +TTool-pose None 9.81346 -7.63998 16.8479 -0.586467 0.286073 -0.72091 0.233378 +#65304 1721122788055 +SLAM -15.5478 14.2849 16.4625 0.665311 0.00311291 0.0500125 0.744883 +TTool-pose None 9.81443 -7.63531 16.8551 -0.586739 0.285437 -0.721111 0.232851 +#65305 1721122788089 +SLAM -5.58911 7.2903 37.842 0.0247089 0.704407 -0.0561122 0.707143 +TTool-pose None 26.8198 -8.35759 2.47836 -0.0281391 0.0224449 -0.429193 0.902491 +#65306 1721122788124 +SLAM -15.5609 14.2629 16.5491 0.668521 0.00327605 0.0504817 0.741971 +TTool-pose None 9.80824 -7.58135 16.8962 -0.587426 0.282475 -0.7226 0.2301 +#65307 1721122788171 +SLAM -15.5488 14.2808 16.4348 0.664662 0.00307919 0.0501525 0.745452 +TTool-pose None 9.81266 -7.63851 16.843 -0.586439 0.286093 -0.720945 0.233317 +#65308 1721122788208 +SLAM -15.562 14.2693 16.5442 0.668024 0.00272601 0.050503 0.742419 +TTool-pose None 9.81611 -7.60768 16.8853 -0.587432 0.283273 -0.722268 0.230144 +#65309 1721122788250 +SLAM -15.556 14.2698 16.4494 0.665198 0.003265 0.0502203 0.744969 +TTool-pose None 9.81516 -7.62672 16.8453 -0.586509 0.285503 -0.721235 0.232968 +#65310 1721122788286 +SLAM -15.5206 14.3219 16.6664 0.667252 0.00432773 0.0483879 0.743246 +TTool-pose None 9.81082 -7.71402 16.9017 -0.588086 0.28249 -0.721244 0.232639 +#65311 1721122788321 +SLAM -15.5586 14.2703 16.5734 0.669167 0.00323128 0.050315 0.7414 +TTool-pose None 9.81074 -7.57572 16.9103 -0.587768 0.281857 -0.722725 0.229591 +#65312 1721122788356 +SLAM -15.5599 14.2642 16.5508 0.668399 0.00335174 0.0504387 0.742083 +TTool-pose None 9.80719 -7.58676 16.8954 -0.58739 0.282532 -0.722553 0.230268 +#65313 1721122788394 +SLAM -15.5564 14.2711 16.438 0.664733 0.00328224 0.0502767 0.74538 +TTool-pose None 9.81359 -7.63663 16.8398 -0.58631 0.285938 -0.721103 0.233346 +#65314 1721122788430 +SLAM -15.559 14.2739 16.6194 0.670436 0.00327633 0.0500741 0.740268 +TTool-pose None 9.81655 -7.56125 16.9314 -0.588335 0.280583 -0.723059 0.228644 +#65315 1721122788468 +SLAM -15.5568 14.2681 16.6004 0.670247 0.00308674 0.050482 0.740413 +TTool-pose None 9.80478 -7.55838 16.9264 -0.588058 0.280978 -0.723169 0.228525 +#65316 1721122788502 +SLAM -15.5427 14.2948 16.5101 0.666859 0.00298684 0.0499146 0.743504 +TTool-pose None 9.81211 -7.6152 16.8861 -0.587362 0.284051 -0.721583 0.231512 +#65317 1721122788539 +SLAM -15.5573 14.2716 16.529 0.667761 0.0032361 0.0503066 0.742667 +TTool-pose None 9.81109 -7.59411 16.8889 -0.587308 0.283163 -0.722211 0.230776 +#65318 1721122788575 +SLAM -15.5509 14.2725 16.4337 0.664926 0.00302073 0.050341 0.745204 +TTool-pose None 9.81018 -7.62838 16.8419 -0.586418 0.285932 -0.721133 0.232988 +#65319 1721122788617 +SLAM -15.5471 14.2809 16.4378 0.6649 0.00301463 0.0502215 0.745236 +TTool-pose None 9.80961 -7.63277 16.8472 -0.586493 0.28593 -0.721053 0.233051 +#65320 1721122788657 +SLAM -15.525 14.3272 16.4915 0.66474 0.00315139 0.0489709 0.745462 +TTool-pose None 9.82088 -7.67799 16.8672 -0.587249 0.285678 -0.720313 0.233742 +#65321 1721122788706 +SLAM -15.5434 14.2908 16.4209 0.664041 0.00305346 0.0498413 0.746027 +TTool-pose None 9.81768 -7.64914 16.8374 -0.586454 0.286605 -0.72053 0.233934 +#65322 1721122788747 +SLAM -15.5573 14.2703 16.5247 0.667559 0.0032708 0.0503516 0.742845 +TTool-pose None 9.80926 -7.5987 16.8853 -0.587199 0.283341 -0.722174 0.230951 +#65323 1721122788786 +SLAM -15.5531 14.2712 16.4282 0.664371 0.00319897 0.0503156 0.745701 +TTool-pose None 9.81048 -7.64441 16.833 -0.586191 0.286333 -0.720968 0.233578 +#65324 1721122788830 +SLAM -15.5467 14.2992 16.4183 0.664914 0.00260254 0.0501188 0.745232 +TTool-pose None 9.81866 -7.61954 16.8601 -0.586706 0.286139 -0.720876 0.232805 +#65325 1721122788867 +SLAM -15.5482 14.2879 16.4478 0.664853 0.00316749 0.0498933 0.745299 +TTool-pose None 9.81828 -7.63894 16.8501 -0.586651 0.285798 -0.720892 0.233313 +#65326 1721122788900 +SLAM -15.5573 14.2729 16.5821 0.669502 0.00319563 0.0501909 0.741105 +TTool-pose None 9.81371 -7.56843 16.9163 -0.587975 0.281534 -0.722764 0.229332 +#65327 1721122788940 +SLAM -15.555 14.2688 16.5993 0.670036 0.00311808 0.0504562 0.740605 +TTool-pose None 9.80327 -7.56582 16.923 -0.587995 0.281149 -0.723087 0.228733 +#65328 1721122788981 +SLAM -15.5556 14.2682 16.4291 0.664562 0.00326614 0.0503039 0.745531 +TTool-pose None 9.81272 -7.63564 16.8347 -0.58624 0.286113 -0.721051 0.233468 +#65329 1721122789019 +SLAM -15.5575 14.2808 16.5443 0.667907 0.00277029 0.0502425 0.742542 +TTool-pose None 9.81879 -7.60978 16.8912 -0.587557 0.28329 -0.722089 0.230369 +#65330 1721122789056 +SLAM -15.5257 14.3208 16.5763 0.667367 0.0032909 0.04907 0.743104 +TTool-pose None 9.8137 -7.64423 16.9064 -0.588005 0.283182 -0.721371 0.231604 +#65331 1721122789093 +SLAM -15.5556 14.2787 16.4319 0.664545 0.00327302 0.0500756 0.745561 +TTool-pose None 9.81938 -7.63716 16.8415 -0.586388 0.286066 -0.720915 0.233572 +#65332 1721122789132 +SLAM -15.5399 14.2994 16.4583 0.665725 0.00268745 0.0500151 0.744514 +TTool-pose None 9.81232 -7.62027 16.8709 -0.587017 0.28531 -0.721138 0.232224 +#65333 1721122789171 +SLAM -15.5541 14.2819 16.4654 0.665293 0.00340857 0.0499247 0.744903 +TTool-pose None 9.81921 -7.63355 16.8552 -0.586694 0.285253 -0.721142 0.233094 +#65334 1721122789212 +SLAM -15.5572 14.2744 16.5617 0.668899 0.00312345 0.0503798 0.741638 +TTool-pose None 9.80888 -7.57886 16.9096 -0.587671 0.282189 -0.722633 0.229721 +#65335 1721122789251 +SLAM -15.5364 14.3207 16.49 0.665362 0.0030439 0.0492031 0.744892 +TTool-pose None 9.82702 -7.65375 16.8755 -0.587333 0.285225 -0.720643 0.233066 +#65336 1721122789293 +SLAM -15.5641 14.2606 16.5818 0.669727 0.00327779 0.0505729 0.740876 +TTool-pose None 9.80746 -7.5612 16.9154 -0.587761 0.281372 -0.72309 0.229055 +#65337 1721122789334 +SLAM -15.5495 14.2852 16.4482 0.664945 0.00312579 0.0500571 0.745207 +TTool-pose None 9.81491 -7.63785 16.8508 -0.586583 0.28578 -0.721007 0.233148 +#65338 1721122789375 +SLAM -15.5589 14.2625 16.5878 0.669676 0.00326312 0.0505397 0.740924 +TTool-pose None 9.80303 -7.56907 16.9146 -0.587771 0.281419 -0.723048 0.2291 +#65339 1721122789414 +SLAM -15.5535 14.2765 16.4301 0.664532 0.00315861 0.0502393 0.745562 +TTool-pose None 9.81367 -7.63941 16.8396 -0.58631 0.286188 -0.720971 0.233445 +#65340 1721122789456 +SLAM -15.5533 14.2803 16.4252 0.664307 0.00321762 0.0501419 0.745769 +TTool-pose None 9.81569 -7.6427 16.839 -0.586282 0.286337 -0.72085 0.233708 +#65341 1721122789494 +SLAM -15.5586 14.2633 16.5637 0.669224 0.0030973 0.0506881 0.741323 +TTool-pose None 9.80121 -7.56977 16.9086 -0.587577 0.281979 -0.722921 0.229314 +#65342 1721122789532 +SLAM -15.5359 14.3108 16.4611 0.665188 0.00282977 0.0497512 0.745011 +TTool-pose None 9.81363 -7.6421 16.8698 -0.586972 0.285655 -0.720832 0.232864 +#65343 1721122789568 +SLAM -15.5582 14.2687 16.564 0.668817 0.0032376 0.0502351 0.741721 +TTool-pose None 9.81332 -7.58061 16.9019 -0.587705 0.28216 -0.722554 0.229919 +#65344 1721122789603 +SLAM -15.5464 14.2833 16.4436 0.664838 0.00309025 0.0500693 0.745302 +TTool-pose None 9.81227 -7.63834 16.8467 -0.586551 0.285903 -0.720965 0.233209 +#65345 1721122789638 +SLAM -15.5561 14.2695 16.4783 0.666031 0.00318384 0.0503279 0.744218 +TTool-pose None 9.81175 -7.62123 16.8581 -0.586739 0.284807 -0.721577 0.23218 +#65346 1721122789671 +SLAM -15.5517 14.2844 16.4205 0.66404 0.00326451 0.0499083 0.746023 +TTool-pose None 9.82105 -7.64641 16.8359 -0.586337 0.286496 -0.720631 0.234049 +#65347 1721122789706 +SLAM -15.5496 14.2694 16.4648 0.665751 0.00308392 0.0504767 0.744459 +TTool-pose None 9.80235 -7.62317 16.8541 -0.586578 0.285165 -0.721531 0.232292 +#65348 1721122789740 +SLAM -15.5512 14.2748 16.4288 0.664524 0.00315152 0.0501636 0.745575 +TTool-pose None 9.81425 -7.63727 16.8366 -0.586361 0.286181 -0.720922 0.233476 +#65349 1721122789779 +SLAM -15.5523 14.275 16.4277 0.664493 0.00319024 0.0502974 0.745593 +TTool-pose None 9.81026 -7.63878 16.8388 -0.586246 0.28622 -0.720999 0.233477 +#65350 1721122789819 +SLAM -15.5535 14.27 16.4474 0.665042 0.00320512 0.05018 0.745111 +TTool-pose None 9.81493 -7.63189 16.841 -0.586505 0.285673 -0.721137 0.233073 +#65351 1721122789861 +SLAM -15.5406 14.3068 16.4682 0.665062 0.00307058 0.0495631 0.745136 +TTool-pose None 9.82082 -7.64857 16.8639 -0.586978 0.285579 -0.720749 0.233199 +#65352 1721122789901 +SLAM -15.5556 14.2686 16.5299 0.667867 0.0031835 0.0504972 0.742559 +TTool-pose None 9.80397 -7.59308 16.8896 -0.587231 0.283144 -0.722344 0.230581 +#65353 1721122789938 +SLAM -15.5537 14.2809 16.5226 0.667156 0.00320013 0.0500981 0.743225 +TTool-pose None 9.81426 -7.61304 16.8833 -0.587263 0.283694 -0.72186 0.231337 +#65354 1721122789976 +SLAM -15.5591 14.2666 16.474 0.666098 0.0032864 0.0504816 0.744146 +TTool-pose None 9.80856 -7.6144 16.861 -0.586622 0.284722 -0.721721 0.232134 +#65355 1721122790019 +SLAM -15.5564 14.2607 16.4642 0.665937 0.00318727 0.0505955 0.744284 +TTool-pose None 9.80442 -7.61394 16.8528 -0.586524 0.28496 -0.721699 0.23216 +#65356 1721122790057 +SLAM -15.5525 14.2772 16.4498 0.664973 0.00324275 0.0501632 0.745174 +TTool-pose None 9.81311 -7.63723 16.8467 -0.58648 0.285711 -0.721113 0.233163 +#65357 1721122790097 +SLAM -15.5585 14.2594 16.4749 0.666281 0.00318193 0.0505207 0.743981 +TTool-pose None 9.80886 -7.60841 16.8562 -0.58669 0.284625 -0.721779 0.231897 +#65358 1721122790148 +SLAM -15.5489 14.2826 16.4419 0.664824 0.00308891 0.0501333 0.745309 +TTool-pose None 9.81283 -7.63818 16.847 -0.586503 0.285933 -0.720996 0.233196 +#65359 1721122790186 +SLAM -15.5363 14.3094 16.451 0.665095 0.00273997 0.0497465 0.745095 +TTool-pose None 9.81611 -7.63736 16.8663 -0.586974 0.285794 -0.720768 0.232884 +#65360 1721122790222 +SLAM -15.5528 14.2754 16.4365 0.664837 0.00304372 0.0502337 0.745291 +TTool-pose None 9.81484 -7.63377 16.8418 -0.586454 0.285974 -0.721045 0.233118 +#65361 1721122790257 +SLAM -15.5584 14.2739 16.6581 0.671673 0.00319874 0.0501429 0.739142 +TTool-pose None 9.81337 -7.54641 16.9513 -0.58872 0.27949 -0.723521 0.227526 +#65362 1721122790291 +SLAM -15.5559 14.2737 16.6484 0.67146 0.00313311 0.0502169 0.73933 +TTool-pose None 9.80985 -7.54801 16.9477 -0.588621 0.279747 -0.723468 0.227634 +#65363 1721122790326 +SLAM -15.5622 14.2644 16.5991 0.67 0.00328267 0.0504683 0.740636 +TTool-pose None 9.80785 -7.56499 16.9212 -0.58792 0.281088 -0.72313 0.228868 +#65364 1721122790360 +SLAM -15.5545 14.2744 16.5991 0.669888 0.00313096 0.0501961 0.740756 +TTool-pose None 9.81087 -7.56908 16.9223 -0.58812 0.281214 -0.722887 0.228963 +#65365 1721122790396 +SLAM -15.5515 14.283 16.546 0.668854 0.00277922 0.0503766 0.741679 +TTool-pose None 9.80875 -7.57073 16.9131 -0.587774 0.282437 -0.722513 0.229531 +#65366 1721122790430 +SLAM -15.5177 14.3202 16.691 0.668666 0.00393306 0.0486249 0.741961 +TTool-pose None 9.80549 -7.68421 16.9223 -0.588523 0.281472 -0.721777 0.231107 +#65367 1721122790464 +SLAM -15.5253 14.317 16.5385 0.665807 0.00334136 0.04917 0.744495 +TTool-pose None 9.8104 -7.67606 16.8783 -0.587403 0.284625 -0.720875 0.232903 +#65368 1721122790498 +SLAM -15.5565 14.2864 16.3401 0.664832 0.00179108 0.0510577 0.745244 +TTool-pose None 9.8148 -7.56937 16.856 -0.586308 0.28694 -0.721146 0.231984 +#65369 1721122790533 +SLAM -15.5301 14.3157 16.7298 0.670776 0.00378678 0.0487374 0.740047 +TTool-pose None 9.81592 -7.63251 16.9556 -0.58919 0.279619 -0.722562 0.229196 +#65370 1721122790569 +SLAM -15.55 14.2375 16.9299 0.681411 0.00160403 0.0523312 0.730026 +TTool-pose None 9.74813 -7.42486 17.0864 -0.590909 0.271796 -0.727776 0.217368 +#65371 1721122790605 +SLAM -15.5557 14.2693 16.4316 0.664491 0.0032957 0.0502608 0.745597 +TTool-pose None 9.81356 -7.64034 16.834 -0.586236 0.286149 -0.721009 0.233562 +#65372 1721122790638 +SLAM -15.5567 14.2693 16.5753 0.669367 0.00313518 0.0503976 0.741214 +TTool-pose None 9.8076 -7.57099 16.9126 -0.58781 0.281749 -0.722816 0.229328 +#65373 1721122790675 +SLAM -15.4565 14.3993 17.0383 0.671595 0.0050187 0.0457573 0.739487 +TTool-pose None 9.80341 -7.84751 16.9972 -0.59108 0.277346 -0.721502 0.230428 +#65374 1721122790719 +SLAM -15.5621 14.262 16.5569 0.668749 0.00329112 0.0504852 0.741765 +TTool-pose None 9.80883 -7.5787 16.8993 -0.587494 0.282255 -0.722689 0.229918 +#65375 1721122790754 +SLAM -15.5308 14.3081 16.6062 0.667678 0.00354663 0.0492413 0.742812 +TTool-pose None 9.80851 -7.65757 16.9033 -0.587905 0.282782 -0.721658 0.231449 +#65376 1721122790788 +SLAM -15.5551 14.2723 16.5399 0.668127 0.00313233 0.0503755 0.742334 +TTool-pose None 9.80763 -7.59093 16.8947 -0.587417 0.282902 -0.722353 0.230375 +#65377 1721122790822 +SLAM -15.5649 14.2675 16.6206 0.670539 0.00338011 0.0502116 0.740165 +TTool-pose None 9.81671 -7.55792 16.9307 -0.58824 0.28046 -0.723206 0.228575 +#65378 1721122790855 +SLAM -15.5464 14.2856 16.4423 0.664691 0.00311066 0.0500253 0.745435 +TTool-pose None 9.81326 -7.64287 16.8461 -0.586525 0.286016 -0.720892 0.233361 +#65379 1721122790889 +SLAM -15.5501 14.2784 16.5621 0.668816 0.00305484 0.0502371 0.741723 +TTool-pose None 9.80731 -7.58191 16.9084 -0.587765 0.282271 -0.7225 0.229798 +#65380 1721122790923 +SLAM -15.546 14.2906 16.4445 0.664603 0.00312848 0.0498543 0.745525 +TTool-pose None 9.81775 -7.64698 16.8469 -0.586607 0.286043 -0.720766 0.233511 +#65381 1721122790961 +SLAM -15.5558 14.2703 16.5326 0.667885 0.00316884 0.0503179 0.742555 +TTool-pose None 9.81019 -7.59303 16.8886 -0.587364 0.283091 -0.722243 0.230623 +#65382 1721122790996 +SLAM -15.5284 14.3029 16.7323 0.670861 0.00377498 0.0491958 0.73994 +TTool-pose None 9.79968 -7.63601 16.9505 -0.588908 0.279662 -0.722854 0.228945 +#65383 1721122791032 +SLAM -15.5531 14.2712 16.4398 0.664777 0.00322611 0.0502024 0.745347 +TTool-pose None 9.81357 -7.63616 16.8385 -0.586394 0.285912 -0.72106 0.2333 +#65384 1721122791067 +SLAM -15.5583 14.2654 16.4257 0.664563 0.00326924 0.0503696 0.745526 +TTool-pose None 9.81363 -7.63289 16.8335 -0.586194 0.286127 -0.72109 0.233444 +#65385 1721122791101 +SLAM -15.5303 14.3095 16.638 0.66886 0.00346506 0.0492202 0.741749 +TTool-pose None 9.80896 -7.63754 16.923 -0.588337 0.281725 -0.722052 0.230413 +#65386 1721122791139 +SLAM -15.558 14.2693 16.5473 0.668392 0.00320248 0.0503567 0.742095 +TTool-pose None 9.81014 -7.58515 16.8971 -0.587494 0.282607 -0.722459 0.230206 +#65387 1721122791175 +SLAM -15.5446 14.2841 16.4254 0.66428 0.00307798 0.0500202 0.745802 +TTool-pose None 9.81296 -7.64445 16.8378 -0.586403 0.286415 -0.720728 0.233684 +#65388 1721122791210 +SLAM -15.558 14.2736 16.5439 0.668126 0.00337815 0.0500001 0.742358 +TTool-pose None 9.81927 -7.5867 16.8944 -0.587591 0.282659 -0.722209 0.230679 +#65389 1721122791246 +SLAM -15.5611 14.265 16.6122 0.670462 0.00321166 0.0504653 0.740218 +TTool-pose None 9.80752 -7.55842 16.9283 -0.588098 0.280697 -0.723274 0.228433 +#65390 1721122791290 +SLAM -15.5658 14.2611 16.6483 0.671507 0.00341965 0.0503002 0.739281 +TTool-pose None 9.81356 -7.54226 16.9423 -0.588484 0.279553 -0.723618 0.227753 +#65391 1721122791324 +SLAM -15.5611 14.2619 16.5665 0.669048 0.00326403 0.050442 0.741499 +TTool-pose None 9.80933 -7.57474 16.9028 -0.587631 0.281981 -0.722764 0.229665 +#65392 1721122791359 +SLAM -15.5345 14.3069 16.5902 0.668348 0.00311301 0.0494867 0.742194 +TTool-pose None 9.81197 -7.62166 16.914 -0.588104 0.282481 -0.721915 0.230509 +#65393 1721122791394 +SLAM -17.3865 13.6285 15.0708 0.615327 0.0310519 0.032965 0.78697 +TTool-pose None 11.8649 -7.58837 15.8869 -0.571364 0.308233 -0.700119 0.297224 +#65394 1721122791436 +SLAM -15.5555 14.2675 16.5325 0.667922 0.00318609 0.0504622 0.742512 +TTool-pose None 9.80504 -7.5926 16.8888 -0.587272 0.283082 -0.722344 0.23055 +#65395 1721122791472 +SLAM -15.5587 14.2734 16.5902 0.669721 0.00316765 0.0502536 0.740904 +TTool-pose None 9.81298 -7.56817 16.9206 -0.588014 0.281363 -0.722871 0.229107 +#65396 1721122791517 +SLAM -15.5535 14.269 16.4106 0.663944 0.00325491 0.0502824 0.746083 +TTool-pose None 9.81213 -7.64435 16.8251 -0.586053 0.286685 -0.720809 0.233982 +#65397 1721122791557 +SLAM -15.5521 14.2799 16.5488 0.668221 0.0031279 0.050123 0.742266 +TTool-pose None 9.81221 -7.5929 16.8994 -0.587622 0.282753 -0.72224 0.230388 +#65398 1721122791598 +SLAM -15.5579 14.2676 16.5438 0.668358 0.0031676 0.0504863 0.742118 +TTool-pose None 9.80652 -7.58526 16.8965 -0.587406 0.282693 -0.722511 0.230163 +#65399 1721122791633 +SLAM -15.5569 14.2824 16.5744 0.668905 0.00321397 0.0500217 0.741656 +TTool-pose None 9.81796 -7.5858 16.9128 -0.587888 0.282038 -0.722456 0.229909 +#65400 1721122791671 +SLAM -15.5545 14.2787 16.5827 0.669303 0.00316329 0.050164 0.741287 +TTool-pose None 9.81163 -7.57845 16.917 -0.587939 0.281733 -0.722667 0.229488 +#65401 1721122791707 +SLAM -15.5666 14.2475 16.9063 0.679948 0.00248495 0.0511797 0.731468 +TTool-pose None 9.79039 -7.44198 17.0682 -0.590933 0.272371 -0.72686 0.219638 +#65402 1721122791746 +SLAM -15.5597 14.2645 16.5473 0.668438 0.00322133 0.0504742 0.742046 +TTool-pose None 9.80804 -7.58395 16.8953 -0.587422 0.282583 -0.722549 0.230136 +#65403 1721122791783 +SLAM -15.5494 14.2891 16.447 0.664787 0.00307085 0.0499448 0.745356 +TTool-pose None 9.81905 -7.64342 16.8494 -0.586625 0.285931 -0.720868 0.233286 +#65404 1721122791826 +SLAM -15.5586 14.2609 16.5757 0.669286 0.00330264 0.0504488 0.741283 +TTool-pose None 9.80576 -7.57245 16.906 -0.587692 0.281737 -0.722866 0.229488 +#65405 1721122791861 +SLAM -15.5555 14.2679 16.5329 0.667927 0.00319104 0.0504176 0.74251 +TTool-pose None 9.80638 -7.59213 16.8887 -0.587303 0.283063 -0.722322 0.230565 +#65406 1721122791898 +SLAM -15.5343 14.2969 16.6863 0.669663 0.00390843 0.0491028 0.74103 +TTool-pose None 9.80904 -7.6405 16.9268 -0.588534 0.280678 -0.722407 0.230075 +#65407 1721122791936 +SLAM -15.5383 14.3074 16.4356 0.664744 0.00269869 0.0498379 0.745402 +TTool-pose None 9.81647 -7.63939 16.86 -0.586809 0.286167 -0.72068 0.233115 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-0.587599 0.28274 -0.722581 0.229392 +#65414 1721122792193 +SLAM -15.5669 14.2385 16.9041 0.680182 0.00232125 0.0515629 0.731224 +TTool-pose None 9.78105 -7.43593 17.0668 -0.590801 0.272343 -0.727114 0.219185 +#65415 1721122792228 +SLAM -15.5492 14.2859 16.4403 0.664582 0.00314817 0.0499984 0.745534 +TTool-pose None 9.81639 -7.64504 16.8449 -0.586495 0.286087 -0.720847 0.233487 +#65416 1721122792269 +SLAM -15.5767 14.2535 16.985 0.682091 0.002842 0.0504519 0.729519 +TTool-pose None 9.81629 -7.4087 17.1058 -0.591999 0.26993 -0.727302 0.21831 +#65417 1721122792303 +SLAM -15.5512 14.2814 16.5736 0.668943 0.00306314 0.0502366 0.741608 +TTool-pose None 9.80746 -7.588 16.9128 -0.587804 0.282147 -0.722548 0.229697 +#65418 1721122792342 +SLAM -15.5486 14.2861 16.4593 0.665194 0.00310589 0.049936 0.744992 +TTool-pose None 9.81788 -7.63659 16.8533 -0.586755 0.28553 -0.721023 0.232972 +#65419 1721122792383 +SLAM -15.5608 14.2643 16.563 0.668947 0.00324692 0.0503963 0.741593 +TTool-pose None 9.81077 -7.5756 16.9027 -0.587634 0.282074 -0.722696 0.229756 +#65420 1721122792421 +SLAM -15.5556 14.2688 16.4635 0.665608 0.00324466 0.0503257 0.744596 +TTool-pose None 9.811 -7.62416 16.8517 -0.58658 0.285162 -0.72144 0.232574 +#65421 1721122792457 +SLAM -15.5054 14.3585 16.5708 0.671243 -0.000103761 0.0509396 0.739485 +TTool-pose None 9.78185 -7.54275 16.9923 -0.589138 0.282078 -0.722841 0.225402 +#65422 1721122792492 +SLAM -15.5585 14.2629 16.5533 0.668576 0.00325106 0.0504707 0.741922 +TTool-pose None 9.80631 -7.58305 16.8961 -0.58746 0.282436 -0.722606 0.230041 +#65423 1721122792526 +SLAM -15.558 14.2694 16.5528 0.668645 0.00315324 0.0503318 0.74187 +TTool-pose None 9.81159 -7.57975 16.9005 -0.587611 0.282395 -0.722522 0.229971 +#65424 1721122792563 +SLAM -15.5517 14.2755 16.4723 0.665733 0.00321389 0.0501634 0.744495 +TTool-pose None 9.81214 -7.62615 16.8568 -0.586742 0.285023 -0.721383 0.23251 +#65425 1721122792597 +SLAM -15.5576 14.2684 16.4349 0.664608 0.00328811 0.0502781 0.745492 +TTool-pose None 9.81494 -7.63885 16.8352 -0.586265 0.28605 -0.721059 0.233454 +#65426 1721122792638 +SLAM -15.5566 14.264 16.506 0.66707 0.00320149 0.0505406 0.743272 +TTool-pose None 9.80435 -7.60468 16.873 -0.586932 0.283885 -0.722084 0.231244 +#65427 1721122792674 +SLAM -15.553 14.2703 16.4814 0.666031 0.00326174 0.0503257 0.744218 +TTool-pose None 9.80737 -7.623 16.8595 -0.586714 0.28476 -0.721599 0.232232 +#65428 1721122792707 +SLAM -15.553 14.2811 16.5181 0.667241 0.00308176 0.050228 0.74314 +TTool-pose None 9.81124 -7.60828 16.8856 -0.587242 0.283719 -0.721931 0.231138 +#65429 1721122792745 +SLAM -15.56 14.2598 16.6009 0.67032 0.00312868 0.0506165 0.740338 +TTool-pose None 9.80345 -7.55621 16.9222 -0.587975 0.280919 -0.723285 0.228442 +#65430 1721122792781 +SLAM -15.5775 14.2469 16.8835 0.678909 0.00287869 0.0507229 0.732462 +TTool-pose None 9.81154 -7.4555 17.0496 -0.59078 0.273006 -0.726346 0.220958 +#65431 1721122792816 +SLAM -15.5512 14.2737 16.4339 0.664779 0.00306047 0.0503857 0.745333 +TTool-pose None 9.80815 -7.63528 16.8415 -0.586325 0.286056 -0.721116 0.233121 +#65432 1721122792856 +SLAM -15.5485 14.2868 16.4458 0.664729 0.003141 0.0499666 0.745405 +TTool-pose None 9.81656 -7.64371 16.8474 -0.586568 0.285948 -0.720881 0.233372 +#65433 1721122792889 +SLAM -15.5413 14.2898 16.628 0.669359 0.00334851 0.0497789 0.741262 +TTool-pose None 9.80513 -7.61328 16.921 -0.588159 0.281471 -0.72252 0.229708 +#65434 1721122792925 +SLAM -15.5485 14.2848 16.4696 0.665752 0.00298493 0.0501359 0.744481 +TTool-pose None 9.81275 -7.62642 16.8625 -0.586844 0.285137 -0.721306 0.232353 +#65435 1721122792964 +SLAM -15.5187 14.3275 16.5541 0.665402 0.00356375 0.0486493 0.74489 +TTool-pose None 9.81609 -7.69994 16.8749 -0.58755 0.284734 -0.720492 0.233583 +#65436 1721122793003 +SLAM -15.5566 14.2749 16.4384 0.664725 0.00322649 0.0501235 0.745398 +TTool-pose None 9.81943 -7.6366 16.8405 -0.586431 0.28594 -0.720995 0.233373 +#65437 1721122793038 +SLAM -15.5539 14.2749 16.5782 0.669187 0.0032045 0.0500885 0.741397 +TTool-pose None 9.81347 -7.5771 16.911 -0.587939 0.281798 -0.722593 0.229641 +#65438 1721122793077 +SLAM -15.5594 14.2713 16.6024 0.671376 0.002673 0.0506856 0.739377 +TTool-pose None 9.80727 -7.51923 16.9478 -0.588427 0.280222 -0.723571 0.227225 +#65439 1721122793118 +SLAM -15.555 14.2686 16.4616 0.665575 0.00322066 0.0504247 0.744618 +TTool-pose None 9.8076 -7.62533 16.852 -0.586509 0.285232 -0.721478 0.232548 +#65440 1721122793153 +SLAM -15.5619 14.2688 16.6219 0.671931 0.00264358 0.0508536 0.738861 +TTool-pose None 9.804 -7.51628 16.9562 -0.588504 0.279763 -0.723859 0.226675 +#65441 1721122793186 +SLAM -15.5349 14.2995 16.6302 0.668903 0.00350528 0.0494672 0.741693 +TTool-pose None 9.80581 -7.62979 16.9191 -0.588169 0.281723 -0.722222 0.23031 +#65442 1721122793220 +SLAM -15.5652 14.2589 16.5532 0.668592 0.0033673 0.0504703 0.741907 +TTool-pose None 9.8116 -7.58063 16.8947 -0.587427 0.282351 -0.722646 0.230105 +#65443 1721122793254 +SLAM -15.5622 14.2612 16.5577 0.668691 0.00331601 0.0503843 0.741824 +TTool-pose None 9.81193 -7.58032 16.8963 -0.587535 0.282268 -0.722617 0.230021 +#65444 1721122793288 +SLAM -15.5476 14.2864 16.4321 0.664449 0.00305094 0.0499801 0.745654 +TTool-pose None 9.81725 -7.64386 16.8419 -0.586496 0.286264 -0.720759 0.23354 +#65445 1721122793324 +SLAM -15.5581 14.2638 16.5735 0.669448 0.00310768 0.0505475 0.741131 +TTool-pose None 9.80494 -7.56749 16.9106 -0.587743 0.281728 -0.722924 0.229186 +#65446 1721122793364 +SLAM -15.5552 14.2715 16.4436 0.664841 0.00325455 0.0502604 0.745285 +TTool-pose None 9.81311 -7.6376 16.8409 -0.586366 0.28585 -0.721125 0.233244 +#65447 1721122793407 +SLAM -15.563 14.2548 16.5863 0.669973 0.00316395 0.0507211 0.740644 +TTool-pose None 9.80341 -7.5577 16.9142 -0.587778 0.281249 -0.72323 0.228718 +#65448 1721122793451 +SLAM -15.5608 14.2645 16.547 0.668371 0.00324878 0.0504673 0.742107 +TTool-pose None 9.8089 -7.58622 16.8945 -0.587395 0.282627 -0.722529 0.230213 +#65449 1721122793492 +SLAM -15.5515 14.2817 16.5176 0.667643 0.00295583 0.0502542 0.742777 +TTool-pose None 9.81106 -7.59207 16.8924 -0.587399 0.283427 -0.722055 0.230708 +#65450 1721122793534 +SLAM -15.5526 14.2804 16.498 0.66658 0.00317211 0.0501625 0.743737 +TTool-pose None 9.81244 -7.61534 16.8747 -0.587038 0.284262 -0.721679 0.231775 +#65451 1721122793574 +SLAM -15.5606 14.2657 16.5732 0.669324 0.00315668 0.0505592 0.741242 +TTool-pose None 9.806 -7.57253 16.9112 -0.587677 0.281817 -0.7229 0.229318 +#65452 1721122793611 +SLAM -15.5492 14.2832 16.4428 0.664786 0.00308166 0.0500834 0.745347 +TTool-pose None 9.8147 -7.64028 16.8461 -0.586527 0.28596 -0.720951 0.233241 +#65453 1721122793650 +SLAM -15.5528 14.2793 16.4465 0.664938 0.00318649 0.0501453 0.745206 +TTool-pose None 9.81485 -7.63632 16.8474 -0.5865 0.285772 -0.721074 0.233161 +#65454 1721122793688 +SLAM -15.5527 14.2696 16.4222 0.66427 0.00324841 0.0501866 0.745799 +TTool-pose None 9.81419 -7.64031 16.8291 -0.586229 0.286364 -0.720871 0.233743 +#65455 1721122793729 +SLAM -15.5626 14.2692 16.5878 0.669387 0.00274351 0.0504728 0.741192 +TTool-pose None 9.81595 -7.58975 16.9071 -0.587896 0.281985 -0.72275 0.229024 +#65456 1721122793768 +SLAM -15.5543 14.2752 16.545 0.668296 0.00311267 0.0501818 0.742195 +TTool-pose None 9.81331 -7.58656 16.8974 -0.587612 0.282707 -0.722297 0.230293 +#65457 1721122793805 +SLAM -15.5616 14.2575 16.5413 0.668311 0.00330863 0.0506053 0.742151 +TTool-pose None 9.80501 -7.58352 16.8898 -0.587261 0.282682 -0.722605 0.230251 +#65458 1721122793844 +SLAM -15.5584 14.2685 16.4448 0.665001 0.00328295 0.0502655 0.745142 +TTool-pose None 9.8159 -7.6313 16.8417 -0.586406 0.285686 -0.721194 0.233127 +#65459 1721122793880 +SLAM -15.5494 14.2782 16.5582 0.668718 0.00299365 0.0503759 0.741801 +TTool-pose None 9.803 -7.58505 16.9076 -0.587658 0.282434 -0.722526 0.229787 +#65460 1721122793918 +SLAM -15.5505 14.2769 16.4329 0.664639 0.0031376 0.0502397 0.745467 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0.00312733 0.0502265 0.743335 +TTool-pose None 9.80927 -7.60953 16.8819 -0.587156 0.283894 -0.721864 0.231351 +#65467 1721122794188 +SLAM -15.5775 14.2411 16.9936 0.682585 0.00276459 0.0509463 0.729023 +TTool-pose None 9.80225 -7.40155 17.1082 -0.591844 0.269631 -0.727737 0.21765 +#65468 1721122794225 +SLAM -15.558 14.2816 16.5894 0.669207 0.00277676 0.0502111 0.741373 +TTool-pose None 9.8185 -7.59629 16.9123 -0.588005 0.282067 -0.722544 0.229296 +#65469 1721122794268 +SLAM -15.5531 14.2768 16.4402 0.66488 0.00312726 0.0501834 0.745256 +TTool-pose None 9.81533 -7.63383 16.8441 -0.586474 0.285871 -0.721056 0.233156 +#65470 1721122794306 +SLAM -15.5633 14.2598 16.5806 0.669228 0.00344097 0.0503925 0.741338 +TTool-pose None 9.81004 -7.57728 16.9051 -0.587665 0.281693 -0.722854 0.229649 +#65471 1721122794343 +SLAM -15.544 14.2865 16.4462 0.665037 0.00294837 0.0501753 0.745117 +TTool-pose None 9.8082 -7.63579 16.8527 -0.586592 0.285831 -0.721057 0.23291 +#65472 1721122794381 +SLAM -15.5577 14.259 16.4905 0.666842 0.00313675 0.0507185 0.743464 +TTool-pose None 9.80163 -7.60229 16.8669 -0.586756 0.284181 -0.722085 0.231324 +#65473 1721122794418 +SLAM -15.549 14.2735 16.4205 0.664288 0.00309162 0.05033 0.745774 +TTool-pose None 9.80773 -7.64217 16.8328 -0.586189 0.286477 -0.720914 0.23357 +#65474 1721122794455 +SLAM -15.559 14.2631 16.5881 0.66988 0.00313208 0.0505414 0.740741 +TTool-pose None 9.80518 -7.56235 16.9172 -0.587881 0.281309 -0.723084 0.228842 +#65475 1721122794493 +SLAM -15.5615 14.2616 16.6256 0.671025 0.00326799 0.0504972 0.739706 +TTool-pose None 9.80591 -7.54587 16.9358 -0.588242 0.280145 -0.723512 0.227985 +#65476 1721122794529 +SLAM -15.5519 14.2822 16.4558 0.665171 0.00320042 0.0500259 0.745006 +TTool-pose None 9.81718 -7.63373 16.8523 -0.586654 0.285517 -0.721094 0.23302 +#65477 1721122794567 +SLAM -15.5562 14.2668 16.4766 0.666104 0.0031862 0.0505311 0.744138 +TTool-pose None 9.80528 -7.61865 16.8599 -0.586623 0.284789 -0.721722 0.232044 +#65478 1721122794606 +SLAM -15.5399 14.295 16.6104 0.668515 0.00355614 0.0494537 0.742044 +TTool-pose None 9.81175 -7.62642 16.91 -0.588033 0.28205 -0.722088 0.230674 +#65479 1721122794645 +SLAM -15.5564 14.2627 16.4567 0.665651 0.00320564 0.0504921 0.744546 +TTool-pose None 9.80769 -7.61768 16.849 -0.586493 0.285188 -0.72154 0.23245 +#65480 1721122794679 +SLAM -15.558 14.2698 16.6332 0.671074 0.00315599 0.0503243 0.739674 +TTool-pose None 9.80885 -7.55116 16.9398 -0.588413 0.280123 -0.723397 0.227935 +#65481 1721122794723 +SLAM -15.5549 14.2719 16.4615 0.665545 0.00323847 0.0502261 0.744659 +TTool-pose None 9.81363 -7.62407 16.8523 -0.586629 0.285199 -0.721357 0.232659 +#65482 1721122794766 +SLAM -15.5553 14.2638 16.4738 0.666075 0.00315798 0.0505071 0.744166 +TTool-pose None 9.80603 -7.61684 16.8559 -0.58664 0.284827 -0.721689 0.232058 +#65483 1721122794803 +SLAM -15.5597 14.2599 16.5258 0.667891 0.00318004 0.0506014 0.74253 +TTool-pose None 9.80552 -7.58877 16.8835 -0.587168 0.28315 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16.9292 -0.588229 0.280323 -0.723404 0.228146 +#65490 1721122795079 +SLAM -15.5497 14.2758 16.4544 0.665422 0.00304554 0.0503152 0.744763 +TTool-pose None 9.80834 -7.62656 16.8524 -0.586592 0.285451 -0.721307 0.232601 +#65491 1721122795118 +SLAM -15.5531 14.2711 16.4587 0.665531 0.00313859 0.0503355 0.744664 +TTool-pose None 9.80987 -7.62457 16.8513 -0.586583 0.285299 -0.721386 0.232564 +#65492 1721122795158 +SLAM -15.5557 14.2678 16.4341 0.664648 0.00323158 0.0503856 0.745449 +TTool-pose None 9.81038 -7.63833 16.836 -0.586224 0.286074 -0.721119 0.233343 +#65493 1721122795195 +SLAM -15.5609 14.2639 16.5221 0.667999 0.00310841 0.0505519 0.742437 +TTool-pose None 9.80952 -7.58127 16.8882 -0.587262 0.28308 -0.722401 0.2304 +#65494 1721122795230 +SLAM -15.5618 14.2651 16.5541 0.668491 0.00331418 0.0503572 0.742006 +TTool-pose None 9.81221 -7.58566 16.8962 -0.587489 0.282448 -0.722529 0.230197 +#65495 1721122795266 +SLAM -15.5531 14.275 16.4637 0.665693 0.00309371 0.0503167 0.744521 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0.0508955 0.741399 +TTool-pose None 9.79171 -7.59422 16.9131 -0.587776 0.282791 -0.722673 0.228579 +#65502 1721122795541 +SLAM -15.5577 14.272 16.446 0.664916 0.00329194 0.0501568 0.745225 +TTool-pose None 9.81841 -7.63494 16.8419 -0.586449 0.285732 -0.721103 0.233245 +#65503 1721122795580 +SLAM -15.5558 14.2845 16.3685 0.664672 0.00230486 0.0507007 0.745409 +TTool-pose None 9.8166 -7.59199 16.8507 -0.586327 0.286689 -0.721034 0.232591 +#65504 1721122795617 +SLAM -15.5513 14.2726 16.4354 0.664855 0.00304449 0.0503522 0.745267 +TTool-pose None 9.80963 -7.63307 16.841 -0.586378 0.285987 -0.72112 0.233059 +#65505 1721122795653 +SLAM -15.5567 14.2665 16.5293 0.66759 0.00329518 0.0503243 0.742819 +TTool-pose None 9.80925 -7.60072 16.8816 -0.58722 0.28329 -0.722177 0.230951 +#65506 1721122795693 +SLAM -15.5397 14.303 16.4341 0.664769 0.00274932 0.0499151 0.745374 +TTool-pose None 9.81492 -7.63661 16.8582 -0.586748 0.286132 -0.720749 0.233098 +#65507 1721122795874 +SLAM -15.5587 14.2727 16.5861 0.669423 0.00326416 0.0501463 0.74118 +TTool-pose None 9.81527 -7.5744 16.9147 -0.587957 0.281556 -0.72273 0.229461 +#65508 1721122795913 +SLAM -15.5503 14.2762 16.5203 0.667455 0.00309703 0.0503369 0.742941 +TTool-pose None 9.8051 -7.60151 16.8862 -0.587233 0.283539 -0.722076 0.230929 +#65509 1721122795950 +SLAM -15.5601 14.2619 16.5386 0.668454 0.00310533 0.0506989 0.742017 +TTool-pose None 9.80325 -7.57907 16.8953 -0.587313 0.282695 -0.72265 0.229962 +#65510 1721122795989 +SLAM -15.545 14.2894 16.4511 0.664962 0.00305328 0.0498986 0.745202 +TTool-pose None 9.81641 -7.63915 16.8514 -0.586721 0.285767 -0.720901 0.233145 +#65511 1721122796029 +SLAM -15.5536 14.2708 16.4533 0.665378 0.00310837 0.0503396 0.744801 +TTool-pose None 9.81085 -7.6265 16.8484 -0.586539 0.285461 -0.721323 0.23267 +#65512 1721122796066 +SLAM -15.545 14.2845 16.4263 0.664415 0.00302776 0.0501289 0.745675 +TTool-pose None 9.81044 -7.64158 16.8415 -0.586391 0.286348 -0.720826 0.233498 +#65513 1721122796103 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0.28443 -0.721833 0.231788 +#65525 1721122796566 +SLAM -15.5529 14.2785 16.5903 0.669489 0.00312617 0.0501686 0.74112 +TTool-pose None 9.81017 -7.57825 16.919 -0.58801 0.281583 -0.722726 0.229306 +#65526 1721122796607 +SLAM -15.558 14.2689 16.5677 0.668939 0.00323791 0.0503629 0.741602 +TTool-pose None 9.80868 -7.58061 16.9058 -0.587658 0.282078 -0.722672 0.229769 +#65527 1721122796642 +SLAM -15.5505 14.2823 16.4774 0.665911 0.0031107 0.0501129 0.74434 +TTool-pose None 9.81354 -7.62482 16.864 -0.58687 0.284908 -0.721388 0.232312 +#65528 1721122796682 +SLAM -15.5441 14.2867 16.6042 0.670125 0.00216918 0.0506973 0.740512 +TTool-pose None 9.79677 -7.58499 16.9301 -0.588177 0.281699 -0.722976 0.227941 +#65529 1721122796720 +SLAM -15.5567 14.2671 16.5174 0.66754 0.00316684 0.0504234 0.742858 +TTool-pose None 9.8084 -7.59441 16.8819 -0.587179 0.283439 -0.722177 0.230871 +#65530 1721122796760 +SLAM -15.5745 14.2379 16.998 0.682839 0.00256006 0.0512401 0.728765 +TTool-pose None 9.79236 -7.40071 17.1104 -0.591793 0.269585 -0.727935 0.217185 +#65531 1721122796798 +SLAM -15.545 14.2861 16.4702 0.665691 0.00299419 0.0501055 0.744537 +TTool-pose None 9.81 -7.62909 16.8621 -0.586842 0.285179 -0.721269 0.232421 +#65532 1721122796836 +SLAM -15.5549 14.2665 16.458 0.66563 0.00311497 0.0505552 0.744561 +TTool-pose None 9.80501 -7.62243 16.8516 -0.586473 0.285278 -0.721542 0.232383 +#65533 1721122796874 +SLAM -15.5587 14.2648 16.4825 0.666209 0.00331201 0.0503725 0.744054 +TTool-pose None 9.81115 -7.61584 16.8593 -0.586725 0.284575 -0.721706 0.232099 +#65534 1721122796914 +SLAM -15.5385 14.3102 16.4337 0.664532 0.00278498 0.0496655 0.745602 +TTool-pose None 9.82092 -7.64357 16.8578 -0.586827 0.286267 -0.720529 0.233413 +#65535 1721122796955 +SLAM -15.5535 14.2717 16.5605 0.66868 0.00249769 0.0507692 0.741811 +TTool-pose None 9.80144 -7.60124 16.8983 -0.587543 0.282867 -0.722592 0.229344 +#65536 1721122796994 +SLAM -15.5575 14.2649 16.5408 0.667994 0.00328774 0.0504262 0.742449 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0.00310776 0.0500097 0.744251 +TTool-pose None 9.81306 -7.62536 16.8669 -0.586978 0.284784 -0.721367 0.232259 +#65543 1721122797264 +SLAM -15.5457 14.2922 16.4676 0.66597 0.00283858 0.0500762 0.744291 +TTool-pose None 9.81388 -7.61679 16.8711 -0.587006 0.285007 -0.721307 0.232096 +#65544 1721122797302 +SLAM -15.5513 14.2809 16.5261 0.667435 0.00310742 0.0501911 0.742968 +TTool-pose None 9.81013 -7.60661 16.8881 -0.587323 0.283514 -0.721987 0.231007 +#65545 1721122797338 +SLAM -15.5635 14.2604 16.5762 0.669164 0.00333796 0.0505593 0.741385 +TTool-pose None 9.80628 -7.57956 16.9056 -0.587564 0.281858 -0.722896 0.229572 +#65546 1721122797373 +SLAM -15.5436 14.3037 16.3944 0.664509 0.00242077 0.0500519 0.745599 +TTool-pose None 9.82133 -7.61582 16.8556 -0.586677 0.286606 -0.720635 0.233047 +#65547 1721122797410 +SLAM -15.5547 14.2763 16.4013 0.663608 0.00320978 0.0501428 0.746392 +TTool-pose None 9.81838 -7.64965 16.8243 -0.586051 0.286988 -0.720591 0.234285 +#65548 1721122797451 +SLAM -15.5527 14.2724 16.431 0.664483 0.00320408 0.0502267 0.745607 +TTool-pose None 9.81288 -7.64112 16.8349 -0.586287 0.286204 -0.720959 0.233521 +#65549 1721122797488 +SLAM -15.5501 14.2822 16.4745 0.665802 0.00312245 0.050168 0.744433 +TTool-pose None 9.81112 -7.62729 16.8631 -0.586793 0.285015 -0.721384 0.23239 +#65550 1721122797522 +SLAM -15.5524 14.2789 16.5631 0.668588 0.00316029 0.0501571 0.741933 +TTool-pose None 9.81039 -7.59062 16.905 -0.587709 0.2824 -0.722403 0.230088 +#65551 1721122797556 +SLAM -15.5504 14.2785 16.4586 0.665421 0.00315057 0.0501759 0.744774 +TTool-pose None 9.81173 -7.6277 16.8544 -0.586651 0.285354 -0.721257 0.232723 +#65552 1721122797593 +SLAM -15.5608 14.2827 16.5513 0.670034 0.00254672 0.0504294 0.740611 +TTool-pose None 9.82043 -7.52815 16.933 -0.588204 0.281488 -0.722901 0.228367 +#65553 1721122797633 +SLAM -15.5577 14.2637 16.4615 0.66562 0.00330727 0.050424 0.744578 +TTool-pose None 9.80941 -7.62169 16.8496 -0.586495 0.285138 -0.721519 0.232568 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-0.721035 0.233529 +#65560 1721122797908 +SLAM -15.5596 14.2663 16.5577 0.668657 0.00324337 0.0504035 0.741854 +TTool-pose None 9.80936 -7.58347 16.8997 -0.587535 0.282348 -0.722594 0.229994 +#65561 1721122797946 +SLAM -15.5744 14.2463 16.9658 0.681815 0.00254524 0.0510404 0.729737 +TTool-pose None 9.79992 -7.41372 17.0982 -0.591607 0.270521 -0.727456 0.21813 +#65562 1721122797984 +SLAM -15.549 14.2798 16.4334 0.664738 0.00301337 0.0502276 0.74538 +TTool-pose None 9.81151 -7.63569 16.8437 -0.586435 0.286082 -0.720996 0.233182 +#65563 1721122798026 +SLAM -15.5583 14.2691 16.5758 0.669268 0.00318982 0.0504313 0.7413 +TTool-pose None 9.80713 -7.57555 16.9119 -0.587736 0.281817 -0.722817 0.229435 +#65564 1721122798066 +SLAM -15.5579 14.2627 16.5969 0.670161 0.00307327 0.0506782 0.740477 +TTool-pose None 9.8 -7.56103 16.9222 -0.587899 0.281117 -0.723247 0.228516 +#65565 1721122798106 +SLAM -15.5518 14.2753 16.4405 0.66487 0.00312287 0.0502453 0.745261 +TTool-pose None 9.81205 -7.63518 16.8431 -0.58643 0.285899 -0.721087 0.233139 +#65566 1721122798142 +SLAM -15.5587 14.2638 16.5331 0.667975 0.00322782 0.0503702 0.74247 +TTool-pose None 9.81102 -7.58885 16.8857 -0.587338 0.282984 -0.722323 0.230567 +#65567 1721122798179 +SLAM -15.5574 14.2634 16.6206 0.670959 0.00302987 0.0506607 0.739756 +TTool-pose None 9.79995 -7.54941 16.9352 -0.588188 0.280391 -0.723512 0.227822 +#65568 1721122798221 +SLAM -15.5589 14.2595 16.4803 0.666393 0.00325966 0.0505779 0.743876 +TTool-pose None 9.80595 -7.60846 16.8598 -0.586663 0.284488 -0.721876 0.231833 +#65569 1721122798259 +SLAM -15.5532 14.271 16.4405 0.664897 0.00315226 0.0502754 0.745234 +TTool-pose None 9.81235 -7.63355 16.8404 -0.586409 0.285863 -0.721123 0.233124 +#65570 1721122798297 +SLAM -15.5525 14.2718 16.5217 0.667581 0.00311314 0.0502873 0.74283 +TTool-pose None 9.8091 -7.59601 16.8839 -0.587303 0.283399 -0.722098 0.230852 +#65571 1721122798333 +SLAM -15.5082 14.341 16.6927 0.667097 0.00433772 0.0478175 0.743422 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0.00318696 0.0493616 0.744681 +TTool-pose None 9.81688 -7.66244 16.8708 -0.58725 0.284973 -0.720858 0.232915 +#65578 1721122798612 +SLAM -15.5565 14.2652 16.5418 0.668206 0.00321032 0.0504633 0.742256 +TTool-pose None 9.80547 -7.58874 16.8915 -0.587357 0.282803 -0.722455 0.230328 +#65579 1721122798649 +SLAM -15.5608 14.2634 16.5148 0.667278 0.00338811 0.0503974 0.743094 +TTool-pose None 9.8103 -7.59972 16.8768 -0.587036 0.283543 -0.722133 0.231246 +#65580 1721122798687 +SLAM -15.5542 14.2716 16.4197 0.664196 0.00325531 0.0502626 0.74586 +TTool-pose None 9.81295 -7.64232 16.8312 -0.58615 0.286447 -0.72089 0.233781 +#65581 1721122798725 +SLAM -15.5537 14.2709 16.5691 0.669211 0.00301496 0.0504185 0.741353 +TTool-pose None 9.80582 -7.57375 16.91 -0.587784 0.281972 -0.722736 0.229372 +#65582 1721122798772 +SLAM -15.4936 14.343 17.4011 0.68554 0.00471664 0.0467967 0.726514 +TTool-pose None 9.80252 -7.58862 17.2066 -0.594968 0.26457 -0.726959 0.217945 +#65583 1721122798807 +SLAM -15.5592 14.2669 16.5324 0.667946 0.00325624 0.050394 0.742494 +TTool-pose None 9.81003 -7.58968 16.8891 -0.587303 0.283 -0.722335 0.230601 +#65584 1721122798845 +SLAM -15.5286 14.2987 16.5627 0.666788 0.00342239 0.0495346 0.743591 +TTool-pose None 9.80084 -7.6585 16.8833 -0.587452 0.283758 -0.721467 0.232001 +#65585 1721122798882 +SLAM -15.5535 14.2631 16.5457 0.66852 0.00313721 0.0505497 0.741968 +TTool-pose None 9.80082 -7.58046 16.895 -0.587426 0.282577 -0.722597 0.229983 +#65586 1721122798922 +SLAM -15.5495 14.2804 16.5571 0.66858 0.00306596 0.0502127 0.741937 +TTool-pose None 9.80734 -7.58712 16.9061 -0.5877 0.282478 -0.722404 0.230012 +#65587 1721122798958 +SLAM -15.5525 14.2738 16.5256 0.667834 0.00303013 0.0504518 0.742592 +TTool-pose None 9.8045 -7.59228 16.8913 -0.587302 0.283255 -0.72226 0.230524 +#65588 1721122798995 +SLAM -15.5577 14.2716 16.6396 0.671142 0.00323588 0.0501732 0.739622 +TTool-pose None 9.81205 -7.55138 16.9414 -0.588513 0.279973 -0.723359 0.227986 +#65589 1721122799036 +SLAM -15.5487 14.274 16.4303 0.664562 0.00308395 0.0503303 0.74553 +TTool-pose None 9.80717 -7.63999 16.8374 -0.586283 0.286229 -0.721012 0.233337 +#65590 1721122799075 +SLAM -15.5496 14.2844 16.5098 0.666822 0.00315502 0.0500534 0.743528 +TTool-pose None 9.81255 -7.61539 16.8801 -0.587198 0.28402 -0.721699 0.231603 +#65591 1721122799115 +SLAM -15.5365 14.3098 16.5057 0.666106 0.00298513 0.0495354 0.744204 +TTool-pose None 9.81727 -7.64042 16.8811 -0.587372 0.284655 -0.721089 0.232282 +#65592 1721122799155 +SLAM -15.5573 14.2682 16.4559 0.665337 0.00329828 0.0502691 0.744842 +TTool-pose None 9.81417 -7.62719 16.8469 -0.58651 0.285367 -0.721324 0.232856 +#65593 1721122799192 +SLAM -15.5602 14.265 16.4358 0.664769 0.00328252 0.0504135 0.745339 +TTool-pose None 9.81341 -7.63433 16.8368 -0.586228 0.285939 -0.721195 0.233265 +#65594 1721122799231 +SLAM -15.5266 14.3239 16.5227 0.665563 0.00320232 0.0491429 0.744715 +TTool-pose None 9.81497 -7.67374 16.8798 -0.587387 0.284928 -0.720728 0.233025 +#65595 1721122799269 +SLAM -15.5517 14.2685 16.4525 0.665273 0.00309285 0.0503753 0.744892 +TTool-pose None 9.80819 -7.63068 16.8442 -0.586485 0.285576 -0.721301 0.232733 +#65596 1721122799307 +SLAM -15.5507 14.2756 16.4368 0.664742 0.00315305 0.0502314 0.745376 +TTool-pose None 9.81105 -7.63647 16.8415 -0.586387 0.285995 -0.721041 0.23327 +#65597 1721122799346 +SLAM -15.5571 14.2691 16.6203 0.670755 0.00309784 0.0504923 0.739951 +TTool-pose None 9.80367 -7.5555 16.9355 -0.588214 0.280498 -0.723362 0.228101 +#65598 1721122799383 +SLAM -15.5471 14.2814 16.5419 0.668053 0.00229242 0.0506372 0.742385 +TTool-pose None 9.80248 -7.61256 16.8922 -0.587495 0.283542 -0.722227 0.229783 +#65599 1721122799422 +SLAM -15.5583 14.2624 16.4237 0.664567 0.00324787 0.0503667 0.745522 +TTool-pose None 9.8144 -7.63065 16.8304 -0.586204 0.286135 -0.721084 0.233428 +#65600 1721122799466 +SLAM -15.562 14.2577 16.6104 0.670647 0.00314275 0.050737 0.740033 +TTool-pose None 9.80105 -7.55229 16.9275 -0.587995 0.280635 -0.723477 0.22813 +#65601 1721122799504 +SLAM -15.561 14.2602 16.6416 0.671368 0.00326412 0.0505987 0.739388 +TTool-pose None 9.80137 -7.5476 16.9408 -0.588286 0.279853 -0.723694 0.227656 +#65602 1721122799541 +SLAM -15.5519 14.2743 16.4506 0.665109 0.0031597 0.0501862 0.745051 +TTool-pose None 9.81331 -7.63322 16.8454 -0.586538 0.28564 -0.721152 0.232986 +#65603 1721122799581 +SLAM 3.03385 18.9874 40.8617 0.506838 0.417376 -0.412145 0.631703 +TTool-pose None 27.7008 -18.5466 16.3024 -0.626523 -0.122955 -0.425051 0.641616 +#65604 1721122799622 +SLAM -15.5542 14.269 16.5179 0.667597 0.00308752 0.0504877 0.742802 +TTool-pose None 9.80479 -7.59442 16.8843 -0.58718 0.28345 -0.722212 0.230747 +#65605 1721122799663 +SLAM -15.5585 14.2651 16.5698 0.669061 0.00328063 0.0503173 0.741495 +TTool-pose None 9.81035 -7.57566 16.9043 -0.587715 0.281927 -0.722703 0.229711 +#65606 1721122799701 +SLAM -15.5644 14.2571 16.5569 0.668863 0.00330535 0.0505702 0.741656 +TTool-pose None 9.80852 -7.57424 16.8982 -0.587469 0.28216 -0.722784 0.229799 +#65607 1721122799738 +SLAM -15.5515 14.2766 16.4615 0.665451 0.00315914 0.0502087 0.744744 +TTool-pose None 9.81158 -7.62938 16.8534 -0.586636 0.285329 -0.72129 0.232692 +#65608 1721122799777 +SLAM -15.5556 14.2683 16.4387 0.664897 0.00316106 0.050363 0.745228 +TTool-pose None 9.81195 -7.63269 16.8394 -0.586346 0.28588 -0.721177 0.233097 +#65609 1721122799816 +SLAM -15.5609 14.2632 16.4592 0.665421 0.00337673 0.0502884 0.744765 +TTool-pose None 9.81617 -7.62555 16.8449 -0.586499 0.285247 -0.721389 0.232831 +#65610 1721122799853 +SLAM -15.5709 14.2302 17.0615 0.685064 0.00232364 0.0515572 0.726652 +TTool-pose None 9.77988 -7.3686 17.1422 -0.592362 0.267676 -0.728826 0.214992 +#65611 1721122799893 +SLAM -15.5544 14.2762 16.4274 0.664315 0.0032563 0.0501329 0.745762 +TTool-pose None 9.81673 -7.64343 16.8354 -0.586278 0.286303 -0.720859 0.23373 +#65612 1721122799931 +SLAM -15.5469 14.2874 16.5001 0.666519 0.00314394 0.0498899 0.74381 +TTool-pose None 9.81575 -7.61724 16.8756 -0.587214 0.284266 -0.721491 0.231909 +#65613 1721122799971 +SLAM -15.5503 14.2802 16.643 0.671087 0.00305599 0.0502448 0.739668 +TTool-pose None 9.80396 -7.5611 16.9462 -0.588506 0.280151 -0.723327 0.227887 +#65614 1721122800009 +SLAM -15.5592 14.2678 16.5479 0.668452 0.00316766 0.0504958 0.742033 +TTool-pose None 9.80731 -7.58533 16.8983 -0.58743 0.282608 -0.722551 0.230081 +#65615 1721122800050 +SLAM -15.5526 14.2741 16.4388 0.664699 0.00319757 0.0502524 0.745412 +TTool-pose None 9.81153 -7.63991 16.8401 -0.586344 0.286014 -0.721051 0.233327 +#65616 1721122800091 +SLAM -15.5578 14.2646 16.5196 0.667546 0.00325187 0.0504257 0.742852 +TTool-pose None 9.80824 -7.59491 16.8807 -0.587151 0.283383 -0.722206 0.230922 +#65617 1721122800132 +SLAM -15.5584 14.2724 16.6514 0.671638 0.00320005 0.0501598 0.739172 +TTool-pose None 9.81335 -7.54143 16.95 -0.588696 0.279526 -0.723519 0.22755 +#65618 1721122800171 +SLAM -15.5491 14.2788 16.4382 0.664804 0.00302757 0.0502623 0.745319 +TTool-pose None 9.81001 -7.63767 16.8442 -0.586429 0.286022 -0.721045 0.233124 +#65619 1721122800224 +SLAM -15.4552 11.3295 24.015 0.886152 -0.00269126 0.0319478 0.462284 +TTool-pose None 10.3004 -2.78963 19.1142 0.0880283 -0.00414331 0.102793 0.00154287 +#65620 1721122800266 +SLAM -15.5575 14.2734 16.5558 0.669872 0.00262187 0.0507327 0.740736 +TTool-pose None 9.80607 -7.54165 16.9253 -0.587919 0.281671 -0.72304 0.228439 +#65621 1721122800303 +SLAM -15.5659 14.2579 16.9915 0.682573 0.00240947 0.0508532 0.729042 +TTool-pose None 9.79792 -7.40442 17.1173 -0.592023 0.269832 -0.727574 0.21746 +#65622 1721122800342 +SLAM -15.5543 14.2763 16.5081 0.666929 0.00318655 0.0502021 0.743422 +TTool-pose None 9.8126 -7.60984 16.8772 -0.587121 0.28394 -0.721833 0.231478 +#65623 1721122800380 +SLAM -15.561 14.2602 16.5605 0.6689 0.00329231 0.0505391 0.741625 +TTool-pose None 9.80594 -7.57601 16.9007 -0.587507 0.282126 -0.722775 0.229771 +#65624 1721122800417 +SLAM -15.559 14.2676 16.5404 0.668087 0.00319452 0.0503522 0.74237 +TTool-pose None 9.81169 -7.59181 16.8902 -0.587399 0.282895 -0.722344 0.230458 +#65625 1721122800455 +SLAM -15.5542 14.2644 16.4987 0.666871 0.00315433 0.0505407 0.743451 +TTool-pose None 9.80299 -7.60686 16.8695 -0.586881 0.284099 -0.721998 0.231379 +#65626 1721122800493 +SLAM -15.559 14.2665 16.5987 0.669842 0.00262809 0.0507818 0.740761 +TTool-pose None 9.80351 -7.58552 16.9143 -0.587873 0.281708 -0.723059 0.22845 +#65627 1721122800534 +SLAM -15.5563 14.2677 16.5196 0.667634 0.0031352 0.0505503 0.742764 +TTool-pose None 9.80411 -7.59458 16.8853 -0.587134 0.283403 -0.722275 0.230724 +#65628 1721122800573 +SLAM -15.5566 14.2717 16.5485 0.668224 0.00324338 0.0501751 0.742259 +TTool-pose None 9.81389 -7.59094 16.8942 -0.587549 0.282693 -0.722306 0.230442 +#65629 1721122800617 +SLAM -15.5521 14.2818 16.5599 0.668617 0.00306366 0.0501267 0.741909 +TTool-pose None 9.81253 -7.58752 16.9068 -0.587772 0.282423 -0.722367 0.230012 +#65630 1721122800655 +SLAM -15.5526 14.2813 16.4336 0.664509 0.00319201 0.0500812 0.745593 +TTool-pose None 9.81707 -7.64181 16.8417 -0.586399 0.28615 -0.720881 0.233546 +#65631 1721122800700 +SLAM -15.5683 14.2513 16.5922 0.669836 0.00346705 0.0505298 0.74078 +TTool-pose None 9.81042 -7.56269 16.9099 -0.587762 0.281146 -0.723161 0.229105 +#65632 1721122800739 +SLAM -15.5586 14.2692 16.4523 0.66528 0.00324856 0.050247 0.744894 +TTool-pose None 9.81697 -7.62671 16.8462 -0.586523 0.285443 -0.721276 0.232879 +#65633 1721122800779 +SLAM -15.5519 14.2795 16.4229 0.664263 0.00310531 0.0500972 0.745812 +TTool-pose None 9.81773 -7.64328 16.8353 -0.586336 0.286433 -0.720775 0.233687 +#65634 1721122800817 +SLAM -15.4595 14.3723 17.6562 0.687249 0.00627128 0.0448328 0.72501 +TTool-pose None 9.79924 -7.71398 17.2491 -0.596327 0.261484 -0.726879 0.218221 +#65635 1721122800855 +SLAM -15.5559 14.2768 16.5995 0.669737 0.0032383 0.0501567 0.740895 +TTool-pose None 9.81159 -7.57442 16.9229 -0.588062 0.28128 -0.722842 0.229176 +#65636 1721122800893 +SLAM -15.5534 14.282 16.4573 0.665171 0.00321127 0.0500163 0.745007 +TTool-pose None 9.81882 -7.63498 16.852 -0.586658 0.285508 -0.721092 0.233031 +#65637 1721122800931 +SLAM -15.5521 14.2883 16.3966 0.665146 0.00238655 0.0505014 0.745 +TTool-pose None 9.81669 -7.59519 16.8587 -0.586593 0.286151 -0.721117 0.232325 +#65638 1721122800968 +SLAM -15.5587 14.2684 16.5718 0.669251 0.00314699 0.0504806 0.741313 +TTool-pose None 9.80676 -7.57362 16.9113 -0.587711 0.281872 -0.722825 0.229403 +#65639 1721122801009 +SLAM -15.5474 14.2812 16.4611 0.665563 0.00304378 0.0501138 0.744651 +TTool-pose None 9.81223 -7.62477 16.8568 -0.586777 0.285271 -0.721242 0.232558 +#65640 1721122801050 +SLAM -15.554 14.2865 16.3835 0.66539 0.00216393 0.0507808 0.744764 +TTool-pose None 9.81374 -7.57842 16.8636 -0.586558 0.286129 -0.721301 0.23187 +#65641 1721122801089 +SLAM -15.553 14.2781 16.4697 0.665844 0.00310324 0.050177 0.744395 +TTool-pose None 9.81471 -7.62088 16.8604 -0.586807 0.284991 -0.721398 0.232339 +#65642 1721122801128 +SLAM -15.5573 14.2664 16.5071 0.667105 0.00321442 0.0504287 0.743248 +TTool-pose None 9.80844 -7.60285 16.8747 -0.587015 0.283816 -0.722036 0.231264 +#65643 1721122801167 +SLAM -15.5555 14.2859 16.4825 0.667153 0.00274746 0.0502665 0.743218 +TTool-pose None 9.81917 -7.58305 16.8881 -0.587298 0.284011 -0.721821 0.230976 +#65644 1721122801205 +SLAM -15.5589 14.2713 16.4335 0.664571 0.00331568 0.0501127 0.745536 +TTool-pose None 9.8212 -7.63681 16.8359 -0.586357 0.286026 -0.720959 0.233564 +#65645 1721122801244 +SLAM -15.5576 14.271 16.5837 0.669553 0.00315522 0.0503522 0.741049 +TTool-pose None 9.80916 -7.57032 16.9168 -0.587895 0.281552 -0.722863 0.229202 +#65646 1721122801281 +SLAM -15.5547 14.2715 16.5577 0.668657 0.00317365 0.0502695 0.741863 +TTool-pose None 9.80962 -7.58289 16.9015 -0.58765 0.282355 -0.722496 0.229997 +#65647 1721122801319 +SLAM -15.5528 14.281 16.589 0.669602 0.00305317 0.0501838 0.741016 +TTool-pose None 9.81056 -7.57333 16.9229 -0.588061 0.281525 -0.722754 0.229157 +#65648 1721122801357 +SLAM -15.5564 14.2756 16.58 0.669281 0.00315029 0.050313 0.741298 +TTool-pose None 9.80907 -7.57872 16.9157 -0.587834 0.281799 -0.722741 0.229443 +#65649 1721122801395 +SLAM -15.557 14.2677 16.555 0.66874 0.00313639 0.0504705 0.741775 +TTool-pose None 9.80618 -7.57958 16.902 -0.587553 0.282352 -0.722631 0.229828 +#65650 1721122801433 +SLAM -15.5377 14.2951 16.5992 0.668427 0.00336096 0.0495998 0.742114 +TTool-pose None 9.80807 -7.62394 16.9085 -0.58797 0.282287 -0.722083 0.230565 +#65651 1721122801468 +SLAM -15.5751 14.2429 17.0894 0.685628 0.0024459 0.0510343 0.726157 +TTool-pose None 9.79787 -7.36286 17.1588 -0.592858 0.26693 -0.728758 0.214783 +#65652 1721122801501 +SLAM -15.4758 14.3784 16.8976 0.67195 0.00338024 0.0474354 0.739069 +TTool-pose None 9.79871 -7.7377 16.9967 -0.5906 0.278432 -0.722113 0.228423 +#65653 1721122801535 +SLAM -15.5625 14.2604 16.5528 0.668711 0.00324917 0.0506172 0.741791 +TTool-pose None 9.80569 -7.57856 16.8986 -0.587405 0.282349 -0.722739 0.229872 +#65654 1721122801574 +SLAM -15.549 14.2812 16.517 0.667314 0.00301113 0.0501832 0.743078 +TTool-pose None 9.80996 -7.60409 16.8852 -0.58732 0.283683 -0.72191 0.231048 +#65655 1721122801612 +SLAM -15.5535 14.2695 16.6016 0.670297 0.00297642 0.0506076 0.740359 +TTool-pose None 9.79876 -7.56049 16.9284 -0.588025 0.281029 -0.723227 0.228363 +#65656 1721122801649 +SLAM -15.5567 14.2655 16.566 0.668953 0.00318631 0.050447 0.741584 +TTool-pose None 9.80561 -7.57964 16.9032 -0.587623 0.282117 -0.72271 0.229691 +#65657 1721122801693 +SLAM -15.5422 14.2978 16.4692 0.665355 0.00306976 0.0496505 0.744868 +TTool-pose None 9.82032 -7.63689 16.862 -0.587016 0.285331 -0.720906 0.232922 +#65658 1721122801730 +SLAM -15.5493 14.28 16.5473 0.668314 0.00301206 0.0503136 0.74217 +TTool-pose None 9.80489 -7.59141 16.9021 -0.587561 0.282784 -0.722349 0.230162 +#65659 1721122801768 +SLAM -15.555 14.2722 16.4422 0.664785 0.0032573 0.0501718 0.745341 +TTool-pose None 9.81576 -7.63753 16.8395 -0.586407 0.285878 -0.721054 0.233325 +#65660 1721122801805 +SLAM -15.5499 14.2713 16.4209 0.664196 0.00317336 0.0503139 0.745857 +TTool-pose None 9.80804 -7.645 16.8299 -0.586142 0.286509 -0.720895 0.233707 +#65661 1721122801842 +SLAM -15.5543 14.2452 16.9185 0.681103 0.001827 0.0519737 0.730338 +TTool-pose None 9.76127 -7.42047 17.0875 -0.59098 0.271867 -0.727528 0.217915 +#65662 1721122801888 +SLAM -15.5526 14.2774 16.4458 0.664979 0.00311891 0.0501411 0.745171 +TTool-pose None 9.81604 -7.63455 16.8453 -0.586539 0.285774 -0.721066 0.233084 +#65663 1721122801922 +SLAM -15.5534 14.2805 16.469 0.665657 0.00319778 0.050103 0.744567 +TTool-pose None 9.81586 -7.62637 16.8597 -0.586764 0.285088 -0.721315 0.232585 +#65664 1721122801956 +SLAM -15.5528 14.2754 16.465 0.665449 0.00320145 0.0501752 0.744749 +TTool-pose None 9.81325 -7.63191 16.852 -0.586644 0.285298 -0.721282 0.232734 +#65665 1721122801997 +SLAM -15.5555 14.265 16.5453 0.66868 0.00303842 0.0506953 0.741814 +TTool-pose None 9.79937 -7.5766 16.9006 -0.587412 0.282524 -0.72271 0.229729 +#65666 1721122802038 +SLAM -15.5337 14.2874 16.4984 0.664336 0.00367352 0.0497926 0.745764 +TTool-pose None 9.79622 -7.70201 16.8389 -0.586378 0.285946 -0.720795 0.234116 +#65667 1721122802074 +SLAM -15.5431 14.2734 16.5807 0.670111 0.00173475 0.0513902 0.740478 +TTool-pose None 9.78125 -7.57643 16.9218 -0.587844 0.282148 -0.72324 0.227405 +#65668 1721122802117 +SLAM -15.529 14.3138 16.6829 0.669475 0.00369818 0.0490013 0.741208 +TTool-pose None 9.80911 -7.64865 16.9351 -0.588611 0.280955 -0.722217 0.230132 +#65669 1721122802152 +SLAM -15.5543 14.2653 16.4701 0.665714 0.00326872 0.0503483 0.744499 +TTool-pose None 9.80855 -7.62548 16.8502 -0.586591 0.285055 -0.721499 0.232492 +#65670 1721122802192 +SLAM -15.5591 14.2615 16.5385 0.668266 0.00320665 0.0505671 0.742195 +TTool-pose None 9.8051 -7.58399 16.8909 -0.587307 0.282776 -0.722536 0.230236 +#65671 1721122802230 +SLAM -15.5651 14.2602 16.5834 0.669511 0.00342455 0.0503714 0.741084 +TTool-pose None 9.81279 -7.56763 16.9102 -0.587778 0.281434 -0.722939 0.229408 +#65672 1721122802265 +SLAM -15.5501 14.2786 16.4609 0.665636 0.00305627 0.0502509 0.744577 +TTool-pose None 9.81036 -7.62286 16.858 -0.586703 0.285231 -0.721351 0.232454 +#65673 1721122802301 +SLAM -15.5389 14.3127 16.4753 0.66553 0.00290692 0.0495199 0.744721 +TTool-pose None 9.82252 -7.63725 16.8749 -0.587218 0.285233 -0.720846 0.232717 +#65674 1721122802339 +SLAM -15.5556 14.2689 16.4375 0.664837 0.00320267 0.0502902 0.745287 +TTool-pose None 9.81384 -7.63262 16.8387 -0.586362 0.285893 -0.721125 0.233202 +#65675 1721122802375 +SLAM -15.5514 14.2693 16.4212 0.664336 0.00320096 0.0503401 0.74573 +TTool-pose None 9.80851 -7.63896 16.8315 -0.586162 0.28637 -0.72097 0.233599 +#65676 1721122802410 +SLAM -15.5452 14.2928 16.4412 0.665688 0.00259816 0.050253 0.744532 +TTool-pose None 9.81239 -7.60904 16.8679 -0.586872 0.285458 -0.721235 0.232106 +#65677 1721122802452 +SLAM -15.5514 14.2705 16.4241 0.664635 0.00311286 0.0502974 0.745467 +TTool-pose None 9.8113 -7.62951 16.8362 -0.58632 0.286135 -0.721029 0.233308 +#65678 1721122802488 +SLAM -15.5636 14.2557 16.6288 0.671292 0.00327044 0.0504507 0.739467 +TTool-pose None 9.80998 -7.53599 16.9343 -0.58836 0.279882 -0.723583 0.227779 +#65679 1721122802527 +SLAM -15.5569 14.2657 16.577 0.669299 0.00320749 0.0504343 0.741273 +TTool-pose None 9.8056 -7.5748 16.9092 -0.587738 0.281779 -0.722834 0.22942 +#65680 1721122802566 +SLAM -15.5742 14.2449 17.0029 0.683075 0.00259572 0.0510439 0.728558 +TTool-pose None 9.79763 -7.39207 17.1194 -0.59199 0.269288 -0.727915 0.21708 +#65681 1721122802609 +SLAM -15.5605 14.2608 16.5251 0.667658 0.00329302 0.0504091 0.742752 +TTool-pose None 9.81095 -7.59434 16.8791 -0.587185 0.28325 -0.72225 0.230861 +#65682 1721122802643 +SLAM -15.5618 14.2663 16.6139 0.670339 0.00329841 0.0504027 0.740334 +TTool-pose None 9.80872 -7.56369 16.9275 -0.588071 0.280745 -0.723219 0.228618 +#65683 1721122802682 +SLAM -15.5776 14.248 16.9002 0.679406 0.00296558 0.0506494 0.732006 +TTool-pose None 9.81215 -7.44729 17.0593 -0.590961 0.272463 -0.726506 0.220618 +#65684 1721122802719 +SLAM -15.5534 14.2751 16.4469 0.665003 0.00317844 0.0502581 0.745141 +TTool-pose None 9.81212 -7.63507 16.8459 -0.586447 0.285745 -0.72116 0.233059 +#65685 1721122802754 +SLAM -15.5496 14.2855 16.4526 0.66501 0.00310281 0.0500817 0.745147 +TTool-pose None 9.8143 -7.64007 16.8519 -0.586595 0.285739 -0.721038 0.233069 +#65686 1721122802788 +SLAM -15.552 14.2802 16.5177 0.667321 0.0030843 0.0501645 0.743072 +TTool-pose None 9.81249 -7.60322 16.8854 -0.587311 0.283626 -0.721924 0.231096 +#65687 1721122802822 +SLAM -15.5354 14.316 16.4924 0.66553 0.00302939 0.0493606 0.744731 +TTool-pose None 9.82126 -7.65038 16.8756 -0.587286 0.285119 -0.720791 0.232857 +#65688 1721122802860 +SLAM -15.5486 14.2806 16.4298 0.664617 0.0029959 0.0501208 0.745495 +TTool-pose None 9.81499 -7.63627 16.8408 -0.586474 0.286177 -0.720885 0.233311 +#65689 1721122802894 +SLAM -15.5527 14.2698 16.4262 0.664666 0.00307631 0.0504526 0.745429 +TTool-pose None 9.80779 -7.6329 16.8375 -0.586236 0.286168 -0.721119 0.233199 +#65690 1721122802927 +SLAM -15.5488 14.2775 16.5695 0.668918 0.0022993 0.0507505 0.741598 +TTool-pose None 9.79952 -7.60256 16.9041 -0.5877 0.282761 -0.722608 0.22902 +#65691 1721122802966 +SLAM -15.5467 14.2808 16.4444 0.665003 0.0030129 0.0503064 0.745138 +TTool-pose None 9.80604 -7.63585 16.8495 -0.58647 0.285857 -0.721139 0.232931 +#65692 1721122803003 +SLAM -15.5585 14.2585 16.5853 0.669951 0.00308199 0.0508338 0.740657 +TTool-pose None 9.79613 -7.56047 16.9175 -0.587721 0.281347 -0.723263 0.22864 +#65693 1721122803041 +SLAM -15.5688 14.2489 16.9705 0.681967 0.00244591 0.0510381 0.729596 +TTool-pose None 9.79554 -7.41271 17.1014 -0.59169 0.270436 -0.727478 0.217935 +#65694 1721122803076 +SLAM -15.5502 14.2789 16.5402 0.668062 0.00301326 0.0502711 0.7424 +TTool-pose None 9.80756 -7.59489 16.8964 -0.587507 0.283008 -0.722234 0.23039 +#65695 1721122803112 +SLAM -15.5544 14.2759 16.5486 0.668312 0.00312333 0.0503387 0.742169 +TTool-pose None 9.8077 -7.59137 16.9003 -0.587506 0.282725 -0.722396 0.230227 +#65696 1721122803147 +SLAM -15.556 14.2684 16.4395 0.664755 0.00329015 0.0502592 0.745361 +TTool-pose None 9.81377 -7.63645 16.8373 -0.586327 0.285908 -0.721103 0.233339 +#65697 1721122803186 +SLAM -15.546 14.2872 16.469 0.665595 0.00302766 0.0500371 0.744628 +TTool-pose None 9.81271 -7.63089 16.8611 -0.586845 0.285231 -0.721204 0.232549 +#65698 1721122803229 +SLAM -15.5526 14.2717 16.4982 0.666655 0.00318929 0.0503361 0.743658 +TTool-pose None 9.80708 -7.61331 16.8702 -0.586938 0.284226 -0.721811 0.231659 +#65699 1721122803277 +SLAM -15.563 14.2645 16.5459 0.668243 0.00333188 0.0504025 0.742226 +TTool-pose None 9.81202 -7.58895 16.8926 -0.58737 0.28268 -0.72247 0.2304 +#65700 1721122803322 +SLAM -15.5538 14.2681 16.4601 0.665485 0.00321305 0.0503398 0.744705 +TTool-pose None 9.80941 -7.6267 16.8486 -0.58654 0.285298 -0.721394 0.23265 +#65701 1721122803359 +SLAM -15.5498 14.2921 16.6858 0.671518 0.00339656 0.0495992 0.739318 +TTool-pose None 9.81708 -7.57186 16.9585 -0.588975 0.279378 -0.723211 0.22799 +#65702 1721122803399 +SLAM -15.5548 14.2695 16.5244 0.667657 0.00310574 0.0505038 0.742748 +TTool-pose None 9.80418 -7.59824 16.8858 -0.587183 0.283388 -0.722248 0.230703 +#65703 1721122803436 +SLAM -15.5745 14.2387 17.0785 0.685404 0.00252509 0.0510179 0.72637 +TTool-pose None 9.79748 -7.36064 17.1519 -0.592772 0.267093 -0.728694 0.215035 +#65704 1721122803469 +SLAM -15.5446 14.2985 16.4787 0.665913 0.0029204 0.0498776 0.744355 +TTool-pose None 9.81713 -7.62705 16.8735 -0.587096 0.28496 -0.721196 0.232272 +#65705 1721122803506 +SLAM -15.555 14.276 16.4578 0.665259 0.00326665 0.0501245 0.744921 +TTool-pose None 9.81636 -7.63172 16.8502 -0.586594 0.285421 -0.721203 0.232954 +#65706 1721122803540 +SLAM -15.5535 14.27 16.4477 0.665454 0.00312235 0.0504502 0.744726 +TTool-pose None 9.80736 -7.61882 16.8514 -0.586484 0.28541 -0.721419 0.232575 +#65707 1721122803576 +SLAM -15.5503 14.2798 16.5905 0.669448 0.00231711 0.0506543 0.741126 +TTool-pose None 9.80295 -7.59863 16.9136 -0.587935 0.28223 -0.72275 0.228623 +#65708 1721122803610 +SLAM -15.5542 14.2761 16.6141 0.670679 0.00298236 0.0504382 0.740025 +TTool-pose None 9.80419 -7.5542 16.939 -0.588264 0.280626 -0.723269 0.228109 +#65709 1721122803650 +SLAM -15.5154 14.316 17.3278 0.687813 0.00306823 0.0488366 0.724237 +TTool-pose None 9.78587 -7.46137 17.2346 -0.594844 0.263897 -0.728436 0.214127 +#65710 1721122803689 +SLAM -15.5531 14.2852 16.3597 0.664342 0.00231027 0.0506834 0.745704 +TTool-pose None 9.81459 -7.59741 16.8457 -0.586227 0.286987 -0.720905 0.232876 +#65711 1721122803729 +SLAM -15.5483 14.2825 16.4316 0.664523 0.00306896 0.0501581 0.745576 +TTool-pose None 9.81202 -7.64183 16.8423 -0.586393 0.28623 -0.720894 0.233424 +#65712 1721122803768 +SLAM -15.5517 14.2891 16.6012 0.669716 0.00305286 0.0500138 0.740925 +TTool-pose None 9.81398 -7.57885 16.9294 -0.588215 0.281376 -0.722697 0.229125 +#65713 1721122803805 +SLAM -15.5629 14.2617 16.5786 0.669407 0.00331569 0.0503975 0.741177 +TTool-pose None 9.81149 -7.56946 16.9087 -0.587763 0.281603 -0.722884 0.229414 +#65714 1721122803838 +SLAM -15.5638 14.2581 16.5979 0.670086 0.0032828 0.0505477 0.740553 +TTool-pose None 9.80738 -7.56051 16.918 -0.587894 0.281027 -0.723207 0.228766 +#65715 1721122803874 +SLAM -15.5578 14.2708 16.5444 0.668813 0.00295097 0.0505133 0.741707 +TTool-pose None 9.80886 -7.56948 16.9054 -0.58761 0.282406 -0.722627 0.229628 +#65716 1721122803915 +SLAM -15.5509 14.2754 16.4289 0.664458 0.00314711 0.050208 0.745631 +TTool-pose None 9.81243 -7.64092 16.8364 -0.586311 0.286256 -0.720922 0.233511 +#65717 1721122803948 +SLAM -15.5498 14.2865 16.4455 0.66477 0.00313254 0.0500235 0.745365 +TTool-pose None 9.81617 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+TTool-pose None 9.81532 -7.59925 16.8681 -0.586793 0.285684 -0.721245 0.231997 +#65724 1721122804203 +SLAM -15.5511 14.2835 16.4421 0.6647 0.00316225 0.0500475 0.745426 +TTool-pose None 9.8166 -7.64192 16.8456 -0.586496 0.285982 -0.720923 0.23338 +#65725 1721122804238 +SLAM -15.5465 14.29 16.5698 0.668724 0.00241104 0.0503051 0.741803 +TTool-pose None 9.80954 -7.6051 16.9081 -0.587903 0.282761 -0.722314 0.229424 +#65726 1721122804272 +SLAM -15.5324 14.3164 16.4942 0.665257 0.00309056 0.0493303 0.744977 +TTool-pose None 9.81802 -7.66274 16.8708 -0.587195 0.285327 -0.720692 0.233136 +#65727 1721122804306 +SLAM -15.5538 14.2704 16.5308 0.667701 0.00318241 0.0503829 0.742716 +TTool-pose None 9.80577 -7.59997 16.8864 -0.587254 0.28327 -0.722217 0.230762 +#65728 1721122804340 +SLAM -15.592 14.2617 16.6951 0.685076 -0.00248187 0.0547837 0.726405 +TTool-pose None 9.78735 -7.12048 17.1714 -0.591757 0.27135 -0.729248 0.210574 +#65729 1721122804374 +SLAM -15.572 14.2443 17.0315 0.684057 0.00233517 0.0511905 0.727627 +TTool-pose None 9.79338 -7.38117 17.1338 -0.59229 0.268543 -0.728266 0.216007 +#65730 1721122804410 +SLAM -15.5562 14.2702 16.4552 0.66533 0.00322065 0.0502941 0.744846 +TTool-pose None 9.81323 -7.62837 16.8478 -0.586517 0.285426 -0.721313 0.232801 +#65731 1721122804448 +SLAM -15.552 14.2678 16.4295 0.664741 0.00313436 0.0503983 0.745365 +TTool-pose None 9.80812 -7.63102 16.8367 -0.586279 0.28605 -0.721132 0.233196 +#65732 1721122804491 +SLAM -15.5596 14.2598 16.5647 0.668959 0.0033023 0.0503794 0.741583 +TTool-pose None 9.8096 -7.5752 16.8989 -0.587632 0.282025 -0.722707 0.229789 +#65733 1721122804533 +SLAM -15.5414 14.3033 16.6726 0.670875 0.00331589 0.0494124 0.739915 +TTool-pose None 9.81572 -7.58683 16.9539 -0.588918 0.279982 -0.722847 0.228549 +#65734 1721122804569 +SLAM -15.5488 14.2811 16.4762 0.665918 0.00306056 0.0502201 0.744327 +TTool-pose None 9.8091 -7.62527 16.8637 -0.586816 0.284958 -0.721437 0.232233 +#65735 1721122804604 +SLAM -15.5655 14.2578 16.5972 0.669988 0.00336068 0.050485 0.740646 +TTool-pose None 9.81006 -7.56236 16.9163 -0.587878 0.281056 -0.723158 0.228923 +#65736 1721122804639 +SLAM -15.5635 14.2635 16.565 0.668964 0.00330419 0.0503306 0.741581 +TTool-pose None 9.81478 -7.57516 16.9022 -0.587666 0.282007 -0.722682 0.229803 +#65737 1721122804676 +SLAM -15.5574 14.2613 16.5563 0.668817 0.00319014 0.050506 0.741703 +TTool-pose None 9.80515 -7.5765 16.8983 -0.587536 0.282257 -0.722696 0.229786 +#65738 1721122804717 +SLAM -15.5558 14.2667 16.4223 0.664214 0.00334806 0.0502725 0.745842 +TTool-pose None 9.81303 -7.64242 16.828 -0.586118 0.286377 -0.72093 0.233823 +#65739 1721122804750 +SLAM -15.558 14.2794 16.5669 0.668713 0.00322284 0.0500996 0.741824 +TTool-pose None 9.81679 -7.58758 16.9081 -0.587769 0.282231 -0.722434 0.230047 +#65740 1721122804784 +SLAM -15.5547 14.2729 16.5392 0.668175 0.0031181 0.0503161 0.742294 +TTool-pose None 9.80951 -7.58757 16.8952 -0.587478 0.28285 -0.722332 0.230348 +#65741 1721122804818 +SLAM -15.5584 14.2641 16.4155 0.664112 0.00328753 0.0502903 0.745932 +TTool-pose None 9.81647 -7.64113 16.8238 -0.586092 0.286512 -0.720885 0.233861 +#65742 1721122804853 +SLAM -15.5631 14.2648 16.568 0.669097 0.00330742 0.0503927 0.741457 +TTool-pose None 9.81214 -7.57313 16.9066 -0.587666 0.281897 -0.722767 0.229671 +#65743 1721122804892 +SLAM -15.5537 14.2739 16.4782 0.666087 0.00316041 0.0503312 0.744168 +TTool-pose None 9.80929 -7.6193 16.863 -0.586763 0.28477 -0.721593 0.232116 +#65744 1721122804934 +SLAM -15.5561 14.267 16.4286 0.664524 0.00322277 0.0503529 0.745561 +TTool-pose None 9.81228 -7.63799 16.8329 -0.586208 0.286186 -0.721053 0.233452 +#65745 1721122804973 +SLAM -15.5532 14.2733 16.4405 0.664751 0.00323697 0.0502061 0.745369 +TTool-pose None 9.81315 -7.63805 16.8402 -0.586379 0.28593 -0.721055 0.233327 +#65746 1721122805012 +SLAM -15.5593 14.259 16.5 0.667141 0.00321156 0.0506379 0.743202 +TTool-pose None 9.80444 -7.59635 16.8718 -0.586885 0.283838 -0.722169 0.231154 +#65747 1721122805052 +SLAM -15.5582 14.267 16.4491 0.665111 0.00328829 0.0502792 0.745043 +TTool-pose None 9.81519 -7.63062 16.8421 -0.586432 0.285585 -0.721244 0.233034 +#65748 1721122805094 +SLAM -15.5453 14.2966 16.4131 0.664738 0.00257868 0.0502373 0.745381 +TTool-pose None 9.81392 -7.62368 16.8558 -0.586574 0.286346 -0.720873 0.232891 +#65749 1721122805133 +SLAM -15.5421 14.2929 16.4457 0.664856 0.00294535 0.0500057 0.74529 +TTool-pose None 9.8115 -7.64168 16.853 -0.586649 0.285958 -0.720891 0.233122 +#65750 1721122805170 +SLAM -15.5387 14.2996 16.6232 0.668616 0.00360636 0.049246 0.741966 +TTool-pose None 9.81572 -7.63152 16.9131 -0.588192 0.281873 -0.72202 0.2307 +#65751 1721122805206 +SLAM -15.5401 14.2977 16.6073 0.668502 0.00343186 0.0494967 0.742054 +TTool-pose None 9.81222 -7.62665 16.9115 -0.588041 0.282149 -0.722071 0.230587 +#65752 1721122805246 +SLAM -15.5574 14.262 16.5814 0.669637 0.00315654 0.050563 0.740959 +TTool-pose None 9.80274 -7.56619 16.9126 -0.587778 0.281526 -0.723015 0.229054 +#65753 1721122805284 +SLAM -15.5559 14.2675 16.5759 0.66937 0.00233817 0.0509348 0.741178 +TTool-pose None 9.80059 -7.59019 16.9059 -0.58771 0.282362 -0.72289 0.228598 +#65754 1721122805322 +SLAM -15.5528 14.2743 16.5946 0.670018 0.00228197 0.0508896 0.740595 +TTool-pose None 9.79867 -7.58057 16.9216 -0.587973 0.281779 -0.723081 0.228033 +#65755 1721122805364 +SLAM -15.5758 14.2441 17.082 0.685309 0.00265972 0.0507937 0.726474 +TTool-pose None 9.80375 -7.36392 17.1542 -0.59285 0.267046 -0.728572 0.21529 +#65756 1721122805401 +SLAM -15.5546 14.269 16.5255 0.667797 0.0031015 0.0504346 0.742626 +TTool-pose None 9.8065 -7.59221 16.8869 -0.587278 0.283242 -0.722258 0.230609 +#65757 1721122805438 +SLAM -15.5473 14.2844 16.4647 0.665557 0.00299122 0.0501351 0.744655 +TTool-pose None 9.81162 -7.63001 16.8589 -0.586778 0.285314 -0.721236 0.23252 +#65758 1721122805477 +SLAM -15.5635 14.2658 16.5975 0.669836 0.00341325 0.0501977 0.740803 +TTool-pose None 9.81628 -7.56543 16.918 -0.588008 0.281093 -0.722953 0.229193 +#65759 1721122805524 +SLAM -15.5509 14.27 16.4507 0.665343 0.00309649 0.050448 0.744825 +TTool-pose None 9.80493 -7.62681 16.8482 -0.586458 0.285527 -0.72137 0.23265 +#65760 1721122805566 +SLAM -15.5551 14.2702 16.558 0.66868 0.00312588 0.0504637 0.741829 +TTool-pose None 9.80431 -7.58533 16.9026 -0.587541 0.282412 -0.722602 0.229874 +#65761 1721122805605 +SLAM -15.5545 14.2739 16.5487 0.668357 0.00314918 0.0502542 0.742134 +TTool-pose None 9.81048 -7.58773 16.8984 -0.58757 0.282646 -0.722371 0.230238 +#65762 1721122805639 +SLAM -15.5534 14.2708 16.4257 0.664469 0.00315688 0.05036 0.745611 +TTool-pose None 9.81024 -7.63879 16.8348 -0.586207 0.286279 -0.721017 0.233452 +#65763 1721122805674 +SLAM -15.5428 14.2991 16.6287 0.670016 0.00311957 0.0497072 0.740674 +TTool-pose None 9.81232 -7.58809 16.9385 -0.588501 0.280978 -0.722649 0.229032 +#65764 1721122805709 +SLAM -15.5507 14.2782 16.5726 0.669025 0.00306876 0.0502312 0.741534 +TTool-pose None 9.80745 -7.5828 16.9113 -0.587833 0.282066 -0.722576 0.229634 +#65765 1721122805746 +SLAM -15.5531 14.25 17.0397 0.684905 0.00157493 0.0518975 0.726781 +TTool-pose None 9.76147 -7.36979 17.1525 -0.592329 0.268364 -0.728743 0.214507 +#65766 1721122805788 +SLAM -15.5544 14.2744 16.4412 0.664754 0.0032712 0.0501556 0.74537 +TTool-pose None 9.81537 -7.63768 16.8411 -0.586403 0.285894 -0.721037 0.233367 +#65767 1721122805821 +SLAM -15.5475 14.2801 16.4202 0.664209 0.00313616 0.050033 0.745864 +TTool-pose None 9.81507 -7.64143 16.8344 -0.586351 0.286449 -0.720727 0.233777 +#65768 1721122805855 +SLAM -15.556 14.2745 16.431 0.664512 0.00320219 0.0502004 0.745583 +TTool-pose None 9.81693 -7.63994 16.8374 -0.586316 0.286171 -0.720954 0.233505 +#65769 1721122805893 +SLAM -15.5536 14.2727 16.4844 0.666266 0.0032055 0.0502393 0.744013 +TTool-pose None 9.81153 -7.61555 16.8641 -0.58687 0.284553 -0.721619 0.23203 +#65770 1721122805929 +SLAM -15.5601 14.2647 16.4864 0.666294 0.00331401 0.0504152 0.743976 +TTool-pose None 9.81092 -7.61659 16.8611 -0.586723 0.284507 -0.721762 0.232014 +#65771 1721122805964 +SLAM -15.5522 14.2735 16.603 0.670188 0.00303686 0.050396 0.740473 +TTool-pose None 9.80322 -7.56341 16.928 -0.588113 0.281042 -0.723083 0.228575 +#65772 1721122806000 +SLAM -15.5202 14.3242 16.6797 0.668282 0.00403803 0.0483279 0.742325 +TTool-pose None 9.81669 -7.68509 16.9176 -0.588564 0.28169 -0.721497 0.231608 +#65773 1721122806038 +SLAM -15.556 14.2696 16.5408 0.668205 0.00319422 0.0502955 0.742268 +TTool-pose None 9.81059 -7.58622 16.8934 -0.587477 0.282771 -0.722353 0.23038 +#65774 1721122806075 +SLAM -15.5549 14.2716 16.5375 0.668048 0.00313937 0.0503802 0.742404 +TTool-pose None 9.80734 -7.59202 16.8929 -0.587385 0.282972 -0.722329 0.230444 +#65775 1721122806109 +SLAM -15.5456 14.2763 16.4306 0.664806 0.00289753 0.0504108 0.745308 +TTool-pose None 9.80415 -7.6334 16.8424 -0.586371 0.286136 -0.721092 0.232981 +#65776 1721122806151 +SLAM -15.5557 14.266 16.5262 0.667744 0.00312262 0.0505869 0.742663 +TTool-pose None 9.80223 -7.59667 16.8853 -0.587149 0.283317 -0.722333 0.23061 +#65777 1721122806192 +SLAM -15.5549 14.2766 16.4463 0.665107 0.00317743 0.0501694 0.745054 +TTool-pose None 9.81669 -7.62904 16.8484 -0.586543 0.285627 -0.721146 0.233005 +#65778 1721122806232 +SLAM -15.5589 14.2659 16.5448 0.668317 0.00322765 0.0504344 0.742158 +TTool-pose None 9.80844 -7.58642 16.8941 -0.587407 0.282682 -0.722484 0.230257 +#65779 1721122806274 +SLAM -15.5567 14.2724 16.6193 0.670523 0.0032022 0.050224 0.740179 +TTool-pose None 9.81041 -7.56012 16.9323 -0.588286 0.280585 -0.723154 0.228466 +#65780 1721122806315 +SLAM -15.557 14.263 16.5379 0.668189 0.00316635 0.0505908 0.742263 +TTool-pose None 9.80265 -7.58773 16.8906 -0.587279 0.282878 -0.722509 0.230265 +#65781 1721122806354 +SLAM -15.5602 14.2641 16.5923 0.6699 0.00317635 0.0505077 0.740725 +TTool-pose None 9.80645 -7.56471 16.9185 -0.587896 0.281255 -0.723085 0.228867 +#65782 1721122806394 +SLAM -15.5567 14.2729 16.5887 0.670492 0.00282003 0.0505483 0.740188 +TTool-pose None 9.807 -7.54111 16.9339 -0.588182 0.280926 -0.723216 0.228119 +#65783 1721122806434 +SLAM -15.5626 14.2601 16.5037 0.66695 0.00335854 0.0505195 0.74338 +TTool-pose None 9.80906 -7.60509 16.8697 -0.586854 0.283897 -0.722075 0.231456 +#65784 1721122806472 +SLAM -15.5598 14.267 16.5808 0.669366 0.00322374 0.0504018 0.741215 +TTool-pose None 9.80906 -7.57527 16.9114 -0.587776 0.281698 -0.722844 0.229387 +#65785 1721122806512 +SLAM -15.5572 14.2642 16.4618 0.665587 0.00327734 0.0504939 0.744603 +TTool-pose None 9.80689 -7.62476 16.8499 -0.586447 0.285204 -0.721539 0.23255 +#65786 1721122806549 +SLAM -15.5539 14.2769 16.4359 0.664725 0.00315054 0.0502166 0.745392 +TTool-pose None 9.81472 -7.63655 16.8426 -0.586392 0.286009 -0.721026 0.233288 +#65787 1721122806585 +SLAM -15.5478 14.2861 16.4427 0.664692 0.00316578 0.0499777 0.745438 +TTool-pose None 9.81538 -7.64191 16.8468 -0.58654 0.28597 -0.720881 0.233415 +#65788 1721122806622 +SLAM -15.5591 14.2642 16.5835 0.669627 0.00319027 0.0504866 0.740973 +TTool-pose None 9.80621 -7.56758 16.914 -0.587816 0.281496 -0.722978 0.229113 +#65789 1721122806660 +SLAM -15.5493 14.2817 16.5543 0.668429 0.00244483 0.0505158 0.742054 +TTool-pose None 9.80602 -7.60445 16.8993 -0.587651 0.283069 -0.722339 0.229614 +#65790 1721122806698 +SLAM -15.5487 14.2844 16.4312 0.664442 0.00309969 0.0500037 0.745659 +TTool-pose None 9.817 -7.64275 16.8411 -0.586461 0.286248 -0.720784 0.23357 +#65791 1721122806735 +SLAM -15.5511 14.2778 16.4374 0.66491 0.00304751 0.0502966 0.745222 +TTool-pose None 9.8108 -7.63238 16.8462 -0.586434 0.28592 -0.721109 0.233036 +#65792 1721122806772 +SLAM -15.5509 14.2834 16.6439 0.670619 0.00329906 0.0499457 0.740111 +TTool-pose None 9.81039 -7.57578 16.9399 -0.588475 0.280366 -0.723057 0.228553 +#65793 1721122806817 +SLAM -15.5449 14.2823 16.4458 0.665139 0.00294583 0.0502346 0.745022 +TTool-pose None 9.80758 -7.63133 16.8513 -0.586586 0.285753 -0.721127 0.232801 +#65794 1721122806853 +SLAM -15.5636 14.2612 16.6393 0.671295 0.00331053 0.0504173 0.739466 +TTool-pose None 9.80946 -7.54577 16.939 -0.588371 0.279846 -0.723576 0.227815 +#65795 1721122806897 +SLAM -15.5577 14.2685 16.5946 0.669893 0.00317864 0.0503555 0.740741 +TTool-pose None 9.80861 -7.56552 16.9202 -0.587997 0.281222 -0.722995 0.228931 +#65796 1721122806938 +SLAM -15.5474 14.2971 16.4474 0.665839 0.00263631 0.0501287 0.744405 +TTool-pose None 9.81769 -7.60689 16.8734 -0.586995 0.285264 -0.72123 0.232052 +#65797 1721122806973 +SLAM -15.5502 14.2809 16.5042 0.666808 0.00308775 0.0502199 0.743529 +TTool-pose None 9.8091 -7.61321 16.8783 -0.587102 0.284115 -0.72177 0.231507 +#65798 1721122807009 +SLAM -15.5515 14.2743 16.44 0.664931 0.00317879 0.050291 0.745203 +TTool-pose None 9.80959 -7.63159 16.8449 -0.586401 0.28582 -0.721153 0.233107 +#65799 1721122807046 +SLAM -15.5533 14.276 16.5554 0.66851 0.0031008 0.0503103 0.741993 +TTool-pose None 9.8076 -7.58915 16.9027 -0.587599 0.282547 -0.722445 0.230058 +#65800 1721122807082 +SLAM -15.5608 14.2635 16.5297 0.667736 0.00335065 0.0502529 0.742692 +TTool-pose None 9.81521 -7.59282 16.8816 -0.587299 0.283103 -0.722205 0.230892 +#65801 1721122807121 +SLAM -15.5542 14.2716 16.5603 0.668955 0.00233872 0.0508414 0.741558 +TTool-pose None 9.80233 -7.59222 16.9022 -0.587637 0.282725 -0.722686 0.228981 +#65802 1721122807159 +SLAM -15.5577 14.2666 16.48 0.666057 0.0033544 0.0502721 0.744198 +TTool-pose None 9.81286 -7.61829 16.8575 -0.586729 0.284666 -0.721605 0.232292 +#65803 1721122807196 +SLAM -15.55 14.2904 16.5753 0.669025 0.00301108 0.0499292 0.741555 +TTool-pose None 9.8167 -7.58354 16.918 -0.588059 0.282024 -0.722386 0.229709 +#65804 1721122807232 +SLAM -15.5548 14.276 16.586 0.669451 0.003153 0.0501723 0.741153 +TTool-pose None 9.81192 -7.57519 16.9168 -0.587985 0.281603 -0.722722 0.229354 +#65805 1721122807272 +SLAM -15.5623 14.2556 16.5647 0.669059 0.00330143 0.0505837 0.741479 +TTool-pose None 9.80584 -7.57314 16.8997 -0.587525 0.281984 -0.722861 0.229627 +#65806 1721122807311 +SLAM -15.5548 14.2652 16.4169 0.664223 0.00327535 0.0503399 0.74583 +TTool-pose None 9.81126 -7.63833 16.8272 -0.586099 0.286429 -0.720951 0.233742 +#65807 1721122807349 +SLAM -15.5535 14.2758 16.4448 0.664769 0.00327225 0.0500919 0.74536 +TTool-pose None 9.81631 -7.6398 16.8415 -0.586452 0.285863 -0.721007 0.233378 +#65808 1721122807387 +SLAM -15.5589 14.265 16.474 0.665914 0.00332805 0.0503664 0.744319 +TTool-pose None 9.81162 -7.62014 16.8548 -0.586626 0.284838 -0.7216 0.232358 +#65809 1721122807426 +SLAM -15.5551 14.2764 16.6157 0.670486 0.00309423 0.0502916 0.740209 +TTool-pose None 9.80803 -7.56089 16.9351 -0.588264 0.280702 -0.723148 0.2284 +#65810 1721122807463 +SLAM -15.5571 14.2665 16.5832 0.669567 0.00310635 0.0504825 0.741028 +TTool-pose None 9.80538 -7.57124 16.9136 -0.587827 0.281602 -0.722929 0.22911 +#65811 1721122807501 +SLAM -15.5593 14.2613 16.5529 0.668549 0.00319911 0.0505975 0.741938 +TTool-pose None 9.8037 -7.5862 16.895 -0.587382 0.282525 -0.722654 0.229982 +#65812 1721122807540 +SLAM -15.5782 14.2436 17.0977 0.685765 0.00261165 0.0508125 0.726043 +TTool-pose None 9.80567 -7.35969 17.1612 -0.592998 0.266643 -0.728727 0.214858 +#65813 1721122807577 +SLAM -15.5514 14.2804 16.6256 0.670591 0.00307846 0.0501894 0.740121 +TTool-pose None 9.8072 -7.56505 16.9381 -0.588373 0.280587 -0.723122 0.22834 +#65814 1721122807617 +SLAM -15.5585 14.2437 16.9605 0.682247 0.00184711 0.0518625 0.729278 +TTool-pose None 9.76725 -7.40849 17.1042 -0.591416 0.270736 -0.727873 0.216988 +#65815 1721122807658 +SLAM -15.5567 14.2692 16.4432 0.664967 0.00321978 0.0503137 0.745169 +TTool-pose None 9.81358 -7.63267 16.8414 -0.586383 0.285768 -0.721192 0.233096 +#65816 1721122807697 +SLAM -15.5326 14.3082 16.608 0.667638 0.00364052 0.0491174 0.742855 +TTool-pose None 9.81304 -7.65823 16.9023 -0.587946 0.282731 -0.721601 0.23159 +#65817 1721122807735 +SLAM -15.5596 14.2619 16.5589 0.668768 0.00323506 0.0504495 0.74175 +TTool-pose None 9.80826 -7.58005 16.8978 -0.587543 0.282261 -0.722659 0.229878 +#65818 1721122807771 +SLAM -15.551 14.2743 16.4747 0.666117 0.00302379 0.0503878 0.744137 +TTool-pose None 9.80698 -7.61716 16.863 -0.58678 0.284839 -0.721596 0.23198 +#65819 1721122807810 +SLAM -15.5392 14.3014 16.5181 0.666053 0.00328302 0.0495299 0.744251 +TTool-pose None 9.81552 -7.64991 16.8751 -0.587258 0.284524 -0.721155 0.232525 +#65820 1721122807847 +SLAM -15.5608 14.269 16.6309 0.671009 0.00325369 0.0501747 0.739743 +TTool-pose None 9.81545 -7.54844 16.9376 -0.588462 0.280087 -0.723317 0.22811 +#65821 1721122807884 +SLAM -15.5628 14.2627 16.5153 0.667326 0.00335499 0.0503646 0.743053 +TTool-pose None 9.81392 -7.59826 16.8761 -0.587085 0.28351 -0.722121 0.231197 +#65822 1721122807920 +SLAM -15.5588 14.2652 16.5432 0.668289 0.00320574 0.0504387 0.742183 +TTool-pose None 9.8086 -7.58639 16.8927 -0.587403 0.282723 -0.72247 0.230264 +#65823 1721122807956 +SLAM -15.5497 14.2806 16.4449 0.665039 0.00307753 0.0502086 0.745113 +TTool-pose None 9.81138 -7.63265 16.8498 -0.586527 0.28576 -0.721115 0.232981 +#65824 1721122807999 +SLAM -15.5618 14.2606 16.5379 0.668186 0.00322699 0.0505687 0.742267 +TTool-pose None 9.80743 -7.5868 16.8891 -0.587273 0.282838 -0.722514 0.230316 +#65825 1721122808036 +SLAM -15.5627 14.2598 16.628 0.671168 0.00318237 0.0505619 0.739572 +TTool-pose None 9.80628 -7.54387 16.9362 -0.588273 0.280079 -0.723576 0.227784 +#65826 1721122808074 +SLAM -15.5758 14.2417 17.1293 0.686884 0.0023781 0.0510727 0.724966 +TTool-pose None 9.79688 -7.34611 17.1791 -0.593252 0.265772 -0.729197 0.213637 +#65827 1721122808110 +SLAM -15.5505 14.2737 16.5668 0.668793 0.00245123 0.0507798 0.741709 +TTool-pose None 9.79836 -7.60332 16.901 -0.587588 0.282793 -0.722625 0.229215 +#65828 1721122808151 +SLAM -15.5538 14.2731 16.542 0.668173 0.00313616 0.0502411 0.742301 +TTool-pose None 9.8107 -7.58916 16.8943 -0.587523 0.282822 -0.722293 0.230389 +#65829 1721122808186 +SLAM -15.5501 14.2884 16.6417 0.670651 0.00314518 0.0499554 0.740082 +TTool-pose None 9.81134 -7.57497 16.9433 -0.588531 0.280431 -0.723029 0.228421 +#65830 1721122808225 +SLAM -15.5254 14.3219 16.5695 0.666476 0.00348693 0.048843 0.743916 +TTool-pose None 9.81774 -7.67119 16.8907 -0.5878 0.283833 -0.720974 0.232563 +#65831 1721122808266 +SLAM -15.5612 14.2619 16.5562 0.668857 0.00315797 0.0505334 0.741664 +TTool-pose None 9.80839 -7.57572 16.8999 -0.587541 0.282246 -0.722717 0.22972 +#65832 1721122808308 +SLAM -15.5527 14.2765 16.4299 0.664532 0.0031579 0.050179 0.745566 +TTool-pose None 9.81494 -7.63832 16.8387 -0.586351 0.286173 -0.720936 0.233467 +#65833 1721122808348 +SLAM -15.5555 14.2678 16.5361 0.668148 0.00314058 0.0504812 0.742307 +TTool-pose None 9.80497 -7.58709 16.8927 -0.587349 0.282904 -0.722424 0.230323 +#65834 1721122808388 +SLAM -15.5519 14.2711 16.4351 0.664682 0.00314347 0.050308 0.745424 +TTool-pose None 9.8103 -7.63814 16.8371 -0.586318 0.286076 -0.721061 0.233285 +#65835 1721122808430 +SLAM -15.5524 14.2733 16.5849 0.669546 0.00237035 0.05083 0.741026 +TTool-pose None 9.79929 -7.58975 16.913 -0.587829 0.282152 -0.722903 0.22851 +#65836 1721122808472 +SLAM -15.5601 14.2656 16.5433 0.668173 0.00325062 0.0504603 0.742286 +TTool-pose None 9.80836 -7.59134 16.8919 -0.587334 0.282809 -0.722453 0.230383 +#65837 1721122808512 +SLAM -15.5547 14.2677 16.4169 0.664137 0.00326536 0.0503405 0.745907 +TTool-pose None 9.811 -7.64257 16.8278 -0.586073 0.286515 -0.720916 0.233807 +#65838 1721122808552 +SLAM -15.5649 14.2536 16.5682 0.669416 0.00320387 0.0507192 0.741148 +TTool-pose None 9.80549 -7.56396 16.9048 -0.587583 0.281744 -0.72304 0.229213 +#65839 1721122808593 +SLAM -15.5745 14.2373 16.9999 0.682921 0.0024515 0.0513221 0.728683 +TTool-pose None 9.79124 -7.40147 17.1109 -0.591799 0.269593 -0.727979 0.217013 +#65840 1721122808629 +SLAM -15.4648 14.3651 17.5145 0.685454 0.00560184 0.0457465 0.726656 +TTool-pose None 9.7894 -7.67813 17.2166 -0.59536 0.26385 -0.726584 0.218994 +#65841 1721122808665 +SLAM -15.5538 14.2746 16.531 0.667941 0.0030413 0.0503314 0.742504 +TTool-pose None 9.80949 -7.59129 16.8922 -0.587416 0.283118 -0.722233 0.230487 +#65842 1721122808701 +SLAM -15.5507 14.2845 16.4747 0.665721 0.00311569 0.0501002 0.744511 +TTool-pose None 9.8139 -7.63062 16.8628 -0.586815 0.285078 -0.721313 0.232479 +#65843 1721122808737 +SLAM -15.5463 14.2895 16.4534 0.665037 0.00304542 0.0499614 0.745131 +TTool-pose None 9.81565 -7.63909 16.8535 -0.586706 0.285718 -0.720962 0.233054 +#65844 1721122808775 +SLAM -15.5554 14.2685 16.4273 0.664331 0.00331246 0.0502476 0.74574 +TTool-pose None 9.81364 -7.64259 16.8307 -0.586186 0.286284 -0.720948 0.233712 +#65845 1721122808812 +SLAM -15.5504 14.2719 16.4099 0.664006 0.00311366 0.0502471 0.746031 +TTool-pose None 9.81215 -7.64259 16.8262 -0.586145 0.286705 -0.720769 0.233851 +#65846 1721122808850 +SLAM -15.5525 14.2719 16.4491 0.665107 0.00319878 0.0502512 0.745049 +TTool-pose None 9.81142 -7.6319 16.8447 -0.58648 0.285635 -0.7212 0.232989 +#65847 1721122808889 +SLAM -15.5554 14.2724 16.5269 0.667579 0.00319975 0.0502728 0.742833 +TTool-pose None 9.81078 -7.60007 16.8852 -0.587284 0.283345 -0.722115 0.230917 +#65848 1721122808930 +SLAM -15.5565 14.2603 16.4254 0.664651 0.00321346 0.0505434 0.745435 +TTool-pose None 9.80725 -7.63114 16.8316 -0.586123 0.286122 -0.721206 0.233269 +#65849 1721122808972 +SLAM -15.5586 14.2591 16.4808 0.666667 0.00313153 0.0506534 0.743626 +TTool-pose None 9.80521 -7.59967 16.8637 -0.586745 0.28433 -0.721982 0.231492 +#65850 1721122809007 +SLAM -15.5454 14.2852 16.4539 0.665203 0.00303941 0.0500746 0.744976 +TTool-pose None 9.81142 -7.63333 16.8539 -0.586686 0.285597 -0.721086 0.23287 +#65851 1721122809049 +SLAM -15.5611 14.2645 16.4891 0.666573 0.00328158 0.0505226 0.743718 +TTool-pose None 9.80892 -7.60885 16.8671 -0.586753 0.284294 -0.721917 0.231718 +#65852 1721122809084 +SLAM -15.5501 14.2805 16.5511 0.668335 0.00307535 0.0500992 0.742165 +TTool-pose None 9.81178 -7.59053 16.9006 -0.587694 0.282672 -0.722252 0.230266 +#65853 1721122809120 +SLAM -15.5581 14.261 16.5373 0.668221 0.00319886 0.0505032 0.74224 +TTool-pose None 9.80651 -7.58395 16.8887 -0.587338 0.282807 -0.72248 0.230292 +#65854 1721122809157 +SLAM -15.5565 14.2656 16.4282 0.664711 0.00320721 0.0504206 0.74539 +TTool-pose None 9.81093 -7.63036 16.8359 -0.586229 0.28604 -0.721155 0.233261 +#65855 1721122809194 +SLAM -15.5623 14.2604 16.6256 0.670805 0.00329438 0.0504606 0.739908 +TTool-pose None 9.80746 -7.55478 16.9303 -0.588186 0.280326 -0.72342 0.228202 +#65856 1721122809234 +SLAM -15.5256 14.3255 16.4875 0.664813 0.00306953 0.0490586 0.745391 +TTool-pose None 9.82018 -7.67303 16.8674 -0.587241 0.285681 -0.720366 0.233593 +#65857 1721122809272 +SLAM -15.5522 14.2804 16.5336 0.667723 0.00310514 0.0501489 0.742712 +TTool-pose None 9.81223 -7.60069 16.8918 -0.587448 0.283236 -0.722068 0.23078 +#65858 1721122809309 +SLAM -15.558 14.279 16.5594 0.668416 0.00322688 0.0502185 0.742083 +TTool-pose None 9.81298 -7.59485 16.9044 -0.587588 0.282535 -0.722395 0.230254 +#65859 1721122809346 +SLAM -15.5502 14.2746 16.4352 0.664586 0.00316262 0.0502255 0.745516 +TTool-pose None 9.81066 -7.64141 16.8377 -0.586336 0.286133 -0.720984 0.233409 +#65860 1721122809385 +SLAM -15.546 14.2904 16.4399 0.664659 0.00299777 0.0499692 0.745468 +TTool-pose None 9.8162 -7.64335 16.848 -0.586591 0.286099 -0.720814 0.233334 +#65861 1721122809426 +SLAM -15.5492 14.2834 16.4432 0.664756 0.00309981 0.0500642 0.745374 +TTool-pose None 9.8151 -7.6415 16.8456 -0.586524 0.285972 -0.720935 0.233285 +#65862 1721122809468 +SLAM -15.5588 14.26 16.6173 0.670752 0.00243227 0.0511022 0.739915 +TTool-pose None 9.79552 -7.56989 16.9251 -0.588018 0.281056 -0.723514 0.227435 +#65863 1721122809507 +SLAM -15.5473 14.2901 16.6178 0.670236 0.00201784 0.0506369 0.740416 +TTool-pose None 9.80316 -7.59554 16.9313 -0.588306 0.28167 -0.722936 0.227769 +#65864 1721122809541 +SLAM -15.5523 14.28 16.5708 0.668932 0.0023137 0.0506426 0.741592 +TTool-pose None 9.80622 -7.60211 16.9057 -0.587774 0.282711 -0.722556 0.229058 +#65865 1721122809579 +SLAM -15.5518 14.2795 16.5719 0.669901 0.00269744 0.0504713 0.740728 +TTool-pose None 9.80657 -7.5519 16.9274 -0.588081 0.281533 -0.722922 0.228563 +#65866 1721122809617 +SLAM -15.547 14.2749 16.4367 0.664867 0.00304256 0.0502669 0.745262 +TTool-pose None 9.80805 -7.63266 16.8419 -0.586442 0.285955 -0.721075 0.233079 +#65867 1721122809654 +SLAM -15.5458 14.2868 16.4504 0.665037 0.00300528 0.0500363 0.745126 +TTool-pose None 9.81353 -7.63738 16.8515 -0.586668 0.285761 -0.720993 0.232999 +#65868 1721122809690 +SLAM -15.5549 14.2643 16.4312 0.664555 0.00327919 0.0503781 0.745532 +TTool-pose None 9.80951 -7.63831 16.8317 -0.586182 0.28613 -0.721095 0.233454 +#65869 1721122809729 +SLAM -15.5262 14.3082 16.6744 0.669025 0.00385327 0.0489164 0.741618 +TTool-pose None 9.8075 -7.65611 16.9226 -0.588469 0.28126 -0.722051 0.230644 +#65870 1721122809771 +SLAM -15.5591 14.2663 16.5494 0.66848 0.00320174 0.0504642 0.742009 +TTool-pose None 9.80783 -7.58455 16.8972 -0.587449 0.282553 -0.722552 0.230092 +#65871 1721122809812 +SLAM -15.5648 14.2643 16.5995 0.669984 0.003336 0.050339 0.74066 +TTool-pose None 9.81406 -7.5638 16.92 -0.587985 0.281038 -0.723065 0.228965 +#65872 1721122809848 +SLAM -15.5579 14.2649 16.5849 0.669548 0.00320195 0.0504154 0.741049 +TTool-pose None 9.80703 -7.57131 16.9121 -0.587835 0.281545 -0.722912 0.229214 +#65873 1721122809892 +SLAM -15.5235 14.3257 16.6881 0.669453 0.00362094 0.0486241 0.741253 +TTool-pose None 9.81636 -7.65174 16.9392 -0.588888 0.280926 -0.721969 0.23024 +#65874 1721122809930 +SLAM -15.5554 14.2725 16.4427 0.664906 0.00322038 0.0502349 0.745229 +TTool-pose None 9.8147 -7.63411 16.8425 -0.586417 0.285805 -0.721124 0.233177 +#65875 1721122809968 +SLAM -15.5489 14.2786 16.4335 0.664645 0.00305073 0.0502171 0.745463 +TTool-pose None 9.81123 -7.63901 16.8411 -0.586399 0.286143 -0.720968 0.233288 +#65876 1721122810004 +SLAM -15.5587 14.2647 16.4635 0.665686 0.00325947 0.0504189 0.74452 +TTool-pose None 9.81115 -7.62152 16.8509 -0.586537 0.285104 -0.721526 0.232483 +#65877 1721122810046 +SLAM -15.557 14.2616 16.5099 0.667268 0.00323503 0.0504763 0.743098 +TTool-pose None 9.80659 -7.59816 16.8737 -0.58703 0.283664 -0.722129 0.231124 +#65878 1721122810085 +SLAM -15.5641 14.2617 16.5872 0.669691 0.00327863 0.0504491 0.740917 +TTool-pose None 9.81118 -7.56666 16.9136 -0.587833 0.281374 -0.723006 0.229132 +#65879 1721122810124 +SLAM -15.5841 14.2314 17.0378 0.683966 0.00281666 0.0509906 0.727725 +TTool-pose None 9.80563 -7.38183 17.1242 -0.592237 0.26829 -0.728263 0.216479 +#65880 1721122810166 +SLAM -15.5541 14.2703 16.4775 0.666212 0.00307651 0.0504385 0.744049 +TTool-pose None 9.80773 -7.61542 16.8622 -0.586759 0.284732 -0.721676 0.231916 +#65881 1721122810204 +SLAM -15.536 14.3088 16.6692 0.669886 0.00353715 0.0491604 0.740827 +TTool-pose None 9.8146 -7.62119 16.9399 -0.588692 0.280709 -0.72241 0.229621 +#65882 1721122810241 +SLAM -15.5474 14.2668 16.5756 0.669682 0.00192872 0.051397 0.740865 +TTool-pose None 9.78282 -7.58739 16.9108 -0.587633 0.282434 -0.723147 0.227891 +#65883 1721122810279 +SLAM -15.5738 14.2597 16.2901 0.664948 0.00165118 0.051746 0.745093 +TTool-pose None 9.8164 -7.52419 16.8461 -0.585922 0.287091 -0.721542 0.231537 +#65884 1721122810317 +SLAM -15.5215 14.3134 16.8332 0.671886 0.00451007 0.0482715 0.739066 +TTool-pose None 9.80747 -7.66775 16.9691 -0.589629 0.278025 -0.722908 0.228912 +#65885 1721122810356 +SLAM -15.5491 14.2839 16.4686 0.665569 0.00314145 0.0500203 0.744652 +TTool-pose None 9.81494 -7.62965 16.8591 -0.58681 0.285183 -0.721219 0.232652 +#65886 1721122810393 +SLAM -15.55 14.2816 16.5826 0.669426 0.002282 0.0506588 0.741146 +TTool-pose None 9.80343 -7.59252 16.9153 -0.587936 0.282273 -0.722734 0.228617 +#65887 1721122810430 +SLAM -15.5521 14.2794 16.5321 0.667731 0.00310704 0.0502559 0.742698 +TTool-pose None 9.80873 -7.60012 16.8927 -0.587376 0.283255 -0.722132 0.230735 +#65888 1721122810468 +SLAM -15.5602 14.2677 16.5579 0.668562 0.00327224 0.0503616 0.741942 +TTool-pose None 9.81075 -7.58715 16.899 -0.587523 0.282409 -0.722544 0.230108 +#65889 1721122810507 +SLAM -15.5567 14.2668 16.4669 0.66569 0.00329395 0.0502614 0.744526 +TTool-pose None 9.81358 -7.62216 16.8509 -0.586634 0.28504 -0.721447 0.232562 +#65890 1721122810549 +SLAM -15.552 14.2873 16.5974 0.669876 0.00297218 0.0500861 0.740775 +TTool-pose None 9.81355 -7.56999 16.931 -0.588245 0.281293 -0.722772 0.22891 +#65891 1721122810588 +SLAM -15.5636 14.2654 16.4933 0.666522 0.00337794 0.0502981 0.743779 +TTool-pose None 9.81713 -7.61118 16.865 -0.586857 0.284227 -0.721797 0.231909 +#65892 1721122810627 +SLAM -15.5578 14.269 16.6005 0.669828 0.00265968 0.0506534 0.740782 +TTool-pose None 9.80586 -7.58596 16.915 -0.587945 0.28167 -0.722989 0.228531 +#65893 1721122810664 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0.231153 +#65899 1721122810901 +SLAM -15.5372 14.2925 16.6301 0.669072 0.0034737 0.0496288 0.741531 +TTool-pose None 9.8038 -7.62429 16.9174 -0.588125 0.281626 -0.722367 0.230088 +#65900 1721122810940 +SLAM -15.5533 14.2813 16.5933 0.669644 0.00226739 0.0506777 0.740948 +TTool-pose None 9.80573 -7.59407 16.9183 -0.588 0.282084 -0.72282 0.228417 +#65901 1721122810977 +SLAM -15.5596 14.2653 16.5083 0.667149 0.00320549 0.05047 0.743206 +TTool-pose None 9.80954 -7.60279 16.8749 -0.587005 0.283792 -0.722073 0.231207 +#65902 1721122811013 +SLAM -15.5538 14.2743 16.4699 0.665761 0.00320175 0.0502347 0.744465 +TTool-pose None 9.8123 -7.62371 16.8574 -0.586707 0.285023 -0.721431 0.232452 +#65903 1721122811053 +SLAM -15.5516 14.2809 16.5289 0.667564 0.00315976 0.050097 0.742858 +TTool-pose None 9.81272 -7.60166 16.8898 -0.587412 0.283338 -0.721996 0.230969 +#65904 1721122811092 +SLAM -15.547 14.2838 16.4574 0.66537 0.00305282 0.0500683 0.744827 +TTool-pose None 9.813 -7.62909 16.8556 -0.586741 0.285433 -0.721147 0.232741 +#65905 1721122811129 +SLAM -15.5581 14.2626 16.5413 0.668376 0.00314366 0.050605 0.742093 +TTool-pose None 9.80365 -7.58332 16.8933 -0.587338 0.282721 -0.722579 0.230088 +#65906 1721122811169 +SLAM -15.5596 14.2583 16.5254 0.667894 0.00318148 0.0506324 0.742526 +TTool-pose None 9.80451 -7.58851 16.8825 -0.587148 0.283154 -0.72243 0.230507 +#65907 1721122811209 +SLAM -15.5605 14.2643 16.5816 0.669449 0.00325204 0.0503373 0.741144 +TTool-pose None 9.81174 -7.57079 16.9098 -0.587839 0.281587 -0.722846 0.22936 +#65908 1721122811250 +SLAM -15.5281 14.3022 16.6835 0.669023 0.00394528 0.0490576 0.74161 +TTool-pose None 9.80313 -7.66524 16.9192 -0.588341 0.281242 -0.72216 0.230653 +#65909 1721122811289 +SLAM -15.5528 14.2515 16.9763 0.682823 0.00165066 0.0518151 0.728742 +TTool-pose None 9.76506 -7.40022 17.118 -0.591698 0.270292 -0.727989 0.216381 +#65910 1721122811331 +SLAM -15.5604 14.2665 16.546 0.668534 0.00317032 0.0504084 0.741965 +TTool-pose None 9.81166 -7.57863 16.8977 -0.587516 0.282508 -0.722531 0.230047 +#65911 1721122811373 +SLAM -15.556 14.2766 16.4812 0.666051 0.00319741 0.0501826 0.744209 +TTool-pose None 9.81563 -7.62175 16.8634 -0.58684 0.284743 -0.721505 0.232226 +#65912 1721122811415 +SLAM -15.5619 14.2614 16.582 0.669553 0.0032534 0.0505295 0.741036 +TTool-pose None 9.80687 -7.56892 16.9117 -0.587741 0.281538 -0.722995 0.229201 +#65913 1721122811455 +SLAM -15.5492 14.2807 16.4945 0.666525 0.00301625 0.0502843 0.743779 +TTool-pose None 9.80737 -7.618 16.8733 -0.586988 0.284438 -0.721683 0.231673 +#65914 1721122811492 +SLAM -15.5559 14.2742 16.5823 0.669397 0.00317319 0.0502358 0.741197 +TTool-pose None 9.8109 -7.57425 16.9157 -0.587917 0.281657 -0.722745 0.229389 +#65915 1721122811530 +SLAM -15.5578 14.263 16.5954 0.670069 0.00313206 0.0505366 0.74057 +TTool-pose None 9.80386 -7.56091 16.9199 -0.587947 0.281131 -0.72315 0.228684 +#65916 1721122811566 +SLAM -15.5631 14.2688 16.3682 0.665429 0.00216414 0.0512491 0.744697 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0.00319243 0.0504464 0.743067 +TTool-pose None 9.80926 -7.60097 16.8788 -0.587077 0.283648 -0.722113 0.231076 +#65923 1721122811838 +SLAM -15.5469 14.287 16.4513 0.665006 0.00307081 0.0500023 0.745156 +TTool-pose None 9.81474 -7.63835 16.8517 -0.586659 0.285742 -0.720981 0.233081 +#65924 1721122811876 +SLAM -15.5643 14.2581 16.5625 0.668904 0.00333535 0.0504906 0.741625 +TTool-pose None 9.81023 -7.57657 16.8987 -0.587526 0.282085 -0.722761 0.229815 +#65925 1721122811917 +SLAM -15.553 14.2748 16.5591 0.66869 0.00309099 0.0503938 0.741825 +TTool-pose None 9.80464 -7.58596 16.9056 -0.587604 0.282406 -0.722555 0.229869 +#65926 1721122811954 +SLAM -15.5539 14.2791 16.568 0.66873 0.00313355 0.0501524 0.741805 +TTool-pose None 9.8123 -7.58965 16.9071 -0.587768 0.282282 -0.722444 0.229953 +#65927 1721122811991 +SLAM -15.5602 14.2619 16.5459 0.668534 0.00318005 0.0505994 0.741952 +TTool-pose None 9.80524 -7.58043 16.8959 -0.587382 0.28255 -0.722644 0.229982 +#65928 1721122812030 +SLAM -15.5542 14.2717 16.4704 0.665894 0.00315626 0.0503604 0.744338 +TTool-pose None 9.80942 -7.62036 16.8584 -0.58668 0.284959 -0.721538 0.232263 +#65929 1721122812066 +SLAM -15.5614 14.2671 16.5503 0.669716 0.00274556 0.050701 0.740879 +TTool-pose None 9.80986 -7.54055 16.9183 -0.587847 0.281735 -0.723002 0.228664 +#65930 1721122812107 +SLAM -15.5231 14.331 16.4975 0.665029 0.00305309 0.0489374 0.745206 +TTool-pose None 9.82115 -7.67243 16.8738 -0.587401 0.285461 -0.720371 0.233448 +#65931 1721122812146 +SLAM -15.5559 14.2708 16.5613 0.668887 0.00309261 0.0504649 0.741643 +TTool-pose None 9.80548 -7.5801 16.9064 -0.58762 0.28224 -0.722669 0.229678 +#65932 1721122812186 +SLAM -15.5582 14.2651 16.575 0.669384 0.0031735 0.0503559 0.741201 +TTool-pose None 9.8103 -7.5685 16.909 -0.587831 0.281699 -0.72281 0.229355 +#65933 1721122812225 +SLAM -15.5597 14.2742 16.5918 0.669552 0.00322143 0.0502797 0.741054 +TTool-pose None 9.81203 -7.57696 16.9192 -0.587922 0.281495 -0.722841 0.229274 +#65934 1721122812262 +SLAM -15.557 14.2658 16.4196 0.664253 0.00328957 0.05028 0.745808 +TTool-pose None 9.81511 -7.63895 16.8275 -0.586146 0.286378 -0.720931 0.233749 +#65935 1721122812302 +SLAM -15.5664 14.2611 16.6199 0.670604 0.00339192 0.0503857 0.740095 +TTool-pose None 9.81274 -7.55596 16.9284 -0.588138 0.280437 -0.723333 0.228463 +#65936 1721122812341 +SLAM -15.5583 14.2678 16.4616 0.665519 0.0033069 0.050251 0.74468 +TTool-pose None 9.81544 -7.62438 16.8494 -0.58658 0.285188 -0.721383 0.232717 +#65937 1721122812380 +SLAM -15.5466 14.2919 16.6014 0.669469 0.00308998 0.049855 0.741159 +TTool-pose None 9.8133 -7.58736 16.9254 -0.588229 0.281544 -0.722527 0.229416 +#65938 1721122812419 +SLAM -15.5539 14.2671 16.5667 0.668838 0.00243929 0.0508153 0.741666 +TTool-pose None 9.80122 -7.60142 16.8959 -0.587582 0.282767 -0.722658 0.229156 +#65939 1721122812457 +SLAM -15.5603 14.2778 16.3371 0.664838 0.00198845 0.0510368 0.745239 +TTool-pose None 9.81716 -7.56226 16.8509 -0.586258 0.286811 -0.721194 0.232118 +#65940 1721122812496 +SLAM -15.5716 14.2385 16.9483 0.681368 0.00257064 0.0512244 0.730142 +TTool-pose None 9.79177 -7.41796 17.0858 -0.59133 0.270978 -0.727412 0.218461 +#65941 1721122812534 +SLAM -15.5669 14.2571 16.5494 0.668525 0.0034084 0.050432 0.74197 +TTool-pose None 9.81432 -7.57863 16.8923 -0.587417 0.282379 -0.722612 0.230202 +#65942 1721122812573 +SLAM -15.5626 14.2643 16.5314 0.667854 0.00327687 0.0504262 0.742575 +TTool-pose None 9.81219 -7.59293 16.8858 -0.587244 0.283082 -0.722326 0.23068 +#65943 1721122812614 +SLAM -15.5586 14.2633 16.4886 0.666462 0.00325007 0.050519 0.743818 +TTool-pose None 9.80704 -7.61342 16.863 -0.586729 0.284415 -0.721864 0.231792 +#65944 1721122812651 +SLAM -15.5484 14.2798 16.4317 0.664569 0.00310727 0.05019 0.745533 +TTool-pose None 9.81076 -7.63945 16.8415 -0.586373 0.286173 -0.720941 0.233399 +#65945 1721122812689 +SLAM -15.5427 14.2942 16.4623 0.665377 0.00297204 0.0499005 0.744832 +TTool-pose None 9.81455 -7.63345 16.8615 -0.586885 0.285432 -0.721029 0.232745 +#65946 1721122812728 +SLAM -15.5588 14.265 16.5299 0.667845 0.00321935 0.050485 0.742579 +TTool-pose None 9.8073 -7.59326 16.8862 -0.58722 0.283139 -0.72234 0.230627 +#65947 1721122812772 +SLAM -15.5558 14.2753 16.5558 0.668472 0.00320521 0.0502556 0.742031 +TTool-pose None 9.81045 -7.58912 16.9023 -0.587588 0.282506 -0.722431 0.230179 +#65948 1721122812809 +SLAM -15.5566 14.27 16.459 0.665266 0.00328928 0.0502269 0.744908 +TTool-pose None 9.81458 -7.6331 16.8461 -0.586518 0.285427 -0.721271 0.232926 +#65949 1721122812850 +SLAM -15.5578 14.28 16.3252 0.664487 0.00190322 0.0510108 0.745554 +TTool-pose None 9.81714 -7.56695 16.8459 -0.586187 0.28718 -0.721025 0.232363 +#65950 1721122812894 +SLAM -15.5568 14.2673 16.4683 0.665759 0.00325644 0.0503959 0.744456 +TTool-pose None 9.8096 -7.6229 16.8539 -0.586578 0.285033 -0.721539 0.232429 +#65951 1721122812934 +SLAM -15.5594 14.2675 16.5738 0.669164 0.00327042 0.0503479 0.7414 +TTool-pose None 9.80999 -7.57583 16.9086 -0.587731 0.281844 -0.722754 0.229607 +#65952 1721122812972 +SLAM -15.5612 14.2541 16.5359 0.668313 0.0032141 0.0507438 0.74214 +TTool-pose None 9.80194 -7.58092 16.8875 -0.587199 0.282772 -0.722657 0.230135 +#65953 1721122813009 +SLAM -15.5494 14.2784 16.428 0.66443 0.00312839 0.0501427 0.74566 +TTool-pose None 9.81319 -7.64092 16.8376 -0.586352 0.286277 -0.720869 0.233547 +#65954 1721122813047 +SLAM -15.5567 14.2704 16.4976 0.666722 0.00321105 0.0502928 0.743601 +TTool-pose None 9.81248 -7.60902 16.8703 -0.586982 0.28414 -0.721817 0.231634 +#65955 1721122813086 +SLAM -15.5558 14.2655 16.4466 0.665143 0.00324015 0.0503509 0.74501 +TTool-pose None 9.81136 -7.62805 16.8416 -0.586409 0.285602 -0.721283 0.232949 +#65956 1721122813128 +SLAM -15.5531 14.2627 16.4668 0.666124 0.00301153 0.0507597 0.744105 +TTool-pose None 9.79809 -7.61299 16.8575 -0.586532 0.284933 -0.721809 0.231826 +#65957 1721122813168 +SLAM -15.5505 14.2726 16.4828 0.666379 0.00300469 0.0504498 0.743899 +TTool-pose None 9.80449 -7.61447 16.8659 -0.586831 0.284623 -0.721721 0.231725 +#65958 1721122813210 +SLAM -15.5609 14.2591 16.4996 0.666904 0.00329245 0.0506103 0.743415 +TTool-pose None 9.80563 -7.60502 16.8684 -0.586799 0.284002 -0.722091 0.231416 +#65959 1721122813249 +SLAM -15.5336 14.3129 16.5169 0.665039 0.003531 0.0490318 0.745189 +TTool-pose None 9.82154 -7.68415 16.8633 -0.587179 0.285188 -0.72057 0.233721 +#65960 1721122813288 +SLAM -15.5533 14.2753 16.4475 0.665118 0.00314612 0.0502383 0.74504 +TTool-pose None 9.81327 -7.63082 16.8476 -0.58651 0.285653 -0.721181 0.232949 +#65961 1721122813332 +SLAM -15.5558 14.2849 16.6252 0.670527 0.00248908 0.0503867 0.740168 +TTool-pose None 9.81333 -7.57975 16.9354 -0.588415 0.281052 -0.723037 0.227931 +#65962 1721122813372 +SLAM -15.5616 14.2614 16.5565 0.668743 0.00328247 0.0505337 0.741767 +TTool-pose None 9.80688 -7.57925 16.8991 -0.587461 0.282277 -0.722712 0.229899 +#65963 1721122813414 +SLAM -15.5193 14.327 16.554 0.665481 0.00349727 0.0486567 0.744819 +TTool-pose None 9.81762 -7.69744 16.8751 -0.587594 0.284703 -0.720506 0.23347 +#65964 1721122813455 +SLAM -15.5492 14.2835 16.4728 0.665742 0.00308056 0.0500655 0.744494 +TTool-pose None 9.81428 -7.62757 16.8612 -0.586857 0.28507 -0.72129 0.232451 +#65965 1721122813494 +SLAM -15.5532 14.2717 16.5687 0.669194 0.00306073 0.0503918 0.741371 +TTool-pose None 9.80543 -7.57313 16.9108 -0.587782 0.281954 -0.722728 0.229427 +#65966 1721122813531 +SLAM -15.5535 14.2712 16.4746 0.665731 0.0032764 0.0502368 0.744492 +TTool-pose None 9.81074 -7.62822 16.8544 -0.586671 0.285006 -0.721443 0.232525 +#65967 1721122813567 +SLAM -15.5475 14.2851 16.4483 0.664932 0.00304324 0.0500451 0.745219 +TTool-pose None 9.81456 -7.63941 16.8489 -0.586615 0.285838 -0.720971 0.233109 +#65968 1721122813604 +SLAM -15.5713 14.2474 16.9694 0.682022 0.00261629 0.0509627 0.729549 +TTool-pose None 9.79832 -7.40564 17.1028 -0.591703 0.270261 -0.727505 0.218029 +#65969 1721122813640 +SLAM -15.5621 14.2608 16.5605 0.668969 0.00324235 0.0505431 0.741563 +TTool-pose None 9.80763 -7.57389 16.902 -0.587543 0.282093 -0.722788 0.229679 +#65970 1721122813677 +SLAM -15.5478 14.2779 16.5001 0.666725 0.00305064 0.0502608 0.743601 +TTool-pose None 9.80633 -7.61344 16.8739 -0.587059 0.284226 -0.721752 0.231537 +#65971 1721122813716 +SLAM -15.5574 14.2639 16.4189 0.66428 0.00328826 0.0503461 0.745779 +TTool-pose None 9.81345 -7.63779 16.8272 -0.586109 0.286371 -0.720978 0.233701 +#65972 1721122813760 +SLAM -15.5797 14.2282 17.0281 0.683899 0.00264309 0.0512906 0.727767 +TTool-pose None 9.79436 -7.38123 17.1216 -0.592068 0.268534 -0.72836 0.216309 +#65973 1721122813799 +SLAM -15.5613 14.2636 16.5433 0.66833 0.00322821 0.0505043 0.742141 +TTool-pose None 9.80868 -7.58511 16.8934 -0.587364 0.282687 -0.722529 0.23022 +#65974 1721122813836 +SLAM -15.5527 14.2711 16.4474 0.665125 0.00315759 0.050263 0.745032 +TTool-pose None 9.81201 -7.63008 16.844 -0.586491 0.285646 -0.721201 0.232942 +#65975 1721122813871 +SLAM -15.5595 14.2671 16.5303 0.6678 0.00323768 0.0504483 0.742622 +TTool-pose None 9.80872 -7.59516 16.8871 -0.587224 0.283161 -0.722307 0.230691 +#65976 1721122813907 +SLAM -15.5637 14.2569 16.6318 0.671231 0.00328024 0.0505287 0.739517 +TTool-pose None 9.80697 -7.5427 16.9353 -0.588284 0.279953 -0.723609 0.227808 +#65977 1721122813943 +SLAM -15.5434 14.2797 16.5787 0.669528 0.00197135 0.0509553 0.741034 +TTool-pose None 9.79188 -7.59189 16.9146 -0.587871 0.28244 -0.72285 0.228214 +#65978 1721122813980 +SLAM -15.5562 14.2694 16.4419 0.66481 0.00331375 0.0501648 0.745318 +TTool-pose None 9.81664 -7.63491 16.8382 -0.586402 0.285818 -0.721076 0.233344 +#65979 1721122814028 +SLAM -15.537 14.3009 16.5894 0.66789 0.00341328 0.0493959 0.742611 +TTool-pose None 9.81317 -7.6352 16.9026 -0.587914 0.282705 -0.721785 0.231126 +#65980 1721122814065 +SLAM -15.5507 14.2862 16.624 0.669743 0.00339882 0.0497947 0.740914 +TTool-pose None 9.81407 -7.59189 16.927 -0.588258 0.281087 -0.722683 0.229412 +#65981 1721122814108 +SLAM -15.5548 14.2643 16.4195 0.664334 0.00319956 0.0504215 0.745726 +TTool-pose None 9.80971 -7.63817 16.8281 -0.586106 0.286393 -0.721016 0.233569 +#65982 1721122814147 +SLAM -15.5551 14.2667 16.4657 0.665835 0.00315443 0.0504934 0.744382 +TTool-pose None 9.80645 -7.61968 16.8547 -0.58657 0.285048 -0.721593 0.232262 +#65983 1721122814186 +SLAM -15.5525 14.2664 16.4367 0.664786 0.00315647 0.0503987 0.745325 +TTool-pose None 9.80797 -7.63576 16.8358 -0.586286 0.285995 -0.721155 0.233173 +#65984 1721122814224 +SLAM -15.5555 14.2717 16.5468 0.668345 0.00316064 0.0503345 0.74214 +TTool-pose None 9.8088 -7.58716 16.8975 -0.587508 0.282671 -0.722417 0.230226 +#65985 1721122814264 +SLAM -15.5729 14.2461 16.9058 0.679843 0.00274771 0.0509389 0.731581 +TTool-pose None 9.80105 -7.43956 17.0658 -0.590977 0.272252 -0.726762 0.219992 +#65986 1721122814303 +SLAM -15.5495 14.2777 16.4966 0.66674 0.00301703 0.0503821 0.743579 +TTool-pose None 9.80465 -7.61157 16.8757 -0.586993 0.284262 -0.721818 0.231456 +#65987 1721122814346 +SLAM -15.559 14.2694 16.5827 0.669482 0.0032495 0.050206 0.741122 +TTool-pose None 9.81425 -7.56908 16.9135 -0.58794 0.281524 -0.722782 0.229379 +#65988 1721122814384 +SLAM -15.5608 14.2608 16.5724 0.669199 0.00323909 0.0505434 0.741355 +TTool-pose None 9.80587 -7.5754 16.9051 -0.58762 0.28188 -0.72287 0.229483 +#65989 1721122814421 +SLAM -15.5571 14.264 16.6046 0.670231 0.00314358 0.0504939 0.740426 +TTool-pose None 9.80389 -7.56218 16.9226 -0.588025 0.280961 -0.723187 0.228572 +#65990 1721122814458 +SLAM -15.5453 14.2897 16.4378 0.664893 0.00287365 0.0501448 0.745248 +TTool-pose None 9.81182 -7.63499 16.8525 -0.58659 0.286002 -0.720964 0.232992 +#65991 1721122814502 +SLAM -15.5577 14.2726 16.5611 0.668718 0.00319452 0.0502409 0.74181 +TTool-pose None 9.81306 -7.58328 16.9036 -0.587683 0.282279 -0.722508 0.229971 +#65992 1721122814541 +SLAM -15.5558 14.2679 16.4218 0.664502 0.00317378 0.0503573 0.745582 +TTool-pose None 9.81291 -7.63306 16.8334 -0.586214 0.286238 -0.721032 0.233437 +#65993 1721122814581 +SLAM -15.5549 14.2714 16.5653 0.668925 0.00312984 0.0503535 0.741616 +TTool-pose None 9.80743 -7.58029 16.9063 -0.587696 0.282154 -0.722629 0.229712 +#65994 1721122814622 +SLAM -15.5526 14.2781 16.4619 0.665504 0.00314214 0.0501662 0.7447 +TTool-pose None 9.81429 -7.62745 16.8551 -0.586688 0.28528 -0.721279 0.232653 +#65995 1721122814660 +SLAM -15.5451 14.2816 16.4648 0.665573 0.00299286 0.0502174 0.744635 +TTool-pose None 9.80686 -7.62998 16.8574 -0.586726 0.285318 -0.72129 0.232477 +#65996 1721122814699 +SLAM -15.5525 14.2764 16.4353 0.664559 0.00319677 0.0501697 0.745543 +TTool-pose None 9.81419 -7.64178 16.8389 -0.586354 0.286123 -0.720952 0.233474 +#65997 1721122814738 +SLAM -15.5577 14.2775 16.6998 0.673674 0.00288004 0.0502611 0.737312 +TTool-pose None 9.8123 -7.50459 16.9863 -0.589399 0.277834 -0.724214 0.225581 +#65998 1721122814775 +SLAM -15.556 14.2655 16.4426 0.665015 0.00321006 0.0504087 0.74512 +TTool-pose None 9.81017 -7.63089 16.84 -0.586338 0.285753 -0.721261 0.233014 +#65999 1721122814815 +SLAM -15.5707 14.2644 16.5317 0.67028 0.00245431 0.0509487 0.740353 +TTool-pose None 9.817 -7.50485 16.9281 -0.587961 0.281445 -0.723262 0.227904 +#66000 1721122814853 +SLAM -15.5496 14.2917 16.4538 0.665989 0.00268282 0.0502124 0.744265 +TTool-pose None 9.81644 -7.60658 16.8723 -0.586972 0.285118 -0.721346 0.231926 +#66001 1721122814890 +SLAM -15.5523 14.2693 16.4237 0.66445 0.00313718 0.0503551 0.745628 +TTool-pose None 9.8098 -7.63769 16.8327 -0.586211 0.286306 -0.721001 0.233456 +#66002 1721122814929 +SLAM -15.5467 14.2908 16.5667 0.668616 0.00227134 0.0503878 0.741895 +TTool-pose None 9.80905 -7.61011 16.9061 -0.587858 0.282967 -0.722281 0.229391 +#66003 1721122814973 +SLAM -15.556 14.2677 16.5346 0.668045 0.00316017 0.0503813 0.742407 +TTool-pose None 9.8086 -7.58862 16.8897 -0.587376 0.282963 -0.722334 0.23046 +#66004 1721122815016 +SLAM -15.555 14.2694 16.434 0.664738 0.00324662 0.0502064 0.745381 +TTool-pose None 9.81546 -7.63176 16.8371 -0.586371 0.285937 -0.721053 0.233345 +#66005 1721122815054 +SLAM -15.5622 14.2586 16.589 0.669922 0.00318955 0.0506706 0.740693 +TTool-pose None 9.80342 -7.5619 16.9163 -0.587787 0.281267 -0.723191 0.228796 +#66006 1721122815096 +SLAM -15.5563 14.2661 16.5201 0.667471 0.0032529 0.0503321 0.742926 +TTool-pose None 9.80966 -7.59757 16.8793 -0.587189 0.283429 -0.722125 0.23102 +#66007 1721122815135 +SLAM -15.5589 14.2697 16.5514 0.668447 0.00321513 0.0503885 0.742044 +TTool-pose None 9.80954 -7.58708 16.8989 -0.587486 0.282557 -0.722501 0.230156 +#66008 1721122815174 +SLAM -15.5562 14.2749 16.6207 0.670549 0.00316244 0.0502125 0.740158 +TTool-pose None 9.81071 -7.56094 16.9343 -0.588316 0.280582 -0.723145 0.228423 +#66009 1721122815213 +SLAM -15.5581 14.2686 16.505 0.666807 0.00326886 0.0503475 0.74352 +TTool-pose None 9.81086 -7.61239 16.871 -0.586954 0.28404 -0.721897 0.23158 +#66010 1721122815255 +SLAM -15.5495 14.2864 16.4484 0.664709 0.00318829 0.0498994 0.745428 +TTool-pose None 9.81897 -7.64559 16.8462 -0.586591 0.285921 -0.720848 0.233445 +#66011 1721122815290 +SLAM -15.541 14.2921 16.5715 0.668216 0.00316859 0.0498064 0.742292 +TTool-pose None 9.80896 -7.61134 16.9044 -0.587823 0.282653 -0.722068 0.230537 +#66012 1721122815325 +SLAM -15.5532 14.2644 16.4559 0.665551 0.00316305 0.0504764 0.744637 +TTool-pose None 9.80555 -7.62178 16.8477 -0.586485 0.285303 -0.721481 0.232511 +#66013 1721122815366 +SLAM -15.5542 14.2652 16.5618 0.668997 0.0023364 0.0510352 0.741507 +TTool-pose None 9.79623 -7.59371 16.8991 -0.587519 0.282736 -0.722812 0.228872 +#66014 1721122815405 +SLAM -15.5484 14.287 16.6126 0.669554 0.00329122 0.0497634 0.741087 +TTool-pose None 9.81498 -7.59014 16.923 -0.588253 0.28132 -0.722565 0.229512 +#66015 1721122815445 +SLAM -15.5628 14.2595 16.5649 0.669196 0.00321544 0.0505781 0.741356 +TTool-pose None 9.8076 -7.56887 16.9048 -0.587603 0.281906 -0.722882 0.229457 +#66016 1721122815485 +SLAM -15.5473 14.293 16.3973 0.664806 0.00244046 0.0503226 0.745315 +TTool-pose None 9.81645 -7.60794 16.8547 -0.586585 0.286388 -0.720906 0.232711 +#66017 1721122815530 +SLAM -15.5601 14.2646 16.5781 0.669417 0.00322618 0.0503921 0.741169 +TTool-pose None 9.80998 -7.56984 16.9102 -0.587799 0.281647 -0.722858 0.229349 +#66018 1721122815570 +SLAM -15.5562 14.2689 16.4378 0.664715 0.00326285 0.0502745 0.745396 +TTool-pose None 9.81389 -7.63721 16.837 -0.586312 0.285965 -0.721089 0.233349 +#66019 1721122815607 +SLAM -15.5522 14.269 16.4264 0.664548 0.0031399 0.050377 0.745539 +TTool-pose None 9.80886 -7.6362 16.8344 -0.586227 0.28622 -0.721051 0.233368 +#66020 1721122815643 +SLAM -15.5579 14.2634 16.4303 0.664608 0.00327697 0.0504244 0.745481 +TTool-pose None 9.81117 -7.63579 16.8327 -0.586169 0.286094 -0.721141 0.233391 +#66021 1721122815684 +SLAM -15.5554 14.2761 16.5235 0.667402 0.00320281 0.0501694 0.742999 +TTool-pose None 9.81404 -7.60355 16.8845 -0.587295 0.283481 -0.721991 0.231105 +#66022 1721122815730 +SLAM -15.5533 14.2775 16.6258 0.670713 0.00309301 0.0501472 0.740013 +TTool-pose None 9.81064 -7.55893 16.9374 -0.588437 0.280453 -0.723146 0.228263 +#66023 1721122815772 +SLAM -15.5553 14.2673 16.4283 0.664508 0.0031907 0.0503355 0.745577 +TTool-pose None 9.81255 -7.63859 16.8321 -0.586225 0.286216 -0.721027 0.233451 +#66024 1721122815810 +SLAM -15.5512 14.289 16.4772 0.665629 0.00317945 0.0498402 0.74461 +TTool-pose None 9.82168 -7.63325 16.8626 -0.58694 0.285059 -0.721148 0.232695 +#66025 1721122815848 +SLAM -15.5534 14.278 16.549 0.668292 0.00315002 0.0501452 0.7422 +TTool-pose None 9.8127 -7.58982 16.8996 -0.587623 0.282678 -0.722285 0.230334 +#66026 1721122815887 +SLAM -15.5517 14.2617 16.4524 0.665573 0.0030362 0.0507263 0.744601 +TTool-pose None 9.79791 -7.62205 16.8473 -0.586364 0.285421 -0.721596 0.232315 +#66027 1721122815924 +SLAM -15.554 14.2633 16.4181 0.664232 0.0032775 0.0504063 0.745818 +TTool-pose None 9.80827 -7.63979 16.8262 -0.586056 0.286437 -0.720993 0.233711 +#66028 1721122815962 +SLAM -15.5645 14.2546 16.6084 0.670535 0.00325458 0.0506301 0.740141 +TTool-pose None 9.80572 -7.55208 16.9229 -0.587995 0.280645 -0.723408 0.228338 +#66029 1721122816001 +SLAM -15.5547 14.2668 16.4519 0.665279 0.0031687 0.0504109 0.744884 +TTool-pose None 9.80901 -7.62923 16.8446 -0.586438 0.285534 -0.721346 0.232765 +#66030 1721122816038 +SLAM -15.5469 14.283 16.4723 0.665777 0.00305602 0.0501177 0.74446 +TTool-pose None 9.81072 -7.6264 16.8617 -0.586841 0.285066 -0.721326 0.232386 +#66031 1721122816077 +SLAM -15.5495 14.277 16.4312 0.664579 0.00305921 0.0502743 0.745519 +TTool-pose None 9.80996 -7.64013 16.8395 -0.586335 0.286214 -0.720979 0.233328 +#66032 1721122816121 +SLAM -15.5564 14.2687 16.5102 0.66709 0.00324091 0.0502504 0.743273 +TTool-pose None 9.81284 -7.60396 16.8742 -0.587124 0.283769 -0.721936 0.231361 +#66033 1721122816160 +SLAM -15.5622 14.2567 16.5205 0.667845 0.00320584 0.0506319 0.742569 +TTool-pose None 9.8071 -7.58542 16.8811 -0.587124 0.283184 -0.72242 0.230563 +#66034 1721122816198 +SLAM -15.5541 14.2754 16.4238 0.664464 0.00312168 0.0502872 0.74562 +TTool-pose None 9.81361 -7.6373 16.838 -0.586267 0.286286 -0.720963 0.23346 +#66035 1721122816235 +SLAM -15.5508 14.285 16.6533 0.671058 0.00320216 0.0499229 0.739715 +TTool-pose None 9.81213 -7.56672 16.9472 -0.588667 0.280008 -0.723174 0.228129 +#66036 1721122816278 +SLAM -15.5542 14.2683 16.4694 0.665986 0.00311815 0.0504747 0.744248 +TTool-pose None 9.80654 -7.61705 16.8579 -0.586645 0.284925 -0.721626 0.232118 +#66037 1721122816316 +SLAM -15.5562 14.2623 16.5146 0.667406 0.00323161 0.050508 0.742972 +TTool-pose None 9.80459 -7.59715 16.8769 -0.587055 0.283546 -0.722197 0.230994 +#66038 1721122816356 +SLAM -15.558 14.2679 16.5771 0.669258 0.00318756 0.0504187 0.741311 +TTool-pose None 9.80728 -7.57706 16.9101 -0.587742 0.281825 -0.722805 0.229447 +#66039 1721122816396 +SLAM -15.5473 14.2825 16.4483 0.664989 0.00307764 0.0500429 0.745169 +TTool-pose None 9.81413 -7.63614 16.8479 -0.586623 0.285765 -0.721001 0.233085 +#66040 1721122816433 +SLAM -15.535 14.3112 16.4894 0.665332 0.00307009 0.0495001 0.744898 +TTool-pose None 9.81599 -7.65688 16.8699 -0.587111 0.285313 -0.720811 0.232997 +#66041 1721122816470 +SLAM -15.5529 14.2695 16.4711 0.665884 0.00315099 0.0504611 0.744341 +TTool-pose None 9.80483 -7.62257 16.8571 -0.58661 0.284997 -0.721591 0.232231 +#66042 1721122816509 +SLAM -15.556 14.2648 16.535 0.668016 0.00321613 0.0503749 0.742433 +TTool-pose None 9.80813 -7.58912 16.887 -0.587353 0.282954 -0.722337 0.230524 +#66043 1721122816545 +SLAM -15.5536 14.2785 16.5515 0.668384 0.0025382 0.0505207 0.742094 +TTool-pose None 9.80916 -7.60237 16.8974 -0.587601 0.283056 -0.722353 0.229712 +#66044 1721122816584 +SLAM -15.5575 14.2664 16.4684 0.665723 0.00326419 0.0503808 0.744489 +TTool-pose None 9.81074 -7.62422 16.8522 -0.586574 0.285057 -0.72152 0.232469 +#66045 1721122816631 +SLAM -15.573 14.2416 16.9273 0.680763 0.00254557 0.0511394 0.730712 +TTool-pose None 9.79707 -7.42435 17.0772 -0.591202 0.271549 -0.727142 0.218996 +#66046 1721122816674 +SLAM -15.5611 14.2785 16.3756 0.665481 0.00212603 0.0509743 0.744669 +TTool-pose None 9.81602 -7.56926 16.8609 -0.586468 0.286117 -0.721434 0.231696 +#66047 1721122816713 +SLAM -15.5808 14.2359 17.0392 0.683923 0.0028855 0.0507658 0.72778 +TTool-pose None 9.8085 -7.38126 17.1253 -0.592354 0.268232 -0.728139 0.216646 +#66048 1721122816760 +SLAM -15.553 14.2716 16.5259 0.667532 0.003178 0.0503325 0.742871 +TTool-pose None 9.80679 -7.602 16.8839 -0.587235 0.283417 -0.722125 0.230919 +#66049 1721122816798 +SLAM -15.5572 14.264 16.6316 0.670917 0.00233436 0.0509934 0.739773 +TTool-pose None 9.79798 -7.57698 16.9278 -0.58818 0.280933 -0.723482 0.227272 +#66050 1721122816836 +SLAM -15.5502 14.2757 16.4661 0.665729 0.00309466 0.0501903 0.744498 +TTool-pose None 9.81186 -7.62223 16.8561 -0.586763 0.285106 -0.721361 0.232424 +#66051 1721122816880 +SLAM -15.5483 14.2711 16.4196 0.664447 0.00306776 0.0503136 0.745633 +TTool-pose None 9.80837 -7.63408 16.833 -0.586261 0.286341 -0.720955 0.233428 +#66052 1721122816915 +SLAM -15.5588 14.2644 16.5764 0.669478 0.00312481 0.0505374 0.741104 +TTool-pose None 9.80545 -7.56881 16.9117 -0.587754 0.281687 -0.722934 0.229176 +#66053 1721122816957 +SLAM -15.5558 14.2655 16.4438 0.665148 0.00316655 0.0504792 0.744996 +TTool-pose None 9.80825 -7.62783 16.8426 -0.586348 0.285674 -0.721337 0.232847 +#66054 1721122817002 +SLAM -15.5515 14.2757 16.4328 0.664611 0.00310412 0.0502018 0.745495 +TTool-pose None 9.81372 -7.6387 16.8385 -0.58638 0.286139 -0.720962 0.233358 +#66055 1721122817040 +SLAM -15.5621 14.2602 16.5509 0.668591 0.00325022 0.0505746 0.741901 +TTool-pose None 9.80683 -7.58138 16.8956 -0.587394 0.282448 -0.722671 0.229989 +#66056 1721122817077 +SLAM -15.5574 14.2738 16.5797 0.669122 0.00255502 0.0506173 0.741422 +TTool-pose None 9.80867 -7.59824 16.906 -0.587773 0.282382 -0.722682 0.229068 +#66057 1721122817114 +SLAM -15.5705 14.2437 16.993 0.682845 0.00244967 0.0510896 0.728771 +TTool-pose None 9.79514 -7.39523 17.1126 -0.591934 0.269608 -0.727818 0.217164 +#66058 1721122817157 +SLAM -15.5636 14.2494 16.4995 0.667262 0.00327641 0.0507753 0.743083 +TTool-pose None 9.80407 -7.59062 16.8679 -0.586809 0.283721 -0.722312 0.231044 +#66059 1721122817198 +SLAM -15.5538 14.2671 16.4206 0.664406 0.00317752 0.0503673 0.745666 +TTool-pose None 9.81061 -7.6359 16.8309 -0.586174 0.286326 -0.721004 0.233515 +#66060 1721122817232 +SLAM -15.5537 14.277 16.5605 0.668629 0.0031356 0.0501975 0.741893 +TTool-pose None 9.811 -7.58706 16.9045 -0.587703 0.282387 -0.722433 0.230023 +#66061 1721122817272 +SLAM -15.5544 14.2776 16.5909 0.669554 0.00314963 0.0501829 0.741059 +TTool-pose None 9.81083 -7.57569 16.9199 -0.588013 0.281511 -0.722764 0.229261 +#66062 1721122817307 +SLAM -15.554 14.2741 16.512 0.667266 0.00308603 0.050322 0.743112 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0.00295655 0.0499312 0.743601 +TTool-pose None 9.81181 -7.619 16.885 -0.587324 0.284175 -0.721543 0.231577 +#66069 1721122817557 +SLAM -15.5528 14.2722 16.427 0.664446 0.00319206 0.050232 0.745639 +TTool-pose None 9.81323 -7.63903 16.8344 -0.586275 0.286246 -0.720945 0.233542 +#66070 1721122817593 +SLAM -15.5556 14.2636 16.4173 0.66416 0.00328512 0.0504041 0.745882 +TTool-pose None 9.80984 -7.6421 16.8253 -0.586031 0.286498 -0.720968 0.233777 +#66071 1721122817627 +SLAM -15.5541 14.2779 16.5996 0.669849 0.00310634 0.0502279 0.74079 +TTool-pose None 9.80942 -7.57249 16.9251 -0.588094 0.281274 -0.722884 0.228968 +#66072 1721122817665 +SLAM -15.5484 14.2791 16.4493 0.665152 0.00305161 0.0502753 0.745007 +TTool-pose None 9.80817 -7.63306 16.8504 -0.586527 0.285688 -0.721187 0.232845 +#66073 1721122817702 +SLAM -15.5538 14.2755 16.4303 0.664646 0.00313478 0.0501859 0.745465 +TTool-pose None 9.81634 -7.6342 16.8397 -0.586392 0.286084 -0.720975 0.233355 +#66074 1721122817737 +SLAM -15.562 14.2582 16.5769 0.66941 0.00326819 0.0505738 0.741163 +TTool-pose None 9.80573 -7.57028 16.9072 -0.587659 0.281674 -0.722973 0.229314 +#66075 1721122817772 +SLAM -15.558 14.2673 16.4387 0.664713 0.00333374 0.0502083 0.745402 +TTool-pose None 9.81693 -7.6362 16.8356 -0.586333 0.285907 -0.721071 0.233422 +#66076 1721122817807 +SLAM -15.5549 14.2676 16.4824 0.666585 0.00299599 0.0505884 0.743704 +TTool-pose None 9.80491 -7.60667 16.8671 -0.586807 0.284472 -0.721874 0.231495 +#66077 1721122817840 +SLAM -15.552 14.2683 16.5286 0.667837 0.00302511 0.0505806 0.742581 +TTool-pose None 9.80006 -7.5963 16.8873 -0.587217 0.283288 -0.722334 0.23047 +#66078 1721122817876 +SLAM -15.5506 14.2767 16.4293 0.664468 0.00314292 0.0501824 0.745623 +TTool-pose None 9.81299 -7.64074 16.8373 -0.586333 0.286243 -0.72091 0.23351 +#66079 1721122817914 +SLAM -15.5352 14.27 16.5868 0.670052 0.00159165 0.0516739 0.740512 +TTool-pose None 9.76572 -7.59005 16.9179 -0.587678 0.28236 -0.72334 0.227253 +#66080 1721122817949 +SLAM -15.5578 14.2588 16.4653 0.665981 0.00318441 0.0505771 0.744246 +TTool-pose None 9.80661 -7.61276 16.8516 -0.586551 0.284916 -0.721703 0.232128 +#66081 1721122817987 +SLAM -15.5541 14.2675 16.444 0.665002 0.00316653 0.0504164 0.745132 +TTool-pose None 9.80839 -7.63378 16.8408 -0.586342 0.285794 -0.721247 0.232993 +#66082 1721122818023 +SLAM -15.5493 14.2833 16.4347 0.664523 0.003132 0.0500811 0.745581 +TTool-pose None 9.8144 -7.64313 16.8427 -0.586424 0.286173 -0.720868 0.233495 +#66083 1721122818058 +SLAM -15.5632 14.2591 16.5599 0.668952 0.00325078 0.0505222 0.74158 +TTool-pose None 9.80955 -7.57353 16.8999 -0.587549 0.282099 -0.722772 0.229707 +#66084 1721122818094 +SLAM -15.5564 14.2622 16.4237 0.664469 0.003274 0.0503298 0.745612 +TTool-pose None 9.81331 -7.63391 16.8281 -0.586189 0.2862 -0.721035 0.23354 +#66085 1721122818127 +SLAM -15.546 14.3002 16.4212 0.665019 0.00257035 0.0500613 0.745142 +TTool-pose None 9.82018 -7.61752 16.8615 -0.586791 0.286046 -0.720871 0.232717 +#66086 1721122818163 +SLAM -15.5577 14.262 16.4718 0.666017 0.00323361 0.0505454 0.744215 +TTool-pose None 9.80626 -7.61684 16.855 -0.586569 0.284844 -0.721713 0.232142 +#66087 1721122818200 +SLAM -15.5527 14.2644 16.5266 0.667483 0.00324225 0.0504902 0.742904 +TTool-pose None 9.80061 -7.60524 16.8789 -0.587089 0.283463 -0.722217 0.230944 +#66088 1721122818237 +SLAM -15.5515 14.2865 16.4514 0.666353 0.00255993 0.0504615 0.743922 +TTool-pose None 9.81262 -7.59282 16.8761 -0.586963 0.284917 -0.721586 0.231448 +#66089 1721122818272 +SLAM -15.5583 14.2688 16.5246 0.667625 0.00323462 0.0503349 0.742787 +TTool-pose None 9.81154 -7.59587 16.8844 -0.587244 0.283297 -0.722177 0.230878 +#66090 1721122818314 +SLAM -15.5575 14.2727 16.4837 0.666247 0.00326069 0.050276 0.744028 +TTool-pose None 9.81339 -7.61559 16.8654 -0.58682 0.284547 -0.721649 0.23207 +#66091 1721122818353 +SLAM -15.5501 14.2749 16.4491 0.665084 0.0031802 0.0501939 0.745073 +TTool-pose None 9.81098 -7.63253 16.846 -0.586517 0.285653 -0.721153 0.233017 +#66092 1721122818393 +SLAM -15.5546 14.2702 16.4563 0.665417 0.0031346 0.0503673 0.744764 +TTool-pose None 9.81041 -7.62778 16.849 -0.586524 0.285416 -0.721361 0.232645 +#66093 1721122818434 +SLAM -15.5525 14.2774 16.425 0.664216 0.00324594 0.0500176 0.745859 +TTool-pose None 9.81882 -7.6441 16.8331 -0.586327 0.286372 -0.720753 0.233849 +#66094 1721122818471 +SLAM -15.5545 14.2789 16.613 0.670212 0.00238205 0.0506163 0.740438 +TTool-pose None 9.80681 -7.58565 16.926 -0.58819 0.281468 -0.723024 0.228038 +#66095 1721122818518 +SLAM -15.549 14.285 16.7632 0.672947 0.0037994 0.049476 0.738025 +TTool-pose None 9.81155 -7.57634 16.9763 -0.589391 0.277764 -0.723774 0.227098 +#66096 1721122818557 +SLAM -15.5555 14.2666 16.4417 0.664912 0.00324494 0.0503161 0.745218 +TTool-pose None 9.81221 -7.63293 16.8383 -0.586355 0.285804 -0.72118 0.233157 +#66097 1721122818593 +SLAM -15.5539 14.2679 16.4207 0.664299 0.00322173 0.0502282 0.74577 +TTool-pose None 9.81457 -7.6383 16.8284 -0.586219 0.286363 -0.720898 0.233685 +#66098 1721122818629 +SLAM -15.5594 14.2609 16.5459 0.668478 0.00320296 0.0505025 0.742008 +TTool-pose None 9.80744 -7.58108 16.8927 -0.587422 0.282564 -0.722575 0.230079 +#66099 1721122818666 +SLAM -15.5475 14.2934 16.5406 0.669263 0.0024201 0.0503799 0.741312 +TTool-pose None 9.80997 -7.55335 16.9263 -0.588027 0.282272 -0.722556 0.228949 +#66100 1721122818705 +SLAM -15.5588 14.2659 16.5287 0.66784 0.00317699 0.0504648 0.742586 +TTool-pose None 9.80857 -7.59279 16.8862 -0.587246 0.283165 -0.722313 0.230612 +#66101 1721122818740 +SLAM -15.5523 14.268 16.5122 0.667243 0.00312544 0.0503527 0.74313 +TTool-pose None 9.80703 -7.60193 16.8756 -0.587143 0.283722 -0.722016 0.231119 +#66102 1721122818779 +SLAM -15.5536 14.2694 16.4436 0.665108 0.00311853 0.0504487 0.745035 +TTool-pose None 9.80748 -7.62997 16.8444 -0.586372 0.285732 -0.721291 0.232861 +#66103 1721122818816 +SLAM -15.5551 14.2649 16.4457 0.665167 0.00311829 0.0505193 0.744977 +TTool-pose None 9.8069 -7.63001 16.842 -0.586343 0.285696 -0.721352 0.232785 +#66104 1721122818856 +SLAM -15.5515 14.2766 16.4767 0.666048 0.00309019 0.0503129 0.744203 +TTool-pose None 9.80861 -7.62049 16.8636 -0.586786 0.284843 -0.721547 0.232109 +#66105 1721122818896 +SLAM -15.556 14.2797 16.5226 0.667316 0.00326831 0.0500882 0.743081 +TTool-pose None 9.8161 -7.60483 16.8863 -0.5873 0.283501 -0.721933 0.231251 +#66106 1721122818933 +SLAM -15.5481 14.284 16.4444 0.664944 0.00304044 0.0500674 0.745207 +TTool-pose None 9.81476 -7.63533 16.8488 -0.586604 0.285834 -0.720988 0.233088 +#66107 1721122818974 +SLAM -15.5554 14.2693 16.4371 0.664731 0.00318281 0.0502989 0.745381 +TTool-pose None 9.81352 -7.63734 16.8368 -0.586327 0.286005 -0.721085 0.233273 +#66108 1721122819012 +SLAM -15.5548 14.2722 16.4667 0.665632 0.00327592 0.0501243 0.744588 +TTool-pose None 9.8161 -7.62352 16.8529 -0.586715 0.28507 -0.721342 0.232649 +#66109 1721122819049 +SLAM -15.5551 14.2668 16.4301 0.664622 0.00320171 0.0504181 0.74547 +TTool-pose None 9.80941 -7.63626 16.8349 -0.586203 0.286125 -0.721119 0.233333 +#66110 1721122819085 +SLAM -15.5547 14.2662 16.5658 0.668967 0.00315546 0.0504703 0.74157 +TTool-pose None 9.80334 -7.57953 16.9039 -0.587621 0.282129 -0.722719 0.22965 +#66111 1721122819123 +SLAM -15.5539 14.2717 16.5602 0.668844 0.00306186 0.0503763 0.741688 +TTool-pose None 9.8069 -7.58017 16.9048 -0.587676 0.282276 -0.722593 0.229727 +#66112 1721122819162 +SLAM -15.5628 14.2587 16.5829 0.66966 0.00325346 0.0505017 0.740942 +TTool-pose None 9.80894 -7.56442 16.9107 -0.587795 0.281431 -0.723018 0.229122 +#66113 1721122819201 +SLAM -15.5537 14.2642 16.4341 0.664773 0.00316241 0.0504783 0.745331 +TTool-pose None 9.8067 -7.63446 16.835 -0.586225 0.286023 -0.721198 0.233158 +#66114 1721122819244 +SLAM -15.556 14.2737 16.6198 0.670548 0.00316249 0.0502943 0.740153 +TTool-pose None 9.8079 -7.56101 16.9343 -0.588259 0.280603 -0.723192 0.228393 +#66115 1721122819282 +SLAM -15.5481 14.2902 16.4524 0.664906 0.0031205 0.0499168 0.745251 +TTool-pose None 9.81769 -7.64243 16.8524 -0.586668 0.285783 -0.720911 0.233229 +#66116 1721122819321 +SLAM -15.5693 14.2579 16.5949 0.669809 0.00350847 0.0502128 0.740825 +TTool-pose None 9.82086 -7.56249 16.912 -0.587956 0.281065 -0.722981 0.229273 +#66117 1721122819367 +SLAM -15.5564 14.2653 16.4618 0.665613 0.00321721 0.0504416 0.744584 +TTool-pose None 9.8087 -7.62389 16.8497 -0.586511 0.285203 -0.7215 0.232508 +#66118 1721122819407 +SLAM -15.5515 14.2714 16.4383 0.664767 0.00315984 0.0502392 0.745353 +TTool-pose None 9.81182 -7.63645 16.838 -0.586388 0.28597 -0.721057 0.233251 +#66119 1721122819445 +SLAM -15.4957 14.3622 16.8168 0.670626 0.00342996 0.0478266 0.740245 +TTool-pose None 9.80925 -7.721 16.9697 -0.589882 0.279741 -0.721876 0.229426 +#66120 1721122819485 +SLAM -15.5552 14.2702 16.4876 0.666343 0.00321066 0.0503234 0.743938 +TTool-pose None 9.81029 -7.61616 16.8641 -0.586836 0.2845 -0.721697 0.231938 +#66121 1721122819525 +SLAM -15.5525 14.2695 16.4318 0.664534 0.00321765 0.0503144 0.745556 +TTool-pose None 9.8097 -7.64027 16.8343 -0.586239 0.28617 -0.721032 0.233455 +#66122 1721122819564 +SLAM -15.5677 14.2541 16.5908 0.669813 0.00345042 0.0503786 0.74081 +TTool-pose None 9.81507 -7.56082 16.9099 -0.587864 0.281138 -0.723061 0.229169 +#66123 1721122819602 +SLAM -15.555 14.2654 16.4155 0.664372 0.00314689 0.050418 0.745693 +TTool-pose None 9.81097 -7.63344 16.8295 -0.586139 0.286389 -0.721012 0.233504 +#66124 1721122819643 +SLAM -15.5504 14.2772 16.552 0.668544 0.00300701 0.050329 0.741962 +TTool-pose None 9.80563 -7.58585 16.9035 -0.587628 0.282577 -0.72244 0.22996 +#66125 1721122819683 +SLAM -15.4884 14.3689 16.7893 0.669438 0.00346079 0.0477222 0.741325 +TTool-pose None 9.8053 -7.74521 16.9539 -0.589553 0.280806 -0.721395 0.230483 +#66126 1721122819723 +SLAM -15.5514 14.2831 16.4475 0.664845 0.00317645 0.0499545 0.745302 +TTool-pose None 9.81968 -7.63932 16.8464 -0.586603 0.285815 -0.720927 0.233303 +#66127 1721122819760 +SLAM -15.5608 14.258 16.5437 0.668528 0.00318118 0.0505316 0.741962 +TTool-pose None 9.8086 -7.57717 16.8912 -0.587426 0.282538 -0.722603 0.230013 +#66128 1721122819798 +SLAM -15.5579 14.2633 16.5055 0.667022 0.00325533 0.0504352 0.743322 +TTool-pose None 9.80851 -7.60411 16.8709 -0.58697 0.283871 -0.722022 0.231359 +#66129 1721122819836 +SLAM -15.5356 14.3098 16.4576 0.665199 0.00275491 0.0496759 0.745007 +TTool-pose None 9.81726 -7.63816 16.8672 -0.587052 0.285671 -0.72077 0.232834 +#66130 1721122819878 +SLAM -15.5549 14.2663 16.4206 0.664278 0.00323541 0.0503043 0.745784 +TTool-pose None 9.81296 -7.63987 16.8277 -0.586155 0.286394 -0.720938 0.233684 +#66131 1721122819918 +SLAM -15.5577 14.268 16.457 0.665335 0.00330847 0.0502372 0.744846 +TTool-pose None 9.81542 -7.62771 16.8463 -0.586528 0.285354 -0.721308 0.232877 +#66132 1721122819954 +SLAM -15.5514 14.2749 16.544 0.668213 0.00304905 0.0502906 0.742262 +TTool-pose None 9.80774 -7.59134 16.8958 -0.587531 0.28285 -0.72231 0.23028 +#66133 1721122819991 +SLAM -15.5586 14.268 16.5327 0.667896 0.00320152 0.0505184 0.742531 +TTool-pose None 9.80583 -7.59472 16.89 -0.58722 0.283111 -0.722372 0.230561 +#66134 1721122820036 +SLAM -15.5519 14.2712 16.43 0.664495 0.0031769 0.0503153 0.74559 +TTool-pose None 9.80968 -7.64093 16.8348 -0.58624 0.286231 -0.721007 0.23346 +#66135 1721122820074 +SLAM -15.5608 14.2635 16.5913 0.669951 0.00318604 0.0504837 0.74068 +TTool-pose None 9.80788 -7.56095 16.9188 -0.587926 0.281195 -0.723092 0.22884 +#66136 1721122820114 +SLAM -15.5493 14.2823 16.5167 0.667171 0.00307597 0.0501724 0.743207 +TTool-pose None 9.8095 -7.60923 16.8844 -0.587259 0.283773 -0.721871 0.231214 +#66137 1721122820153 +SLAM -15.5558 14.2718 16.5338 0.667893 0.00319594 0.0501958 0.742556 +TTool-pose None 9.81373 -7.59195 16.8889 -0.587441 0.283036 -0.722183 0.23068 +#66138 1721122820190 +SLAM -15.5624 14.254 16.4901 0.666834 0.00332106 0.0505944 0.743479 +TTool-pose None 9.80811 -7.59767 16.8633 -0.586777 0.284046 -0.722065 0.2315 +#66139 1721122820231 +SLAM -15.5499 14.277 16.4487 0.665002 0.00310769 0.0502816 0.74514 +TTool-pose None 9.80865 -7.63821 16.8466 -0.586455 0.285794 -0.721152 0.233004 +#66140 1721122820269 +SLAM -15.5589 14.2633 16.5326 0.66812 0.0031021 0.0506812 0.742319 +TTool-pose None 9.80266 -7.58791 16.8904 -0.587215 0.283004 -0.722517 0.230246 +#66141 1721122820308 +SLAM -15.5545 14.2707 16.4642 0.66564 0.0032073 0.0503135 0.744568 +TTool-pose None 9.8107 -7.62394 16.8534 -0.586611 0.285151 -0.721433 0.232526 +#66142 1721122820346 +SLAM -15.5592 14.2649 16.5286 0.667866 0.00316258 0.0505204 0.742558 +TTool-pose None 9.80746 -7.5923 16.8863 -0.587222 0.283163 -0.722351 0.230559 +#66143 1721122820386 +SLAM -15.5538 14.2684 16.5263 0.667746 0.00313057 0.0504202 0.742673 +TTool-pose None 9.80571 -7.59451 16.8854 -0.587261 0.283269 -0.72224 0.230676 +#66144 1721122820433 +SLAM -15.5513 14.2871 16.4679 0.665373 0.00323119 0.049817 0.74484 +TTool-pose None 9.82226 -7.63411 16.8572 -0.586854 0.285258 -0.721057 0.232951 +#66145 1721122820471 +SLAM -15.5237 14.3171 16.6301 0.668059 0.00354795 0.0488297 0.742496 +TTool-pose None 9.81362 -7.6593 16.911 -0.588312 0.282322 -0.72156 0.231285 +#66146 1721122820509 +SLAM -15.5597 14.2593 16.494 0.666945 0.00317086 0.0506217 0.743379 +TTool-pose None 9.80625 -7.59954 16.8681 -0.586845 0.28404 -0.722076 0.231297 +#66147 1721122820549 +SLAM -15.5563 14.2675 16.4738 0.666076 0.00318045 0.0504078 0.744172 +TTool-pose None 9.80974 -7.61568 16.8586 -0.5867 0.284787 -0.721639 0.232109 +#66148 1721122820592 +SLAM -15.5544 14.2685 16.4269 0.664436 0.00318417 0.0503085 0.745643 +TTool-pose None 9.81257 -7.64013 16.8316 -0.586222 0.286279 -0.720983 0.233516 +#66149 1721122820629 +SLAM -15.5553 14.2724 16.5622 0.668802 0.00312964 0.0503398 0.741728 +TTool-pose None 9.80826 -7.58269 16.9051 -0.587665 0.282265 -0.722576 0.229821 +#66150 1721122820666 +SLAM -15.5493 14.2745 16.4223 0.66441 0.00305727 0.0502836 0.745669 +TTool-pose None 9.81007 -7.63863 16.8348 -0.586273 0.286374 -0.720921 0.233464 +#66151 1721122820704 +SLAM -15.5465 14.2774 16.4299 0.664632 0.00297628 0.0503244 0.745468 +TTool-pose None 9.80658 -7.63827 16.8402 -0.586346 0.286227 -0.721003 0.23321 +#66152 1721122820740 +SLAM -15.5595 14.2681 16.4893 0.666431 0.00326827 0.0503087 0.74386 +TTool-pose None 9.81425 -7.61303 16.8645 -0.586856 0.28438 -0.721738 0.231908 +#66153 1721122820778 +SLAM -15.5159 14.3163 16.6556 0.667401 0.0039955 0.0487674 0.743089 +TTool-pose None 9.79936 -7.70576 16.9 -0.587987 0.282648 -0.721418 0.232154 +#66154 1721122820816 +SLAM -15.5598 14.2574 16.5149 0.667653 0.00314067 0.0506907 0.742738 +TTool-pose None 9.80388 -7.59009 16.8782 -0.587042 0.283418 -0.722365 0.230659 +#66155 1721122820858 +SLAM -15.5511 14.2444 16.9588 0.682825 0.0013518 0.0523216 0.728704 +TTool-pose None 9.75224 -7.39311 17.1146 -0.591451 0.270596 -0.728192 0.21599 +#66156 1721122820899 +SLAM -15.561 14.2694 16.5816 0.669327 0.00331512 0.050126 0.741267 +TTool-pose None 9.81791 -7.573 16.9106 -0.587922 0.281609 -0.722699 0.229582 +#66157 1721122820937 +SLAM -15.5498 14.2843 16.4408 0.664693 0.00310278 0.0500117 0.745434 +TTool-pose None 9.81744 -7.6413 16.8449 -0.586538 0.286015 -0.720882 0.233359 +#66158 1721122820975 +SLAM -15.5368 14.306 16.5668 0.667009 0.0034639 0.0492779 0.74341 +TTool-pose None 9.81651 -7.65005 16.892 -0.587687 0.283463 -0.721412 0.23194 +#66159 1721122821013 +SLAM -15.5582 14.2664 16.5421 0.668059 0.00324331 0.0503016 0.742399 +TTool-pose None 9.81188 -7.59315 16.8882 -0.587408 0.28288 -0.722319 0.230533 +#66160 1721122821054 +SLAM -15.5513 14.2721 16.4299 0.664456 0.00317873 0.0502138 0.745632 +TTool-pose None 9.81237 -7.64132 16.8335 -0.586295 0.28624 -0.720934 0.233532 +#66161 1721122821093 +SLAM -15.5511 14.2724 16.4374 0.664735 0.00316034 0.050288 0.745378 +TTool-pose None 9.80972 -7.63768 16.8391 -0.586344 0.286011 -0.721074 0.233259 +#66162 1721122821131 +SLAM -15.5538 14.2764 16.4264 0.664209 0.00327267 0.0500022 0.745866 +TTool-pose None 9.8203 -7.64517 16.8322 -0.586327 0.286359 -0.72075 0.233878 +#66163 1721122821171 +SLAM -15.5584 14.2665 16.4222 0.664254 0.00330622 0.0503707 0.745801 +TTool-pose None 9.81293 -7.64265 16.8296 -0.586078 0.28639 -0.720989 0.233726 +#66164 1721122821208 +SLAM -15.5576 14.2666 16.5489 0.668215 0.00328771 0.0503806 0.742253 +TTool-pose None 9.80767 -7.59334 16.8925 -0.587391 0.282727 -0.722434 0.230402 +#66165 1721122821246 +SLAM -15.5554 14.2678 16.4839 0.666308 0.00317711 0.0503913 0.743965 +TTool-pose None 9.80903 -7.61518 16.8619 -0.586789 0.28457 -0.721713 0.23192 +#66166 1721122821286 +SLAM -15.561 14.2581 16.5275 0.667871 0.00323436 0.0506228 0.742546 +TTool-pose None 9.80529 -7.59072 16.8824 -0.587129 0.283141 -0.722433 0.230564 +#66167 1721122821322 +SLAM -15.5553 14.2718 16.5343 0.667932 0.00313595 0.0503523 0.74251 +TTool-pose None 9.80881 -7.59371 16.8908 -0.587367 0.283075 -0.72227 0.230549 +#66168 1721122821357 +SLAM -15.5565 14.2693 16.5362 0.668047 0.00317276 0.0503555 0.742407 +TTool-pose None 9.80951 -7.58982 16.891 -0.58739 0.282946 -0.722324 0.230476 +#66169 1721122821396 +SLAM -15.5569 14.2688 16.5326 0.667967 0.00311183 0.0504588 0.742471 +TTool-pose None 9.80758 -7.59202 16.8899 -0.587314 0.283083 -0.722337 0.230464 +#66170 1721122821435 +SLAM -15.562 14.2617 16.5544 0.668541 0.00331121 0.0504302 0.741956 +TTool-pose None 9.81032 -7.58442 16.8948 -0.587456 0.282422 -0.722588 0.230126 +#66171 1721122821473 +SLAM -15.5596 14.2651 16.4667 0.66571 0.00329583 0.0504095 0.744499 +TTool-pose None 9.81161 -7.62304 16.8519 -0.586539 0.285058 -0.721541 0.232491 +#66172 1721122821509 +SLAM -15.5513 14.2779 16.5388 0.668053 0.00305628 0.0502422 0.742409 +TTool-pose None 9.80909 -7.59288 16.8957 -0.587509 0.282982 -0.722226 0.230437 +#66173 1721122821542 +SLAM -15.5484 14.2741 16.4311 0.6646 0.00307691 0.0502883 0.745498 +TTool-pose None 9.80841 -7.63858 16.8374 -0.586327 0.286187 -0.721 0.233316 +#66174 1721122821577 +SLAM -15.5608 14.256 16.5764 0.669426 0.00325309 0.0505905 0.741147 +TTool-pose None 9.80436 -7.56918 16.9052 -0.587657 0.281672 -0.722983 0.229285 +#66175 1721122821614 +SLAM -15.548 14.2828 16.445 0.664871 0.0030828 0.0500594 0.745272 +TTool-pose None 9.81429 -7.63819 16.8466 -0.586571 0.285874 -0.720969 0.23318 +#66176 1721122821656 +SLAM -15.5638 14.2728 16.3368 0.664797 0.00205437 0.0511233 0.74527 +TTool-pose None 9.81713 -7.56368 16.8477 -0.586163 0.286832 -0.721249 0.232164 +#66177 1721122821691 +SLAM -15.5555 14.2628 16.5104 0.667281 0.00318374 0.0504709 0.743088 +TTool-pose None 9.80598 -7.59882 16.8742 -0.587055 0.283683 -0.722115 0.231082 +#66178 1721122821726 +SLAM -15.5553 14.2703 16.5357 0.668056 0.00315456 0.0503026 0.742402 +TTool-pose None 9.81033 -7.58843 16.8911 -0.587436 0.282936 -0.722292 0.230476 +#66179 1721122821759 +SLAM -15.5523 14.275 16.4388 0.664782 0.00316223 0.0501673 0.745345 +TTool-pose None 9.81472 -7.63572 16.8409 -0.586441 0.285937 -0.721022 0.233267 +#66180 1721122821794 +SLAM -15.5562 14.2668 16.4369 0.664759 0.00329465 0.0502683 0.745357 +TTool-pose None 9.81392 -7.63359 16.8362 -0.58632 0.285904 -0.721111 0.233336 +#66181 1721122821841 +SLAM -15.5427 14.2933 16.6219 0.668929 0.00350149 0.0495119 0.741668 +TTool-pose None 9.81315 -7.62099 16.9154 -0.588148 0.281713 -0.722256 0.23027 +#66182 1721122821880 +SLAM -15.5511 14.2829 16.5367 0.667789 0.0030675 0.050144 0.742654 +TTool-pose None 9.81161 -7.6015 16.8945 -0.587485 0.283197 -0.722077 0.230702 +#66183 1721122821914 +SLAM -15.5514 14.2759 16.4313 0.664696 0.00307366 0.0502955 0.745413 +TTool-pose None 9.81106 -7.6352 16.8414 -0.586354 0.286102 -0.721038 0.233232 +#66184 1721122821951 +SLAM -15.5503 14.2839 16.4772 0.665875 0.00312247 0.0499725 0.744381 +TTool-pose None 9.81771 -7.62432 16.8632 -0.586951 0.284898 -0.721298 0.232402 +#66185 1721122821985 +SLAM -15.5547 14.2865 16.3807 0.66451 0.00249321 0.0503729 0.745575 +TTool-pose None 9.82265 -7.60428 16.8464 -0.586434 0.286643 -0.720842 0.232973 +#66186 1721122822022 +SLAM -15.5523 14.2762 16.441 0.66477 0.00314739 0.0501839 0.745354 +TTool-pose None 9.81409 -7.63904 16.8417 -0.586431 0.285961 -0.721023 0.233261 +#66187 1721122822060 +SLAM -15.5526 14.2787 16.5469 0.668137 0.00308949 0.0502995 0.742329 +TTool-pose None 9.80742 -7.59756 16.8986 -0.587487 0.282898 -0.7223 0.230366 +#66188 1721122822100 +SLAM -15.5517 14.2735 16.4641 0.665688 0.00309378 0.050265 0.744529 +TTool-pose None 9.81116 -7.62292 16.8544 -0.586698 0.285163 -0.721389 0.23243 +#66189 1721122822146 +SLAM -15.5523 14.2774 16.4302 0.664398 0.00317404 0.0501033 0.745691 +TTool-pose None 9.81668 -7.64336 16.8361 -0.586353 0.286268 -0.720848 0.233618 +#66190 1721122822194 +SLAM -15.5469 14.2614 16.5602 0.669035 0.00218871 0.0512597 0.741458 +TTool-pose None 9.78397 -7.59473 16.8965 -0.587427 0.282846 -0.722911 0.228658 +#66191 1721122822239 +SLAM -15.5594 14.2598 16.5512 0.668644 0.00320669 0.0506056 0.741852 +TTool-pose None 9.80374 -7.58021 16.8957 -0.587405 0.282434 -0.722695 0.229905 +#66192 1721122822281 +SLAM -15.5541 14.2711 16.4194 0.664105 0.00329758 0.0501223 0.74595 +TTool-pose None 9.81691 -7.64342 16.8277 -0.586201 0.28647 -0.720788 0.233937 +#66193 1721122822324 +SLAM -15.5558 14.2709 16.4509 0.665156 0.00319019 0.0502459 0.745005 +TTool-pose None 9.81503 -7.63162 16.8446 -0.586502 0.285593 -0.721213 0.232944 +#66194 1721122822363 +SLAM -15.5412 14.2971 16.5386 0.666679 0.00333248 0.0495627 0.743688 +TTool-pose None 9.81533 -7.64189 16.8821 -0.587427 0.283921 -0.721417 0.232023 +#66195 1721122822398 +SLAM -15.5534 14.2699 16.4551 0.665444 0.00312058 0.0503402 0.744742 +TTool-pose None 9.81056 -7.62507 16.8487 -0.586557 0.285393 -0.721351 0.232623 +#66196 1721122822433 +SLAM -15.5491 14.2849 16.429 0.665288 0.00271094 0.0503024 0.744886 +TTool-pose None 9.81393 -7.61309 16.8563 -0.586668 0.285774 -0.721151 0.232496 +#66197 1721122822469 +SLAM -15.5508 14.2899 16.4603 0.666351 0.00260089 0.0503175 0.743934 +TTool-pose None 9.81532 -7.59954 16.8771 -0.587048 0.284857 -0.721515 0.23153 +#66198 1721122822507 +SLAM -15.5535 14.2759 16.4285 0.66422 0.00326285 0.0501996 0.745843 +TTool-pose None 9.81337 -7.64948 16.8341 -0.586198 0.286404 -0.720865 0.233789 +#66199 1721122822543 +SLAM -15.5558 14.2661 16.523 0.667661 0.0031368 0.050524 0.742743 +TTool-pose None 9.8044 -7.59617 16.8834 -0.58716 0.28337 -0.72227 0.230713 +#66200 1721122822587 +SLAM -15.5501 14.2811 16.4509 0.664979 0.00313935 0.0501676 0.745169 +TTool-pose None 9.81174 -7.63986 16.8489 -0.586514 0.285768 -0.721088 0.233087 +#66201 1721122822631 +SLAM -15.5559 14.2664 16.4645 0.665726 0.00317479 0.0504613 0.744482 +TTool-pose None 9.80801 -7.62257 16.8523 -0.586549 0.285129 -0.72154 0.232378 +#66202 1721122822668 +SLAM -15.5601 14.2581 16.5764 0.669495 0.00314922 0.0507071 0.741077 +TTool-pose None 9.80114 -7.56929 16.9086 -0.587635 0.281699 -0.723045 0.229114 +#66203 1721122822708 +SLAM -15.5637 14.2598 16.5786 0.669509 0.00324503 0.0505529 0.741075 +TTool-pose None 9.80833 -7.56787 16.9099 -0.587714 0.28159 -0.72299 0.229224 +#66204 1721122822750 +SLAM -15.5435 14.2836 16.463 0.665574 0.00294867 0.0501406 0.74464 +TTool-pose None 9.80854 -7.62791 16.8578 -0.586794 0.285325 -0.721232 0.232476 +#66205 1721122822785 +SLAM -15.5545 14.2728 16.4516 0.665312 0.0031412 0.0502864 0.744864 +TTool-pose None 9.81294 -7.62689 16.8491 -0.586543 0.285489 -0.721278 0.232767 +#66206 1721122822821 +SLAM -15.5545 14.2666 16.4289 0.664598 0.00317683 0.0503917 0.745494 +TTool-pose None 9.81014 -7.63608 16.8336 -0.586222 0.286156 -0.721089 0.233346 +#66207 1721122822856 +SLAM -15.5506 14.2781 16.5269 0.667671 0.003068 0.0501849 0.742756 +TTool-pose None 9.81059 -7.597 16.8891 -0.587419 0.283316 -0.722058 0.230785 +#66208 1721122822890 +SLAM -15.5559 14.2688 16.4653 0.665715 0.00324513 0.0504129 0.744494 +TTool-pose None 9.80835 -7.62241 16.8549 -0.586555 0.285084 -0.721529 0.232452 +#66209 1721122822924 +SLAM -15.5704 14.2528 17.0177 0.683274 0.00248706 0.0507439 0.728392 +TTool-pose None 9.80439 -7.39569 17.124 -0.592295 0.269088 -0.72778 0.216949 +#66210 1721122822963 +SLAM -15.5601 14.259 16.5555 0.66878 0.0031601 0.050605 0.74173 +TTool-pose None 9.80509 -7.57901 16.8965 -0.587466 0.282335 -0.72273 0.22976 +#66211 1721122823006 +SLAM -15.5747 14.2379 17.0385 0.684236 0.00255645 0.0511214 0.727462 +TTool-pose None 9.79529 -7.37539 17.133 -0.59232 0.26822 -0.728355 0.216025 +#66212 1721122823052 +SLAM -15.5499 14.3 16.4331 0.665895 0.002445 0.0501283 0.744355 +TTool-pose None 9.8237 -7.59356 16.8763 -0.587078 0.285327 -0.721193 0.231879 +#66213 1721122823094 +SLAM -15.5567 14.2636 16.4692 0.665835 0.00321623 0.0504678 0.744383 +TTool-pose None 9.80804 -7.62162 16.852 -0.586567 0.285004 -0.721596 0.232312 +#66214 1721122823128 +SLAM -15.5576 14.2767 16.6119 0.670151 0.00326838 0.0500433 0.740529 +TTool-pose None 9.81631 -7.5665 16.9287 -0.588265 0.280847 -0.722935 0.228891 +#66215 1721122823163 +SLAM -15.5586 14.2654 16.581 0.669463 0.00318331 0.0505628 0.741116 +TTool-pose None 9.80317 -7.57355 16.9132 -0.587712 0.281673 -0.722961 0.229218 +#66216 1721122823197 +SLAM -15.5575 14.2752 16.4353 0.664731 0.00320853 0.0501486 0.745391 +TTool-pose None 9.81991 -7.63398 16.8414 -0.586421 0.285951 -0.721006 0.233347 +#66217 1721122823236 +SLAM -15.5582 14.2577 16.5226 0.667645 0.00320365 0.0506641 0.742747 +TTool-pose None 9.80175 -7.59664 16.8781 -0.587037 0.28338 -0.722365 0.230717 +#66218 1721122823275 +SLAM -15.5608 14.262 16.5223 0.667739 0.00323642 0.0504631 0.742676 +TTool-pose None 9.8104 -7.58968 16.8821 -0.587194 0.283222 -0.722293 0.230736 +#66219 1721122823312 +SLAM -15.5568 14.2672 16.4286 0.664503 0.00323802 0.0503428 0.745581 +TTool-pose None 9.81312 -7.63858 16.8328 -0.586203 0.286193 -0.721044 0.233483 +#66220 1721122823349 +SLAM -15.5512 14.2724 16.4264 0.664515 0.00308783 0.0503116 0.745573 +TTool-pose None 9.8106 -7.63788 16.8353 -0.586279 0.286266 -0.720985 0.233386 +#66221 1721122823393 +SLAM -15.5549 14.2728 16.4669 0.665677 0.00319481 0.050187 0.744543 +TTool-pose None 9.81532 -7.62379 16.8539 -0.586714 0.285092 -0.72137 0.232534 +#66222 1721122823429 +SLAM -15.5516 14.274 16.4285 0.664426 0.00315289 0.0502199 0.745659 +TTool-pose None 9.81276 -7.64192 16.8347 -0.58629 0.286285 -0.720919 0.233538 +#66223 1721122823471 +SLAM -15.5572 14.2635 16.5189 0.667524 0.00318909 0.0504886 0.742867 +TTool-pose None 9.8066 -7.59684 16.8791 -0.587122 0.283457 -0.722216 0.230875 +#66224 1721122823506 +SLAM -15.559 14.2607 16.5916 0.669883 0.00317049 0.0504844 0.740742 +TTool-pose None 9.80649 -7.56406 16.9143 -0.587908 0.281269 -0.723063 0.228886 +#66225 1721122823543 +SLAM -15.5521 14.2929 16.4208 0.665353 0.00259662 0.0502268 0.744832 +TTool-pose None 9.82113 -7.60383 16.8639 -0.58678 0.285762 -0.721097 0.232394 +#66226 1721122823584 +SLAM -15.5532 14.2757 16.4273 0.664398 0.00323446 0.0501133 0.74569 +TTool-pose None 9.81663 -7.63961 16.8359 -0.586326 0.286235 -0.720872 0.233654 +#66227 1721122823625 +SLAM -15.5534 14.2736 16.4274 0.664506 0.00315496 0.0502173 0.745587 +TTool-pose None 9.81475 -7.63728 16.8361 -0.586318 0.286209 -0.720948 0.233473 +#66228 1721122823663 +SLAM -15.5485 14.2821 16.4582 0.665332 0.00306346 0.0500934 0.744859 +TTool-pose None 9.81354 -7.6317 16.8536 -0.586707 0.285468 -0.721151 0.232771 +#66229 1721122823704 +SLAM -15.5513 14.2723 16.4321 0.664658 0.0031331 0.0502632 0.745449 +TTool-pose None 9.8114 -7.63595 16.8374 -0.586344 0.286094 -0.721023 0.233315 +#66230 1721122823744 +SLAM -15.5568 14.2715 16.5413 0.668111 0.00317616 0.0502384 0.742357 +TTool-pose None 9.81331 -7.59066 16.8924 -0.587491 0.282855 -0.722281 0.230468 +#66231 1721122823784 +SLAM -15.5529 14.2696 16.435 0.664749 0.00319613 0.0503087 0.745364 +TTool-pose None 9.81066 -7.63429 16.8379 -0.586322 0.285983 -0.721101 0.233264 +#66232 1721122823822 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0.232156 +#66238 1721122824056 +SLAM -15.5583 14.2725 16.557 0.668388 0.00267349 0.0503761 0.742101 +TTool-pose None 9.81682 -7.60341 16.8913 -0.587656 0.282935 -0.722311 0.229853 +#66239 1721122824094 +SLAM -15.5607 14.2684 16.5187 0.667333 0.00335559 0.0500976 0.743065 +TTool-pose None 9.82025 -7.59816 16.8777 -0.58727 0.283436 -0.72197 0.231291 +#66240 1721122824134 +SLAM -15.5576 14.2695 16.4826 0.666111 0.00330268 0.0502412 0.744151 +TTool-pose None 9.81421 -7.61904 16.86 -0.586785 0.284638 -0.721592 0.232223 +#66241 1721122824174 +SLAM -15.5609 14.2674 16.6027 0.670008 0.00325826 0.0502509 0.740644 +TTool-pose None 9.81388 -7.56593 16.9206 -0.58808 0.28104 -0.723 0.228927 +#66242 1721122824214 +SLAM -15.5586 14.2598 16.5347 0.668029 0.00323254 0.0505241 0.742411 +TTool-pose None 9.80582 -7.58957 16.8848 -0.58725 0.282969 -0.722433 0.230467 +#66243 1721122824255 +SLAM -15.5396 14.3024 16.4766 0.665409 0.00297851 0.0496895 0.744817 +TTool-pose None 9.81698 -7.644 16.8657 -0.587038 0.285345 -0.720921 0.232801 +#66244 1721122824294 +SLAM -15.5455 14.2846 16.4391 0.664729 0.00301874 0.0500682 0.745398 +TTool-pose None 9.81255 -7.63976 16.8453 -0.586539 0.286046 -0.720903 0.233253 +#66245 1721122824341 +SLAM -15.5608 14.2611 16.537 0.66819 0.00320982 0.0505661 0.742263 +TTool-pose None 9.80684 -7.58592 16.8894 -0.587281 0.282844 -0.722509 0.230302 +#66246 1721122824385 +SLAM -15.5525 14.265 16.5437 0.668501 0.00301125 0.0506029 0.741982 +TTool-pose None 9.79983 -7.58194 16.8954 -0.587426 0.282683 -0.722584 0.229896 +#66247 1721122824424 +SLAM -15.5629 14.2657 16.6705 0.672367 0.00318921 0.0503688 0.738496 +TTool-pose None 9.81079 -7.53035 16.9587 -0.588795 0.278903 -0.723899 0.22685 +#66248 1721122824461 +SLAM -15.5635 14.2588 16.5264 0.667665 0.0034149 0.0503334 0.74275 +TTool-pose None 9.81471 -7.59253 16.8781 -0.587199 0.28315 -0.722245 0.230964 +#66249 1721122824499 +SLAM -15.5539 14.263 16.5022 0.667149 0.00307448 0.0505824 0.743198 +TTool-pose None 9.80261 -7.59955 16.8725 -0.586972 0.283899 -0.722099 0.231077 +#66250 1721122824535 +SLAM -15.5592 14.2602 16.5516 0.668565 0.0032189 0.0504664 0.741932 +TTool-pose None 9.80794 -7.58203 16.8929 -0.58747 0.282464 -0.72259 0.230031 +#66251 1721122824573 +SLAM -15.5549 14.2777 16.4425 0.66485 0.00319722 0.0501482 0.745285 +TTool-pose None 9.81698 -7.63612 16.8449 -0.586465 0.285848 -0.721046 0.233241 +#66252 1721122824608 +SLAM -15.5517 14.2782 16.516 0.667252 0.00311007 0.0502089 0.743131 +TTool-pose None 9.81056 -7.60459 16.8833 -0.587249 0.283687 -0.721932 0.231155 +#66253 1721122824648 +SLAM -15.5559 14.2797 16.6056 0.669893 0.00320993 0.0500028 0.740765 +TTool-pose None 9.81675 -7.57223 16.9257 -0.588228 0.281113 -0.722801 0.229084 +#66254 1721122824684 +SLAM -15.5594 14.2609 16.4455 0.665141 0.00332301 0.0505351 0.744998 +TTool-pose None 9.8079 -7.62802 16.8412 -0.586255 0.285601 -0.721413 0.232936 +#66255 1721122824721 +SLAM -15.5459 14.2848 16.4341 0.664495 0.00307615 0.0499138 0.745617 +TTool-pose None 9.81748 -7.64232 16.8403 -0.586548 0.286189 -0.720745 0.233543 +#66256 1721122824755 +SLAM -15.5518 14.2721 16.4918 0.666757 0.00288916 0.0506321 0.743548 +TTool-pose None 9.80116 -7.61084 16.8727 -0.58687 0.284387 -0.72193 0.231264 +#66257 1721122824792 +SLAM -15.556 14.2741 16.4648 0.665485 0.00327097 0.0501619 0.744717 +TTool-pose None 9.816 -7.62894 16.8526 -0.586642 0.285219 -0.721308 0.232755 +#66258 1721122824830 +SLAM -15.5568 14.2691 16.4914 0.666523 0.00319612 0.0504171 0.743771 +TTool-pose None 9.80885 -7.6134 16.8673 -0.586837 0.284365 -0.721812 0.231743 +#66259 1721122824870 +SLAM -15.5551 14.2686 16.4198 0.66421 0.00324706 0.0503036 0.745845 +TTool-pose None 9.8128 -7.64219 16.829 -0.586129 0.28645 -0.720916 0.233748 +#66260 1721122824907 +SLAM -15.564 14.2586 16.5703 0.669212 0.00327392 0.050511 0.741346 +TTool-pose None 9.80992 -7.57179 16.9037 -0.587634 0.281839 -0.722866 0.229508 +#66261 1721122824947 +SLAM -15.539 14.3028 16.6215 0.669334 0.00318221 0.0495905 0.741298 +TTool-pose None 9.81112 -7.609 16.9287 -0.588335 0.281547 -0.722353 0.229689 +#66262 1721122824986 +SLAM -15.5201 14.3105 16.6909 0.668194 0.00421976 0.048641 0.742384 +TTool-pose None 9.80355 -7.70022 16.9081 -0.58826 0.281743 -0.7217 0.231686 +#66263 1721122825026 +SLAM -15.5534 14.2694 16.5214 0.667635 0.00310309 0.0503909 0.742775 +TTool-pose None 9.80686 -7.59466 16.8839 -0.587254 0.283381 -0.722174 0.230761 +#66264 1721122825070 +SLAM -15.5468 14.2856 16.4423 0.664704 0.00304616 0.0500614 0.745421 +TTool-pose None 9.8134 -7.64373 16.8458 -0.586527 0.286052 -0.720898 0.233294 +#66265 1721122825108 +SLAM -15.5597 14.2595 16.5471 0.668525 0.00322321 0.0504863 0.741967 +TTool-pose None 9.80801 -7.57951 16.8923 -0.587442 0.282504 -0.722588 0.23006 +#66266 1721122825145 +SLAM -15.5403 14.2929 16.641 0.669779 0.00334678 0.0496844 0.740889 +TTool-pose None 9.80671 -7.60646 16.9295 -0.588362 0.281057 -0.722617 0.22939 +#66267 1721122825190 +SLAM -15.5576 14.2663 16.604 0.670279 0.0031363 0.0504151 0.740388 +TTool-pose None 9.80704 -7.55872 16.9248 -0.588097 0.280901 -0.723157 0.228556 +#66268 1721122825232 +SLAM -15.5509 14.2674 16.4429 0.665295 0.00302348 0.050517 0.744863 +TTool-pose None 9.80432 -7.62294 16.8455 -0.586419 0.285633 -0.72137 0.232616 +#66269 1721122825270 +SLAM -15.5555 14.2642 16.4307 0.664686 0.0031888 0.0504787 0.745409 +TTool-pose None 9.80824 -7.63476 16.8342 -0.586187 0.286088 -0.721174 0.233248 +#66270 1721122825307 +SLAM -15.548 14.2758 16.4523 0.665355 0.00299827 0.0503077 0.744824 +TTool-pose None 9.80771 -7.62791 16.8504 -0.58659 0.28554 -0.721264 0.232628 +#66271 1721122825343 +SLAM -15.5505 14.28 16.4381 0.664824 0.00305676 0.050124 0.74531 +TTool-pose None 9.81565 -7.63462 16.8444 -0.58652 0.28595 -0.720981 0.233178 +#66272 1721122825381 +SLAM -15.5493 14.2901 16.4785 0.666241 0.00290831 0.0500824 0.744047 +TTool-pose None 9.81594 -7.61468 16.8745 -0.587069 0.284715 -0.721431 0.231914 +#66273 1721122825421 +SLAM -15.556 14.2703 16.4643 0.665565 0.00321302 0.0502974 0.744636 +TTool-pose None 9.81265 -7.62718 16.8515 -0.586595 0.285213 -0.721398 0.232599 +#66274 1721122825459 +SLAM -15.5378 14.3085 16.4629 0.665194 0.00284852 0.0496821 0.745011 +TTool-pose None 9.81758 -7.64232 16.8668 -0.587015 0.285621 -0.7208 0.232898 +#66275 1721122825498 +SLAM -15.5472 14.282 16.4818 0.666085 0.00301829 0.0501996 0.744179 +TTool-pose None 9.80853 -7.62376 16.8662 -0.5869 0.284824 -0.721474 0.232073 +#66276 1721122825542 +SLAM -15.5655 14.2553 16.6089 0.670337 0.0033827 0.0504158 0.740334 +TTool-pose None 9.81189 -7.55684 16.9188 -0.588033 0.280699 -0.723251 0.22867 +#66277 1721122825586 +SLAM -15.5436 14.2881 16.5864 0.669412 0.00210992 0.0506559 0.741159 +TTool-pose None 9.79889 -7.59956 16.9179 -0.587991 0.282389 -0.722676 0.228516 +#66278 1721122825620 +SLAM -15.5548 14.2696 16.4311 0.664612 0.00317443 0.0503074 0.745486 +TTool-pose None 9.81297 -7.63682 16.8354 -0.586285 0.286122 -0.721044 0.233364 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0.283651 -0.721967 0.23108 +#66285 1721122825882 +SLAM -15.5592 14.2708 16.4528 0.665165 0.00335448 0.0501475 0.745003 +TTool-pose None 9.81911 -7.62957 16.8458 -0.586518 0.285461 -0.721208 0.233082 +#66286 1721122825923 +SLAM -15.5452 14.2878 16.5476 0.66801 0.00306409 0.0499069 0.742471 +TTool-pose None 9.81297 -7.59951 16.8988 -0.587722 0.282933 -0.72202 0.230603 +#66287 1721122825961 +SLAM -15.5491 14.2797 16.4968 0.66662 0.00308731 0.0501044 0.743706 +TTool-pose None 9.81234 -7.61259 16.8726 -0.587119 0.284261 -0.721635 0.231708 +#66288 1721122826147 +SLAM -15.5405 14.2993 16.5663 0.668621 0.00288002 0.0497824 0.74193 +TTool-pose None 9.81373 -7.59289 16.9152 -0.58807 0.282443 -0.722115 0.230016 +#66289 1721122826184 +SLAM -15.5513 14.2829 16.4403 0.664639 0.00316763 0.0499885 0.745484 +TTool-pose None 9.81884 -7.64193 16.8433 -0.586514 0.286021 -0.720868 0.233457 +#66290 1721122826228 +SLAM -15.559 14.2773 16.5797 0.669023 0.00258677 0.0503364 0.74153 +TTool-pose None 9.81892 -7.59901 16.9043 -0.587922 0.282384 -0.722493 0.229277 +#66291 1721122826270 +SLAM -15.5523 14.2728 16.4412 0.664966 0.00313088 0.0502654 0.745173 +TTool-pose None 9.81202 -7.63155 16.8429 -0.586446 0.28581 -0.721137 0.233056 +#66292 1721122826310 +SLAM -15.5415 14.2966 16.4537 0.66506 0.00288878 0.0498954 0.745115 +TTool-pose None 9.81482 -7.64027 16.8573 -0.586811 0.285774 -0.720886 0.232956 +#66293 1721122826346 +SLAM -15.5516 14.2894 16.3725 0.664869 0.00217846 0.050602 0.745241 +TTool-pose None 9.81716 -7.58806 16.8553 -0.586502 0.286558 -0.721012 0.232381 +#66294 1721122826383 +SLAM -15.5544 14.274 16.4377 0.664687 0.00320161 0.0501576 0.745429 +TTool-pose None 9.81653 -7.63811 16.8388 -0.586403 0.285998 -0.720993 0.233375 +#66295 1721122826422 +SLAM -15.5467 14.2869 16.4408 0.664711 0.0030581 0.0499422 0.745423 +TTool-pose None 9.81714 -7.6403 16.8459 -0.586606 0.286008 -0.720835 0.233341 +#66296 1721122826457 +SLAM -15.5568 14.2668 16.4658 0.665845 0.0031849 0.0504124 0.744378 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0.0500051 0.745288 +TTool-pose None 9.81561 -7.64003 16.8485 -0.586615 0.285893 -0.720923 0.233189 +#66303 1721122826707 +SLAM -15.5592 14.2622 16.5681 0.669141 0.00317087 0.0505886 0.741405 +TTool-pose None 9.80387 -7.57539 16.9053 -0.587592 0.281987 -0.722855 0.22947 +#66304 1721122826746 +SLAM -15.554 14.2702 16.4403 0.664889 0.00321281 0.0502345 0.745244 +TTool-pose None 9.81368 -7.63218 16.8399 -0.586414 0.285824 -0.721115 0.233186 +#66305 1721122826781 +SLAM -15.5666 14.2564 16.5964 0.669978 0.00336177 0.0505266 0.740652 +TTool-pose None 9.80985 -7.56242 16.9155 -0.587847 0.281075 -0.723179 0.228917 +#66306 1721122826815 +SLAM -15.5578 14.285 16.35 0.664763 0.00204844 0.0508507 0.745319 +TTool-pose None 9.8186 -7.57568 16.8534 -0.58634 0.286797 -0.721077 0.23229 +#66307 1721122826850 +SLAM -15.551 14.278 16.4456 0.665095 0.00305467 0.0501607 0.745066 +TTool-pose None 9.81483 -7.63042 16.8473 -0.586586 0.28571 -0.721101 0.232937 +#66308 1721122826887 +SLAM -15.5537 14.2715 16.4493 0.665147 0.00313835 0.0503073 0.745009 +TTool-pose None 9.81159 -7.63196 16.845 -0.586475 0.285648 -0.721229 0.232894 +#66309 1721122826928 +SLAM -15.5469 14.2828 16.4426 0.664861 0.00303641 0.0501307 0.745277 +TTool-pose None 9.81167 -7.63785 16.8469 -0.586535 0.28593 -0.720993 0.233131 +#66310 1721122826974 +SLAM -15.5554 14.2673 16.4532 0.665389 0.00319678 0.0503446 0.744791 +TTool-pose None 9.81145 -7.62442 16.8466 -0.58651 0.285399 -0.721356 0.232718 +#66311 1721122827016 +SLAM -15.5502 14.2757 16.4305 0.664625 0.00305917 0.05022 0.745481 +TTool-pose None 9.8127 -7.63661 16.8384 -0.586387 0.286157 -0.720964 0.233309 +#66312 1721122827056 +SLAM -15.5541 14.2773 16.6226 0.670644 0.00308503 0.0502216 0.740071 +TTool-pose None 9.80921 -7.55996 16.9371 -0.588367 0.280542 -0.723162 0.228288 +#66313 1721122827090 +SLAM -15.5542 14.2751 16.4421 0.664701 0.00325558 0.0501239 0.745419 +TTool-pose None 9.81635 -7.64075 16.84 -0.586413 0.285944 -0.720995 0.233412 +#66314 1721122827126 +SLAM -15.5558 14.2749 16.4402 0.664821 0.00321349 0.0501912 0.745307 +TTool-pose None 9.81655 -7.63521 16.8428 -0.586421 0.285875 -0.721065 0.233259 +#66315 1721122827162 +SLAM -15.5453 14.2897 16.5825 0.668235 0.00333003 0.0497091 0.74228 +TTool-pose None 9.81366 -7.61776 16.9027 -0.587842 0.282512 -0.722067 0.230664 +#66316 1721122827196 +SLAM -15.5501 14.2802 16.4474 0.665025 0.00307041 0.0500988 0.745133 +TTool-pose None 9.81549 -7.63447 16.8473 -0.586599 0.28575 -0.721044 0.23303 +#66317 1721122827232 +SLAM -15.5503 14.2801 16.4225 0.664189 0.00319975 0.0499934 0.745884 +TTool-pose None 9.81814 -7.6433 16.8344 -0.58635 0.286419 -0.720716 0.23385 +#66318 1721122827269 +SLAM -15.5716 14.2503 16.6604 0.672124 0.00340654 0.0505521 0.738703 +TTool-pose None 9.81164 -7.52946 16.9462 -0.588518 0.279046 -0.723982 0.22713 +#66319 1721122827305 +SLAM -15.5563 14.2631 16.4163 0.66452 0.00313632 0.0504647 0.745558 +TTool-pose None 9.81109 -7.6283 16.8306 -0.586159 0.28627 -0.72109 0.233357 +#66320 1721122827339 +SLAM -15.5532 14.2727 16.4367 0.664809 0.00313594 0.0502434 0.745315 +TTool-pose None 9.81372 -7.63364 16.8401 -0.586407 0.285946 -0.721068 0.233198 +#66321 1721122827373 +SLAM -15.5598 14.265 16.4499 0.665317 0.00325704 0.0504087 0.74485 +TTool-pose None 9.81308 -7.6244 16.8454 -0.586422 0.285445 -0.721385 0.232793 +#66322 1721122827407 +SLAM -15.5579 14.2638 16.4247 0.664428 0.00329523 0.0504219 0.745642 +TTool-pose None 9.81113 -7.63791 16.8305 -0.586104 0.286249 -0.721079 0.233554 +#66323 1721122827446 +SLAM -15.5526 14.2666 16.4371 0.664825 0.00315685 0.050379 0.745292 +TTool-pose None 9.80874 -7.63417 16.8365 -0.586313 0.285954 -0.721158 0.233148 +#66324 1721122827484 +SLAM -15.5458 14.2829 16.4355 0.664654 0.00300852 0.0500407 0.745468 +TTool-pose None 9.81431 -7.63911 16.8421 -0.586537 0.286116 -0.720856 0.233319 +#66325 1721122827522 +SLAM -15.5567 14.2705 16.4922 0.666584 0.00318529 0.0503309 0.743722 +TTool-pose None 9.81181 -7.61067 16.8684 -0.58692 0.284293 -0.721781 0.231717 +#66326 1721122827557 +SLAM -15.5635 14.2582 16.6324 0.671139 0.00326314 0.0504999 0.739602 +TTool-pose None 9.80778 -7.54738 16.9341 -0.588279 0.280041 -0.723554 0.227884 +#66327 1721122827593 +SLAM -15.5542 14.2726 16.5008 0.666741 0.00316731 0.0502826 0.743585 +TTool-pose None 9.8106 -7.61193 16.8715 -0.587011 0.284146 -0.721805 0.231592 +#66328 1721122827628 +SLAM -15.5577 14.2666 16.442 0.664898 0.00317132 0.0502822 0.745233 +TTool-pose None 9.81657 -7.63462 16.8366 -0.586398 0.285853 -0.721133 0.233133 +#66329 1721122827663 +SLAM -15.5576 14.2636 16.46 0.665407 0.00316668 0.0503668 0.744773 +TTool-pose None 9.81327 -7.63088 16.8425 -0.586511 0.285406 -0.721367 0.232674 +#66330 1721122827698 +SLAM -15.5533 14.2785 16.4269 0.664606 0.00312356 0.0501997 0.745499 +TTool-pose None 9.81544 -7.63313 16.8422 -0.586373 0.286131 -0.720965 0.233375 +#66331 1721122827737 +SLAM -15.559 14.2666 16.4448 0.6648 0.00335925 0.0502056 0.745325 +TTool-pose None 9.81738 -7.63802 16.8363 -0.586355 0.285811 -0.721109 0.233367 +#66332 1721122827773 +SLAM -15.5555 14.2686 16.4465 0.664884 0.00326852 0.0502741 0.745246 +TTool-pose None 9.81278 -7.63819 16.839 -0.586366 0.285805 -0.721152 0.233212 +#66333 1721122827807 +SLAM -15.5534 14.2737 16.4275 0.664376 0.00327629 0.0502054 0.745703 +TTool-pose None 9.81321 -7.64119 16.8354 -0.586242 0.286253 -0.720929 0.233666 +#66334 1721122827846 +SLAM -15.5503 14.2623 16.5629 0.66896 0.00225875 0.050903 0.74155 +TTool-pose None 9.79815 -7.59539 16.8921 -0.587623 0.282784 -0.722699 0.228901 +#66335 1721122827880 +SLAM -15.5525 14.279 16.5338 0.667905 0.00313038 0.0503198 0.742537 +TTool-pose None 9.80663 -7.59458 16.8968 -0.587382 0.283096 -0.722239 0.230581 +#66336 1721122827913 +SLAM -15.5375 14.2911 16.6204 0.668908 0.00344028 0.0495475 0.741684 +TTool-pose None 9.80787 -7.62125 16.9121 -0.588138 0.281778 -0.722251 0.230233 +#66337 1721122827953 +SLAM -15.5594 14.2567 16.5812 0.669336 0.00318632 0.0503138 0.741248 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0.00312364 0.0502482 0.745379 +TTool-pose None 9.81133 -7.63602 16.8424 -0.586384 0.286022 -0.721041 0.233248 +#66344 1721122828216 +SLAM -15.5591 14.2858 16.3775 0.665133 0.00220788 0.0506177 0.745004 +TTool-pose None 9.82386 -7.5813 16.8574 -0.586569 0.286299 -0.721126 0.232174 +#66345 1721122828252 +SLAM -15.5566 14.2683 16.5894 0.669854 0.00311317 0.0504351 0.740771 +TTool-pose None 9.80612 -7.564 16.9198 -0.587952 0.281317 -0.723008 0.228891 +#66346 1721122828291 +SLAM -15.5635 14.2661 16.499 0.666665 0.00323881 0.0503714 0.743646 +TTool-pose None 9.81639 -7.61361 16.8668 -0.586901 0.284196 -0.72185 0.23167 +#66347 1721122828329 +SLAM -15.5501 14.2699 16.4429 0.665155 0.00299077 0.0505131 0.744989 +TTool-pose None 9.80383 -7.62979 16.8446 -0.586386 0.285782 -0.721307 0.232713 +#66348 1721122828370 +SLAM -15.5596 14.2569 16.5258 0.667989 0.0031761 0.0506137 0.742441 +TTool-pose None 9.80544 -7.58431 16.8825 -0.587194 0.283064 -0.722453 0.23043 +#66349 1721122828413 +SLAM -15.5477 14.2927 16.4755 0.665977 0.0029071 0.0499653 0.744292 +TTool-pose None 9.81813 -7.62202 16.8705 -0.587062 0.284931 -0.721267 0.232177 +#66350 1721122828450 +SLAM -15.5533 14.2698 16.4781 0.666136 0.00307691 0.0504586 0.744115 +TTool-pose None 9.80622 -7.61949 16.8604 -0.58672 0.284807 -0.721659 0.231972 +#66351 1721122828486 +SLAM -15.5494 14.2784 16.4256 0.664446 0.00305988 0.050169 0.745644 +TTool-pose None 9.8135 -7.63924 16.8375 -0.586363 0.28631 -0.72087 0.233478 +#66352 1721122828526 +SLAM -15.5702 14.2428 16.628 0.671611 0.00319489 0.0509561 0.739142 +TTool-pose None 9.80193 -7.52796 16.9342 -0.588144 0.279756 -0.723967 0.227271 +#66353 1721122828565 +SLAM -15.5564 14.2674 16.4365 0.664853 0.00314824 0.0503244 0.74527 +TTool-pose None 9.81446 -7.63202 16.8372 -0.586362 0.285919 -0.721134 0.233139 +#66354 1721122828610 +SLAM -15.5519 14.2665 16.5577 0.668854 0.00237956 0.0510114 0.741637 +TTool-pose None 9.79413 -7.59503 16.8982 -0.587474 0.282837 -0.722759 0.229029 +#66355 1721122828651 +SLAM -15.5581 14.2616 16.4249 0.66456 0.00315933 0.0504063 0.745526 +TTool-pose None 9.81413 -7.63388 16.8285 -0.586205 0.286204 -0.721078 0.23336 +#66356 1721122828688 +SLAM -15.5544 14.2647 16.4734 0.665761 0.00324277 0.0503332 0.744459 +TTool-pose None 9.80946 -7.62681 16.8494 -0.586626 0.285024 -0.721499 0.232442 +#66357 1721122828725 +SLAM -15.5542 14.2722 16.5869 0.669629 0.00304718 0.0503976 0.740978 +TTool-pose None 9.80564 -7.57227 16.9178 -0.587925 0.281558 -0.722885 0.229051 +#66358 1721122828765 +SLAM -15.5544 14.2793 16.4608 0.665358 0.00321641 0.0501527 0.744831 +TTool-pose None 9.81527 -7.63169 16.8546 -0.586625 0.285366 -0.721241 0.232828 +#66359 1721122828802 +SLAM -15.5551 14.2688 16.5658 0.668801 0.00310997 0.0502819 0.741732 +TTool-pose None 9.81043 -7.5854 16.9 -0.587711 0.282263 -0.722537 0.22983 +#66360 1721122828842 +SLAM -15.5653 14.2541 16.5466 0.668577 0.00330706 0.050593 0.741913 +TTool-pose None 9.80927 -7.5768 16.8912 -0.587358 0.282433 -0.722693 0.230032 +#66361 1721122828879 +SLAM -15.5571 14.2616 16.4649 0.665648 0.0032169 0.0503371 0.744559 +TTool-pose None 9.81309 -7.62366 16.845 -0.586595 0.285144 -0.721453 0.232517 +#66362 1721122828918 +SLAM -15.5625 14.2633 16.6043 0.67017 0.00330824 0.0504672 0.740482 +TTool-pose None 9.80775 -7.56209 16.9234 -0.587968 0.280913 -0.723198 0.228742 +#66363 1721122828957 +SLAM -15.5663 14.2501 16.5465 0.668526 0.00329956 0.0507377 0.741949 +TTool-pose None 9.80578 -7.58059 16.8881 -0.587245 0.282521 -0.722756 0.230015 +#66364 1721122828996 +SLAM -15.5616 14.2642 16.4734 0.666027 0.00324819 0.0503267 0.744221 +TTool-pose None 9.81699 -7.61534 16.8547 -0.586717 0.284771 -0.721595 0.232226 +#66365 1721122829033 +SLAM -15.5597 14.2618 16.4137 0.664534 0.0031529 0.0505426 0.74554 +TTool-pose None 9.81191 -7.62602 16.8315 -0.586105 0.286267 -0.721144 0.233327 +#66366 1721122829069 +SLAM -15.5512 14.2805 16.4146 0.665165 0.00256921 0.0504902 0.744983 +TTool-pose None 9.81291 -7.60844 16.8518 -0.586546 0.28602 -0.721172 0.232434 +#66367 1721122829110 +SLAM -15.5527 14.2725 16.45 0.665404 0.00308965 0.0502967 0.744781 +TTool-pose None 9.81179 -7.62192 16.8499 -0.586584 0.285437 -0.721302 0.232652 +#66368 1721122829151 +SLAM -15.544 14.2816 16.4507 0.665099 0.00296198 0.0501054 0.745066 +TTool-pose None 9.81049 -7.63588 16.8477 -0.586656 0.285748 -0.721043 0.232893 +#66369 1721122829190 +SLAM -15.5353 14.3072 16.5831 0.667294 0.00351784 0.0492005 0.743159 +TTool-pose None 9.81602 -7.6518 16.8967 -0.587816 0.283146 -0.721487 0.231766 +#66370 1721122829229 +SLAM -15.5587 14.2702 16.5386 0.668046 0.00315492 0.0503055 0.742411 +TTool-pose None 9.81343 -7.59199 16.8908 -0.587431 0.282945 -0.72229 0.230483 +#66371 1721122829267 +SLAM -15.5585 14.2676 16.5529 0.668554 0.00315797 0.0503894 0.741948 +TTool-pose None 9.81017 -7.58442 16.8979 -0.58754 0.282492 -0.722524 0.230029 +#66372 1721122829305 +SLAM -15.5462 14.2822 16.4605 0.665421 0.00297522 0.0501531 0.744775 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0.00313784 0.0502694 0.74541 +TTool-pose None 9.81271 -7.63783 16.8386 -0.586353 0.286052 -0.721044 0.23328 +#66379 1721122829579 +SLAM -15.556 14.2738 16.4611 0.665556 0.00317695 0.0502348 0.744649 +TTool-pose None 9.81523 -7.62448 16.8537 -0.586647 0.285228 -0.721348 0.232606 +#66380 1721122829616 +SLAM -15.5522 14.2819 16.4737 0.665626 0.00316482 0.0500035 0.744602 +TTool-pose None 9.81808 -7.63159 16.858 -0.586833 0.285111 -0.721237 0.232626 +#66381 1721122829654 +SLAM -15.5479 14.2821 16.4628 0.66545 0.00314001 0.0499543 0.744762 +TTool-pose None 9.81639 -7.62803 16.8547 -0.586816 0.285277 -0.721137 0.232775 +#66382 1721122829693 +SLAM -15.5519 14.2708 16.4622 0.665576 0.00317207 0.0503704 0.744622 +TTool-pose None 9.80683 -7.62593 16.8524 -0.586563 0.285247 -0.721432 0.232535 +#66383 1721122829731 +SLAM -15.5516 14.2695 16.4892 0.666525 0.00308282 0.0503544 0.743774 +TTool-pose None 9.80768 -7.61174 16.865 -0.586918 0.284416 -0.721743 0.23169 +#66384 1721122829770 +SLAM -15.5521 14.2734 16.5524 0.668526 0.00305419 0.0503097 0.741979 +TTool-pose None 9.80756 -7.58585 16.8999 -0.58762 0.28256 -0.722437 0.230013 +#66385 1721122829808 +SLAM -15.5479 14.2817 16.4598 0.665402 0.0030302 0.0501557 0.744792 +TTool-pose None 9.81132 -7.6314 16.8547 -0.586699 0.285439 -0.721203 0.232667 +#66386 1721122829851 +SLAM -15.5542 14.274 16.459 0.665233 0.00327072 0.0501202 0.744944 +TTool-pose None 9.8158 -7.63358 16.8475 -0.586587 0.285441 -0.721192 0.23298 +#66387 1721122829895 +SLAM -15.5585 14.2702 16.5314 0.667786 0.00317767 0.0503749 0.74264 +TTool-pose None 9.81081 -7.59704 16.8878 -0.58729 0.283192 -0.722242 0.230691 +#66388 1721122829934 +SLAM -15.543 14.2872 16.4426 0.664762 0.00296896 0.0499965 0.745374 +TTool-pose None 9.81292 -7.64171 16.8462 -0.586616 0.286028 -0.720859 0.233219 +#66389 1721122829974 +SLAM -15.5508 14.2804 16.5132 0.667013 0.00313327 0.050151 0.74335 +TTool-pose None 9.81101 -7.61147 16.8805 -0.587202 0.28388 -0.721818 0.231392 +#66390 1721122830021 +SLAM -15.5602 14.2585 16.5708 0.669104 0.00319505 0.0506411 0.741434 +TTool-pose None 9.80281 -7.57972 16.9018 -0.587536 0.28202 -0.722879 0.229498 +#66391 1721122830059 +SLAM -15.5442 14.2798 16.4421 0.664969 0.00296188 0.0502224 0.745175 +TTool-pose None 9.80735 -7.63445 16.846 -0.586533 0.285898 -0.721062 0.232958 +#66392 1721122830102 +SLAM -15.5499 14.2764 16.443 0.665156 0.00297471 0.0502807 0.745004 +TTool-pose None 9.8112 -7.62761 16.8475 -0.586551 0.285732 -0.721168 0.232789 +#66393 1721122830140 +SLAM -15.5565 14.2636 16.5583 0.668889 0.00314807 0.0504704 0.74164 +TTool-pose None 9.80576 -7.57556 16.9007 -0.587598 0.282206 -0.722689 0.229711 +#66394 1721122830183 +SLAM -15.5503 14.2829 16.5152 0.667007 0.00309539 0.0500516 0.743362 +TTool-pose None 9.81417 -7.61324 16.8807 -0.587281 0.283884 -0.721748 0.231409 +#66395 1721122830223 +SLAM -15.5609 14.2643 16.5341 0.667878 0.00327782 0.0503781 0.742556 +TTool-pose None 9.812 -7.59377 16.8853 -0.587284 0.283046 -0.722307 0.230678 +#66396 1721122830261 +SLAM -15.5478 14.2747 16.4304 0.664622 0.00299846 0.0502856 0.745479 +TTool-pose None 9.80901 -7.63814 16.8373 -0.586362 0.286213 -0.720983 0.233247 +#66397 1721122830302 +SLAM -15.5555 14.2898 16.6092 0.670823 0.00276352 0.0500714 0.73992 +TTool-pose None 9.82051 -7.54274 16.9475 -0.588636 0.28053 -0.723044 0.227981 +#66398 1721122830339 +SLAM -15.5594 14.2621 16.5036 0.667072 0.00320033 0.0504629 0.743275 +TTool-pose None 9.81014 -7.60119 16.8705 -0.586986 0.283864 -0.72204 0.23127 +#66399 1721122830379 +SLAM -15.5587 14.2715 16.5534 0.668787 0.00303933 0.0503158 0.741743 +TTool-pose None 9.81443 -7.57583 16.9033 -0.587707 0.282327 -0.72253 0.229783 +#66400 1721122830419 +SLAM -15.5541 14.2726 16.4742 0.665955 0.00311306 0.0502469 0.744291 +TTool-pose None 9.81351 -7.62061 16.8578 -0.586793 0.284899 -0.721482 0.232226 +#66401 1721122830457 +SLAM -15.5486 14.2798 16.4377 0.664679 0.00307487 0.0501561 0.745437 +TTool-pose None 9.81224 -7.64063 16.842 -0.586444 0.286082 -0.720952 0.233299 +#66402 1721122830499 +SLAM -15.5518 14.2752 16.496 0.666472 0.00317449 0.0502417 0.743828 +TTool-pose None 9.80939 -7.61854 16.8687 -0.586947 0.284381 -0.721686 0.231837 +#66403 1721122830538 +SLAM -15.5581 14.268 16.4403 0.664919 0.00322338 0.0503229 0.745211 +TTool-pose None 9.81485 -7.63195 16.8399 -0.58636 0.285812 -0.72118 0.233134 +#66404 1721122830581 +SLAM -15.5762 14.2412 16.9264 0.680424 0.00280072 0.0509563 0.731039 +TTool-pose None 9.80243 -7.4328 17.0719 -0.591134 0.271672 -0.726993 0.219523 +#66405 1721122830618 +SLAM -15.5594 14.2748 16.6171 0.670489 0.00315234 0.0502125 0.740212 +TTool-pose None 9.81416 -7.56041 16.9335 -0.588299 0.280644 -0.72312 0.228466 +#66406 1721122830658 +SLAM -15.5485 14.2862 16.4568 0.665159 0.00309134 0.0500069 0.745019 +TTool-pose None 9.81566 -7.63687 16.8537 -0.5867 0.285589 -0.721046 0.232966 +#66407 1721122830697 +SLAM -15.55 14.2797 16.4404 0.664875 0.00307612 0.0501364 0.745264 +TTool-pose None 9.81433 -7.63448 16.8453 -0.586522 0.285894 -0.721013 0.233144 +#66408 1721122830735 +SLAM -15.5493 14.2813 16.4999 0.666529 0.00309762 0.0500602 0.74379 +TTool-pose None 9.81351 -7.61909 16.8716 -0.587116 0.284328 -0.721579 0.231806 +#66409 1721122830775 +SLAM -15.55 14.2848 16.4433 0.664673 0.00312542 0.0500018 0.745453 +TTool-pose None 9.81735 -7.64425 16.8449 -0.586531 0.286017 -0.720876 0.233395 +#66410 1721122830815 +SLAM -15.562 14.2609 16.551 0.668491 0.00321604 0.0505447 0.741994 +TTool-pose None 9.80812 -7.58611 16.8934 -0.587393 0.282555 -0.722607 0.230062 +#66411 1721122830858 +SLAM -15.5492 14.2765 16.4385 0.664886 0.00303729 0.0501999 0.74525 +TTool-pose None 9.81238 -7.63304 16.8428 -0.586495 0.285924 -0.721042 0.233085 +#66412 1721122830896 +SLAM -15.5525 14.2895 16.4033 0.665256 0.00245728 0.0503455 0.744912 +TTool-pose None 9.82088 -7.59409 16.8602 -0.586713 0.285967 -0.721088 0.232339 +#66413 1721122830934 +SLAM -15.557 14.2652 16.4374 0.664977 0.00322014 0.0503399 0.745159 +TTool-pose None 9.81364 -7.62643 16.8388 -0.586368 0.285765 -0.72121 0.233078 +#66414 1721122830973 +SLAM -15.554 14.2804 16.4744 0.66572 0.0032228 0.0499749 0.74452 +TTool-pose None 9.8201 -7.62684 16.8589 -0.586864 0.284982 -0.721272 0.232597 +#66415 1721122831010 +SLAM -15.5535 14.274 16.4427 0.665201 0.00303421 0.0502939 0.744962 +TTool-pose None 9.81366 -7.62464 16.8474 -0.586537 0.285658 -0.72121 0.232786 +#66416 1721122831047 +SLAM -15.556 14.266 16.5476 0.668437 0.00312798 0.0504639 0.742048 +TTool-pose None 9.80588 -7.58551 16.8949 -0.587461 0.282637 -0.722516 0.230079 +#66417 1721122831084 +SLAM -15.555 14.2652 16.4381 0.665406 0.0029549 0.0505132 0.744765 +TTool-pose None 9.81014 -7.6143 16.8452 -0.586481 0.285571 -0.721388 0.23248 +#66418 1721122831122 +SLAM -15.5516 14.2781 16.4866 0.666226 0.0031341 0.0501406 0.744055 +TTool-pose None 9.81339 -7.61965 16.8658 -0.586948 0.284608 -0.721526 0.232053 +#66419 1721122831159 +SLAM -15.5488 14.2838 16.4617 0.665329 0.00307741 0.0500015 0.744867 +TTool-pose None 9.81648 -7.63402 16.8539 -0.586765 0.285439 -0.721102 0.232817 +#66420 1721122831195 +SLAM -15.5602 14.2612 16.5605 0.668805 0.00324941 0.050394 0.74172 +TTool-pose None 9.81059 -7.57896 16.8971 -0.587589 0.282204 -0.722645 0.229877 +#66421 1721122831237 +SLAM -15.5217 14.3213 16.6652 0.66806 0.00393009 0.0484995 0.742515 +TTool-pose None 9.81478 -7.68431 16.9126 -0.58841 0.282006 -0.721484 0.231659 +#66422 1721122831279 +SLAM -15.5392 14.3053 16.4427 0.664828 0.00282799 0.0496019 0.745343 +TTool-pose None 9.82325 -7.63747 16.8575 -0.586955 0.285952 -0.720613 0.233219 +#66423 1721122831318 +SLAM -15.5463 14.2877 16.4548 0.665127 0.00302404 0.049971 0.745051 +TTool-pose None 9.81568 -7.63684 16.8531 -0.586736 0.285651 -0.720994 0.232962 +#66424 1721122831361 +SLAM -15.5559 14.2643 16.5003 0.666815 0.00322989 0.0503962 0.74351 +TTool-pose None 9.80831 -7.60795 16.8674 -0.586937 0.284068 -0.721917 0.231529 +#66425 1721122831398 +SLAM -15.5598 14.2565 16.5305 0.668068 0.00318889 0.0506626 0.742366 +TTool-pose None 9.80353 -7.58587 16.8841 -0.587182 0.282995 -0.722514 0.230354 +#66426 1721122831438 +SLAM -15.5471 14.2828 16.4353 0.664574 0.00306449 0.0500539 0.745537 +TTool-pose None 9.81424 -7.64189 16.8415 -0.586482 0.286159 -0.720851 0.233417 +#66427 1721122831486 +SLAM -15.5484 14.2797 16.4371 0.664828 0.00297271 0.0502155 0.745301 +TTool-pose None 9.81175 -7.63577 16.8441 -0.586487 0.28602 -0.72101 0.233085 +#66428 1721122831529 +SLAM -15.5515 14.2795 16.4277 0.664439 0.00311429 0.0500828 0.745656 +TTool-pose None 9.81746 -7.63996 16.838 -0.586401 0.286262 -0.720833 0.233552 +#66429 1721122831571 +SLAM -15.5557 14.2631 16.4441 0.665187 0.00319187 0.0504491 0.744963 +TTool-pose None 9.80908 -7.62532 16.8409 -0.586373 0.285615 -0.721341 0.232843 +#66430 1721122831607 +SLAM -15.5554 14.2706 16.4619 0.665514 0.0032564 0.0501939 0.744689 +TTool-pose None 9.81504 -7.625 16.8502 -0.586635 0.285209 -0.721333 0.232709 +#66431 1721122831642 +SLAM -15.5523 14.2725 16.4768 0.666085 0.00307645 0.050335 0.744169 +TTool-pose None 9.80926 -7.6191 16.8604 -0.586788 0.284823 -0.721569 0.232061 +#66432 1721122831679 +SLAM -15.5602 14.269 16.5341 0.667867 0.00323842 0.0502896 0.742573 +TTool-pose None 9.81448 -7.5941 16.8878 -0.587355 0.283058 -0.722241 0.230695 +#66433 1721122831716 +SLAM -15.5604 14.2595 16.5581 0.668797 0.0032239 0.0505097 0.741721 +TTool-pose None 9.8075 -7.57878 16.8967 -0.587515 0.282257 -0.7227 0.229824 +#66434 1721122831752 +SLAM -15.5599 14.2614 16.5592 0.66883 0.00316809 0.0505804 0.741686 +TTool-pose None 9.80524 -7.58025 16.8993 -0.587497 0.282277 -0.722737 0.229732 +#66435 1721122831788 +SLAM -15.5541 14.2692 16.443 0.664978 0.00317251 0.0503604 0.745156 +TTool-pose None 9.8102 -7.63311 16.8414 -0.586371 0.285798 -0.721208 0.233038 +#66436 1721122831827 +SLAM -15.548 14.2908 16.4366 0.665525 0.00266642 0.050204 0.74468 +TTool-pose None 9.81612 -7.61003 16.8638 -0.586829 0.285556 -0.721168 0.232306 +#66437 1721122831862 +SLAM -15.5556 14.2697 16.4539 0.665222 0.00322835 0.0502092 0.744949 +TTool-pose None 9.81545 -7.63054 16.8443 -0.586536 0.2855 -0.721226 0.232928 +#66438 1721122831897 +SLAM -15.5591 14.2628 16.4405 0.665166 0.00319372 0.05043 0.744984 +TTool-pose None 9.81332 -7.62269 16.8407 -0.586378 0.285629 -0.721323 0.23287 +#66439 1721122831931 +SLAM -15.5603 14.2547 16.5344 0.668314 0.00314915 0.0506791 0.742144 +TTool-pose None 9.80418 -7.57953 16.8863 -0.587265 0.282795 -0.722601 0.230116 +#66440 1721122831966 +SLAM -15.5527 14.2737 16.4369 0.664755 0.00313074 0.050297 0.745359 +TTool-pose None 9.81134 -7.63714 16.8407 -0.586354 0.286013 -0.721078 0.233219 +#66441 1721122832001 +SLAM -15.5528 14.289 16.538 0.669492 0.00241383 0.0504147 0.741102 +TTool-pose None 9.81486 -7.54101 16.9274 -0.588081 0.282071 -0.722657 0.22874 +#66442 1721122832034 +SLAM -15.5491 14.2736 16.4256 0.664668 0.00297213 0.0503139 0.745437 +TTool-pose None 9.81017 -7.63211 16.8377 -0.586366 0.286194 -0.721008 0.233181 +#66443 1721122832070 +SLAM -15.5552 14.2749 16.5645 0.668788 0.00313892 0.0502505 0.741746 +TTool-pose None 9.81072 -7.58451 16.906 -0.587718 0.28225 -0.722522 0.229872 +#66444 1721122832105 +SLAM -15.5475 14.2826 16.4731 0.665711 0.00306497 0.0501123 0.744519 +TTool-pose None 9.81126 -7.6299 16.86 -0.58682 0.28512 -0.721301 0.232449 +#66445 1721122832146 +SLAM -15.5534 14.2754 16.5566 0.668711 0.00304215 0.0502421 0.741817 +TTool-pose None 9.81103 -7.58132 16.904 -0.587731 0.282378 -0.722461 0.229876 +#66446 1721122832180 +SLAM -15.5474 14.2859 16.4466 0.664773 0.00306282 0.050002 0.745364 +TTool-pose None 9.81557 -7.644 16.8465 -0.586584 0.285963 -0.720894 0.23327 +#66447 1721122832214 +SLAM -15.5533 14.2731 16.4436 0.665073 0.00307418 0.0503102 0.745075 +TTool-pose None 9.81221 -7.63075 16.8448 -0.58647 0.285756 -0.721185 0.232912 +#66448 1721122832249 +SLAM -15.5543 14.2692 16.467 0.665682 0.00318745 0.0502986 0.744532 +TTool-pose None 9.81132 -7.62486 16.8518 -0.586642 0.285121 -0.721434 0.232484 +#66449 1721122832284 +SLAM -15.5612 14.2551 16.569 0.669223 0.00325271 0.0505709 0.741331 +TTool-pose None 9.80578 -7.57059 16.9009 -0.587604 0.281857 -0.722899 0.229462 +#66450 1721122832320 +SLAM -15.5538 14.2822 16.5224 0.667211 0.00316423 0.0500141 0.743181 +TTool-pose None 9.81769 -7.60995 16.884 -0.587351 0.283643 -0.721821 0.231298 +#66451 1721122832354 +SLAM -15.5607 14.2632 16.551 0.668446 0.00322071 0.050479 0.742039 +TTool-pose None 9.80872 -7.5873 16.8939 -0.587422 0.282578 -0.722555 0.230127 +#66452 1721122832391 +SLAM -15.554 14.2667 16.449 0.665183 0.00317091 0.0503976 0.744971 +TTool-pose None 9.80879 -7.63027 16.8427 -0.586414 0.285618 -0.721304 0.232852 +#66453 1721122832429 +SLAM -15.54 14.288 16.5175 0.666505 0.00311457 0.0500079 0.743815 +TTool-pose None 9.80409 -7.63666 16.8747 -0.587138 0.284327 -0.721545 0.231857 +#66454 1721122832467 +SLAM -15.563 14.2588 16.5423 0.668347 0.00322924 0.0505404 0.742124 +TTool-pose None 9.80965 -7.58346 16.8897 -0.587344 0.28268 -0.722557 0.230193 +#66455 1721122832506 +SLAM -15.5581 14.2723 16.5766 0.669267 0.00318995 0.0502016 0.741318 +TTool-pose None 9.81439 -7.57377 16.9118 -0.587892 0.28176 -0.722683 0.229522 +#66456 1721122832541 +SLAM -15.5586 14.2719 16.5861 0.669578 0.00319209 0.0502074 0.741036 +TTool-pose None 9.81435 -7.56937 16.9165 -0.58799 0.281471 -0.7228 0.229261 +#66457 1721122832579 +SLAM -15.5567 14.2682 16.5913 0.669816 0.00313921 0.0505321 0.740799 +TTool-pose None 9.80237 -7.56847 16.9205 -0.587864 0.281362 -0.723058 0.228904 +#66458 1721122832616 +SLAM -15.5557 14.2663 16.4272 0.664593 0.00320495 0.0503642 0.745499 +TTool-pose None 9.81198 -7.6338 16.8335 -0.58623 0.286136 -0.721079 0.233379 +#66459 1721122832650 +SLAM -15.559 14.2666 16.5724 0.669251 0.0032331 0.0503893 0.741319 +TTool-pose None 9.80893 -7.57163 16.9095 -0.587744 0.281797 -0.722798 0.229494 +#66460 1721122832685 +SLAM -15.5598 14.2619 16.5402 0.668311 0.00325885 0.0504957 0.742159 +TTool-pose None 9.8073 -7.58206 16.8919 -0.587353 0.282685 -0.722527 0.23026 +#66461 1721122832722 +SLAM -15.5415 14.2967 16.5192 0.666445 0.0031645 0.0497448 0.743886 +TTool-pose None 9.81293 -7.63785 16.8792 -0.587281 0.284286 -0.721387 0.232039 +#66462 1721122832755 +SLAM -15.5273 14.3199 16.6908 0.669298 0.00381017 0.0486538 0.74139 +TTool-pose None 9.81649 -7.65856 16.9337 -0.588753 0.280964 -0.721986 0.230484 +#66463 1721122832788 +SLAM -15.5562 14.2689 16.5367 0.668126 0.00315828 0.0504519 0.742329 +TTool-pose None 9.80623 -7.58818 16.8932 -0.587356 0.282906 -0.722404 0.230364 +#66464 1721122832823 +SLAM -15.5555 14.2667 16.465 0.665572 0.0031974 0.0502728 0.744631 +TTool-pose None 9.81349 -7.62703 16.8472 -0.58662 0.28521 -0.721382 0.232592 +#66465 1721122832862 +SLAM -15.547 14.2816 16.45 0.664979 0.00311125 0.0500717 0.745175 +TTool-pose None 9.81233 -7.63803 16.8476 -0.586589 0.28576 -0.721024 0.233105 +#66466 1721122832898 +SLAM -15.5561 14.266 16.5687 0.669134 0.00313121 0.0504763 0.741419 +TTool-pose None 9.80479 -7.57554 16.9065 -0.58768 0.281989 -0.722776 0.229492 +#66467 1721122832932 +SLAM -15.56 14.2669 16.5718 0.669068 0.00320958 0.050381 0.741485 +TTool-pose None 9.81043 -7.57949 16.9059 -0.587698 0.281979 -0.722721 0.229635 +#66468 1721122832969 +SLAM -15.5538 14.2681 16.4365 0.664672 0.00320933 0.0502568 0.745436 +TTool-pose None 9.81304 -7.63813 16.8343 -0.586328 0.286033 -0.721047 0.233356 +#66469 1721122833007 +SLAM -15.5576 14.2718 16.5631 0.668368 0.00278406 0.0504139 0.742115 +TTool-pose None 9.81282 -7.6091 16.8918 -0.587587 0.282896 -0.722359 0.229928 +#66470 1721122833049 +SLAM -15.5617 14.2675 16.5764 0.6694 0.00320749 0.0504705 0.741179 +TTool-pose None 9.80912 -7.57061 16.9138 -0.587747 0.281693 -0.722892 0.229321 +#66471 1721122833087 +SLAM -15.557 14.2735 16.5389 0.667854 0.003199 0.0501474 0.742594 +TTool-pose None 9.816 -7.59837 16.8887 -0.58746 0.283058 -0.722142 0.230733 +#66472 1721122833128 +SLAM -15.5551 14.2717 16.5269 0.667706 0.00319941 0.0502588 0.742719 +TTool-pose None 9.8111 -7.59412 16.8868 -0.587335 0.283223 -0.722153 0.230815 +#66473 1721122833168 +SLAM -15.5306 14.3088 16.6726 0.66976 0.00352587 0.0492613 0.740934 +TTool-pose None 9.80557 -7.63135 16.9379 -0.588585 0.280859 -0.722419 0.229682 +#66474 1721122833203 +SLAM -15.5641 14.2657 16.3945 0.665749 0.00235014 0.051013 0.744426 +TTool-pose None 9.81438 -7.57221 16.8554 -0.586455 0.285743 -0.721621 0.231607 +#66475 1721122833241 +SLAM -15.558 14.2719 16.579 0.669329 0.00323429 0.0502825 0.741256 +TTool-pose None 9.81083 -7.57374 16.9141 -0.587843 0.281696 -0.722765 0.229469 +#66476 1721122833276 +SLAM -15.5688 14.2441 16.9872 0.682764 0.00223407 0.0513923 0.728826 +TTool-pose None 9.78654 -7.40019 17.1127 -0.591773 0.269891 -0.727899 0.216977 +#66477 1721122833331 +SLAM -15.5471 14.2852 16.4368 0.664615 0.00311488 0.0500455 0.745501 +TTool-pose None 9.81354 -7.64093 16.8452 -0.586485 0.286089 -0.720877 0.23342 +#66478 1721122833381 +SLAM -15.5447 14.2931 16.5391 0.667889 0.00293161 0.0499048 0.74258 +TTool-pose None 9.81454 -7.59893 16.9005 -0.587728 0.283125 -0.721935 0.230618 +#66479 1721122833422 +SLAM -15.5606 14.2656 16.4638 0.665586 0.00337466 0.0502555 0.74462 +TTool-pose None 9.81666 -7.62259 16.8495 -0.586577 0.285087 -0.72143 0.232704 +#66480 1721122833463 +SLAM -15.5525 14.2741 16.5698 0.669224 0.00229901 0.0508764 0.741313 +TTool-pose None 9.79946 -7.59085 16.9086 -0.587715 0.282507 -0.722791 0.228716 +#66481 1721122833503 +SLAM -15.5604 14.2611 16.503 0.666965 0.00324614 0.0505385 0.743366 +TTool-pose None 9.80794 -7.60554 16.8694 -0.586883 0.283955 -0.722058 0.231361 +#66482 1721122833542 +SLAM -15.5515 14.2703 16.4585 0.665508 0.00318851 0.0503294 0.744685 +TTool-pose None 9.80774 -7.62438 16.8507 -0.586563 0.285289 -0.721389 0.232618 +#66483 1721122833579 +SLAM -15.5427 14.2844 16.54 0.667352 0.00315939 0.0500092 0.743055 +TTool-pose None 9.80571 -7.6206 16.8861 -0.587402 0.283513 -0.721868 0.231178 +#66484 1721122833615 +SLAM -15.5479 14.2848 16.4752 0.665703 0.00316422 0.049925 0.744538 +TTool-pose None 9.81624 -7.6287 16.8608 -0.586912 0.285021 -0.72122 0.232591 +#66485 1721122833653 +SLAM -15.5613 14.2571 16.5463 0.668334 0.00334266 0.0505122 0.742137 +TTool-pose None 9.80703 -7.58573 16.8886 -0.587321 0.282617 -0.722569 0.23029 +#66486 1721122833697 +SLAM -15.555 14.2722 16.6166 0.670663 0.0031088 0.0503162 0.740047 +TTool-pose None 9.80731 -7.55363 16.9348 -0.5883 0.280534 -0.72323 0.228252 +#66487 1721122833738 +SLAM -15.5548 14.2672 16.462 0.665681 0.00316479 0.0503631 0.744528 +TTool-pose None 9.81042 -7.62097 16.851 -0.586605 0.285152 -0.721464 0.232446 +#66488 1721122833775 +SLAM -15.5461 14.2835 16.4321 0.664533 0.00303884 0.0501176 0.74557 +TTool-pose None 9.81157 -7.64177 16.8422 -0.586433 0.286229 -0.720865 0.233411 +#66489 1721122833815 +SLAM -15.5533 14.2633 16.4681 0.666046 0.00311923 0.0505502 0.74419 +TTool-pose None 9.80353 -7.6135 16.8552 -0.586613 0.284888 -0.721692 0.232041 +#66490 1721122833854 +SLAM -15.5489 14.2735 16.477 0.665918 0.00311831 0.0502644 0.744323 +TTool-pose None 9.80737 -7.62497 16.8576 -0.586766 0.284935 -0.72148 0.232255 +#66491 1721122833892 +SLAM -15.543 14.2897 16.481 0.666005 0.00292235 0.0499992 0.744264 +TTool-pose None 9.81197 -7.62583 16.8679 -0.587043 0.284904 -0.721301 0.232151 +#66492 1721122833929 +SLAM -15.5571 14.2634 16.5732 0.669196 0.00316704 0.0505359 0.741359 +TTool-pose None 9.80328 -7.57727 16.9061 -0.587648 0.281925 -0.722843 0.229442 +#66493 1721122833971 +SLAM -15.5473 14.2824 16.4952 0.666537 0.0030256 0.0501405 0.743778 +TTool-pose None 9.8101 -7.6162 16.8733 -0.587088 0.284385 -0.721607 0.231723 +#66494 1721122834012 +SLAM -15.5513 14.2846 16.4475 0.666154 0.00263676 0.0503727 0.744107 +TTool-pose None 9.81452 -7.59519 16.8707 -0.586932 0.285033 -0.721485 0.231698 +#66495 1721122834049 +SLAM -15.5583 14.2666 16.561 0.668859 0.00318425 0.0503381 0.741676 +TTool-pose None 9.81109 -7.57778 16.9016 -0.587667 0.282179 -0.722612 0.229809 +#66496 1721122834085 +SLAM -15.5727 14.2324 16.984 0.682744 0.00230742 0.0516305 0.728828 +TTool-pose None 9.78226 -7.3994 17.1056 -0.591579 0.269926 -0.728051 0.216953 +#66497 1721122834124 +SLAM -15.551 14.2957 16.4173 0.665526 0.00238565 0.0502655 0.744676 +TTool-pose None 9.8221 -7.5966 16.8677 -0.586881 0.28574 -0.72112 0.232096 +#66498 1721122834160 +SLAM -15.5476 14.2766 16.4524 0.66541 0.00294734 0.0504006 0.744769 +TTool-pose None 9.80487 -7.62759 16.8527 -0.586562 0.285543 -0.721322 0.232514 +#66499 1721122834204 +SLAM -15.5581 14.2757 16.4664 0.665569 0.00324446 0.0500944 0.744646 +TTool-pose None 9.8206 -7.62666 16.8545 -0.586725 0.285139 -0.721292 0.232692 +#66500 1721122834246 +SLAM -15.5531 14.278 16.4517 0.665062 0.00314715 0.0501517 0.745096 +TTool-pose None 9.81548 -7.63654 16.8474 -0.58655 0.285682 -0.721111 0.233029 +#66501 1721122834287 +SLAM -15.5531 14.2775 16.5667 0.668837 0.00312375 0.0502323 0.741703 +TTool-pose None 9.80919 -7.58455 16.9087 -0.587752 0.282208 -0.722526 0.229827 +#66502 1721122834323 +SLAM -15.5558 14.2704 16.4693 0.665798 0.00318622 0.0503237 0.744426 +TTool-pose None 9.81185 -7.62255 16.8555 -0.586664 0.28502 -0.721491 0.232377 +#66503 1721122834362 +SLAM -15.5531 14.2737 16.447 0.665127 0.00314183 0.0502005 0.745034 +TTool-pose None 9.81453 -7.62929 16.8456 -0.58654 0.285638 -0.721161 0.232953 +#66504 1721122834406 +SLAM -15.5537 14.296 16.3939 0.664966 0.00237467 0.0502701 0.745176 +TTool-pose None 9.8257 -7.59862 16.8598 -0.586696 0.286266 -0.720914 0.232554 +#66505 1721122834445 +SLAM -15.5543 14.2732 16.5418 0.668247 0.00302837 0.0503509 0.742227 +TTool-pose None 9.80919 -7.58875 16.8958 -0.587508 0.282846 -0.722351 0.230215 +#66506 1721122834483 +SLAM -15.5491 14.2958 16.4512 0.665331 0.00283389 0.0499602 0.74487 +TTool-pose None 9.82146 -7.628 16.8627 -0.586875 0.285573 -0.721006 0.23267 +#66507 1721122834521 +SLAM -15.5473 14.2936 16.4251 0.664808 0.00274136 0.050082 0.745329 +TTool-pose None 9.8183 -7.62785 16.8534 -0.586649 0.286144 -0.720857 0.232999 +#66508 1721122834559 +SLAM -15.4832 14.3829 16.8119 0.672265 0.00203588 0.0485076 0.738717 +TTool-pose None 9.79423 -7.67336 17.0105 -0.590421 0.279219 -0.722446 0.226869 +#66509 1721122834604 +SLAM -15.5551 14.2711 16.4562 0.665398 0.0031963 0.0502367 0.74479 +TTool-pose None 9.81438 -7.62603 16.8487 -0.586587 0.285363 -0.721297 0.23275 +#66510 1721122834644 +SLAM -15.5517 14.274 16.4472 0.665115 0.00310591 0.0502585 0.745041 +TTool-pose None 9.8117 -7.63132 16.8457 -0.586508 0.285686 -0.72118 0.232918 +#66511 1721122834683 +SLAM -15.5545 14.2714 16.4908 0.66659 0.00314411 0.050242 0.743722 +TTool-pose None 9.81321 -7.60833 16.8676 -0.586996 0.28429 -0.72172 0.231718 +#66512 1721122834724 +SLAM -15.5528 14.2699 16.4699 0.665774 0.00319461 0.0503205 0.744448 +TTool-pose None 9.80883 -7.62377 16.8543 -0.586655 0.285037 -0.721483 0.232404 +#66513 1721122834760 +SLAM -15.5572 14.2699 16.4357 0.664517 0.00332571 0.0501183 0.745583 +TTool-pose None 9.81913 -7.64104 16.8333 -0.586332 0.286071 -0.720945 0.233613 +#66514 1721122834805 +SLAM -15.5489 14.288 16.4469 0.664762 0.0030884 0.0499118 0.74538 +TTool-pose None 9.8195 -7.64356 16.8476 -0.586634 0.285935 -0.720845 0.23333 +#66515 1721122834845 +SLAM -15.5561 14.2672 16.4468 0.665164 0.00318483 0.0503824 0.744989 +TTool-pose None 9.81128 -7.62869 16.8432 -0.586414 0.285623 -0.721293 0.232883 +#66516 1721122834884 +SLAM -15.5391 14.3037 16.6445 0.669882 0.00322698 0.0494633 0.740811 +TTool-pose None 9.81388 -7.6052 16.9369 -0.588587 0.280977 -0.722491 0.229306 +#66517 1721122834923 +SLAM -15.5564 14.266 16.5521 0.668508 0.00317718 0.050418 0.741987 +TTool-pose None 9.80689 -7.58552 16.896 -0.587498 0.28253 -0.722529 0.230069 +#66518 1721122834962 +SLAM -15.5584 14.2705 16.4607 0.665554 0.00321066 0.050298 0.744646 +TTool-pose None 9.81525 -7.62425 16.852 -0.586592 0.285225 -0.721394 0.232606 +#66519 1721122835002 +SLAM -15.5526 14.2711 16.4496 0.665275 0.00311889 0.0502931 0.744896 +TTool-pose None 9.81142 -7.62657 16.8465 -0.586533 0.285537 -0.721262 0.23278 +#66520 1721122835041 +SLAM -15.546 14.2857 16.4578 0.665328 0.00297823 0.0500706 0.744864 +TTool-pose None 9.8129 -7.63268 16.8553 -0.58675 0.285517 -0.721111 0.232726 +#66521 1721122835085 +SLAM -15.5649 14.2572 16.6514 0.671767 0.00324093 0.050501 0.739031 +TTool-pose None 9.80894 -7.53847 16.9433 -0.588491 0.279467 -0.723774 0.22734 +#66522 1721122835127 +SLAM -15.5576 14.2725 16.4601 0.665504 0.00320893 0.0502617 0.744693 +TTool-pose None 9.81557 -7.62563 16.8525 -0.586601 0.285263 -0.721355 0.23266 +#66523 1721122835166 +SLAM -15.5494 14.2683 16.5773 0.669284 0.00219014 0.0510481 0.741248 +TTool-pose None 9.79221 -7.59869 16.9037 -0.587653 0.28256 -0.72288 0.22853 +#66524 1721122835207 +SLAM -15.5586 14.2592 16.5616 0.668986 0.00308191 0.0508024 0.74153 +TTool-pose None 9.79781 -7.57957 16.9015 -0.587425 0.282239 -0.722896 0.229461 +#66525 1721122835243 +SLAM -15.5595 14.2634 16.5069 0.667318 0.00314819 0.0504625 0.743054 +TTool-pose None 9.81094 -7.59442 16.8755 -0.587085 0.283667 -0.722114 0.23103 +#66526 1721122835282 +SLAM -15.5459 14.2989 16.6701 0.670158 0.00359326 0.0493006 0.740571 +TTool-pose None 9.81974 -7.61067 16.9388 -0.588666 0.280457 -0.722606 0.229377 +#66527 1721122835326 +SLAM -15.5519 14.2765 16.4388 0.664783 0.00309574 0.0502278 0.74534 +TTool-pose None 9.81313 -7.63761 16.8422 -0.586422 0.285991 -0.721037 0.2332 +#66528 1721122835367 +SLAM -15.5458 14.2885 16.4433 0.664693 0.00304186 0.0499248 0.74544 +TTool-pose None 9.81676 -7.64369 16.8464 -0.586618 0.286029 -0.720814 0.233351 +#66529 1721122835403 +SLAM -15.5529 14.2834 16.4521 0.665022 0.00313282 0.0501008 0.745135 +TTool-pose None 9.81665 -7.63881 16.851 -0.586576 0.285715 -0.721063 0.233072 +#66530 1721122835440 +SLAM -15.5524 14.2742 16.4308 0.664582 0.00310988 0.0502672 0.745516 +TTool-pose None 9.8126 -7.63865 16.8377 -0.586324 0.286179 -0.720991 0.233361 +#66531 1721122835479 +SLAM -15.5489 14.2803 16.4458 0.664923 0.00310372 0.0500352 0.745228 +TTool-pose None 9.81594 -7.63589 16.8452 -0.586598 0.285808 -0.72098 0.23316 +#66532 1721122835518 +SLAM -15.5409 14.2919 16.5424 0.666823 0.003296 0.0496858 0.74355 +TTool-pose None 9.81164 -7.64079 16.8804 -0.587403 0.283841 -0.721529 0.231832 +#66533 1721122835556 +SLAM -15.5479 14.2879 16.4504 0.664951 0.00303728 0.0499925 0.745205 +TTool-pose None 9.81647 -7.64044 16.851 -0.586659 0.28581 -0.720946 0.233108 +#66534 1721122835595 +SLAM -15.5547 14.2802 16.5032 0.667268 0.00291531 0.0502288 0.743117 +TTool-pose None 9.81642 -7.59479 16.8844 -0.587306 0.283794 -0.721891 0.231005 +#66535 1721122835634 +SLAM -15.545 14.2953 16.4488 0.665513 0.00270516 0.0500601 0.744701 +TTool-pose None 9.81629 -7.62047 16.8651 -0.58691 0.285507 -0.721092 0.232395 +#66536 1721122835674 +SLAM -15.5324 14.3182 16.4995 0.66526 0.00311646 0.0492358 0.74498 +TTool-pose None 9.82041 -7.66643 16.8712 -0.587252 0.285284 -0.720646 0.233186 +#66537 1721122835713 +SLAM -15.5546 14.2762 16.4447 0.665016 0.00314398 0.0501662 0.745136 +TTool-pose None 9.81697 -7.63182 16.8459 -0.586526 0.285731 -0.721102 0.23306 +#66538 1721122835750 +SLAM -15.5517 14.2726 16.4308 0.664441 0.00318563 0.0502186 0.745645 +TTool-pose None 9.81238 -7.64286 16.8339 -0.586285 0.286252 -0.720934 0.233547 +#66539 1721122835787 +SLAM -15.5622 14.2605 16.524 0.667651 0.00329307 0.0504687 0.742755 +TTool-pose None 9.81064 -7.59453 16.8797 -0.587142 0.283272 -0.722281 0.230845 +#66540 1721122835826 +SLAM -15.5518 14.2748 16.4271 0.664408 0.003101 0.0501987 0.745676 +TTool-pose None 9.8144 -7.64194 16.8342 -0.586316 0.286328 -0.720885 0.233526 +#66541 1721122835865 +SLAM -15.5513 14.2745 16.4404 0.66473 0.00315612 0.0501202 0.745394 +TTool-pose None 9.81527 -7.63899 16.8384 -0.586458 0.285976 -0.720974 0.233324 +#66542 1721122835902 +SLAM -15.5508 14.2889 16.3969 0.664919 0.00243379 0.0504296 0.745208 +TTool-pose None 9.81684 -7.60389 16.8544 -0.586551 0.286315 -0.721006 0.232573 +#66543 1721122835939 +SLAM -15.55 14.2787 16.4337 0.664657 0.00306232 0.0501083 0.74546 +TTool-pose None 9.81584 -7.63715 16.8402 -0.586474 0.286097 -0.720913 0.233327 +#66544 1721122835979 +SLAM -15.5542 14.2863 16.5706 0.670287 0.00250846 0.050405 0.740384 +TTool-pose None 9.81398 -7.53621 16.9381 -0.588317 0.281269 -0.722967 0.228138 +#66545 1721122836019 +SLAM -15.544 14.2847 16.6942 0.670992 0.00362074 0.0496768 0.73979 +TTool-pose None 9.80497 -7.60036 16.9441 -0.588674 0.279755 -0.723133 0.228553 +#66546 1721122836057 +SLAM -15.5591 14.2701 16.4361 0.664712 0.0032316 0.0502675 0.7454 +TTool-pose None 9.8175 -7.6364 16.8379 -0.586326 0.285985 -0.721075 0.233333 +#66547 1721122836096 +SLAM -15.557 14.2715 16.5062 0.667051 0.00314066 0.0502899 0.743306 +TTool-pose None 9.81357 -7.6041 16.8758 -0.587117 0.283876 -0.721914 0.231313 +#66548 1721122836137 +SLAM -15.5507 14.2747 16.4329 0.664722 0.00305756 0.0502344 0.745393 +TTool-pose None 9.81273 -7.63483 16.8393 -0.586411 0.286072 -0.721008 0.233222 +#66549 1721122836173 +SLAM -15.5571 14.2661 16.5302 0.667988 0.00312984 0.0505045 0.742449 +TTool-pose None 9.80631 -7.5888 16.8888 -0.587284 0.283065 -0.722376 0.230441 +#66550 1721122836214 +SLAM -15.5572 14.273 16.5334 0.669435 0.00243016 0.0508775 0.741123 +TTool-pose None 9.80482 -7.54361 16.9177 -0.58774 0.282232 -0.722908 0.228625 +#66551 1721122836254 +SLAM -15.5531 14.2781 16.4465 0.665051 0.00310472 0.05015 0.745106 +TTool-pose None 9.8164 -7.6325 16.8472 -0.586562 0.285718 -0.721093 0.233011 +#66552 1721122836292 +SLAM -15.5525 14.2773 16.4215 0.664152 0.00319556 0.0500889 0.745911 +TTool-pose None 9.81737 -7.64511 16.8323 -0.586274 0.286479 -0.720756 0.233842 +#66553 1721122836332 +SLAM -15.5613 14.2636 16.567 0.668959 0.00329278 0.0503712 0.741584 +TTool-pose None 9.81131 -7.57795 16.9023 -0.58764 0.282029 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16.8432 -0.586388 0.285857 -0.721146 0.233115 +#66560 1721122836622 +SLAM -15.555 14.2697 16.4743 0.666001 0.00318272 0.0503458 0.744243 +TTool-pose None 9.81026 -7.6188 16.8583 -0.586717 0.28484 -0.721576 0.232197 +#66561 1721122836657 +SLAM -15.5524 14.2746 16.4745 0.666116 0.00308421 0.0503201 0.744142 +TTool-pose None 9.80973 -7.61538 16.8634 -0.586806 0.284786 -0.721574 0.232046 +#66562 1721122836691 +SLAM -15.5665 14.2519 16.5617 0.669195 0.00320703 0.0507905 0.741342 +TTool-pose None 9.80503 -7.56825 16.9007 -0.58746 0.281967 -0.723002 0.229373 +#66563 1721122836729 +SLAM -15.5479 14.2899 16.4111 0.664912 0.00258436 0.050282 0.745223 +TTool-pose None 9.81576 -7.61398 16.8537 -0.586599 0.286193 -0.720964 0.232734 +#66564 1721122836773 +SLAM -15.56 14.2578 16.6037 0.670291 0.00321391 0.0506287 0.740362 +TTool-pose None 9.80171 -7.55896 16.9209 -0.587929 0.280897 -0.723307 0.228517 +#66565 1721122836808 +SLAM -15.5506 14.2748 16.4354 0.664841 0.00301952 0.0503697 0.745279 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0.0504239 0.741692 +TTool-pose None 9.80673 -7.57644 16.904 -0.587644 0.282301 -0.722615 0.229711 +#66572 1721122837070 +SLAM -15.554 14.2709 16.4452 0.665009 0.00312891 0.0503282 0.745131 +TTool-pose None 9.81157 -7.63436 16.8424 -0.586418 0.285788 -0.721188 0.232995 +#66573 1721122837107 +SLAM -15.5503 14.2832 16.4605 0.665351 0.00308531 0.0500675 0.744844 +TTool-pose None 9.81574 -7.63267 16.8549 -0.586724 0.285431 -0.72115 0.232779 +#66574 1721122837142 +SLAM -15.5532 14.2853 16.5748 0.668926 0.00308479 0.0500147 0.741638 +TTool-pose None 9.81623 -7.58717 16.9137 -0.587943 0.282094 -0.722421 0.229809 +#66575 1721122837186 +SLAM -15.549 14.2836 16.4317 0.66452 0.00306603 0.0500775 0.745584 +TTool-pose None 9.81537 -7.64122 16.8422 -0.586448 0.286214 -0.720846 0.233455 +#66576 1721122837227 +SLAM -15.5609 14.2626 16.5671 0.669172 0.0031999 0.0504934 0.741384 +TTool-pose None 9.80842 -7.57151 16.9056 -0.587658 0.281917 -0.72282 0.2295 +#66577 1721122837262 +SLAM -15.5404 14.2931 16.6094 0.669103 0.0032378 0.049783 0.741494 +TTool-pose None 9.80645 -7.60815 16.9195 -0.588108 0.281778 -0.722396 0.229848 +#66578 1721122837296 +SLAM -15.5543 14.2724 16.437 0.664673 0.00320155 0.0502582 0.745435 +TTool-pose None 9.81326 -7.63925 16.8384 -0.58633 0.286037 -0.721046 0.233349 +#66579 1721122837331 +SLAM -15.5502 14.2793 16.4416 0.664814 0.00310707 0.0501445 0.745317 +TTool-pose None 9.81372 -7.63797 16.8442 -0.586486 0.285934 -0.721004 0.233212 +#66580 1721122837365 +SLAM -15.5523 14.2763 16.4339 0.664697 0.00309215 0.0502556 0.745414 +TTool-pose None 9.81291 -7.63703 16.8413 -0.586376 0.28608 -0.721021 0.233258 +#66581 1721122837402 +SLAM -15.5623 14.2653 16.5169 0.667334 0.00329566 0.0503812 0.743046 +TTool-pose None 9.81346 -7.60079 16.878 -0.587096 0.283543 -0.722116 0.231145 +#66582 1721122837437 +SLAM -15.5565 14.2692 16.4344 0.664744 0.00321183 0.0503554 0.745365 +TTool-pose None 9.81249 -7.63447 16.8385 -0.586283 0.28599 -0.721131 0.233261 +#66583 1721122837471 +SLAM -15.5548 14.2749 16.4213 0.664377 0.00313909 0.0502583 0.745699 +TTool-pose None 9.81517 -7.63803 16.836 -0.586252 0.286348 -0.720919 0.233555 +#66584 1721122837506 +SLAM -15.554 14.2748 16.4385 0.664734 0.00320092 0.0502071 0.745384 +TTool-pose None 9.81444 -7.63759 16.8411 -0.586385 0.285968 -0.721039 0.233317 +#66585 1721122837541 +SLAM -15.5585 14.2699 16.5599 0.668777 0.00313429 0.0503571 0.741749 +TTool-pose None 9.81114 -7.58162 16.9029 -0.587643 0.28229 -0.722579 0.229838 +#66586 1721122837579 +SLAM -15.5536 14.2844 16.4054 0.665041 0.00253385 0.0505364 0.745091 +TTool-pose None 9.81448 -7.60656 16.8546 -0.586485 0.286168 -0.721142 0.232497 +#66587 1721122837615 +SLAM -15.5592 14.2634 16.4352 0.664747 0.00327726 0.0503777 0.745361 +TTool-pose None 9.81379 -7.63407 16.8343 -0.586247 0.285953 -0.721164 0.233294 +#66588 1721122837651 +SLAM -15.5637 14.2654 16.6571 0.671915 0.00321973 0.0503592 0.738908 +TTool-pose None 9.81192 -7.5367 16.9513 -0.588644 0.279306 -0.723739 0.227255 +#66589 1721122837687 +SLAM -15.5575 14.2706 16.4432 0.66473 0.00331718 0.050122 0.745393 +TTool-pose None 9.81906 -7.63938 16.8372 -0.586403 0.28588 -0.721023 0.233429 +#66590 1721122837722 +SLAM -17.3406 13.7868 16.2915 0.656963 0.0288566 0.0333334 0.752632 +TTool-pose None 11.8085 -7.16599 16.56 -0.586535 0.272968 -0.715857 0.262641 +#66591 1721122837759 +SLAM -15.5545 14.2715 16.4295 0.664533 0.00317197 0.0502794 0.745558 +TTool-pose None 9.81361 -7.63855 16.8355 -0.586278 0.286189 -0.720998 0.233438 +#66592 1721122837796 +SLAM -15.5611 14.2602 16.4779 0.666242 0.00325308 0.0505588 0.744013 +TTool-pose None 9.80882 -7.61283 16.8577 -0.586628 0.284628 -0.721808 0.231963 +#66593 1721122837831 +SLAM -15.5577 14.2644 16.4345 0.66476 0.00322132 0.050397 0.745349 +TTool-pose None 9.8125 -7.63385 16.8349 -0.586257 0.28598 -0.721164 0.233238 +#66594 1721122837870 +SLAM -15.5595 14.2699 16.4363 0.664648 0.00331889 0.0501335 0.745465 +TTool-pose None 9.82104 -7.63637 16.836 -0.586367 0.285958 -0.721 0.233495 +#66595 1721122837906 +SLAM -15.5465 14.2887 16.4416 0.664667 0.00303612 0.0499495 0.745462 +TTool-pose None 9.81678 -7.64372 16.8465 -0.586594 0.286064 -0.720817 0.23336 +#66596 1721122837940 +SLAM -15.5548 14.2654 16.4251 0.664447 0.00317646 0.0503919 0.745628 +TTool-pose None 9.81073 -7.63884 16.8299 -0.586171 0.286295 -0.721033 0.233471 +#66597 1721122837976 +SLAM -15.5554 14.2733 16.4355 0.664828 0.00309533 0.0503221 0.745293 +TTool-pose None 9.81393 -7.6335 16.8418 -0.586373 0.285974 -0.721108 0.233126 +#66598 1721122838013 +SLAM -15.5543 14.2683 16.4282 0.664716 0.00308275 0.0504291 0.745385 +TTool-pose None 9.81017 -7.63222 16.8368 -0.586267 0.286112 -0.721125 0.233171 +#66599 1721122838053 +SLAM -15.5301 14.3216 16.5132 0.665235 0.00328925 0.0489875 0.745018 +TTool-pose None 9.82282 -7.67551 16.8716 -0.587356 0.285141 -0.720545 0.233414 +#66600 1721122838090 +SLAM -15.5553 14.2706 16.5876 0.669782 0.0030646 0.0503042 0.740846 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0.0503926 0.743862 +TTool-pose None 9.81113 -7.61103 16.8647 -0.586845 0.284496 -0.72174 0.231788 +#66607 1721122838350 +SLAM -15.5555 14.2755 16.4501 0.66524 0.00313253 0.0502496 0.74493 +TTool-pose None 9.81517 -7.62851 16.85 -0.586547 0.285551 -0.721228 0.232835 +#66608 1721122838384 +SLAM -15.5587 14.2659 16.5676 0.669099 0.00317152 0.0504962 0.741449 +TTool-pose None 9.80617 -7.57585 16.9068 -0.587642 0.282003 -0.722787 0.22954 +#66609 1721122838421 +SLAM -15.5562 14.2665 16.4459 0.665117 0.00320549 0.050418 0.745029 +TTool-pose None 9.80994 -7.63 16.8426 -0.586366 0.285664 -0.721302 0.232923 +#66610 1721122838465 +SLAM -15.5517 14.2832 16.4464 0.664862 0.00314199 0.0500598 0.74528 +TTool-pose None 9.81697 -7.63947 16.8479 -0.586548 0.285848 -0.720983 0.233227 +#66611 1721122838503 +SLAM -15.5592 14.2659 16.5163 0.667542 0.00319066 0.0504387 0.742855 +TTool-pose None 9.81023 -7.5931 16.8816 -0.587161 0.283427 -0.722194 0.230879 +#66612 1721122838543 +SLAM -15.5554 14.2762 16.4394 0.664772 0.0031736 0.0501328 0.745355 +TTool-pose None 9.81857 -7.63648 16.8418 -0.586458 0.28593 -0.721002 0.233295 +#66613 1721122838586 +SLAM -15.5617 14.2677 16.6308 0.670963 0.00322902 0.050276 0.739778 +TTool-pose None 9.8133 -7.55204 16.9365 -0.588386 0.280171 -0.723351 0.228094 +#66614 1721122838624 +SLAM -15.5585 14.2665 16.4998 0.667299 0.00306077 0.0505301 0.743068 +TTool-pose None 9.80914 -7.59071 16.8784 -0.587062 0.283754 -0.72212 0.230963 +#66615 1721122838662 +SLAM -15.5603 14.2607 16.4864 0.666533 0.0032425 0.0505269 0.743754 +TTool-pose None 9.80894 -7.60809 16.8622 -0.586749 0.284356 -0.721893 0.231724 +#66616 1721122838703 +SLAM -15.5524 14.2687 16.4269 0.664554 0.00313729 0.0504003 0.745532 +TTool-pose None 9.80836 -7.63674 16.8344 -0.586214 0.286222 -0.721065 0.233353 +#66617 1721122838741 +SLAM -15.5613 14.2624 16.4511 0.665308 0.00325873 0.0504122 0.744858 +TTool-pose None 9.81461 -7.62579 16.8427 -0.586416 0.285453 -0.721384 0.2328 +#66618 1721122838776 +SLAM -15.5531 14.2845 16.3944 0.664874 0.00251574 0.0505449 0.745239 +TTool-pose None 9.81453 -7.60338 16.8525 -0.58643 0.286337 -0.721081 0.232621 +#66619 1721122838814 +SLAM -15.5566 14.2681 16.4399 0.66485 0.00323966 0.0503154 0.745274 +TTool-pose None 9.81335 -7.63424 16.8388 -0.586336 0.285865 -0.721155 0.233206 +#66620 1721122838850 +SLAM -15.5586 14.2662 16.4568 0.665589 0.00319201 0.0504154 0.744607 +TTool-pose None 9.81234 -7.62031 16.8501 -0.586529 0.285234 -0.721469 0.232521 +#66621 1721122838888 +SLAM -15.5566 14.2668 16.4932 0.666693 0.00317338 0.0505026 0.743613 +TTool-pose None 9.80638 -7.60895 16.8689 -0.586842 0.284243 -0.721916 0.231555 +#66622 1721122838928 +SLAM -15.5516 14.2851 16.5047 0.666637 0.0031465 0.0499797 0.743698 +TTool-pose None 9.81724 -7.6178 16.8767 -0.58719 0.284178 -0.721587 0.231779 +#66623 1721122838964 +SLAM -15.5551 14.2699 16.4247 0.664375 0.00320137 0.0502317 0.745702 +TTool-pose None 9.81558 -7.63961 16.8312 -0.586249 0.286306 -0.720922 0.233607 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0.286084 -0.720975 0.233326 +#66630 1721122839208 +SLAM -15.5521 14.2774 16.4393 0.664901 0.00307177 0.0502656 0.745232 +TTool-pose None 9.8124 -7.63386 16.8455 -0.586444 0.285906 -0.721095 0.233071 +#66631 1721122839242 +SLAM -15.5582 14.2672 16.445 0.66496 0.0032462 0.0504315 0.745167 +TTool-pose None 9.81077 -7.63589 16.8412 -0.586292 0.285788 -0.721265 0.233075 +#66632 1721122839278 +SLAM -15.5628 14.2734 16.5964 0.66967 0.0033361 0.0500836 0.740961 +TTool-pose None 9.81994 -7.57209 16.9196 -0.588057 0.281266 -0.722805 0.229325 +#66633 1721122839315 +SLAM -15.562 14.2661 16.5483 0.66858 0.0031987 0.0504297 0.741921 +TTool-pose None 9.81204 -7.57869 16.8988 -0.587507 0.282453 -0.722569 0.230018 +#66634 1721122839350 +SLAM -15.5733 14.236 17.0066 0.683339 0.00249063 0.0512619 0.728295 +TTool-pose None 9.79155 -7.38743 17.1168 -0.59196 0.269154 -0.728102 0.216701 +#66635 1721122839390 +SLAM -15.5553 14.271 16.447 0.664968 0.0032365 0.0502572 0.745172 +TTool-pose None 9.81346 -7.6355 16.8422 -0.586417 0.285743 -0.721164 0.233128 +#66636 1721122839428 +SLAM -15.5553 14.2715 16.4711 0.665909 0.00313564 0.0503861 0.744323 +TTool-pose None 9.80993 -7.62115 16.8585 -0.586675 0.284964 -0.721552 0.232228 +#66637 1721122839468 +SLAM -15.5539 14.2749 16.5214 0.667274 0.00319553 0.0502212 0.743111 +TTool-pose None 9.81098 -7.60772 16.8815 -0.58722 0.283618 -0.721972 0.231189 +#66638 1721122839509 +SLAM -15.5583 14.2632 16.5123 0.667282 0.00320745 0.0505185 0.743083 +TTool-pose None 9.80659 -7.60118 16.8756 -0.587015 0.283679 -0.72215 0.231078 +#66639 1721122839550 +SLAM -15.5366 14.2978 16.5349 0.666322 0.00336689 0.0495155 0.744011 +TTool-pose None 9.81168 -7.65261 16.8758 -0.58733 0.284221 -0.72127 0.232362 +#66640 1721122839593 +SLAM -15.557 14.2694 16.5094 0.667208 0.00317682 0.0503989 0.743158 +TTool-pose None 9.80943 -7.60095 16.8784 -0.587082 0.283736 -0.722045 0.231165 +#66641 1721122839632 +SLAM -15.5497 14.2886 16.5319 0.668768 0.00257705 0.0503593 0.741759 +TTool-pose None 9.81092 -7.56385 16.915 -0.587825 0.282634 -0.722411 0.229476 +#66642 1721122839673 +SLAM -15.553 14.2696 16.4728 0.666191 0.00304357 0.0504472 0.744067 +TTool-pose None 9.80718 -7.61213 16.8612 -0.586757 0.284773 -0.721663 0.231908 +#66643 1721122839708 +SLAM -15.5596 14.2666 16.4259 0.664526 0.00323455 0.0503899 0.745558 +TTool-pose None 9.81461 -7.63573 16.8337 -0.586179 0.286187 -0.721078 0.233445 +#66644 1721122839746 +SLAM -15.554 14.2719 16.4392 0.664932 0.00313863 0.0502777 0.745203 +TTool-pose None 9.81338 -7.63109 16.842 -0.586423 0.28584 -0.721133 0.233085 +#66645 1721122839784 +SLAM -15.5501 14.277 16.4574 0.665364 0.00303992 0.0502903 0.744817 +TTool-pose None 9.80931 -7.63194 16.8517 -0.586592 0.285502 -0.72127 0.232654 +#66646 1721122839823 +SLAM -15.5547 14.2689 16.4708 0.665975 0.00312623 0.0503936 0.744264 +TTool-pose None 9.80945 -7.61777 16.8572 -0.586694 0.28491 -0.721578 0.232164 +#66647 1721122839860 +SLAM -15.5408 14.2983 16.4994 0.666393 0.00295403 0.0497528 0.743933 +TTool-pose None 9.81619 -7.62387 16.8788 -0.587329 0.284463 -0.72131 0.231941 +#66648 1721122839896 +SLAM -15.4817 14.3826 16.9297 0.670161 0.00477277 0.046275 0.740756 +TTool-pose None 9.82048 -7.81448 16.9674 -0.590339 0.278968 -0.721211 0.23128 +#66649 1721122839930 +SLAM -15.551 14.2787 16.4347 0.664575 0.00317496 0.050086 0.745534 +TTool-pose None 9.8157 -7.63985 16.84 -0.586424 0.2861 -0.720903 0.233478 +#66650 1721122839965 +SLAM -15.5517 14.2777 16.4348 0.664635 0.00312486 0.0502018 0.745473 +TTool-pose None 9.8134 -7.6395 16.8411 -0.586381 0.286104 -0.720977 0.233351 +#66651 1721122840002 +SLAM -15.5347 14.3001 16.4635 0.664651 0.00312312 0.0496095 0.745499 +TTool-pose None 9.81301 -7.66071 16.8508 -0.586792 0.28594 -0.720641 0.233559 +#66652 1721122840036 +SLAM -15.5519 14.281 16.5261 0.668487 0.00268516 0.0504293 0.742008 +TTool-pose None 9.80986 -7.56927 16.9055 -0.587649 0.282849 -0.722381 0.229758 +#66653 1721122840078 +SLAM -15.5618 14.2637 16.6213 0.670706 0.00325688 0.0503557 0.740005 +TTool-pose None 9.81095 -7.55429 16.9301 -0.588238 0.280414 -0.723313 0.228299 +#66654 1721122840117 +SLAM -15.5453 14.306 16.4492 0.665411 0.00270889 0.0498553 0.744805 +TTool-pose None 9.82255 -7.6237 16.871 -0.587015 0.285547 -0.720937 0.232559 +#66655 1721122840159 +SLAM -15.5351 14.298 16.6326 0.668781 0.00356451 0.0493872 0.741809 +TTool-pose None 9.80771 -7.63558 16.9148 -0.588164 0.281781 -0.722149 0.230482 +#66656 1721122840196 +SLAM -15.5515 14.2768 16.4348 0.664593 0.00319595 0.0501222 0.745516 +TTool-pose None 9.81488 -7.63915 16.8393 -0.586398 0.28608 -0.720937 0.233464 +#66657 1721122840230 +SLAM -15.5521 14.2783 16.4412 0.664835 0.00316143 0.050066 0.745304 +TTool-pose None 9.81755 -7.63484 16.8435 -0.586528 0.285863 -0.720983 0.23326 +#66658 1721122840265 +SLAM -15.5633 14.2659 16.5778 0.669303 0.00327567 0.0503733 0.741273 +TTool-pose None 9.81292 -7.57406 16.9101 -0.587758 0.281719 -0.722821 0.229484 +#66659 1721122840299 +SLAM -15.5558 14.2846 16.4264 0.666074 0.00244807 0.0505496 0.744167 +TTool-pose None 9.81708 -7.58325 16.8714 -0.586848 0.285265 -0.721502 0.231574 +#66660 1721122840334 +SLAM -15.5521 14.2872 16.4512 0.665792 0.00283192 0.0501578 0.744444 +TTool-pose None 9.81894 -7.6095 16.866 -0.586894 0.285197 -0.721288 0.23221 +#66661 1721122840368 +SLAM -15.5562 14.2735 16.4248 0.66423 0.00336171 0.0499874 0.745848 +TTool-pose None 9.8222 -7.64101 16.8311 -0.586314 0.286282 -0.720775 0.233926 +#66662 1721122840405 +SLAM -15.5738 14.2508 16.9506 0.681429 0.0026171 0.050771 0.730116 +TTool-pose None 9.80778 -7.41189 17.0936 -0.591644 0.270778 -0.727186 0.21861 +#66663 1721122840441 +SLAM -15.5637 14.2569 16.5443 0.668528 0.00329678 0.0505362 0.741961 +TTool-pose None 9.80966 -7.57619 16.8922 -0.587384 0.28247 -0.72264 0.230088 +#66664 1721122840476 +SLAM -15.5646 14.2574 16.6175 0.67064 0.00329872 0.0505244 0.740053 +TTool-pose None 9.80807 -7.55468 16.9261 -0.588086 0.280494 -0.723398 0.228319 +#66665 1721122840513 +SLAM -15.5558 14.2606 16.5313 0.668194 0.00304627 0.0506927 0.742252 +TTool-pose None 9.80043 -7.58378 16.8884 -0.587251 0.282972 -0.722534 0.230143 +#66666 1721122840555 +SLAM -15.5475 14.2919 16.4164 0.664913 0.00265291 0.0501928 0.745227 +TTool-pose None 9.8168 -7.61721 16.855 -0.586638 0.286128 -0.720933 0.232811 +#66667 1721122840595 +SLAM -15.5565 14.2694 16.4862 0.666469 0.00324224 0.0502594 0.74383 +TTool-pose None 9.8135 -7.60791 16.8657 -0.586911 0.284348 -0.721715 0.231878 +#66668 1721122840638 +SLAM -15.5577 14.266 16.4767 0.666116 0.00321353 0.0504149 0.744135 +TTool-pose None 9.81043 -7.61632 16.8582 -0.586698 0.284732 -0.721667 0.232095 +#66669 1721122840674 +SLAM -15.5632 14.2563 16.582 0.669699 0.00325335 0.0504959 0.740907 +TTool-pose None 9.80986 -7.56152 16.9091 -0.587812 0.281393 -0.723028 0.229091 +#66670 1721122840712 +SLAM -15.5426 14.3002 16.4522 0.665005 0.00287269 0.0498269 0.74517 +TTool-pose None 9.81823 -7.64107 16.8588 -0.586845 0.285818 -0.720821 0.233017 +#66671 1721122840758 +SLAM -15.5454 14.2858 16.5535 0.6679 0.0031431 0.0499803 0.742565 +TTool-pose None 9.80912 -7.60986 16.8962 -0.587609 0.283006 -0.722046 0.23072 +#66672 1721122840797 +SLAM -15.5347 14.31 16.4861 0.665441 0.00295734 0.0495633 0.744797 +TTool-pose None 9.81555 -7.65114 16.8704 -0.587142 0.285295 -0.720854 0.232807 +#66673 1721122840834 +SLAM -15.5572 14.2639 16.4958 0.666873 0.0031697 0.0505391 0.743449 +TTool-pose None 9.80599 -7.60372 16.8698 -0.586878 0.284087 -0.722002 0.231388 +#66674 1721122840872 +SLAM -15.5595 14.2627 16.5409 0.668381 0.00315095 0.0505526 0.742093 +TTool-pose None 9.80666 -7.58206 16.8931 -0.587373 0.282699 -0.722553 0.230108 +#66675 1721122840907 +SLAM -15.5543 14.2812 16.3997 0.664838 0.00260303 0.0505498 0.74527 +TTool-pose None 9.81412 -7.6087 16.8494 -0.586386 0.286318 -0.721097 0.232707 +#66676 1721122840945 +SLAM -15.5462 14.299 16.5668 0.668938 0.002825 0.0498927 0.741636 +TTool-pose None 9.81674 -7.58179 16.9221 -0.588118 0.282207 -0.722277 0.229672 +#66677 1721122840984 +SLAM -15.5513 14.2908 16.4094 0.665254 0.00250897 0.0503699 0.744912 +TTool-pose None 9.81763 -7.59981 16.8618 -0.586678 0.285943 -0.721117 0.232365 +#66678 1721122841028 +SLAM -15.5579 14.2648 16.5 0.666902 0.0032076 0.0504538 0.743429 +TTool-pose None 9.80868 -7.60508 16.8702 -0.586933 0.284016 -0.721975 0.231421 +#66679 1721122841067 +SLAM -15.5507 14.2777 16.4354 0.664756 0.00306741 0.0501961 0.745366 +TTool-pose None 9.81351 -7.63545 16.8423 -0.586445 0.286025 -0.721001 0.233214 +#66680 1721122841106 +SLAM -15.5558 14.2606 16.4208 0.66451 0.00317792 0.0504717 0.745566 +TTool-pose None 9.80962 -7.63232 16.8281 -0.586137 0.286256 -0.721103 0.233389 +#66681 1721122841145 +SLAM -15.5524 14.2675 16.4235 0.66456 0.00309984 0.0504429 0.745524 +TTool-pose None 9.80778 -7.63409 16.8337 -0.5862 0.28625 -0.721081 0.233307 +#66682 1721122841183 +SLAM -15.5555 14.2707 16.4414 0.66498 0.00320577 0.0502631 0.745161 +TTool-pose None 9.81431 -7.62998 16.8424 -0.586427 0.285752 -0.721163 0.233095 +#66683 1721122841220 +SLAM -15.5563 14.2637 16.5581 0.668786 0.00315823 0.0504867 0.741732 +TTool-pose None 9.80485 -7.57999 16.8991 -0.58755 0.2823 -0.722664 0.229798 +#66684 1721122841258 +SLAM -15.4676 14.3964 16.899 0.670892 0.00367635 0.0469218 0.74006 +TTool-pose None 9.80162 -7.77653 16.9901 -0.590505 0.279113 -0.721523 0.229701 +#66685 1721122841295 +SLAM -15.5506 14.277 16.4413 0.664899 0.00310146 0.0502145 0.745237 +TTool-pose None 9.81212 -7.63469 16.8445 -0.586468 0.285877 -0.721074 0.233111 +#66686 1721122841337 +SLAM -15.576 14.2363 16.9893 0.682677 0.00260934 0.0511949 0.72892 +TTool-pose None 9.79525 -7.3981 17.1065 -0.591755 0.269699 -0.727867 0.217375 +#66687 1721122841375 +SLAM -15.5472 14.29 16.5711 0.668877 0.00222465 0.0504918 0.741653 +TTool-pose None 9.80669 -7.6048 16.9107 -0.587889 0.282777 -0.722422 0.229102 +#66688 1721122841409 +SLAM -15.56 14.2686 16.5462 0.668352 0.00321002 0.0503751 0.742131 +TTool-pose None 9.81154 -7.58605 16.8963 -0.587465 0.282645 -0.722457 0.230238 +#66689 1721122841446 +SLAM -15.5358 14.2778 16.5955 0.670667 0.00144006 0.051583 0.739962 +TTool-pose None 9.77104 -7.57312 16.9331 -0.587993 0.281853 -0.723464 0.226669 +#66690 1721122841486 +SLAM -15.5613 14.2656 16.5651 0.668878 0.00324639 0.0503769 0.741656 +TTool-pose None 9.81169 -7.58061 16.9022 -0.587626 0.282133 -0.72266 0.22982 +#66691 1721122841524 +SLAM -15.5554 14.2746 16.5182 0.667262 0.00318493 0.0502113 0.743122 +TTool-pose None 9.81314 -7.6052 16.8811 -0.587226 0.283633 -0.721959 0.231195 +#66692 1721122841560 +SLAM -15.5462 14.2871 16.4464 0.664975 0.00295251 0.050052 0.745181 +TTool-pose None 9.81437 -7.63728 16.8505 -0.586654 0.285855 -0.720964 0.23301 +#66693 1721122841600 +SLAM -15.5516 14.2808 16.4591 0.665355 0.00312851 0.0500099 0.744844 +TTool-pose None 9.81858 -7.62959 16.8527 -0.58675 0.285386 -0.721131 0.232826 +#66694 1721122841638 +SLAM -15.5628 14.2711 16.5608 0.668485 0.00272818 0.0504203 0.74201 +TTool-pose None 9.81895 -7.60282 16.8933 -0.58764 0.282823 -0.722389 0.229791 +#66695 1721122841674 +SLAM -15.5594 14.2704 16.5654 0.668951 0.00321779 0.0502486 0.741599 +TTool-pose None 9.81423 -7.57683 16.906 -0.587747 0.28205 -0.722604 0.229788 +#66696 1721122841713 +SLAM -15.558 14.2737 16.44 0.664721 0.00326599 0.0502649 0.745392 +TTool-pose None 9.81543 -7.63959 16.8416 -0.586319 0.285955 -0.721087 0.23335 +#66697 1721122841752 +SLAM -15.5528 14.2817 16.4454 0.664946 0.00307288 0.0501346 0.7452 +TTool-pose None 9.81677 -7.63672 16.8482 -0.586548 0.28583 -0.721036 0.233083 +#66698 1721122841788 +SLAM -15.5349 14.3086 16.5364 0.666022 0.00336552 0.0492938 0.744294 +TTool-pose None 9.81631 -7.66553 16.8773 -0.587382 0.284443 -0.721032 0.232694 +#66699 1721122841831 +SLAM -15.5584 14.2744 16.4495 0.665169 0.00320845 0.050209 0.744996 +TTool-pose None 9.81837 -7.62949 16.8483 -0.586526 0.285561 -0.721201 0.232959 +#66700 1721122841869 +SLAM -15.5541 14.2711 16.4818 0.666363 0.00311915 0.0504412 0.743913 +TTool-pose None 9.80687 -7.61242 16.8662 -0.586793 0.284566 -0.721745 0.231817 +#66701 1721122841909 +SLAM -15.5537 14.2724 16.4352 0.664939 0.00306055 0.05041 0.745188 +TTool-pose None 9.80993 -7.62979 16.8437 -0.586362 0.285914 -0.721189 0.232978 +#66702 1721122841949 +SLAM -15.5533 14.2736 16.4293 0.664493 0.00314748 0.0502572 0.745596 +TTool-pose None 9.81332 -7.6404 16.8361 -0.586289 0.286236 -0.720964 0.233464 +#66703 1721122841985 +SLAM -15.556 14.2725 16.4361 0.664734 0.00315887 0.0503309 0.745376 +TTool-pose None 9.81324 -7.63738 16.8402 -0.586314 0.286025 -0.721098 0.233243 +#66704 1721122842028 +SLAM -1.60481 15.0602 40.1158 0.35872 0.553992 -0.296585 0.690254 +TTool-pose None 27.7362 -16.6894 9.40915 -0.432987 -0.0819719 -0.456299 0.773037 +#66705 1721122842069 +SLAM -15.5485 14.2753 16.45 0.665516 0.00286882 0.0505507 0.744664 +TTool-pose None 9.80224 -7.6236 16.8547 -0.586521 0.28553 -0.721424 0.232318 +#66706 1721122842109 +SLAM -15.5557 14.2692 16.4315 0.664694 0.00314914 0.0503864 0.745408 +TTool-pose None 9.81165 -7.63509 16.8374 -0.586266 0.286082 -0.721112 0.23325 +#66707 1721122842148 +SLAM -5.82214 6.94539 37.9676 0.0081674 0.695857 -0.042967 0.716847 +TTool-pose None 27.0137 -7.98547 1.61117 -0.0152572 0.0434544 -0.426773 0.903182 +#66708 1721122842185 +SLAM -15.5616 14.2644 16.4313 0.664738 0.00326188 0.0504408 0.745364 +TTool-pose None 9.81448 -7.63183 16.8364 -0.586206 0.285986 -0.721193 0.233267 +#66709 1721122842222 +SLAM -15.5499 14.2787 16.4344 0.664675 0.00309153 0.0502165 0.745437 +TTool-pose None 9.81162 -7.63805 16.8424 -0.586396 0.286091 -0.72099 0.233291 +#66710 1721122842259 +SLAM -15.5538 14.2739 16.5531 0.668819 0.00235468 0.0508796 0.741679 +TTool-pose None 9.80052 -7.59158 16.9033 -0.587561 0.282852 -0.722663 0.229092 +#66711 1721122842298 +SLAM -15.5477 14.295 16.421 0.665287 0.00249032 0.0503 0.744887 +TTool-pose None 9.81569 -7.60934 16.8638 -0.586743 0.285906 -0.721084 0.232351 +#66712 1721122842332 +SLAM -15.5583 14.27 16.5944 0.67 0.00309066 0.0504831 0.740636 +TTool-pose None 9.80618 -7.56371 16.9243 -0.587974 0.281207 -0.723081 0.228735 +#66713 1721122842369 +SLAM -15.5486 14.2782 16.4395 0.664869 0.00304813 0.0502549 0.745261 +TTool-pose None 9.80948 -7.63557 16.8448 -0.586448 0.285947 -0.72107 0.233086 +#66714 1721122842406 +SLAM -15.5537 14.2749 16.433 0.664698 0.00315346 0.050289 0.745411 +TTool-pose None 9.81235 -7.63554 16.8415 -0.586333 0.28605 -0.721059 0.233285 +#66715 1721122842442 +SLAM -15.5648 14.2605 16.5993 0.669938 0.0033921 0.0504066 0.740696 +TTool-pose None 9.81115 -7.56535 16.9172 -0.587906 0.281064 -0.723105 0.229015 +#66716 1721122842480 +SLAM -15.5612 14.2583 16.438 0.665093 0.00316213 0.0505312 0.745042 +TTool-pose None 9.81286 -7.62483 16.8362 -0.586295 0.285741 -0.721345 0.232871 +#66717 1721122842520 +SLAM -15.5529 14.2718 16.4237 0.664374 0.00333067 0.0502665 0.7457 +TTool-pose None 9.81023 -7.63725 16.8355 -0.586181 0.286238 -0.72098 0.23368 +#66718 1721122842560 +SLAM -15.5581 14.2659 16.6689 0.672338 0.00302423 0.0506855 0.738501 +TTool-pose None 9.79784 -7.53628 16.9599 -0.588625 0.279109 -0.724022 0.226646 +#66719 1721122842604 +SLAM -15.5632 14.258 16.5316 0.668045 0.00338802 0.0506802 0.742385 +TTool-pose None 9.80318 -7.5857 16.8886 -0.587096 0.282901 -0.722575 0.230498 +#66720 1721122842641 +SLAM -15.5602 14.2618 16.5505 0.668582 0.00311924 0.0504389 0.741919 +TTool-pose None 9.8114 -7.58156 16.8931 -0.587528 0.282502 -0.72255 0.229961 +#66721 1721122842680 +SLAM -15.5589 14.2672 16.4873 0.666406 0.00342396 0.0503244 0.743881 +TTool-pose None 9.81103 -7.60988 16.866 -0.586785 0.284313 -0.721784 0.232026 +#66722 1721122842715 +SLAM -15.5558 14.2691 16.5379 0.668128 0.00310742 0.0505622 0.742319 +TTool-pose None 9.80283 -7.59146 16.894 -0.587298 0.282962 -0.722453 0.230287 +#66723 1721122842754 +SLAM -15.5521 14.2688 16.5273 0.667884 0.00309755 0.0504467 0.742548 +TTool-pose None 9.80366 -7.59015 16.8881 -0.5873 0.283167 -0.722295 0.230529 +#66724 1721122842791 +SLAM -15.522 14.3289 16.5476 0.66549 0.0035233 0.04876 0.744804 +TTool-pose None 9.81666 -7.69202 16.8799 -0.587518 0.284705 -0.720577 0.233441 +#66725 1721122842830 +SLAM -15.5497 14.2876 16.4607 0.66522 0.00305082 0.0499701 0.744967 +TTool-pose None 9.8185 -7.6383 16.8548 -0.586759 0.285548 -0.721036 0.232902 +#66726 1721122842867 +SLAM -15.5582 14.2705 16.566 0.668804 0.00325545 0.0502753 0.74173 +TTool-pose None 9.81139 -7.5836 16.9041 -0.587668 0.282171 -0.722577 0.229926 +#66727 1721122842906 +SLAM -15.567 14.2587 16.5782 0.669326 0.00339982 0.0504174 0.741249 +TTool-pose None 9.81382 -7.57172 16.9061 -0.587694 0.281634 -0.722891 0.229531 +#66728 1721122842941 +SLAM -15.5639 14.2561 16.6049 0.670292 0.00333913 0.0504906 0.74037 +TTool-pose None 9.80853 -7.55645 16.9194 -0.587982 0.280786 -0.723265 0.228651 +#66729 1721122842981 +SLAM -15.5535 14.2649 16.4657 0.66602 0.0031233 0.0504938 0.744217 +TTool-pose None 9.80559 -7.61167 16.8559 -0.586642 0.284896 -0.721651 0.232087 +#66730 1721122843020 +SLAM -15.5545 14.2789 16.5817 0.669445 0.00313985 0.0502463 0.741154 +TTool-pose None 9.80933 -7.57257 16.9208 -0.587937 0.281636 -0.722759 0.229323 +#66731 1721122843059 +SLAM -15.5496 14.2916 16.5222 0.668141 0.0026495 0.0501671 0.742337 +TTool-pose None 9.81608 -7.57882 16.9053 -0.587726 0.283126 -0.722094 0.230122 +#66732 1721122843096 +SLAM -15.5578 14.2677 16.4891 0.666412 0.00330227 0.0503596 0.743874 +TTool-pose None 9.81045 -7.61368 16.8649 -0.586804 0.28439 -0.72177 0.231928 +#66733 1721122843133 +SLAM -15.5506 14.2836 16.438 0.664662 0.00313967 0.0499501 0.745466 +TTool-pose None 9.81991 -7.63852 16.8438 -0.586557 0.286006 -0.720846 0.233433 +#66734 1721122843169 +SLAM -15.5639 14.2581 16.5425 0.668354 0.00331466 0.0506653 0.742108 +TTool-pose None 9.805 -7.58375 16.8922 -0.587233 0.282654 -0.722657 0.230196 +#66735 1721122843206 +SLAM -15.5169 13.8936 18.3285 0.731898 -0.000645609 0.0600812 0.67876 +TTool-pose None 9.45593 -6.51016 17.762 -0.601435 0.224574 -0.748136 0.167503 +#66736 1721122843251 +SLAM -15.5525 14.2741 16.4446 0.66477 0.00332652 0.0501188 0.745357 +TTool-pose None 9.81374 -7.63879 16.841 -0.586415 0.285836 -0.721039 0.233403 +#66737 1721122843296 +SLAM -15.5579 14.2672 16.5433 0.668296 0.00314139 0.0503622 0.742182 +TTool-pose None 9.81106 -7.58625 16.8927 -0.587479 0.282736 -0.722409 0.230245 +#66738 1721122843340 +SLAM -15.7271 12.9876 21.1001 0.808889 0.00415611 0.0535556 0.585503 +TTool-pose None 9.74938 -4.95227 18.6984 -0.622372 0.132134 -0.765576 0.0940187 +#66739 1721122843384 +SLAM -15.5585 14.2653 16.5197 0.66745 0.00329453 0.0504681 0.742935 +TTool-pose None 9.8067 -7.59937 16.8808 -0.587076 0.283457 -0.722208 0.231014 +#66740 1721122843432 +SLAM -15.5577 14.2673 16.446 0.664908 0.00326987 0.0502303 0.745227 +TTool-pose None 9.81661 -7.63607 16.8378 -0.586404 0.285771 -0.721136 0.233209 +#66741 1721122843473 +SLAM -15.5532 14.2691 16.5596 0.66876 0.00314814 0.0505054 0.741754 +TTool-pose None 9.8007 -7.58334 16.9037 -0.587532 0.282335 -0.722662 0.229806 +#66742 1721122843509 +SLAM -15.5556 14.2722 16.4379 0.664564 0.00337428 0.0501303 0.745541 +TTool-pose None 9.81615 -7.64077 16.837 -0.586323 0.286002 -0.720984 0.233603 +#66743 1721122843546 +SLAM -15.5601 14.2625 16.5167 0.667547 0.00312741 0.0505427 0.742844 +TTool-pose None 9.80875 -7.59536 16.8788 -0.587112 0.283487 -0.722237 0.230795 +#66744 1721122843585 +SLAM -15.5576 14.2691 16.5443 0.668299 0.00316135 0.0505713 0.742165 +TTool-pose None 9.80319 -7.58969 16.8978 -0.58733 0.282773 -0.722537 0.230177 +#66745 1721122843620 +SLAM -15.5528 14.2813 16.4367 0.664668 0.00321946 0.0499868 0.745458 +TTool-pose None 9.81997 -7.63622 16.8436 -0.586507 0.285962 -0.720893 0.233467 +#66746 1721122843658 +SLAM -15.5543 14.2699 16.5216 0.667552 0.00306218 0.0504151 0.742848 +TTool-pose None 9.80738 -7.59958 16.8826 -0.587224 0.283488 -0.722146 0.230795 +#66747 1721122843697 +SLAM -15.5599 14.2606 16.5708 0.669154 0.00244841 0.0510106 0.741367 +TTool-pose None 9.80098 -7.59369 16.8985 -0.58755 0.282516 -0.722888 0.228823 +#66748 1721122843736 +SLAM -15.5536 14.2702 16.437 0.664598 0.00322315 0.0502412 0.745503 +TTool-pose None 9.81286 -7.64176 16.8348 -0.586309 0.286089 -0.721015 0.233432 +#66749 1721122843773 +SLAM -15.5475 14.2886 16.4593 0.665171 0.00307135 0.049956 0.745012 +TTool-pose None 9.81645 -7.63859 16.8549 -0.586745 0.285577 -0.721015 0.232962 +#66750 1721122843811 +SLAM -15.5525 14.2733 16.4327 0.66469 0.00310327 0.050332 0.745416 +TTool-pose None 9.81062 -7.63663 16.8395 -0.586318 0.286099 -0.721066 0.233243 +#66751 1721122843849 +SLAM -15.5581 14.2637 16.5 0.66688 0.00327422 0.0505473 0.743442 +TTool-pose None 9.80484 -7.60618 16.8711 -0.586839 0.28402 -0.72204 0.231448 +#66752 1721122843885 +SLAM -15.5742 14.2409 17.0206 0.683686 0.00249623 0.0511038 0.727981 +TTool-pose None 9.7968 -7.38374 17.1254 -0.592177 0.268779 -0.728134 0.216466 +#66753 1721122843922 +SLAM -15.562 14.2618 16.4448 0.665351 0.0032504 0.0505452 0.74481 +TTool-pose None 9.81136 -7.61952 16.8454 -0.586342 0.285452 -0.721474 0.232709 +#66754 1721122843959 +SLAM -15.4695 14.3579 17.5941 0.688164 0.00542192 0.0458971 0.724081 +TTool-pose None 9.78937 -7.63602 17.2597 -0.596175 0.261389 -0.727561 0.216472 +#66755 1721122843996 +SLAM -15.5542 14.2718 16.4527 0.665153 0.00318103 0.0502064 0.74501 +TTool-pose None 9.81467 -7.63316 16.8443 -0.586532 0.285591 -0.721186 0.232955 +#66756 1721122844032 +SLAM -15.5555 14.2703 16.5277 0.6676 0.00330185 0.0502099 0.742818 +TTool-pose None 9.81164 -7.59742 16.8842 -0.587299 0.283248 -0.722116 0.23099 +#66757 1721122844067 +SLAM -15.5533 14.2769 16.4259 0.664537 0.00312976 0.0503363 0.745551 +TTool-pose None 9.81087 -7.63676 16.8414 -0.586255 0.286226 -0.72102 0.233386 +#66758 1721122844109 +SLAM -15.5582 14.2632 16.551 0.668247 0.00322221 0.0503093 0.74223 +TTool-pose None 9.81181 -7.59376 16.8876 -0.587472 0.282719 -0.722385 0.230359 +#66759 1721122844146 +SLAM -15.5488 14.2731 16.5241 0.66785 0.00287837 0.0505471 0.742572 +TTool-pose None 9.80007 -7.59329 16.8899 -0.587293 0.283356 -0.722275 0.230375 +#66760 1721122844182 +SLAM -15.5593 14.2726 16.4211 0.66409 0.00343419 0.0501124 0.745963 +TTool-pose None 9.82012 -7.64421 16.8311 -0.586158 0.286399 -0.720818 0.234043 +#66761 1721122844220 +SLAM -15.5512 14.2717 16.4773 0.66605 0.00315339 0.0503325 0.7442 +TTool-pose None 9.80704 -7.61981 16.86 -0.586752 0.284809 -0.721578 0.232142 +#66762 1721122844260 +SLAM -15.5477 14.293 16.405 0.665046 0.00246839 0.0503498 0.745099 +TTool-pose None 9.81525 -7.60497 16.8593 -0.586636 0.286156 -0.721017 0.23252 +#66763 1721122844301 +SLAM -15.5603 14.2594 16.4331 0.66484 0.0032611 0.050497 0.74527 +TTool-pose None 9.81167 -7.62931 16.8339 -0.586202 0.285907 -0.721262 0.233161 +#66764 1721122844340 +SLAM -15.5253 14.3103 16.6547 0.668015 0.00394771 0.048908 0.742528 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0.00327096 0.0504973 0.742717 +TTool-pose None 9.80976 -7.59062 16.8779 -0.587143 0.283255 -0.722306 0.230786 +#66771 1721122844612 +SLAM -15.539 14.2986 16.5206 0.666044 0.00322055 0.0495742 0.744256 +TTool-pose None 9.81483 -7.65395 16.8714 -0.587246 0.284581 -0.721159 0.232474 +#66772 1721122844650 +SLAM -15.5508 14.2733 16.4267 0.664518 0.00309338 0.050307 0.74557 +TTool-pose None 9.81019 -7.63797 16.8362 -0.586281 0.286258 -0.720986 0.233389 +#66773 1721122844689 +SLAM -15.5595 14.2657 16.5345 0.667914 0.00318073 0.0504967 0.742517 +TTool-pose None 9.80785 -7.59563 16.8873 -0.587247 0.283101 -0.722359 0.23054 +#66774 1721122844730 +SLAM -15.5525 14.2761 16.4602 0.665445 0.00311531 0.0502565 0.744747 +TTool-pose None 9.81168 -7.62972 16.853 -0.586616 0.285373 -0.721302 0.23265 +#66775 1721122844769 +SLAM -15.5573 14.2747 16.6269 0.670707 0.00316924 0.0502668 0.74001 +TTool-pose None 9.80961 -7.56072 16.9376 -0.588328 0.280444 -0.723236 0.228274 +#66776 1721122844813 +SLAM -15.5631 14.2642 16.5352 0.667704 0.00334533 0.0501969 0.742725 +TTool-pose None 9.81911 -7.59924 16.8803 -0.587328 0.283122 -0.72216 0.230937 +#66777 1721122844850 +SLAM -15.5442 14.2931 16.6241 0.669911 0.0031474 0.0498263 0.740761 +TTool-pose None 9.80991 -7.58886 16.9332 -0.588375 0.281089 -0.722687 0.229093 +#66778 1721122844889 +SLAM -15.5631 14.2626 16.5448 0.668261 0.0032711 0.0504375 0.742208 +TTool-pose None 9.81204 -7.58822 16.8908 -0.587372 0.282709 -0.722478 0.230331 +#66779 1721122844931 +SLAM -15.5573 14.272 16.4434 0.664813 0.00320525 0.0501722 0.745316 +TTool-pose None 9.81881 -7.63836 16.8391 -0.586434 0.285883 -0.721049 0.233267 +#66780 1721122844970 +SLAM -15.554 14.2655 16.4521 0.6651 0.00320238 0.0504088 0.745044 +TTool-pose None 9.80777 -7.63651 16.8402 -0.586368 0.285679 -0.72129 0.232938 +#66781 1721122845008 +SLAM -15.5567 14.2659 16.4516 0.66515 0.00317089 0.0503429 0.745004 +TTool-pose None 9.81325 -7.63368 16.8404 -0.58644 0.285635 -0.72126 0.2329 +#66782 1721122845045 +SLAM -15.5516 14.2785 16.44 0.664848 0.00314419 0.0502425 0.745281 +TTool-pose None 9.81139 -7.63559 16.8462 -0.586417 0.285906 -0.721084 0.233172 +#66783 1721122845084 +SLAM -15.5571 14.2623 16.453 0.665287 0.00317022 0.0504 0.744877 +TTool-pose None 9.81205 -7.62942 16.8402 -0.586447 0.285523 -0.721343 0.232764 +#66784 1721122845121 +SLAM -15.557 14.2666 16.5017 0.666951 0.00324547 0.0504665 0.743384 +TTool-pose None 9.80663 -7.60437 16.8734 -0.586928 0.283951 -0.722011 0.2314 +#66785 1721122845157 +SLAM -15.5527 14.2712 16.4605 0.665202 0.00319914 0.0501171 0.744973 +TTool-pose None 9.81555 -7.6371 16.8427 -0.586603 0.285513 -0.721158 0.23296 +#66786 1721122845196 +SLAM -15.5236 14.3194 16.7064 0.670054 0.00370794 0.0487407 0.740701 +TTool-pose None 9.81108 -7.64273 16.9459 -0.588977 0.280342 -0.72228 0.229749 +#66787 1721122845234 +SLAM -15.5632 14.2559 16.5378 0.66807 0.00333439 0.0505936 0.742369 +TTool-pose None 9.80673 -7.59023 16.8842 -0.587181 0.282889 -0.722518 0.230475 +#66788 1721122845271 +SLAM -15.4893 14.3347 17.3971 0.683792 0.00528406 0.0467238 0.72816 +TTool-pose None 9.79208 -7.65508 17.1707 -0.594272 0.265885 -0.726474 0.219854 +#66789 1721122845304 +SLAM -15.5298 14.3179 16.529 0.665661 0.0033615 0.0491359 0.744627 +TTool-pose None 9.81612 -7.6728 16.8776 -0.587371 0.28474 -0.720808 0.233051 +#66790 1721122845339 +SLAM -15.5516 14.2683 16.4871 0.666378 0.00312595 0.0503204 0.743907 +TTool-pose None 9.80822 -7.61492 16.8614 -0.586878 0.284517 -0.721682 0.231854 +#66791 1721122845374 +SLAM -15.5585 14.2673 16.4255 0.664265 0.0033639 0.0502321 0.7458 +TTool-pose None 9.8166 -7.64282 16.8292 -0.586157 0.28631 -0.72093 0.233806 +#66792 1721122845413 +SLAM -15.5591 14.2654 16.4737 0.665666 0.00331691 0.0503219 0.744544 +TTool-pose None 9.81322 -7.63045 16.8497 -0.586577 0.285064 -0.72148 0.232574 +#66793 1721122845450 +SLAM -15.5495 14.2772 16.418 0.664287 0.003102 0.0501692 0.745785 +TTool-pose None 9.81341 -7.63789 16.8347 -0.586296 0.286431 -0.720824 0.233638 +#66794 1721122845487 +SLAM -15.5625 14.26 16.5837 0.669794 0.00315539 0.0506743 0.740809 +TTool-pose None 9.8042 -7.56313 16.9154 -0.587754 0.281409 -0.723136 0.22888 +#66795 1721122845524 +SLAM -15.5609 14.2613 16.4802 0.666146 0.00329786 0.050381 0.744111 +TTool-pose None 9.81362 -7.61649 16.8549 -0.586702 0.284645 -0.721684 0.232139 +#66796 1721122845565 +SLAM -15.5277 14.3158 16.6421 0.668498 0.00359403 0.0489873 0.74209 +TTool-pose None 9.81134 -7.65319 16.9203 -0.588334 0.281925 -0.721824 0.230888 +#66797 1721122845601 +SLAM -15.5391 14.295 16.7094 0.67125 0.0035537 0.0493779 0.739576 +TTool-pose None 9.80975 -7.60157 16.9524 -0.588986 0.279478 -0.723034 0.228403 +#66798 1721122845638 +SLAM -15.5514 14.2692 16.4388 0.664604 0.00318837 0.0502855 0.745495 +TTool-pose None 9.80967 -7.64413 16.8336 -0.586292 0.286116 -0.721033 0.233388 +#66799 1721122845674 +SLAM -15.5527 14.2844 16.5095 0.666747 0.00322633 0.0500449 0.743595 +TTool-pose None 9.8148 -7.61744 16.8799 -0.587156 0.284045 -0.721688 0.231715 +#66800 1721122845714 +SLAM -15.5554 14.2784 16.4748 0.665626 0.00323854 0.0500846 0.744596 +TTool-pose None 9.81769 -7.63255 16.8569 -0.586752 0.285088 -0.721306 0.232645 +#66801 1721122845751 +SLAM -15.5577 14.2731 16.4642 0.665384 0.003307 0.0501424 0.744808 +TTool-pose None 9.81779 -7.63206 16.8501 -0.58661 0.285285 -0.721271 0.23287 +#66802 1721122845789 +SLAM -15.5642 14.2543 16.5445 0.668283 0.00334102 0.0505 0.742183 +TTool-pose None 9.81065 -7.58594 16.885 -0.587313 0.282662 -0.722543 0.230335 +#66803 1721122845828 +SLAM -15.5609 14.2628 16.4357 0.664775 0.00331735 0.0504586 0.74533 +TTool-pose None 9.81218 -7.63384 16.8361 -0.586188 0.285923 -0.721234 0.233266 +#66804 1721122845869 +SLAM -15.5586 14.2611 16.4303 0.664627 0.00333462 0.050452 0.745463 +TTool-pose None 9.81025 -7.63432 16.8321 -0.586137 0.286049 -0.721181 0.233404 +#66805 1721122845908 +SLAM -15.5619 14.2612 16.4725 0.665774 0.00337096 0.0503482 0.744445 +TTool-pose None 9.8148 -7.62378 16.8491 -0.586577 0.284938 -0.721551 0.23251 +#66806 1721122845946 +SLAM -15.5618 14.2634 16.5083 0.667126 0.00336731 0.0504362 0.743228 +TTool-pose None 9.81056 -7.6009 16.8747 -0.586966 0.283706 -0.722094 0.231345 +#66807 1721122845984 +SLAM -15.5573 14.2664 16.5983 0.669994 0.00311164 0.0504489 0.740644 +TTool-pose None 9.80615 -7.56662 16.92 -0.587989 0.281191 -0.723066 0.228767 +#66808 1721122846021 +SLAM -15.554 14.2799 16.4526 0.665061 0.00320463 0.050028 0.745105 +TTool-pose None 9.8194 -7.63535 16.8485 -0.586615 0.285618 -0.721056 0.233115 +#66809 1721122846059 +SLAM -15.5568 14.2795 16.5651 0.668394 0.00327406 0.0499535 0.742121 +TTool-pose None 9.81963 -7.59722 16.9009 -0.587746 0.28246 -0.722249 0.230403 +#66810 1721122846097 +SLAM -15.5321 14.3046 16.6713 0.669711 0.00354658 0.0492974 0.740975 +TTool-pose None 9.80599 -7.63202 16.9338 -0.588537 0.280901 -0.722429 0.229723 +#66811 1721122846134 +SLAM -15.5557 14.2714 16.5407 0.668121 0.00317303 0.0503335 0.742342 +TTool-pose None 9.80913 -7.59083 16.8937 -0.58743 0.282872 -0.722339 0.230423 +#66812 1721122846173 +SLAM -15.5569 14.2837 16.4351 0.665688 0.00266087 0.0503272 0.744526 +TTool-pose None 9.82168 -7.60289 16.8624 -0.586801 0.285439 -0.721296 0.23212 +#66813 1721122846210 +SLAM -15.558 14.2647 16.4351 0.664724 0.00324647 0.0504933 0.745373 +TTool-pose None 9.80902 -7.63699 16.8362 -0.586171 0.286022 -0.721214 0.233248 +#66814 1721122846248 +SLAM -15.5593 14.2628 16.5288 0.667735 0.00319669 0.0504135 0.742683 +TTool-pose None 9.81067 -7.59625 16.8807 -0.58724 0.283237 -0.722252 0.230731 +#66815 1721122846285 +SLAM -15.5576 14.2727 16.5905 0.66967 0.0031116 0.0503522 0.740943 +TTool-pose None 9.80935 -7.57263 16.9194 -0.587948 0.281469 -0.722893 0.229075 +#66816 1721122846327 +SLAM -15.5582 14.2635 16.4223 0.664196 0.00335724 0.0502813 0.745858 +TTool-pose None 9.81525 -7.64301 16.825 -0.586103 0.28639 -0.720931 0.233841 +#66817 1721122846365 +SLAM -15.5692 14.2517 16.5517 0.668598 0.00342117 0.0506542 0.741889 +TTool-pose None 9.80925 -7.58003 16.8915 -0.587285 0.282359 -0.72277 0.230066 +#66818 1721122846402 +SLAM -15.566 14.2578 16.5767 0.669133 0.00336132 0.0504266 0.741422 +TTool-pose None 9.81311 -7.57933 16.901 -0.587637 0.281839 -0.722815 0.229664 +#66819 1721122846441 +SLAM -15.5572 14.2669 16.445 0.665071 0.00323209 0.0503743 0.745072 +TTool-pose None 9.81197 -7.6303 16.8421 -0.586372 0.285679 -0.721268 0.232994 +#66820 1721122846475 +SLAM -15.561 14.2611 16.5261 0.667781 0.00325261 0.0505739 0.742631 +TTool-pose None 9.80642 -7.59275 16.8834 -0.587127 0.283202 -0.722377 0.23067 +#66821 1721122846513 +SLAM -15.5542 14.2662 16.4768 0.665991 0.00314309 0.0502747 0.744257 +TTool-pose None 9.81262 -7.62088 16.8527 -0.586775 0.284855 -0.72152 0.232206 +#66822 1721122846547 +SLAM -15.5466 14.2851 16.4456 0.664968 0.00303112 0.0502089 0.745176 +TTool-pose None 9.80847 -7.63748 16.8519 -0.586518 0.285854 -0.721075 0.23301 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0.282105 -0.7227 0.229596 +#66829 1721122846822 +SLAM -15.5531 14.2746 16.426 0.664518 0.00313973 0.0503456 0.745568 +TTool-pose None 9.81039 -7.63742 16.839 -0.586239 0.28624 -0.721022 0.233405 +#66830 1721122846863 +SLAM -15.5588 14.2728 16.5779 0.669146 0.00320488 0.0502631 0.741422 +TTool-pose None 9.81256 -7.58111 16.9109 -0.587806 0.281879 -0.722679 0.22961 +#66831 1721122846904 +SLAM -15.5519 14.2808 16.5477 0.668197 0.00309549 0.0502354 0.74228 +TTool-pose None 9.80866 -7.59494 16.901 -0.587548 0.282823 -0.722287 0.230344 +#66832 1721122846945 +SLAM -15.5563 14.2634 16.5707 0.669296 0.00308657 0.0504995 0.741271 +TTool-pose None 9.80508 -7.57103 16.9065 -0.587733 0.281871 -0.722835 0.229318 +#66833 1721122846981 +SLAM -15.5524 14.2825 16.4964 0.666493 0.00320983 0.0500895 0.743819 +TTool-pose None 9.81401 -7.61627 16.8749 -0.587046 0.284301 -0.721617 0.2319 +#66834 1721122847021 +SLAM -15.544 14.2943 16.5341 0.667559 0.0029947 0.0498682 0.742879 +TTool-pose None 9.81401 -7.60728 16.8962 -0.587622 0.283385 -0.721813 0.23095 +#66835 1721122847055 +SLAM -15.552 14.2819 16.5363 0.667904 0.00315303 0.0501372 0.74255 +TTool-pose None 9.81168 -7.59459 16.8971 -0.587499 0.283036 -0.72214 0.230665 +#66836 1721122847095 +SLAM -15.5595 14.2637 16.5395 0.668093 0.00323461 0.0504697 0.742357 +TTool-pose None 9.80802 -7.59124 16.8887 -0.587307 0.282895 -0.722425 0.230435 +#66837 1721122847133 +SLAM -15.5545 14.268 16.567 0.668933 0.00249394 0.0508418 0.741578 +TTool-pose None 9.80013 -7.59717 16.8999 -0.587577 0.282653 -0.722724 0.229102 +#66838 1721122847169 +SLAM -15.5537 14.2717 16.5765 0.669431 0.00309498 0.0503099 0.741163 +TTool-pose None 9.80794 -7.56883 16.914 -0.587904 0.281692 -0.722777 0.229281 +#66839 1721122847209 +SLAM -15.5567 14.2641 16.4714 0.66595 0.00320053 0.0504038 0.744285 +TTool-pose None 9.81036 -7.61814 16.8533 -0.586655 0.284891 -0.721597 0.23223 +#66840 1721122847246 +SLAM -15.5617 14.264 16.5909 0.66996 0.00320807 0.0505472 0.740668 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0.00321504 0.0501773 0.744551 +TTool-pose None 9.81735 -7.62132 16.8525 -0.586711 0.285085 -0.721368 0.232559 +#66847 1721122847520 +SLAM -15.5693 14.2765 16.4586 0.664969 0.0034646 0.049863 0.745197 +TTool-pose None 9.83616 -7.63992 16.8454 -0.58661 0.285504 -0.721005 0.233425 +#66848 1721122847551 +SLAM -15.9387 14.3029 16.9099 0.672024 0.000688415 0.06087 0.738023 +TTool-pose None 9.83883 -7.99035 17.103 -0.582313 0.283338 -0.729056 0.221505 +#66849 1721122847584 +SLAM -15.6674 14.2764 16.4835 0.663433 0.00613798 0.0476806 0.746689 +TTool-pose None 9.96515 -7.66937 16.831 -0.586693 0.284755 -0.719975 0.23728 +#66850 1721122847622 +#66851 1721122847657 +SLAM -15.8414 14.2475 16.7247 0.672933 0.00455013 0.0630426 0.736998 +TTool-pose None 9.63101 -7.72046 17.1653 -0.57982 0.28069 -0.731772 0.222457 +#66852 1721122847689 +#66853 1721122847721 +SLAM -15.8404 14.2983 16.7631 0.668137 0.000604671 0.0564971 0.74189 +TTool-pose None 9.90171 -7.95486 16.9638 -0.584071 0.285945 -0.725123 0.226385 +#66854 1721122847753 +#66855 1721122847786 +#66856 1721122847818 +SLAM -16.0173 14.3262 16.9623 0.670399 -0.00156239 0.0618866 0.739414 +TTool-pose None 9.90532 -8.17227 17.0734 -0.581831 0.286454 -0.728379 0.220989 +#66857 1721122847851 +SLAM -16.2014 14.3091 17.1779 0.675711 -0.00358743 0.0707156 0.733759 +TTool-pose None 9.79357 -8.30403 17.2577 -0.578139 0.284777 -0.734699 0.211725 +#66858 1721122847886 +#66859 1721122847919 +SLAM -15.6536 14.2782 16.5156 0.664388 0.00508031 0.0479582 0.745831 +TTool-pose None 9.95658 -7.67813 16.8341 -0.587177 0.284583 -0.720172 0.235686 +#66860 1721122847957 +#66861 1721122847989 +#66862 1721122848029 +SLAM -15.9078 14.2968 16.9498 0.674107 0.000349722 0.0610474 0.736106 +TTool-pose None 9.80673 -7.94 17.1303 -0.582983 0.281625 -0.729804 0.21945 +#66863 1721122848066 +#66864 1721122848099 +SLAM -15.8677 14.3002 16.7915 0.669333 0.00152423 0.05802 0.740692 +TTool-pose None 9.86167 -7.93794 17.0248 -0.583111 0.284656 -0.726704 0.225413 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None 3.27118 -14.7496 9.75668 -0.21295 -0.242136 -0.677774 0.660785 +#68159 1721122891813 +SLAM -0.878451 8.97447 24.982 0.461178 0.715633 -0.0280571 0.523829 +TTool-pose None 3.36532 -14.7508 9.79458 -0.21246 -0.243258 -0.677884 0.660417 +#68160 1721122891842 +SLAM -1.04355 8.99825 24.988 0.455006 0.715452 -0.0260993 0.529544 +TTool-pose None 3.51109 -14.7742 9.69172 -0.209231 -0.236711 -0.676813 0.66491 +#68161 1721122891874 +#68162 1721122891905 +SLAM -0.613315 8.77916 25.6275 0.468753 0.716118 -0.0273201 0.51643 +TTool-pose None 3.71306 -15.0134 10.0437 -0.214137 -0.250768 -0.681028 0.653799 +#68163 1721122891936 +SLAM -1.21993 8.84456 25.1854 0.458528 0.715083 -0.0276421 0.52692 +TTool-pose None 3.6829 -14.5833 9.95779 -0.211705 -0.239868 -0.677241 0.662556 +#68164 1721122891966 +SLAM -1.19209 8.72846 25.2002 0.463356 0.715421 -0.02643 0.522279 +TTool-pose None 3.57389 -14.4941 10.0243 -0.212293 -0.244401 -0.679723 0.658154 +#68165 1721122891996 +SLAM -1.20898 8.78642 25.2351 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None -12.5245 -13.4829 8.77948 -0.186983 -0.215859 -0.684162 0.671085 +#70234 1721122966428 +SLAM -2.70806 17.8564 11.6213 0.438333 0.715789 -0.00110414 0.543608 +TTool-pose None -12.5583 -13.453 8.76187 -0.186741 -0.214548 -0.685512 0.670195 +#70235 1721122966465 +SLAM -2.68357 17.884 11.6526 0.440051 0.715813 -0.00241906 0.542182 +TTool-pose None -12.5723 -13.4436 8.82465 -0.188209 -0.216475 -0.685396 0.669282 +#70236 1721122966497 +SLAM -2.73306 17.8481 11.6334 0.438092 0.716027 -0.000937025 0.543488 +TTool-pose None -12.5444 -13.446 8.76969 -0.186371 -0.21464 -0.685484 0.670298 +#70237 1721122966530 +SLAM -2.73096 17.8546 11.6385 0.438373 0.716512 -0.00216123 0.542618 +TTool-pose None -12.5324 -13.446 8.80239 -0.18693 -0.215968 -0.684792 0.670423 +#70238 1721122966564 +SLAM -2.72861 17.8554 11.642 0.438278 0.716684 -0.002448 0.542467 +TTool-pose None -12.5234 -13.4532 8.80639 -0.186961 -0.216224 -0.684558 0.670571 +#70239 1721122966599 +SLAM -2.73623 17.8435 11.6525 0.438124 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-0.69015 0.66926 +#70344 1721122970174 +SLAM -3.83396 17.36 12.0029 0.438786 0.71071 0.00500719 0.549849 +TTool-pose None -12.0396 -12.6102 9.49188 -0.186515 -0.205689 -0.69004 0.668387 +#70345 1721122970211 +SLAM -3.87228 17.3449 12.0346 0.438143 0.711973 0.00450556 0.548731 +TTool-pose None -11.9979 -12.614 9.50943 -0.185707 -0.207123 -0.689316 0.668915 +#70346 1721122970246 +SLAM -3.92551 17.318 12.0462 0.436868 0.712722 0.0049404 0.54877 +TTool-pose None -11.9585 -12.6134 9.50344 -0.184416 -0.20699 -0.688968 0.669672 +#70347 1721122970279 +SLAM -3.94081 17.3188 12.1154 0.437503 0.714368 0.00353663 0.54613 +TTool-pose None -11.921 -12.6146 9.55508 -0.184391 -0.21036 -0.688158 0.669461 +#70348 1721122970312 +SLAM -3.9618 17.309 12.1852 0.437409 0.715844 0.00257852 0.544274 +TTool-pose None -11.8629 -12.6306 9.59106 -0.183923 -0.212731 -0.687344 0.669677 +#70349 1721122970348 +SLAM -3.97387 17.3161 12.2593 0.438395 0.71819 -0.000682543 0.540381 +TTool-pose None -11.8082 -12.6237 9.68759 -0.184733 -0.218023 -0.685447 0.669697 +#70350 1721122970385 +SLAM -3.98746 17.3208 12.3169 0.438931 0.71943 -0.00206306 0.53829 +TTool-pose None -11.7745 -12.6239 9.74299 -0.184932 -0.220745 -0.684647 0.669568 +#70351 1721122970422 +SLAM -4.04014 17.2963 12.363 0.437653 0.721508 -0.00357075 0.536538 +TTool-pose None -11.6919 -12.6363 9.78063 -0.183951 -0.223176 -0.682932 0.670783 +#70352 1721122970456 +SLAM -4.07462 17.2848 12.4205 0.437241 0.723826 -0.00579373 0.533726 +TTool-pose None -11.6231 -12.6413 9.83849 -0.183566 -0.226958 -0.681081 0.671501 +#70353 1721122970490 +SLAM -4.09643 17.2825 12.4782 0.437389 0.725327 -0.00710423 0.531545 +TTool-pose None -11.5816 -12.6426 9.88702 -0.183372 -0.229745 -0.680115 0.671585 +#70354 1721122970530 +SLAM -4.10779 17.2795 12.5486 0.437847 0.72674 -0.00833276 0.529215 +TTool-pose None -11.5393 -12.6449 9.9351 -0.183294 -0.232658 -0.679327 0.671401 +#70355 1721122970567 +SLAM -4.08378 17.3085 12.5943 0.43882 0.727615 -0.0104465 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-3.58267 17.5291 13.1615 0.451781 0.734629 -0.0280238 0.505399 +TTool-pose None -11.3514 -12.8492 10.4727 -0.194965 -0.263723 -0.671188 0.664783 +#70368 1721122971023 +SLAM -3.58532 17.5718 13.0701 0.449519 0.736152 -0.033639 0.504857 +TTool-pose None -11.2851 -12.8859 10.5657 -0.196667 -0.265918 -0.666598 0.668018 +#70369 1721122971062 +SLAM -3.54869 17.5594 13.2923 0.452855 0.736205 -0.0302142 0.502007 +TTool-pose None -11.2876 -12.8935 10.5687 -0.195523 -0.267932 -0.669928 0.664207 +#70370 1721122971099 +SLAM -3.65165 17.516 13.2467 0.451151 0.737149 -0.0303475 0.502149 +TTool-pose None -11.2646 -12.8349 10.5702 -0.194318 -0.267874 -0.669046 0.665471 +#70371 1721122971133 +SLAM -3.66857 17.524 13.2376 0.450022 0.738372 -0.0329875 0.501197 +TTool-pose None -11.2097 -12.8482 10.6252 -0.194702 -0.269651 -0.666763 0.666932 +#70372 1721122971166 +SLAM -3.65689 17.514 13.3375 0.451513 0.73748 -0.0302941 0.501339 +TTool-pose None -11.2141 -12.8539 10.6127 -0.194147 -0.268715 -0.669147 0.665081 +#70373 1721122971201 +SLAM -3.69541 17.5 13.297 0.451373 0.737372 -0.0310591 0.501577 +TTool-pose None -11.2164 -12.8037 10.6361 -0.194678 -0.268674 -0.668643 0.665449 +#70374 1721122971236 +SLAM -3.63933 17.5525 13.2679 0.452947 0.735758 -0.0325474 0.502433 +TTool-pose None -11.2531 -12.8026 10.6942 -0.197403 -0.268109 -0.6686 0.664917 +#70375 1721122971269 +SLAM -3.64666 17.5565 13.2386 0.4534 0.734834 -0.0316038 0.503436 +TTool-pose None -11.2946 -12.7785 10.6814 -0.197656 -0.266759 -0.669525 0.664454 +#70376 1721122971304 +SLAM -3.63405 17.561 13.2497 0.453799 0.734491 -0.0311509 0.503606 +TTool-pose None -11.3037 -12.7833 10.6768 -0.19776 -0.266439 -0.670015 0.664058 +#70377 1721122971338 +SLAM -3.57078 17.6395 13.1398 0.453228 0.733909 -0.0357668 0.504661 +TTool-pose None -11.3021 -12.8274 10.7574 -0.200991 -0.266578 -0.667049 0.666015 +#70378 1721122971373 +SLAM -3.45203 17.6477 13.4273 0.457241 0.734762 -0.033709 0.49992 +TTool-pose None -11.272 -12.8985 10.7747 -0.200328 -0.27096 -0.669618 0.661855 +#70379 1721122971410 +SLAM -3.63609 17.571 13.1857 0.45339 0.734298 -0.0322238 0.504189 +TTool-pose None -11.3187 -12.7712 10.6834 -0.198466 -0.26612 -0.669237 0.664759 +#70380 1721122971449 +SLAM -3.59972 17.586 13.2337 0.454945 0.733004 -0.0304081 0.504783 +TTool-pose None -11.3519 -12.7813 10.6736 -0.198801 -0.264927 -0.671169 0.663185 +#70381 1721122971484 +SLAM -3.60163 17.5871 13.229 0.454456 0.733945 -0.0320724 0.503751 +TTool-pose None -11.3238 -12.7862 10.699 -0.19899 -0.26651 -0.669784 0.663894 +#70382 1721122971519 +SLAM -3.64259 17.5916 13.115 0.451753 0.734446 -0.0343457 0.5053 +TTool-pose None -11.2903 -12.7972 10.7094 -0.199176 -0.265558 -0.667295 0.66672 +#70383 1721122971554 +SLAM -3.60463 17.5754 13.2708 0.455494 0.732758 -0.0289595 0.50473 +TTool-pose None -11.3615 -12.775 10.6572 -0.198235 -0.264566 -0.67231 0.662343 +#70384 1721122971590 +SLAM -3.68044 17.5577 13.1431 0.450743 0.735772 -0.0343152 0.504274 +TTool-pose None -11.2457 -12.7953 10.6983 -0.197802 -0.266688 -0.666697 0.667277 +#70385 1721122971623 +SLAM -3.74022 17.5064 13.1796 0.451698 0.735112 -0.0300444 0.504654 +TTool-pose None -11.2996 -12.7268 10.631 -0.195873 -0.265083 -0.669819 0.665356 +#70386 1721122971656 +SLAM -3.77305 17.4827 13.1665 0.450356 0.735966 -0.0302076 0.5046 +TTool-pose None -11.2679 -12.7293 10.614 -0.194876 -0.265231 -0.669067 0.666346 +#70387 1721122971689 +SLAM -3.73871 17.4942 13.2242 0.452448 0.733787 -0.0269595 0.506084 +TTool-pose None -11.3211 -12.7299 10.5889 -0.195143 -0.262669 -0.672246 0.664079 +#70388 1721122971719 +SLAM -3.77813 17.4766 13.1659 0.450808 0.734411 -0.0273534 0.506621 +TTool-pose None -11.3089 -12.7226 10.5666 -0.194375 -0.262257 -0.671287 0.665436 +#70389 1721122971751 +SLAM -3.71261 17.5521 13.0654 0.450308 0.733783 -0.0318421 0.507713 +TTool-pose None -11.3025 -12.7693 10.6456 -0.197591 -0.26233 -0.668443 0.66732 +#70390 1721122971788 +SLAM -3.72293 17.5134 13.1355 0.452031 0.733834 -0.0294708 0.506248 +TTool-pose None -11.3332 -12.7183 10.6119 -0.196594 -0.263199 -0.670533 0.665171 +#70391 1721122971824 +SLAM -3.68103 17.5343 13.1599 0.45374 0.732177 -0.0276434 0.50722 +TTool-pose None -11.3854 -12.721 10.5974 -0.197248 -0.261586 -0.672592 0.663533 +#70392 1721122971863 +SLAM -3.76173 17.4796 13.1204 0.451413 0.733393 -0.0272177 0.507563 +TTool-pose None -11.346 -12.6982 10.5551 -0.195268 -0.261183 -0.67178 0.665099 +#70393 1721122971899 +SLAM -3.8681 17.4197 13.0361 0.448342 0.73447 -0.027035 0.508736 +TTool-pose None -11.3084 -12.6609 10.5114 -0.193298 -0.25997 -0.670564 0.667373 +#70394 1721122971933 +SLAM -3.68136 17.5371 13.1577 0.453235 0.732422 -0.0276105 0.507319 +TTool-pose None -11.3783 -12.739 10.5883 -0.196871 -0.261489 -0.672383 0.663896 +#70395 1721122971969 +SLAM -3.74523 17.5356 13.0357 0.449946 0.734139 -0.0323247 0.507488 +TTool-pose None -11.303 -12.7345 10.6503 -0.197508 -0.262715 -0.667945 0.667692 +#70396 1721122972002 +SLAM -4.03376 17.3401 13.0029 0.446965 0.732934 -0.019871 0.51248 +TTool-pose None -11.3755 -12.5676 10.3934 -0.189349 -0.253965 -0.674732 0.666616 +#70397 1721122972038 +SLAM -3.92837 17.4094 13.0891 0.447214 0.736661 -0.0281495 0.506496 +TTool-pose None -11.2513 -12.6653 10.5553 -0.191962 -0.262725 -0.669054 0.668194 +#70398 1721122972073 +SLAM -3.8734 17.4489 13.1132 0.449014 0.735536 -0.0278519 0.506555 +TTool-pose None -11.2942 -12.6771 10.5742 -0.193236 -0.262525 -0.670111 0.666846 +#70399 1721122972108 +SLAM -3.87821 17.4445 13.1122 0.448797 0.73583 -0.028197 0.5063 +TTool-pose None -11.2843 -12.6762 10.5774 -0.193161 -0.262901 -0.669764 0.667068 +#70400 1721122972144 +SLAM -3.92535 17.4113 13.0967 0.447572 0.736638 -0.028194 0.50621 +TTool-pose None -11.2566 -12.6589 10.5621 -0.192128 -0.263034 -0.669163 0.667916 +#70401 1721122972183 +SLAM -3.82773 17.4766 13.1468 0.449512 0.736416 -0.030272 0.504693 +TTool-pose None -11.2645 -12.7082 10.6271 -0.194291 -0.265176 -0.668633 0.666973 +#70402 1721122972221 +SLAM -3.9449 17.4047 13.1085 0.447932 0.736043 -0.026503 0.506848 +TTool-pose None -11.2805 -12.6428 10.5451 -0.191611 -0.26187 -0.67045 0.667231 +#70403 1721122972262 +SLAM -3.84469 17.4967 13.0889 0.449188 0.735725 -0.0309196 0.505949 +TTool-pose None -11.2842 -12.6945 10.6506 -0.195132 -0.264014 -0.668243 0.66758 +#70404 1721122972296 +SLAM -3.98632 17.3851 13.1144 0.44654 0.737004 -0.0263789 0.506686 +TTool-pose None -11.2449 -12.6523 10.5352 -0.190326 -0.262051 -0.669834 0.668146 +#70405 1721122972330 +SLAM -3.93193 17.4503 13.0776 0.446059 0.737638 -0.0309536 0.505928 +TTool-pose None -11.2093 -12.7076 10.6242 -0.192636 -0.26414 -0.666711 0.669783 +#70406 1721122972365 +SLAM -4.02776 17.3697 13.1108 0.445932 0.73725 -0.0256197 0.506903 +TTool-pose None -11.2435 -12.6375 10.5249 -0.18944 -0.261625 -0.670031 0.668368 +#70407 1721122972399 +SLAM -3.99999 17.3937 13.1276 0.446896 0.736668 -0.0256922 0.506896 +TTool-pose None -11.2606 -12.6451 10.5455 -0.190257 -0.261624 -0.670451 0.667714 +#70408 1721122972434 +SLAM -4.09341 17.3418 13.0484 0.444883 0.737205 -0.0248915 0.507925 +TTool-pose None -11.2607 -12.5901 10.501 -0.188649 -0.260352 -0.670099 0.66902 +#70409 1721122972464 +SLAM -4.01162 17.379 13.1475 0.44707 0.736179 -0.0237513 0.507548 +TTool-pose None -11.2741 -12.6404 10.5122 -0.189432 -0.260377 -0.6718 0.667079 +#70410 1721122972496 +SLAM -3.99984 17.3914 13.1312 0.446405 0.737692 -0.0270437 0.505768 +TTool-pose None -11.2331 -12.6539 10.5605 -0.190182 -0.263226 -0.669245 0.668315 +#70411 1721122972528 +SLAM -4.07675 17.3431 13.0884 0.445079 0.73696 -0.024117 0.508146 +TTool-pose None -11.2469 -12.616 10.4932 -0.1884 -0.259893 -0.670693 0.668673 +#70412 1721122972561 +SLAM -4.02209 17.3805 13.1039 0.446418 0.737054 -0.0259368 0.506745 +TTool-pose None -11.2599 -12.627 10.5392 -0.18996 -0.261869 -0.670052 0.668103 +#70413 1721122972591 +SLAM -4.02759 17.3776 13.0979 0.445909 0.737283 -0.0261895 0.506846 +TTool-pose None -11.2462 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None -4.96952 -13.8119 9.4603 -0.127119 -0.30378 -0.637915 0.696143 +#71439 1721123006732 +SLAM -3.20197 13.8588 17.508 0.392811 0.791833 -0.024411 0.467017 +TTool-pose None -4.9679 -13.8164 9.43687 -0.126688 -0.302703 -0.638483 0.696169 +#71440 1721123006768 +SLAM -3.21698 13.8616 17.4852 0.39144 0.792601 -0.0256479 0.466798 +TTool-pose None -4.93658 -13.8131 9.44715 -0.126367 -0.303221 -0.636989 0.69737 +#71441 1721123006801 +#71442 1721123006833 +SLAM -3.20754 13.7735 17.6336 0.394177 0.792174 -0.0199373 0.465497 +TTool-pose None -4.96522 -13.8095 9.38221 -0.123969 -0.303037 -0.641664 0.693584 +#71443 1721123006864 +#71444 1721123006900 +SLAM -3.25826 13.7382 17.6179 0.393654 0.792618 -0.0192595 0.465213 +TTool-pose None -4.97385 -13.7628 9.37041 -0.122973 -0.303114 -0.641761 0.693638 +#71445 1721123006934 +SLAM -3.18972 13.7622 17.6919 0.39411 0.793438 -0.0203899 0.463375 +TTool-pose None -4.92694 -13.8192 9.40877 -0.123174 -0.305315 -0.641019 0.693323 +#71446 1721123006967 +SLAM 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30.4753 -15.3768 10.8649 -0.284146 -0.162124 -0.711661 0.621696 +#72177 1721123031352 +SLAM -7.65401 -7.56839 47.0152 0.513334 0.632147 -0.0211562 0.580027 +TTool-pose None 30.7636 -15.4054 11.011 -0.283769 -0.171295 -0.710459 0.620783 +#72178 1721123031385 +SLAM -7.37879 -7.76399 47.2298 0.512918 0.635781 -0.0222584 0.57637 +TTool-pose None 30.9971 -15.3949 11.0717 -0.281947 -0.176089 -0.709388 0.621496 +#72179 1721123031420 +SLAM -7.19499 -7.91117 47.4239 0.509953 0.639403 -0.021902 0.575006 +TTool-pose None 31.2438 -15.3653 11.0661 -0.278318 -0.178069 -0.70826 0.62385 +#72180 1721123031454 +SLAM -6.77463 -7.92305 47.8042 0.504345 0.64513 -0.023722 0.573482 +TTool-pose None 31.6297 -15.4089 11.0464 -0.2738 -0.181182 -0.704649 0.629021 +#72181 1721123031484 +SLAM -6.91453 -7.99866 47.9373 0.501848 0.645266 -0.0222052 0.575576 +TTool-pose None 31.8378 -15.3784 11.0032 -0.271877 -0.178587 -0.704639 0.630605 +#72182 1721123031514 +SLAM -7.00919 -8.13656 48.1777 0.49569 0.646707 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0.614843 +#72190 1721123031786 +SLAM -9.45408 -9.59525 49.149 0.524667 0.625334 -0.0228759 0.577199 +TTool-pose None 33.7846 -14.883 11.8081 -0.293129 -0.173388 -0.713973 0.611756 +#72191 1721123031816 +SLAM -9.06899 -9.36446 49.5521 0.514491 0.630984 -0.0238059 0.580165 +TTool-pose None 34.1387 -14.9795 11.6539 -0.286651 -0.171684 -0.709339 0.620633 +#72192 1721123031858 +SLAM -9.14367 -9.42291 49.5436 0.519298 0.629528 -0.026042 0.577361 +TTool-pose None 34.1143 -14.9285 11.829 -0.290663 -0.174946 -0.70982 0.617297 +#72193 1721123031889 +SLAM -9.18195 -9.42027 49.5799 0.517641 0.630042 -0.0255063 0.578311 +TTool-pose None 34.1786 -14.9 11.8113 -0.289427 -0.17391 -0.709511 0.618524 +#72194 1721123031920 +SLAM -9.1939 -9.49131 49.6013 0.51926 0.62988 -0.0259164 0.577017 +TTool-pose None 34.2036 -14.884 11.8753 -0.290336 -0.175335 -0.70986 0.617294 +#72195 1721123031950 +SLAM -9.1957 -9.50339 49.6189 0.52074 0.629676 -0.0270674 0.575852 +TTool-pose None 34.2132 -14.8586 11.9437 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None 34.3077 -14.8379 11.6978 -0.283554 -0.170281 -0.71062 0.620977 +#72202 1721123032199 +SLAM -8.95225 -9.65697 49.6905 0.51431 0.634475 -0.0233391 0.576526 +TTool-pose None 34.3473 -14.8487 11.7877 -0.28398 -0.175991 -0.709326 0.620668 +#72203 1721123032230 +SLAM -8.91698 -9.67138 49.7107 0.51474 0.634697 -0.0238206 0.575878 +TTool-pose None 34.3617 -14.8474 11.8075 -0.28429 -0.176841 -0.709174 0.620459 +#72204 1721123032263 +SLAM -8.96292 -9.70121 49.68 0.514355 0.63455 -0.0228377 0.576423 +TTool-pose None 34.3523 -14.8395 11.7824 -0.283619 -0.17597 -0.709645 0.620475 +#72205 1721123032293 +SLAM -8.93144 -9.62243 49.7187 0.512392 0.635233 -0.0229644 0.577413 +TTool-pose None 34.3832 -14.8437 11.7515 -0.282595 -0.175105 -0.708801 0.62215 +#72206 1721123032324 +SLAM -9.01025 -9.70615 49.6523 0.513216 0.63467 -0.0219134 0.577341 +TTool-pose None 34.3519 -14.814 11.7482 -0.282557 -0.174776 -0.709785 0.621137 +#72207 1721123032366 +SLAM -8.97876 -9.68043 49.6825 0.513328 0.634895 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-9.73056 49.6544 0.512855 0.635133 -0.0215676 0.577166 +TTool-pose None 34.3609 -14.8043 11.7496 -0.281904 -0.174945 -0.709832 0.621332 +#72214 1721123032602 +SLAM -8.88863 -9.6952 49.7156 0.511735 0.636267 -0.0222172 0.576887 +TTool-pose None 34.4033 -14.8144 11.7462 -0.281203 -0.17563 -0.708945 0.622468 +#72215 1721123032635 +SLAM -8.95957 -9.69778 49.675 0.511523 0.635835 -0.0215332 0.577577 +TTool-pose None 34.3811 -14.7976 11.7313 -0.280972 -0.174639 -0.709315 0.62243 +#72216 1721123032675 +SLAM -8.98968 -9.52082 49.7164 0.507775 0.636195 -0.0212805 0.58049 +TTool-pose None 34.415 -14.8126 11.6527 -0.279309 -0.171594 -0.708058 0.625449 +#72217 1721123032708 +SLAM -9.02045 -9.59224 49.686 0.510158 0.635402 -0.0215494 0.579258 +TTool-pose None 34.3852 -14.8086 11.7021 -0.280812 -0.172813 -0.708831 0.623562 +#72218 1721123032741 +SLAM -9.06472 -9.66476 49.6604 0.51104 0.634942 -0.0208034 0.579012 +TTool-pose None 34.3766 -14.8097 11.7055 -0.280925 -0.172772 -0.709644 0.622597 +#72219 1721123032774 +SLAM -9.19288 -9.91862 49.4976 0.517316 0.63276 -0.0201311 0.575842 +TTool-pose None 34.2494 -14.7689 11.8133 -0.284019 -0.175463 -0.712503 0.617151 +#72220 1721123032810 +SLAM -9.01648 -9.714 49.668 0.51166 0.635412 -0.0210969 0.577937 +TTool-pose None 34.3859 -14.795 11.7315 -0.281013 -0.174062 -0.709661 0.622178 +#72221 1721123032849 +SLAM -9.28005 -9.65198 49.5667 0.507477 0.634317 -0.0172846 0.582933 +TTool-pose None 34.3605 -14.7772 11.5741 -0.277835 -0.167555 -0.710509 0.624421 +#72222 1721123032885 +SLAM -8.87667 -9.64742 49.7528 0.5075 0.637661 -0.0205603 0.579145 +TTool-pose None 34.4678 -14.8104 11.649 -0.277775 -0.173058 -0.708297 0.625459 +#72223 1721123032920 +SLAM -8.81894 -9.65752 49.7433 0.508584 0.637903 -0.0214123 0.577896 +TTool-pose None 34.4424 -14.8004 11.6879 -0.278536 -0.174649 -0.708161 0.624831 +#72224 1721123032955 +SLAM -8.82044 -9.63082 49.7745 0.507017 0.638174 -0.0207974 0.578995 +TTool-pose None 34.4784 -14.821 11.6422 -0.277428 -0.173375 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11.7469 -0.281856 -0.174431 -0.710032 0.62127 +#72231 1721123033193 +SLAM -9.04142 -9.62771 49.6889 0.510612 0.635224 -0.0213953 0.579058 +TTool-pose None 34.3972 -14.8048 11.7118 -0.280982 -0.172944 -0.709105 0.623137 +#72232 1721123033224 +SLAM -9.09119 -9.63983 49.6273 0.511444 0.634631 -0.0212128 0.578981 +TTool-pose None 34.3444 -14.7852 11.7194 -0.281533 -0.172863 -0.709564 0.622388 +#72233 1721123033256 +SLAM -9.17175 -9.73483 49.5822 0.512707 0.633885 -0.0202568 0.578715 +TTool-pose None 34.3283 -14.7727 11.7287 -0.281825 -0.172729 -0.710663 0.621037 +#72234 1721123033289 +SLAM -9.15583 -9.79321 49.5655 0.512753 0.634097 -0.0194246 0.578471 +TTool-pose None 34.3209 -14.7825 11.7129 -0.281156 -0.172785 -0.711174 0.62074 +#72235 1721123033321 +SLAM -9.15187 -9.68197 49.615 0.512914 0.633823 -0.0211478 0.578568 +TTool-pose None 34.3359 -14.7874 11.7535 -0.282517 -0.173125 -0.710199 0.621144 +#72236 1721123033354 +SLAM -9.14552 -9.62435 49.6282 0.510871 0.634251 -0.0206292 0.579923 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0.633593 -0.0199127 0.579085 +TTool-pose None 34.3324 -14.7909 11.7092 -0.281778 -0.172192 -0.710877 0.620964 +#72243 1721123033581 +SLAM -9.43953 -9.75554 49.4792 0.512851 0.631548 -0.0180066 0.581211 +TTool-pose None 34.2804 -14.766 11.6755 -0.281943 -0.169049 -0.712242 0.620187 +#72244 1721123033618 +SLAM -9.19405 -9.74482 49.5749 0.513281 0.633408 -0.0201902 0.578731 +TTool-pose None 34.3199 -14.7864 11.7281 -0.282289 -0.172605 -0.710947 0.620537 +#72245 1721123033654 +SLAM -9.18733 -9.76303 49.5826 0.514556 0.63315 -0.0208866 0.577855 +TTool-pose None 34.3188 -14.784 11.7679 -0.283339 -0.173665 -0.711007 0.619693 +#72246 1721123033689 +SLAM -9.21982 -9.77054 49.5603 0.513626 0.633168 -0.019874 0.578698 +TTool-pose None 34.3134 -14.784 11.7298 -0.282355 -0.172503 -0.711283 0.62015 +#72247 1721123033726 +SLAM -9.20454 -9.75777 49.5679 0.513202 0.633451 -0.0200683 0.578758 +TTool-pose None 34.3233 -14.7724 11.7259 -0.282154 -0.17255 -0.710989 0.620565 +#72248 1721123033762 +SLAM -9.16359 -9.7096 49.6107 0.5123 0.633891 -0.0203399 0.579065 +TTool-pose None 34.3477 -14.794 11.7187 -0.281739 -0.17239 -0.710462 0.621401 +#72249 1721123033793 +SLAM -8.85897 -9.71047 49.7143 0.513351 0.636191 -0.0236649 0.575474 +TTool-pose None 34.3968 -14.7796 11.8019 -0.282735 -0.177495 -0.708657 0.621572 +#72250 1721123033825 +SLAM -9.21226 -9.73514 49.5894 0.511441 0.634001 -0.0193193 0.57974 +TTool-pose None 34.3536 -14.7723 11.6962 -0.280711 -0.171416 -0.710761 0.621794 +#72251 1721123033859 +SLAM -9.05316 -9.75167 49.6452 0.512187 0.635255 -0.0208574 0.577651 +TTool-pose None 34.3779 -14.77 11.7512 -0.281137 -0.174262 -0.710012 0.621666 +#72252 1721123033893 +SLAM -9.08073 -9.72266 49.6462 0.509817 0.63563 -0.019531 0.579379 +TTool-pose None 34.398 -14.777 11.6801 -0.279228 -0.172153 -0.709922 0.623214 +#72253 1721123033927 +SLAM -9.13136 -9.8136 49.6024 0.512459 0.634729 -0.0197006 0.578028 +TTool-pose None 34.3652 -14.7584 11.7358 -0.28082 -0.173442 -0.710855 0.621075 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None 34.459 -14.7014 11.6581 -0.275308 -0.171305 -0.709921 0.62519 +#72266 1721123034392 +SLAM -9.24268 -9.88467 49.5567 0.506973 0.636612 -0.0152756 0.580922 +TTool-pose None 34.4175 -14.6732 11.6335 -0.274833 -0.169495 -0.711392 0.62422 +#72267 1721123034427 +SLAM -9.11226 -9.83962 49.6333 0.505841 0.638092 -0.0163282 0.580255 +TTool-pose None 34.4671 -14.6734 11.6517 -0.274161 -0.170762 -0.71023 0.625492 +#72268 1721123034460 +SLAM -9.1344 -9.86435 49.6161 0.505353 0.638278 -0.0156374 0.580495 +TTool-pose None 34.4668 -14.6566 11.6426 -0.273419 -0.170345 -0.710455 0.625674 +#72269 1721123034494 +SLAM -9.06552 -9.9068 49.6398 0.505127 0.639194 -0.015662 0.579683 +TTool-pose None 34.4932 -14.6448 11.6542 -0.272752 -0.171364 -0.710293 0.625872 +#72270 1721123034529 +SLAM -9.07101 -9.89243 49.6436 0.503897 0.639639 -0.0151135 0.580277 +TTool-pose None 34.5049 -14.635 11.6373 -0.27168 -0.170662 -0.710136 0.626707 +#72271 1721123034562 +SLAM -8.89008 -9.89242 49.7246 0.503757 0.641343 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1721123034983 +SLAM -8.81128 -10.0233 49.7311 0.502277 0.64378 -0.0152569 0.57709 +TTool-pose None 34.6013 -14.5509 11.7191 -0.268471 -0.17476 -0.709148 0.628078 +#72284 1721123035014 +SLAM -8.76076 -9.96239 49.7798 0.499304 0.644865 -0.0146657 0.578471 +TTool-pose None 34.6528 -14.5623 11.6523 -0.266348 -0.173325 -0.708314 0.630317 +#72285 1721123035048 +SLAM -8.89198 -10.0438 49.6941 0.501237 0.643475 -0.0137557 0.578371 +TTool-pose None 34.5953 -14.5436 11.671 -0.267336 -0.172932 -0.709693 0.628452 +#72286 1721123035081 +SLAM -8.75512 -9.96587 49.7789 0.499656 0.644873 -0.0149338 0.578152 +TTool-pose None 34.6495 -14.5556 11.667 -0.266639 -0.173739 -0.708283 0.630115 +#72287 1721123035116 +SLAM -9.06901 -10.0413 49.6298 0.499582 0.642496 -0.0115034 0.580934 +TTool-pose None 34.5792 -14.5305 11.5975 -0.265942 -0.169419 -0.710507 0.629081 +#72288 1721123035153 +SLAM -8.94214 -10.0625 49.6624 0.503499 0.642513 -0.0145085 0.577456 +TTool-pose None 34.5558 -14.5333 11.73 -0.269238 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34.5725 -14.5312 11.6702 -0.267716 -0.171629 -0.709774 0.628557 +#72295 1721123035397 +SLAM -8.78451 -9.92923 49.7736 0.497422 0.64515 -0.0136893 0.579798 +TTool-pose None 34.6591 -14.5618 11.6019 -0.264874 -0.171695 -0.708177 0.631537 +#72296 1721123035430 +SLAM -8.8759 -10.063 49.7141 0.500747 0.643807 -0.0134556 0.578433 +TTool-pose None 34.6218 -14.5466 11.66 -0.266751 -0.172837 -0.709668 0.628756 +#72297 1721123035465 +SLAM -9.00249 -10.0251 49.6524 0.501306 0.642531 -0.0131702 0.579373 +TTool-pose None 34.5667 -14.5359 11.6632 -0.267603 -0.171549 -0.710142 0.628211 +#72298 1721123035501 +SLAM -8.85314 -9.98029 49.7351 0.499678 0.644092 -0.013921 0.579027 +TTool-pose None 34.6245 -14.5535 11.6494 -0.266502 -0.172395 -0.708963 0.629777 +#72299 1721123035534 +SLAM -8.97371 -10.0475 49.675 0.500641 0.642995 -0.0128487 0.57944 +TTool-pose None 34.5978 -14.5384 11.644 -0.266856 -0.171466 -0.710055 0.62865 +#72300 1721123035567 +SLAM -8.94918 -9.98789 49.6909 0.500119 0.6432 -0.0133519 0.579652 +TTool-pose None 34.5958 -14.5451 11.6452 -0.266873 -0.171423 -0.709539 0.629237 +#72301 1721123035601 +SLAM -8.80863 -10.0031 49.7463 0.499294 0.644682 -0.0138942 0.578704 +TTool-pose None 34.6423 -14.5429 11.643 -0.26596 -0.172827 -0.708792 0.63008 +#72302 1721123035635 +SLAM -8.8817 -10.0587 49.6875 0.502085 0.64349 -0.0143219 0.577603 +TTool-pose None 34.5867 -14.5242 11.7044 -0.267985 -0.173903 -0.709666 0.627939 +#72303 1721123035669 +SLAM -9.07897 -10.0401 49.6167 0.50026 0.642301 -0.0118702 0.580559 +TTool-pose None 34.5622 -14.5199 11.6217 -0.266544 -0.169886 -0.710554 0.628647 +#72304 1721123035701 +SLAM -8.82882 -10.0005 49.7391 0.499138 0.644598 -0.013694 0.578936 +TTool-pose None 34.6391 -14.5389 11.6403 -0.265831 -0.172511 -0.708861 0.630143 +#72305 1721123035734 +SLAM -8.82423 -10.0275 49.7266 0.500685 0.644286 -0.014273 0.577933 +TTool-pose None 34.6179 -14.5357 11.682 -0.266947 -0.173679 -0.709113 0.629066 +#72306 1721123035773 +SLAM -8.85898 -9.99998 49.7184 0.499583 0.644253 -0.013723 0.578935 +TTool-pose None 34.6202 -14.5317 11.6497 -0.266232 -0.172462 -0.709036 0.62979 +#72307 1721123035811 +SLAM -9.07324 -10.0436 49.6294 0.499232 0.64268 -0.0113353 0.581035 +TTool-pose None 34.5846 -14.5197 11.5969 -0.265589 -0.169295 -0.710464 0.629312 +#72308 1721123035846 +SLAM -8.86314 -9.99578 49.7237 0.49922 0.644296 -0.0135194 0.579205 +TTool-pose None 34.6274 -14.5359 11.6395 -0.265946 -0.172127 -0.70902 0.630021 +#72309 1721123035886 +SLAM -9.12252 -10.0414 49.6037 0.49864 0.642438 -0.0106312 0.581823 +TTool-pose None 34.5747 -14.5125 11.5709 -0.265084 -0.16822 -0.710684 0.629565 +#72310 1721123035926 +SLAM -8.88698 -10.0212 49.7066 0.499699 0.644028 -0.0132978 0.579096 +TTool-pose None 34.6171 -14.5328 11.6441 -0.266143 -0.172132 -0.709354 0.62956 +#72311 1721123035961 +SLAM -8.83228 -9.96673 49.7524 0.498724 0.644611 -0.0138045 0.579276 +TTool-pose None 34.6447 -14.5458 11.6386 -0.265754 -0.172187 -0.708637 0.630516 +#72312 1721123035994 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0.629191 +#72318 1721123036197 +SLAM -9.05591 -10.0105 49.6405 0.499081 0.642784 -0.0118127 0.581039 +TTool-pose None 34.5858 -14.5194 11.6012 -0.265782 -0.169447 -0.710111 0.629588 +#72319 1721123036230 +SLAM -8.86465 -10.0205 49.7131 0.499825 0.644183 -0.0135362 0.578809 +TTool-pose None 34.6182 -14.5334 11.6517 -0.266239 -0.172528 -0.709245 0.629534 +#72320 1721123036263 +SLAM -8.85326 -10.004 49.7214 0.499843 0.644251 -0.0139058 0.578709 +TTool-pose None 34.621 -14.5304 11.6592 -0.266442 -0.172752 -0.709023 0.629637 +#72321 1721123036297 +SLAM -8.91355 -10.0152 49.6946 0.499895 0.643761 -0.0132974 0.579223 +TTool-pose None 34.6066 -14.5284 11.6485 -0.266386 -0.171953 -0.709447 0.629402 +#72322 1721123036329 +SLAM -8.8716 -10.0105 49.7113 0.500027 0.644061 -0.0137692 0.578765 +TTool-pose None 34.6137 -14.5298 11.6599 -0.266542 -0.172622 -0.709189 0.629444 +#72323 1721123036363 +SLAM -8.89644 -10.0167 49.7 0.50018 0.64383 -0.0135909 0.578893 +TTool-pose None 34.6069 -14.5282 11.6595 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None 34.6414 -14.5397 11.6475 -0.265925 -0.172725 -0.708687 0.63024 +#72330 1721123036598 +SLAM -9.04762 -10.0287 49.6373 0.499449 0.642811 -0.0118607 0.580692 +TTool-pose None 34.5827 -14.5175 11.6105 -0.265922 -0.169831 -0.710218 0.629304 +#72331 1721123036631 +SLAM -8.92051 -10.0244 49.6901 0.499477 0.643839 -0.0128882 0.579507 +TTool-pose None 34.6107 -14.5271 11.6321 -0.265923 -0.17155 -0.709532 0.629611 +#72332 1721123036665 +SLAM -9.03431 -10.0164 49.6447 0.499131 0.642989 -0.0120041 0.580766 +TTool-pose None 34.5897 -14.5136 11.6053 -0.265789 -0.169825 -0.709999 0.62961 +#72333 1721123036699 +SLAM -8.93139 -10.0137 49.6893 0.499318 0.643799 -0.0128825 0.579688 +TTool-pose None 34.6107 -14.5239 11.6312 -0.265892 -0.171351 -0.709479 0.629739 +#72334 1721123036737 +SLAM -8.83426 -10.021 49.7217 0.500336 0.644316 -0.014146 0.578205 +TTool-pose None 34.6188 -14.5281 11.6725 -0.266725 -0.173362 -0.709057 0.629311 +#72335 1721123036770 +SLAM -8.83144 -10.0029 49.7341 0.499534 0.6445 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49.7409 0.50012 0.644633 -0.0145715 0.578027 +TTool-pose None 34.628 -14.5293 11.6787 -0.266719 -0.173725 -0.708695 0.629622 +#72342 1721123037021 +SLAM -9.04599 -10.04 49.6452 0.498436 0.64314 -0.0112201 0.581211 +TTool-pose None 34.6044 -14.5163 11.5799 -0.264935 -0.169154 -0.710201 0.629922 +#72343 1721123037055 +SLAM -8.99693 -10.0234 49.6605 0.499365 0.643255 -0.0122248 0.580266 +TTool-pose None 34.5945 -14.5233 11.6195 -0.265837 -0.17046 -0.709934 0.62949 +#72344 1721123037091 +SLAM -8.70847 -9.9941 49.7715 0.500545 0.645292 -0.0157286 0.576893 +TTool-pose None 34.6415 -14.5219 11.7081 -0.267183 -0.175359 -0.708102 0.629639 +#72345 1721123037130 +SLAM -8.78505 -9.97447 49.7581 0.499161 0.644986 -0.0145658 0.578463 +TTool-pose None 34.6478 -14.5249 11.66 -0.266153 -0.173325 -0.708312 0.630401 +#72346 1721123037167 +SLAM -9.08172 -10.0158 49.6257 0.498999 0.642657 -0.0115245 0.581257 +TTool-pose None 34.5788 -14.5119 11.5974 -0.265649 -0.169113 -0.710263 0.629562 +#72347 1721123037200 +SLAM -8.82557 -9.97393 49.754 0.497737 0.645007 -0.0132751 0.579696 +TTool-pose None 34.6596 -14.5376 11.6116 -0.264804 -0.171658 -0.708558 0.631149 +#72348 1721123037235 +SLAM -8.82871 -10.0015 49.7252 0.499948 0.64449 -0.0143195 0.578342 +TTool-pose None 34.6228 -14.5176 11.6703 -0.266591 -0.173297 -0.708794 0.629682 +#72349 1721123037267 +SLAM -8.82643 -9.98206 49.7448 0.498683 0.644766 -0.0136973 0.57914 +TTool-pose None 34.6434 -14.5353 11.6379 -0.265566 -0.172325 -0.708676 0.630514 +#72350 1721123037301 +SLAM -8.82654 -10.0041 49.7266 0.500007 0.644521 -0.0143633 0.578256 +TTool-pose None 34.624 -14.5159 11.6744 -0.266619 -0.173406 -0.708787 0.629648 +#72351 1721123037337 +SLAM -8.89449 -9.9715 49.7193 0.498223 0.644343 -0.0130857 0.580022 +TTool-pose None 34.6328 -14.5265 11.6182 -0.265289 -0.17115 -0.708904 0.630695 +#72352 1721123037371 +SLAM -8.91485 -10.0106 49.696 0.49877 0.644103 -0.0127171 0.579826 +TTool-pose None 34.6191 -14.5234 11.6198 -0.265394 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34.6547 -14.5274 11.6546 -0.265832 -0.173194 -0.70811 0.630799 +#72359 1721123037610 +SLAM -8.84649 -10.0062 49.716 0.499662 0.644476 -0.0140083 0.578613 +TTool-pose None 34.6223 -14.5106 11.6608 -0.266298 -0.172921 -0.708876 0.629817 +#72360 1721123037644 +SLAM -8.7684 -9.995 49.747 0.499642 0.645094 -0.0147469 0.577922 +TTool-pose None 34.6376 -14.5139 11.6739 -0.266364 -0.173964 -0.708375 0.630066 +#72361 1721123037677 +SLAM -8.76907 -9.96586 49.759 0.49926 0.645143 -0.0149108 0.578193 +TTool-pose None 34.6445 -14.5155 11.6722 -0.266308 -0.173734 -0.708128 0.63043 +#72362 1721123037711 +SLAM -9.09749 -10.0363 49.6051 0.499488 0.642524 -0.0115647 0.580983 +TTool-pose None 34.5665 -14.4937 11.609 -0.265931 -0.16939 -0.710432 0.629178 +#72363 1721123037750 +SLAM -8.86749 -9.99618 49.7221 0.498171 0.644646 -0.0129712 0.579732 +TTool-pose None 34.6396 -14.5241 11.6147 -0.264994 -0.171472 -0.708932 0.630699 +#72364 1721123037788 +SLAM -8.90118 -10.0013 49.713 0.498216 0.644311 -0.0125978 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None 33.9028 -14.2793 11.7721 -0.286197 -0.146079 -0.718866 0.616421 +#72532 1721123043706 +SLAM -11.6879 -9.50474 48.6062 0.513529 0.615191 -0.00760945 0.598138 +TTool-pose None 33.8778 -14.2719 11.7544 -0.285963 -0.145136 -0.719684 0.615797 +#72533 1721123043739 +SLAM -11.7528 -9.49689 48.5824 0.512858 0.614773 -0.00681976 0.599152 +TTool-pose None 33.8741 -14.2717 11.7277 -0.285479 -0.143753 -0.719926 0.616063 +#72534 1721123043775 +SLAM -11.6603 -9.453 48.6418 0.512358 0.615672 -0.00792058 0.598644 +TTool-pose None 33.9027 -14.2757 11.7415 -0.285458 -0.144791 -0.719033 0.616873 +#72535 1721123043810 +SLAM -11.6836 -9.48591 48.619 0.512958 0.615336 -0.00758343 0.59848 +TTool-pose None 33.8888 -14.2762 11.7435 -0.285657 -0.144797 -0.719478 0.616259 +#72536 1721123043845 +SLAM -11.6662 -9.49625 48.6225 0.513592 0.615366 -0.00796886 0.597901 +TTool-pose None 33.8854 -14.2725 11.7638 -0.28611 -0.145527 -0.719483 0.615872 +#72537 1721123043887 +SLAM -11.7068 -9.4819 48.6071 0.513048 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1721123052670 +SLAM 3.81567 -10.7383 52.4007 0.438509 0.74404 -0.0345451 0.502912 +TTool-pose None 37.8624 -16.3046 10.4356 -0.18746 -0.26853 -0.660453 0.67568 +#72786 1721123052704 +SLAM 3.81172 -10.8951 52.3204 0.441155 0.743644 -0.0344395 0.501189 +TTool-pose None 37.8015 -16.2942 10.4797 -0.188592 -0.270287 -0.661579 0.673559 +#72787 1721123052738 +SLAM 3.8383 -10.8033 52.3565 0.43965 0.744009 -0.0345015 0.501964 +TTool-pose None 37.8273 -16.3076 10.4534 -0.187841 -0.269508 -0.660911 0.674736 +#72788 1721123052774 +SLAM 3.85279 -10.9129 52.3167 0.441762 0.743678 -0.0348835 0.500571 +TTool-pose None 37.8016 -16.3059 10.4921 -0.189055 -0.271053 -0.661521 0.673179 +#72789 1721123052808 +SLAM 3.85392 -10.8654 52.3077 0.442131 0.743368 -0.0354873 0.500665 +TTool-pose None 37.7716 -16.3278 10.4938 -0.189808 -0.271108 -0.661342 0.67312 +#72790 1721123052841 +SLAM 3.88874 -10.6952 52.3812 0.43803 0.744328 -0.0347257 0.502891 +TTool-pose None 37.846 -16.3325 10.3961 -0.187191 -0.26861 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10.4049 -0.187048 -0.269835 -0.662449 0.673316 +#72797 1721123053094 +SLAM 3.94506 -10.839 52.3456 0.438653 0.744877 -0.033451 0.50162 +TTool-pose None 37.8492 -16.3332 10.4007 -0.186155 -0.26961 -0.661023 0.675053 +#72798 1721123053127 +SLAM 3.93938 -10.9041 52.2749 0.439548 0.744915 -0.0334663 0.500778 +TTool-pose None 37.8001 -16.2911 10.4156 -0.186437 -0.270495 -0.661338 0.674312 +#72799 1721123053161 +SLAM 3.8946 -10.8839 52.2752 0.439344 0.74467 -0.0333165 0.501332 +TTool-pose None 37.7912 -16.2858 10.407 -0.186463 -0.269867 -0.661404 0.674492 +#72800 1721123053195 +SLAM 3.75323 -11.0951 52.1635 0.4436 0.742881 -0.0324565 0.500294 +TTool-pose None 37.671 -16.3025 10.4445 -0.188728 -0.270648 -0.663863 0.671124 +#72801 1721123053227 +SLAM 3.78335 -10.9909 52.1952 0.440997 0.743367 -0.0316617 0.501921 +TTool-pose None 37.7036 -16.3257 10.3514 -0.186965 -0.268753 -0.6633 0.672934 +#72802 1721123053262 +SLAM 3.81933 -11.0765 52.1484 0.444348 0.742684 -0.0329249 0.499891 +TTool-pose None 37.6414 -16.3644 10.4299 -0.189433 -0.271187 -0.663886 0.670685 +#72803 1721123053295 +SLAM 4.0021 -11.1067 52.1037 0.444499 0.743878 -0.0336919 0.497927 +TTool-pose None 37.6379 -16.3592 10.4402 -0.189047 -0.273485 -0.663228 0.670512 +#72804 1721123053332 +SLAM 3.94712 -10.9455 52.1825 0.440553 0.744234 -0.0324359 0.500975 +TTool-pose None 37.704 -16.3603 10.3331 -0.186641 -0.269983 -0.662485 0.673334 +#72805 1721123053367 +SLAM 3.83541 -10.9955 52.1496 0.441419 0.743415 -0.0316267 0.501481 +TTool-pose None 37.6592 -16.3551 10.3301 -0.187047 -0.269204 -0.663469 0.672565 +#72806 1721123053400 +SLAM 3.90119 -10.9491 52.1843 0.441289 0.743764 -0.0326794 0.50101 +TTool-pose None 37.689 -16.3636 10.3571 -0.187411 -0.269997 -0.662699 0.672904 +#72807 1721123053433 +SLAM 3.71468 -11.089 52.1067 0.44225 0.742642 -0.03038 0.501971 +TTool-pose None 37.623 -16.3331 10.3137 -0.187121 -0.268321 -0.664699 0.671681 +#72808 1721123053468 +SLAM 3.81506 -10.9696 52.1483 0.439824 0.74378 -0.0306847 0.502398 +TTool-pose None 37.6702 -16.3323 10.2841 -0.185618 -0.268001 -0.663389 0.673518 +#72809 1721123053502 +SLAM 3.87252 -11.0053 52.151 0.440796 0.743954 -0.0314036 0.501244 +TTool-pose None 37.679 -16.3384 10.3262 -0.186275 -0.26941 -0.66327 0.672892 +#72810 1721123053538 +SLAM 3.86713 -11.0461 52.1287 0.442281 0.743671 -0.0321025 0.50031 +TTool-pose None 37.6529 -16.3302 10.3761 -0.187444 -0.270565 -0.663441 0.671934 +#72811 1721123053571 +SLAM 3.75397 -11.0846 52.0991 0.442552 0.742888 -0.0308641 0.501311 +TTool-pose None 37.6149 -16.3323 10.3406 -0.187345 -0.269152 -0.664463 0.67152 +#72812 1721123053605 +SLAM 3.80274 -10.9433 52.1784 0.439069 0.743711 -0.0303516 0.503181 +TTool-pose None 37.6971 -16.3461 10.2518 -0.185202 -0.267088 -0.663328 0.674055 +#72813 1721123053641 +SLAM 3.94386 -10.8397 52.1856 0.439568 0.744006 -0.0323697 0.502182 +TTool-pose None 37.6794 -16.4037 10.2773 -0.186444 -0.268697 -0.662206 0.674177 +#72814 1721123053679 +SLAM 4.05076 -10.9538 52.1037 0.441367 0.744312 -0.0324 0.500144 +TTool-pose None 37.6267 -16.4227 10.2928 -0.186831 -0.270843 -0.662793 0.672633 +#72815 1721123053716 +SLAM 4.06118 -10.8044 52.1879 0.436965 0.745154 -0.0309584 0.50284 +TTool-pose None 37.7157 -16.4324 10.1699 -0.183761 -0.267658 -0.661886 0.67564 +#72816 1721123053753 +SLAM 3.75828 -11.0813 52.0114 0.442474 0.742361 -0.0293863 0.502249 +TTool-pose None 37.521 -16.4048 10.2223 -0.186773 -0.267747 -0.665452 0.671262 +#72817 1721123053787 +SLAM 3.81513 -11.0388 52.0244 0.442282 0.742778 -0.030297 0.501747 +TTool-pose None 37.533 -16.3987 10.2475 -0.186974 -0.268537 -0.664736 0.671599 +#72818 1721123053823 +SLAM 4.08408 -10.9128 52.106 0.438908 0.74518 -0.0311235 0.501097 +TTool-pose None 37.6529 -16.4092 10.2194 -0.184505 -0.269528 -0.662502 0.674088 +#72819 1721123053858 +SLAM 3.94181 -11.0175 52.06 0.441182 0.743845 -0.030548 0.501119 +TTool-pose None 37.5902 -16.4076 10.245 -0.185937 -0.269301 -0.663964 0.672344 +#72820 1721123053890 +SLAM 3.78873 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1721123054095 +SLAM 4.08848 -11.0332 52.063 0.440597 0.745055 -0.0308437 0.499816 +TTool-pose None 37.6272 -16.4034 10.2561 -0.18499 -0.270784 -0.663326 0.67264 +#72827 1721123054129 +SLAM 4.19714 -10.9941 52.0896 0.439472 0.74596 -0.0311619 0.499437 +TTool-pose None 37.6703 -16.4103 10.2464 -0.184112 -0.271297 -0.662532 0.673456 +#72828 1721123054162 +SLAM 4.07072 -10.8558 52.1415 0.437946 0.745248 -0.0310894 0.501839 +TTool-pose None 37.6777 -16.4128 10.2066 -0.184105 -0.268745 -0.662152 0.674854 +#72829 1721123054193 +SLAM 4.08875 -10.864 52.1397 0.436949 0.745664 -0.0303436 0.502136 +TTool-pose None 37.6953 -16.403 10.1707 -0.182963 -0.268241 -0.66216 0.675357 +#72830 1721123054228 +SLAM 3.99403 -10.9711 52.0836 0.439389 0.744626 -0.0301952 0.501555 +TTool-pose None 37.6305 -16.3973 10.2092 -0.184499 -0.268776 -0.663365 0.673541 +#72831 1721123054263 +SLAM 4.08049 -10.885 52.1162 0.438382 0.74529 -0.0311508 0.501392 +TTool-pose None 37.6617 -16.402 10.2136 -0.18426 -0.269231 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10.1263 -0.182327 -0.266342 -0.662914 0.67554 +#72838 1721123054480 +SLAM 3.89283 -10.9621 52.0848 0.438785 0.744135 -0.0292048 0.50287 +TTool-pose None 37.6212 -16.3896 10.1737 -0.184036 -0.267111 -0.663849 0.673853 +#72839 1721123054510 +SLAM 3.95 -11.0006 52.0714 0.439487 0.744396 -0.0295728 0.501849 +TTool-pose None 37.6196 -16.3925 10.1986 -0.184309 -0.268289 -0.663832 0.673327 +#72840 1721123054544 +SLAM 3.92589 -10.8756 52.1282 0.436876 0.744653 -0.0291065 0.50377 +TTool-pose None 37.6648 -16.3935 10.1339 -0.182923 -0.266158 -0.663096 0.675273 +#72841 1721123054574 +SLAM 3.91782 -10.9951 52.0711 0.439496 0.744166 -0.0294756 0.502186 +TTool-pose None 37.6136 -16.3906 10.1931 -0.184427 -0.267902 -0.66394 0.673342 +#72842 1721123054604 +SLAM 3.88926 -10.9465 52.0979 0.439115 0.743938 -0.0295537 0.502852 +TTool-pose None 37.6209 -16.4047 10.1875 -0.184526 -0.267219 -0.663795 0.67373 +#72843 1721123054640 +SLAM 3.97096 -10.9301 52.1026 0.438006 0.744802 -0.0296261 0.502537 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0.744618 -0.0289088 0.503048 +TTool-pose None 37.6429 -16.3764 10.1558 -0.183129 -0.266858 -0.663563 0.674482 +#72850 1721123054874 +SLAM 3.88158 -11.0492 52.0361 0.43997 0.744047 -0.0289372 0.501979 +TTool-pose None 37.5874 -16.3705 10.1995 -0.184332 -0.267966 -0.664473 0.672817 +#72851 1721123054907 +SLAM 3.86268 -10.9394 52.0892 0.437207 0.744407 -0.0281605 0.503899 +TTool-pose None 37.6358 -16.3704 10.1259 -0.182615 -0.265753 -0.663853 0.674773 +#72852 1721123054939 +SLAM 4.01108 -10.9699 52.0754 0.439343 0.744942 -0.0304878 0.501109 +TTool-pose None 37.6289 -16.3736 10.233 -0.184427 -0.269332 -0.663104 0.673595 +#72853 1721123054971 +SLAM 3.8784 -10.9874 52.0711 0.438377 0.744312 -0.0285581 0.503 +TTool-pose None 37.6212 -16.3701 10.1605 -0.183343 -0.266801 -0.664063 0.673954 +#72854 1721123055005 +SLAM 3.86772 -10.9714 52.0796 0.437738 0.744379 -0.028234 0.503476 +TTool-pose None 37.6314 -16.367 10.14 -0.182865 -0.266215 -0.664011 0.674366 +#72855 1721123055041 +SLAM 3.92588 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1721123055244 +SLAM 3.90832 -10.9228 52.1023 0.436625 0.744881 -0.0283429 0.503695 +TTool-pose None 37.6589 -16.3629 10.1267 -0.182168 -0.266032 -0.66343 0.675199 +#72862 1721123055274 +SLAM 3.91728 -10.9599 52.1121 0.440751 0.743809 -0.0307811 0.501537 +TTool-pose None 37.6143 -16.4203 10.2756 -0.185971 -0.268928 -0.663668 0.672777 +#72863 1721123055304 +SLAM 3.91673 -10.9779 52.0728 0.438069 0.744687 -0.0287602 0.502702 +TTool-pose None 37.631 -16.3624 10.1655 -0.183078 -0.267182 -0.663749 0.674184 +#72864 1721123055336 +SLAM 3.92084 -11.0183 52.0543 0.438732 0.744653 -0.0288065 0.502172 +TTool-pose None 37.6193 -16.3562 10.1819 -0.183359 -0.267748 -0.663974 0.673661 +#72865 1721123055370 +SLAM 3.94026 -10.9881 52.0706 0.438385 0.744827 -0.0290204 0.502205 +TTool-pose None 37.6305 -16.362 10.1863 -0.183245 -0.267779 -0.663679 0.673971 +#72866 1721123055401 +SLAM 3.9714 -11.015 52.0641 0.438402 0.745078 -0.0288591 0.501826 +TTool-pose None 37.6368 -16.3611 10.1852 -0.182951 -0.268138 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10.1134 -0.181695 -0.265534 -0.664802 0.674173 +#72873 1721123055621 +SLAM 3.80021 -11.0489 52.0389 0.438046 0.744175 -0.0270435 0.503575 +TTool-pose None 37.6036 -16.342 10.1331 -0.182356 -0.265775 -0.664901 0.673801 +#72874 1721123055653 +SLAM 3.86536 -11.0105 52.062 0.437047 0.744804 -0.0272473 0.503502 +TTool-pose None 37.6362 -16.3414 10.1238 -0.181661 -0.265928 -0.664279 0.674541 +#72875 1721123055687 +SLAM 3.63781 -11.1227 51.9912 0.439374 0.742914 -0.025996 0.504334 +TTool-pose None 37.5415 -16.3325 10.1257 -0.183104 -0.264647 -0.666287 0.672673 +#72876 1721123055722 +SLAM 3.83782 -11.0087 52.0602 0.43677 0.744716 -0.026964 0.503888 +TTool-pose None 37.6354 -16.3325 10.1107 -0.181452 -0.265442 -0.664367 0.674702 +#72877 1721123055761 +SLAM 3.82899 -10.9966 52.0624 0.436737 0.74464 -0.0270122 0.504027 +TTool-pose None 37.6324 -16.3347 10.1103 -0.181531 -0.265307 -0.66434 0.674761 +#72878 1721123055797 +SLAM 3.85585 -11.01 52.0702 0.436089 0.745001 -0.0265001 0.504082 +TTool-pose None 37.6551 -16.3341 10.0901 -0.180699 -0.265117 -0.664343 0.675056 +#72879 1721123055833 +SLAM 3.63841 -11.1249 51.9941 0.438481 0.7432 -0.0253612 0.504722 +TTool-pose None 37.558 -16.3205 10.0981 -0.182168 -0.264072 -0.666289 0.67315 +#72880 1721123055865 +SLAM 3.83006 -10.9482 52.0926 0.434572 0.745123 -0.0260146 0.505235 +TTool-pose None 37.6735 -16.3284 10.049 -0.179771 -0.263775 -0.664048 0.676119 +#72881 1721123055897 +SLAM 3.87474 -10.9437 52.0948 0.434405 0.745473 -0.026244 0.50485 +TTool-pose None 37.6833 -16.327 10.0546 -0.179592 -0.264252 -0.663776 0.676247 +#72882 1721123055930 +SLAM 3.69947 -11.1103 52.008 0.438482 0.743571 -0.0259564 0.504145 +TTool-pose None 37.5745 -16.3267 10.1166 -0.182267 -0.264856 -0.665851 0.673248 +#72883 1721123055962 +SLAM 3.63981 -11.1359 51.9884 0.438272 0.743296 -0.0250669 0.504777 +TTool-pose None 37.5595 -16.3158 10.0874 -0.181832 -0.263936 -0.666373 0.673211 +#72884 1721123055997 +SLAM 3.83146 -10.9998 52.065 0.436077 0.744855 -0.0265038 0.504307 +TTool-pose None 37.6451 -16.3283 10.0887 -0.180811 -0.264878 -0.664365 0.675099 +#72885 1721123056031 +SLAM 3.90605 -10.9714 52.0867 0.435557 0.745438 -0.0269966 0.503868 +TTool-pose None 37.674 -16.3313 10.0974 -0.1805 -0.265492 -0.663752 0.675543 +#72886 1721123056064 +SLAM 3.82255 -11.0625 52.0447 0.43694 0.744679 -0.0262094 0.503835 +TTool-pose None 37.6312 -16.3312 10.1003 -0.18105 -0.265286 -0.664904 0.674343 +#72887 1721123056101 +SLAM 3.83794 -11.023 52.0563 0.436698 0.74477 -0.0266534 0.503887 +TTool-pose None 37.6355 -16.3336 10.1052 -0.181184 -0.265358 -0.664521 0.674656 +#72888 1721123056134 +SLAM 3.84162 -11.0169 52.0615 0.436414 0.744867 -0.0265649 0.503995 +TTool-pose None 37.6429 -16.3316 10.0995 -0.180956 -0.265223 -0.664451 0.674839 +#72889 1721123056167 +SLAM 3.89891 -11.0311 52.0574 0.436801 0.745179 -0.0270224 0.503174 +TTool-pose None 37.6465 -16.3345 10.1216 -0.181141 -0.266221 -0.664252 0.674592 +#72890 1721123056198 +SLAM 3.92065 -11.0325 52.0587 0.436106 0.745543 -0.026608 0.503258 +TTool-pose None 37.6604 -16.3281 10.104 -0.180354 -0.266027 -0.664177 0.674954 +#72891 1721123056231 +SLAM 3.69655 -11.1365 51.9954 0.438474 0.743629 -0.0254845 0.50409 +TTool-pose None 37.5685 -16.3257 10.1099 -0.181914 -0.264783 -0.666128 0.673099 +#72892 1721123056265 +SLAM 3.85282 -11.0093 52.066 0.435562 0.745195 -0.0261331 0.504269 +TTool-pose None 37.6584 -16.3218 10.078 -0.180131 -0.264824 -0.664333 0.675332 +#72893 1721123056298 +SLAM 3.97907 -11.0176 52.0733 0.435479 0.74607 -0.026726 0.503013 +TTool-pose None 37.6863 -16.3279 10.1001 -0.179808 -0.266332 -0.663766 0.675383 +#72894 1721123056329 +SLAM 3.92302 -10.9648 52.0896 0.434043 0.745988 -0.0260287 0.504411 +TTool-pose None 37.6974 -16.3177 10.052 -0.178929 -0.264667 -0.663672 0.676363 +#72895 1721123056362 +SLAM 3.85578 -11.0067 52.0665 0.434692 0.745457 -0.0255501 0.504662 +TTool-pose None 37.671 -16.3123 10.0483 -0.179253 -0.264256 -0.664315 0.675806 +#72896 1721123056394 +SLAM 3.91963 -11.0423 52.0577 0.435931 0.745633 -0.0264099 0.503288 +TTool-pose None 37.6657 -16.3208 10.0993 -0.180096 -0.265944 -0.664216 0.675017 +#72897 1721123056426 +SLAM 3.94161 -11.0156 52.0722 0.435385 0.745874 -0.0264874 0.503399 +TTool-pose None 37.6809 -16.3222 10.0936 -0.179774 -0.265856 -0.663916 0.675432 +#72898 1721123056460 +SLAM 3.74669 -11.0345 52.0695 0.435458 0.744561 -0.0248865 0.505357 +TTool-pose None 37.649 -16.3294 10.0537 -0.179778 -0.263316 -0.665185 0.675178 +#72899 1721123056492 +SLAM 3.9355 -11.0353 52.0702 0.435305 0.745935 -0.0261614 0.503394 +TTool-pose None 37.6849 -16.3166 10.0915 -0.179487 -0.265772 -0.664075 0.675385 +#72900 1721123056525 +SLAM 3.88354 -10.9823 52.0893 0.434171 0.745821 -0.0257368 0.504564 +TTool-pose None 37.6944 -16.3086 10.0602 -0.178914 -0.264421 -0.663933 0.676207 +#72901 1721123056556 +SLAM 4.00104 -11.1007 52.0463 0.436294 0.74635 -0.0265434 0.5019 +TTool-pose None 37.6802 -16.3068 10.1364 -0.179749 -0.267456 -0.664128 0.674598 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10.1574 -0.177878 -0.26998 -0.662192 0.675991 +#72914 1721123056993 +SLAM 4.27813 -11.0448 52.1081 0.432968 0.74895 -0.0263718 0.500916 +TTool-pose None 37.8012 -16.314 10.0983 -0.176481 -0.268505 -0.662471 0.67667 +#72915 1721123057026 +SLAM 4.30438 -11.0427 52.0977 0.434309 0.74883 -0.0277831 0.499858 +TTool-pose None 37.7814 -16.309 10.1584 -0.177945 -0.270004 -0.662127 0.676027 +#72916 1721123057061 +SLAM 3.93553 -11.1847 52.017 0.435242 0.746407 -0.0240626 0.502854 +TTool-pose None 37.68 -16.29 10.0664 -0.177738 -0.265764 -0.665251 0.674693 +#72917 1721123057094 +SLAM 4.21933 -11.0062 52.1171 0.433162 0.748455 -0.0268306 0.501464 +TTool-pose None 37.7895 -16.3085 10.1064 -0.177231 -0.268046 -0.66236 0.676765 +#72918 1721123057127 +SLAM 4.21991 -10.9257 52.1557 0.430476 0.749001 -0.025884 0.503009 +TTool-pose None 37.837 -16.2987 10.0327 -0.175273 -0.266169 -0.661823 0.678539 +#72919 1721123057160 +SLAM 4.24658 -10.9448 52.1473 0.430649 0.749178 -0.0259281 0.502596 +TTool-pose None 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0.501028 +TTool-pose None 37.7966 -16.3037 10.1054 -0.176838 -0.268512 -0.662201 0.676839 +#72926 1721123057398 +SLAM 4.17391 -11.087 52.0685 0.43518 0.747816 -0.0270158 0.500659 +TTool-pose None 37.737 -16.3039 10.1457 -0.178535 -0.268927 -0.663129 0.675318 +#72927 1721123057431 +SLAM 4.03692 -11.1324 52.0358 0.434999 0.747113 -0.0254116 0.501949 +TTool-pose None 37.7035 -16.2833 10.1007 -0.177982 -0.267109 -0.66419 0.675142 +#72928 1721123057466 +SLAM 4.22769 -10.9752 52.1256 0.431453 0.748921 -0.0260577 0.502281 +TTool-pose None 37.8145 -16.2921 10.0538 -0.175782 -0.266982 -0.662101 0.677816 +#72929 1721123057498 +SLAM 4.27127 -10.9947 52.1113 0.43215 0.749097 -0.0266103 0.50139 +TTool-pose None 37.8054 -16.2916 10.0835 -0.176242 -0.268076 -0.661988 0.677375 +#72930 1721123057530 +SLAM 4.24757 -11.0542 52.0921 0.434217 0.748493 -0.0271892 0.500474 +TTool-pose None 37.7722 -16.3058 10.1385 -0.177792 -0.269185 -0.662526 0.676002 +#72931 1721123057564 +SLAM 3.99628 -11.1311 52.0404 0.435368 0.746676 -0.0253843 0.50228 +TTool-pose None 37.6947 -16.2946 10.1007 -0.178429 -0.266744 -0.664432 0.674932 +#72932 1721123057598 +SLAM 4.18448 -10.9602 52.1285 0.431383 0.748614 -0.0259051 0.502806 +TTool-pose None 37.8064 -16.2939 10.0454 -0.175898 -0.266381 -0.662229 0.677897 +#72933 1721123057632 +SLAM 4.17295 -11.0183 52.1063 0.432286 0.748394 -0.0256387 0.502372 +TTool-pose None 37.7876 -16.2995 10.0566 -0.176206 -0.266759 -0.662778 0.677132 +#72934 1721123057667 +SLAM 4.1808 -11.0239 52.091 0.435056 0.747741 -0.0278555 0.500833 +TTool-pose None 37.7423 -16.3107 10.1576 -0.179095 -0.268976 -0.662579 0.67569 +#72935 1721123057701 +SLAM 4.06841 -11.0371 52.096 0.434348 0.747153 -0.0262852 0.502409 +TTool-pose None 37.7393 -16.3149 10.1026 -0.178295 -0.266872 -0.6634 0.67593 +#72936 1721123057737 +SLAM 4.07488 -11.0659 52.0719 0.435636 0.746923 -0.0269611 0.501598 +TTool-pose None 37.7117 -16.3143 10.1389 -0.179351 -0.267904 -0.663511 0.675133 +#72937 1721123057773 +SLAM 4.11569 -11.081 52.0645 0.436626 0.746947 -0.0277541 0.500658 +TTool-pose None 37.7022 -16.3224 10.1772 -0.180181 -0.26911 -0.663387 0.674554 +#72938 1721123057805 +SLAM 4.03051 -11.1225 52.0518 0.436628 0.746418 -0.0265035 0.501511 +TTool-pose None 37.6869 -16.3266 10.1437 -0.179784 -0.267854 -0.664264 0.674297 +#72939 1721123057837 +SLAM 4.27773 -11.1198 52.0825 0.43882 0.747413 -0.0297539 0.49792 +TTool-pose None 37.7178 -16.366 10.2846 -0.181849 -0.272536 -0.662871 0.673237 +#72940 1721123057870 +SLAM 4.34306 -11.0261 52.1049 0.434422 0.748901 -0.0282033 0.499629 +TTool-pose None 37.7862 -16.3265 10.1592 -0.178199 -0.270362 -0.661895 0.676044 +#72941 1721123057902 +SLAM 4.39951 -11.0117 52.1207 0.433497 0.749462 -0.028008 0.499602 +TTool-pose None 37.8165 -16.3288 10.1402 -0.17732 -0.270349 -0.661556 0.676612 +#72942 1721123057936 +SLAM 4.46579 -11.0328 52.1216 0.432629 0.750182 -0.0273941 0.499308 +TTool-pose None 37.8438 -16.3266 10.1191 -0.176065 -0.270502 -0.661465 0.676968 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0.743819 -0.0264172 0.506465 +TTool-pose None 37.6327 -16.3274 10.0628 -0.181307 -0.262556 -0.664344 0.675892 +#72967 1721123058758 +SLAM 3.91752 -10.94 52.1159 0.437557 0.7449 -0.0293329 0.502799 +TTool-pose None 37.6703 -16.3437 10.1911 -0.183109 -0.267245 -0.663162 0.674728 +#72968 1721123058794 +SLAM 3.66233 -10.9357 52.0656 0.439063 0.742795 -0.0288473 0.504626 +TTool-pose None 37.5686 -16.3355 10.1794 -0.184937 -0.265129 -0.664434 0.673813 +#72969 1721123058827 +SLAM 3.79564 -10.9476 52.1091 0.436642 0.744327 -0.027794 0.504528 +TTool-pose None 37.6624 -16.3308 10.1257 -0.182247 -0.264989 -0.663883 0.675143 +#72970 1721123058861 +SLAM 3.6169 -11.1293 52.0052 0.439537 0.742815 -0.0260341 0.504336 +TTool-pose None 37.5508 -16.3286 10.1434 -0.183261 -0.264652 -0.666343 0.672572 +#72971 1721123058892 +SLAM 3.93723 -10.9798 52.1026 0.434844 0.745975 -0.0267737 0.503701 +TTool-pose None 37.7071 -16.3134 10.0989 -0.179696 -0.26562 -0.663517 0.675938 +#72972 1721123058926 +SLAM 4.12987 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None 37.7245 -16.4085 10.2417 -0.18386 -0.269956 -0.661169 0.675401 +#72996 1721123059718 +SLAM 3.98884 -10.9082 52.1124 0.438718 0.744776 -0.0307045 0.501888 +TTool-pose None 37.6481 -16.3849 10.2228 -0.184484 -0.268572 -0.66277 0.674211 +#72997 1721123059750 +SLAM 3.94403 -10.978 52.0834 0.441077 0.7439 -0.0312388 0.501087 +TTool-pose None 37.6038 -16.399 10.2705 -0.186305 -0.269526 -0.663487 0.672623 +#72998 1721123059784 +SLAM 3.88735 -11.1304 52.0339 0.443869 0.743038 -0.0310223 0.499913 +TTool-pose None 37.5592 -16.4012 10.3174 -0.187771 -0.270657 -0.664821 0.670441 +#72999 1721123059817 +SLAM 3.64239 -11.0919 51.9869 0.445893 0.740796 -0.0313653 0.501416 +TTool-pose None 37.4438 -16.4005 10.3356 -0.190408 -0.269094 -0.66579 0.669364 +#73000 1721123059850 +SLAM 3.70437 -10.9226 52.0585 0.443921 0.74134 -0.0326452 0.502278 +TTool-pose None 37.4958 -16.4093 10.3209 -0.190153 -0.268572 -0.664165 0.671257 +#73001 1721123059883 +SLAM 3.47051 -10.9986 52.0559 0.445135 0.739516 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51.9701 0.444835 0.734253 -0.0267041 0.512135 +TTool-pose None 37.2826 -16.3588 10.126 -0.192065 -0.256314 -0.669504 0.670201 +#73008 1721123060126 +SLAM 2.50889 -10.9414 51.9208 0.448192 0.732099 -0.0279681 0.512224 +TTool-pose None 37.1715 -16.3733 10.1963 -0.195661 -0.256463 -0.670361 0.668244 +#73009 1721123060159 +SLAM 2.5438 -11.0582 51.8637 0.451819 0.731631 -0.0294599 0.509615 +TTool-pose None 37.1144 -16.37 10.3026 -0.1982 -0.259571 -0.670865 0.665786 +#73010 1721123060196 +SLAM 2.46255 -11.0378 51.874 0.45227 0.730896 -0.0296223 0.510259 +TTool-pose None 37.1027 -16.373 10.3116 -0.199017 -0.258902 -0.671063 0.665603 +#73011 1721123060229 +SLAM 2.53193 -11.0618 51.8512 0.453786 0.731083 -0.0310071 0.508561 +TTool-pose None 37.0808 -16.3646 10.3782 -0.200275 -0.261061 -0.670729 0.664719 +#73012 1721123060270 +SLAM 2.47346 -11.0472 51.8771 0.449861 0.731727 -0.0278589 0.511297 +TTool-pose None 37.1432 -16.3486 10.2309 -0.196436 -0.25738 -0.671115 0.666907 +#73013 1721123060309 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0.719937 -0.0548692 0.503977 +TTool-pose None 37.0177 -16.4816 11.509 -0.230579 -0.271305 -0.665002 0.656499 +#73113 1721123063744 +SLAM 1.74807 -10.3488 52.3516 0.471045 0.720013 -0.0513513 0.507012 +TTool-pose None 37.0251 -16.4161 11.3763 -0.227348 -0.267295 -0.666175 0.658079 +#73114 1721123063774 +SLAM 1.42606 -10.527 52.2601 0.46884 0.719448 -0.0458149 0.510378 +TTool-pose None 37.0031 -16.3196 11.2221 -0.223546 -0.262332 -0.668982 0.658531 +#73115 1721123063807 +SLAM 1.14141 -10.4628 52.2353 0.46428 0.719304 -0.042099 0.515048 +TTool-pose None 37.0108 -16.22 11.0691 -0.219791 -0.256515 -0.669697 0.661354 +#73116 1721123063841 +SLAM 1.08175 -10.5027 52.1922 0.460189 0.720699 -0.0387253 0.517029 +TTool-pose None 37.0417 -16.1273 10.9425 -0.215227 -0.253663 -0.670081 0.663562 +#73117 1721123063877 +SLAM 0.748815 -10.6645 52.1539 0.45719 0.720095 -0.0329456 0.520917 +TTool-pose None 37.0713 -16.0409 10.7945 -0.210957 -0.247993 -0.672669 0.664457 +#73118 1721123063911 +SLAM 0.843898 -10.6156 52.1777 0.458451 0.720634 -0.0355963 0.518886 +TTool-pose None 37.0759 -16.0118 10.9167 -0.212686 -0.250876 -0.671401 0.664107 +#73119 1721123063944 +SLAM 1.14188 -10.7038 52.2308 0.456955 0.723671 -0.0356894 0.515964 +TTool-pose None 37.1914 -15.9849 10.965 -0.209965 -0.254163 -0.670284 0.66485 +#73120 1721123063979 +SLAM 1.58702 -10.6086 52.3575 0.451588 0.728259 -0.036184 0.514197 +TTool-pose None 37.3868 -15.9723 10.9396 -0.205019 -0.256441 -0.667206 0.668605 +#73121 1721123064014 +SLAM 1.66687 -10.7707 52.3117 0.455429 0.728474 -0.0380096 0.510358 +TTool-pose None 37.3564 -15.9248 11.1034 -0.207314 -0.260945 -0.667445 0.665911 +#73122 1721123064047 +SLAM 1.80715 -10.6925 52.355 0.453234 0.730362 -0.0386552 0.509565 +TTool-pose None 37.4146 -15.8838 11.1408 -0.205561 -0.262063 -0.665901 0.667559 +#73123 1721123064081 +SLAM 1.86226 -10.6899 52.4563 0.448196 0.732433 -0.035986 0.51124 +TTool-pose None 37.5785 -15.8442 11.0446 -0.20058 -0.259713 -0.665333 0.670552 +#73124 1721123064115 +SLAM 1.86877 -10.7999 52.4093 0.448101 0.732953 -0.0346449 0.510672 +TTool-pose None 37.5708 -15.8089 11.0326 -0.19929 -0.259969 -0.666039 0.670137 +#73125 1721123064149 +SLAM 2.05954 -10.537 52.5529 0.441578 0.735528 -0.0346404 0.512647 +TTool-pose None 37.7294 -15.8096 10.9331 -0.19511 -0.258021 -0.66314 0.674976 +#73126 1721123064184 +SLAM 2.23028 -10.7847 52.5212 0.442903 0.736746 -0.0333429 0.509834 +TTool-pose None 37.7677 -15.8193 10.9496 -0.193796 -0.260673 -0.664222 0.673271 +#73127 1721123064219 +SLAM 2.24738 -10.8334 52.4769 0.44429 0.736719 -0.0341246 0.508614 +TTool-pose None 37.7332 -15.7887 10.9935 -0.19479 -0.262163 -0.664258 0.672368 +#73128 1721123064255 +SLAM 2.36989 -10.66 52.5625 0.439381 0.738547 -0.0335304 0.510264 +TTool-pose None 37.8368 -15.7864 10.9006 -0.191338 -0.260347 -0.662453 0.675838 +#73129 1721123064291 +SLAM 2.40083 -10.7855 52.5382 0.441586 0.73846 -0.0339197 0.508456 +TTool-pose None 37.8274 -15.7795 10.9642 -0.192406 -0.262348 -0.663054 0.674169 +#73130 1721123064325 +SLAM 2.33614 -10.8452 52.5017 0.44472 0.737374 -0.0350568 0.507223 +TTool-pose None 37.7623 -15.7823 11.0555 -0.195032 -0.263901 -0.663717 0.672153 +#73131 1721123064361 +SLAM 2.32592 -10.8103 52.5243 0.44391 0.737598 -0.0350461 0.507607 +TTool-pose None 37.783 -15.7673 11.0578 -0.194581 -0.263506 -0.663381 0.67277 +#73132 1721123064395 +SLAM 2.63794 -10.775 52.5803 0.440499 0.740577 -0.0351505 0.506232 +TTool-pose None 37.9065 -15.7531 11.0209 -0.191201 -0.265096 -0.661485 0.674977 +#73133 1721123064429 +SLAM 2.64636 -10.7922 52.6135 0.440626 0.740738 -0.0351981 0.505882 +TTool-pose None 37.9372 -15.7551 11.0548 -0.191151 -0.265481 -0.661472 0.674853 +#73134 1721123064462 +SLAM 2.61439 -10.846 52.6118 0.441277 0.740791 -0.0353861 0.505225 +TTool-pose None 37.9451 -15.7087 11.1084 -0.191451 -0.266223 -0.661588 0.674362 +#73135 1721123064494 +SLAM 2.53621 -10.8909 52.6071 0.441798 0.740617 -0.0353578 0.505025 +TTool-pose None 37.9447 -15.6538 11.1572 -0.191744 -0.266417 -0.661833 0.673962 +#73136 1721123064527 +SLAM 2.3565 -10.8614 52.6279 0.439911 0.740327 -0.0339074 0.507192 +TTool-pose None 37.9655 -15.5876 11.1289 -0.190394 -0.263742 -0.662086 0.675148 +#73137 1721123064561 +SLAM 2.1845 -10.9839 52.6145 0.440964 0.739525 -0.0326937 0.507528 +TTool-pose None 37.9612 -15.5341 11.1642 -0.190587 -0.263028 -0.663384 0.674096 +#73138 1721123064597 +SLAM 2.16821 -10.9969 52.6304 0.442455 0.739225 -0.0340111 0.50658 +TTool-pose None 37.963 -15.5136 11.2454 -0.192172 -0.264368 -0.663178 0.673324 +#73139 1721123064633 +SLAM 2.22668 -10.9188 52.6545 0.44252 0.739431 -0.0354669 0.506123 +TTool-pose None 37.9683 -15.521 11.2794 -0.192972 -0.265251 -0.662258 0.673653 +#73140 1721123064667 +SLAM 2.03884 -10.9845 52.642 0.443761 0.737949 -0.0342905 0.507279 +TTool-pose None 37.9365 -15.5303 11.2746 -0.193774 -0.263659 -0.66373 0.672598 +#73141 1721123064703 +SLAM 2.13864 -10.9767 52.6574 0.44454 0.738304 -0.0355813 0.50599 +TTool-pose None 37.9483 -15.5456 11.3181 -0.194594 -0.265373 -0.66315 0.67226 +#73142 1721123064739 +SLAM 2.03315 -10.8666 52.6634 0.444357 0.737409 -0.0359383 0.507429 +TTool-pose None 37.909 -15.5612 11.3108 -0.19545 -0.263927 -0.663027 0.672702 +#73143 1721123064776 +SLAM 2.22299 -10.8865 52.6947 0.445375 0.738248 -0.0375747 0.505192 +TTool-pose None 37.9483 -15.592 11.3691 -0.196198 -0.266744 -0.662227 0.672161 +#73144 1721123064811 +SLAM 2.16919 -10.9597 52.6706 0.447654 0.737349 -0.0378594 0.504469 +TTool-pose None 37.9096 -15.6071 11.415 -0.197836 -0.26753 -0.663059 0.670546 +#73145 1721123064846 +SLAM 2.28803 -10.8546 52.7269 0.446297 0.73818 -0.0388107 0.504385 +TTool-pose None 37.9569 -15.6337 11.4125 -0.197352 -0.267915 -0.661808 0.67177 +#73146 1721123064887 +SLAM 2.30009 -10.9195 52.6966 0.447846 0.737975 -0.0393144 0.50327 +TTool-pose None 37.9327 -15.6247 11.4501 -0.19835 -0.2692 -0.662102 0.670672 +#73147 1721123064920 +SLAM 2.18454 -10.7613 52.7274 0.444783 0.737823 -0.0382529 0.506283 +TTool-pose None 37.9405 -15.6178 11.3653 -0.196761 -0.265769 -0.661665 0.672936 +#73148 1721123064959 +SLAM 2.28089 -10.9147 52.7054 0.447423 0.73793 -0.0388378 0.503749 +TTool-pose None 37.94 -15.6329 11.4325 -0.197938 -0.268571 -0.662253 0.670896 +#73149 1721123064995 +SLAM 2.21792 -10.9033 52.6944 0.446875 0.737717 -0.0381983 0.504597 +TTool-pose None 37.9278 -15.6204 11.4071 -0.197509 -0.267507 -0.662492 0.671212 +#73150 1721123065032 +SLAM 2.22835 -10.8695 52.7044 0.445631 0.738094 -0.037749 0.505179 +TTool-pose None 37.9437 -15.6165 11.3767 -0.196514 -0.266797 -0.662242 0.672033 +#73151 1721123065067 +SLAM 2.28709 -10.9049 52.6977 0.445068 0.738829 -0.0375655 0.504614 +TTool-pose None 37.9676 -15.5869 11.372 -0.195641 -0.26737 -0.662009 0.672289 +#73152 1721123065101 +SLAM 2.16203 -10.887 52.6927 0.443439 0.738574 -0.0359891 0.506532 +TTool-pose None 37.9683 -15.5563 11.3109 -0.194277 -0.264929 -0.662437 0.67323 +#73153 1721123065136 +SLAM 2.2643 -10.9154 52.6828 0.442339 0.739642 -0.0354429 0.505974 +TTool-pose None 37.9938 -15.5446 11.283 -0.192732 -0.265409 -0.662166 0.673751 +#73154 1721123065175 +SLAM 2.30221 -10.9509 52.6855 0.442037 0.740079 -0.0351 0.505623 +TTool-pose None 38.0153 -15.5369 11.2784 -0.192073 -0.265701 -0.662184 0.673806 +#73155 1721123065210 +SLAM 2.30467 -10.9599 52.6924 0.441942 0.740149 -0.034978 0.505611 +TTool-pose None 38.0257 -15.5359 11.2785 -0.191909 -0.265682 -0.662212 0.673833 +#73156 1721123065248 +SLAM 2.2515 -10.9323 52.6946 0.441643 0.739849 -0.034705 0.50633 +TTool-pose None 38.0157 -15.5374 11.2674 -0.191863 -0.264844 -0.662327 0.674063 +#73157 1721123065284 +SLAM 2.33877 -10.9745 52.6928 0.441516 0.740519 -0.034683 0.505462 +TTool-pose None 38.0395 -15.5338 11.2665 -0.19129 -0.265772 -0.662166 0.674018 +#73158 1721123065322 +SLAM 2.1298 -11.0491 52.6334 0.441264 0.73955 -0.0323899 0.50725 +TTool-pose None 37.9919 -15.4904 11.2094 -0.190474 -0.263236 -0.66368 0.673756 +#73159 1721123065360 +SLAM 2.20304 -11.0147 52.6494 0.440595 0.74016 -0.0329003 0.50691 +TTool-pose None 38.0151 -15.4856 11.2105 -0.190106 -0.263757 -0.662998 0.674327 +#73160 1721123065394 +SLAM 2.04661 -11.0604 52.6126 0.44004 0.739486 -0.0310216 0.50849 +TTool-pose None 37.9877 -15.4561 11.1573 -0.189224 -0.261558 -0.664082 0.674365 +#73161 1721123065429 +SLAM 2.04843 -11.0309 52.6254 0.439556 0.739584 -0.031074 0.508763 +TTool-pose None 37.9968 -15.4561 11.1521 -0.189018 -0.26129 -0.663849 0.674755 +#73162 1721123065463 +SLAM 2.12159 -10.9964 52.6492 0.439349 0.739992 -0.0317554 0.508306 +TTool-pose None 38.0172 -15.4709 11.1639 -0.189074 -0.261972 -0.663273 0.675042 +#73163 1721123065499 +SLAM 2.16556 -11.0712 52.6174 0.441424 0.739857 -0.0326302 0.506648 +TTool-pose None 37.9903 -15.4715 11.2189 -0.190447 -0.263945 -0.663532 0.673631 +#73164 1721123065533 +SLAM 2.08731 -11.0006 52.6372 0.440445 0.73939 -0.0321062 0.508212 +TTool-pose None 37.9874 -15.4884 11.181 -0.190136 -0.262144 -0.663579 0.674375 +#73165 1721123065566 +SLAM 2.03562 -10.9986 52.6109 0.441395 0.738737 -0.0324648 0.508314 +TTool-pose None 37.9477 -15.4891 11.1885 -0.191191 -0.262109 -0.663834 0.67384 +#73166 1721123065600 +SLAM 2.0674 -11.0467 52.5784 0.442436 0.738532 -0.032327 0.507717 +TTool-pose None 37.9172 -15.5221 11.1803 -0.191613 -0.262689 -0.664347 0.672989 +#73167 1721123065637 +SLAM 2.05597 -10.989 52.5293 0.443169 0.737922 -0.0328225 0.507933 +TTool-pose None 37.8394 -15.5575 11.1637 -0.192649 -0.262572 -0.664426 0.67266 +#73168 1721123065671 +SLAM 2.21698 -11.0322 52.4722 0.443973 0.738605 -0.0332686 0.506205 +TTool-pose None 37.8041 -15.587 11.1547 -0.192683 -0.264531 -0.664321 0.671987 +#73169 1721123065707 +SLAM 2.34402 -10.8642 52.5222 0.439834 0.740007 -0.0326187 0.507811 +TTool-pose None 37.8611 -15.6207 11.0421 -0.189784 -0.262729 -0.662917 0.674898 +#73170 1721123065743 +SLAM 2.30437 -10.8075 52.5097 0.438426 0.739823 -0.0314608 0.509367 +TTool-pose None 37.8397 -15.6485 10.9633 -0.188698 -0.260769 -0.66314 0.675743 +#73171 1721123065778 +SLAM 2.18474 -10.9192 52.4312 0.442843 0.738086 -0.0326663 0.507988 +TTool-pose None 37.7364 -15.6383 11.0565 -0.192313 -0.262479 -0.664371 0.672846 +#73172 1721123065816 +SLAM 2.22106 -10.8108 52.4624 0.438328 0.739233 -0.0307819 0.510349 +TTool-pose None 37.7952 -15.6346 10.9141 -0.188679 -0.259529 -0.663634 0.675741 +#73173 1721123065852 +SLAM 2.12431 -10.9832 52.3598 0.443838 0.737504 -0.0320634 0.508002 +TTool-pose None 37.6746 -15.6256 11.0356 -0.192707 -0.262273 -0.665224 0.671971 +#73174 1721123065890 +SLAM 2.11114 -10.7905 52.4679 0.435613 0.739157 -0.028138 0.51293 +TTool-pose None 37.8126 -15.6308 10.8013 -0.186094 -0.256074 -0.664254 0.677165 +#73175 1721123065929 +SLAM 2.11628 -10.8135 52.4372 0.440719 0.737882 -0.0316843 0.510189 +TTool-pose None 37.7277 -15.6507 10.9719 -0.191114 -0.259894 -0.664223 0.674336 +#73176 1721123065964 +SLAM 2.22596 -10.8836 52.3795 0.440138 0.738719 -0.030474 0.509553 +TTool-pose None 37.7116 -15.6648 10.9072 -0.189493 -0.260262 -0.6646 0.67428 +#73177 1721123066002 +SLAM 2.46 -10.5502 52.4933 0.436172 0.740345 -0.0326671 0.510466 +TTool-pose None 37.7867 -15.7354 10.8589 -0.188303 -0.259961 -0.661445 0.677823 +#73178 1721123066043 +SLAM 2.43184 -10.9106 52.252 0.443622 0.73873 -0.0325623 0.506377 +TTool-pose None 37.5705 -15.7411 10.9475 -0.192014 -0.264163 -0.664605 0.672042 +#73179 1721123066078 +SLAM 2.69548 -10.7782 52.2789 0.441505 0.740474 -0.033604 0.505611 +TTool-pose None 37.6057 -15.7966 10.9052 -0.190626 -0.26532 -0.662841 0.673721 +#73180 1721123066112 +SLAM 2.85944 -10.7111 52.2739 0.439958 0.741624 -0.0336653 0.505269 +TTool-pose None 37.6139 -15.8342 10.8551 -0.189254 -0.265739 -0.662007 0.674762 +#73181 1721123066146 +SLAM 2.83013 -10.667 52.2788 0.438065 0.741683 -0.0321429 0.506925 +TTool-pose None 37.6194 -15.8584 10.7666 -0.187584 -0.263588 -0.662232 0.67585 +#73182 1721123066183 +SLAM 2.81348 -10.6948 52.2354 0.439877 0.74113 -0.0330332 0.506106 +TTool-pose None 37.566 -15.8541 10.8055 -0.189201 -0.264671 -0.662464 0.674748 +#73183 1721123066217 +SLAM 2.76532 -10.6772 52.2483 0.438701 0.741082 -0.0320677 0.507257 +TTool-pose None 37.5812 -15.8518 10.7607 -0.188216 -0.263198 -0.662632 0.675435 +#73184 1721123066251 +SLAM 2.77323 -10.6202 52.27 0.437117 0.741504 -0.0317633 0.508027 +TTool-pose None 37.6071 -15.8418 10.7292 -0.187154 -0.262319 -0.662145 0.676548 +#73185 1721123066287 +SLAM 2.79728 -10.5938 52.2762 0.436399 0.741821 -0.0317446 0.508182 +TTool-pose None 37.6183 -15.8373 10.7156 -0.186652 -0.262161 -0.661826 0.677059 +#73186 1721123066321 +SLAM 2.85186 -10.6496 52.2752 0.436213 0.742355 -0.0313034 0.50759 +TTool-pose None 37.6435 -15.8309 10.71 -0.185892 -0.262681 -0.661929 0.676967 +#73187 1721123066359 +SLAM 3.03296 -10.4983 52.3364 0.435075 0.743478 -0.0334196 0.506788 +TTool-pose None 37.6903 -15.8604 10.7393 -0.186001 -0.264138 -0.659974 0.678278 +#73188 1721123066395 +SLAM 2.88318 -10.6323 52.2213 0.437233 0.742134 -0.0317466 0.507008 +TTool-pose None 37.5713 -15.8637 10.7166 -0.186697 -0.263407 -0.66208 0.676315 +#73189 1721123066433 +SLAM 3.08607 -10.6329 52.2006 0.438096 0.743043 -0.0330705 0.504842 +TTool-pose None 37.5601 -15.9062 10.7479 -0.187143 -0.266073 -0.661409 0.675805 +#73190 1721123066468 +SLAM 3.18588 -10.5172 52.231 0.435219 0.744143 -0.032742 0.505731 +TTool-pose None 37.6016 -15.9208 10.6754 -0.1851 -0.265083 -0.660321 0.677818 +#73191 1721123066503 +SLAM 3.09187 -10.763 52.0964 0.437832 0.74342 -0.0308422 0.504657 +TTool-pose None 37.5082 -15.8828 10.6716 -0.185324 -0.265668 -0.662619 0.67528 +#73192 1721123066538 +SLAM 3.43119 -10.4821 52.2668 0.434223 0.74601 -0.0340758 0.503744 +TTool-pose None 37.6699 -15.9234 10.71 -0.184172 -0.267586 -0.658755 0.67861 +#73193 1721123066572 +SLAM 3.32192 -10.4571 52.2767 0.433026 0.745768 -0.0331102 0.505195 +TTool-pose None 37.6755 -15.8911 10.6821 -0.183329 -0.265791 -0.658951 0.679353 +#73194 1721123066607 +SLAM 3.14636 -10.5566 52.2108 0.434685 0.744483 -0.0319086 0.505743 +TTool-pose None 37.5988 -15.8717 10.6844 -0.184117 -0.264852 -0.660571 0.677932 +#73195 1721123066643 +SLAM 3.10784 -10.7061 52.1417 0.439134 0.743409 -0.0332662 0.503386 +TTool-pose None 37.5208 -15.86 10.7997 -0.187338 -0.267664 -0.661604 0.674931 +#73196 1721123066677 +SLAM 3.16497 -10.6748 52.1483 0.438973 0.743819 -0.0339943 0.502872 +TTool-pose None 37.5288 -15.8552 10.8184 -0.187434 -0.268414 -0.661012 0.675187 +#73197 1721123066711 +SLAM 3.12944 -10.6973 52.1543 0.434992 0.744723 -0.0303122 0.505224 +TTool-pose None 37.5847 -15.837 10.666 -0.183006 -0.264965 -0.661629 0.677156 +#73198 1721123066745 +SLAM 3.26948 -10.541 52.2399 0.432637 0.745975 -0.0316427 0.505317 +TTool-pose None 37.667 -15.8453 10.6665 -0.182089 -0.265265 -0.659675 0.67919 +#73199 1721123066779 +SLAM 3.1726 -10.5175 52.2391 0.431148 0.745652 -0.0300063 0.507163 +TTool-pose None 37.6623 -15.8464 10.5943 -0.18077 -0.262861 -0.660186 0.67998 +#73200 1721123066816 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0.675835 +#73206 1721123067017 +SLAM 3.23094 -10.5102 52.2535 0.431317 0.745984 -0.0306783 0.50649 +TTool-pose None 37.6795 -15.8491 10.6187 -0.181005 -0.263764 -0.65977 0.679971 +#73207 1721123067052 +SLAM 3.18452 -10.5628 52.2257 0.432191 0.745584 -0.0304056 0.50635 +TTool-pose None 37.6533 -15.8395 10.627 -0.181439 -0.263828 -0.660348 0.679269 +#73208 1721123067083 +SLAM 3.22797 -10.5051 52.2525 0.430945 0.746072 -0.0304886 0.506688 +TTool-pose None 37.6827 -15.8427 10.6071 -0.180686 -0.263505 -0.65973 0.680196 +#73209 1721123067116 +SLAM 3.46292 -10.2383 52.3826 0.426863 0.748107 -0.0324036 0.507025 +TTool-pose None 37.8085 -15.8687 10.5874 -0.178934 -0.263709 -0.656593 0.683607 +#73210 1721123067150 +SLAM 3.40903 -10.4238 52.305 0.429542 0.747463 -0.0316921 0.505755 +TTool-pose None 37.75 -15.8523 10.6205 -0.179902 -0.264848 -0.658181 0.681381 +#73211 1721123067187 +SLAM 3.09486 -10.7421 52.1323 0.438324 0.743757 -0.032189 0.503647 +TTool-pose None 37.5317 -15.8389 10.7766 -0.186099 -0.267107 -0.661903 0.675201 +#73212 1721123067223 +SLAM 3.12401 -10.5551 52.2304 0.431326 0.74541 -0.0294315 0.5074 +TTool-pose None 37.657 -15.8362 10.5902 -0.180646 -0.262446 -0.660655 0.679717 +#73213 1721123067254 +SLAM 3.12887 -10.6148 52.2013 0.43245 0.745293 -0.0295392 0.506609 +TTool-pose None 37.6348 -15.8306 10.6143 -0.181193 -0.263309 -0.661038 0.678865 +#73214 1721123067286 +SLAM 3.27356 -10.4792 52.265 0.430322 0.746528 -0.0306941 0.506534 +TTool-pose None 37.7013 -15.8388 10.6069 -0.180251 -0.263733 -0.659278 0.68066 +#73215 1721123067316 +SLAM 3.25681 -10.5501 52.2415 0.430391 0.746553 -0.0297228 0.506496 +TTool-pose None 37.6978 -15.8282 10.587 -0.179628 -0.263506 -0.6599 0.68031 +#73216 1721123067346 +SLAM 3.16542 -10.6102 52.2042 0.43194 0.745672 -0.0294771 0.50649 +TTool-pose None 37.6486 -15.8261 10.6048 -0.180685 -0.263425 -0.66081 0.679177 +#73217 1721123067378 +SLAM 3.20289 -10.6175 52.1955 0.432439 0.74582 -0.0299972 0.505816 +TTool-pose None 37.6419 -15.8256 10.6268 -0.181079 -0.264284 -0.660649 0.678895 +#73218 1721123067410 +SLAM 3.24379 -10.5027 52.26 0.430049 0.746449 -0.0299759 0.506925 +TTool-pose None 37.7025 -15.8354 10.5859 -0.179754 -0.26312 -0.659633 0.680685 +#73219 1721123067441 +SLAM 3.2607 -10.4294 52.2889 0.429031 0.746679 -0.0303037 0.507429 +TTool-pose None 37.7233 -15.8385 10.5746 -0.179436 -0.262682 -0.658998 0.681552 +#73220 1721123067472 +SLAM 3.1766 -10.6385 52.1878 0.432755 0.745601 -0.0297911 0.50588 +TTool-pose None 37.6333 -15.8249 10.6271 -0.181224 -0.264154 -0.660938 0.678626 +#73221 1721123067503 +SLAM 3.18941 -10.6402 52.1885 0.43313 0.745582 -0.0301075 0.505568 +TTool-pose None 37.6305 -15.8297 10.6423 -0.181571 -0.264569 -0.660888 0.67842 +#73222 1721123067534 +SLAM 3.24687 -10.4774 52.2672 0.429947 0.74645 -0.0302625 0.506993 +TTool-pose None 37.7036 -15.8368 10.5902 -0.179903 -0.263127 -0.659417 0.680852 +#73223 1721123067569 +SLAM 3.19048 -10.4928 52.2515 0.430292 0.746035 -0.0299543 0.50733 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0.74494 -0.0291102 0.506787 +TTool-pose None 37.6034 -15.8143 10.6119 -0.181337 -0.262994 -0.661533 0.678466 +#73230 1721123067796 +SLAM 3.07839 -10.5908 52.2085 0.430626 0.745441 -0.028159 0.508022 +TTool-pose None 37.6508 -15.8176 10.5522 -0.179558 -0.261438 -0.66117 0.679893 +#73231 1721123067827 +SLAM 3.13024 -10.5968 52.2116 0.43104 0.745686 -0.0287844 0.507275 +TTool-pose None 37.6581 -15.8187 10.5761 -0.179916 -0.262406 -0.660894 0.679694 +#73232 1721123067857 +SLAM 3.22172 -10.5085 52.2528 0.42995 0.74637 -0.0296798 0.507143 +TTool-pose None 37.6957 -15.8306 10.5784 -0.17959 -0.262807 -0.659794 0.680693 +#73233 1721123067890 +SLAM 3.02851 -10.7254 52.149 0.433379 0.744653 -0.0281125 0.506837 +TTool-pose None 37.594 -15.8154 10.5989 -0.181085 -0.262658 -0.662394 0.677823 +#73234 1721123067923 +SLAM 3.06804 -10.6432 52.1882 0.431782 0.745176 -0.0283495 0.507419 +TTool-pose None 37.6331 -15.8136 10.5763 -0.180285 -0.262123 -0.661542 0.679074 +#73235 1721123067953 +SLAM 3.12635 -10.6006 52.2033 0.431284 0.745617 -0.0289084 0.507163 +TTool-pose None 37.6489 -15.8157 10.5817 -0.180134 -0.262557 -0.660923 0.679549 +#73236 1721123067984 +SLAM 3.11124 -10.62 52.1888 0.43184 0.745424 -0.028995 0.506968 +TTool-pose None 37.633 -15.8122 10.5921 -0.18053 -0.262783 -0.661118 0.679168 +#73237 1721123068014 +SLAM 3.20765 -10.4757 52.2661 0.429209 0.746426 -0.0295279 0.507696 +TTool-pose None 37.7069 -15.8259 10.5621 -0.179191 -0.262181 -0.659595 0.681232 +#73238 1721123068048 +SLAM 3.12575 -10.6382 52.1779 0.432659 0.745368 -0.0295084 0.506321 +TTool-pose None 37.6207 -15.8102 10.6209 -0.181188 -0.263606 -0.661122 0.678669 +#73239 1721123068081 +SLAM 3.09012 -10.6274 52.1882 0.43171 0.745335 -0.0286525 0.507228 +TTool-pose None 37.6328 -15.8115 10.5829 -0.180333 -0.262411 -0.661297 0.679189 +#73240 1721123068112 +SLAM 3.10814 -10.615 52.193 0.431693 0.745445 -0.0289391 0.507065 +TTool-pose None 37.6365 -15.8117 10.5906 -0.180428 -0.262665 -0.661093 0.679265 +#73241 1721123068143 +SLAM 3.10933 -10.6116 52.1977 0.43165 0.745443 -0.0289252 0.507106 +TTool-pose None 37.6396 -15.8158 10.59 -0.180406 -0.262618 -0.661085 0.679296 +#73242 1721123068174 +SLAM 3.10671 -10.6474 52.181 0.432267 0.745348 -0.0289143 0.506721 +TTool-pose None 37.627 -15.8123 10.6014 -0.180685 -0.263019 -0.661344 0.678814 +#73243 1721123068210 +SLAM 3.09131 -10.6341 52.1919 0.431251 0.745472 -0.0281837 0.507445 +TTool-pose None 37.643 -15.8121 10.5664 -0.179766 -0.262055 -0.661386 0.67939 +#73244 1721123068243 +SLAM 3.04841 -10.6345 52.1787 0.43168 0.745112 -0.0282948 0.507602 +TTool-pose None 37.6218 -15.8045 10.5737 -0.180264 -0.261912 -0.66155 0.679154 +#73245 1721123068274 +SLAM 3.1025 -10.5958 52.2038 0.431299 0.745471 -0.0288365 0.507369 +TTool-pose None 37.6442 -15.8144 10.5827 -0.180205 -0.262316 -0.661001 0.679547 +#73246 1721123068312 +SLAM 3.04849 -10.6597 52.1711 0.432207 0.745023 -0.0283217 0.507283 +TTool-pose None 37.6143 -15.8075 10.5862 -0.180531 -0.262255 -0.66175 0.678755 +#73247 1721123068349 +SLAM 3.06199 -10.8496 52.0627 0.434017 0.745114 -0.0272436 0.505661 +TTool-pose None 37.5539 -15.774 10.5914 -0.180385 -0.263668 -0.663083 0.676944 +#73248 1721123068381 +SLAM 3.06837 -10.6539 52.1759 0.432171 0.745151 -0.0285227 0.507113 +TTool-pose None 37.6204 -15.8079 10.5909 -0.18055 -0.262492 -0.661588 0.678817 +#73249 1721123068413 +SLAM 3.13445 -10.5465 52.2214 0.430596 0.745787 -0.0291838 0.507481 +TTool-pose None 37.6596 -15.8143 10.5796 -0.179943 -0.2623 -0.660459 0.68015 +#73250 1721123068447 +SLAM 3.01464 -10.7216 52.1447 0.433003 0.744715 -0.027861 0.507081 +TTool-pose None 37.5934 -15.804 10.5895 -0.180745 -0.262332 -0.662395 0.678039 +#73251 1721123068477 +SLAM 3.07857 -10.626 52.189 0.431539 0.745334 -0.0284936 0.507385 +TTool-pose None 37.6338 -15.8075 10.5798 -0.180172 -0.262202 -0.661331 0.67928 +#73252 1721123068517 +SLAM 3.05384 -10.6387 52.1801 0.431854 0.745118 -0.0283928 0.50744 +TTool-pose None 37.622 -15.8067 10.5822 -0.180382 -0.262111 -0.661554 0.679042 +#73253 1721123068550 +SLAM 3.00328 -10.7523 52.127 0.433745 0.74452 -0.0279707 0.506728 +TTool-pose None 37.5762 -15.8001 10.6043 -0.181222 -0.26273 -0.662646 0.677512 +#73254 1721123068583 +SLAM 3.0006 -10.7725 52.1199 0.433967 0.744491 -0.027858 0.506587 +TTool-pose None 37.5725 -15.7984 10.6069 -0.181248 -0.262847 -0.662805 0.677305 +#73255 1721123068623 +SLAM 3.02314 -10.6648 52.1594 0.432451 0.74485 -0.0283331 0.507329 +TTool-pose None 37.6 -15.7991 10.5912 -0.180757 -0.262205 -0.661869 0.678599 +#73256 1721123068661 +SLAM 3.0544 -10.6517 52.177 0.43147 0.745265 -0.0279483 0.507576 +TTool-pose None 37.6281 -15.8011 10.5671 -0.179849 -0.261847 -0.661654 0.679187 +#73257 1721123068692 +SLAM 3.02751 -10.7648 52.1218 0.434159 0.744611 -0.0282813 0.506223 +TTool-pose None 37.5732 -15.8 10.6213 -0.181495 -0.263351 -0.662593 0.67725 +#73258 1721123068726 +SLAM 2.9956 -10.6337 52.1775 0.43115 0.744923 -0.0275464 0.50837 +TTool-pose None 37.6193 -15.8001 10.5487 -0.179742 -0.260889 -0.661846 0.679397 +#73259 1721123068760 +SLAM 3.03869 -10.625 52.1867 0.431359 0.745134 -0.0281097 0.507853 +TTool-pose None 37.6279 -15.8047 10.5684 -0.180016 -0.261596 -0.661538 0.679353 +#73260 1721123068791 +SLAM 3.03723 -10.6614 52.1682 0.432075 0.745018 -0.0281619 0.507411 +TTool-pose None 37.6128 -15.8019 10.5821 -0.180386 -0.262075 -0.6618 0.678815 +#73261 1721123068826 +SLAM 3.02795 -10.6609 52.1691 0.431858 0.74501 -0.0279415 0.50762 +TTool-pose None 37.615 -15.801 10.5728 -0.180175 -0.261793 -0.661855 0.678926 +#73262 1721123068860 +SLAM 3.0509 -10.5563 52.2161 0.429947 0.745461 -0.0280931 0.508571 +TTool-pose None 37.6555 -15.802 10.5431 -0.179265 -0.260839 -0.660948 0.680416 +#73263 1721123068898 +SLAM 2.96715 -10.6904 52.1547 0.432107 0.744598 -0.0273373 0.508044 +TTool-pose None 37.5991 -15.7978 10.5612 -0.180188 -0.261168 -0.662401 0.678631 +#73264 1721123068928 +SLAM 2.98418 -10.707 52.1455 0.432628 0.744622 -0.027635 0.50755 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0.744967 -0.0286623 0.507794 +TTool-pose None 37.6196 -15.7985 10.5809 -0.180613 -0.261808 -0.66135 0.679295 +#73271 1721123069162 +SLAM 2.99143 -10.481 52.241 0.429313 0.745028 -0.0282741 0.509729 +TTool-pose None 37.6581 -15.8076 10.5248 -0.179495 -0.259654 -0.660676 0.681073 +#73272 1721123069197 +SLAM 2.94145 -10.6121 52.182 0.43158 0.744375 -0.0278973 0.508789 +TTool-pose None 37.6066 -15.8018 10.5559 -0.18054 -0.260531 -0.661897 0.679273 +#73273 1721123069232 +SLAM 2.79165 -10.6742 52.1488 0.432369 0.743277 -0.0266165 0.509793 +TTool-pose None 37.563 -15.8002 10.535 -0.180829 -0.259088 -0.663195 0.678482 +#73274 1721123069274 +SLAM 2.86401 -10.5119 52.2187 0.430114 0.744024 -0.0276366 0.510555 +TTool-pose None 37.6194 -15.8061 10.5181 -0.180134 -0.258581 -0.661565 0.680449 +#73275 1721123069310 +SLAM 2.88411 -10.6358 52.159 0.432838 0.743733 -0.0282129 0.508642 +TTool-pose None 37.5706 -15.7979 10.5818 -0.181674 -0.260758 -0.662302 0.678489 +#73276 1721123069341 +SLAM 2.88841 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1721123069553 +SLAM 2.95118 -10.5822 52.1926 0.431616 0.744375 -0.0284166 0.50873 +TTool-pose None 37.6089 -15.8042 10.5684 -0.180889 -0.260737 -0.661591 0.6794 +#73283 1721123069584 +SLAM 2.856 -10.6626 52.1497 0.432844 0.7436 -0.0276543 0.508862 +TTool-pose None 37.5654 -15.7957 10.5699 -0.181417 -0.260368 -0.662675 0.678343 +#73284 1721123069619 +SLAM 2.91334 -10.4855 52.2397 0.429145 0.74456 -0.0275716 0.510592 +TTool-pose None 37.6489 -15.8069 10.5049 -0.179342 -0.258535 -0.661133 0.681095 +#73285 1721123069650 +SLAM 2.88846 -10.6681 52.1451 0.43331 0.743717 -0.0281711 0.508265 +TTool-pose None 37.5619 -15.795 10.5909 -0.181822 -0.261144 -0.66251 0.678097 +#73286 1721123069691 +SLAM 2.69774 -10.6571 52.1469 0.432157 0.742677 -0.0261272 0.51087 +TTool-pose None 37.5481 -15.7953 10.5147 -0.180899 -0.257797 -0.663528 0.678629 +#73287 1721123069726 +SLAM 2.76685 -10.7725 52.0845 0.435686 0.742504 -0.0277992 0.508028 +TTool-pose None 37.4927 -15.787 10.618 -0.183331 -0.261257 -0.663869 0.676317 +#73288 1721123069757 +SLAM 2.70201 -10.6832 52.1272 0.433785 0.742347 -0.0270972 0.509918 +TTool-pose None 37.5196 -15.7947 10.564 -0.182344 -0.259064 -0.663612 0.677678 +#73289 1721123069787 +SLAM 2.66002 -10.6695 52.1279 0.433359 0.74215 -0.0267058 0.510588 +TTool-pose None 37.517 -15.7911 10.5437 -0.182095 -0.258242 -0.663728 0.677945 +#73290 1721123069818 +SLAM 2.50777 -10.6742 52.1094 0.43418 0.74094 -0.0263059 0.511668 +TTool-pose None 37.4728 -15.7878 10.5429 -0.183047 -0.256955 -0.664511 0.67741 +#73291 1721123069848 +SLAM 2.5376 -10.7164 52.0988 0.434958 0.740984 -0.0264805 0.510934 +TTool-pose None 37.4685 -15.7931 10.5605 -0.183396 -0.25778 -0.664691 0.676825 +#73292 1721123069880 +SLAM 2.65621 -10.7041 52.1049 0.435068 0.741744 -0.0275919 0.509677 +TTool-pose None 37.4867 -15.7895 10.5897 -0.18357 -0.259438 -0.663906 0.676915 +#73293 1721123069910 +SLAM 2.55507 -10.6536 52.1222 0.433477 0.74135 -0.0263728 0.511666 +TTool-pose None 37.4945 -15.7892 10.5263 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37.5046 -15.8384 10.5801 -0.184966 -0.258173 -0.66272 0.67818 +#73300 1721123070122 +SLAM 2.66865 -10.6209 52.133 0.438527 0.740332 -0.0310983 0.508562 +TTool-pose None 37.4435 -15.8585 10.6903 -0.188108 -0.261535 -0.663308 0.675447 +#73301 1721123070152 +SLAM 2.67166 -10.5615 52.1516 0.438767 0.740029 -0.0319228 0.508746 +TTool-pose None 37.4387 -15.8826 10.6991 -0.188955 -0.261557 -0.662944 0.675559 +#73302 1721123070181 +SLAM 2.70432 -10.5704 52.163 0.439371 0.740018 -0.0323933 0.50821 +TTool-pose None 37.4457 -15.8996 10.7202 -0.189473 -0.262249 -0.662881 0.675207 +#73303 1721123070221 +SLAM 2.65178 -10.7074 52.096 0.443337 0.738792 -0.0330651 0.506504 +TTool-pose None 37.3653 -15.9125 10.7981 -0.192194 -0.264171 -0.664175 0.672412 +#73304 1721123070255 +SLAM 2.90716 -10.528 52.1851 0.441116 0.740669 -0.0354556 0.505538 +TTool-pose None 37.4552 -15.9328 10.8191 -0.191535 -0.26591 -0.661508 0.67454 +#73305 1721123070294 +SLAM 2.78968 -10.6459 52.1268 0.443744 0.739367 -0.034979 0.505178 +TTool-pose None 37.3855 -15.9374 10.8471 -0.19312 -0.266103 -0.663029 0.672516 +#73306 1721123070331 +SLAM 2.85147 -10.5763 52.1708 0.443042 0.739746 -0.0356996 0.505188 +TTool-pose None 37.4196 -15.9575 10.8522 -0.193054 -0.266304 -0.662248 0.673225 +#73307 1721123070365 +SLAM 2.80885 -10.6811 52.0968 0.443208 0.739693 -0.0340711 0.505233 +TTool-pose None 37.3775 -15.9327 10.808 -0.192104 -0.265812 -0.663332 0.672623 +#73308 1721123070397 +SLAM 2.8397 -10.5282 52.1968 0.442274 0.739696 -0.0355488 0.505945 +TTool-pose None 37.4349 -15.9737 10.83 -0.192737 -0.265471 -0.662066 0.673823 +#73309 1721123070433 +SLAM 2.84699 -10.5762 52.1804 0.443146 0.739587 -0.035584 0.505338 +TTool-pose None 37.4228 -15.9761 10.8469 -0.193138 -0.266109 -0.662388 0.673139 +#73310 1721123070465 +SLAM 2.96348 -10.4475 52.2424 0.440748 0.740726 -0.0362525 0.505719 +TTool-pose None 37.4882 -15.9842 10.8218 -0.191879 -0.265938 -0.660864 0.675063 +#73311 1721123070496 +SLAM 2.91447 -10.449 52.2381 0.4413 0.740242 -0.0363343 0.505941 +TTool-pose None 37.4712 -15.9863 10.8306 -0.192492 -0.26571 -0.661111 0.674736 +#73312 1721123070530 +SLAM 3.01812 -10.4107 52.262 0.441228 0.740829 -0.037398 0.505066 +TTool-pose None 37.4946 -16.0002 10.8582 -0.192697 -0.266936 -0.660309 0.674978 +#73313 1721123070565 +SLAM 2.90133 -10.5271 52.2062 0.442682 0.739922 -0.0361773 0.505213 +TTool-pose None 37.4436 -15.9887 10.8518 -0.193105 -0.266415 -0.661783 0.673623 +#73314 1721123070598 +SLAM 2.83322 -10.5421 52.1837 0.444496 0.739029 -0.036919 0.504873 +TTool-pose None 37.3957 -15.9887 10.9001 -0.19488 -0.266933 -0.662163 0.672533 +#73315 1721123070629 +SLAM 2.88249 -10.5045 52.2085 0.442272 0.739921 -0.0361303 0.505575 +TTool-pose None 37.4438 -15.979 10.8452 -0.192936 -0.266024 -0.66166 0.673946 +#73316 1721123070661 +SLAM 2.87071 -10.5985 52.1605 0.44689 0.738828 -0.0385694 0.502926 +TTool-pose None 37.3705 -15.9709 10.9909 -0.196895 -0.269398 -0.662054 0.671069 +#73317 1721123070695 +SLAM 3.05033 -10.3125 52.3105 0.437925 0.741936 -0.0367071 0.506365 +TTool-pose None 37.5615 -15.9713 10.8016 -0.190279 -0.265427 -0.659294 0.677248 +#73318 1721123070726 +SLAM 2.97303 -10.4608 52.2515 0.439526 0.741394 -0.0355152 0.505857 +TTool-pose None 37.5195 -15.9516 10.8116 -0.190476 -0.265619 -0.66074 0.675707 +#73319 1721123070758 +SLAM 3.08107 -10.5652 52.2138 0.441254 0.741936 -0.0362565 0.5035 +TTool-pose None 37.5089 -15.9386 10.8734 -0.191118 -0.268306 -0.660818 0.674387 +#73320 1721123070790 +SLAM 3.07085 -10.4551 52.2725 0.438559 0.742396 -0.0356558 0.505216 +TTool-pose None 37.5632 -15.9396 10.8164 -0.189464 -0.266364 -0.660099 0.676324 +#73321 1721123070823 +SLAM 3.16276 -10.2722 52.3758 0.434282 0.743759 -0.0354527 0.506917 +TTool-pose None 37.6708 -15.9508 10.7436 -0.186821 -0.264563 -0.658356 0.679458 +#73322 1721123070854 +SLAM 3.22409 -10.4079 52.3181 0.437326 0.743668 -0.0364 0.50436 +TTool-pose None 37.6266 -15.9446 10.8285 -0.188539 -0.267505 -0.658929 0.677272 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10.7937 -0.185741 -0.267875 -0.658828 0.677997 +#73335 1721123071287 +SLAM 3.41059 -10.5031 52.3001 0.435953 0.745743 -0.0356933 0.502532 +TTool-pose None 37.6862 -15.8944 10.8237 -0.186009 -0.269292 -0.658451 0.677729 +#73336 1721123071318 +SLAM 3.3805 -10.5438 52.2892 0.436184 0.745586 -0.0351541 0.502603 +TTool-pose None 37.6805 -15.89 10.8184 -0.185864 -0.269066 -0.658903 0.677418 +#73337 1721123071353 +SLAM 3.32617 -10.5813 52.2736 0.436416 0.745292 -0.0344985 0.502883 +TTool-pose None 37.6663 -15.8823 10.8114 -0.185748 -0.268586 -0.659456 0.677103 +#73338 1721123071390 +SLAM 3.34873 -10.763 52.1725 0.437755 0.745601 -0.033291 0.50134 +TTool-pose None 37.6168 -15.8439 10.8116 -0.185186 -0.269882 -0.660645 0.67558 +#73339 1721123071423 +SLAM 3.40366 -10.536 52.3064 0.434452 0.746336 -0.0342761 0.503049 +TTool-pose None 37.7209 -15.8674 10.7862 -0.184126 -0.268379 -0.658653 0.678408 +#73340 1721123071455 +SLAM 3.53586 -10.4314 52.3629 0.432721 0.747448 -0.035159 0.50283 +TTool-pose None 37.7812 -15.8796 10.7859 -0.183239 -0.268877 -0.657234 0.679826 +#73341 1721123071487 +SLAM 3.44743 -10.5864 52.299 0.434855 0.746647 -0.0341919 0.502246 +TTool-pose None 37.728 -15.8665 10.8024 -0.183968 -0.269207 -0.658795 0.677985 +#73342 1721123071522 +SLAM 3.5649 -10.5237 52.337 0.433789 0.747579 -0.0350029 0.501724 +TTool-pose None 37.7746 -15.8717 10.811 -0.1834 -0.269999 -0.657706 0.67888 +#73343 1721123071553 +SLAM 3.52009 -10.5222 52.3421 0.433281 0.74743 -0.0343697 0.502429 +TTool-pose None 37.7788 -15.8683 10.7878 -0.182936 -0.269083 -0.657939 0.679144 +#73344 1721123071586 +SLAM 3.52775 -10.5484 52.3311 0.433875 0.747416 -0.0345717 0.501922 +TTool-pose None 37.7702 -15.8636 10.8084 -0.18328 -0.26967 -0.658039 0.678721 +#73345 1721123071620 +SLAM 3.55398 -10.517 52.3467 0.433198 0.747764 -0.0347469 0.501977 +TTool-pose None 37.789 -15.8562 10.8073 -0.18289 -0.269668 -0.657607 0.679245 +#73346 1721123071654 +SLAM 3.75913 -10.4225 52.3956 0.431396 0.749451 -0.0360051 0.500923 +TTool-pose None 37.8597 -15.8566 10.8212 -0.181768 -0.271153 -0.655809 0.680692 +#73347 1721123071687 +SLAM 3.57871 -10.5766 52.3342 0.433545 0.748054 -0.034423 0.501268 +TTool-pose None 37.7923 -15.8468 10.8242 -0.182575 -0.270332 -0.657881 0.678801 +#73348 1721123071728 +SLAM 3.59704 -10.54 52.3413 0.433199 0.748258 -0.0348568 0.501233 +TTool-pose None 37.7971 -15.8386 10.8319 -0.182577 -0.270491 -0.657441 0.679163 +#73349 1721123071765 +SLAM 3.62039 -10.5855 52.3261 0.433287 0.748541 -0.0345268 0.500756 +TTool-pose None 37.7992 -15.8275 10.834 -0.182174 -0.270908 -0.657623 0.678929 +#73350 1721123071800 +SLAM 3.59588 -10.5118 52.3582 0.432061 0.748608 -0.034494 0.501717 +TTool-pose None 37.8198 -15.824 10.8159 -0.181682 -0.269892 -0.657169 0.679905 +#73351 1721123071834 +SLAM 3.5798 -10.6222 52.3171 0.43362 0.748339 -0.0340934 0.5008 +TTool-pose None 37.7908 -15.8192 10.8405 -0.182166 -0.27074 -0.658057 0.678578 +#73352 1721123071867 +SLAM 3.65615 -10.5846 52.3442 0.432334 0.749111 -0.0341187 0.500756 +TTool-pose None 37.8318 -15.8196 10.8247 -0.181142 -0.270809 -0.657404 0.679456 +#73353 1721123071899 +SLAM 3.73227 -10.3642 52.4386 0.429185 0.750026 -0.0351943 0.502019 +TTool-pose None 37.9063 -15.8283 10.8002 -0.180041 -0.269789 -0.655365 0.682119 +#73354 1721123071932 +SLAM 3.72061 -10.5032 52.3781 0.430997 0.749813 -0.0347275 0.500816 +TTool-pose None 37.8674 -15.8113 10.826 -0.180529 -0.270926 -0.656382 0.68056 +#73355 1721123071965 +SLAM 3.60762 -10.6426 52.3037 0.433473 0.748817 -0.0341463 0.500208 +TTool-pose None 37.7936 -15.7884 10.8599 -0.181777 -0.271386 -0.657874 0.678602 +#73356 1721123071998 +SLAM 3.65734 -10.6568 52.3123 0.433387 0.749182 -0.0341983 0.499732 +TTool-pose None 37.8124 -15.7926 10.8664 -0.181496 -0.271907 -0.657736 0.678602 +#73357 1721123072030 +SLAM 3.67311 -10.8323 52.2085 0.434767 0.749413 -0.0330641 0.498262 +TTool-pose None 37.7581 -15.7541 10.8658 -0.181053 -0.273143 -0.658909 0.677084 +#73358 1721123072066 +SLAM 3.65459 -10.5557 52.3616 0.43125 0.749558 -0.0339204 0.501035 +TTool-pose None 37.8544 -15.7933 10.8271 -0.180295 -0.270471 -0.65703 0.680178 +#73359 1721123072100 +SLAM 3.73329 -10.5016 52.3866 0.430594 0.75013 -0.0346808 0.50069 +TTool-pose None 37.8823 -15.7965 10.8353 -0.180113 -0.271051 -0.656196 0.6808 +#73360 1721123072132 +SLAM 3.68861 -10.6112 52.3383 0.43241 0.749575 -0.0342805 0.499983 +TTool-pose None 37.8394 -15.7935 10.857 -0.180909 -0.271675 -0.657239 0.679333 +#73361 1721123072164 +SLAM 3.73314 -10.5253 52.3782 0.43104 0.750042 -0.0346581 0.50044 +TTool-pose None 37.8747 -15.8 10.8426 -0.18032 -0.271306 -0.656395 0.680451 +#73362 1721123072197 +SLAM 3.66594 -10.6262 52.3291 0.432507 0.749445 -0.034014 0.500114 +TTool-pose None 37.8312 -15.7898 10.8516 -0.180873 -0.271462 -0.657467 0.679206 +#73363 1721123072229 +SLAM 3.67507 -10.6036 52.3435 0.432156 0.749534 -0.0341073 0.500276 +TTool-pose None 37.8432 -15.7936 10.8477 -0.180743 -0.271319 -0.65726 0.679499 +#73364 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0.501334 +TTool-pose None 37.8196 -15.7775 10.8324 -0.180897 -0.270091 -0.65755 0.679666 +#73388 1721123073086 +SLAM 3.63904 -10.4722 52.3851 0.429995 0.749665 -0.034086 0.501941 +TTool-pose None 37.8685 -15.7848 10.8059 -0.179888 -0.269564 -0.656433 0.681221 +#73389 1721123073117 +SLAM 3.58733 -10.5757 52.3405 0.431296 0.749204 -0.0333632 0.501562 +TTool-pose None 37.8336 -15.7768 10.8113 -0.180229 -0.269758 -0.657465 0.680058 +#73390 1721123073150 +SLAM 3.53794 -10.6111 52.3272 0.431991 0.74875 -0.0330765 0.50166 +TTool-pose None 37.8149 -15.779 10.815 -0.180635 -0.269567 -0.657995 0.679513 +#73391 1721123073185 +SLAM 3.71508 -10.4857 52.3707 0.431289 0.749843 -0.0353782 0.500474 +TTool-pose None 37.8544 -15.7888 10.8595 -0.181023 -0.271463 -0.656081 0.680505 +#73392 1721123073224 +SLAM 3.65019 -10.506 52.3651 0.431193 0.749475 -0.0345812 0.501162 +TTool-pose None 37.8459 -15.7885 10.8371 -0.180765 -0.270516 -0.656614 0.680436 +#73393 1721123073262 +SLAM 3.57324 -10.5553 52.353 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3.51177 -10.7135 52.2688 0.439999 0.746477 -0.0376351 0.497752 +TTool-pose None 37.6835 -15.8188 11.0514 -0.188049 -0.274835 -0.658596 0.674793 +#73400 1721123073495 +SLAM 3.7759 -10.4899 52.3671 0.433343 0.749554 -0.0370571 0.499008 +TTool-pose None 37.8307 -15.821 10.9275 -0.183026 -0.27345 -0.655863 0.679383 +#73401 1721123073527 +SLAM 3.65016 -10.4739 52.3916 0.43157 0.749151 -0.0351582 0.501282 +TTool-pose None 37.8533 -15.8164 10.8472 -0.181518 -0.27054 -0.656462 0.680373 +#73402 1721123073564 +SLAM 3.47382 -10.5917 52.3182 0.434763 0.7474 -0.0348184 0.501161 +TTool-pose None 37.7532 -15.8134 10.8868 -0.183753 -0.270536 -0.658222 0.678071 +#73403 1721123073597 +SLAM 3.48888 -10.5078 52.3598 0.432254 0.748002 -0.0341779 0.502476 +TTool-pose None 37.8027 -15.8086 10.8265 -0.182017 -0.268994 -0.657559 0.679794 +#73404 1721123073633 +SLAM 3.55855 -10.5719 52.3384 0.434424 0.747971 -0.0353796 0.500564 +TTool-pose None 37.7821 -15.8201 10.897 -0.183553 -0.271328 -0.657632 0.678381 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52.3241 0.433338 0.74869 -0.0346161 0.500483 +TTool-pose None 37.7982 -15.7898 10.873 -0.182132 -0.271223 -0.657556 0.678879 +#73435 1721123074685 +SLAM 3.63733 -10.4678 52.385 0.430941 0.749351 -0.034823 0.501548 +TTool-pose None 37.8542 -15.7951 10.8362 -0.180931 -0.270173 -0.656394 0.680741 +#73436 1721123074722 +SLAM 3.51816 -10.6436 52.2989 0.43362 0.748251 -0.0336809 0.500959 +TTool-pose None 37.7739 -15.7838 10.8548 -0.181969 -0.270458 -0.658331 0.678477 +#73437 1721123074758 +SLAM 3.50218 -10.6378 52.2994 0.434166 0.747971 -0.0340908 0.500877 +TTool-pose None 37.7638 -15.7874 10.8711 -0.182637 -0.270649 -0.658337 0.678215 +#73438 1721123074795 +SLAM 3.64797 -10.616 52.3091 0.433853 0.749004 -0.0352127 0.499525 +TTool-pose None 37.7942 -15.7801 10.8987 -0.182446 -0.272397 -0.657315 0.678559 +#73439 1721123074830 +SLAM 3.50639 -10.548 52.3359 0.432341 0.748322 -0.033965 0.501938 +TTool-pose None 37.796 -15.7852 10.8358 -0.18166 -0.269509 -0.65766 0.679587 +#73440 1721123074865 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10.9707 -0.184462 -0.275743 -0.657769 0.676217 +#73458 1721123075511 +SLAM 3.77006 -10.5947 52.3343 0.43132 0.750096 -0.033747 0.500181 +TTool-pose None 37.8542 -15.8223 10.7942 -0.179787 -0.271332 -0.657056 0.679944 +#73459 1721123075545 +SLAM 3.85462 -10.6085 52.325 0.432345 0.750459 -0.0351627 0.498651 +TTool-pose None 37.8546 -15.8086 10.8494 -0.180762 -0.27333 -0.656486 0.679435 +#73460 1721123075579 +SLAM 3.80612 -10.6109 52.33 0.431309 0.750426 -0.033963 0.49968 +TTool-pose None 37.8644 -15.8065 10.8035 -0.179664 -0.271922 -0.656851 0.679939 +#73461 1721123075615 +SLAM 4.17908 -10.2969 52.4871 0.425952 0.753567 -0.0363865 0.499379 +TTool-pose None 38.0421 -15.8341 10.7807 -0.176926 -0.27294 -0.652681 0.684252 +#73462 1721123075650 +SLAM 3.71832 -10.6473 52.3432 0.430016 0.750274 -0.0320187 0.501149 +TTool-pose None 37.8903 -15.7968 10.7406 -0.178088 -0.269844 -0.657602 0.680455 +#73463 1721123075686 +SLAM 3.76619 -10.5764 52.3411 0.430707 0.750277 -0.0337499 0.500436 +TTool-pose None 37.8672 -15.8026 10.7866 -0.179438 -0.271068 -0.656787 0.680401 +#73464 1721123075722 +SLAM 3.51626 -10.5374 52.3607 0.429473 0.748887 -0.0316729 0.503703 +TTool-pose None 37.8505 -15.8036 10.7107 -0.17876 -0.267034 -0.657888 0.681111 +#73465 1721123075753 +SLAM 3.70573 -10.5106 52.384 0.429073 0.750165 -0.0330545 0.502052 +TTool-pose None 37.8993 -15.8043 10.7415 -0.178517 -0.269175 -0.656625 0.681551 +#73466 1721123075796 +SLAM 3.47083 -10.6582 52.2851 0.432607 0.748037 -0.0322706 0.502246 +TTool-pose None 37.7744 -15.7893 10.7712 -0.180882 -0.268716 -0.658869 0.678938 +#73467 1721123075829 +SLAM 3.54159 -10.5809 52.33 0.430875 0.748807 -0.0325339 0.50257 +TTool-pose None 37.8265 -15.7886 10.751 -0.179859 -0.268463 -0.6579 0.680248 +#73468 1721123075862 +SLAM 3.68995 -10.5259 52.3598 0.430981 0.749629 -0.0343553 0.501129 +TTool-pose None 37.8583 -15.7983 10.8023 -0.180427 -0.270492 -0.656644 0.680507 +#73469 1721123075896 +SLAM 3.48113 -10.4518 52.382 0.429566 0.748484 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1721123076320 +SLAM 3.3355 -10.6795 52.306 0.43203 0.748169 -0.0321307 0.502554 +TTool-pose None 37.8029 -15.6728 10.8431 -0.180492 -0.268356 -0.658713 0.679335 +#73482 1721123076357 +SLAM 3.28197 -10.6847 52.3127 0.432289 0.747905 -0.0321827 0.502721 +TTool-pose None 37.8017 -15.6552 10.8654 -0.180819 -0.268189 -0.65883 0.6792 +#73483 1721123076394 +SLAM 3.21778 -10.732 52.284 0.433446 0.747404 -0.032202 0.50247 +TTool-pose None 37.7682 -15.6357 10.8948 -0.181617 -0.268448 -0.659352 0.678378 +#73484 1721123076429 +SLAM 3.27069 -10.3535 52.4703 0.426945 0.748689 -0.0326896 0.506076 +TTool-pose None 37.9162 -15.659 10.8021 -0.178695 -0.2648 -0.656334 0.683496 +#73485 1721123076462 +SLAM 3.11226 -10.615 52.3598 0.429978 0.747412 -0.0305738 0.505529 +TTool-pose None 37.8321 -15.6329 10.8034 -0.17937 -0.264779 -0.65905 0.680708 +#73486 1721123076497 +SLAM 3.04699 -10.6445 52.3156 0.432286 0.746502 -0.0316142 0.504841 +TTool-pose None 37.7659 -15.6226 10.8615 -0.181541 -0.265771 -0.659457 0.67935 +#73487 1721123076530 +SLAM 3.06573 -10.6964 52.3042 0.433018 0.746508 -0.0315502 0.504208 +TTool-pose None 37.7622 -15.6275 10.8756 -0.181746 -0.26642 -0.659772 0.678735 +#73488 1721123076564 +SLAM 3.04208 -10.7814 52.2661 0.437195 0.745425 -0.0336411 0.502066 +TTool-pose None 37.6991 -15.6288 10.9984 -0.185358 -0.269212 -0.660253 0.676184 +#73489 1721123076598 +SLAM 3.10941 -10.6674 52.3247 0.432003 0.747034 -0.0315101 0.504303 +TTool-pose None 37.7917 -15.6236 10.8629 -0.180964 -0.266321 -0.659311 0.67943 +#73490 1721123076636 +SLAM 3.04387 -10.7564 52.277 0.433966 0.746286 -0.0313946 0.503731 +TTool-pose None 37.7409 -15.6178 10.8929 -0.182143 -0.266874 -0.660269 0.677967 +#73491 1721123076677 +SLAM 3.10062 -10.6167 52.3534 0.430384 0.747289 -0.0308547 0.505348 +TTool-pose None 37.821 -15.6265 10.8208 -0.179786 -0.265045 -0.659054 0.680491 +#73492 1721123076710 +SLAM 3.0278 -10.624 52.3307 0.43157 0.746536 -0.0312453 0.505426 +TTool-pose None 37.7797 -15.6217 10.8436 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None 37.8686 -15.5838 10.8734 -0.179782 -0.264681 -0.657688 0.681953 +#73499 1721123076965 +SLAM 2.89624 -10.7604 52.2951 0.433141 0.746079 -0.0306023 0.504795 +TTool-pose None 37.7559 -15.5471 10.9176 -0.181509 -0.265532 -0.660489 0.678448 +#73500 1721123077004 +SLAM 2.96298 -10.6394 52.3548 0.431554 0.746746 -0.0315569 0.505109 +TTool-pose None 37.8043 -15.5495 10.9219 -0.181064 -0.265478 -0.659168 0.679872 +#73501 1721123077043 +SLAM 2.97052 -10.7708 52.298 0.433758 0.746567 -0.03167 0.503477 +TTool-pose None 37.7663 -15.5308 10.9712 -0.182031 -0.267224 -0.659965 0.678154 +#73502 1721123077077 +SLAM 2.91811 -10.7586 52.3056 0.433509 0.74631 -0.0313612 0.504092 +TTool-pose None 37.7656 -15.5268 10.9647 -0.181946 -0.266486 -0.660113 0.678324 +#73503 1721123077111 +SLAM 2.92302 -10.7626 52.312 0.433423 0.74639 -0.0312827 0.504052 +TTool-pose None 37.7733 -15.5275 10.9674 -0.181804 -0.266509 -0.660113 0.678352 +#73504 1721123077148 +SLAM 2.99831 -10.6485 52.3916 0.431506 0.747119 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52.3527 0.432666 0.746343 -0.0315292 0.504755 +TTool-pose None 37.7977 -15.4463 11.0351 -0.18174 -0.265835 -0.659684 0.679051 +#73511 1721123077414 +SLAM 2.70626 -10.5873 52.4326 0.429881 0.746298 -0.0305036 0.507258 +TTool-pose None 37.8489 -15.4605 10.9849 -0.180153 -0.262911 -0.659272 0.68101 +#73512 1721123077454 +SLAM 2.65525 -10.7712 52.3282 0.434282 0.745249 -0.0313543 0.504995 +TTool-pose None 37.7539 -15.4295 11.0719 -0.183029 -0.265507 -0.660615 0.677928 +#73513 1721123077496 +SLAM 2.71563 -10.6028 52.4199 0.430963 0.746135 -0.0313924 0.506526 +TTool-pose None 37.8345 -15.449 11.0204 -0.181227 -0.263925 -0.659164 0.680437 +#73514 1721123077533 +SLAM 2.72147 -10.597 52.4225 0.431349 0.74608 -0.0318543 0.50625 +TTool-pose None 37.8317 -15.4483 11.04 -0.181701 -0.264342 -0.659035 0.680273 +#73515 1721123077566 +SLAM 2.71145 -10.6238 52.3956 0.430963 0.74628 -0.0312323 0.506321 +TTool-pose None 37.8209 -15.4253 11.0228 -0.181012 -0.2641 -0.659236 0.680357 +#73516 1721123077600 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0.751817 -0.0318672 0.503465 +TTool-pose None 37.7863 -14.0359 12.2885 -0.174917 -0.267376 -0.655327 0.684435 +#73581 1721123080008 +SLAM 1.40559 -10.6828 52.3995 0.424305 0.752005 -0.0305313 0.503509 +TTool-pose None 37.7903 -14.0366 12.2506 -0.173808 -0.266964 -0.656007 0.684227 +#73582 1721123080049 +SLAM 1.53451 -10.5104 52.4616 0.423294 0.752707 -0.032779 0.503171 +TTool-pose None 37.8228 -14.0582 12.2768 -0.174359 -0.267943 -0.654086 0.685542 +#73583 1721123080080 +SLAM 1.84803 -10.9148 52.4201 0.432292 0.752191 -0.0345471 0.496125 +TTool-pose None 37.7999 -14.2246 12.4337 -0.17899 -0.275842 -0.656494 0.678882 +#73584 1721123080111 +SLAM 1.53933 -10.6426 52.3745 0.42607 0.75219 -0.0330499 0.50158 +TTool-pose None 37.7533 -14.0483 12.3008 -0.175899 -0.269696 -0.655081 0.683508 +#73585 1721123080145 +SLAM 1.34046 -10.6038 52.3934 0.425166 0.750995 -0.0314364 0.504234 +TTool-pose None 37.7455 -14.069 12.2497 -0.175478 -0.266436 -0.655977 0.684036 +#73586 1721123080177 +SLAM 1.41296 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12.14 -0.175486 -0.26278 -0.656558 0.68489 +#73604 1721123080802 +SLAM 1.44042 -11.0153 52.2536 0.431733 0.749632 -0.029523 0.500787 +TTool-pose None 37.6495 -14.2201 12.2279 -0.177566 -0.269528 -0.659924 0.678466 +#73605 1721123080837 +SLAM 1.35357 -10.551 52.3604 0.424211 0.750698 -0.0304292 0.505541 +TTool-pose None 37.7084 -14.1391 12.1434 -0.174727 -0.264771 -0.656294 0.68457 +#73606 1721123080870 +SLAM 1.2552 -10.4903 52.3682 0.424141 0.750038 -0.0307077 0.506561 +TTool-pose None 37.6914 -14.1299 12.1495 -0.175394 -0.263759 -0.656224 0.684857 +#73607 1721123080903 +SLAM 1.1154 -10.5964 52.3119 0.425211 0.749117 -0.0292548 0.507114 +TTool-pose None 37.6446 -14.1122 12.1356 -0.175544 -0.262763 -0.657714 0.683772 +#73608 1721123080936 +SLAM 1.20233 -10.5683 52.3354 0.425065 0.74959 -0.0299372 0.506496 +TTool-pose None 37.6661 -14.1297 12.1466 -0.175566 -0.263611 -0.657143 0.683988 +#73609 1721123080968 +SLAM 1.17199 -10.5674 52.3337 0.424698 0.749536 -0.0296073 0.506904 +TTool-pose None 37.6673 -14.1186 12.1361 -0.175268 -0.263087 -0.657217 0.684196 +#73610 1721123080999 +SLAM 1.14196 -10.5758 52.3254 0.425039 0.749263 -0.0295427 0.507025 +TTool-pose None 37.6553 -14.1187 12.138 -0.175556 -0.262938 -0.657441 0.683964 +#73611 1721123081033 +SLAM 1.23946 -10.533 52.3435 0.42469 0.749892 -0.030425 0.506335 +TTool-pose None 37.673 -14.1246 12.1509 -0.175517 -0.26392 -0.656638 0.684366 +#73612 1721123081064 +SLAM 1.49162 -10.5634 52.3257 0.426028 0.751205 -0.0327528 0.503108 +TTool-pose None 37.6813 -14.1134 12.2105 -0.176461 -0.26799 -0.655448 0.683683 +#73613 1721123081096 +SLAM 1.18639 -10.5695 52.3501 0.423813 0.749795 -0.0289111 0.5073 +TTool-pose None 37.6923 -14.1302 12.1079 -0.174307 -0.262477 -0.657257 0.684637 +#73614 1721123081130 +SLAM 1.15979 -10.5387 52.3462 0.424784 0.749307 -0.0298455 0.507156 +TTool-pose None 37.6666 -14.1343 12.1378 -0.175629 -0.262883 -0.657147 0.684249 +#73615 1721123081164 +SLAM 1.34835 -11.0415 52.2478 0.431259 0.749183 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52.2388 0.428226 0.747144 -0.0284676 0.507531 +TTool-pose None 37.5686 -14.0956 12.1487 -0.17761 -0.262076 -0.659737 0.681549 +#73622 1721123081445 +SLAM 0.930267 -10.7107 52.2407 0.428289 0.747242 -0.0288573 0.507311 +TTool-pose None 37.5629 -14.1073 12.1543 -0.177808 -0.262418 -0.659501 0.681594 +#73623 1721123081481 +SLAM 1.06755 -10.6654 52.2684 0.427331 0.748216 -0.029453 0.50665 +TTool-pose None 37.5974 -14.1241 12.1477 -0.177107 -0.263298 -0.658578 0.682329 +#73624 1721123081517 +SLAM 1.03807 -10.6771 52.2612 0.427553 0.747988 -0.0292671 0.50681 +TTool-pose None 37.5887 -14.1236 12.1466 -0.17724 -0.263074 -0.658822 0.682146 +#73625 1721123081552 +SLAM 1.06718 -10.6354 52.2723 0.427304 0.748156 -0.0297716 0.506742 +TTool-pose None 37.5922 -14.1283 12.1518 -0.17735 -0.263287 -0.658382 0.682459 +#73626 1721123081585 +SLAM 1.12393 -10.518 52.3344 0.425539 0.748715 -0.0303168 0.50737 +TTool-pose None 37.6393 -14.1469 12.139 -0.176656 -0.262779 -0.657261 0.683915 +#73627 1721123081620 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0.682176 +#73633 1721123081844 +SLAM 0.947738 -10.7632 52.1972 0.428603 0.747013 -0.0277737 0.507444 +TTool-pose None 37.5318 -14.1524 12.095 -0.177393 -0.261973 -0.660334 0.681066 +#73634 1721123081883 +SLAM 1.06462 -10.6332 52.2532 0.42623 0.748099 -0.0283788 0.507809 +TTool-pose None 37.5831 -14.1669 12.0679 -0.17612 -0.26177 -0.658843 0.682917 +#73635 1721123081917 +SLAM 0.973394 -10.8168 52.1738 0.42968 0.746818 -0.0276311 0.506828 +TTool-pose None 37.5117 -14.1801 12.0933 -0.177824 -0.262582 -0.660871 0.680199 +#73636 1721123081952 +SLAM 1.22447 -10.6105 52.2727 0.426906 0.748708 -0.0298109 0.506259 +TTool-pose None 37.5978 -14.2064 12.0951 -0.176809 -0.263817 -0.658099 0.682668 +#73637 1721123081989 +SLAM 1.09855 -10.5583 52.2575 0.427305 0.747752 -0.0300956 0.507318 +TTool-pose None 37.5554 -14.1942 12.1006 -0.177872 -0.26276 -0.658261 0.682644 +#73638 1721123082023 +SLAM 1.00956 -10.5837 52.246 0.426981 0.747308 -0.028927 0.508312 +TTool-pose None 37.5466 -14.1919 12.0711 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37.5811 -14.1811 12.1355 -0.177826 -0.266393 -0.656603 0.682844 +#73645 1721123082284 +SLAM 1.07105 -10.6298 52.2238 0.428149 0.747487 -0.0296712 0.507022 +TTool-pose None 37.5352 -14.1829 12.0992 -0.178096 -0.262952 -0.658897 0.681897 +#73646 1721123082319 +SLAM 1.13233 -10.5486 52.2608 0.427139 0.747909 -0.0301773 0.507222 +TTool-pose None 37.5603 -14.2062 12.0908 -0.177746 -0.262886 -0.658116 0.682768 +#73647 1721123082355 +SLAM 1.00632 -10.6218 52.2199 0.428087 0.746962 -0.0290911 0.50788 +TTool-pose None 37.5214 -14.2002 12.0759 -0.178106 -0.261875 -0.659333 0.681888 +#73648 1721123082390 +SLAM 1.48882 -10.8904 52.2504 0.43687 0.747234 -0.0333443 0.499674 +TTool-pose None 37.5372 -14.4037 12.2827 -0.183648 -0.271686 -0.659958 0.675949 +#73649 1721123082426 +SLAM 1.03811 -10.6289 52.2099 0.428104 0.74705 -0.0289029 0.507747 +TTool-pose None 37.5144 -14.22 12.059 -0.177922 -0.261965 -0.659439 0.681799 +#73650 1721123082462 +SLAM 1.32616 -11.0412 52.1423 0.437318 0.74644 -0.0306987 0.500638 +TTool-pose None 37.468 -14.3626 12.215 -0.182713 -0.26993 -0.661924 0.674983 +#73651 1721123082498 +SLAM 1.09748 -10.6239 52.2014 0.428719 0.747145 -0.0295328 0.507053 +TTool-pose None 37.5018 -14.2394 12.068 -0.178469 -0.262876 -0.659266 0.681472 +#73652 1721123082531 +SLAM 1.15538 -10.5435 52.2441 0.427169 0.747753 -0.029766 0.507451 +TTool-pose None 37.5399 -14.2506 12.0518 -0.177612 -0.262528 -0.658413 0.682655 +#73653 1721123082567 +SLAM 1.33849 -10.4746 52.2836 0.426618 0.748919 -0.0314332 0.506092 +TTool-pose None 37.5813 -14.2607 12.0789 -0.177593 -0.264443 -0.656943 0.683336 +#73654 1721123082603 +SLAM 1.50103 -10.9418 52.1815 0.435459 0.747854 -0.0316879 0.500085 +TTool-pose None 37.5144 -14.3698 12.204 -0.181619 -0.270819 -0.660336 0.676476 +#73655 1721123082637 +SLAM 1.02026 -10.6461 52.1863 0.428875 0.746655 -0.0289219 0.507678 +TTool-pose None 37.4866 -14.2321 12.0551 -0.178507 -0.262037 -0.659798 0.68127 +#73656 1721123082672 +SLAM 1.49414 -10.1514 52.4148 0.422678 0.750293 -0.0338571 0.507205 +TTool-pose None 37.6754 -14.2819 12.066 -0.176716 -0.263936 -0.653658 0.6869 +#73657 1721123082712 +SLAM 0.858419 -10.5558 52.1925 0.428901 0.745445 -0.0292023 0.509414 +TTool-pose None 37.4541 -14.2283 12.0541 -0.179631 -0.260253 -0.659866 0.681594 +#73658 1721123082748 +SLAM 0.893548 -10.6859 52.1744 0.429046 0.745773 -0.0277145 0.508895 +TTool-pose None 37.4743 -14.2357 12.0235 -0.178466 -0.260398 -0.660778 0.68096 +#73659 1721123082784 +SLAM 0.901797 -10.5102 52.2212 0.428352 0.745722 -0.0296987 0.509442 +TTool-pose None 37.4786 -14.2372 12.0518 -0.179548 -0.260365 -0.659296 0.682123 +#73660 1721123082822 +SLAM 1.03597 -10.5878 52.1652 0.429939 0.746412 -0.0309884 0.507011 +TTool-pose None 37.4528 -14.201 12.0928 -0.180399 -0.263307 -0.658972 0.681082 +#73661 1721123082862 +SLAM 0.820489 -10.6243 52.1731 0.428855 0.745274 -0.0280169 0.509769 +TTool-pose None 37.4541 -14.2265 12.0215 -0.178981 -0.259545 -0.660613 0.681311 +#73662 1721123082897 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0.675266 +#73668 1721123083108 +SLAM 0.88764 -10.563 52.2061 0.428564 0.74568 -0.0290485 0.509363 +TTool-pose None 37.4752 -14.2346 12.044 -0.179234 -0.260269 -0.659787 0.681768 +#73669 1721123083145 +SLAM 0.891025 -10.5592 52.191 0.42848 0.745797 -0.0292029 0.509253 +TTool-pose None 37.4651 -14.2159 12.0448 -0.179214 -0.26043 -0.659637 0.681857 +#73670 1721123083181 +SLAM 0.868707 -10.6897 52.1595 0.428718 0.745795 -0.0274417 0.509153 +TTool-pose None 37.467 -14.2143 12.0136 -0.178159 -0.260049 -0.660816 0.681137 +#73671 1721123083217 +SLAM 1.07213 -10.4694 52.2565 0.427549 0.746922 -0.0306337 0.508301 +TTool-pose None 37.5225 -14.2512 12.0623 -0.178946 -0.261852 -0.658181 0.682789 +#73672 1721123083258 +SLAM 0.841544 -10.6168 52.1702 0.428721 0.745521 -0.0282775 0.509507 +TTool-pose None 37.4545 -14.2126 12.0302 -0.178912 -0.2599 -0.660354 0.681445 +#73673 1721123083297 +SLAM 0.917691 -10.4873 52.2324 0.426977 0.746205 -0.0291266 0.509921 +TTool-pose None 37.4995 -14.2297 12.0251 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37.4717 -14.219 12.0289 -0.178438 -0.260202 -0.660275 0.68153 +#73680 1721123083559 +SLAM 1.30467 -10.7687 52.2161 0.439625 0.744881 -0.0355157 0.50062 +TTool-pose None 37.4227 -14.4251 12.3286 -0.187807 -0.271217 -0.660099 0.674856 +#73681 1721123083594 +SLAM 1.07872 -11.0879 52.1117 0.437452 0.744804 -0.0284194 0.503086 +TTool-pose None 37.4271 -14.37 12.1566 -0.182558 -0.266689 -0.663707 0.674562 +#73682 1721123083629 +SLAM 0.936487 -11.0923 52.0642 0.435867 0.744657 -0.0269313 0.504758 +TTool-pose None 37.4037 -14.2917 12.1056 -0.181169 -0.264518 -0.66406 0.675443 +#73683 1721123083664 +SLAM 0.977787 -10.5407 52.227 0.427394 0.74653 -0.0289928 0.509105 +TTool-pose None 37.5081 -14.2392 12.0289 -0.178135 -0.260542 -0.659211 0.682508 +#73684 1721123083699 +SLAM 0.910159 -10.5447 52.2119 0.428165 0.745917 -0.0291132 0.509347 +TTool-pose None 37.4812 -14.2348 12.0416 -0.178954 -0.260307 -0.659549 0.682057 +#73685 1721123083733 +SLAM 0.735959 -10.5809 52.1773 0.427269 0.745163 -0.027066 0.511313 +TTool-pose None 37.4589 -14.206 11.9814 -0.177897 -0.25764 -0.660612 0.682318 +#73686 1721123083769 +SLAM 0.854629 -10.7121 52.1523 0.428873 0.745706 -0.0270956 0.509172 +TTool-pose None 37.4618 -14.2171 12.0116 -0.178057 -0.259931 -0.661106 0.680927 +#73687 1721123083806 +SLAM 0.910701 -10.472 52.236 0.426901 0.74616 -0.0292296 0.510045 +TTool-pose None 37.4985 -14.2299 12.0267 -0.178401 -0.259603 -0.658946 0.683053 +#73688 1721123083847 +SLAM 1.01271 -10.5403 52.2247 0.428288 0.7465 -0.0298517 0.508346 +TTool-pose None 37.4988 -14.2443 12.0585 -0.179024 -0.261582 -0.659028 0.682054 +#73689 1721123083888 +SLAM 0.910313 -10.5823 52.2008 0.428416 0.745906 -0.0287313 0.509174 +TTool-pose None 37.4775 -14.2374 12.0379 -0.178803 -0.260385 -0.659884 0.681743 +#73690 1721123083922 +SLAM 0.935835 -10.6518 52.1834 0.428369 0.746178 -0.0279369 0.508859 +TTool-pose None 37.485 -14.2338 12.017 -0.178063 -0.260505 -0.660304 0.681484 +#73691 1721123083955 +SLAM 0.911044 -10.6087 52.1897 0.427429 0.746278 -0.0278123 0.50951 +TTool-pose None 37.4895 -14.2177 12.0039 -0.177578 -0.259782 -0.660002 0.682179 +#73692 1721123083989 +SLAM 0.634681 -11.1662 51.9667 0.437451 0.74273 -0.0258466 0.506282 +TTool-pose None 37.3059 -14.2127 12.1059 -0.182496 -0.262557 -0.665695 0.674241 +#73693 1721123084026 +SLAM 0.739281 -10.825 52.1056 0.430847 0.744593 -0.0262101 0.509181 +TTool-pose None 37.4168 -14.2213 12.0201 -0.179025 -0.259653 -0.662617 0.679308 +#73694 1721123084067 +SLAM 0.853736 -10.6261 52.1788 0.428957 0.745504 -0.0282448 0.509334 +TTool-pose None 37.4593 -14.2288 12.0363 -0.178986 -0.260074 -0.660468 0.681248 +#73695 1721123084102 +SLAM 0.887266 -10.6974 52.1605 0.428269 0.746067 -0.0270937 0.509152 +TTool-pose None 37.4758 -14.2135 12.0034 -0.177567 -0.259958 -0.660807 0.681334 +#73696 1721123084136 +SLAM 0.861892 -10.6736 52.1511 0.430098 0.745332 -0.0284602 0.508612 +TTool-pose None 37.4356 -14.2275 12.0535 -0.179654 -0.260895 -0.660803 0.680433 +#73697 1721123084168 +SLAM 0.851295 -10.6482 52.145 0.429395 0.745391 -0.0281555 0.509136 +TTool-pose None 37.4309 -14.2251 12.0287 -0.179168 -0.260256 -0.660712 0.680894 +#73698 1721123084202 +SLAM 0.574041 -10.8972 52.029 0.435376 0.742411 -0.0274537 0.508448 +TTool-pose None 37.3034 -14.2212 12.0989 -0.183073 -0.260715 -0.663983 0.676484 +#73699 1721123084236 +SLAM 0.827659 -10.6563 52.1378 0.429814 0.745114 -0.028178 0.509187 +TTool-pose None 37.4198 -14.2276 12.0317 -0.179541 -0.260204 -0.660911 0.680623 +#73700 1721123084273 +SLAM 0.875072 -10.5198 52.1994 0.427126 0.745852 -0.028181 0.510365 +TTool-pose None 37.4693 -14.2439 11.9944 -0.178039 -0.258968 -0.659739 0.682623 +#73701 1721123084310 +SLAM 0.609924 -10.7782 52.081 0.432006 0.743393 -0.0268768 0.509917 +TTool-pose None 37.3587 -14.2142 12.0428 -0.180783 -0.259031 -0.662875 0.678829 +#73702 1721123084349 +SLAM 1.02968 -10.5041 52.2185 0.427235 0.746773 -0.0294175 0.508856 +TTool-pose None 37.495 -14.2522 12.023 -0.178167 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37.472 -14.2422 11.9983 -0.17778 -0.2593 -0.659961 0.682349 +#73709 1721123084593 +SLAM 1.3708 -10.8271 52.227 0.438931 0.745404 -0.0341532 0.500546 +TTool-pose None 37.4549 -14.4674 12.2858 -0.186291 -0.270941 -0.660585 0.674911 +#73710 1721123084625 +SLAM 0.838935 -10.5819 52.158 0.428206 0.745584 -0.0281256 0.509856 +TTool-pose None 37.4368 -14.2165 12.0147 -0.178586 -0.259489 -0.660238 0.681799 +#73711 1721123084659 +SLAM 0.979452 -10.5457 52.2039 0.42716 0.746588 -0.0285188 0.509242 +TTool-pose None 37.489 -14.2444 12.0082 -0.177702 -0.260266 -0.659403 0.682541 +#73712 1721123084690 +SLAM 1.17429 -10.9627 52.1411 0.436098 0.745562 -0.0296398 0.503068 +TTool-pose None 37.4432 -14.3722 12.1551 -0.182298 -0.267068 -0.662298 0.675866 +#73713 1721123084726 +SLAM 0.8165 -10.5748 52.1642 0.428001 0.745448 -0.0278828 0.510239 +TTool-pose None 37.4398 -14.2222 12.0056 -0.178462 -0.259012 -0.660335 0.681918 +#73714 1721123084762 +SLAM 0.979818 -10.5407 52.2074 0.427045 0.746601 -0.0284925 0.50932 +TTool-pose None 37.4919 -14.2462 12.0056 -0.177635 -0.260176 -0.659373 0.682622 +#73715 1721123084794 +SLAM 1.03597 -10.5068 52.2306 0.426841 0.746942 -0.0292047 0.508951 +TTool-pose None 37.5119 -14.25 12.0184 -0.177761 -0.260769 -0.658789 0.682926 +#73716 1721123084827 +SLAM 1.04663 -10.5169 52.2176 0.426939 0.747025 -0.0291854 0.508748 +TTool-pose None 37.503 -14.2459 12.0183 -0.177718 -0.260981 -0.658823 0.682824 +#73717 1721123084864 +SLAM 0.995054 -10.5588 52.201 0.427194 0.746713 -0.028488 0.509031 +TTool-pose None 37.4914 -14.242 12.009 -0.177597 -0.260483 -0.659412 0.682477 +#73718 1721123084896 +SLAM 0.852828 -10.5765 52.1752 0.427425 0.745845 -0.027742 0.510151 +TTool-pose None 37.4612 -14.2189 11.9962 -0.177864 -0.259074 -0.660126 0.682254 +#73719 1721123084929 +SLAM 0.927199 -10.5854 52.1794 0.427872 0.746158 -0.0282348 0.50929 +TTool-pose None 37.4661 -14.2359 12.0115 -0.178097 -0.260129 -0.659934 0.681977 +#73720 1721123084960 +SLAM 1.09755 -11.0187 52.1051 0.435786 0.745346 -0.0282637 0.503737 +TTool-pose None 37.4253 -14.3499 12.1226 -0.18147 -0.265979 -0.663074 0.675757 +#73721 1721123084992 +SLAM 1.10938 -10.9766 52.1147 0.434368 0.745844 -0.0281354 0.504231 +TTool-pose None 37.4447 -14.3235 12.1016 -0.180517 -0.265438 -0.662523 0.676765 +#73722 1721123085024 +SLAM 0.902163 -10.6304 52.1677 0.427524 0.746191 -0.0272173 0.509589 +TTool-pose None 37.4691 -14.2307 11.989 -0.177292 -0.259531 -0.660422 0.681942 +#73723 1721123085055 +SLAM 1.15481 -11.0051 52.1206 0.43545 0.745758 -0.0285268 0.503402 +TTool-pose None 37.4437 -14.3565 12.1248 -0.181206 -0.266415 -0.662705 0.676019 +#73724 1721123085091 +SLAM 1.0246 -10.5399 52.2097 0.427061 0.746932 -0.0288837 0.508801 +TTool-pose None 37.4989 -14.2394 12.0179 -0.177638 -0.260841 -0.659074 0.682656 +#73725 1721123085123 +SLAM 1.12855 -11.0896 52.0841 0.435199 0.745919 -0.0271965 0.503455 +TTool-pose None 37.4381 -14.3306 12.0984 -0.180135 -0.265995 -0.6634 0.675788 +#73726 1721123085155 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0.681812 +#73732 1721123085362 +SLAM 0.779087 -10.6703 52.1294 0.426684 0.745921 -0.0256014 0.510772 +TTool-pose None 37.4479 -14.1852 11.9556 -0.17616 -0.257821 -0.661146 0.682183 +#73733 1721123085395 +SLAM 0.869968 -11.0938 52.0396 0.433216 0.745109 -0.024502 0.506494 +TTool-pose None 37.4057 -14.2634 12.0239 -0.178336 -0.262026 -0.66447 0.676764 +#73734 1721123085427 +SLAM 0.827805 -10.6346 52.1473 0.426839 0.746077 -0.0263974 0.510374 +TTool-pose None 37.4552 -14.1997 11.9719 -0.17661 -0.258468 -0.660686 0.682267 +#73735 1721123085460 +SLAM 0.735594 -10.8754 52.0777 0.428343 0.745453 -0.0236029 0.510162 +TTool-pose None 37.4323 -14.1976 11.9388 -0.175801 -0.257902 -0.663101 0.680344 +#73736 1721123085491 +SLAM 0.698156 -10.7324 52.1068 0.427705 0.745217 -0.0249791 0.510975 +TTool-pose None 37.4249 -14.1872 11.9586 -0.176654 -0.25742 -0.662054 0.681325 +#73737 1721123085525 +SLAM 0.873352 -10.6155 52.1582 0.426676 0.746365 -0.0268301 0.510065 +TTool-pose None 37.4663 -14.2022 11.9771 -0.176611 -0.25892 -0.660302 0.682467 +#73738 1721123085561 +SLAM 0.786985 -10.7004 52.1272 0.427376 0.745767 -0.0256653 0.510414 +TTool-pose None 37.4459 -14.1977 11.9637 -0.176562 -0.258216 -0.661402 0.681681 +#73739 1721123085592 +SLAM 0.76802 -10.6285 52.1523 0.427233 0.745527 -0.0263905 0.510847 +TTool-pose None 37.448 -14.2065 11.9752 -0.177167 -0.257954 -0.660946 0.682066 +#73740 1721123085624 +SLAM 0.875065 -10.6976 52.1427 0.427591 0.746192 -0.0263506 0.509577 +TTool-pose None 37.4643 -14.2115 11.9763 -0.176753 -0.259302 -0.660982 0.681627 +#73741 1721123085656 +SLAM 0.878839 -10.5567 52.1821 0.426515 0.746259 -0.0274245 0.510324 +TTool-pose None 37.4725 -14.2187 11.9818 -0.177022 -0.258809 -0.659893 0.682798 +#73742 1721123085689 +SLAM 1.00402 -10.5734 52.2035 0.426123 0.747163 -0.027785 0.509308 +TTool-pose None 37.5141 -14.2216 11.9843 -0.176422 -0.260001 -0.659348 0.683027 +#73743 1721123085723 +SLAM 0.435065 -10.886 51.9924 0.434231 0.74206 -0.0262236 0.510003 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0.746924 -0.0282959 0.509232 +TTool-pose None 37.4988 -14.2375 12.0009 -0.177103 -0.26022 -0.659262 0.682851 +#73750 1721123085967 +SLAM 0.915501 -10.6439 52.1761 0.426316 0.746656 -0.0262863 0.50997 +TTool-pose None 37.4954 -14.2237 11.9583 -0.175909 -0.258875 -0.660443 0.682529 +#73751 1721123086000 +SLAM 0.886513 -10.5639 52.1852 0.426805 0.746244 -0.0275846 0.510094 +TTool-pose None 37.4739 -14.2218 11.9924 -0.177238 -0.259097 -0.659909 0.682617 +#73752 1721123086032 +SLAM 0.900614 -10.6754 52.1542 0.427697 0.746279 -0.0267675 0.50934 +TTool-pose None 37.4665 -14.2228 11.9902 -0.176994 -0.259672 -0.660749 0.681649 +#73753 1721123086065 +SLAM 0.913021 -10.6254 52.1654 0.426937 0.746547 -0.0271029 0.509566 +TTool-pose None 37.475 -14.2094 11.9887 -0.176739 -0.259529 -0.660199 0.682302 +#73754 1721123086101 +SLAM 0.840187 -10.6533 52.1391 0.427329 0.746052 -0.0265626 0.509991 +TTool-pose None 37.4485 -14.2011 11.9814 -0.176908 -0.25892 -0.660777 0.68193 +#73755 1721123086140 +SLAM 1.211 -10.6056 52.1625 0.427231 0.74844 -0.0296474 0.506391 +TTool-pose None 37.4979 -14.1913 12.042 -0.177024 -0.263629 -0.658376 0.682418 +#73756 1721123086182 +SLAM 0.895955 -10.6683 52.1429 0.42733 0.746456 -0.0267159 0.509391 +TTool-pose None 37.4605 -14.2016 11.9893 -0.176695 -0.259607 -0.660606 0.68189 +#73757 1721123086225 +SLAM 0.951426 -10.706 52.135 0.427632 0.746792 -0.0267506 0.508643 +TTool-pose None 37.4652 -14.203 11.9947 -0.176564 -0.260416 -0.660636 0.681586 +#73758 1721123086260 +SLAM 0.989452 -10.7071 52.1484 0.426862 0.747234 -0.026388 0.50866 +TTool-pose None 37.4889 -14.2059 11.9792 -0.17572 -0.260303 -0.66048 0.681998 +#73759 1721123086294 +SLAM 1.06865 -10.6503 52.164 0.426392 0.747814 -0.027365 0.508149 +TTool-pose None 37.5015 -14.201 11.9935 -0.175741 -0.261125 -0.659586 0.682544 +#73760 1721123086326 +SLAM 1.38349 -10.5945 52.1853 0.425126 0.750156 -0.0293416 0.505642 +TTool-pose None 37.5562 -14.1838 12.0153 -0.174763 -0.26436 -0.657424 0.683635 +#73761 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0.746982 -0.0294124 0.506018 +TTool-pose None 37.4819 -14.2673 12.0638 -0.179041 -0.263934 -0.659948 0.680252 +#73785 1721123087167 +SLAM 1.51301 -10.3956 52.2587 0.428811 0.749142 -0.0350687 0.503664 +TTool-pose None 37.5351 -14.2733 12.1503 -0.18052 -0.268006 -0.655477 0.682588 +#73786 1721123087204 +SLAM 1.25102 -10.5069 52.2458 0.430211 0.747144 -0.0325427 0.505603 +TTool-pose None 37.5003 -14.3119 12.125 -0.180929 -0.265235 -0.65797 0.681162 +#73787 1721123087244 +SLAM 1.39167 -10.3551 52.3146 0.430016 0.74772 -0.0351067 0.504745 +TTool-pose None 37.5322 -14.3473 12.1789 -0.182065 -0.26685 -0.65619 0.681945 +#73788 1721123087277 +SLAM 1.26335 -10.4348 52.2796 0.430301 0.747032 -0.0334702 0.505633 +TTool-pose None 37.5059 -14.3344 12.1528 -0.181644 -0.265455 -0.65745 0.681388 +#73789 1721123087311 +SLAM 1.35487 -10.4495 52.2854 0.431003 0.747384 -0.034315 0.504457 +TTool-pose None 37.5156 -14.3464 12.1783 -0.182157 -0.266933 -0.657123 0.680989 +#73790 1721123087346 +SLAM 1.60333 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0.508228 +TTool-pose None 37.4258 -14.2951 12.0901 -0.182202 -0.262248 -0.658899 0.681081 +#73814 1721123088171 +SLAM 0.862501 -10.5035 52.1753 0.431154 0.744419 -0.0310134 0.508906 +TTool-pose None 37.3961 -14.2794 12.0824 -0.182374 -0.261268 -0.6598 0.680539 +#73815 1721123088206 +SLAM 0.879995 -10.4442 52.1982 0.430285 0.74466 -0.0312635 0.509273 +TTool-pose None 37.4115 -14.2827 12.076 -0.182048 -0.260953 -0.659268 0.681263 +#73816 1721123088244 +SLAM 0.846094 -10.5343 52.1634 0.431339 0.744354 -0.030675 0.508865 +TTool-pose None 37.3905 -14.2729 12.081 -0.18227 -0.261217 -0.660093 0.680303 +#73817 1721123088276 +SLAM 0.842218 -10.5294 52.1644 0.430887 0.744475 -0.0304565 0.509083 +TTool-pose None 37.3961 -14.2653 12.0711 -0.181878 -0.260929 -0.660033 0.680577 +#73818 1721123088307 +SLAM 0.553713 -10.7434 52.0434 0.436231 0.74166 -0.0298993 0.508674 +TTool-pose None 37.264 -14.2351 12.1386 -0.185527 -0.261131 -0.662936 0.676681 +#73819 1721123088339 +SLAM 0.892531 -10.5064 52.1742 0.430833 0.744788 -0.0310586 0.508635 +TTool-pose None 37.4039 -14.2658 12.0848 -0.182007 -0.261575 -0.65958 0.680733 +#73820 1721123088372 +SLAM 0.840455 -10.5873 52.1452 0.431295 0.744502 -0.0300307 0.508723 +TTool-pose None 37.3906 -14.2565 12.0721 -0.181724 -0.261193 -0.660447 0.680115 +#73821 1721123088406 +SLAM 0.902061 -10.7541 52.1123 0.431845 0.744992 -0.0284631 0.507628 +TTool-pose None 37.4041 -14.2629 12.05 -0.180522 -0.261928 -0.661531 0.679097 +#73822 1721123088439 +SLAM 1.05375 -10.4969 52.2186 0.428468 0.746408 -0.0303455 0.508301 +TTool-pose None 37.4798 -14.2793 12.0437 -0.179477 -0.261765 -0.65881 0.682076 +#73823 1721123088472 +SLAM 0.924662 -10.715 52.1342 0.431011 0.745302 -0.0285027 0.50788 +TTool-pose None 37.4233 -14.2661 12.0429 -0.18002 -0.26168 -0.66113 0.679716 +#73824 1721123088510 +SLAM 0.996738 -10.5359 52.1953 0.429323 0.745968 -0.0302262 0.508232 +TTool-pose None 37.4558 -14.2643 12.0595 -0.180036 -0.261797 -0.659294 0.681448 +#73825 1721123088547 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0.683799 +#73831 1721123088754 +SLAM 1.59368 -10.9143 52.199 0.436112 0.748028 -0.0327105 0.499189 +TTool-pose None 37.5177 -14.4113 12.2269 -0.182364 -0.272042 -0.65991 0.676201 +#73832 1721123088788 +SLAM 1.677 -10.8385 52.2312 0.435772 0.748515 -0.0340219 0.498669 +TTool-pose None 37.5375 -14.4172 12.253 -0.182713 -0.272956 -0.65887 0.676751 +#73833 1721123088822 +SLAM 1.39534 -10.4986 52.2612 0.426687 0.749319 -0.0314494 0.505441 +TTool-pose None 37.573 -14.2564 12.0754 -0.177318 -0.265142 -0.656881 0.683196 +#73834 1721123088857 +SLAM 1.36439 -10.4456 52.2859 0.425872 0.749235 -0.0312658 0.506263 +TTool-pose None 37.5841 -14.2661 12.0643 -0.176981 -0.264219 -0.656699 0.683815 +#73835 1721123088895 +SLAM 1.30519 -10.6247 52.2093 0.428278 0.748603 -0.03041 0.50522 +TTool-pose None 37.5334 -14.244 12.082 -0.177754 -0.26508 -0.658272 0.681766 +#73836 1721123088933 +SLAM 1.37409 -10.5847 52.2403 0.427183 0.74927 -0.0305487 0.505149 +TTool-pose None 37.5682 -14.2498 12.0758 -0.176946 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0.425483 0.750604 -0.0318853 0.504522 +TTool-pose None 37.6191 -14.2452 12.0964 -0.176182 -0.26625 -0.655897 0.684003 +#73861 1721123089776 +SLAM 1.53898 -10.5569 52.278 0.425609 0.750758 -0.0307545 0.504255 +TTool-pose None 37.6261 -14.2534 12.0749 -0.175376 -0.266225 -0.656616 0.683531 +#73862 1721123089809 +SLAM 1.81493 -11.0431 52.1916 0.433374 0.750729 -0.0307354 0.497643 +TTool-pose None 37.6054 -14.3628 12.1832 -0.178049 -0.273182 -0.659566 0.677226 +#73863 1721123089840 +SLAM 1.72876 -10.4095 52.3511 0.423861 0.752109 -0.0325367 0.503603 +TTool-pose None 37.6904 -14.2742 12.0889 -0.174866 -0.267415 -0.654573 0.685154 +#73864 1721123089873 +SLAM 1.56042 -10.4195 52.314 0.424843 0.750911 -0.0323069 0.504577 +TTool-pose None 37.6346 -14.2472 12.0965 -0.175993 -0.26631 -0.655331 0.684572 +#73865 1721123089906 +SLAM 1.87666 -10.2425 52.4096 0.424034 0.75262 -0.0357226 0.502476 +TTool-pose None 37.7106 -14.3006 12.156 -0.176577 -0.269479 -0.652557 0.68583 +#73866 1721123089940 +SLAM 1.54124 -10.4756 52.2931 0.425454 0.75073 -0.0318577 0.50436 +TTool-pose None 37.6213 -14.2459 12.0968 -0.176056 -0.266415 -0.655879 0.683989 +#73867 1721123089974 +SLAM 1.6585 -10.4483 52.3292 0.423835 0.751799 -0.0316623 0.504143 +TTool-pose None 37.6757 -14.2586 12.0712 -0.174535 -0.266601 -0.655168 0.684987 +#73868 1721123090009 +SLAM 1.75978 -10.2586 52.399 0.42369 0.752033 -0.0345512 0.503726 +TTool-pose None 37.6967 -14.2926 12.1265 -0.176163 -0.267832 -0.653272 0.685901 +#73869 1721123090044 +SLAM 2.08724 -10.8447 52.3045 0.433811 0.751639 -0.0348649 0.495612 +TTool-pose None 37.6636 -14.4492 12.2752 -0.180142 -0.276454 -0.656976 0.677861 +#73870 1721123090077 +SLAM 1.94173 -10.9713 52.2331 0.434343 0.750984 -0.0329834 0.496267 +TTool-pose None 37.6198 -14.4017 12.2429 -0.179625 -0.275243 -0.658479 0.677032 +#73871 1721123090112 +SLAM 1.90585 -10.9565 52.2291 0.433247 0.751124 -0.032325 0.497056 +TTool-pose None 37.6248 -14.3787 12.2133 -0.178721 -0.27424 -0.658451 0.677705 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0.750229 -0.0364608 0.501554 +TTool-pose None 37.6246 -14.3587 12.2341 -0.180725 -0.270625 -0.654566 0.682374 +#73896 1721123090970 +SLAM 1.76281 -10.3309 52.3842 0.427857 0.750809 -0.0363218 0.501901 +TTool-pose None 37.6483 -14.3432 12.2152 -0.179698 -0.27023 -0.654003 0.683342 +#73897 1721123091005 +SLAM 1.70519 -10.4699 52.3315 0.429508 0.750275 -0.0353601 0.501358 +TTool-pose None 37.6137 -14.3332 12.2198 -0.180064 -0.270535 -0.655334 0.681848 +#73898 1721123091043 +SLAM 1.92727 -10.2641 52.4174 0.427612 0.751753 -0.0380685 0.500566 +TTool-pose None 37.6813 -14.3533 12.2492 -0.179996 -0.272122 -0.65263 0.683825 +#73899 1721123091078 +SLAM 1.65767 -10.4738 52.3183 0.42933 0.750118 -0.0350705 0.501765 +TTool-pose None 37.6034 -14.3121 12.2121 -0.179939 -0.270025 -0.655478 0.681944 +#73900 1721123091112 +SLAM 1.82029 -10.3395 52.3881 0.428279 0.751046 -0.036878 0.501146 +TTool-pose None 37.6553 -14.3483 12.2334 -0.180015 -0.271181 -0.653768 0.683106 +#73901 1721123091151 +SLAM 1.78303 -10.5108 52.2782 0.430517 0.750723 -0.0364492 0.499742 +TTool-pose None 37.5834 -14.2886 12.2502 -0.18076 -0.272538 -0.654946 0.681239 +#73902 1721123091185 +SLAM 1.78802 -10.4895 52.3318 0.428872 0.750993 -0.0351719 0.500841 +TTool-pose None 37.6372 -14.3303 12.2037 -0.179165 -0.271039 -0.655066 0.682142 +#73903 1721123091217 +SLAM 1.6257 -10.4292 52.3297 0.428914 0.749925 -0.0351379 0.502406 +TTool-pose None 37.6032 -14.3151 12.2034 -0.179991 -0.269365 -0.655317 0.682346 +#73904 1721123091252 +SLAM 1.22477 -10.671 52.1845 0.4349 0.746347 -0.0341353 0.502657 +TTool-pose None 37.4348 -14.2704 12.268 -0.18418 -0.268753 -0.658906 0.677999 +#73905 1721123091285 +SLAM 1.72435 -10.3896 52.3566 0.428205 0.750602 -0.035639 0.501963 +TTool-pose None 37.6335 -14.3306 12.2023 -0.17954 -0.269978 -0.654602 0.68291 +#73906 1721123091319 +SLAM 1.88072 -9.92347 52.5211 0.423455 0.751965 -0.03934 0.503673 +TTool-pose None 37.731 -14.3549 12.2074 -0.179208 -0.269179 -0.650209 0.687493 +#73907 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1.53404 -10.9617 52.1666 0.437411 0.747399 -0.0326991 0.498996 +TTool-pose None 37.4819 -14.4038 12.2428 -0.183286 -0.272223 -0.660526 0.675276 +#73943 1721123092612 +SLAM 1.19906 -10.5194 52.2184 0.429884 0.747046 -0.0318592 0.50607 +TTool-pose None 37.4786 -14.2914 12.1099 -0.180451 -0.264553 -0.658289 0.681246 +#73944 1721123092648 +SLAM 1.24125 -10.4896 52.2268 0.429801 0.746976 -0.0318846 0.506242 +TTool-pose None 37.4774 -14.3412 12.0817 -0.180493 -0.264377 -0.658255 0.681336 +#73945 1721123092683 +SLAM 1.30258 -10.481 52.2202 0.429809 0.747215 -0.0322704 0.505859 +TTool-pose None 37.4771 -14.3518 12.0689 -0.180559 -0.264892 -0.657972 0.681391 +#73946 1721123092718 +SLAM 1.31105 -10.5379 52.1826 0.43113 0.746924 -0.0324389 0.505152 +TTool-pose None 37.4461 -14.3557 12.075 -0.181348 -0.265678 -0.658426 0.680437 +#73947 1721123092756 +SLAM 1.29057 -10.4724 52.2095 0.42984 0.746975 -0.0321132 0.506197 +TTool-pose None 37.4632 -14.3669 12.0468 -0.180654 -0.264487 -0.658128 0.681373 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52.1819 0.429116 0.746951 -0.0309009 0.506921 +TTool-pose None 37.4551 -14.329 12.0178 -0.17964 -0.263389 -0.658609 0.681602 +#73978 1721123093865 +SLAM 1.27798 -10.5111 52.1907 0.429058 0.747334 -0.0312252 0.506385 +TTool-pose None 37.4691 -14.3334 12.025 -0.179533 -0.264052 -0.658311 0.681661 +#73979 1721123093900 +SLAM 1.20933 -10.534 52.1689 0.429581 0.746823 -0.0309198 0.506714 +TTool-pose None 37.4442 -14.3245 12.0242 -0.179913 -0.26361 -0.658799 0.681261 +#73980 1721123093933 +SLAM 1.12755 -10.58 52.1524 0.429793 0.746323 -0.0299109 0.507331 +TTool-pose None 37.4306 -14.3233 12.0076 -0.179721 -0.26267 -0.6596 0.680899 +#73981 1721123093966 +SLAM 1.34785 -10.4471 52.23 0.428226 0.747801 -0.0317255 0.506369 +TTool-pose None 37.5 -14.3566 12.0229 -0.179206 -0.264214 -0.657594 0.682377 +#73982 1721123093999 +SLAM 1.17045 -10.5992 52.1535 0.429785 0.746612 -0.0298793 0.506915 +TTool-pose None 37.4405 -14.3275 12.0069 -0.179474 -0.263107 -0.659561 0.680833 +#73983 1721123094032 +SLAM 1.19739 -10.6371 52.1557 0.429509 0.746875 -0.0292367 0.506799 +TTool-pose None 37.4568 -14.3368 11.9901 -0.17876 -0.263058 -0.659803 0.680806 +#73984 1721123094068 +SLAM 1.31303 -10.4888 52.2058 0.428788 0.747555 -0.0314833 0.506272 +TTool-pose None 37.482 -14.3422 12.0261 -0.179435 -0.264246 -0.658006 0.681907 +#73985 1721123094101 +SLAM 1.26932 -10.5198 52.1797 0.429416 0.747221 -0.0313817 0.506239 +TTool-pose None 37.4583 -14.3264 12.0319 -0.179846 -0.264246 -0.658373 0.681444 +#73986 1721123094134 +SLAM 1.20761 -10.5778 52.1582 0.430167 0.746704 -0.0307002 0.506406 +TTool-pose None 37.4387 -14.3294 12.028 -0.180065 -0.263873 -0.659181 0.680749 +#73987 1721123094166 +SLAM 1.12164 -10.5983 52.1499 0.429977 0.746245 -0.0297092 0.507302 +TTool-pose None 37.4295 -14.3282 12.0064 -0.179715 -0.262645 -0.65981 0.680707 +#73988 1721123094199 +SLAM 1.31901 -10.4691 52.2082 0.428641 0.747604 -0.031695 0.506311 +TTool-pose None 37.4818 -14.3402 12.0267 -0.179483 -0.264263 -0.657809 0.682077 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0.747255 -0.0305083 0.507012 +TTool-pose None 37.4692 -14.3272 12.0009 -0.178941 -0.263189 -0.658561 0.68191 +#74013 1721123095036 +SLAM 1.53963 -10.4871 52.1815 0.429561 0.748902 -0.0338077 0.503467 +TTool-pose None 37.4823 -14.3128 12.0799 -0.180154 -0.267867 -0.656593 0.681666 +#74014 1721123095070 +SLAM 1.20592 -10.4885 52.1937 0.428368 0.747033 -0.0305657 0.507452 +TTool-pose None 37.4663 -14.3299 12.0014 -0.179101 -0.262736 -0.658515 0.682087 +#74015 1721123095103 +SLAM 1.23384 -10.484 52.1972 0.428477 0.747168 -0.0308786 0.507143 +TTool-pose None 37.4697 -14.332 12.0094 -0.179237 -0.263151 -0.658337 0.682063 +#74016 1721123095140 +SLAM 1.12539 -10.5479 52.1657 0.429119 0.746438 -0.0298286 0.507737 +TTool-pose None 37.4409 -14.3239 11.9973 -0.179346 -0.262221 -0.659372 0.681392 +#74017 1721123095179 +SLAM 1.17898 -10.5943 52.1597 0.428969 0.74689 -0.029443 0.507221 +TTool-pose None 37.4558 -14.3226 11.9865 -0.178695 -0.262668 -0.659467 0.681299 +#74018 1721123095212 +SLAM 1.29879 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1721123095414 +SLAM 1.2098 -10.5328 52.1713 0.429189 0.746943 -0.0306653 0.506885 +TTool-pose None 37.4507 -14.322 12.0145 -0.17952 -0.263361 -0.658784 0.681475 +#74025 1721123095454 +SLAM 1.2806 -10.4376 52.2198 0.427903 0.747523 -0.0313508 0.507075 +TTool-pose None 37.488 -14.3379 12.0116 -0.179068 -0.263358 -0.657756 0.682587 +#74026 1721123095486 +SLAM 1.16911 -10.5556 52.1636 0.429446 0.746643 -0.0302558 0.507134 +TTool-pose None 37.4422 -14.3239 12.0102 -0.179576 -0.26298 -0.659193 0.681212 +#74027 1721123095520 +SLAM 1.20853 -10.4728 52.2015 0.427986 0.747125 -0.0304991 0.507644 +TTool-pose None 37.4732 -14.3311 11.9954 -0.178854 -0.262516 -0.658392 0.682354 +#74028 1721123095555 +SLAM 1.25578 -10.4914 52.2075 0.428278 0.747318 -0.0306474 0.507104 +TTool-pose None 37.4828 -14.3451 12.0021 -0.178903 -0.263131 -0.658375 0.682121 +#74029 1721123095593 +SLAM 1.29442 -10.4513 52.2168 0.427927 0.747623 -0.0312497 0.506914 +TTool-pose None 37.4899 -14.3389 12.0096 -0.178934 -0.263503 -0.657809 0.682516 +#74030 1721123095627 +SLAM 1.51344 -10.9174 52.1412 0.436609 0.746854 -0.0315849 0.500584 +TTool-pose None 37.4494 -14.4722 12.1366 -0.182722 -0.270242 -0.661028 0.675733 +#74031 1721123095660 +SLAM 1.19316 -10.5144 52.1852 0.428562 0.746947 -0.0302714 0.507433 +TTool-pose None 37.462 -14.3291 11.9987 -0.179045 -0.262674 -0.658788 0.681862 +#74032 1721123095696 +SLAM 1.17841 -10.5493 52.1672 0.429252 0.746746 -0.0302646 0.507146 +TTool-pose None 37.447 -14.3235 12.0079 -0.179435 -0.262972 -0.659094 0.681348 +#74033 1721123095729 +SLAM 1.35791 -10.4159 52.2341 0.427522 0.74806 -0.0318261 0.506574 +TTool-pose None 37.5071 -14.3426 12.0151 -0.178826 -0.264028 -0.657212 0.682916 +#74034 1721123095765 +SLAM 1.22642 -10.4613 52.2077 0.427863 0.747236 -0.0306549 0.507574 +TTool-pose None 37.4786 -14.3343 11.996 -0.178826 -0.262634 -0.658227 0.682475 +#74035 1721123095800 +SLAM 1.23178 -10.5422 52.177 0.429134 0.747085 -0.0305823 0.506727 +TTool-pose None 37.46 -14.3288 12.0127 -0.179338 -0.263508 -0.658787 0.681463 +#74036 1721123095842 +SLAM 1.19429 -10.512 52.1837 0.428487 0.746979 -0.0302805 0.507449 +TTool-pose None 37.4615 -14.3262 11.9971 -0.179 -0.26266 -0.658747 0.681918 +#74037 1721123095876 +SLAM 1.1811 -10.5762 52.1687 0.428759 0.746917 -0.0294988 0.507357 +TTool-pose None 37.4605 -14.3275 11.9856 -0.178638 -0.262541 -0.659347 0.681479 +#74038 1721123095915 +SLAM 1.15883 -10.5206 52.1726 0.428885 0.746678 -0.0302684 0.507556 +TTool-pose None 37.4467 -14.3216 12.0019 -0.179363 -0.262538 -0.658964 0.68166 +#74039 1721123095949 +SLAM 1.23124 -10.5693 52.1664 0.429476 0.747039 -0.030472 0.506513 +TTool-pose None 37.4542 -14.3271 12.0148 -0.17942 -0.263704 -0.658994 0.681166 +#74040 1721123095986 +SLAM 1.3154 -10.4924 52.2104 0.428623 0.747592 -0.0312453 0.506371 +TTool-pose None 37.4875 -14.3495 12.0192 -0.179196 -0.264076 -0.658083 0.681961 +#74041 1721123096025 +SLAM 1.19579 -10.5611 52.1633 0.429169 0.746909 -0.0301646 0.506983 +TTool-pose None 37.4498 -14.321 12.0044 -0.179216 -0.26312 -0.659093 0.68135 +#74042 1721123096062 +SLAM 1.16114 -10.5726 52.1606 0.429441 0.746613 -0.0299545 0.5072 +TTool-pose None 37.4431 -14.3251 12.0039 -0.179403 -0.262826 -0.659383 0.681132 +#74043 1721123096095 +SLAM 1.15751 -10.6037 52.1521 0.429446 0.746639 -0.0295068 0.507185 +TTool-pose None 37.4435 -14.3241 11.9945 -0.179096 -0.26272 -0.659657 0.680989 +#74044 1721123096132 +SLAM 1.21714 -10.5364 52.174 0.429226 0.746963 -0.0306448 0.506825 +TTool-pose None 37.4535 -14.327 12.0144 -0.179504 -0.26342 -0.658807 0.681435 +#74045 1721123096167 +SLAM 1.24116 -10.4954 52.191 0.428675 0.7472 -0.0309793 0.506922 +TTool-pose None 37.4669 -14.3265 12.0141 -0.179345 -0.263413 -0.658343 0.681926 +#74046 1721123096203 +SLAM 1.29239 -10.4048 52.2318 0.426784 0.747849 -0.0311404 0.507551 +TTool-pose None 37.5067 -14.3296 11.9874 -0.178291 -0.262801 -0.657396 0.683352 +#74047 1721123096236 +SLAM 1.22428 -10.535 52.1867 0.429065 0.746991 -0.0304682 0.506932 +TTool-pose None 37.4646 -14.341 12.009 -0.179313 -0.263258 -0.658849 0.681506 +#74048 1721123096271 +SLAM 1.1514 -10.5584 52.1566 0.429546 0.74652 -0.030195 0.507235 +TTool-pose None 37.4344 -14.3205 12.0093 -0.179667 -0.262854 -0.659292 0.68114 +#74049 1721123096312 +SLAM 1.19053 -10.5464 52.1728 0.428935 0.746885 -0.0301221 0.507217 +TTool-pose None 37.4557 -14.3263 11.9996 -0.179126 -0.262859 -0.659035 0.68153 +#74050 1721123096348 +SLAM 1.19736 -10.4803 52.1987 0.428228 0.746993 -0.0304935 0.507634 +TTool-pose None 37.4686 -14.3327 11.9985 -0.179037 -0.262522 -0.658514 0.682186 +#74051 1721123096381 +SLAM 1.16894 -10.5831 52.1518 0.429987 0.746545 -0.0303037 0.506818 +TTool-pose None 37.4336 -14.322 12.0179 -0.17987 -0.263326 -0.659388 0.680811 +#74052 1721123096417 +SLAM 1.39815 -10.5985 52.1324 0.430796 0.747901 -0.0323682 0.503995 +TTool-pose None 37.4403 -14.3011 12.0681 -0.18043 -0.266899 -0.658152 0.680468 +#74053 1721123096452 +SLAM 1.14177 -10.5496 52.1671 0.429003 0.746579 -0.0298182 0.507629 +TTool-pose None 37.4455 -14.3241 11.9959 -0.17919 -0.262334 -0.659307 0.681452 +#74054 1721123096488 +SLAM 1.2272 -10.5198 52.1776 0.429298 0.746987 -0.0310128 0.506707 +TTool-pose None 37.453 -14.3259 12.023 -0.179748 -0.263646 -0.658602 0.681481 +#74055 1721123096521 +SLAM 1.29616 -10.4436 52.2212 0.427408 0.747765 -0.031004 0.507157 +TTool-pose None 37.4985 -14.3362 11.9967 -0.178485 -0.26318 -0.657735 0.682829 +#74056 1721123096564 +SLAM 1.15378 -10.6566 52.1411 0.429963 0.746525 -0.0290647 0.50694 +TTool-pose None 37.4402 -14.3318 11.9924 -0.179077 -0.262855 -0.660149 0.680465 +#74057 1721123096598 +SLAM 1.42395 -10.4218 52.2449 0.427727 0.748362 -0.0321837 0.505932 +TTool-pose None 37.5206 -14.3588 12.024 -0.178894 -0.26481 -0.65701 0.68279 +#74058 1721123096637 +SLAM 1.23715 -10.5462 52.1795 0.428833 0.747193 -0.0303173 0.50684 +TTool-pose None 37.4671 -14.3305 12.0022 -0.178978 -0.263319 -0.658815 0.681604 +#74059 1721123096672 +SLAM 1.20801 -10.4909 52.1869 0.428842 0.746929 -0.0309386 0.507183 +TTool-pose None 37.4567 -14.3269 12.014 -0.179587 -0.263121 -0.658485 0.681839 +#74060 1721123096709 +SLAM 1.18875 -10.5624 52.164 0.429822 0.746624 -0.0305232 0.506827 +TTool-pose None 37.4421 -14.3312 12.0165 -0.179894 -0.263378 -0.659174 0.680992 +#74061 1721123096739 +SLAM 1.21981 -10.5685 52.1738 0.430657 0.746545 -0.0311069 0.506199 +TTool-pose None 37.4424 -14.3506 12.0433 -0.18062 -0.264201 -0.659146 0.680509 +#74062 1721123096774 +SLAM 2.15031 -10.1537 52.3737 0.438913 0.748428 -0.047534 0.494927 +TTool-pose None 37.4911 -14.5548 12.4879 -0.192474 -0.280472 -0.651586 0.678024 +#74063 1721123096810 +SLAM 1.43292 -10.1715 52.1768 0.439895 0.744769 -0.0456677 0.499725 +TTool-pose None 37.2745 -14.2997 12.4624 -0.194478 -0.274866 -0.653865 0.677553 +#74064 1721123096844 +SLAM 0.757578 -10.7599 52.1055 0.434963 0.742958 -0.0291028 0.507912 +TTool-pose None 37.3387 -14.3266 12.0995 -0.183578 -0.261753 -0.662704 0.677199 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-14.3358 12.1426 -0.181531 -0.270304 -0.655577 0.681316 +#74072 1721123097102 +SLAM 1.01598 -10.8804 52.0978 0.435386 0.744396 -0.029113 0.505436 +TTool-pose None 37.3838 -14.3643 12.0779 -0.182619 -0.264402 -0.662583 0.676548 +#74073 1721123097131 +SLAM 1.01563 -10.5086 52.2163 0.428356 0.745789 -0.0291469 0.509372 +TTool-pose None 37.4717 -14.3406 11.9799 -0.179141 -0.260288 -0.659626 0.681941 +#74074 1721123097163 +SLAM 0.812123 -10.9196 52.0122 0.438624 0.742518 -0.0304694 0.50532 +TTool-pose None 37.2798 -14.2905 12.1424 -0.18605 -0.264841 -0.66332 0.674717 +#74075 1721123097192 +SLAM 1.36239 -10.7105 52.0698 0.44739 0.742754 -0.0427909 0.496314 +TTool-pose None 37.2145 -14.3827 12.5105 -0.196712 -0.277566 -0.658823 0.670973 +#74076 1721123097227 +SLAM 1.40858 -11.1492 52.0848 0.438731 0.746065 -0.0296892 0.500021 +TTool-pose None 37.4329 -14.452 12.1383 -0.18283 -0.270285 -0.663149 0.673605 +#74077 1721123097257 +SLAM 1.9721 -10.2911 52.3491 0.442655 0.746235 -0.0471899 0.494937 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52.2174 0.428666 0.747066 -0.031384 0.507103 +TTool-pose None 37.4879 -14.3261 12.0215 -0.179707 -0.263331 -0.658115 0.682083 +#74096 1721123097862 +#74097 1721123097893 +SLAM 0.986099 -10.6235 52.1448 0.431304 0.745243 -0.030372 0.507608 +TTool-pose None 37.4178 -14.2755 12.0478 -0.181376 -0.262482 -0.660097 0.68005 +#74098 1721123097924 +SLAM 0.13186 -9.92666 52.2711 0.426206 0.74033 -0.0309247 0.518944 +TTool-pose None 37.3245 -14.2393 12.0302 -0.183714 -0.250478 -0.658698 0.685286 +#74099 1721123097954 +#74100 1721123097989 +SLAM 1.12509 -10.5698 52.1781 0.430257 0.746118 -0.0307874 0.507188 +TTool-pose None 37.4533 -14.314 12.0273 -0.180606 -0.263059 -0.659274 0.68083 +#74101 1721123098021 +SLAM 1.0538 -10.6206 52.1744 0.42854 0.746241 -0.0283743 0.508599 +TTool-pose None 37.4752 -14.3064 11.959 -0.178356 -0.260903 -0.660087 0.681465 +#74102 1721123098053 +SLAM 1.06663 -10.7562 52.0996 0.43269 0.745572 -0.0299445 0.505969 +TTool-pose None 37.4039 -14.2822 12.0548 -0.181322 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0.745696 -0.0421641 0.495605 +TTool-pose None 37.4104 -14.569 12.4409 -0.192666 -0.278253 -0.657141 0.673507 +#74121 1721123098706 +SLAM 1.06157 -10.6061 52.1672 0.429924 0.745958 -0.0297178 0.507769 +TTool-pose None 37.4503 -14.3019 12.0115 -0.179924 -0.262147 -0.65984 0.680815 +#74122 1721123098744 +SLAM 1.08996 -10.5896 52.1615 0.430881 0.745815 -0.0307333 0.507107 +TTool-pose None 37.4318 -14.3102 12.0407 -0.181021 -0.263123 -0.659603 0.680377 +#74123 1721123098785 +SLAM 1.18349 -10.5419 52.2025 0.428613 0.74694 -0.030281 0.507401 +TTool-pose None 37.4897 -14.3136 12.0036 -0.179075 -0.26271 -0.658802 0.681825 +#74124 1721123098821 +SLAM 1.48156 -10.9851 52.1499 0.441144 0.745312 -0.0338345 0.498755 +TTool-pose None 37.4172 -14.5105 12.2514 -0.1869 -0.272718 -0.66162 0.67301 +#74125 1721123098854 +SLAM 1.35813 -10.538 52.2324 0.428689 0.747889 -0.0312467 0.505877 +TTool-pose None 37.5279 -14.3453 12.0226 -0.17899 -0.264604 -0.65805 0.681842 +#74126 1721123098888 +SLAM 1.20083 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0.74255 -0.0223949 0.504843 +TTool-pose None 37.2071 -14.0989 12.1047 -0.181125 -0.263092 -0.668657 0.671465 +#74257 1721123103298 +SLAM 1.17069 -10.6999 52.1792 0.433358 0.74639 -0.0317034 0.504081 +TTool-pose None 37.44 -14.2997 12.1959 -0.182054 -0.266593 -0.659828 0.67853 +#74258 1721123103331 +SLAM 0.814807 -10.9069 51.9792 0.438516 0.743507 -0.0316553 0.503884 +TTool-pose None 37.2542 -14.166 12.2488 -0.186014 -0.266704 -0.662354 0.674942 +#74259 1721123103366 +SLAM 1.48932 -11.5112 52.0672 0.447239 0.744723 -0.0307698 0.494386 +TTool-pose None 37.3948 -14.5621 12.3635 -0.187409 -0.276384 -0.665868 0.667159 +#74260 1721123103401 +#74261 1721123103432 +SLAM 0.921769 -11.5015 51.8233 0.442946 0.744058 -0.0274419 0.499424 +TTool-pose None 37.2381 -14.1643 12.2507 -0.184355 -0.270215 -0.666494 0.669906 +#74262 1721123103465 +SLAM 1.75546 -10.6055 52.1849 0.432067 0.7506 -0.0363407 0.498596 +TTool-pose None 37.5077 -14.2385 12.2792 -0.181315 -0.273709 -0.65562 0.679972 +#74263 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0.748744 -0.0304599 0.505677 +TTool-pose None 37.5241 -14.2178 12.0827 -0.177402 -0.264613 -0.657912 0.682386 +#74287 1721123104304 +SLAM 1.11931 -10.5412 52.2146 0.426377 0.748063 -0.0290694 0.5077 +TTool-pose None 37.5155 -14.2142 12.054 -0.176646 -0.262076 -0.65848 0.683014 +#74288 1721123104339 +SLAM 1.00409 -10.6886 52.1411 0.429295 0.746869 -0.0285383 0.507028 +TTool-pose None 37.4454 -14.2018 12.0882 -0.178239 -0.262623 -0.660154 0.68077 +#74289 1721123104376 +SLAM 1.20739 -10.8868 52.105 0.437752 0.745708 -0.0325793 0.50123 +TTool-pose None 37.3772 -14.3069 12.2756 -0.184643 -0.269805 -0.661065 0.675349 +#74290 1721123104415 +SLAM 0.907309 -10.8942 52.0488 0.433995 0.745128 -0.0283894 0.505596 +TTool-pose None 37.3576 -14.2215 12.1277 -0.181109 -0.264055 -0.662365 0.677303 +#74291 1721123104452 +SLAM 1.11411 -10.5643 52.1955 0.427685 0.747586 -0.0295945 0.507272 +TTool-pose None 37.4908 -14.2261 12.065 -0.177809 -0.262668 -0.658748 0.682225 +#74292 1721123104487 +SLAM 1.48059 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1721123104694 +SLAM 1.5928 -10.8715 52.1923 0.435861 0.748456 -0.0335216 0.498714 +TTool-pose None 37.5037 -14.3584 12.2798 -0.182467 -0.272771 -0.659226 0.676545 +#74299 1721123104735 +SLAM 0.89975 -10.7365 52.0923 0.432149 0.74548 -0.0293853 0.506599 +TTool-pose None 37.376 -14.1977 12.1334 -0.180846 -0.263281 -0.660983 0.679021 +#74300 1721123104771 +SLAM 0.551929 -11.2614 51.7652 0.446259 0.740538 -0.0313767 0.50147 +TTool-pose None 37.0653 -14.0951 12.3444 -0.190737 -0.269029 -0.665968 0.669119 +#74301 1721123104805 +SLAM 0.473951 -10.9726 51.954 0.435794 0.742536 -0.0268814 0.507938 +TTool-pose None 37.2493 -14.1163 12.1521 -0.18275 -0.261097 -0.66447 0.675945 +#74302 1721123104841 +SLAM 0.950485 -10.9826 51.9423 0.43833 0.744938 -0.0319142 0.501911 +TTool-pose None 37.2638 -14.1039 12.276 -0.185008 -0.268886 -0.661845 0.674852 +#74303 1721123104874 +SLAM 0.991697 -10.6351 52.1303 0.430733 0.746299 -0.0303346 0.506544 +TTool-pose None 37.4076 -14.1967 12.1336 -0.180338 -0.263619 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12.1927 -0.180063 -0.270363 -0.661615 0.675824 +#74310 1721123105112 +SLAM 0.90124 -10.7024 52.1427 0.428602 0.746573 -0.0275176 0.508107 +TTool-pose None 37.4517 -14.1745 12.073 -0.177567 -0.261193 -0.660576 0.681086 +#74311 1721123105147 +SLAM 1.03509 -10.6511 52.134 0.432137 0.746331 -0.0316459 0.505219 +TTool-pose None 37.4043 -14.1871 12.1963 -0.181643 -0.265378 -0.659414 0.679518 +#74312 1721123105181 +SLAM 1.16646 -11.1565 51.9823 0.436622 0.746852 -0.029121 0.500725 +TTool-pose None 37.375 -14.1652 12.2108 -0.181138 -0.269415 -0.662559 0.674989 +#74313 1721123105217 +SLAM 1.13569 -10.5415 52.2103 0.427618 0.748137 -0.0305311 0.50646 +TTool-pose None 37.5018 -14.1777 12.1319 -0.177964 -0.263794 -0.658036 0.682438 +#74314 1721123105253 +SLAM 1.1479 -11.1159 52.0359 0.438355 0.745841 -0.0299135 0.500671 +TTool-pose None 37.3696 -14.2616 12.2565 -0.183023 -0.269661 -0.662915 0.674033 +#74315 1721123105299 +SLAM 1.52057 -11.2003 52.0946 0.438719 0.74795 -0.0307027 0.497145 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0.750095 -0.0326904 0.507099 +TTool-pose None 37.6021 -14.1778 12.147 -0.176318 -0.26373 -0.654641 0.686145 +#74322 1721123105536 +SLAM 0.883421 -10.6279 52.1623 0.428264 0.746951 -0.0286836 0.50777 +TTool-pose None 37.4498 -14.1212 12.1498 -0.177912 -0.261878 -0.659655 0.681626 +#74323 1721123105572 +SLAM 1.66387 -10.739 52.2405 0.438845 0.748214 -0.0383137 0.496108 +TTool-pose None 37.4756 -14.343 12.4848 -0.186737 -0.276784 -0.657394 0.675532 +#74324 1721123105606 +SLAM 1.00689 -10.5879 52.1812 0.427478 0.747979 -0.0294837 0.506873 +TTool-pose None 37.476 -14.1136 12.165 -0.177361 -0.263066 -0.658661 0.682273 +#74325 1721123105641 +SLAM 1.10842 -11.0759 52.0732 0.439048 0.745771 -0.0310736 0.500098 +TTool-pose None 37.3727 -14.2339 12.3574 -0.18406 -0.270577 -0.662468 0.673823 +#74326 1721123105676 +SLAM 1.09028 -10.4865 52.2225 0.425973 0.748842 -0.030387 0.506813 +TTool-pose None 37.5107 -14.1053 12.1738 -0.176753 -0.263391 -0.657359 0.68356 +#74327 1721123105711 +SLAM 0.346377 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1721123105930 +SLAM 1.02733 -10.5737 52.164 0.427432 0.748807 -0.0306503 0.505618 +TTool-pose None 37.464 -14.0202 12.2511 -0.177457 -0.264728 -0.657761 0.682473 +#74334 1721123105968 +SLAM 0.556523 -10.8354 52.0369 0.431596 0.745257 -0.0272663 0.507517 +TTool-pose None 37.3303 -13.9965 12.2543 -0.179457 -0.26172 -0.662125 0.678881 +#74335 1721123106002 +SLAM 0.858621 -10.6911 52.1191 0.428833 0.747638 -0.0290463 0.506257 +TTool-pose None 37.4217 -14.0115 12.2505 -0.177813 -0.263592 -0.659515 0.681126 +#74336 1721123106038 +SLAM 0.892164 -10.5665 52.1694 0.426919 0.748292 -0.0296488 0.506873 +TTool-pose None 37.4559 -14.0024 12.2542 -0.177032 -0.263116 -0.658285 0.682702 +#74337 1721123106072 +SLAM 0.6763 -10.7599 52.0867 0.429278 0.746608 -0.0274277 0.507489 +TTool-pose None 37.3894 -13.9916 12.2392 -0.177716 -0.261823 -0.660884 0.680507 +#74338 1721123106107 +SLAM 0.983753 -10.5113 52.1969 0.42715 0.748767 -0.0311758 0.505883 +TTool-pose None 37.4702 -14.0059 12.2989 -0.17773 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0.498775 +TTool-pose None 37.3516 -13.9443 12.4806 -0.180113 -0.271328 -0.662872 0.67419 +#74351 1721123106568 +SLAM 0.67039 -10.6638 52.1009 0.428816 0.747656 -0.0295371 0.506215 +TTool-pose None 37.38 -13.8659 12.3903 -0.17811 -0.263772 -0.659202 0.681282 +#74352 1721123106599 +SLAM -0.0794201 -11.1366 51.8181 0.437821 0.741795 -0.0258668 0.50733 +TTool-pose None 37.1097 -13.7458 12.4697 -0.183356 -0.261431 -0.665999 0.674145 +#74353 1721123106633 +SLAM 0.492657 -10.861 51.9921 0.433944 0.745742 -0.0300094 0.504639 +TTool-pose None 37.2705 -13.8145 12.4858 -0.181663 -0.265524 -0.661225 0.677694 +#74354 1721123106665 +SLAM 0.741269 -11.3049 51.9568 0.434693 0.747478 -0.0249571 0.501693 +TTool-pose None 37.3532 -13.9159 12.41 -0.177299 -0.267261 -0.664283 0.675171 +#74355 1721123106699 +SLAM 1.01277 -10.9742 52.0944 0.43049 0.749886 -0.0282219 0.50155 +TTool-pose None 37.455 -13.9153 12.4308 -0.176102 -0.26837 -0.66021 0.679029 +#74356 1721123106732 +SLAM 1.08015 -10.695 52.2257 0.434934 0.748211 -0.0347721 0.499803 +TTool-pose None 37.4289 -14.0406 12.6368 -0.183148 -0.271966 -0.658152 0.67773 +#74357 1721123106765 +SLAM 0.748319 -11.1902 52.0014 0.428874 0.749239 -0.0226365 0.504178 +TTool-pose None 37.4279 -13.8622 12.312 -0.172427 -0.264031 -0.663166 0.678792 +#74358 1721123106798 +SLAM 0.424377 -10.9959 51.9982 0.433166 0.745912 -0.026757 0.505239 +TTool-pose None 37.2974 -13.8388 12.465 -0.17916 -0.263997 -0.662907 0.677313 +#74359 1721123106833 +SLAM 0.844319 -11.2551 51.9233 0.436046 0.748218 -0.0281707 0.49924 +TTool-pose None 37.3148 -13.827 12.5196 -0.179263 -0.270743 -0.662659 0.674861 +#74360 1721123106867 +SLAM 0.235681 -10.6705 52.0843 0.427244 0.746126 -0.0261493 0.509975 +TTool-pose None 37.338 -13.7839 12.4005 -0.176553 -0.258823 -0.660985 0.681857 +#74361 1721123106900 +SLAM 1.64473 -10.0604 52.3236 0.435428 0.75069 -0.0482525 0.494509 +TTool-pose None 37.4195 -13.9689 12.903 -0.189984 -0.281156 -0.649379 0.680555 +#74362 1721123106933 +SLAM 0.00575797 -10.9368 51.9828 0.433261 0.743566 -0.0253844 0.508675 +TTool-pose None 37.2294 -13.7877 12.4913 -0.180115 -0.259933 -0.664239 0.677327 +#74363 1721123106968 +SLAM 0.506626 -11.1058 51.9577 0.434546 0.746561 -0.0272434 0.503066 +TTool-pose None 37.287 -13.7934 12.52 -0.179444 -0.266434 -0.663 0.676192 +#74364 1721123107001 +SLAM 0.0171477 -11.0537 51.8676 0.436165 0.743575 -0.0271845 0.506081 +TTool-pose None 37.1506 -13.6651 12.5706 -0.182272 -0.263167 -0.664225 0.675512 +#74365 1721123107033 +SLAM 0.0133854 -11.0437 51.8786 0.435998 0.743489 -0.027055 0.506358 +TTool-pose None 37.1579 -13.6796 12.5605 -0.182197 -0.262837 -0.664258 0.675628 +#74366 1721123107065 +SLAM -0.144022 -11.0897 51.8556 0.436777 0.742611 -0.0261376 0.507023 +TTool-pose None 37.1255 -13.6569 12.5885 -0.182547 -0.261855 -0.665285 0.674904 +#74367 1721123107098 +SLAM -0.290385 -10.5999 52.0698 0.427227 0.743092 -0.0239374 0.514507 +TTool-pose None 37.2548 -13.7506 12.4232 -0.177441 -0.253331 -0.662905 0.681825 +#74368 1721123107132 +SLAM -0.109513 -10.9901 51.8844 0.434459 0.743523 -0.0262751 0.507669 +TTool-pose None 37.1524 -13.6268 12.5773 -0.181138 -0.261241 -0.664152 0.676636 +#74369 1721123107168 +SLAM -0.366471 -10.5763 52.0618 0.42785 0.7426 -0.0244198 0.514678 +TTool-pose None 37.2286 -13.7287 12.4616 -0.178349 -0.253275 -0.66294 0.681576 +#74370 1721123107202 +#74371 1721123107234 +SLAM -0.337529 -10.9366 51.8852 0.434733 0.741915 -0.0257083 0.509812 +TTool-pose None 37.1164 -13.6291 12.5785 -0.182103 -0.258777 -0.664908 0.676581 +#74372 1721123107264 +#74373 1721123107295 +SLAM 0.0162649 -10.7736 51.9902 0.43234 0.744593 -0.028561 0.507787 +TTool-pose None 37.2171 -13.6369 12.6111 -0.181064 -0.261779 -0.661735 0.678812 +#74374 1721123107326 +SLAM 0.109699 -10.6913 52.0373 0.429649 0.746053 -0.0285913 0.507926 +TTool-pose None 37.2722 -13.6092 12.6063 -0.179027 -0.261671 -0.660413 0.680678 +#74375 1721123107360 +SLAM -0.0986144 -10.6491 52.0386 0.429603 0.744508 -0.0274361 0.510291 +TTool-pose None 37.2408 -13.6394 12.5766 -0.179455 -0.258816 -0.661402 0.680697 +#74376 1721123107391 +SLAM 0.0436375 -10.5879 52.0687 0.428616 0.745919 -0.0289068 0.508977 +TTool-pose None 37.2747 -13.5982 12.6236 -0.178976 -0.260643 -0.659849 0.681633 +#74377 1721123107421 +SLAM -0.844855 -10.2557 52.0274 0.426591 0.740547 -0.0270579 0.518535 +TTool-pose None 37.1215 -13.5112 12.5698 -0.181184 -0.249853 -0.661198 0.683779 +#74378 1721123107451 +#74379 1721123107481 +#74380 1721123107516 +SLAM 0.392983 -11.4796 51.8646 0.429864 0.749196 -0.0193532 0.503535 +TTool-pose None 37.3455 -13.61 12.4673 -0.170663 -0.263781 -0.665563 0.676987 +#74381 1721123107547 +#74382 1721123107578 +#74383 1721123107614 +SLAM 0.174618 -10.7743 52.0531 0.431298 0.746455 -0.0288109 0.505922 +TTool-pose None 37.2769 -13.6263 12.7003 -0.179427 -0.263858 -0.660827 0.679326 +#74384 1721123107646 +SLAM 0.954211 -11.2204 52.0422 0.432655 0.751397 -0.0278322 0.497431 +TTool-pose None 37.4282 -13.7166 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None 37.2144 -12.7945 13.5218 -0.179308 -0.269429 -0.658977 0.678968 +#74567 1721123113697 +SLAM -0.270974 -10.8483 52.094 0.434599 0.749515 -0.035015 0.498121 +TTool-pose None 37.2332 -12.8758 13.618 -0.182172 -0.273824 -0.657613 0.677769 +#74568 1721123113729 +SLAM -0.550507 -10.9223 52.0504 0.432357 0.748781 -0.0311575 0.501422 +TTool-pose None 37.2264 -12.8196 13.5301 -0.179499 -0.269292 -0.659317 0.678641 +#74569 1721123113760 +SLAM -0.475906 -10.9263 52.0446 0.433483 0.748873 -0.0321893 0.500245 +TTool-pose None 37.2132 -12.8342 13.5572 -0.180476 -0.270814 -0.659082 0.678005 +#74570 1721123113792 +SLAM -0.441107 -10.9083 52.0489 0.433595 0.74901 -0.0327717 0.499906 +TTool-pose None 37.2149 -12.8329 13.5647 -0.180782 -0.271332 -0.658734 0.678054 +#74571 1721123113826 +SLAM -0.354695 -10.8833 52.082 0.434305 0.74919 -0.0340617 0.498932 +TTool-pose None 37.2339 -12.8563 13.5969 -0.181713 -0.272709 -0.658162 0.677808 +#74572 1721123113865 +SLAM -0.185145 -10.6155 52.1474 0.436694 0.748835 -0.0401778 0.496921 +TTool-pose None 37.2055 -12.894 13.7185 -0.186722 -0.276455 -0.655307 0.677696 +#74573 1721123113904 +SLAM -0.532792 -10.863 52.0528 0.433684 0.748325 -0.0329652 0.50084 +TTool-pose None 37.2015 -12.8274 13.5661 -0.181472 -0.270389 -0.658785 0.678197 +#74574 1721123113939 +SLAM -0.537741 -11.0152 52.0062 0.435769 0.747954 -0.032382 0.499622 +TTool-pose None 37.1797 -12.8272 13.5802 -0.182094 -0.271497 -0.660001 0.676403 +#74575 1721123113976 +SLAM -0.480103 -10.9015 52.0514 0.433959 0.748601 -0.0329075 0.500193 +TTool-pose None 37.2104 -12.8358 13.567 -0.181313 -0.271058 -0.658869 0.677891 +#74576 1721123114010 +SLAM -0.230833 -10.6167 52.1851 0.430734 0.750421 -0.0357646 0.500058 +TTool-pose None 37.2995 -12.8748 13.5804 -0.18063 -0.272015 -0.655515 0.680935 +#74577 1721123114042 +SLAM -0.457158 -10.9843 52.0256 0.435303 0.748495 -0.0329324 0.499181 +TTool-pose None 37.1985 -12.8344 13.5816 -0.181868 -0.272123 -0.659376 0.676821 +#74578 1721123114078 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0.677105 +#74584 1721123114283 +SLAM -0.598947 -11.0599 51.9865 0.435956 0.747606 -0.0315995 0.500029 +TTool-pose None 37.1705 -12.8197 13.5661 -0.181924 -0.270847 -0.660626 0.6761 +#74585 1721123114317 +SLAM -0.620164 -11.0102 51.9939 0.435511 0.747529 -0.0318708 0.500514 +TTool-pose None 37.1681 -12.8138 13.5636 -0.182008 -0.270411 -0.660307 0.676562 +#74586 1721123114350 +SLAM -0.60734 -10.9407 52.0139 0.433536 0.748094 -0.031537 0.501404 +TTool-pose None 37.1895 -12.8044 13.5334 -0.180681 -0.269401 -0.659662 0.677949 +#74587 1721123114385 +SLAM -0.456611 -10.9054 52.0526 0.434156 0.74867 -0.0331815 0.4999 +TTool-pose None 37.2135 -12.8362 13.5704 -0.181502 -0.271442 -0.658758 0.677794 +#74588 1721123114417 +SLAM -0.696038 -11.109 51.9585 0.43531 0.747347 -0.0300053 0.501076 +TTool-pose None 37.1623 -12.7996 13.5306 -0.180879 -0.269305 -0.661424 0.676215 +#74589 1721123114450 +SLAM -0.485916 -10.9324 52.0399 0.434565 0.748419 -0.0329382 0.499938 +TTool-pose None 37.2039 -12.8342 13.5698 -0.181681 -0.27133 -0.659113 0.677446 +#74590 1721123114480 +SLAM -0.441584 -10.8903 52.0653 0.435574 0.748233 -0.0343094 0.499245 +TTool-pose None 37.2035 -12.8599 13.6081 -0.183051 -0.272425 -0.658675 0.677064 +#74591 1721123114510 +SLAM -0.416837 -10.9157 52.0672 0.435923 0.748305 -0.034332 0.49883 +TTool-pose None 37.2089 -12.8671 13.6144 -0.183127 -0.272867 -0.658776 0.676767 +#74592 1721123114543 +SLAM -0.531186 -10.8685 52.0608 0.435109 0.747819 -0.0338431 0.500302 +TTool-pose None 37.1951 -12.8458 13.5941 -0.182917 -0.271181 -0.658874 0.677405 +#74593 1721123114576 +SLAM -0.744707 -10.9311 52.0077 0.433923 0.747119 -0.031166 0.502546 +TTool-pose None 37.17 -12.7988 13.5333 -0.181333 -0.268077 -0.660231 0.677746 +#74594 1721123114609 +SLAM -0.52858 -10.8546 52.0708 0.435011 0.747809 -0.0339004 0.500399 +TTool-pose None 37.1999 -12.8543 13.5949 -0.182928 -0.271095 -0.658804 0.677505 +#74595 1721123114649 +SLAM -0.438991 -10.8452 52.0818 0.435658 0.748094 -0.0349619 0.499335 +TTool-pose None 37.2053 -12.8675 13.6181 -0.183607 -0.272505 -0.658328 0.677219 +#74596 1721123114682 +SLAM -0.301423 -10.648 52.14 0.437542 0.747858 -0.0396152 0.497691 +TTool-pose None 37.1915 -12.9007 13.7153 -0.187412 -0.275473 -0.656172 0.677068 +#74597 1721123114725 +SLAM -0.625495 -10.9772 52.0059 0.435795 0.747314 -0.0324405 0.500551 +TTool-pose None 37.1659 -12.8217 13.5759 -0.18264 -0.270523 -0.660102 0.676547 +#74598 1721123114763 +SLAM -0.693621 -11.0118 51.9893 0.436062 0.746899 -0.0317696 0.500981 +TTool-pose None 37.1539 -12.8162 13.5691 -0.182621 -0.269878 -0.660701 0.676226 +#74599 1721123114800 +SLAM -0.368556 -10.8264 52.0993 0.435944 0.74838 -0.0357921 0.498597 +TTool-pose None 37.2155 -12.8789 13.6388 -0.184014 -0.27351 -0.65786 0.677158 +#74600 1721123114840 +SLAM -0.60894 -10.9391 52.0272 0.435075 0.747538 -0.0324637 0.500842 +TTool-pose None 37.181 -12.8304 13.5705 -0.182236 -0.270231 -0.659774 0.677092 +#74601 1721123114882 +SLAM -0.639045 -10.9747 52.0123 0.435161 0.747422 -0.0319281 0.500974 +TTool-pose None 37.1758 -12.822 13.5629 -0.18201 -0.269943 -0.660162 0.67689 +#74602 1721123114922 +SLAM -0.454048 -10.9234 52.0606 0.435551 0.748226 -0.033754 0.499313 +TTool-pose None 37.2069 -12.8612 13.6007 -0.182691 -0.272202 -0.659013 0.676922 +#74603 1721123114966 +SLAM -0.534327 -10.93 52.0357 0.435401 0.747863 -0.0332325 0.500023 +TTool-pose None 37.1867 -12.8378 13.5867 -0.182588 -0.271308 -0.659354 0.676977 +#74604 1721123115006 +SLAM -0.274791 -10.6141 52.1566 0.437945 0.747809 -0.0404485 0.497343 +TTool-pose None 37.1926 -12.9116 13.7384 -0.18812 -0.276058 -0.65581 0.676984 +#74605 1721123115042 +SLAM -0.516737 -10.8892 52.0477 0.434685 0.748122 -0.0334452 0.500244 +TTool-pose None 37.1963 -12.8325 13.5807 -0.182281 -0.27114 -0.658902 0.677566 +#74606 1721123115082 +SLAM -0.458247 -10.9724 52.0357 0.435709 0.748283 -0.0332828 0.499122 +TTool-pose None 37.1986 -12.8477 13.591 -0.182397 -0.272275 -0.659353 0.676641 +#74607 1721123115119 +SLAM -0.667193 -11.0267 52.0017 0.436523 0.746888 -0.0318599 0.500591 +TTool-pose None 37.1613 -12.8389 13.5804 -0.182844 -0.270311 -0.660819 0.675877 +#74608 1721123115155 +SLAM -0.641898 -11.0519 51.9893 0.437202 0.746905 -0.0322484 0.499947 +TTool-pose None 37.1537 -12.8323 13.5926 -0.183311 -0.271091 -0.660827 0.675429 +#74609 1721123115191 +SLAM -0.627892 -11.0727 51.9789 0.435753 0.747513 -0.0310963 0.500377 +TTool-pose None 37.1678 -12.8173 13.554 -0.181604 -0.270342 -0.660881 0.676138 +#74610 1721123115228 +SLAM -0.594062 -10.9244 52.0384 0.434947 0.74763 -0.0326347 0.500804 +TTool-pose None 37.1883 -12.8353 13.5741 -0.18223 -0.270319 -0.659602 0.677227 +#74611 1721123115263 +SLAM -0.498137 -10.9061 52.0519 0.434356 0.74834 -0.0330156 0.500233 +TTool-pose None 37.2076 -12.8402 13.5705 -0.181722 -0.27104 -0.659002 0.677659 +#74612 1721123115300 +SLAM -0.544948 -10.9427 52.0363 0.435441 0.747788 -0.0329738 0.500118 +TTool-pose None 37.1886 -12.8433 13.5835 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0.434607 0.748012 -0.0325672 0.500534 +TTool-pose None 37.1975 -12.8373 13.5687 -0.181774 -0.270594 -0.65944 0.677397 +#74625 1721123115753 +SLAM -0.517971 -10.8815 52.0523 0.433894 0.748356 -0.0330145 0.500609 +TTool-pose None 37.2068 -12.8275 13.5653 -0.181551 -0.270646 -0.658827 0.678033 +#74626 1721123115785 +SLAM -0.573841 -10.939 52.0206 0.435731 0.747548 -0.0331804 0.500209 +TTool-pose None 37.1723 -12.8288 13.5851 -0.182912 -0.27109 -0.659572 0.676764 +#74627 1721123115819 +SLAM -0.682227 -10.9435 51.9914 0.436941 0.74656 -0.0335516 0.500604 +TTool-pose None 37.1345 -12.8067 13.5977 -0.184331 -0.270751 -0.65999 0.676107 +#74628 1721123115853 +SLAM -0.640745 -11.4424 51.8685 0.443035 0.745846 -0.0310649 0.496455 +TTool-pose None 37.093 -12.8429 13.6405 -0.18533 -0.274368 -0.663926 0.670498 +#74629 1721123115885 +SLAM -0.709302 -11.2356 51.8794 0.441275 0.7458 -0.0326486 0.497988 +TTool-pose None 37.0682 -12.7848 13.6436 -0.1858 -0.273209 -0.662307 0.67244 +#74630 1721123115916 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-0.617845 0.391549 0.297846 +#80266 1721123305325 +SLAM 19.159 -6.14933 47.0844 0.517775 -0.658633 0.110223 0.534755 +TTool-pose None -33.7601 5.60796 25.5287 0.616509 -0.609574 0.391472 0.308306 +#80267 1721123305359 +SLAM 19.9124 -5.6293 46.826 0.511331 -0.653361 0.107391 0.547839 +TTool-pose None -33.9074 5.39379 25.6464 0.616676 -0.616405 0.391439 0.294099 +#80268 1721123305393 +SLAM 19.7017 -5.09665 46.9076 0.505547 -0.653992 0.112337 0.55145 +TTool-pose None -33.8559 5.29035 25.5929 0.611218 -0.622587 0.39158 0.292278 +#80269 1721123305432 +SLAM 19.588 -5.83249 46.9289 0.514542 -0.655202 0.108951 0.542298 +TTool-pose None -33.8485 5.48352 25.572 0.616524 -0.613224 0.392107 0.30012 +#80270 1721123305468 +SLAM 19.7525 -5.93458 46.8491 0.51494 -0.654195 0.106351 0.54365 +TTool-pose None -33.8875 5.42825 25.5876 0.618556 -0.612609 0.391565 0.297893 +#80271 1721123305501 +SLAM 19.3802 -5.71539 47.128 0.512153 -0.657536 0.110799 0.541358 +TTool-pose None -33.8472 5.45355 25.6508 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-0.652906 0.106452 0.551969 +TTool-pose None -33.9109 5.17445 25.5809 0.616178 -0.619821 0.38995 0.289912 +#80356 1721123308386 +SLAM 19.7032 -6.02187 46.7938 0.51312 -0.654823 0.104094 0.54505 +TTool-pose None -33.8633 5.29496 25.5371 0.619592 -0.613848 0.389285 0.296174 +#80357 1721123308422 +SLAM 19.9625 -5.46183 46.7447 0.507675 -0.652324 0.106128 0.552699 +TTool-pose None -33.9266 5.16782 25.5821 0.61643 -0.619853 0.390188 0.288986 +#80358 1721123308457 +SLAM 19.6713 -6.05405 46.794 0.513252 -0.655118 0.103984 0.544591 +TTool-pose None -33.8499 5.29836 25.5293 0.619705 -0.613643 0.389066 0.296648 +#80359 1721123308489 +SLAM 19.6568 -5.94428 46.8517 0.513546 -0.654765 0.105682 0.544413 +TTool-pose None -33.875 5.32326 25.5422 0.618583 -0.613722 0.390324 0.297174 +#80360 1721123308525 +SLAM 19.8442 -5.62442 46.7487 0.508001 -0.653727 0.105136 0.550929 +TTool-pose None -33.8764 5.17283 25.5618 0.617223 -0.619113 0.3888 0.290744 +#80361 1721123308561 +SLAM 19.8836 -5.4567 46.8086 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-5.44196 46.8213 0.509085 -0.653117 0.108882 0.549923 +TTool-pose None -33.887 5.24001 25.5158 0.614882 -0.618837 0.39161 0.292516 +#80380 1721123309237 +SLAM 19.7116 -5.97262 46.8125 0.513291 -0.654542 0.10482 0.545087 +TTool-pose None -33.878 5.31012 25.5415 0.61913 -0.613864 0.389929 0.296258 +#80381 1721123309271 +SLAM 19.8401 -5.24259 46.8187 0.508255 -0.651844 0.110152 0.551945 +TTool-pose None -33.9259 5.22691 25.5342 0.61372 -0.620073 0.392875 0.290635 +#80382 1721123309305 +SLAM 19.579 -6.13826 46.8326 0.513572 -0.656152 0.103884 0.543062 +TTool-pose None -33.8291 5.31642 25.533 0.619852 -0.613111 0.388399 0.298312 +#80383 1721123309341 +SLAM 19.6191 -5.95836 46.8313 0.512285 -0.655427 0.105124 0.544912 +TTool-pose None -33.8434 5.29293 25.529 0.618568 -0.614704 0.389121 0.296752 +#80384 1721123309378 +SLAM 19.853 -5.36293 46.7909 0.507963 -0.652435 0.108406 0.551861 +TTool-pose None -33.9113 5.2049 25.5449 0.614878 -0.619947 0.391431 0.290408 +#80385 1721123309416 +SLAM 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1721123309997 +SLAM 19.8853 -5.447 46.7642 0.507797 -0.652645 0.107022 0.552035 +TTool-pose None -33.9097 5.18515 25.554 0.615819 -0.61983 0.390487 0.289932 +#80404 1721123310028 +SLAM 19.8157 -5.45423 46.799 0.508144 -0.653099 0.107634 0.551059 +TTool-pose None -33.8978 5.20282 25.55 0.61548 -0.619522 0.390623 0.291126 +#80405 1721123310064 +SLAM 19.5442 -6.14555 46.85 0.513487 -0.656478 0.104019 0.542722 +TTool-pose None -33.8233 5.31684 25.5335 0.619719 -0.613149 0.388213 0.298751 +#80406 1721123310096 +SLAM 19.7322 -5.90612 46.8065 0.512802 -0.654214 0.105217 0.545863 +TTool-pose None -33.8836 5.29936 25.5382 0.618696 -0.614464 0.3902 0.295563 +#80407 1721123310126 +SLAM 19.5883 -5.99015 46.8477 0.513077 -0.655532 0.105378 0.54399 +TTool-pose None -33.8421 5.3147 25.5249 0.618633 -0.613967 0.38946 0.297696 +#80408 1721123310160 +SLAM 19.7164 -5.85197 46.8471 0.513518 -0.653945 0.106412 0.545282 +TTool-pose None -33.8993 5.32921 25.5454 0.618068 -0.614035 0.391277 0.296344 +#80409 1721123310192 +SLAM 19.66 -5.95929 46.8257 0.512895 -0.654946 0.105132 0.544914 +TTool-pose None -33.8615 5.30419 25.5331 0.618768 -0.614217 0.389675 0.296617 +#80410 1721123310226 +SLAM 19.5899 -5.96422 46.8657 0.513233 -0.655413 0.105795 0.543906 +TTool-pose None -33.8524 5.32278 25.5325 0.618385 -0.613912 0.389821 0.297853 +#80411 1721123310261 +SLAM 19.7669 -5.53444 46.8237 0.509026 -0.653576 0.107475 0.549709 +TTool-pose None -33.8914 5.22443 25.5522 0.61587 -0.61857 0.39052 0.292462 +#80412 1721123310297 +SLAM 19.8635 -5.37471 46.7959 0.508025 -0.652442 0.108199 0.551837 +TTool-pose None -33.918 5.20183 25.5547 0.615047 -0.619852 0.391337 0.290377 +#80413 1721123310330 +SLAM 19.7361 -5.39432 46.8087 0.508617 -0.652984 0.109246 0.550441 +TTool-pose None -33.8791 5.2324 25.5011 0.614471 -0.619366 0.39173 0.2921 +#80414 1721123310363 +SLAM 19.6866 -5.46208 46.8478 0.50913 -0.653608 0.109119 0.549251 +TTool-pose None -33.8786 5.24875 25.5143 0.614715 -0.618741 0.391411 0.293337 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0.394836 0.293641 +#80427 1721123310785 +SLAM 19.5629 -6.01553 46.8482 0.51289 -0.655876 0.105171 0.543792 +TTool-pose None -33.8309 5.31121 25.5212 0.618715 -0.614042 0.389044 0.297917 +#80428 1721123310820 +SLAM 19.82 -5.49187 46.8016 0.508567 -0.653137 0.107399 0.55067 +TTool-pose None -33.9021 5.21295 25.5543 0.615786 -0.619074 0.390621 0.291432 +#80429 1721123310852 +SLAM 19.7344 -5.53019 46.8305 0.509011 -0.653758 0.107794 0.549444 +TTool-pose None -33.882 5.231 25.542 0.615631 -0.618603 0.390558 0.292843 +#80430 1721123310887 +SLAM 19.6449 -5.41768 46.8738 0.509009 -0.653764 0.10988 0.549025 +TTool-pose None -33.8731 5.25256 25.513 0.614122 -0.618952 0.391665 0.293794 +#80431 1721123310924 +SLAM 19.4986 -6.06673 46.864 0.513065 -0.656496 0.105131 0.542886 +TTool-pose None -33.8125 5.31965 25.5135 0.618783 -0.613741 0.388647 0.298911 +#80432 1721123310960 +SLAM 19.7646 -5.40956 46.8194 0.508914 -0.652861 0.10903 0.550356 +TTool-pose None -33.897 5.23656 25.5197 0.614725 -0.619073 0.391806 0.292085 +#80433 1721123310994 +SLAM 19.7347 -5.33325 46.8445 0.508657 -0.652818 0.110068 0.550437 +TTool-pose None -33.8975 5.24112 25.5163 0.613892 -0.619497 0.392298 0.292278 +#80434 1721123311024 +SLAM 19.4845 -6.02864 46.8927 0.513009 -0.656508 0.1057 0.542814 +TTool-pose None -33.8217 5.32297 25.522 0.618354 -0.61389 0.388924 0.299134 +#80435 1721123311056 +SLAM 19.6382 -5.94472 46.824 0.512705 -0.65504 0.105395 0.544929 +TTool-pose None -33.8518 5.30503 25.5212 0.618516 -0.614425 0.389684 0.296701 +#80436 1721123311089 +SLAM 19.8182 -5.46937 46.8214 0.507899 -0.653401 0.107339 0.550985 +TTool-pose None -33.906 5.19659 25.5756 0.615608 -0.619647 0.390168 0.291199 +#80437 1721123311125 +SLAM 19.4949 -6.21496 46.8549 0.513706 -0.657046 0.103663 0.541895 +TTool-pose None -33.8063 5.32285 25.5263 0.620029 -0.612761 0.387699 0.299571 +#80438 1721123311159 +SLAM 19.5503 -6.15662 46.83 0.513244 -0.656509 0.103695 0.542977 +TTool-pose None -33.8147 5.30876 25.5262 0.619874 -0.613321 0.387933 0.298439 +#80439 1721123311194 +SLAM 19.8676 -5.43997 46.7801 0.507598 -0.652883 0.107164 0.55191 +TTool-pose None -33.9071 5.18576 25.5618 0.615647 -0.619999 0.390327 0.290153 +#80440 1721123311228 +SLAM 19.8017 -5.35167 46.8218 0.508323 -0.652615 0.109167 0.551166 +TTool-pose None -33.9102 5.2231 25.5361 0.61444 -0.619701 0.39184 0.291306 +#80441 1721123311263 +SLAM 19.8592 -5.36507 46.7932 0.507514 -0.652608 0.108112 0.552126 +TTool-pose None -33.9119 5.19237 25.5557 0.614941 -0.620289 0.390994 0.290132 +#80442 1721123311298 +SLAM 19.7597 -5.45272 46.8397 0.508936 -0.653246 0.108566 0.549971 +TTool-pose None -33.9012 5.23479 25.5429 0.61506 -0.618901 0.3913 0.292422 +#80443 1721123311333 +SLAM 19.8418 -5.4136 46.808 0.50806 -0.652818 0.10796 0.551406 +TTool-pose None -33.9142 5.20547 25.5599 0.615223 -0.619709 0.390962 0.290815 +#80444 1721123311368 +SLAM 19.7309 -5.40085 46.8335 0.508097 -0.653403 0.108962 0.550481 +TTool-pose None -33.8836 5.22009 25.5279 0.6145 -0.619732 0.391104 0.292103 +#80445 1721123311403 +SLAM 19.6632 -5.46677 46.8718 0.509731 -0.653648 0.109581 0.548554 +TTool-pose None -33.883 5.26975 25.5163 0.614573 -0.618239 0.391843 0.294115 +#80446 1721123311436 +SLAM 19.7076 -5.53622 46.8571 0.508145 -0.654432 0.107524 0.549496 +TTool-pose None -33.8768 5.21436 25.565 0.615532 -0.61925 0.389638 0.29291 +#80447 1721123311467 +SLAM 19.6115 -5.39005 46.8878 0.50863 -0.654008 0.110371 0.548988 +TTool-pose None -33.8657 5.25688 25.5073 0.61364 -0.619346 0.391622 0.294028 +#80448 1721123311498 +SLAM 19.4867 -6.02078 46.9111 0.512774 -0.656698 0.105796 0.542787 +TTool-pose None -33.827 5.33064 25.5399 0.618205 -0.614093 0.38876 0.299239 +#80449 1721123311530 +SLAM 19.5457 -5.99296 46.8956 0.512438 -0.656283 0.105542 0.543655 +TTool-pose None -33.8438 5.31768 25.5495 0.618293 -0.614457 0.388798 0.298258 +#80450 1721123311564 +SLAM 19.3969 -6.15472 46.9118 0.512853 -0.657878 0.104894 0.541457 +TTool-pose None -33.7889 5.33428 25.527 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5.24189 25.5528 0.611212 -0.62346 0.386042 0.297748 +#80463 1721123311976 +SLAM 18.8599 -6.36181 47.0977 0.508775 -0.66469 0.105025 0.53694 +TTool-pose None -33.6156 5.355 25.5536 0.617243 -0.616103 0.381305 0.306595 +#80464 1721123312009 +SLAM 18.7336 -6.41532 47.0837 0.506572 -0.666547 0.104246 0.536873 +TTool-pose None -33.5396 5.32498 25.5354 0.61704 -0.617674 0.378799 0.30695 +#80465 1721123312040 +SLAM 18.6675 -6.44636 47.1033 0.50605 -0.667413 0.104182 0.536302 +TTool-pose None -33.5167 5.32758 25.5383 0.616888 -0.617969 0.377966 0.307688 +#80466 1721123312078 +SLAM 18.6603 -6.41938 47.1105 0.505714 -0.667481 0.104465 0.536479 +TTool-pose None -33.5159 5.32828 25.5388 0.616574 -0.618324 0.377951 0.307622 +#80467 1721123312109 +SLAM 18.6678 -6.44007 47.1089 0.505498 -0.667662 0.104058 0.536536 +TTool-pose None -33.5144 5.32294 25.5495 0.616793 -0.61842 0.377529 0.307507 +#80468 1721123312141 +SLAM 18.8653 -5.92581 47.1735 0.497282 -0.667499 0.104403 0.544294 +TTool-pose None -33.5713 5.11334 25.709 0.613905 -0.626317 0.374919 0.300414 +#80469 1721123312174 +SLAM 18.6371 -6.44163 47.1214 0.50553 -0.667894 0.104347 0.536161 +TTool-pose None -33.5079 5.33306 25.5462 0.616586 -0.618386 0.377528 0.307992 +#80470 1721123312207 +SLAM 18.9007 -5.95984 47.1626 0.496236 -0.667901 0.103156 0.544993 +TTool-pose None -33.5691 5.07931 25.7397 0.614449 -0.626998 0.373591 0.299533 +#80471 1721123312240 +SLAM 18.9353 -5.86449 47.1906 0.496575 -0.667221 0.104334 0.545292 +TTool-pose None -33.6001 5.0978 25.7525 0.613732 -0.627029 0.374825 0.299397 +#80472 1721123312280 +SLAM 18.6696 -6.38328 47.1365 0.505265 -0.667595 0.104719 0.53671 +TTool-pose None -33.5264 5.32947 25.5636 0.616244 -0.618771 0.377848 0.30751 +#80473 1721123312314 +SLAM 18.6126 -6.3492 47.1649 0.50541 -0.667817 0.105655 0.536114 +TTool-pose None -33.5165 5.3463 25.5571 0.615606 -0.618739 0.37824 0.30837 +#80474 1721123312345 +SLAM 18.2179 -6.67614 47.1878 0.506399 -0.671367 0.105024 0.530844 +TTool-pose None -33.3752 5.39044 25.4693 0.616229 -0.616849 0.375699 0.313968 +#80475 1721123312379 +SLAM 18.8666 -6.31195 47.0782 0.50504 -0.665977 0.104028 0.539061 +TTool-pose None -33.5776 5.30643 25.5849 0.616731 -0.619231 0.378552 0.30473 +#80476 1721123312413 +SLAM 18.9774 -5.94719 47.1401 0.49628 -0.66732 0.102803 0.54573 +TTool-pose None -33.5885 5.07567 25.7506 0.614736 -0.62702 0.373829 0.298601 +#80477 1721123312452 +SLAM 18.9962 -5.88229 47.1696 0.495852 -0.667207 0.103253 0.546173 +TTool-pose None -33.6069 5.06839 25.7773 0.614275 -0.627523 0.373995 0.298284 +#80478 1721123312485 +SLAM 18.8266 -6.32809 47.0819 0.504914 -0.666332 0.104073 0.538733 +TTool-pose None -33.5636 5.30735 25.575 0.616645 -0.619281 0.37828 0.305139 +#80479 1721123312518 +SLAM 18.6363 -6.43099 47.1285 0.505388 -0.667944 0.104438 0.536215 +TTool-pose None -33.5095 5.33315 25.5517 0.616473 -0.618526 0.377492 0.307981 +#80480 1721123312551 +SLAM 18.6516 -6.4318 47.1179 0.50527 -0.667855 0.104243 0.536474 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0.538728 +TTool-pose None -33.6087 5.32349 25.5217 0.617103 -0.617048 0.381517 0.304706 +#80487 1721123312776 +SLAM 18.94 -6.35411 47.0009 0.507079 -0.664364 0.103456 0.539248 +TTool-pose None -33.5963 5.28774 25.5288 0.617849 -0.617537 0.380107 0.303966 +#80488 1721123312808 +SLAM 19.0271 -6.26741 46.9868 0.507513 -0.663197 0.104071 0.540157 +TTool-pose None -33.6279 5.29391 25.5318 0.617582 -0.61748 0.381416 0.302981 +#80489 1721123312840 +SLAM 18.9647 -6.45206 46.9682 0.508874 -0.663893 0.102973 0.538229 +TTool-pose None -33.6003 5.32114 25.5082 0.618782 -0.615836 0.38081 0.304638 +#80490 1721123312872 +SLAM 19.0789 -6.22489 46.9788 0.507156 -0.662772 0.104038 0.54102 +TTool-pose None -33.6456 5.28133 25.5406 0.617506 -0.617908 0.381574 0.302065 +#80491 1721123312907 +SLAM 18.9345 -6.47922 46.9559 0.50752 -0.664686 0.102038 0.538706 +TTool-pose None -33.5719 5.27996 25.514 0.619 -0.6168 0.379274 0.304162 +#80492 1721123312940 +SLAM 18.9536 -6.28644 47.0118 0.507583 -0.663758 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-0.661779 0.107441 0.539678 +TTool-pose None -33.7264 5.35136 25.5725 0.615721 -0.616767 0.384797 0.303946 +#80499 1721123313165 +SLAM 19.3572 -5.648 47.0014 0.505115 -0.659 0.107999 0.54673 +TTool-pose None -33.7748 5.23844 25.5859 0.6141 -0.621303 0.385624 0.296854 +#80500 1721123313197 +SLAM 18.9782 -6.31427 46.9958 0.507896 -0.663556 0.104048 0.53936 +TTool-pose None -33.6173 5.30193 25.5195 0.617709 -0.617032 0.381283 0.303804 +#80501 1721123313229 +SLAM 18.9162 -6.49224 46.9541 0.507636 -0.664758 0.102031 0.538509 +TTool-pose None -33.5669 5.27852 25.5041 0.619039 -0.616671 0.379259 0.30436 +#80502 1721123313261 +SLAM 19.3605 -6.0561 46.9354 0.497277 -0.66418 0.0983046 0.54947 +TTool-pose None -33.662 4.96214 25.7541 0.618387 -0.625945 0.373981 0.293073 +#80503 1721123313293 +SLAM 19.155 -6.23489 47.0012 0.509846 -0.661335 0.10459 0.540142 +TTool-pose None -33.7098 5.31702 25.5502 0.61801 -0.615732 0.383826 0.302624 +#80504 1721123313324 +SLAM 19.3817 -5.62117 46.9628 0.505886 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-0.614222 0.3865 0.299373 +#80564 1721123315400 +SLAM 19.5739 -5.44872 46.924 0.506945 -0.655276 0.109038 0.549299 +TTool-pose None -33.8627 5.19887 25.5453 0.614031 -0.620477 0.389431 0.293736 +#80565 1721123315435 +SLAM 19.5119 -5.53826 46.9126 0.508092 -0.655504 0.109022 0.54797 +TTool-pose None -33.8424 5.22713 25.5039 0.614408 -0.619344 0.38967 0.29502 +#80566 1721123315470 +SLAM 19.6955 -5.4708 46.8548 0.505997 -0.654791 0.107331 0.551086 +TTool-pose None -33.874 5.15437 25.5587 0.614968 -0.621179 0.388519 0.29149 +#80567 1721123315505 +SLAM 19.3712 -6.26159 46.8742 0.512427 -0.658373 0.103399 0.541546 +TTool-pose None -33.7707 5.29201 25.4996 0.619776 -0.613672 0.386179 0.300191 +#80568 1721123315544 +SLAM 19.3648 -6.17377 46.9456 0.513111 -0.658017 0.105005 0.541022 +TTool-pose None -33.8066 5.32549 25.5255 0.618845 -0.613363 0.387526 0.301009 +#80569 1721123315579 +SLAM 19.3966 -6.16102 46.8826 0.51195 -0.6579 0.104234 0.542411 +TTool-pose None -33.7858 5.28687 25.5009 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-33.5298 5.3014 25.2773 0.610997 -0.61871 0.386662 0.307147 +#80600 1721123316651 +SLAM 19.1496 -5.99891 46.9794 0.500983 -0.663274 0.101869 0.54654 +TTool-pose None -33.6504 5.01446 25.6207 0.617064 -0.623285 0.377869 0.296524 +#80601 1721123316686 +SLAM 18.8491 -5.99954 47.1202 0.511355 -0.660984 0.109982 0.538071 +TTool-pose None -33.6957 5.32983 25.4222 0.614599 -0.615254 0.387471 0.305882 +#80602 1721123316727 +SLAM 19.5013 -6.06673 46.8976 0.51201 -0.656779 0.10453 0.543656 +TTool-pose None -33.8437 5.26585 25.5324 0.618873 -0.614595 0.38776 0.298121 +#80603 1721123316761 +SLAM 19.7573 -5.20694 46.7957 0.50192 -0.654193 0.107814 0.555413 +TTool-pose None -33.8639 5.04302 25.5404 0.613298 -0.625197 0.387725 0.287446 +#80604 1721123316790 +#80605 1721123316817 +SLAM 19.312 -6.0937 47.0338 0.510319 -0.659387 0.104738 0.542046 +TTool-pose None -33.8087 5.24511 25.6024 0.618112 -0.615715 0.385446 0.300382 +#80606 1721123316846 +SLAM 19.2667 -5.62422 47.0013 0.506431 -0.658232 0.108817 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-5.84523 46.9576 0.500691 -0.661325 0.102356 0.549073 +TTool-pose None -33.7262 4.97399 25.6217 0.616672 -0.624042 0.379395 0.293788 +#80650 1721123318238 +SLAM 18.6873 -5.6948 47.2154 0.49958 -0.665408 0.108254 0.543998 +TTool-pose None -33.6022 5.0313 25.5548 0.611939 -0.625251 0.379277 0.301175 +#80651 1721123318274 +SLAM 19.2232 -5.98247 47.0382 0.513102 -0.657743 0.108254 0.540723 +TTool-pose None -33.8248 5.31896 25.4754 0.616502 -0.613974 0.389449 0.302088 +#80652 1721123318308 +SLAM 19.0724 -6.38602 46.8824 0.510068 -0.661285 0.102558 0.540384 +TTool-pose None -33.658 5.21484 25.4219 0.619547 -0.615181 0.382852 0.301834 +#80653 1721123318338 +SLAM 19.2204 -5.95854 46.9499 0.501463 -0.66205 0.101959 0.547567 +TTool-pose None -33.6898 4.99235 25.5912 0.61719 -0.6231 0.37895 0.295269 +#80654 1721123318376 +SLAM 19.5983 -5.98666 46.8753 0.513078 -0.654969 0.105055 0.544729 +TTool-pose None -33.9016 5.24546 25.5073 0.618881 -0.614023 0.389682 0.296771 +#80655 1721123318407 +SLAM 19.2132 -6.12394 46.9857 0.511819 -0.65877 0.105644 0.541205 +TTool-pose None -33.7873 5.2493 25.477 0.617953 -0.614557 0.386888 0.301226 +#80656 1721123318438 +SLAM 19.4812 -5.97349 46.8472 0.50067 -0.660476 0.0992191 0.550687 +TTool-pose None -33.7448 4.91645 25.6313 0.61894 -0.623674 0.378294 0.291205 +#80657 1721123318469 +SLAM 19.3274 -5.81074 46.9213 0.499812 -0.660973 0.101813 0.550396 +TTool-pose None -33.7249 4.91068 25.5988 0.616783 -0.624841 0.379032 0.292318 +#80658 1721123318507 +SLAM 19.3053 -5.80416 46.9612 0.501375 -0.660686 0.103009 0.549096 +TTool-pose None -33.7424 4.96708 25.5992 0.616441 -0.623641 0.380438 0.293773 +#80659 1721123318538 +SLAM 19.2641 -5.88406 46.9742 0.508887 -0.658148 0.106298 0.544587 +TTool-pose None -33.7966 5.14958 25.4823 0.616565 -0.617603 0.386648 0.29813 +#80660 1721123318571 +SLAM 19.265 -5.78003 46.9685 0.500763 -0.6609 0.103066 0.549386 +TTool-pose None -33.7344 4.93202 25.5868 0.616195 -0.624183 0.380098 0.293577 +#80661 1721123318605 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None -33.775 4.76363 25.3374 0.615872 -0.622408 0.384387 0.29244 +#80751 1721123321619 +SLAM 19.2314 -5.516 46.9027 0.503052 -0.656651 0.105619 0.5519 +TTool-pose None -33.8127 4.74756 25.3628 0.615204 -0.623305 0.385256 0.290786 +#80752 1721123321650 +SLAM 19.2564 -5.79246 46.8243 0.501069 -0.658514 0.100806 0.552384 +TTool-pose None -33.7576 4.66102 25.4003 0.617977 -0.623966 0.380662 0.289535 +#80753 1721123321685 +SLAM 19.1072 -5.39694 46.9006 0.508745 -0.654056 0.111116 0.548673 +TTool-pose None -33.8223 4.92032 25.1858 0.613136 -0.619351 0.392025 0.294532 +#80754 1721123321715 +SLAM 19.3328 -5.85822 46.7854 0.501057 -0.658281 0.0993767 0.552931 +TTool-pose None -33.7674 4.64247 25.4152 0.619004 -0.623767 0.380049 0.288572 +#80755 1721123321746 +SLAM 18.9572 -5.70769 46.9475 0.503369 -0.659159 0.105381 0.548657 +TTool-pose None -33.726 4.76154 25.3118 0.61542 -0.622478 0.383492 0.294409 +#80756 1721123321775 +SLAM 19.2602 -5.71355 46.8415 0.502107 -0.657694 0.102349 0.552133 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-0.255467 -0.666913 0.682526 +#81788 1721123356553 +SLAM -7.61026 28.1929 -3.18957 0.413914 0.753977 -0.0102811 0.509988 +TTool-pose None -30.6833 -11.9484 9.12357 -0.155419 -0.254329 -0.663991 0.685762 +#81789 1721123356584 +SLAM -7.54469 28.3139 -3.00795 0.416158 0.753149 -0.00633165 0.509449 +TTool-pose None -30.7347 -11.9247 9.07456 -0.154257 -0.25376 -0.667419 0.682901 +#81790 1721123356616 +SLAM -7.51541 28.3533 -2.92293 0.416591 0.753 -0.00496445 0.509331 +TTool-pose None -30.7261 -11.9515 9.05609 -0.153623 -0.253485 -0.668442 0.682145 +#81791 1721123356649 +SLAM -7.48573 28.3462 -2.96438 0.416844 0.752581 -0.00577735 0.509735 +TTool-pose None -30.733 -11.9408 9.0767 -0.154574 -0.253293 -0.668132 0.682305 +#81792 1721123356682 +SLAM -7.57871 28.2074 -3.22194 0.414267 0.753674 -0.0107386 0.510139 +TTool-pose None -30.7086 -11.9465 9.12947 -0.15608 -0.254302 -0.663912 0.685698 +#81793 1721123356711 +SLAM -7.66931 28.1876 -3.17239 0.413819 0.754972 -0.0112333 0.508572 +TTool-pose 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-0.661333 0.684952 +#81879 1721123359608 +SLAM -7.93048 28.2269 -3.17934 0.416147 0.756397 -0.0180179 0.504341 +TTool-pose None -30.7054 -11.8008 9.46367 -0.159397 -0.262583 -0.659677 0.685901 +#81880 1721123359638 +SLAM -7.91022 28.256 -3.08661 0.416104 0.755507 -0.0140328 0.505836 +TTool-pose None -30.7058 -11.7925 9.4161 -0.15747 -0.259853 -0.662269 0.684888 +#81881 1721123359678 +SLAM -7.92349 28.1935 -3.28243 0.415672 0.755387 -0.0173903 0.506265 +TTool-pose None -30.7416 -11.7459 9.46307 -0.159608 -0.260355 -0.660078 0.686315 +#81882 1721123359716 +SLAM -7.85611 28.3105 -3.06067 0.417397 0.754623 -0.0128498 0.506122 +TTool-pose None -30.7546 -11.7601 9.41333 -0.15784 -0.259211 -0.663667 0.683691 +#81883 1721123359754 +SLAM -8.00449 28.0933 -3.39586 0.413237 0.755417 -0.0166291 0.508236 +TTool-pose None -30.7243 -11.721 9.43643 -0.158223 -0.258024 -0.659585 0.687988 +#81884 1721123359786 +SLAM -7.97651 28.2315 -3.1244 0.415837 0.756234 -0.0157877 0.504916 +TTool-pose None -30.7027 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-3.0916 0.41781 0.755973 -0.0176358 0.503617 +TTool-pose None -30.7475 -11.6923 9.61547 -0.160065 -0.26325 -0.660641 0.684561 +#81897 1721123360232 +SLAM -8.14917 28.194 -3.20669 0.415211 0.755794 -0.0157023 0.506091 +TTool-pose None -30.7425 -11.6376 9.57256 -0.158024 -0.260056 -0.660847 0.686055 +#81898 1721123360269 +SLAM -7.97852 28.3051 -3.17663 0.417959 0.754389 -0.016885 0.505888 +TTool-pose None -30.7918 -11.6597 9.62636 -0.160864 -0.260619 -0.661475 0.684575 +#81899 1721123360303 +SLAM -8.18435 28.1659 -3.28291 0.415006 0.756331 -0.0185852 0.50536 +TTool-pose None -30.7395 -11.6347 9.62754 -0.159417 -0.261655 -0.6589 0.686997 +#81900 1721123360340 +SLAM -8.08675 28.2557 -3.14027 0.416379 0.754807 -0.0139793 0.506655 +TTool-pose None -30.7668 -11.6287 9.57549 -0.158078 -0.258966 -0.662548 0.684814 +#81901 1721123360373 +SLAM -8.29155 28.1116 -3.2949 0.413734 0.757234 -0.0183282 0.505059 +TTool-pose None -30.7181 -11.6137 9.61366 -0.158093 -0.261895 -0.658379 0.687711 +#81902 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-0.00657318 0.5094 +TTool-pose None -30.835 -11.4263 9.54154 -0.15354 -0.253879 -0.666724 0.683696 +#81920 1721123361021 +SLAM -8.43664 28.1307 -3.2721 0.414372 0.757386 -0.0192562 0.504274 +TTool-pose None -30.7377 -11.5191 9.75478 -0.158806 -0.262997 -0.65803 0.68746 +#81921 1721123361055 +SLAM -8.2594 28.2512 -3.14296 0.416242 0.754425 -0.0121859 0.507383 +TTool-pose None -30.8127 -11.4871 9.66257 -0.15715 -0.257672 -0.663659 0.684439 +#81922 1721123361084 +SLAM -8.3355 28.2786 -3.07476 0.417194 0.755291 -0.0122692 0.505306 +TTool-pose None -30.8324 -11.4387 9.67507 -0.156866 -0.259912 -0.663807 0.683513 +#81923 1721123361113 +SLAM -8.2299 28.231 -3.2764 0.416541 0.754397 -0.0167717 0.507048 +TTool-pose None -30.8195 -11.4956 9.75556 -0.160282 -0.259347 -0.660991 0.685661 +#81924 1721123361142 +SLAM -8.34366 28.2519 -3.15855 0.41741 0.75716 -0.0211902 0.502025 +TTool-pose None -30.7577 -11.5411 9.83454 -0.161313 -0.265946 -0.65807 0.685701 +#81925 1721123361170 +SLAM -8.3742 28.1452 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-0.0130838 0.512631 +TTool-pose None -31.4523 -8.82308 12.0581 -0.16075 -0.252318 -0.663962 0.685304 +#82354 1721123375459 +SLAM -11.6499 27.886 -3.72794 0.41503 0.753436 -0.0194373 0.509614 +TTool-pose None -31.3124 -9.00747 12.1773 -0.162234 -0.257361 -0.658961 0.687901 +#82355 1721123375488 +#82356 1721123375521 +SLAM -11.6177 27.8435 -3.84693 0.415329 0.753532 -0.0258785 0.508942 +TTool-pose None -31.2682 -9.0197 12.3041 -0.166455 -0.259887 -0.655105 0.689623 +#82357 1721123375555 +SLAM -11.6159 27.8718 -3.84086 0.415697 0.750794 -0.01496 0.513109 +TTool-pose None -31.4069 -8.83518 12.1446 -0.161587 -0.252343 -0.662463 0.686547 +#82358 1721123375589 +SLAM -11.6969 27.8088 -3.92318 0.414636 0.753445 -0.0229023 0.509777 +TTool-pose None -31.3504 -8.92231 12.2239 -0.164344 -0.258161 -0.656681 0.689279 +#82359 1721123375628 +SLAM -11.8015 27.6761 -4.12094 0.412824 0.755899 -0.0320447 0.507116 +TTool-pose None -31.301 -8.96511 12.3068 -0.167713 -0.263523 -0.649847 0.692906 +#82360 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-0.163091 -0.25777 -0.663322 0.683339 +#82406 1721123377184 +SLAM -11.884 27.832 -3.89094 0.415487 0.751278 -0.0188168 0.512444 +TTool-pose None -31.3943 -8.68939 12.4132 -0.163661 -0.254156 -0.659936 0.68782 +#82407 1721123377218 +SLAM -11.9615 28.0749 -3.21539 0.418952 0.751851 -0.00751543 0.509061 +TTool-pose None -31.356 -8.69638 12.3338 -0.157034 -0.254526 -0.668048 0.681367 +#82408 1721123377254 +SLAM -11.8194 28.104 -3.35254 0.420856 0.752786 -0.0188309 0.505805 +TTool-pose None -31.3339 -8.7799 12.4758 -0.1644 -0.261262 -0.661726 0.683246 +#82409 1721123377290 +SLAM -11.8333 28.1337 -3.28568 0.421537 0.753468 -0.0201451 0.504169 +TTool-pose None -31.3197 -8.79565 12.5027 -0.164964 -0.263377 -0.661048 0.682954 +#82410 1721123377323 +SLAM -11.8744 28.1409 -3.24907 0.421027 0.753439 -0.0177683 0.504729 +TTool-pose None -31.3299 -8.79251 12.4796 -0.163258 -0.262108 -0.662311 0.682628 +#82411 1721123377356 +SLAM -11.869 28.2045 -3.08516 0.422262 0.752889 -0.0137186 0.504644 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-0.261633 -0.659863 0.679806 +#82510 1721123380678 +SLAM -11.4648 28.2434 -3.86446 0.429712 0.746462 -0.0362275 0.506784 +TTool-pose None -31.5015 -8.43012 13.0264 -0.183655 -0.264976 -0.655622 0.682795 +#82511 1721123380710 +SLAM -11.5434 28.6032 -3.02298 0.436228 0.74943 -0.0316631 0.497048 +TTool-pose None -31.4551 -8.47067 13.0498 -0.18063 -0.274028 -0.660318 0.675464 +#82512 1721123380738 +SLAM -11.428 28.766 -2.73517 0.43799 0.746822 -0.0252474 0.499785 +TTool-pose None -31.4058 -8.53456 13.1341 -0.179115 -0.269321 -0.665465 0.672705 +#82513 1721123380765 +#82514 1721123380791 +SLAM -11.6531 28.5396 -3.13013 0.434499 0.748385 -0.0293455 0.500269 +TTool-pose None -31.4673 -8.39256 13.1022 -0.179367 -0.269995 -0.661321 0.676443 +#82515 1721123380818 +SLAM -11.6811 28.6413 -2.88156 0.436409 0.748118 -0.0248299 0.499249 +TTool-pose None -31.475 -8.34875 13.0952 -0.177299 -0.269801 -0.664874 0.673577 +#82516 1721123380854 +SLAM -11.8268 28.2986 -3.60241 0.430787 0.74979 -0.0364803 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+#82531 1721123381340 +#82532 1721123381369 +#82533 1721123381399 +SLAM -12.2379 27.828 -4.45632 0.423062 0.750934 -0.0502902 0.504566 +TTool-pose None -31.5257 -8.10218 13.3701 -0.186851 -0.271108 -0.64338 0.691116 +#82534 1721123381426 +SLAM -12.1261 27.8873 -4.39836 0.423691 0.748295 -0.0453599 0.508412 +TTool-pose None -31.5127 -8.09849 13.4008 -0.185985 -0.265711 -0.647246 0.689834 +#82535 1721123381454 +SLAM -12.0454 28.6389 -2.73693 0.435894 0.745645 -0.0144851 0.503786 +TTool-pose None -31.4996 -8.04721 13.278 -0.172304 -0.262046 -0.671504 0.671354 +#82536 1721123381483 +SLAM -12.1909 27.6063 -4.86966 0.417986 0.745865 -0.0399079 0.517088 +TTool-pose None -31.5814 -7.98705 13.2758 -0.182351 -0.254965 -0.648895 0.693302 +#82537 1721123381520 +#82538 1721123381554 +#82539 1721123381584 +#82540 1721123381620 +SLAM -12.4465 27.4952 -4.94864 0.416054 0.752372 -0.0561964 0.50762 +TTool-pose None -31.4991 -8.13648 13.3851 -0.187007 -0.269367 -0.636639 0.697963 +#82541 1721123381655 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-8.01584 13.3523 -0.18049 -0.267938 -0.65989 0.678358 +#82553 1721123382053 +#82554 1721123382089 +SLAM -11.8714 28.7419 -2.90419 0.440383 0.751092 -0.0454228 0.489755 +TTool-pose None -31.4243 -8.25243 13.6432 -0.18952 -0.285361 -0.652896 0.675551 +#82555 1721123382121 +SLAM -12.2819 27.6331 -4.9165 0.419112 0.748742 -0.0513393 0.510975 +TTool-pose None -31.5764 -8.02934 13.4357 -0.187828 -0.264535 -0.641613 0.695029 +#82556 1721123382151 +SLAM -12.3017 28.0456 -3.90147 0.423712 0.747425 -0.0313902 0.510723 +TTool-pose None -31.4567 -8.09462 13.4235 -0.177706 -0.259491 -0.656139 0.685972 +#82557 1721123382189 +SLAM -12.1951 28.1897 -3.74798 0.428423 0.74729 -0.0313252 0.506981 +TTool-pose None -31.5444 -7.99086 13.3688 -0.179412 -0.263447 -0.658016 0.682212 +#82558 1721123382221 +SLAM -12.1733 28.3524 -3.43691 0.431679 0.746942 -0.0255232 0.505055 +TTool-pose None -31.5886 -7.93436 13.3092 -0.177052 -0.263871 -0.662905 0.677918 +#82559 1721123382256 +SLAM -11.9432 28.3991 -3.68997 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-0.269867 -0.654064 0.682485 +#82571 1721123382674 +#82572 1721123382712 +SLAM -12.101 28.6141 -3.1601 0.438856 0.750727 -0.0431655 0.491886 +TTool-pose None -31.5545 -7.99756 13.6074 -0.187865 -0.282544 -0.653837 0.676287 +#82573 1721123382746 +SLAM -12.1355 28.6511 -2.99058 0.437488 0.74855 -0.0339615 0.497115 +TTool-pose None -31.4977 -8.03137 13.6433 -0.183224 -0.274564 -0.659537 0.675311 +#82574 1721123382778 +SLAM -12.5485 28.0503 -3.83758 0.424569 0.748634 -0.0298319 0.508329 +TTool-pose None -31.5358 -7.89782 13.4472 -0.176066 -0.261625 -0.657203 0.684564 +#82575 1721123382815 +SLAM -12.4529 28.1092 -3.82864 0.427188 0.749298 -0.0355365 0.504777 +TTool-pose None -31.5491 -7.8956 13.4807 -0.180139 -0.266959 -0.654537 0.683999 +#82576 1721123382851 +SLAM -12.3726 28.3477 -3.40606 0.431547 0.747878 -0.0270938 0.503699 +TTool-pose None -31.5858 -7.84915 13.4434 -0.177298 -0.265757 -0.661704 0.678291 +#82577 1721123382889 +SLAM -12.0584 29.0273 -2.23017 0.452569 0.756213 -0.0465554 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1721123429155 +#83961 1721123429188 +#83962 1721123429220 +#83963 1721123429255 +#83964 1721123429286 +#83965 1721123429319 +#83966 1721123429352 +#83967 1721123429387 +#83968 1721123429418 +#83969 1721123429452 +#83970 1721123429486 +#83971 1721123429520 +#83972 1721123429557 +#83973 1721123429589 +#83974 1721123429622 +#83975 1721123429656 +#83976 1721123429689 +#83977 1721123429720 +#83978 1721123429756 +#83979 1721123429789 +#83980 1721123429821 +#83981 1721123429853 +#83982 1721123429886 +#83983 1721123429919 +#83984 1721123429956 +#83985 1721123429986 +#83986 1721123430024 +#83987 1721123430054 +#83988 1721123430088 +#83989 1721123430126 +#83990 1721123430160 +#83991 1721123430190 +#83992 1721123430225 +#83993 1721123430259 +#83994 1721123430294 +#83995 1721123430330 +#83996 1721123430361 +#83997 1721123430391 +#83998 1721123430427 +#83999 1721123430458 +#84000 1721123430490 +#84001 1721123430525 +#84002 1721123430558 +#84003 1721123430589 +#84004 1721123430622 +#84005 1721123430656 +#84006 1721123430689 +#84007 1721123430725 +#84008 1721123430755 +#84009 1721123430788 +#84010 1721123430822 +#84011 1721123430857 +SLAM 3.40254 37.9009 -0.768207 0.483162 0.593397 0.11065 0.634186 +TTool-pose None -38.7228 -14.6854 10.9544 -0.207316 -0.0626983 -0.775886 0.592521 +#84012 1721123430890 +SLAM 3.25138 37.4273 -1.30659 0.474341 0.593037 0.109672 0.641311 +TTool-pose None -38.4207 -14.6608 10.8257 -0.20493 -0.055101 -0.771716 0.599511 +#84013 1721123430923 +SLAM 3.34973 37.2611 -1.30633 0.472403 0.591605 0.109018 0.644169 +TTool-pose None -38.237 -14.7579 10.7992 -0.205534 -0.0518948 -0.770564 0.601069 +#84014 1721123430956 +SLAM 3.64118 37.439 -0.688359 0.477704 0.587724 0.113179 0.643094 +TTool-pose None -38.2592 -14.8151 10.7905 -0.206922 -0.0508105 -0.775057 0.594877 +#84015 1721123430993 +SLAM 3.74343 36.959 -1.23634 0.471703 0.587601 0.10671 0.648717 +TTool-pose None -37.9408 -14.8878 10.7521 -0.209342 -0.0469335 -0.769039 0.602115 +#84016 1721123431024 +SLAM 3.99919 37.0061 -0.816165 0.47643 0.586643 0.105075 0.646393 +TTool-pose None -37.8307 -15.0389 10.8039 -0.212884 -0.0499683 -0.770135 0.599221 +#84017 1721123431055 +#84018 1721123431091 +#84019 1721123431122 +#84020 1721123431161 +#84021 1721123431190 +#84022 1721123431226 +#84023 1721123431257 +#84024 1721123431290 +SLAM 7.00256 35.7578 -0.327477 0.485021 0.562543 0.102459 0.661666 +TTool-pose None -37.4617 -15.072 9.59707 -0.232372 -0.0290435 -0.772171 0.59068 +#84025 1721123431323 +#84026 1721123431357 +SLAM 7.34409 35.3815 -0.729011 0.482727 0.563745 0.0929177 0.663727 +TTool-pose None -37.2421 -15.2898 9.51434 -0.237545 -0.0304797 -0.76598 0.596581 +#84027 1721123431392 +SLAM 7.60211 35.3863 -0.620463 0.487067 0.562498 0.0896721 0.662058 +TTool-pose None -37.2605 -15.3014 9.61627 -0.242217 -0.0332585 -0.765987 0.594542 +#84028 1721123431425 +SLAM 7.74398 35.3918 -0.530599 0.488521 0.561176 0.089505 0.662131 +TTool-pose None -37.2747 -15.3146 9.62271 -0.243662 -0.0329529 -0.766482 0.59333 +#84029 1721123431460 +SLAM 7.8813 35.4712 -0.330327 0.490252 0.559046 0.0916712 0.662357 +TTool-pose None -37.3385 -15.3151 9.6093 -0.244039 -0.031458 -0.768368 0.590811 +#84030 1721123431496 +SLAM 7.84564 35.4921 -0.242135 0.489752 0.559202 0.0926856 0.662455 +TTool-pose None -37.3032 -15.3717 9.58689 -0.243043 -0.0310169 -0.768722 0.590783 +#84031 1721123431533 +SLAM 7.89656 35.5444 -0.129689 0.489395 0.55728 0.0952172 0.663977 +TTool-pose None -37.3374 -15.3837 9.56883 -0.242245 -0.0279805 -0.769936 0.589681 +#84032 1721123431568 +SLAM 7.88374 35.6301 0.00287706 0.490085 0.556316 0.0969951 0.664019 +TTool-pose None -37.3702 -15.3822 9.60898 -0.241813 -0.0270741 -0.771185 0.588267 +#84033 1721123431601 +SLAM 7.94335 35.8018 0.204432 0.492662 0.554511 0.0986567 0.663377 +TTool-pose None -37.4804 -15.3672 9.72196 -0.242664 -0.0267828 -0.773137 0.58536 +#84034 1721123431644 +SLAM 7.73102 35.7101 -0.0841506 0.488967 0.557299 0.0958467 0.664186 +TTool-pose None -37.3691 -15.4353 9.76048 -0.241627 -0.027522 -0.770104 0.589737 +#84035 1721123431673 +SLAM 7.73776 35.8274 -0.034238 0.488944 0.555611 0.0987029 0.665197 +TTool-pose None -37.4933 -15.3835 9.77493 -0.240583 -0.024979 -0.771634 0.588276 +#84036 1721123431703 +SLAM 7.78791 35.9559 0.0626898 0.492315 0.553926 0.0995457 0.663989 +TTool-pose None -37.6325 -15.2452 9.90727 -0.242245 -0.025645 -0.77347 0.585146 +#84037 1721123431735 +SLAM 7.80726 36.0352 0.0626723 0.493596 0.553875 0.0981844 0.663284 +TTool-pose None -37.6815 -15.2611 10.0269 -0.243722 -0.0269166 -0.773254 0.584761 +#84038 1721123431773 +SLAM 7.54559 35.8988 -0.282573 0.490122 0.558018 0.0939415 0.663002 +TTool-pose None -37.5329 -15.3176 10.0665 -0.24299 -0.0296931 -0.769549 0.589796 +#84039 1721123431803 +SLAM 7.72649 36.0926 -0.0504319 0.49361 0.554433 0.0975123 0.662906 +TTool-pose None -37.7473 -15.2079 10.1144 -0.243877 -0.027707 -0.772901 0.585125 +#84040 1721123431833 +SLAM 7.69464 36.083 -0.11765 0.493082 0.554983 0.0967822 0.662946 +TTool-pose None -37.7408 -15.2162 10.1289 -0.243874 -0.0280518 -0.772291 0.585916 +#84041 1721123431863 +SLAM 7.74547 36.1254 -0.0811052 0.494611 0.55419 0.096804 0.662467 +TTool-pose None -37.7962 -15.1645 10.1789 -0.244897 -0.0283982 -0.772922 0.584638 +#84042 1721123431894 +SLAM 7.67319 36.1523 -0.0606374 0.494307 0.554693 0.0980621 0.662087 +TTool-pose None -37.8129 -15.1422 10.1453 -0.243598 -0.0284751 -0.773498 0.584416 +#84043 1721123431927 +SLAM 7.73065 36.149 -0.100026 0.494803 0.554184 0.0972371 0.662265 +TTool-pose None -37.8375 -15.1243 10.1788 -0.244666 -0.0284638 -0.773239 0.584312 +#84044 1721123431957 +SLAM 7.5188 36.2052 0.0401393 0.492748 0.553185 0.106056 0.663279 +TTool-pose None -37.9299 -14.9238 9.94137 -0.238217 -0.0238728 -0.777197 0.581926 +#84045 1721123431994 +SLAM 7.83589 36.2668 0.0636666 0.497931 0.551954 0.0991657 0.661497 +TTool-pose None -37.9705 -15.0098 10.2388 -0.245775 -0.0281056 -0.775549 0.580793 +#84046 1721123432025 +SLAM 7.7261 36.2309 -0.0493689 0.496935 0.553391 0.0979331 0.661229 +TTool-pose None -37.9274 -15.0094 10.2628 -0.245436 -0.0291801 -0.774489 0.582295 +#84047 1721123432060 +SLAM 7.74586 36.2781 -0.0176127 0.498337 0.552808 0.0978311 0.660676 +TTool-pose None -37.9726 -14.9604 10.332 -0.246373 -0.0296961 -0.775 0.581193 +#84048 1721123432092 +SLAM 7.79068 36.342 0.0600743 0.498546 0.550574 0.101034 0.661901 +TTool-pose None -38.0681 -14.8754 10.3087 -0.245484 -0.0266587 -0.776798 0.579312 +#84049 1721123432125 +SLAM 7.69795 36.348 0.0175032 0.49868 0.551549 0.100194 0.661115 +TTool-pose None -38.0514 -14.853 10.3662 -0.245562 -0.0280599 -0.776413 0.579729 +#84050 1721123432157 +SLAM 7.63577 36.3304 -0.0813637 0.497811 0.551753 0.100101 0.661614 +TTool-pose None -38.056 -14.8108 10.383 -0.245183 -0.0275889 -0.776008 0.580454 +#84051 1721123432190 +SLAM 7.56974 36.3054 -0.190602 0.498191 0.55264 0.0981061 0.660886 +TTool-pose None -38.0389 -14.762 10.4691 -0.246222 -0.0293253 -0.775088 0.581158 +#84052 1721123432227 +SLAM 7.51545 36.3066 -0.239077 0.498336 0.552576 0.0981914 0.660817 +TTool-pose None -38.0559 -14.6876 10.5099 -0.246253 -0.0293557 -0.775193 0.581003 +#84053 1721123432261 +SLAM 7.36296 36.2988 -0.331272 0.49678 0.552787 0.100177 0.661514 +TTool-pose None -38.0795 -14.5795 10.4824 -0.244141 -0.0279069 -0.775645 0.581363 +#84054 1721123432292 +SLAM 7.32008 36.3458 -0.344526 0.498424 0.553476 0.0985818 0.659939 +TTool-pose None -38.1023 -14.5399 10.5962 -0.245484 -0.0303907 -0.775461 0.580918 +#84055 1721123432326 +SLAM 7.23358 36.3529 -0.436638 0.498952 0.554457 0.0971619 0.658926 +TTool-pose None -38.1133 -14.478 10.6778 -0.246113 -0.0322504 -0.774916 0.581279 +#84056 1721123432361 +SLAM 7.22926 36.3805 -0.437503 0.498808 0.552856 0.0993848 0.660048 +TTool-pose None -38.1791 -14.3742 10.6798 -0.245421 -0.029835 -0.776048 0.580189 +#84057 1721123432392 +SLAM 7.01674 36.3271 -0.592902 0.497737 0.555285 0.0970662 0.659162 +TTool-pose None -38.0922 -14.36 10.766 -0.245242 -0.0322128 -0.774378 0.582365 +#84058 1721123432426 +SLAM 6.89625 36.3598 -0.61422 0.497482 0.555015 0.0985812 0.659357 +TTool-pose None -38.1225 -14.2589 10.8115 -0.244233 -0.031384 -0.7751 0.581872 +#84059 1721123432462 +SLAM 6.74276 36.3684 -0.684799 0.498442 0.556892 0.0957463 0.657465 +TTool-pose None -38.0753 -14.23 10.9707 -0.245498 -0.0349318 -0.773969 0.582644 +#84060 1721123432492 +SLAM 6.78082 36.4626 -0.582159 0.499601 0.554834 0.0978049 0.658021 +TTool-pose None -38.1561 -14.1626 11.0354 -0.245679 -0.0331019 -0.775542 0.580578 +#84061 1721123432528 +SLAM 6.36443 36.5562 -0.419703 0.495028 0.55275 0.112375 0.660898 +TTool-pose None -38.2894 -13.8418 10.7306 -0.234823 -0.0240661 -0.781572 0.577422 +#84062 1721123432562 +SLAM 6.32844 36.5939 -0.458192 0.498612 0.555351 0.104926 0.657238 +TTool-pose None -38.2129 -13.9205 11.042 -0.239953 -0.0314744 -0.779044 0.578371 +#84063 1721123432596 +SLAM 6.34332 36.6738 -0.377887 0.49849 0.552101 0.109786 0.659272 +TTool-pose None -38.3311 -13.7715 11.0304 -0.238346 -0.0266853 -0.781583 0.575846 +#84064 1721123432627 +SLAM 6.6829 36.6964 -0.408752 0.502977 0.550263 0.102261 0.658611 +TTool-pose None -38.3362 -13.8508 11.3468 -0.246444 -0.0297682 -0.779284 0.575401 +#84065 1721123432662 +SLAM 6.60704 36.6424 -0.550046 0.502797 0.551375 0.0993333 0.658266 +TTool-pose None -38.2763 -13.8389 11.4539 -0.247806 -0.0314773 -0.777627 0.576964 +#84066 1721123432694 +SLAM 6.42221 36.7957 -0.266512 0.501973 0.549078 0.109973 0.659122 +TTool-pose None -38.4252 -13.6312 11.2638 -0.241272 -0.0260808 -0.783053 0.572648 +#84067 1721123432727 +SLAM 6.5364 36.7399 -0.376329 0.501841 0.547423 0.108903 0.660775 +TTool-pose None -38.4362 -13.5866 11.3067 -0.24295 -0.0242679 -0.782383 0.572935 +#84068 1721123432758 +SLAM 6.89939 36.6557 -0.539243 0.504931 0.546312 0.10013 0.660729 +TTool-pose None -38.3956 -13.6878 11.5453 -0.250981 -0.0272848 -0.778831 0.574175 +#84069 1721123432791 +SLAM 7.15823 36.715 -0.378197 0.507804 0.54253 0.102144 0.661335 +TTool-pose None -38.5179 -13.5812 11.5473 -0.252808 -0.0249744 -0.781017 0.570498 +#84070 1721123432825 +SLAM 6.87429 36.5152 -0.698716 0.500244 0.542999 0.108189 0.665735 +TTool-pose None -38.4861 -13.4198 11.2214 -0.245425 -0.0180055 -0.781229 0.573685 +#84071 1721123432857 +SLAM 7.21562 36.5717 -0.545023 0.504114 0.539317 0.108396 0.665775 +TTool-pose None -38.6108 -13.3433 11.253 -0.248846 -0.0170041 -0.782835 0.57004 +#84072 1721123432892 +SLAM 7.76256 36.568 -0.479964 0.512433 0.538218 0.096948 0.662069 +TTool-pose None -38.6045 -13.4786 11.5874 -0.260688 -0.0250014 -0.779935 0.568427 +#84073 1721123432926 +SLAM 8.17685 36.623 -0.286353 0.515944 0.532592 0.0993567 0.663533 +TTool-pose None -38.776 -13.3544 11.5759 -0.263508 -0.0211116 -0.782516 0.563717 +#84074 1721123432960 +SLAM 8.24106 36.4934 -0.497196 0.515315 0.533298 0.096045 0.663942 +TTool-pose None -38.7317 -13.3566 11.5681 -0.265216 -0.0220423 -0.780463 0.565724 +#84075 1721123432991 +SLAM 8.12574 36.4057 -0.639445 0.508431 0.529597 0.107283 0.670459 +TTool-pose None -38.8563 -13.0884 11.1809 -0.256815 -0.00984517 -0.783694 0.565476 +#84076 1721123433026 +SLAM 8.50245 36.5883 -0.246546 0.51804 0.527053 0.104372 0.66555 +TTool-pose None -38.9974 -13.0186 11.4046 -0.263885 -0.0156571 -0.78593 0.558949 +#84077 1721123433061 +SLAM 8.50072 36.4494 -0.486238 0.51453 0.527299 0.103485 0.668211 +TTool-pose None -38.94 -13.0597 11.3241 -0.263084 -0.0131313 -0.784031 0.56205 +#84078 1721123433093 +SLAM 9.06516 36.5931 -0.186805 0.522834 0.522021 0.0999975 0.666438 +TTool-pose None -39.1106 -13.0291 11.5917 -0.271605 -0.01496 -0.785286 0.556168 +#84079 1721123433126 +SLAM 9.11593 36.5477 -0.298754 0.52222 0.521871 0.0984321 0.667269 +TTool-pose None -39.1026 -13.0487 11.6138 -0.272575 -0.0145807 -0.784173 0.557273 +#84080 1721123433164 +SLAM 9.33444 36.6573 -0.0795803 0.525712 0.518255 0.100699 0.667007 +TTool-pose None -39.2466 -12.9291 11.661 -0.274291 -0.0130781 -0.786682 0.552916 +#84081 1721123433197 +SLAM 9.49662 36.638 -0.108943 0.525134 0.515716 0.101227 0.669346 +TTool-pose None -39.2927 -12.923 11.6641 -0.27514 -0.00965355 -0.786637 0.552628 +#84082 1721123433240 +SLAM 9.37221 36.5607 -0.347507 0.523935 0.518215 0.0976651 0.668884 +TTool-pose None -39.2186 -12.9461 11.7235 -0.275814 -0.0121207 -0.7843 0.555558 +#84083 1721123433276 +SLAM 9.44361 36.5819 -0.351226 0.523479 0.516555 0.0989537 0.670335 +TTool-pose None -39.2751 -12.9198 11.7197 -0.275672 -0.00962658 -0.784757 0.555031 +#84084 1721123433309 +SLAM 9.61431 36.6139 -0.322527 0.525234 0.514213 0.0988182 0.670783 +TTool-pose None -39.3598 -12.8508 11.7866 -0.277729 -0.00855259 -0.785291 0.553265 +#84085 1721123433346 +SLAM 9.77927 36.6265 -0.298534 0.525735 0.511586 0.0997724 0.672256 +TTool-pose None -39.4351 -12.8025 11.7977 -0.278713 -0.00588358 -0.785902 0.551935 +#84086 1721123433378 +SLAM 9.86076 36.6111 -0.331215 0.526451 0.510301 0.0993034 0.672742 +TTool-pose None -39.4646 -12.741 11.8428 -0.280027 -0.00516998 -0.785874 0.551317 +#84087 1721123433410 +SLAM 9.91666 36.629 -0.314522 0.527329 0.509313 0.0995077 0.672772 +TTool-pose None -39.5051 -12.6888 11.8724 -0.280756 -0.0047899 -0.786295 0.550349 +#84088 1721123433440 +SLAM 9.99799 36.5788 -0.417227 0.525953 0.507548 0.100273 0.675065 +TTool-pose None -39.5387 -12.6399 11.8452 -0.280698 -0.00152361 -0.786079 0.550706 +#84089 1721123433473 +SLAM 10.1871 36.6365 -0.234995 0.529496 0.504993 0.100665 0.674153 +TTool-pose None -39.6152 -12.5537 11.9164 -0.28314 -0.00166346 -0.787597 0.547275 +#84090 1721123433512 +SLAM 10.2108 36.6201 -0.222809 0.5301 0.504515 0.100733 0.674026 +TTool-pose None -39.6171 -12.5081 11.9208 -0.283578 -0.00164257 -0.787854 0.546678 +#84091 1721123433547 +SLAM 10.3081 36.6004 -0.19426 0.531235 0.502864 0.100949 0.674335 +TTool-pose None -39.6421 -12.4303 11.9429 -0.284758 -0.000763384 -0.788346 0.545356 +#84092 1721123433577 +SLAM 10.4837 36.614 -0.0960554 0.533245 0.499891 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0.108135 0.640271 +TTool-pose None -40.0134 -10.8339 13.6561 -0.28671 -0.0366339 -0.805108 0.517926 +#84122 1721123434561 +SLAM 8.39675 38.3371 1.66693 0.567689 0.507487 0.11191 0.638485 +TTool-pose None -40.1626 -10.689 13.751 -0.287068 -0.0362222 -0.808524 0.512405 +#84123 1721123434595 +SLAM 7.97576 38.3305 1.39211 0.563007 0.513951 0.108776 0.638001 +TTool-pose None -40.0247 -10.9255 13.771 -0.284041 -0.039789 -0.805308 0.51885 +#84124 1721123434627 +SLAM 7.98013 38.608 1.98421 0.568476 0.512073 0.113375 0.633848 +TTool-pose None -40.1539 -10.8423 13.8702 -0.283651 -0.0418722 -0.809746 0.511948 +#84125 1721123434660 +SLAM 7.74359 38.6945 2.04248 0.568886 0.514656 0.112904 0.631467 +TTool-pose None -40.1234 -10.8586 13.9591 -0.282636 -0.0452778 -0.809713 0.512271 +#84126 1721123434698 +SLAM 7.41982 38.7365 1.96851 0.566767 0.518711 0.111493 0.630304 +TTool-pose None -40.0319 -10.9858 14.0265 -0.280602 -0.0481925 -0.808284 0.51537 +#84127 1721123434729 +SLAM 7.07887 38.9426 2.36599 0.565459 0.517245 0.122937 0.630555 +TTool-pose None -40.1436 -10.8455 13.8857 -0.272787 -0.0432936 -0.813917 0.511118 +#84128 1721123434764 +SLAM 7.15748 39.023 2.47896 0.571228 0.520985 0.113023 0.624098 +TTool-pose None -40.061 -11.0069 14.2233 -0.279647 -0.0547055 -0.81077 0.511319 +#84129 1721123434798 +SLAM 6.87719 39.2062 2.80317 0.570659 0.519663 0.122151 0.624001 +TTool-pose None -40.1716 -10.8638 14.1385 -0.273659 -0.0510621 -0.815432 0.507507 +#84130 1721123434834 +SLAM 6.85621 39.3243 3.03056 0.57784 0.524577 0.11335 0.614875 +TTool-pose None -40.1137 -10.9331 14.4417 -0.279436 -0.0650882 -0.813349 0.506095 +#84131 1721123434869 +SLAM 6.51376 39.3815 2.99933 0.574658 0.526028 0.117808 0.615779 +TTool-pose None -40.1276 -10.8897 14.3649 -0.274357 -0.0629639 -0.814642 0.507061 +#84132 1721123434909 +SLAM 6.27355 39.383 2.82767 0.573526 0.528489 0.116783 0.614922 +TTool-pose None -40.1053 -10.8228 14.4094 -0.273282 -0.0649357 -0.813725 0.508862 +#84133 1721123434942 +SLAM 6.43391 39.744 3.75121 0.586049 0.527617 0.117149 0.603691 +TTool-pose None -40.282 -10.6747 14.6718 -0.277477 -0.0759381 -0.818248 0.497694 +#84134 1721123434979 +SLAM 6.08212 39.6458 3.20039 0.581561 0.532248 0.11251 0.604847 +TTool-pose None -40.1702 -10.6782 14.745 -0.276668 -0.077833 -0.81426 0.504349 +#84135 1721123435014 +SLAM 5.71502 39.7691 3.28408 0.579345 0.5336 0.11762 0.60481 +TTool-pose None -40.2156 -10.6319 14.7133 -0.271486 -0.0764008 -0.816241 0.504181 +#84136 1721123435049 +SLAM 5.58112 39.862 3.31174 0.583465 0.538208 0.110172 0.598133 +TTool-pose None -40.1755 -10.631 14.9846 -0.275365 -0.087193 -0.813662 0.504494 +#84137 1721123435083 +SLAM 5.14118 39.9013 3.12258 0.579798 0.541267 0.111652 0.598664 +TTool-pose None -40.1525 -10.595 15.0104 -0.271324 -0.0870069 -0.813205 0.507444 +#84138 1721123435116 +SLAM 4.66823 40.1332 3.5829 0.580649 0.540176 0.124457 0.596295 +TTool-pose None -40.3391 -10.2404 14.8825 -0.262991 -0.0843854 -0.820323 0.500773 +#84139 1721123435148 +SLAM 4.1945 40.0587 2.94033 0.567457 0.539059 0.132298 0.608198 +TTool-pose None -40.328 -10.2961 14.7432 -0.253812 -0.0690708 -0.819903 0.508485 +#84140 1721123435182 +SLAM 4.02661 40.1071 2.83012 0.572973 0.544789 0.122131 0.599992 +TTool-pose None -40.2898 -10.1511 15.0558 -0.259502 -0.0828271 -0.816447 0.509119 +#84141 1721123435215 +SLAM 4.6507 40.7713 4.86158 0.595608 0.533498 0.133646 0.585465 +TTool-pose None -40.7509 -9.66541 15.3487 -0.264846 -0.0898219 -0.830148 0.48232 +#84142 1721123435247 +#84143 1721123435280 +SLAM 3.30504 40.4091 2.99064 0.578899 0.552026 0.118093 0.588385 +TTool-pose None -40.3693 -9.77143 15.4849 -0.259849 -0.0980508 -0.816249 0.506548 +#84144 1721123435317 +SLAM 2.91776 40.5056 2.97864 0.572926 0.549531 0.128861 0.594278 +TTool-pose None -40.4525 -9.70261 15.406 -0.251717 -0.0874348 -0.819956 0.506611 +#84145 1721123435351 +SLAM 2.85675 40.5475 2.91698 0.575208 0.551378 0.123619 0.59147 +TTool-pose None -40.4245 -9.65367 15.6318 -0.255107 -0.0927324 -0.817945 0.507224 +#84146 1721123435384 +SLAM 2.56784 40.5625 2.63624 0.575709 0.562427 0.106066 0.583939 +TTool-pose None -40.1916 -10.0418 16.0541 -0.261123 -0.10976 -0.80855 0.515756 +#84147 1721123435417 +SLAM 1.67817 40.7395 3.0502 0.56122 0.551958 0.146068 0.599198 +TTool-pose None -40.5057 -9.70464 15.3696 -0.233943 -0.0765764 -0.82486 0.508923 +#84148 1721123435451 +SLAM 1.97277 40.4526 2.01369 0.569436 0.568435 0.100578 0.585242 +TTool-pose None -40.0447 -10.0544 16.237 -0.259392 -0.112038 -0.803329 0.524229 +#84149 1721123435488 +SLAM 1.65773 40.6505 2.50044 0.566422 0.561319 0.121994 0.590935 +TTool-pose None -40.2772 -9.77283 15.9671 -0.247446 -0.096595 -0.813931 0.516668 +#84150 1721123435522 +SLAM 1.70164 40.6503 2.42577 0.570492 0.562539 0.11593 0.587067 +TTool-pose None -40.2686 -9.59523 16.1529 -0.252347 -0.103062 -0.812074 0.51597 +#84151 1721123435557 +SLAM 1.37711 40.757 2.56397 0.571152 0.568554 0.11111 0.581538 +TTool-pose None -40.1919 -9.76963 16.3348 -0.252283 -0.111994 -0.809575 0.518062 +#84152 1721123435591 +SLAM 1.11545 40.6773 2.17199 0.565888 0.570443 0.11 0.585035 +TTool-pose None -40.1248 -9.84638 16.3757 -0.250281 -0.10938 -0.807148 0.523353 +#84153 1721123435624 +SLAM 1.11224 40.7333 2.25037 0.566644 0.568717 0.112094 0.585585 +TTool-pose None -40.1679 -9.7599 16.4242 -0.250084 -0.107608 -0.808572 0.521613 +#84154 1721123435656 +SLAM 0.270852 40.5777 1.81436 0.549166 0.565522 0.135243 0.600259 +TTool-pose None -40.236 -9.67956 15.8946 -0.229698 -0.083207 -0.81478 0.525775 +#84155 1721123435690 +SLAM 0.599929 40.575 1.6566 0.557115 0.571514 0.113727 0.591659 +TTool-pose None -40.0764 -9.8323 16.3786 -0.244173 -0.101584 -0.806088 0.529408 +#84156 1721123435724 +SLAM 0.468991 40.4472 1.23305 0.55199 0.572074 0.113069 0.596032 +TTool-pose None -40.0253 -9.88235 16.3597 -0.242659 -0.0975016 -0.803918 0.534149 +#84157 1721123435757 +SLAM 0.476432 40.5325 1.44085 0.554389 0.570701 0.116721 0.594415 +TTool-pose None -40.1268 -9.71856 16.3067 -0.241647 -0.0974635 -0.806749 0.530334 +#84158 1721123435791 +SLAM 0.625015 40.2501 0.542754 0.550446 0.577896 0.0941406 0.595133 +TTool-pose None -39.8048 -10.2077 16.6677 -0.252086 -0.106724 -0.792994 0.544255 +#84159 1721123435825 +SLAM 0.501887 40.4285 1.02141 0.553872 0.579746 0.0969908 0.589672 +TTool-pose None -39.8709 -10.2037 16.6304 -0.249998 -0.111749 -0.795705 0.540237 +#84160 1721123435861 +#84161 1721123435892 +#84162 1721123435924 +SLAM 0.890167 40.4624 1.23646 0.560344 0.577294 0.0984164 0.585713 +TTool-pose None -40.0557 -9.91701 16.4236 -0.252564 -0.114643 -0.798802 0.53383 +#84163 1721123435958 +SLAM 0.84425 40.2653 0.739021 0.553065 0.577631 0.0983277 0.592278 +TTool-pose None -39.978 -10.1032 16.2872 -0.250112 -0.108084 -0.796209 0.540188 +#84164 1721123435992 +SLAM 1.12148 40.2752 0.818172 0.552916 0.573647 0.102068 0.595647 +TTool-pose None -40.0369 -10.1376 16.1807 -0.249876 -0.102294 -0.798284 0.538359 +#84165 1721123436025 +SLAM 0.853016 40.3369 1.14976 0.548949 0.571761 0.11809 0.598163 +TTool-pose None -40.1879 -10.059 15.7141 -0.238245 -0.093386 -0.805525 0.53445 +#84166 1721123436057 +#84167 1721123436089 +#84168 1721123436121 +#84169 1721123436154 +SLAM 2.76687 40.2095 1.28883 0.557939 0.559949 0.112292 0.602122 +TTool-pose None -40.3861 -10.2791 15.3351 -0.252604 -0.0884147 -0.805813 0.528232 +#84170 1721123436187 +SLAM 2.72175 39.9615 0.677203 0.550463 0.565595 0.103678 0.605263 +TTool-pose None -40.1841 -10.7452 15.2546 -0.252898 -0.0897888 -0.798426 0.538969 +#84171 1721123436219 +SLAM 2.61519 40.0406 0.990335 0.548571 0.562566 0.117017 0.607368 +TTool-pose None -40.3478 -10.5959 14.8779 -0.244549 -0.0819622 -0.804958 0.534332 +#84172 1721123436253 +SLAM 2.8217 40.0899 1.09205 0.549067 0.564479 0.111276 0.606223 +TTool-pose None -40.2674 -10.9958 14.9691 -0.247676 -0.0857485 -0.802037 0.536684 +#84173 1721123436286 +SLAM 2.8645 39.9521 0.72753 0.541112 0.561419 0.116903 0.615094 +TTool-pose None -40.2892 -11.0975 14.7179 -0.242847 -0.0736905 -0.802175 0.540464 +#84174 1721123436321 +SLAM 2.87129 40.0646 1.01094 0.535551 0.557577 0.129508 0.620903 +TTool-pose None -40.4068 -11.2953 14.3655 -0.234167 -0.0619129 -0.806825 0.538848 +#84175 1721123436354 +SLAM 3.4541 39.9722 0.719129 0.538519 0.557054 0.118046 0.62109 +TTool-pose None -40.3841 -11.4709 14.5232 -0.243783 -0.0658899 -0.801836 0.541551 +#84176 1721123436388 +SLAM 3.38756 39.9076 0.548372 0.520804 0.545604 0.146334 0.640051 +TTool-pose None -40.6632 -11.4159 13.6665 -0.22388 -0.0320846 -0.80993 0.541158 +#84177 1721123436421 +#84178 1721123436452 +#84179 1721123436490 +#84180 1721123436526 +#84181 1721123436558 +SLAM 5.68333 39.7082 0.134461 0.524633 0.53571 0.132756 0.64819 +TTool-pose None -41.0509 -11.9807 13.1755 -0.240919 -0.0260888 -0.8041 0.542854 +#84182 1721123436593 +SLAM 6.28262 39.593 -0.133337 0.531059 0.53242 0.124523 0.647302 +TTool-pose None -41.171 -11.7275 13.3478 -0.251065 -0.0293115 -0.802155 0.540967 +#84183 1721123436625 +#84184 1721123436657 +#84185 1721123436692 +SLAM 8.30369 39.808 0.185305 0.546368 0.514985 0.119306 0.649645 +TTool-pose None -41.8609 -11.5056 13.5178 -0.270218 -0.0239804 -0.804766 0.527967 +#84186 1721123436726 +SLAM 8.33337 39.6284 -0.381848 0.542464 0.515363 0.117686 0.652905 +TTool-pose None -41.9194 -11.3771 13.395 -0.269802 -0.0212238 -0.802405 0.531876 +#84187 1721123436760 +#84188 1721123436793 +SLAM 9.35351 40.1684 0.670057 0.55617 0.502077 0.12567 0.650231 +TTool-pose None -42.5332 -11.0679 13.5222 -0.276348 -0.0172304 -0.811425 0.514698 +#84189 1721123436828 +SLAM 9.41228 40.2858 0.82611 0.555034 0.495024 0.137359 0.654234 +TTool-pose None -42.7953 -10.6342 13.3479 -0.271458 -0.00647902 -0.816902 0.508852 +#84190 1721123436863 +#84191 1721123436894 +#84192 1721123436926 +#84193 1721123436957 +#84194 1721123436985 +#84195 1721123437013 +#84196 1721123437042 +#84197 1721123437075 +#84198 1721123437111 +#84199 1721123437143 +#84200 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0.00578897 -0.814419 0.496341 +#84230 1721123438167 +SLAM 11.7868 39.4479 1.39854 0.562929 0.469761 0.13491 0.66651 +TTool-pose None -42.7445 -10.5536 13.0763 -0.289911 0.0134354 -0.817228 0.497895 +#84231 1721123438198 +SLAM 11.9738 39.2829 0.97248 0.563335 0.47409 0.121453 0.665688 +TTool-pose None -42.5787 -10.9408 13.33 -0.297397 0.00614208 -0.810456 0.504647 +#84232 1721123438231 +#84233 1721123438266 +SLAM 11.8915 39.4264 1.26566 0.566214 0.472483 0.124606 0.663803 +TTool-pose None -42.6256 -10.7859 13.431 -0.297002 0.00583475 -0.813146 0.500539 +#84234 1721123438302 +#84235 1721123438329 +#84236 1721123438360 +#84237 1721123438400 +#84238 1721123438427 +#84239 1721123438462 +#84240 1721123438497 +#84241 1721123438532 +#84242 1721123438561 +#84243 1721123438598 +#84244 1721123438635 +#84245 1721123438666 +#84246 1721123438700 +#84247 1721123438730 +#84248 1721123438765 +#84249 1721123438798 +#84250 1721123438832 +#84251 1721123438862 +#84252 1721123438895 +#84253 1721123438927 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vertex_indices +end_header +-39.143099999999997 2.3207599999999999 5.9004399999999997 +-39.5548 -4.2785399999999996 13.2234 +43.150199999999998 -5.8878599999999999 16.9313 +43.522399999999998 0.71989599999999998 9.5981000000000005 +43.522399999999998 0.71989800000000004 9.5981000000000005 +43.516199999999998 5.8386699999999996 14.17 +-39.042000000000002 7.46401 10.5009 +-39.143099999999997 2.3207599999999999 5.9004300000000001 +-39.5548 -4.2785500000000001 13.2234 +-39.457099999999997 0.85822799999999999 17.966000000000001 +43.139699999999998 -0.77509300000000003 21.645 +43.139699999999998 -0.77508999999999995 21.645 +-39.457099999999997 0.85823099999999997 17.966000000000001 +-39.042000000000002 7.4640000000000004 10.5009 +-39.554900000000004 -4.2785399999999996 13.2234 +-39.042099999999998 7.4640000000000004 10.5009 +-39.457099999999997 0.85823000000000005 17.966000000000001 +43.522399999999998 0.71989899999999996 9.5981000000000005 +43.139699999999998 -0.775092 21.645 +43.516100000000002 5.8386699999999996 14.17 +-39.143099999999997 2.3207599999999999 5.9004399999999997 +43.150199999999998 -5.8878599999999999 16.9313 +43.150199999999998 -5.8878599999999999 16.9313 +43.516199999999998 5.8386699999999996 14.17 +3 2 3 0 +3 7 4 5 +3 10 21 8 +3 13 23 11 +3 16 14 20 +3 18 19 17 +3 0 1 2 +3 5 6 7 +3 8 9 10 +3 11 12 13 +3 20 15 16 +3 17 22 18 +3 1 0 3 +3 3 2 1 +3 6 5 4 +3 4 7 6 +3 9 8 21 +3 21 10 9 +3 12 11 23 +3 23 13 12 +3 15 20 14 +3 14 16 15 +3 22 17 19 +3 19 18 22 diff --git a/default_config.ini b/default_config.ini index a33bb8da1..57033f844 100644 --- a/default_config.ini +++ b/default_config.ini @@ -1,28 +1,24 @@ [AIAC] -ACInfoModel = /home/localuser/augmented-carpentry/AC_acims/U10U11.acim -AlignFlip = 1 -AlignOffset = 20.4685 -AlignRotation = 2 +ACInfoModel = assets/ACModel/test.acim +AlignFlip = 0 +AlignOffset = 0 +AlignRotation = 0 CamFlipHorizontal = 0 CamFlipVertical = 0 CamID = 0 -CamParamsFile = assets/tslam/calibration_orange_A_1280_720_r.yml +CamParamsFile = assets/tslam/calibration_orange_A_1280_720_000B.yml +SaveDirMaps = 5 ScaleFactor = 50 -ScannedModel = scanned_map/map-2024-06-23-11-46-10.ply - -[Renderer] -DigitalModelPath = assets/tslam/example3dModel.ply -MeshPaths = -PointCloudMapPath = assets/tslam/examplePointCloud.ply +ScannedModel = ./scanned_map/map-2024-08-19-15-43-17.ply [TSlam] -MapFile = /home/localuser/augmented-carpentry/scanned_map/map-2024-06-25-21-26-57.map +MapFile = scanned_map/map-2024-08-19-15-43-17.map ReconstructConfigDefaultFile = assets/tslam/reconstruct_default.ini SaveDirMaps = scanned_map/ VocFile = assets/tslam/orb.fbow [TTool] -CachedToolhead = circular_saw_blade_mafel_237 +CachedToolhead = auger_drill_bit_20_235 ConfigFile = deps/TTool/assets/config.yml DatasetDir = deps/TTool/assets/toolheads TToolRootPath = deps/TTool @@ -33,5 +29,4 @@ Name = WaveShare WS170120 Resolution = 1024x600 [Utils] -UtilsPath = ./temp - +UtilsPath = ./temp \ No newline at end of file diff --git a/deps/eventpp b/deps/eventpp deleted file mode 160000 index e6518f9c5..000000000 --- a/deps/eventpp +++ /dev/null @@ -1 +0,0 @@ -Subproject commit e6518f9c5668878c10ac115a0875c2943ac7837c diff --git a/deps/pugixml b/deps/pugixml deleted file mode 160000 index 7c66cf7b0..000000000 --- a/deps/pugixml +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 7c66cf7b06c322edfa3811021f915da0041fec0a diff --git a/deps/spdlog b/deps/spdlog deleted file mode 160000 index b75edfafc..000000000 --- a/deps/spdlog +++ /dev/null @@ -1 +0,0 @@ -Subproject commit b75edfafca581e33be29ab51b9546b2e955c2853 diff --git a/imgui.ini b/imgui.ini index 090f7ab40..9fed76663 100644 --- a/imgui.ini +++ b/imgui.ini @@ -159,8 +159,8 @@ Size=487,458 Collapsed=0 [Window][Open SLAM map##ChooseSLAMmap] -Pos=73,95 -Size=663,473 +Pos=91,67 +Size=664,473 Collapsed=0 [Window][Open 3dModel##Choose3dModel] @@ -219,7 +219,7 @@ Size=497,381 Collapsed=0 [Window][Select map path##SelectFileDialog] -Pos=55,61 +Pos=77,70 Size=819,450 Collapsed=0 @@ -229,12 +229,12 @@ Size=640,360 Collapsed=0 [Window][Open ACIM file##SelectFileDialog] -Pos=51,44 -Size=640,363 +Pos=168,113 +Size=640,371 Collapsed=0 [Window][Select export .ply path##SelectFileDialog] -Pos=60,60 +Pos=59,90 Size=819,450 Collapsed=0 @@ -264,17 +264,17 @@ Size=640,360 Collapsed=0 [Window][Open Scanned Model##SelectFileDialog] -Pos=160,84 -Size=636,447 +Pos=179,87 +Size=599,447 Collapsed=0 [Window][Camera Calibration] Pos=0,0 -Size=800,416 +Size=1024,600 Collapsed=0 [Window][Log Recorder] -Pos=4,64 +Pos=1,62 Size=166,117 Collapsed=0 @@ -1094,167 +1094,303 @@ Column 0 Sort=0v RefScale=14 Column 0 Sort=0v -[Table][0x042EB2C3,4] +[Table][0x90C947AF,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0x2B34A1C7,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0x946C0679,4] RefScale=14 Column 0 Sort=0v -[Table][0xD7BC529B,4] +[Table][0x69558759,4] RefScale=14 Column 0 Sort=0v -[Table][0xBB76157D,4] +[Table][0xA466AADB,4] RefScale=14 -Column 0 Sort=0^ +Column 0 Sort=0v -[Table][0xA6216D11,4] +[Table][0x2E8DED5C,4] +RefScale=14 +Column 0 Sort=0v + +[Table][0x0A40FC3F,4] +RefScale=14 +Column 0 Sort=0v + +[Table][0xD8769EF4,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0x5749E614,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0x96F2C145,4] RefScale=14 Column 3 Sort=0^ -[Table][0x75B38D49,4] +[Table][0x461B6D0C,4] RefScale=14 Column 3 Sort=0^ -[Table][0x7B620053,4] +[Table][0x3B9E845D,4] RefScale=14 Column 0 Sort=0v -[Table][0x06941E46,4] +[Table][0x8C64DB2C,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0x971B4E3E,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0x47F2E277,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0x3A770B26,4] RefScale=14 Column 0 Sort=0v -[Table][0xBA5DE1D3,4] +[Table][0x3A6A2E89,4] RefScale=14 Column 0 Sort=0v -[Table][0x66B36CAD,4] +[Table][0x671A5AC5,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0x8D491F5D,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0x62B814F1,4] RefScale=14 Column 0 Sort=0v -[Table][0x7533F4A5,4] +[Table][0x838E2887,4] RefScale=14 Column 0 Sort=0v -[Table][0xB8464C85,4] +[Table][0x02CF0829,4] RefScale=14 Column 0 Sort=0v -[Table][0xD3EFD3F9,4] +[Table][0xEB45418F,4] RefScale=14 Column 3 Sort=0^ -[Table][0xAC093686,4] +[Table][0x09601425,4] RefScale=14 Column 0 Sort=0v -[Table][0x9CC920F8,4] +[Table][0x09DA27CD,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0xC2CF398D,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0xD0E6FE84,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0x000F52CD,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0x7D8ABB9C,4] RefScale=14 Column 0 Sort=0v -[Table][0x285C68C7,4] +[Table][0x7D979E33,4] RefScale=14 Column 0 Sort=0v -[Table][0x0B49F6A8,4] +[Table][0x16C30DB1,4] RefScale=14 -Column 0 Sort=0^ +Column 3 Sort=0^ -[Table][0xD8DB16F0,4] +[Table][0xC62AA1F8,4] RefScale=14 -Column 1 Sort=0v +Column 3 Sort=0^ -[Table][0x54382F2D,4] +[Table][0xBBAF48A9,4] RefScale=14 Column 0 Sort=0v -[Table][0x87AACF75,4] +[Table][0x04EACAB8,4] RefScale=14 -Column 0 Sort=0v +Column 3 Sort=0^ + +[Table][0x0B632263,4] +RefScale=14 +Column 3 Sort=0^ -[Table][0xA4941DE8,4] +[Table][0xDB8A8E2A,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0xA60F677B,4] RefScale=14 Column 0 Sort=0v -[Table][0xB6BDDAE1,4] +[Table][0x802E41FA,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0x3D87E3EB,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0x90F6835C,4] RefScale=14 Column 3 Sort=0^ -[Table][0x09E57D5F,4] +[Table][0x401F2F15,4] RefScale=14 Column 0 Sort=0^ -[Table][0xFD9AE406,4] +[Table][0x3D9AC644,4] RefScale=14 Column 0 Sort=0v -[Table][0x42C243B8,4] +[Table][0xEADE6A29,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0x3A37C660,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0x47B22F31,4] RefScale=14 Column 0 Sort=0v -[Table][0x412491F9,4] +[Table][0x5B2FAE07,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0x2F2D2867,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0xFFC4842E,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0x82416D7F,4] RefScale=14 Column 0 Sort=0v -[Table][0x92B671A1,4] +[Table][0x825C48D0,4] RefScale=14 Column 0 Sort=0v -[Table][0xFE7C3647,4] +[Table][0xE56FAFD9,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0x1A4D9B61,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0xCAA43728,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0xB721DE79,4] RefScale=14 Column 0 Sort=0v -[Table][0xEEDA28A9,4] +[Table][0xB73CFBD6,4] RefScale=14 Column 0 Sort=0v -[Table][0x606268A3,4] +[Table][0x90D9A63C,4] RefScale=14 Column 0 Sort=0v -[Table][0x86006FFA,4] +[Table][0x122F6C38,4] RefScale=14 Column 3 Sort=0^ -[Table][0x56E9C3B3,4] +[Table][0xC2C6C071,4] RefScale=14 Column 3 Sort=0^ -[Table][0x2B6C2AE2,4] +[Table][0xBF432920,4] RefScale=14 Column 0 Sort=0v -[Table][0x2B710F4D,4] +[Table][0xBF5E0C8F,4] RefScale=14 Column 0 Sort=0v -[Table][0x585489F8,4] +[Table][0x7502E371,4] RefScale=14 -Column 0 Sort=0v +Column 3 Sort=0^ -[Table][0x25D5EF80,4] +[Table][0xA6900329,4] RefScale=14 Column 0 Sort=0v -[Table][0x2FDA4F58,4] +[Table][0x672B2478,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0xB7C28831,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0xCA476160,4] RefScale=14 Column 0 Sort=0v -[Table][0xCA819BD4,4] +[Table][0xC337A143,4] RefScale=14 Column 3 Sort=0^ -[Table][0x1A68379D,4] +[Table][0x13DE0D0A,4] +RefScale=14 +Column 0 Sort=0v + +[Table][0x6E5BE45B,4] +RefScale=14 +Column 0 Sort=0v + +[Table][0x6E46C1F4,4] +RefScale=14 +Column 0 Sort=0v + +[Table][0xD4C2AE33,4] RefScale=14 Column 3 Sort=0^ -[Table][0x67EDDECC,4] +[Table][0x0ECFB723,4] RefScale=14 Column 0 Sort=0v -[Table][0x67F0FB63,4] +[Table][0x799FB5F5,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0xA6FF6082,4] RefScale=14 Column 0 Sort=0v -[Table][0xA1EC99DE,4] +[Table][0x184CA06F,4] +RefScale=14 +Column 3 Sort=0^ + +[Table][0xA71407D1,4] RefScale=14 Column 0 Sort=0v diff --git a/py/components/replayer_image_cleaner/code.py b/py/components/replayer_image_cleaner/code.py new file mode 100644 index 000000000..808b374fc --- /dev/null +++ b/py/components/replayer_image_cleaner/code.py @@ -0,0 +1,25 @@ +"""Grasshopper Script Instance""" +import subprocess +import os +from glob import glob + +import Rhino + +from ACPy.replayer.capture_img import capture_img + +class ACPyReplayerCaptureImg(component): + def __init__(self): + super(ACPyReplayerCaptureImg, self).__init__() + + def RunScript(self, + i_path, + i_run): + + if i_run: + glob_pattern = os.path.join(i_path, "frame_*.png") + img_files = glob(glob_pattern) + for f in img_files: + os.remove(f) + +# if __name__ == "__main__": +# ACPyReplayerCaptureImg.RunScript(frame_idx, frame_count, frame_rate, output_path) \ No newline at end of file diff --git a/py/components/replayer_image_cleaner/icon.png b/py/components/replayer_image_cleaner/icon.png new file mode 100644 index 000000000..517535104 Binary files /dev/null and b/py/components/replayer_image_cleaner/icon.png differ diff --git a/py/components/replayer_image_cleaner/metadata.json b/py/components/replayer_image_cleaner/metadata.json new file mode 100644 index 000000000..4251ef833 --- /dev/null +++ b/py/components/replayer_image_cleaner/metadata.json @@ -0,0 +1,45 @@ +{ + "name": "Image Cleaner", + "nickname": "acpy-replayer-image-cleaner", + "category": "acpy", + "subcategory": "replayer", + "description": "Delete the exported frame in the folder.", + "exposure": 4, + "instanceGuid": "299cb466-7c95-4cf1-bf06-b644ec02de49", + "ghpython": { + "marshalGuids": true, + "iconDisplay": 2, + "inputParameters": [ + { + "name": "i_path", + "nickname": "i_path", + "description": "The folder to clean.", + "optional": false, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "str", + "reverse": false, + "simplify": false + }, + { + "name": "i_run", + "nickname": "i_run", + "description": "Set to True to clean the exported frames.", + "optional": true, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "bool", + "reverse": false, + "simplify": false + } + ], + "outputParameters": [ + ] + } +} \ No newline at end of file diff --git a/py/components/replayer_initializer/code.py b/py/components/replayer_initializer/code.py new file mode 100644 index 000000000..e45a3be46 --- /dev/null +++ b/py/components/replayer_initializer/code.py @@ -0,0 +1,27 @@ +"""Grasshopper Script Instance""" +import os + +import System + +import Rhino +import ghpythonlib +from ghpythonlib.componentbase import executingcomponent as component + +import ACPy +from ACPy.replayer.replayer import Replayer + +class ACPyReplayerInitializer(component): + def __init__(self): + super(ACPyReplayerInitializer, self).__init__() + + def RunScript(self, i_log_root_path: str, i_exp_id: str, i_ttool_download_path: str, i_camera_model): + replayer = Replayer() + replayer.load(i_log_root_path, i_exp_id, i_ttool_download_path) + + if i_camera_model: + replayer.set_camera_model(i_camera_model) + + return replayer, replayer.log_data.frame_count + +# if __name__ == "__main__": +# replayer, frame_count = ACPyReplayerInitializer().RunScript(log_root_path, exp_id, ttool_download_path, camera_model) \ No newline at end of file diff --git a/py/components/replayer_initializer/icon.png b/py/components/replayer_initializer/icon.png new file mode 100644 index 000000000..eefcce0fd Binary files /dev/null and b/py/components/replayer_initializer/icon.png differ diff --git a/py/components/replayer_initializer/metadata.json b/py/components/replayer_initializer/metadata.json new file mode 100644 index 000000000..9eec93fca --- /dev/null +++ b/py/components/replayer_initializer/metadata.json @@ -0,0 +1,87 @@ +{ + "name": "acpy - replayer initializer", + "nickname": "acpy-replayer-initializer", + "category": "acpy", + "subcategory": "replayer", + "description": "Initialize the replayer object.", + "exposure": 4, + "instanceGuid": "9c838817-2335-47fe-ad2b-22b80f76fbfd", + "ghpython": { + "marshalGuids": true, + "iconDisplay": 2, + "inputParameters": [ + { + "name": "i_log_root_path", + "nickname": "i_log_root_path", + "description": "The root path where the log files are stored.", + "optional": false, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "str", + "reverse": false, + "simplify": false + }, + { + "name": "i_exp_id", + "nickname": "i_exp_id", + "description": "The experiment id.", + "optional": false, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "str", + "reverse": false, + "simplify": false + }, + { + "name": "i_ttool_download_path", + "nickname": "i_ttool_download_path", + "description": "The directory where the TTool models are downloaded.", + "optional": false, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "str", + "reverse": false, + "simplify": false + }, + { + "name": "i_camera_model", + "nickname": "i_camera_model", + "description": "Custom camera brep. If not provided, the default camera will be used. The camera brep should facing the positive z-axis.", + "optional": true, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "geometrybase", + "reverse": false, + "simplify": false + } + ], + "outputParameters": [ + { + "name": "o_replayer", + "nickname": "o_replayer", + "description": "The initialized replayer object.", + "optional": false, + "sourceCount": 0 + }, + { + "name": "o_frame_count", + "nickname": "o_frame_count", + "description": "The total number of frames of the loaded log.", + "optional": false, + "sourceCount": 0 + } + ] + } +} \ No newline at end of file diff --git a/py/components/replayer_scene_generator/code.py b/py/components/replayer_scene_generator/code.py new file mode 100644 index 000000000..370e64a58 --- /dev/null +++ b/py/components/replayer_scene_generator/code.py @@ -0,0 +1,30 @@ +"""Grasshopper Script Instance""" +import System +import Rhino + +import os +import Rhino +import ghpythonlib + +import ACPy + +class ACPyReplayerSceneGenerator(component): + def __init__(self): + super(ACPyReplayerSceneGenerator, self).__init__() + + def RunScript(self, i_replayer, i_frame_id: int): + scene = i_replayer.generate_scene_at_frame(i_frame_id) + + camera_model = scene["camera_model"] + tool_model = scene["tool_model"] + tool_primitive_model = scene["tool_primitive_model"] + acim_bbox = scene["acim_bbox"] + acim_activated_component = scene["acim_activated_component"] + acim_done_component = scene["acim_done_component"] + acim_not_done_component = scene["acim_not_done_component"] + + return camera_model, tool_model, tool_primitive_model, acim_bbox, acim_activated_component, acim_done_component, acim_not_done_component + +# if __name__ == "__main__": +# camera_model, tool_model, tool_primitive_model, acim_bbox, acim_activated_component, acim_done_component, acim_not_done_component = \ +# ACPyReplayerSceneGenerator().RunScript(i_replayer, i_frame_id) \ No newline at end of file diff --git a/py/components/replayer_scene_generator/icon.png b/py/components/replayer_scene_generator/icon.png new file mode 100644 index 000000000..3b12a2d8d Binary files /dev/null and b/py/components/replayer_scene_generator/icon.png differ diff --git a/py/components/replayer_scene_generator/metadata.json b/py/components/replayer_scene_generator/metadata.json new file mode 100644 index 000000000..8f5c7eda5 --- /dev/null +++ b/py/components/replayer_scene_generator/metadata.json @@ -0,0 +1,94 @@ +{ + "name": "acpy - replayer scene generator", + "nickname": "acpy-replayer-scene-generator", + "category": "acpy", + "subcategory": "replayer", + "description": "Generate scene at the given frame id.", + "exposure": 4, + "instanceGuid": "84e45f15-73f8-486b-b277-c003c617a1da", + "ghpython": { + "marshalGuids": true, + "iconDisplay": 2, + "inputParameters": [ + { + "name": "i_replayer", + "nickname": "i_replayer", + "description": "The initialized replayer object.", + "optional": false, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "none", + "reverse": false, + "simplify": false + }, + { + "name": "i_frame_id", + "nickname": "i_frame_id", + "description": "The target frame index.", + "optional": false, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "int", + "reverse": false, + "simplify": false + } + ], + "outputParameters": [ + { + "name": "o_camera_model", + "nickname": "o_camera_model", + "description": "Transformed camera brep.", + "optional": false, + "sourceCount": 0 + }, + { + "name": "o_tool_model", + "nickname": "o_tool_model", + "description": "Transformed tool model (Brep).", + "optional": false, + "sourceCount": 0 + }, + { + "name": "o_tool_primitive_model", + "nickname": "o_tool_primitive_model", + "description": "Transformed tool primitve model (Brep).", + "optional": false, + "sourceCount": 0 + }, + { + "name": "o_acim_bbox", + "nickname": "o_acim_bbox", + "description": "Transformed acim bounding box.", + "optional": false, + "sourceCount": 0 + }, + { + "name": "o_acim_activated_component", + "nickname": "o_acim_activated_component", + "description": "Transformed acim activated component.", + "optional": false, + "sourceCount": 0 + }, + { + "name": "o_acim_done_component", + "nickname": "o_acim_done_component", + "description": "Transformed acim done component.", + "optional": false, + "sourceCount": 0 + }, + { + "name": "o_acim_not_done_component", + "nickname": "o_acim_not_done_component", + "description": "Transformed acim not done component.", + "optional": false, + "sourceCount": 0 + } + ] + } +} \ No newline at end of file diff --git a/py/components/replayer_scene_seq_generator/code.py b/py/components/replayer_scene_seq_generator/code.py new file mode 100644 index 000000000..b8f27fc8d --- /dev/null +++ b/py/components/replayer_scene_seq_generator/code.py @@ -0,0 +1,39 @@ +import ACPy +from ACPy.replayer.gh_loop import GHLoop + +class ACPyReplayerSceneSeqGenerator(component): + def __init__(self): + super(ACPyReplayerSceneSeqGenerator, self).__init__() + + def RunScript(self, + i_replayer, + i_frame_start: int, + i_frame_end: int, + i_run: bool, + i_reset: bool): + + if i_reset: + loop.reset() + + if not i_run: + return None, None, None, None, None, None, None, None, None + + loop = GHLoop(range(i_frame_start, i_frame_end), ghenv) + + frame_idx, frame_absolute_idx = loop.get_next() + frame_count = len(loop) + + scene = i_replayer.generate_scene_at_frame(frame_absolute_idx) + + # object to return + frame_idx = frame_idx + frame_count = frame_count + camera_model = scene["camera_model"] + tool_model = scene["tool_model"] + tool_primitive_model = scene["tool_primitive_model"] + acim_bbox = scene["acim_bbox"] + acim_activated_component = scene["acim_activated_component"] + acim_done_component = scene["acim_done_component"] + acim_not_done_component = scene["acim_not_done_component"] + + return frame_idx, frame_count, camera_model, tool_model, tool_primitive_model, acim_bbox, acim_activated_component, acim_done_component, acim_not_done_component \ No newline at end of file diff --git a/py/components/replayer_scene_seq_generator/icon.png b/py/components/replayer_scene_seq_generator/icon.png new file mode 100644 index 000000000..515ab96b1 Binary files /dev/null and b/py/components/replayer_scene_seq_generator/icon.png differ diff --git a/py/components/replayer_scene_seq_generator/metadata.json b/py/components/replayer_scene_seq_generator/metadata.json new file mode 100644 index 000000000..e653a4be3 --- /dev/null +++ b/py/components/replayer_scene_seq_generator/metadata.json @@ -0,0 +1,150 @@ +{ + "name": "acpy - replayer scene sequence generator", + "nickname": "acpy-replayer-scene-sequence-generator", + "category": "acpy", + "subcategory": "replayer", + "description": "Generate scene sequence given the start and end frames.", + "exposure": 4, + "instanceGuid": "b54e2a46-2738-4d30-81dd-bc9a960d578f", + "ghpython": { + "marshalGuids": true, + "iconDisplay": 2, + "inputParameters": [ + { + "name": "i_replayer", + "nickname": "i_replayer", + "description": "The initialized replayer object.", + "optional": false, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "none", + "reverse": false, + "simplify": false + }, + { + "name": "i_frame_start", + "nickname": "i_frame_start", + "description": "The index of the start frame.", + "optional": false, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "int", + "reverse": false, + "simplify": false + }, + { + "name": "i_frame_end", + "nickname": "i_frame_end", + "description": "The index of the end frame.", + "optional": false, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "int", + "reverse": false, + "simplify": false + }, + { + "name": "i_run", + "nickname": "i_run", + "description": "Regenerate the video sequence.", + "optional": false, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "bool", + "reverse": false, + "simplify": false + }, + { + "name": "i_reset", + "nickname": "i_reset", + "description": "Reset and generate the video sequence.", + "optional": false, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "bool", + "reverse": false, + "simplify": false + } + ], + "outputParameters": [ + { + "name": "o_frame_idx", + "nickname": "o_frame_idx", + "description": "The current frame's index.", + "optional": false, + "sourceCount": 0 + }, + { + "name": "o_frame_count", + "nickname": "o_frame_count", + "description": "The total amount of the video sequence.", + "optional": false, + "sourceCount": 0 + }, + { + "name": "o_camera_model", + "nickname": "o_camera_model", + "description": "Transformed camera brep.", + "optional": false, + "sourceCount": 0 + }, + { + "name": "o_tool_model", + "nickname": "o_tool_model", + "description": "Transformed tool model (Brep).", + "optional": false, + "sourceCount": 0 + }, + { + "name": "o_tool_primitive_model", + "nickname": "o_tool_primitive_model", + "description": "Transformed tool primitve model (Brep).", + "optional": false, + "sourceCount": 0 + }, + { + "name": "o_acim_bbox", + "nickname": "o_acim_bbox", + "description": "Transformed acim bounding box.", + "optional": false, + "sourceCount": 0 + }, + { + "name": "o_acim_activated_component", + "nickname": "o_acim_activated_component", + "description": "Transformed acim activated component.", + "optional": false, + "sourceCount": 0 + }, + { + "name": "o_acim_done_component", + "nickname": "o_acim_done_component", + "description": "Transformed acim done component.", + "optional": false, + "sourceCount": 0 + }, + { + "name": "o_acim_not_done_component", + "nickname": "o_acim_not_done_component", + "description": "Transformed acim not done component.", + "optional": false, + "sourceCount": 0 + } + ] + } +} \ No newline at end of file diff --git a/py/components/replayer_video_capture/code.py b/py/components/replayer_video_capture/code.py new file mode 100644 index 000000000..49618286b --- /dev/null +++ b/py/components/replayer_video_capture/code.py @@ -0,0 +1,56 @@ +"""Grasshopper Script Instance""" +import subprocess +import os +from glob import glob + +import Rhino + +from ACPy.replayer.capture_img import capture_img + +class ACPyReplayerCaptureImg(component): + def __init__(self): + super(ACPyReplayerCaptureImg, self).__init__() + + def RunScript(self, + i_frame_idx, + i_frame_count, + i_frame_rate, + i_output_path, + i_output_name, + i_ffmpeg_path, + i_clean_imgs): + + # create folder if not exists + if not os.path.exists(i_output_path): + os.makedirs(i_output_path) + + img_output_path = os.path.join(i_output_path, f"frame_{i_frame_idx:06}.png") + capture_img(img_output_path) + + if i_frame_idx == i_frame_count - 1: + glob_pattern = os.path.join(i_output_path, "frame_%06d.png") + video_output_path = os.path.join(i_output_path, f"{i_output_name}.mp4") + + if i_ffmpeg_path is None or len(i_ffmpeg_path) == 0: + i_ffmpeg_path = "ffmpeg" + ffmpeg_command = [i_ffmpeg_path, "-y", "-framerate", str(i_frame_rate), "-i", glob_pattern, "-c:v", "libx264", video_output_path] + + result = subprocess.run(ffmpeg_command, stdout=subprocess.PIPE, stderr=subprocess.PIPE) + + if result.returncode != 0: + Rhino.RhinoApp.WriteLine(f"FFmpeg encounter error while generating video.") + Rhino.RhinoApp.WriteLine(" ".join(ffmpeg_command)) + Rhino.RhinoApp.WriteLine(result.stdout.decode('utf-8')) + Rhino.RhinoApp.WriteLine(result.stderr.decode('utf-8')) + return False + else: + if i_clean_imgs: + glob_pattern = os.path.join(i_output_path, "frame_*.png") + img_files = glob(glob_pattern) + for f in img_files: + os.remove(f) + + return True + +# if __name__ == "__main__": +# ACPyReplayerCaptureImg.RunScript(frame_idx, frame_count, frame_rate, output_path) \ No newline at end of file diff --git a/py/components/replayer_video_capture/icon.png b/py/components/replayer_video_capture/icon.png new file mode 100644 index 000000000..307d31227 Binary files /dev/null and b/py/components/replayer_video_capture/icon.png differ diff --git a/py/components/replayer_video_capture/metadata.json b/py/components/replayer_video_capture/metadata.json new file mode 100644 index 000000000..621ee45b1 --- /dev/null +++ b/py/components/replayer_video_capture/metadata.json @@ -0,0 +1,115 @@ +{ + "name": "acpy - replayer video capturer", + "nickname": "acpy-replayer-video-capturer", + "category": "acpy", + "subcategory": "replayer", + "description": "Capture the image and generate video afterward.", + "exposure": 4, + "instanceGuid": "6cb52a46-8fcd-41fb-ab74-60039bbcc192", + "ghpython": { + "marshalGuids": true, + "iconDisplay": 2, + "inputParameters": [ + { + "name": "i_frame_idx", + "nickname": "i_frame_idx", + "description": "The current frame index.", + "optional": false, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "int", + "reverse": false, + "simplify": false + }, + { + "name": "i_frame_count", + "nickname": "i_frame_count", + "description": "The total frame count of the sequence.", + "optional": false, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "int", + "reverse": false, + "simplify": false + }, + { + "name": "i_frame_rate", + "nickname": "i_frame_rate", + "description": "The frame rate of the output video.", + "optional": false, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "int", + "reverse": false, + "simplify": false + }, + { + "name": "i_output_path", + "nickname": "i_output_path", + "description": "The output folder.", + "optional": false, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "str", + "reverse": false, + "simplify": false + }, + { + "name": "i_output_name", + "nickname": "i_output_name", + "description": "The output name (output file will be {output_name.mp4}).", + "optional": false, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "str", + "reverse": false, + "simplify": false + }, + { + "name": "i_ffmpeg_path", + "nickname": "i_ffmpeg_path", + "description": "The path to the ffmpeg executable.", + "optional": false, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "str", + "reverse": false, + "simplify": false + }, + { + "name": "i_clean_imgs", + "nickname": "i_clean_imgs", + "description": "Set to True to clean the exported frames after generating the video.", + "optional": true, + "allowTreeAccess": false, + "showTypeHints": true, + "scriptParamAccess": "item", + "wireDisplay": "default", + "sourceCount": 0, + "typeHintID": "bool", + "reverse": false, + "simplify": false + } + ], + "outputParameters": [ + ] + } +} \ No newline at end of file diff --git a/py/pypi/ACPy/ac_gh_data_wrapper.py b/py/pypi/ACPy/ac_gh_data_wrapper.py new file mode 100644 index 000000000..ba0ce775a --- /dev/null +++ b/py/pypi/ACPy/ac_gh_data_wrapper.py @@ -0,0 +1,12 @@ +class GHDataWrapper: + """ + This class is a wrapper for exchanging data between Grasshopper components. + Since Grasshopper components are not able to pass dictionaries, this class + is used to wrap the data in a class instance. + """ + + def __init__(self, data): + self.data = data + + def retrive_data(self): + return self.data \ No newline at end of file diff --git a/py/pypi/ACPy/replayer/acim_data.py b/py/pypi/ACPy/replayer/acim_data.py new file mode 100644 index 000000000..983cd3b8d --- /dev/null +++ b/py/pypi/ACPy/replayer/acim_data.py @@ -0,0 +1,5 @@ +class ACIMData: + def __init__(self, bbox, cuts, holes): + self.bbox = bbox + self.cuts = cuts + self.holes = holes \ No newline at end of file diff --git a/py/pypi/ACPy/replayer/acim_loader.py b/py/pypi/ACPy/replayer/acim_loader.py new file mode 100644 index 000000000..04e17cde0 --- /dev/null +++ b/py/pypi/ACPy/replayer/acim_loader.py @@ -0,0 +1,121 @@ +import Rhino +import ghpythonlib.components as ghcomp + +import xml.etree.ElementTree as ET + +from .acim_data import ACIMData + +scale = 50 +tolerance = 0.01 + +def load(acim_path): + tree = ET.parse(acim_path) + root = tree.getroot() + + timber = root.find("timber") + bbox = _parse_bbox(timber.find("bbox")) + + cuts = {} + for cutNode in timber.findall("cut"): + id, faces = _parse_cut(cutNode) + cuts[id] = faces + + holes = {} + for holeNode in timber.findall("hole"): + id, cylinder = _parse_hole(holeNode) + holes[id] = cylinder + + acim_data = ACIMData(bbox, cuts, holes) + + return acim_data + + +def _parse_bbox(bboxNode): + corners = [] + for cornerNode in bboxNode.findall("corner"): + position = _parse_position(cornerNode.text) + id = int(cornerNode.attrib["id"]) + + corners.append((id, position)) + + corners.sort(key=lambda x: x[0]) + corners = list(map(lambda x: x[1], corners)) + + # bbox, _ = Rhino.Geometry.Mesh.CreateConvexHull3D(corners, tolerance, tolerance) + + faces = [] + faces_indices = [ + [0, 3, 2, 1], + [4, 5, 6, 7], + [0, 1, 5, 4], + [3, 7, 6, 2], + [0, 4, 7, 3], + [1, 2, 6, 5] + ] + for indices in faces_indices: + face = ghcomp.x4PointSurface(corners[indices[0]], corners[indices[1]], corners[indices[2]], corners[indices[3]]) + faces.append(face) + + bbox = Rhino.Geometry.Brep.MergeBreps(faces, tolerance) + + return bbox + + +def _parse_cut(cutNode): + id = cutNode.attrib["id"] + faces = [] + for faceNode in cutNode.find("faces").findall("face"): + corner_id = int(faceNode.attrib["id"]) + corners = [] + for corner in faceNode.find("corners").findall("corner"): + corners.append(_parse_position(corner.text)) + + boundary = Rhino.Geometry.Polyline(corners + [corners[0]]) + face = ghcomp.FragmentPatch(boundary) + faces.append(face) + + cutBrep = Rhino.Geometry.Brep.MergeBreps(faces, tolerance) + + return (id, cutBrep) + + +def _parse_hole(holeNode): + id = holeNode.attrib["id"] + radius = float(holeNode.find("radius").text) * scale + start = _parse_position(holeNode.find("start").find("coordinates").text) + end = _parse_position(holeNode.find("end").find("coordinates").text) + + if start.Z > end.Z: + start, end = end, start + + vec = end - start + + basePlane = Rhino.Geometry.Plane(start, vec) + circle = Rhino.Geometry.Circle(basePlane, radius) + cylinder = Rhino.Geometry.Cylinder(circle, vec.Length).ToBrep(True, True) + + return (id, cylinder) + + +def _parse_position(positionString): + x, y, z = tuple(map(float, positionString.split(" "))) + x *= scale + y *= scale + z *= scale + return Rhino.Geometry.Point3d(x, y, z) + + +if __name__ == "__main__": + from pprint import pprint + acim_data = load("/Users/petingo/p/augmented-carpentry/py/expirment/all_log/Z4Z2_2024-5-27-16-40-21/AC_info_model.acim") + pprint(acim_data) + + bbox = acim_data.bbox + + all_cut_faces = [] + for _, faces in acim_data.cuts.items(): + all_cut_faces.append(faces) + + all_holes = [] + for _, cylinder in acim_data.holes.items(): + all_holes.append(cylinder) \ No newline at end of file diff --git a/py/pypi/ACPy/replayer/camera_model.py b/py/pypi/ACPy/replayer/camera_model.py new file mode 100644 index 000000000..535b68b7f --- /dev/null +++ b/py/pypi/ACPy/replayer/camera_model.py @@ -0,0 +1,11 @@ +import Rhino + +serialized_json_string = """{ + "version": 10000, + "archive3dm": 80, + "opennurbs": -1877177398, + "data": 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+}""" + +def get_brep(): + return Rhino.Geometry.Brep.FromJSON(serialized_json_string) \ No newline at end of file diff --git a/py/pypi/ACPy/replayer/capture_img.py b/py/pypi/ACPy/replayer/capture_img.py new file mode 100644 index 000000000..91480d3a5 --- /dev/null +++ b/py/pypi/ACPy/replayer/capture_img.py @@ -0,0 +1,25 @@ +import System +import Rhino +import os +import scriptcontext as sc +import gc + +def capture_img(output_path): + view = sc.doc.Views.ActiveView + if view: + view_capture = Rhino.Display.ViewCapture() + view_capture.Width = view.ActiveViewport.Size.Width + view_capture.Height = view.ActiveViewport.Size.Height + view_capture.ScaleScreenItems = False + view_capture.DrawAxes = False + view_capture.DrawGrid = False + view_capture.DrawGridAxes = False + view_capture.TransparentBackground = False + bitmap = view_capture.CaptureToBitmap(view) + if bitmap: + bitmap.Save(output_path, System.Drawing.Imaging.ImageFormat.Png) + + del view + del view_capture + del bitmap + gc.collect() diff --git a/py/pypi/ACPy/replayer/gh_loop.py b/py/pypi/ACPy/replayer/gh_loop.py new file mode 100644 index 000000000..89d0d04bb --- /dev/null +++ b/py/pypi/ACPy/replayer/gh_loop.py @@ -0,0 +1,56 @@ +from inspect import currentframe +import scriptcontext as sc +import Grasshopper as gh + +class GHLoop: + def __init__(self, items, ghenv=None): + self.items = items + + # retrive the ghenv from the caller component + if ghenv is None: + current_frame = currentframe() + caller_frame = current_frame.f_back + caller_ghenv = caller_frame.f_locals['ghenv'] + self.ghenv = caller_ghenv + else: + self.ghenv = ghenv + + self.guid = str(self.ghenv.Component.get_InstanceGuid()) + + # key for sticky dictionary + self.STATUS_WIP = "WIP" + self.guid + self.LOOP_INDEX = "self.LOOP_INDEX" + self.guid + + def __len__(self): + return len(self.items) + + def _callback(self, e): + self.ghenv.Component.ExpireSolution(False) + + def reset(self): + self.ghenv.Component.Message = "" + if self.STATUS_WIP in sc.sticky: + sc.sticky.pop(self.STATUS_WIP) + if self.LOOP_INDEX in sc.sticky: + sc.sticky.pop(self.LOOP_INDEX) + + def get_next(self): + if self.STATUS_WIP not in sc.sticky: + sc.sticky[self.STATUS_WIP] = self.STATUS_WIP + sc.sticky[self.LOOP_INDEX] = 0 + + idx = sc.sticky[self.LOOP_INDEX] + sc.sticky[self.LOOP_INDEX] += 1 + if sc.sticky[self.LOOP_INDEX] == len(self.items): + self.ghenv.Component.Message = "" + sc.sticky.pop(self.STATUS_WIP) + else: + self.ghenv.Component.Message = str(int(sc.sticky[self.LOOP_INDEX]/len(self.items) * 100)) + "%" + self.ghenv.Component.OnPingDocument() \ + .ScheduleSolution(1, gh.Kernel.GH_Document.GH_ScheduleDelegate(self._callback)) + + return idx, self.items[idx] + +# import sys +# sys.modules["GHLoop"] = None +# sys.modules["GHLoop"] = GHLoop diff --git a/py/pypi/ACPy/replayer/log_data.py b/py/pypi/ACPy/replayer/log_data.py new file mode 100644 index 000000000..4ebe94379 --- /dev/null +++ b/py/pypi/ACPy/replayer/log_data.py @@ -0,0 +1,46 @@ +import numpy as np +import bisect + +class LogEventData: + """ + For collecting the log event data based on the frame index. + The data type can be anything like pose (4x4 transformation matrix) or string. + It should be constructed in chronological order. + """ + def __init__(self): + self.frameIDs = [] + self.dataCollection = [] + + + def add(self, index, data): + """ + Add a data point at the given index. + """ + if len(self.frameIDs) > 0 and index < self.frameIDs[-1]: + raise ValueError("The pose data should be constructed in chronological order.") + + if len(self.frameIDs) > 0 and index == self.frameIDs[-1]: + self.dataCollection[-1] = data + else: + self.frameIDs.append(index) + self.dataCollection.append(data) + + + def get(self, index): + """ + Get the pose data at the given index. + """ + + targetArrIdx = bisect.bisect_right(self.frameIDs, index) - 1 + return self.dataCollection[targetArrIdx] + +class LogData: + def __init__(self, log_event_data, timestamp, frame_count, acim_model_path, scanned_model_path, ttool_zenodo_version_url): + self.all_event_data = log_event_data + self.timestamp = timestamp + self.frame_count = frame_count + self.acim_model_path = acim_model_path + self.scanned_model_path = scanned_model_path + self.ttool_zenodo_version_url = ttool_zenodo_version_url + + \ No newline at end of file diff --git a/py/pypi/ACPy/replayer/log_loader.py b/py/pypi/ACPy/replayer/log_loader.py new file mode 100644 index 000000000..e428aca4b --- /dev/null +++ b/py/pypi/ACPy/replayer/log_loader.py @@ -0,0 +1,170 @@ +import Rhino + +import os +import zipfile +from glob import glob + +import numpy as np + +from .log_data import LogEventData, LogData + +def load(root_path: str, exp_id: str, default_ttool_version: str = "12578820"): + """ + Load the log data from the given root path and experiment ID. + + Returns: + all_event_data: LogData + """ + + log_events = [ + "SLAM", + "TTool-head", + "TTool-pose", + "ACIM-activate-component", + "ACIM-component-status", + "ACIM-transform" + ] + + all_event_data = {} + for e in log_events: + all_event_data[e] = LogEventData() + + exp_folders = _get_exp_folder_paths(root_path, exp_id) + if exp_folders is None or len(exp_folders) == 0: + raise ValueError("No log files found in the path with the experiment ID") + + component_status = {} + + # start parsing the log files + current_frame = 0 + for i, path in enumerate(exp_folders): + log_filepath = os.path.join(path, "log.txt") + + if i == 0: + acim_model_path = os.path.join(path, "AC_info_model.acim") + scanned_model_path = os.path.join(path, "scanned_model.ply") + + with open(log_filepath) as f: + start_flag = False + + for line in f: + line = line.strip() + if len(line) == 0: + continue + + # parse header for the fist log file + if i == 0 and not start_flag: + if line.startswith("Created Time"): + timestamp = line.split(":")[1].strip() + elif line.startswith("TTool Zenodo Version"): + ttool_zenodo_version_url = "".join(line.split(":")[1:]).strip() + if len(ttool_zenodo_version_url) < 3: + ttool_zenodo_version_url = f"https://zenodo.org/records/{default_ttool_version}" + + # start flag + if "[Init]" in line: + start_flag = True + continue + + if not start_flag: + continue + + # frame number + if line[0] == '#': + current_frame += 1 + continue + + # others events + arr = line.split(' ') + event_type = arr[0] + + # for ACIM-transform, we assume that it is initialized at the first log sequence + if i == 0 and event_type == "ACIM-transform": + all_event_data["ACIM-transform"].add( + current_frame, + _convert_log_pose_to_transform_matrix(list(map(float, arr[1:]))) + ) + + if event_type == "SLAM": + all_event_data["SLAM"].add( + current_frame, + np.linalg.inv(_convert_log_pose_to_transform_matrix(list(map(float, arr[1:])))) + ) + + elif event_type == "TTool-head": + all_event_data["TTool-head"].add( + current_frame, + arr[1] # head name + ) + + elif event_type == "TTool-pose": + all_event_data["TTool-pose"].add( + current_frame, + (arr[1], _convert_log_pose_to_transform_matrix(list(map(float, arr[2:])))) # (ttool status, pose) + ) + + elif event_type == "ACIM-activate-component": + all_event_data["ACIM-activate-component"].add( + current_frame, + arr[1] # component name + ) + + elif event_type == "ACIM-component-status": + component_status[arr[1]] = arr[2] + + all_event_data["ACIM-component-status"].add( + current_frame, + component_status.copy() + ) + + current_frame += 1 + + log_data = LogData(all_event_data, timestamp, current_frame, acim_model_path, scanned_model_path, ttool_zenodo_version_url) + + return log_data + + +def _get_exp_folder_paths(root_path: str, exp_id: str): + """ + Get the paths of the log folders belonging to the experiment ID. + """ + + if root_path is None: + raise ValueError("The root path is None") + + if exp_id is None: + raise ValueError("The experiment ID is None") + + all_paths = glob(os.path.join(root_path, "*")) + + exp_folders = [] + for path in all_paths: + basename = os.path.basename(path) + + if basename.endswith(".zip"): + with zipfile.ZipFile(path, 'r') as zip_ref: + zip_ref.extractall(root_path) + path = path[:-4] + + folder_exp_id = "_".join(basename.split("_")[0:-1]) + if folder_exp_id == exp_id: + exp_folders.append(path) + exp_folders.sort() + + return exp_folders + + +def _convert_log_pose_to_transform_matrix(log: list): + """ + Convert log pose ([t.x, t.y, t.z, q.x, q.y, q.z, q.w]) to transform matrix + """ + t = np.array(log[:3]) + q = np.array(log[3:]) + q = q / np.linalg.norm(q) + R = np.array([ + [1 - 2*q[1]*q[1] - 2*q[2]*q[2], 2*q[0]*q[1] - 2*q[2]*q[3], 2*q[0]*q[2] + 2*q[1]*q[3]], + [2*q[0]*q[1] + 2*q[2]*q[3], 1 - 2*q[0]*q[0] - 2*q[2]*q[2], 2*q[1]*q[2] - 2*q[0]*q[3]], + [2*q[0]*q[2] - 2*q[1]*q[3], 2*q[1]*q[2] + 2*q[0]*q[3], 1 - 2*q[0]*q[0] - 2*q[1]*q[1]] + ]) + return np.vstack([np.hstack([R, t.reshape(-1, 1)]), np.array([0, 0, 0, 1])]) + diff --git a/py/pypi/ACPy/replayer/replayer.py b/py/pypi/ACPy/replayer/replayer.py new file mode 100644 index 000000000..a2bbf5931 --- /dev/null +++ b/py/pypi/ACPy/replayer/replayer.py @@ -0,0 +1,135 @@ +# ## FOR DEBUG +import sys +sys.path.append("/Users/petingo/p/augmented-carpentry/py/pypi/ACPy/replayer") + +from . import log_loader +from . import acim_loader +from . import ttool_loader +from . import camera_model + +import Rhino + +class Replayer: + def __init__(self): + self.log_data = None + + def load(self, log_root_path: str, exp_id: str, ttool_download_path: str): + self.log_data = log_loader.load(log_root_path, exp_id) + + # load ACIM model + self.acim_data = acim_loader.load(self.log_data.acim_model_path) + + # load tool mesh + self.ttool_models = ttool_loader.load(ttool_download_path, self.log_data.ttool_zenodo_version_url) + + # camera model + self.camera_model = camera_model.get_brep() + + def set_camera_model(self, camera_model): + self.camera_model = camera_model + + def generate_scene_at_frame(self, frame_index: int): + """ + Export the 3D model with the transformation at the given frame index. + """ + if frame_index < 0 or frame_index >= self.log_data.frame_count: + raise ValueError("The frame index is out of range.") + + # get the data at the given frame index + acim_transform = self._transform_matrix_to_gh_transform(self.log_data.all_event_data["ACIM-transform"].get(frame_index)) + slam_transform = self._transform_matrix_to_gh_transform(self.log_data.all_event_data["SLAM"].get(frame_index)) + + ttool_head = self.log_data.all_event_data["TTool-head"].get(frame_index) + ttool_status, ttool_transformation = self.log_data.all_event_data["TTool-pose"].get(frame_index) + ttool_transformation = self._transform_matrix_to_gh_transform(ttool_transformation) + + acim_activate_component = self.log_data.all_event_data["ACIM-activate-component"].get(frame_index) + acim_component_status = self.log_data.all_event_data["ACIM-component-status"].get(frame_index) + + # copy the 3d models and transform them + camera_model = self.camera_model.Duplicate() + camera_model.Transform(slam_transform) + + tool_model = self.ttool_models[ttool_head]["model"].Duplicate() + tool_model.Transform(ttool_transformation) + + ttool_primitive_model = None + if self.ttool_models[ttool_head]["primitive_model"] is not None: + ttool_primitive_model = self.ttool_models[ttool_head]["primitive_model"].Duplicate() + ttool_primitive_model.Transform(ttool_transformation) + + acim_bbox = self.acim_data.bbox.Duplicate() + acim_bbox.Transform(acim_transform) + + acim_activated_component = [] + acim_done_component = [] + acim_not_done_component = [] + + all_components = list(self.acim_data.cuts.items()) + list(self.acim_data.holes.items()) + for name, brep in all_components: + brep = brep.Duplicate() + brep.Transform(acim_transform) + + if name == acim_activate_component: + acim_activated_component.append(brep) + + elif acim_component_status[name] == "Done": + acim_done_component.append(brep) + + else: + acim_not_done_component.append(brep) + + # save the model to the scene + scene = {} + scene["camera_model"] = camera_model + scene["tool_model"] = tool_model + scene["tool_primitive_model"] = ttool_primitive_model + scene["acim_bbox"] = acim_bbox + scene["acim_activated_component"] = acim_activated_component + scene["acim_done_component"] = acim_done_component + scene["acim_not_done_component"] = acim_not_done_component + + return scene + + + def _transform_matrix_to_gh_transform(self, matrix): + """ + Convert a 4x4 matrix to a Grasshopper Transform object. + """ + + transformation = Rhino.Geometry.Transform() + transformation.M00 = matrix[0][0] + transformation.M01 = matrix[0][1] + transformation.M02 = matrix[0][2] + transformation.M03 = matrix[0][3] + transformation.M10 = matrix[1][0] + transformation.M11 = matrix[1][1] + transformation.M12 = matrix[1][2] + transformation.M13 = matrix[1][3] + transformation.M20 = matrix[2][0] + transformation.M21 = matrix[2][1] + transformation.M22 = matrix[2][2] + transformation.M23 = matrix[2][3] + transformation.M30 = matrix[3][0] + transformation.M31 = matrix[3][1] + transformation.M32 = matrix[3][2] + transformation.M33 = matrix[3][3] + + return transformation + + +# if __name__ == "__main__": +# replayer = Replayer() +# replayer.load(log_root_path, exp_id, ttool_download_path) + +# camera = replayer.camera_model +# bbox = replayer.acim_data.bbox +# all_cuts = [x[1] for x in replayer.acim_data.cuts.items()] +# all_holes = [x[1] for x in replayer.acim_data.holes.items()] + +# frame_count = replayer.log_data.frame_count + +# scene = replayer.generate_scene_at_frame(100) +# tool_mesh = scene["tool_mesh"] +# camera_model = scene["camera_model"] +# acim_breps = [scene["acim_bbox"]] + scene["acim_activated_component"] + scene["acim_done_component"] + scene["acim_not_done_component"] diff --git a/py/pypi/ACPy/replayer/ttool_loader.py b/py/pypi/ACPy/replayer/ttool_loader.py new file mode 100644 index 000000000..b7070f3a2 --- /dev/null +++ b/py/pypi/ACPy/replayer/ttool_loader.py @@ -0,0 +1,301 @@ +import os +import json +import subprocess +import zipfile +from glob import glob + +import xml.etree.ElementTree as ET + +import Rhino +import ghpythonlib + + +def unzip_file(zip_file_path, dest_folder): + """Unzip a file to a destination folder.""" + with zipfile.ZipFile(zip_file_path, 'r') as zip_ref: + zip_ref.extractall(dest_folder) + + return True + + +def download_file(url, dest_path): + """Download a file to a destination path.""" + curl_command = ["curl", "-o", dest_path, url] + result = subprocess.run(curl_command) + + if result.returncode != 0: + Rhino.RhinoApp.WriteLine(f"Error downloading {url} to {dest_path}") + return False + else: + return True + + +def download_and_unzip_zenodo_file(url, dest_folder, filename): + """Download an individual zip file in a zenodo dataset and unzip.""" + if not os.path.exists(dest_folder): + os.makedirs(dest_folder) + + dest_path = os.path.join(dest_folder, filename) + + if not download_file(url, dest_path): + return False + + if not unzip_file(dest_path, dest_folder): + return False + + return True + + +def download_ttool_model(ttool_zenodo_version, download_root_path): + """Download all the TTool models of a specific version from Zenodo.""" + + # Rhino.RhinoApp.WriteLine("Downloading TTool models...") + + metadata_url = "https://zenodo.org/api/records/" + ttool_zenodo_version + curl_command = ["curl", metadata_url] + metadata_raw_str = (subprocess.run(curl_command, stdout=subprocess.PIPE, text=True)).stdout + + metadata = json.loads(metadata_raw_str) + for file in metadata["files"]: + filename = file["key"] + url = file["links"]["self"] + + download_and_unzip_zenodo_file(url, download_root_path, filename) + + +def _parse_position(positionString): + """ + As the acit stores the position according to a Y-up coordinate system, + we need to convert it to a Z-up system by swapping the Y and Z values. + """ + + positionString = positionString.strip() + x, z, y = tuple(map(float, positionString.split(" "))) + return Rhino.Geometry.Point3d(x, y, z) + + +def parse_acit(acit_path, scale): + """Parse the ACIT file and return the data in a dictionary.""" + tree = ET.parse(acit_path) + acit = tree.getroot() + + toolhead = acit.find("toolhead") + tool_type = toolhead.attrib["type"].strip() + if tool_type == "circularsaw": + center = _parse_position(toolhead.find("center").text) * scale + normal_start = _parse_position(toolhead.find("normalstart").text) * scale + normal_end = _parse_position(toolhead.find("normalend").text) * scale + radius = float(toolhead.find("radius").text) * scale + blade_thickness = float(toolhead.find("bladeThickness").text) * scale + blade_overhang = float(toolhead.find("bladeOverhang").text) * scale + + normal = normal_end - normal_start + normal.Unitize() + + data = { + "type": "circularsaw", + "center": center, + "normal": normal, + "radius": radius, + "blade_thickness": blade_thickness, + "blade_overhang": blade_overhang + } + + return data + + elif tool_type == "drillbit": + tool_base = _parse_position(toolhead.find("toolbase").text) * scale + tip = _parse_position(toolhead.find("tooltip").text) * scale + eat_tip = _parse_position(toolhead.find("eattip").text) * scale + chuck_tip = _parse_position(toolhead.find("chucktip").text) * scale + radius = float(toolhead.find("radius").text) * scale + + normal = chuck_tip - eat_tip + length = normal.Length + normal.Unitize() + + data = { + "type": "drillbit", + "tool_base": tool_base, + "tip": tip, + "eat_tip": eat_tip, + "chuck_tip": chuck_tip, + "radius": radius, + "normal": normal, + "length": length + } + + return data + + elif tool_type == "chainsaw": + chain_base = _parse_position(toolhead.find("chainbase").text) * scale + chain_mid = _parse_position(toolhead.find("chainmid").text) * scale + chain_end = _parse_position(toolhead.find("chainend").text) * scale + normal_start = _parse_position(toolhead.find("normalstart").text) * scale + normal_end = _parse_position(toolhead.find("normalend").text) * scale + width = float(toolhead.find("width").text) * scale + blade_thickness = float(toolhead.find("bladeThickness").text) * scale + blade_overhang = float(toolhead.find("bladeOverhang").text) * scale + + normal = normal_end - normal_start + normal.Unitize() + + data = { + "type": "chainsaw", + "chain_base": chain_base, + "chain_mid": chain_mid, + "chain_end": chain_end, + "normal": normal, + "width": width, + "blade_thickness": blade_thickness, + "blade_overhang": blade_overhang + } + + return data + + elif tool_type == "sabersaw": + pass + + else: + raise ValueError(f"Unknown toolhead type {toolhead.attrib['type']}") + + +def construct_drillbit_primitive_model(acit_data): + """Construct a primitive model of the drillbit from the ACIT file.""" + + base_plane = Rhino.Geometry.Plane(acit_data["chuck_tip"], acit_data["normal"]) + base_circle = Rhino.Geometry.Circle(base_plane, acit_data["radius"]) + primitive_cylinder = Rhino.Geometry.Cylinder(base_circle, acit_data["length"]) + brep = primitive_cylinder.ToBrep(True, True) + + return brep + + +def construct_circularsaw_primitive_model(acit_data): + """Construct a primitive model of the circularsaw from the ACIT file.""" + + # the normal will facing the outside of the blade (facing the camera), thus * -1 + base_plane = Rhino.Geometry.Plane(acit_data["center"], -acit_data["normal"]) + base_circle = Rhino.Geometry.Circle(base_plane, acit_data["radius"]) + primitive_cylinder = Rhino.Geometry.Cylinder(base_circle, acit_data["blade_thickness"]) + brep = primitive_cylinder.ToBrep(True, True) + + return brep + + +def construct_chainsaw_primitive_model(acit_data): + """Construct a primitive model of the chainsaw from the ACIT file.""" + # The primitive model for chainsaw can just take the normal rebuilt model + return None + + +def construct_primitive_model(acit_data): + """Construct a primitive model from the ACIT file.""" + + if acit_data["type"] == "drillbit": + return construct_drillbit_primitive_model(acit_data) + elif acit_data["type"] == "circularsaw": + return construct_circularsaw_primitive_model(acit_data) + elif acit_data["type"] == "chainsaw": + return construct_chainsaw_primitive_model(acit_data) + else: + raise ValueError("Unknown toolhead type") + + +def rebuild_saw_blade_model(raw_mesh_model, acit_data): + """Rebuild the model to give it thickness.""" + normal = acit_data["normal"] + normal.Unitize() + # the normal will facing the outside of the blade (facing the camera), thus * -1 + extrude_vec = -normal * acit_data["blade_thickness"] + + naked_edges = raw_mesh_model.GetNakedEdges() + sorted_edges = sorted(naked_edges, key=lambda e: e.Length, reverse=True) + + # the longest edge is the blade edge + boundary = sorted_edges[0] + blade_face_1 = ghpythonlib.components.FragmentPatch(boundary) + blade_face_2 = blade_face_1.Duplicate() + blade_face_2.Translate(extrude_vec) + extrusion = Rhino.Geometry.Extrusion.CreateExtrusion(boundary.ToNurbsCurve(), extrude_vec).ToBrep() + + model = Rhino.Geometry.Brep.JoinBreps( + [blade_face_1, blade_face_2, extrusion], + Rhino.RhinoDoc.ActiveDoc.ModelAbsoluteTolerance, + Rhino.RhinoDoc.ActiveDoc.ModelAngleToleranceRadians, + )[0] + + return model + + +def load(ttool_model_root_path, ttool_zenodo_version_url, scale=50): + """ + Load the TTool models of a specific version from the given root path. + Returns a dictionary of + { + model_names: { + "model": Rhino.Geometry.Brep (the detailed model), + "primitive": Rhino.Geometry.Brep (the representative cylinder model) + }, + ... + }. + """ + + zenodo_version = ttool_zenodo_version_url.split("/")[-1] + + ttool_model_version_path = os.path.join(ttool_model_root_path, zenodo_version) + + if not os.path.exists(ttool_model_version_path): + os.makedirs(ttool_model_version_path) + download_ttool_model(zenodo_version, ttool_model_version_path) + + # load all the mesh files + ttool_model_paths = glob(os.path.join(ttool_model_version_path, "*")) + + ttool_models = {} + for path in ttool_model_paths: + if path.endswith(".zip"): + continue + + if "saber" in path: + # TODO: skip those that are not in used at the moment + continue + + model_name = os.path.basename(path) + ttool_models[model_name] = {} + + # create a primitive model + acit_path = os.path.join(path, "metadata.acit") + acit_data = parse_acit(acit_path, scale) + primitive_model = construct_primitive_model(acit_data) + + # load the model + model_path = os.path.join(path, "model.obj") + + raw_model = ghpythonlib.components.Import3DM(model_path, "*", "*") + if raw_model is None: + Rhino.RhinoApp.WriteLine(f"Error loading {model_path}") + raise ValueError(f"Error loading .obj file. If the file exists, try re-open Rhino.") + + raw_model.Scale(scale) + saw_blade_type_to_rebuild = ["circularsaw", "chainsaw"] + if acit_data["type"] in saw_blade_type_to_rebuild: + fine_model = rebuild_saw_blade_model(raw_model, acit_data) + else: + fine_model = Rhino.Geometry.Brep.CreateFromMesh(raw_model, True) + + # export the data + ttool_models[model_name]["type"] = acit_data["type"] + ttool_models[model_name]["raw_model"] = raw_model + ttool_models[model_name]["model"] = fine_model + ttool_models[model_name]["primitive_model"] = primitive_model + + return ttool_models + + +if __name__ == "__main__": + ttool_model_root_path = "C:\\Users\\localuser\\Documents\\hong-bin\\replayer\\ttool_dataset_new" + ttool_zenodo_version_url = "https://zenodo.org/record/12578820" + ttool_models = load(ttool_model_root_path, ttool_zenodo_version_url) + + # a = ttool_models["circular_saw_blade_mafel_237"] \ No newline at end of file diff --git a/py/pypi/README.md b/py/pypi/README.md index 85bbd3500..1e5d98408 100644 --- a/py/pypi/README.md +++ b/py/pypi/README.md @@ -1,3 +1,47 @@ # augmented-carpentry +The PyPi package for the augmented-carpentry project. -The PyPi package for the augmented-carpentry project. \ No newline at end of file +## Replayer +The replayer is used to generate video from the log. These components works together for visualizing and export the scene. +1. Initializer: The initializer loads everything according to the given path and experiment id, including the log which stores the transformation of all 3D models, ACIM, and TTool Mesh. +2. Scene generator: Takes a frame id as input, show the scene of the given frame. This is used to inspecting the transformation and identify the start/end of the sequence. +3. Scene sequence generator: Takes frame start/end id as input, exporting the scene frame by frame. +4. Video capturer: Triggered by `scene sequence generator` with `frame index`. Export the frame as .png and use ffmpeg to compose the video. If `clean_imgs` is set to True, the exported .png files will be deleted after the video is generated. +5. Image cleaner: For manually cleaning the .png files. + +### Usage +1. Setting up all the required paths. +2. Using the `Scene generator` with a slider to determine the start / end frame and adjust the viewport. +3. Disable the geometry preview of `Scene generator`, enable the preview for `Scene sequence generator`. +4. Click `reset` button and flip the toggle of `run` to `True`, the program will start to export frames. When all the frame is exported, a video will be generated afterward. + +### Old logs +Some old logs have error for the ACIM transformation. Here's the status of these old logs. 'O' means the log has no problem, and 'X' means the log has problem: +``` +A001: O +A003: X +AC01: O +AC02: O (only half?) +AC03: X +AC04: X +B003: X +B004: O +BD01: X +BD02: X +BD03: X (only 168 frames?) +BD04: ? (Transformation seems correct, but log is almost empty) +C001: X +C002: X (no TTool pose) +C003: O +C004: O +D001: O +D002: X (no TTool pose) +D003: X +D004: X +W001_3: X +X001: X +X002: X +Y001: O +Z001: O +Z002: O +``` \ No newline at end of file diff --git a/src/AIAC/ACInfoModel.cpp b/src/AIAC/ACInfoModel.cpp index 503000917..7142032e1 100644 --- a/src/AIAC/ACInfoModel.cpp +++ b/src/AIAC/ACInfoModel.cpp @@ -14,6 +14,8 @@ namespace AIAC m_State = ACIMState::CURRENT; AIAC_APP.GetLayer()->GetACInfoModel().GetDoc().child("acim").child("timber").child("current").last_child().set_value(m_ID.c_str()); AIAC_APP.GetLayer()->GetACInfoModel().Save(); + + AIAC_APP.GetRenderer()->SetGlobalViewToActivatedComponent(Renderer::StandardView::TOP); } void TimberInfo::Component::SetAsDone() { @@ -36,6 +38,10 @@ namespace AIAC } } + glm::vec3 TimberInfo::Component::GetCenter() const { + throw std::logic_error("GetCenter() is not defined for the derived class."); + } + ///< Hole void TimberInfo::Hole::SetAsCurrent() { TimberInfo::Component::SetAsCurrent(); @@ -298,13 +304,20 @@ namespace AIAC cut->SetVisibilityAllCotas(true); } } + this->IsShowingAllComponents = true; } - void TimberInfo::SetAllCotasVisibility(bool visible) + void TimberInfo::UpdateCotasVisibility(bool visible) { - this->IsShowingCotas = visible; - for (const auto& [_, component] : m_Components) { - if(auto cut = dynamic_cast(component)){ + if (!visible || IsShowingAllComponents) { + this->IsShowingCotas = visible; + for (const auto& [_, component] : m_Components) { + if(auto cut = dynamic_cast(component)){ + cut->SetVisibilityAllCotas(visible); + } + } + } else { + if(auto cut = dynamic_cast(this->GetCurrentComponent())){ cut->SetVisibilityAllCotas(visible); } } @@ -656,6 +669,9 @@ namespace AIAC for(auto& objs : holeInfo.m_GOPrimitives){ objs->Transform(transformMat); } + holeInfo.m_Start = glm::vec3(transformMat * glm::vec4(holeInfo.m_Start, 1.0f)); + holeInfo.m_End = glm::vec3(transformMat * glm::vec4(holeInfo.m_End, 1.0f)); + holeInfo.m_Center = (holeInfo.m_Start + holeInfo.m_End) * 0.5f; } // cuts @@ -664,6 +680,7 @@ namespace AIAC for(auto& objs : cutInfo.m_GOPrimitives){ objs->Transform(transformMat); } + cutInfo.m_Center = glm::vec3(transformMat * glm::vec4(cutInfo.m_Center, 1.0f)); // Face for(auto& kv : cutInfo.m_Faces){ diff --git a/src/AIAC/ACInfoModel.h b/src/AIAC/ACInfoModel.h index 05f7ae86d..e740768cb 100644 --- a/src/AIAC/ACInfoModel.h +++ b/src/AIAC/ACInfoModel.h @@ -88,12 +88,13 @@ class TimberInfo{ class Component { public: Component(std::string type) : m_Type(type) { - m_Scale = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::SCALE_FACTOR, 0.0f); + m_Scale = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::SCALE_FACTOR, 1.0f); } virtual void SetAsCurrent(); virtual void SetAsDone(); virtual void SetAsNotDone(); virtual void SetVisibility(bool visible); + virtual glm::vec3 GetCenter() const; public: bool IsMarkedDone; // This one is for UI @@ -107,6 +108,7 @@ class TimberInfo{ std::string m_Type; pugi::xml_node m_ACIMDocNode; std::string m_ID; + glm::vec3 m_Center; std::vector> m_GOPrimitives; @@ -122,8 +124,10 @@ class TimberInfo{ virtual void SetAsDone(); virtual void SetAsNotDone(); virtual void SetVisibility(bool visible); + glm::vec3 GetCenter() const override { return (m_Start + m_End) * 0.5f; }; void SwapStartEnd(); + public: __always_inline std::shared_ptr GetStartPointGO() { return m_StartPointGO; } std::shared_ptr GetEndPointGO() { return m_EndPointGO; } @@ -159,14 +163,16 @@ class TimberInfo{ virtual void SetAsDone(); virtual void SetAsNotDone(); virtual void SetVisibility(bool visible); + glm::vec3 GetCenter() const override { return m_Center; }; // Sub-class Face class Face: public Component{ public: Face() : Component("FACE") {} + glm::vec3 GetCenter() const override { return m_Center; }; + bool IsExposed() const { return m_Exposed; } glm::vec3 GetNormal() const { return m_Normal; } - glm::vec3 GetCenter() const { return m_Center; } std::vector GetCorners() const { return m_Corners; } std::set GetEdges() const { return m_Edges; } std::set GetNeighbors() const { return m_Neighbors; } @@ -174,7 +180,6 @@ class TimberInfo{ private: bool m_Exposed; glm::vec3 m_Normal; - glm::vec3 m_Center; std::vector m_Corners; std::set m_Edges; std::set m_Neighbors; @@ -236,7 +241,6 @@ class TimberInfo{ inline std::map& GetAllEdges() { return m_Edges; } inline std::set& GetAllNonExposedFaceIDs() { return m_NonExposedFaceIDs; } inline std::set& GetAllNonExposedEdgeIDs() { return m_NonExposedEdgeIDs; } - inline glm::vec3 GetCenter() const { return m_Center; } void HighlightFace(const std::string& faceId, glm::vec4 color = glm::vec4(0)); inline std::string GetHighlightedFaceID() const { return m_HighlightedFaceID; } @@ -265,7 +269,6 @@ class TimberInfo{ std::map m_Edges; std::set m_NonExposedFaceIDs; std::set m_NonExposedEdgeIDs; - glm::vec3 m_Center; std::shared_ptr m_IDLabelGO; friend class ACInfoModel; @@ -290,7 +293,7 @@ class TimberInfo{ void HideAllComponentsExceptCurrent(); void ShowAllComponents(); - void SetAllCotasVisibility(bool visible); + void UpdateCotasVisibility(bool visible); public: ///< small utilities to calculate the progress of fabrication /// @brief Get the number of fabricate components @@ -355,7 +358,7 @@ class ACInfoModel { public: ACInfoModel(){ - m_Scale = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::SCALE_FACTOR, 0.0f); + m_Scale = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::SCALE_FACTOR, 1.0f); }; ~ACInfoModel(){}; diff --git a/src/AIAC/ACInfoToolhead.h b/src/AIAC/ACInfoToolhead.h index f9c427d36..eb3a96e61 100644 --- a/src/AIAC/ACInfoToolhead.h +++ b/src/AIAC/ACInfoToolhead.h @@ -148,7 +148,7 @@ namespace AIAC { public: ToolHeadData(){ - this->m_ScaleF = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::SCALE_FACTOR, 0.0f); + this->m_ScaleF = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::SCALE_FACTOR, 1.0f); } ~ToolHeadData() = default; private: diff --git a/src/AIAC/ACInfoToolheadManager.cpp b/src/AIAC/ACInfoToolheadManager.cpp index 4d6491b1f..8af5de2b2 100644 --- a/src/AIAC/ACInfoToolheadManager.cpp +++ b/src/AIAC/ACInfoToolheadManager.cpp @@ -11,9 +11,11 @@ namespace AIAC this->m_ACInfoToolheadMap.clear(); std::string configPath = AIAC::Config::Get(AIAC::Config::SEC_TTOOL, - AIAC::Config::CONFIG_FILE); + AIAC::Config::CONFIG_FILE, + "deps/TTool/assets/config.yml"); std::string ttoolRootPath = AIAC::Config::Get(AIAC::Config::SEC_TTOOL, - AIAC::Config::TTOOL_ROOT_PATH); + AIAC::Config::TTOOL_ROOT_PATH, + "deps/TTool/assets/toolheads"); std::vector toolheadACITPaths = ParseConfigFile(configPath, "acitFiles"); std::vector toolheadOBJPaths = ParseConfigFile(configPath, "modelFiles"); @@ -30,10 +32,11 @@ namespace AIAC AIAC_ERROR("No toolhead models loaded!"); // if the config has no names, set the first one as active - if (AIAC::Config::Get(AIAC::Config::SEC_TTOOL, AIAC::Config::CACHED_TOOLHEAD).empty()) + auto cachedToolhead = AIAC::Config::Get(AIAC::Config::SEC_TTOOL, AIAC::Config::CACHED_TOOLHEAD); + if (cachedToolhead.empty()) this->SetActiveToolhead(this->m_ACInfoToolheadMap.begin()->first); else - this->SetActiveToolhead(AIAC::Config::Get(AIAC::Config::SEC_TTOOL, AIAC::Config::CACHED_TOOLHEAD)); + this->SetActiveToolhead(cachedToolhead); } void ACInfoToolheadManager::SetActiveToolhead(const std::string& toolheadName) diff --git a/src/AIAC/Camera.cpp b/src/AIAC/Camera.cpp index 042313970..3b054a76b 100644 --- a/src/AIAC/Camera.cpp +++ b/src/AIAC/Camera.cpp @@ -31,7 +31,9 @@ namespace AIAC AIAC_INFO("Camera Resolution: {0}x{1}.", m_PhysicalWidth, m_PhysicalHeight); } - m_CalibFilePath = AIAC::Config::Get("AIAC", "CamParamsFile", "assets/tslam/calibration_webcam.yml"); + m_CalibFilePath = AIAC::Config::Get(Config::SEC_AIAC, + Config::CAM_PARAMS_FILE, + "assets/tslam/calibration_orange_A_1280_720_000B.yml"); LoadCameraParams(m_CalibFilePath); FlipHorizontal = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::CAM_FLIP_HORIZONTAL, false); diff --git a/src/AIAC/CameraCalibrator.cpp b/src/AIAC/CameraCalibrator.cpp index d7441898e..a509f0332 100644 --- a/src/AIAC/CameraCalibrator.cpp +++ b/src/AIAC/CameraCalibrator.cpp @@ -25,7 +25,7 @@ void CameraCalibrator::CalcBoardCornerPositions( } } -//! [board_corners] +//! [board_corners bool CameraCalibrator::RunCalibration(cv::Mat * imgForDisplay) { ValidateAndUpdateFlag(); DetectPattern(imgForDisplay); diff --git a/src/AIAC/CameraCalibrator.h b/src/AIAC/CameraCalibrator.h index fb4906ba0..3d60b9ad1 100644 --- a/src/AIAC/CameraCalibrator.h +++ b/src/AIAC/CameraCalibrator.h @@ -34,13 +34,13 @@ namespace AIAC{ void CalcBoardCornerPositions(std::vector& corners) const; public: - cv::Size boardSize = cv::Size(13, 9); // The size of the board -> Number of items by width and height + cv::Size boardSize = cv::Size(19, 13); // The size of the board -> Number of items by width and height Pattern calibrationPattern = Pattern::CHESSBOARD; // One of the Chessboard, circles, or asymmetric circle pattern float squareSize = 20.0f; // The size of a square in your defined unit (point, millimeter,etc). float aspectRatio = 0.0f; // The aspect ratio, can be 0 if no need bool writeExtrinsics = true; // Write extrinsic parameters - bool calibZeroTangentDist = true; // Assume zero tangential distortion - bool calibFixPrincipalPoint = true; // Fix the principal point at the center + bool calibZeroTangentDist = false; // Assume zero tangential distortion + bool calibFixPrincipalPoint = false; // Fix the principal point at the center bool flipVertical = false; // Flip the captured images around the horizontal axis bool useFisheye = false; // use fisheye camera model for calibration bool fixDistortion = false; // fix K1 distortion coefficient diff --git a/src/AIAC/Config.h b/src/AIAC/Config.h index b8ffc6f9c..7084ae579 100644 --- a/src/AIAC/Config.h +++ b/src/AIAC/Config.h @@ -10,7 +10,9 @@ namespace AIAC{ class Config { public: + //------------------------------------------------------- inline static const std::string SEC_AIAC = "AIAC"; + inline static const std::string CAM_ID = "CamID"; inline static const std::string CAM_PARAMS_FILE = "CamParamsFile"; inline static const std::string CAM_FLIP_HORIZONTAL = "CamFlipHorizontal"; @@ -22,25 +24,34 @@ class Config inline static const std::string ALIGN_FLIP = "AlignFlip"; inline static const std::string SCALE_FACTOR = "ScaleFactor"; + //------------------------------------------------------- inline static const std::string SEC_TSLAM = "TSlam"; + inline static const std::string MAP_FILE = "MapFile"; inline static const std::string VocFile = "VocFile"; inline static const std::string RECONSTRUCT_CONFIG_DEFAULT_FILE = "ReconstructConfigDefaultFile"; inline static const std::string SAVE_DIR_MAPS = "SaveDirMaps"; inline static const std::string STABILIZATION_FRAME_COUNT = "SaveDirMaps"; + //------------------------------------------------------- inline static const std::string SEC_TTOOL = "TTool"; + inline static const std::string CONFIG_FILE = "ConfigFile"; inline static const std::string DATASET_DIR = "DatasetDir"; inline static const std::string TTOOL_ROOT_PATH = "TToolRootPath"; inline static const std::string CACHED_TOOLHEAD = "CachedToolhead"; - inline static const std::string SEC_RENDERER = "Renderer"; - inline static const std::string PCD_MAP_PATH = "PointCloudMapPath"; - inline static const std::string DIGITAL_MODEL_PATH = "DigitalModelPath"; - inline static const std::string MESH_PATHS = "MeshPaths"; + //------------------------------------------------------- + inline static const std::string SEC_TOUCH_MONITOR_SPECS = "TouchMonitorSpecs"; + inline static const std::string NAME = "Name"; + inline static const std::string LINK_MODE = "LinkMode"; + inline static const std::string RESOLUTION = "Resolution"; + + + //------------------------------------------------------- inline static const std::string SEC_UTILS = "Utils"; + inline static const std::string UTILS_PATH = "UtilsPath"; public: diff --git a/src/AIAC/EventSys/Event.h b/src/AIAC/EventSys/Event.h index 847c52b10..e986f861d 100644 --- a/src/AIAC/EventSys/Event.h +++ b/src/AIAC/EventSys/Event.h @@ -13,6 +13,7 @@ namespace AIAC None = 0, AppClose, SLAMMapLoaded, SLAMVocabularyLoaded, SLAMStartMapping, SLAMStopMapping, + SLAMCombineMapEvent, CameraCalibrationLoaded /* add types of events here */ }; diff --git a/src/AIAC/EventSys/EventBus.h b/src/AIAC/EventSys/EventBus.h index 5e5e5479c..b308ed416 100644 --- a/src/AIAC/EventSys/EventBus.h +++ b/src/AIAC/EventSys/EventBus.h @@ -32,6 +32,10 @@ namespace AIAC auto& slamEvent = static_cast(*event); slamEvent.OnSLAMStopMapping(); }); + m_EventQueue.appendListener(EventType::SLAMCombineMapEvent, [](const EventPointer& event) { + auto& slamEvent = static_cast(*event); + slamEvent.OnSLAMCombineMap(); + }); m_EventQueue.appendListener(EventType::CameraCalibrationLoaded, [](const EventPointer& event) { auto& cameraEvent = static_cast(*event); cameraEvent.OnCameraCalibrationFileLoaded(); diff --git a/src/AIAC/EventSys/SLAMEvent.cpp b/src/AIAC/EventSys/SLAMEvent.cpp index b7729f902..44a87fdbe 100644 --- a/src/AIAC/EventSys/SLAMEvent.cpp +++ b/src/AIAC/EventSys/SLAMEvent.cpp @@ -3,6 +3,7 @@ #include "AIAC/EventSys/SLAMEvent.h" #include "AIAC/Application.h" #include +#include namespace AIAC { @@ -58,7 +59,10 @@ namespace AIAC AIAC_INFO("Start mapping"); // update the camera parameters for SLAM - auto camParamFilepath = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::CAM_PARAMS_FILE); + auto camParamFilepath = AIAC::Config::Get( + AIAC::Config::SEC_AIAC, + AIAC::Config::CAM_PARAMS_FILE, + "assets/tslam/calibration_orange_A_1280_720_000B.yml"); AIAC_APP.GetLayer()->MainCamera.UpdateCameraParamFromFile(camParamFilepath); AIAC_APP.GetLayer()->Slam.setCamParams(camParamFilepath); AIAC_APP.GetLayer()->Slam.imageParams.Distorsion.setTo(cv::Scalar::all(0)); @@ -68,7 +72,6 @@ namespace AIAC // start mapping AIAC_APP.GetLayer()->StartMapping(); - AIAC_APP.GetRenderer()->StartMapping(); } void SLAMStopMappingEvent::OnSLAMStopMapping() @@ -82,7 +85,6 @@ namespace AIAC AIAC_INFO("Stop mapping"); AIAC_APP.GetLayer()->StopMapping(); - AIAC_APP.GetRenderer()->StopMapping(); // Optimize Map if(m_ToOptimize && m_ToSave) { @@ -124,4 +126,39 @@ namespace AIAC else AIAC_WARN("Reconstruction failed, skip loading the model"); } } + + void SLAMCombineMapEvent::OnSLAMCombineMap() + { + if (m_OutputPath.empty()) { + auto basePathA = m_MapPathA.substr(0, m_MapPathA.find_last_of('.')); + auto filenameB = m_MapPathB.substr(m_MapPathB.find_last_of('/') + 1); + m_OutputPath = basePathA + "_combined_" + filenameB; + } + + auto basePath = m_OutputPath.substr(0, m_OutputPath.find_last_of(".")); + auto ymlTagMapPath = basePath + ".yml"; + auto recPlyPath = basePath + "_reconstruct.ply"; + + AIAC_APP.GetLayer()->Slam.CombineMap( + m_MapPathA, m_MapPathB, m_OutputPath, + true, true, nullptr, m_OptimizeIterations); + + // Reconstruct 3D + bool isReconstructed = AIAC_APP.GetLayer()->Slam.Reconstruct3DModelAndExportPly( + ymlTagMapPath, + recPlyPath, + m_RadiusSearch, + m_CreaseAngleThreshold, + m_MinClusterSize, + m_AABBScaleFactor, + m_MaxPolyTagDist, + m_MaxPlnDist2Merge, + m_MaxPlnAngle2Merge, + m_EPS + ); + + // Load reconstructed 3D model + if(isReconstructed) AIAC_APP.GetLayer()->LoadScannedModel(recPlyPath); + else AIAC_WARN("Reconstruction failed, skip loading the model"); + } } \ No newline at end of file diff --git a/src/AIAC/EventSys/SLAMEvent.h b/src/AIAC/EventSys/SLAMEvent.h index 865434afb..063387162 100644 --- a/src/AIAC/EventSys/SLAMEvent.h +++ b/src/AIAC/EventSys/SLAMEvent.h @@ -85,4 +85,54 @@ namespace AIAC double m_MaxPlnAngle2Merge; double m_EPS; }; + + class SLAMCombineMapEvent : public Event + { + public: + // FIXME: This is a bit ugly, creating a struct for the two sets of parameters may be better? + explicit SLAMCombineMapEvent( + // Combine Map Parameters + std::string mapPathA, + std::string mapPathB, + std::string outputPath, + int optimizeIterations, + + // Reconstruction Parameters + float radiusSearch, + double creaseAngleThreshold, + int minClusterSize, + double AABBScaleFactor, + double maxPolyTagDist, + double maxPlnDist2Merge, + double maxPlnAngle2Merge, + double EPS) + + : Event(EventType::SLAMCombineMapEvent, EventCategory::EventCategorySLAM), + m_MapPathA(std::move(mapPathA)), m_MapPathB(std::move(mapPathB)), m_OutputPath(std::move(outputPath)), + m_OptimizeIterations(optimizeIterations), + m_RadiusSearch(radiusSearch), m_CreaseAngleThreshold(creaseAngleThreshold), + m_MinClusterSize(minClusterSize), m_AABBScaleFactor(AABBScaleFactor), + m_MaxPolyTagDist(maxPolyTagDist), m_MaxPlnDist2Merge(maxPlnDist2Merge), + m_MaxPlnAngle2Merge(maxPlnAngle2Merge), m_EPS(EPS) + {} + + void OnSLAMCombineMap(); + + private: + // Combine Map Parameters + std::string m_MapPathA; + std::string m_MapPathB; + std::string m_OutputPath; + int m_OptimizeIterations; + + // Reconstruction Parameters + float m_RadiusSearch; + double m_CreaseAngleThreshold; + int m_MinClusterSize; + double m_AABBScaleFactor; + double m_MaxPolyTagDist; + double m_MaxPlnDist2Merge; + double m_MaxPlnAngle2Merge; + double m_EPS; + }; } \ No newline at end of file diff --git a/src/AIAC/Feedback/CutChainSawFeedback.cpp b/src/AIAC/Feedback/CutChainSawFeedback.cpp index 3b020ef0a..e348541d2 100644 --- a/src/AIAC/Feedback/CutChainSawFeedback.cpp +++ b/src/AIAC/Feedback/CutChainSawFeedback.cpp @@ -120,11 +120,98 @@ namespace AIAC Deactivate(); } - void CutChainSawFeedback::updateCutPlane () + void CutChainSawFeedback::UpdateCutPlane () { if(m_ToShowCutPlane) m_CutPlaneVisualizer.Update(m_NormalVec, m_NormStart); } + void CutChainSawFeedback::UpdateRefFaces() { + if (IsRefFacesSelectedManually) { + // In manually selection mode, when the m_cut is switched, we have to update the face + if (m_Cut->GetAllFaces().find(m_NearestParallelFaceID) == m_Cut->GetAllFaces().end()){ + m_NearestParallelFaceID = m_Cut->GetAllFaces().begin()->first; + } + + // get the first closest neighbour face to the highlighted face as the perpendicular face + // ** As we're limiting the cut to have maximum 3 faces, it doesn't really matter how to calculate. + // the perpendicular plane. I think a better idea is to take the furthest neighbor of the nearest parallel + // face or the face that maximum the length of the projection line formed by the m_ChainBase and m_ChainEnd. + // However, since it's working, I'm not dare to touch it :3 + m_NearestPerpendicularFaceID = ""; + std::map neighbouringFaces = + this->m_Cut->GetFaceNeighbors(m_NearestParallelFaceID); + float minDist = std::numeric_limits::max(); + for (auto const& [faceID, faceInfo] : neighbouringFaces) + { + auto projCenter = GetProjectionPointOnPlane( + faceInfo.GetNormal(), + faceInfo.GetCenter(), + m_ChainMid); + float distAbs = glm::abs(glm::distance(m_ChainMid, projCenter)); + if (distAbs < minDist) + { + minDist = distAbs; + m_NearestPerpendicularFaceID = faceID; + } + } + } else { + // Find the nearest parallel/perpendicular face to highlight + float nearestParallelFaceDist = 1e9f; + float nearestPerpendicularFaceDist = 1e9f; + std::vector parallelFaceIDs; + std::vector perpendicularFaceIDs; + + for (auto const &[faceID, faceInfo]: m_Cut->GetAllFaces()) { + if (faceInfo.IsExposed()) continue; + auto faceNormal = faceInfo.GetNormal(); + auto theta = glm::acos( + glm::dot(faceNormal, m_NormalVec) / (glm::length(faceNormal) * glm::length(m_NormalVec))); + + auto distChainBase = glm::distance(faceInfo.GetCenter(), m_ChainBase); + auto distChainEnd = glm::distance(faceInfo.GetCenter(), m_ChainEnd); + auto totalDist = distChainBase + distChainEnd; + + // for parallel faces, find the nearest one + auto threshold = 0.7853f; // 45 degrees + if (theta < threshold || (3.14159 - theta) < threshold) { + parallelFaceIDs.push_back(faceID); + // update nearest parallel face + if (m_NearestParallelFaceID.empty() || totalDist < nearestParallelFaceDist) { + m_NearestParallelFaceID = faceID; + nearestParallelFaceDist = totalDist; + } + } else { + perpendicularFaceIDs.push_back(faceID); + // update nearest perpendicular face + if (m_NearestPerpendicularFaceID.empty() || totalDist < nearestPerpendicularFaceDist) { + m_NearestPerpendicularFaceID = faceID; + nearestPerpendicularFaceDist = totalDist; + } + } + } + } + } + + void CutChainSawFeedback::ManuallyScrollRefFace(int scrollDirection) { + auto iter = m_Cut->GetAllFaces().find(m_NearestParallelFaceID); + + // if scroll direction > 0 => goes to next, otherwise, goes back + if (scrollDirection > 0) { + iter++; + if (iter == m_Cut->GetAllFaces().end()){ + iter = m_Cut->GetAllFaces().begin(); + } + } else { + if (iter == m_Cut->GetAllFaces().begin()){ + iter = m_Cut->GetAllFaces().end(); + } + iter--; + } + + m_NearestParallelFaceID = iter->first; + + } + void CutChainSawFeedback::Update() { // calculate tool normal @@ -135,55 +222,22 @@ namespace AIAC m_ChainEnd = AC_FF_TOOL->GetData().ChainEndGO->GetPosition(); m_NormalVec = glm::normalize(m_NormEnd - m_NormStart); - TimberInfo::Cut* cut = dynamic_cast(AC_FF_COMP); + m_Cut = dynamic_cast(AC_FF_COMP); auto& angleVisualizer = this->m_Visualizer.GetAngleFeedVisualizer(); auto& depthVisualizer = this->m_Visualizer.GetDepthFeedVisualizer(); - if(m_ToShowCutPlane) updateCutPlane(); + if(m_ToShowCutPlane) UpdateCutPlane(); // if it's a single face show the cutting plane - if(cut->IsSingleFace()) { + if(m_Cut->IsSingleFace()) { this->EnableCutPlane(true); } - // Find the nearest parallel/perpendicular face to highlight - float nearestParallelFaceDist = 1e9f; - std::string nearestParallelFaceID; - float nearestPerpendicularFaceDist = 1e9f; - std::string nearestPerpendicularFaceID; - std::vector parallelFaceIDs; - std::vector perpendicularFaceIDs; + this->UpdateRefFaces(); - for(auto const& [faceID, faceInfo]: cut->GetAllFaces()){ - if (faceInfo.IsExposed()) continue; - auto faceNormal = faceInfo.GetNormal(); - auto theta = glm::acos(glm::dot(faceNormal, m_NormalVec)/(glm::length(faceNormal)*glm::length(m_NormalVec))); - - auto distChainBase = glm::distance(faceInfo.GetCenter(), m_ChainBase); - auto distChainEnd = glm::distance(faceInfo.GetCenter(), m_ChainEnd); - auto totalDist = distChainBase + distChainEnd; - - // for parallel faces, find the nearest one - auto threshold = 0.7853f; // 45 degrees - if(theta < threshold || (3.14159 - theta) < threshold) { - parallelFaceIDs.push_back(faceID); - // update nearest parallel face - if(nearestParallelFaceID.empty() || totalDist < nearestParallelFaceDist){ - nearestParallelFaceID = faceID; - nearestParallelFaceDist = totalDist; - } - } else { - perpendicularFaceIDs.push_back(faceID); - // update nearest perpendicular face - if(nearestPerpendicularFaceID.empty() || totalDist < nearestPerpendicularFaceDist){ - nearestPerpendicularFaceID = faceID; - nearestPerpendicularFaceDist = totalDist; - } - } - } // Highlight the face - if (!cut->IsSingleFace()) - cut->HighlightFace(nearestParallelFaceID); + if (!m_Cut->IsSingleFace()) + m_Cut->HighlightFace(m_NearestParallelFaceID); // Update the m_Visualizer for the closest parallel face bool hasParallelFace = false, hasPerpendicularFace = false; @@ -195,13 +249,13 @@ namespace AIAC glm::vec3 perpIntersectLineSegPt1, perpIntersectLineSegPt2; // for depth text anchor // update angle visualizer - if(!nearestParallelFaceID.empty()) + if(!m_NearestParallelFaceID.empty()) { hasParallelFace = true; angleVisualizer.Activate(); // find the projection point of the three points on the face - auto faceInfo = cut->GetFace(nearestParallelFaceID); + auto faceInfo = m_Cut->GetFace(m_NearestParallelFaceID); auto faceNormal = faceInfo.GetNormal(); auto faceCenter = faceInfo.GetCenter(); @@ -219,12 +273,12 @@ namespace AIAC } // extra orientation - if (!nearestParallelFaceID.empty() or cut->IsSingleFace()) + if (!m_NearestParallelFaceID.empty() or m_Cut->IsSingleFace()) { m_CutOrientationVisualizer.Activate(); // face and blade normal - auto faceInfo = cut->GetFace(nearestParallelFaceID); + auto faceInfo = m_Cut->GetFace(m_NearestParallelFaceID); auto faceNormal = faceInfo.GetNormal(); auto faceCenter = faceInfo.GetCenter(); m_CutOrientationVisualizer.m_LineFaceNormal->SetPts(faceCenter, faceCenter + faceNormal); @@ -309,12 +363,12 @@ namespace AIAC } // Perpendicular face - if(!nearestPerpendicularFaceID.empty() and !cut->IsSingleFace()) + if(!m_NearestPerpendicularFaceID.empty() and !m_Cut->IsSingleFace()) { hasPerpendicularFace = true; // find the projection point of the 2 points on the face - auto faceInfo = cut->GetFace(nearestPerpendicularFaceID); + auto faceInfo = m_Cut->GetFace(m_NearestPerpendicularFaceID); auto faceNormal = faceInfo.GetNormal(); auto faceCenter = faceInfo.GetCenter(); @@ -331,7 +385,7 @@ namespace AIAC // Get the intersection point of the intersect line and the face's edges std::vector intersectPts; for(auto const& edgeID: faceInfo.GetEdges()){ - auto edge = cut->GetEdge(edgeID); + auto edge = m_Cut->GetEdge(edgeID); auto edgePt1 = edge.GetStartPt().GetPosition(); auto edgePt2 = edge.GetEndPt().GetPosition(); ExtendLineSeg(edgePt1, edgePt2, 0.5f); @@ -395,7 +449,7 @@ namespace AIAC perpendicularFaceEdge1Dist = glm::distance(perpIntersectLineSegPt1, pt1ProjPt); perpendicularFaceEdge2Dist = glm::distance(perpIntersectLineSegPt2, pt2ProjPt); - float scaleFactor = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::SCALE_FACTOR, 0.0f); + float scaleFactor = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::SCALE_FACTOR, 1.0f); float realPerpendicularFaceEdge1Dist = perpendicularFaceEdge1Dist / scaleFactor; float realPerpendicularFaceEdge2Dist = perpendicularFaceEdge2Dist / scaleFactor; diff --git a/src/AIAC/Feedback/CutChainSawFeedback.h b/src/AIAC/Feedback/CutChainSawFeedback.h index 2d340f4e3..c7d88031a 100644 --- a/src/AIAC/Feedback/CutChainSawFeedback.h +++ b/src/AIAC/Feedback/CutChainSawFeedback.h @@ -121,9 +121,20 @@ namespace AIAC if(enable) m_CutPlaneVisualizer.Activate(); else m_CutPlaneVisualizer.Deactivate(); } - + + /** + * Manually select the reference face (the nearest parallel face) + * @param scrollDirection when > 0, goes to next; <= 0, goes back. + */ + void ManuallyScrollRefFace(int scrollDirection); + + public: + // config exposed to UI + bool IsRefFacesSelectedManually = false; + private: - void updateCutPlane(); + void UpdateCutPlane(); + void UpdateRefFaces(); glm::vec3 m_NormStart; glm::vec3 m_NormEnd; @@ -135,6 +146,10 @@ namespace AIAC bool m_ToShowCutPlane = false; private: + TimberInfo::Cut* m_Cut; + std::string m_NearestParallelFaceID; + std::string m_NearestPerpendicularFaceID; + CutChainSawFeedVisualizer m_Visualizer; ChainSawCutPlaneVisualizer m_CutPlaneVisualizer; CutOrientationVisualizer m_CutOrientationVisualizer; diff --git a/src/AIAC/Feedback/CutCircularSawFeedback.cpp b/src/AIAC/Feedback/CutCircularSawFeedback.cpp index c58bb2035..0c914781b 100644 --- a/src/AIAC/Feedback/CutCircularSawFeedback.cpp +++ b/src/AIAC/Feedback/CutCircularSawFeedback.cpp @@ -131,80 +131,107 @@ namespace AIAC m_Normal = glm::normalize(m_NormalEnd - m_NormalStart); } - void CutCircularSawFeedback::UpdateRefFaces() - { - // -------------------------------------------------------------------- - // update the highlighted face - std::string nearestParallelFaceID; - std::vector> allValidFaces; - std::vector> perpenFaces; - - // get the distances to the blade circle - for(auto const& [faceID, faceInfo]: m_Cut->GetAllFaces()){ - if (faceInfo.IsExposed()) continue; - glm::vec3 ptOnCircleBlade = GOCircle::ClosestPointToCircle( - faceInfo.GetCenter(), - m_Center, - m_Normal, - m_Radius - ); - auto dist = glm::abs(glm::distance(ptOnCircleBlade, faceInfo.GetCenter())); - allValidFaces.push_back(std::make_pair(faceID, dist)); - } - // filter the vector with an angle threshold, erase those elements in the vector that do not respect the check - auto thresholdAngle = 0.7853f; // 45 degrees - allValidFaces.erase( - std::remove_if(allValidFaces.begin(), allValidFaces.end(), [this, thresholdAngle](auto const& a){ - auto faceInfo = m_Cut->GetFace(a.first); - auto faceNormal = faceInfo.GetNormal(); - auto theta = glm::acos( - glm::dot(faceNormal, m_Normal) / - (glm::length(faceNormal) * glm::length(m_Normal)) - ); - return theta > thresholdAngle && (3.14159 - theta) > thresholdAngle; - }), - allValidFaces.end() - ); - // reorder the faces by the abs distance - std::sort(allValidFaces.begin(), allValidFaces.end(), [](auto const& a, auto const& b){ - return a.second < b.second; - }); - // put the rest in the perpendicular faces - for (auto const& [faceID, dist]: allValidFaces){ - if(faceID == nearestParallelFaceID) continue; - perpenFaces.push_back(std::make_pair(faceID, dist)); + void CutCircularSawFeedback::ManuallyScrollRefFace(int scrollDirection) { + auto iter = m_Cut->GetAllFaces().find(m_NearestParallelFaceID); + + // if scroll direction > 0 => goes to next, otherwise, goes back + if (scrollDirection > 0) { + iter++; + if (iter == m_Cut->GetAllFaces().end()){ + iter = m_Cut->GetAllFaces().begin(); + } + } else { + if (iter == m_Cut->GetAllFaces().begin()){ + iter = m_Cut->GetAllFaces().end(); + } + iter--; } - // if it is the first time, nearestParallelFaceID.empty() gives the first face as the nearest parallel face - nearestParallelFaceID = nearestParallelFaceID.empty() ? allValidFaces[0].first : nearestParallelFaceID; - // sort perpendicular faces by distance - std::sort(perpenFaces.begin(), perpenFaces.end(), [](auto const& a, auto const& b){ - return a.second < b.second; - }); + m_NearestParallelFaceID = iter->first; + + } + + void CutCircularSawFeedback::UpdateRefFaces() + { // -------------------------------------------------------------------- - // update class members - // if the saw is place on the side for adjusting the height, there should be no parallel face - if(nearestParallelFaceID.empty()) - { - if(perpenFaces.size() < 2) { - // TODO: catch error - return; + // update the reference faces (parallel / perpendicular) + if (IsRefFacesSelectedManually) { + // In manually selection mode, when the m_cut is switched, we have to update the face + if (m_Cut->GetAllFaces().find(m_NearestParallelFaceID) == m_Cut->GetAllFaces().end()){ + m_NearestParallelFaceID = m_Cut->GetAllFaces().begin()->first; } - m_NearestParallelFaceID = perpenFaces[0].first; - m_NearestPerpendicularFaceID = perpenFaces[1].first; } else { - m_NearestParallelFaceID = nearestParallelFaceID; - if(!perpenFaces.empty()){ - m_NearestPerpendicularFaceID = perpenFaces[0].first; + // automatically determine the reference faces + std::string nearestParallelFaceID; + std::vector> allValidFaces; + std::vector> perpenFaces; + + // get the distances to the blade circle + for(auto const& [faceID, faceInfo]: m_Cut->GetAllFaces()){ + if (faceInfo.IsExposed()) continue; + glm::vec3 ptOnCircleBlade = GOCircle::ClosestPointToCircle( + faceInfo.GetCenter(), + m_Center, + m_Normal, + m_Radius + ); + auto dist = glm::abs(glm::distance(ptOnCircleBlade, faceInfo.GetCenter())); + allValidFaces.push_back(std::make_pair(faceID, dist)); + } + // filter the vector with an angle threshold, erase those elements in the vector that do not respect the check + auto thresholdAngle = 0.7853f; // 45 degrees + allValidFaces.erase( + std::remove_if(allValidFaces.begin(), allValidFaces.end(), [this, thresholdAngle](auto const& a){ + auto faceInfo = m_Cut->GetFace(a.first); + auto faceNormal = faceInfo.GetNormal(); + auto theta = glm::acos( + glm::dot(faceNormal, m_Normal) / + (glm::length(faceNormal) * glm::length(m_Normal)) + ); + return theta > thresholdAngle && (3.14159 - theta) > thresholdAngle; + }), + allValidFaces.end() + ); + // reorder the faces by the abs distance + std::sort(allValidFaces.begin(), allValidFaces.end(), [](auto const& a, auto const& b){ + return a.second < b.second; + }); + // put the rest in the perpendicular faces + for (auto const& [faceID, dist]: allValidFaces){ + if(faceID == nearestParallelFaceID) continue; + perpenFaces.push_back(std::make_pair(faceID, dist)); + } + // if it is the first time, nearestParallelFaceID.empty() gives the first face as the nearest parallel face + nearestParallelFaceID = nearestParallelFaceID.empty() ? allValidFaces[0].first : nearestParallelFaceID; + // sort perpendicular faces by distance + std::sort(perpenFaces.begin(), perpenFaces.end(), [](auto const& a, auto const& b){ + return a.second < b.second; + }); + + // -------------------------------------------------------------------- + // update class members + + // Case 1: If the saw is place on the side for adjusting the height, there should be no parallel face + // Therefore, the closest face would be considered as the face to be cut, + // and the secondly closest face would be considered as the perpendicular surface that sits + // at the bottom of the blade. + // Case 2: During cut, everything is defined as normal + if(nearestParallelFaceID.empty()) + { + if(perpenFaces.size() < 2) { + // TODO: catch error + return; + } + m_NearestParallelFaceID = perpenFaces[0].first; } else { - m_NearestPerpendicularFaceID.clear(); + m_NearestParallelFaceID = nearestParallelFaceID; } } // -------------------------------------------------------------------- - // get the closestfirst and second neighbour face to the highlightesd face and to the blade's center + // get the first and secondly closest neighbour face to the highlighted face and to the blade's center std::map neighbouringFaces = - this->m_Cut->GetHighlightedFaceNeighbors(); + this->m_Cut->GetFaceNeighbors(m_NearestParallelFaceID); float minDist = std::numeric_limits::max(); for (auto const& [faceID, faceInfo] : neighbouringFaces) { @@ -597,7 +624,7 @@ namespace AIAC void CutCircularSawFeedback::UpdateDepthFeedback() { - if (!this->m_NearestParallelFaceID.empty() && !m_Cut->IsSingleFace() && !this->m_NearestPerpendicularFaceID.empty()) + if (!this->m_NearestParallelFaceID.empty() && !m_Cut->IsSingleFace()) { // calculate distances (closest point to line/segment to circle) float distLineDepth = GOCircle::ClosestDistanceFromLineToCircle( diff --git a/src/AIAC/Feedback/CutCircularSawFeedback.h b/src/AIAC/Feedback/CutCircularSawFeedback.h index 6130b35d0..fa10506e4 100644 --- a/src/AIAC/Feedback/CutCircularSawFeedback.h +++ b/src/AIAC/Feedback/CutCircularSawFeedback.h @@ -134,6 +134,16 @@ namespace AIAC if(enable) m_CutPlaneVisualizer.Activate(); else m_CutPlaneVisualizer.Deactivate(); }; + + /** + * Manually select the reference face (the nearest parallel face) + * @param scrollDirection when > 0, goes to next; <= 0, goes back. + */ + void ManuallyScrollRefFace(int scrollDirection); + + public: + // config exposed to UI + bool IsRefFacesSelectedManually = false; private: // data @@ -152,8 +162,6 @@ namespace AIAC private: ///< @brief the important faces ///< @brief the face that is going to be updated std::string m_NearestParallelFaceID; - ///< @brief the face that is perpendicular to the highlighted face - std::string m_NearestPerpendicularFaceID; ///< @brief the closest neighbour face to the highlighted face and to the blade std::string m_NearestNeighbourFaceIDToParallelFace; ///< @brief the second closest neighbour face to the highlighted face and to the blade @@ -165,6 +173,7 @@ namespace AIAC private: void UpdateToolPosition(); void UpdateRefFaces(); + void UpdateFeedback(); /** * @brief The "General" situation means that we have a perpendicular face that served as diff --git a/src/AIAC/Feedback/FabFeedback.h b/src/AIAC/Feedback/FabFeedback.h index 2b8dfcb92..98ae3512b 100644 --- a/src/AIAC/Feedback/FabFeedback.h +++ b/src/AIAC/Feedback/FabFeedback.h @@ -9,7 +9,7 @@ namespace AIAC { class FabFeedback { public: FabFeedback() { - this->m_ScaleFactor = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::SCALE_FACTOR, 0.0f); + this->m_ScaleFactor = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::SCALE_FACTOR, 1.0f); }; ~FabFeedback() = default; diff --git a/src/AIAC/Feedback/FeedbackVisualizer.h b/src/AIAC/Feedback/FeedbackVisualizer.h index a6ec9f3b4..4f47918a5 100644 --- a/src/AIAC/Feedback/FeedbackVisualizer.h +++ b/src/AIAC/Feedback/FeedbackVisualizer.h @@ -35,7 +35,7 @@ namespace AIAC{ */ static std::string toString(double val) { // TODO: / 50 * 1000 => convert to right scale in mm, change this to a variable based on config - auto scale = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::SCALE_FACTOR, 0.0f); + auto scale = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::SCALE_FACTOR, 1.0f); int valInt = (int)(val / scale * 1000); if(valInt > 99) valInt = 99; auto retVal = std::to_string(valInt); diff --git a/src/AIAC/Feedback/HoleFeedback.cpp b/src/AIAC/Feedback/HoleFeedback.cpp index 88fd28136..f2227143f 100644 --- a/src/AIAC/Feedback/HoleFeedback.cpp +++ b/src/AIAC/Feedback/HoleFeedback.cpp @@ -83,7 +83,7 @@ namespace AIAC void HoleFeedback::Update() { auto hole = dynamic_cast(AC_FF_COMP); - float scaleF = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::SCALE_FACTOR, 0.0f); + float scaleF = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::SCALE_FACTOR, 1.0f); this->m_VisPosition.m_HoleLine2ToolStart_A->SetPosition(*AC_FF_TOOL->GetData().TooltipGO); this->m_VisPosition.m_HoleLine2ToolStart_B->SetPosition(*hole->GetStartPointGO()); diff --git a/src/AIAC/GOSys/GOPrimitive.cpp b/src/AIAC/GOSys/GOPrimitive.cpp index 60a1a6199..69565ff84 100644 --- a/src/AIAC/GOSys/GOPrimitive.cpp +++ b/src/AIAC/GOSys/GOPrimitive.cpp @@ -1,7 +1,11 @@ #include "aiacpch.h" +#include "assimp/Importer.hpp" // C++ importer interface +#include "assimp/scene.h" // Output data structure +#include "assimp/postprocess.h" // Post processing flags #include "glm/gtx/string_cast.hpp" + #include "AIAC/Log.h" #include "AIAC/GOSys/GOPrimitive.h" #include "AIAC/Application.h" diff --git a/src/AIAC/LayerCameraCalib.h b/src/AIAC/LayerCameraCalib.h index 3cf97e54e..0684e0295 100644 --- a/src/AIAC/LayerCameraCalib.h +++ b/src/AIAC/LayerCameraCalib.h @@ -28,8 +28,8 @@ namespace AIAC public: bool AutoCapture = true; bool JustCaptured = false; - int Delay = 2000; - int NumOfFrame = 25; + int Delay = 1500; + int NumOfFrame = 100; std::string SaveFilename = "assets/tslam/calibration.yml"; private: diff --git a/src/AIAC/LayerFeedback.cpp b/src/AIAC/LayerFeedback.cpp index b62b0a540..d0f8ee264 100644 --- a/src/AIAC/LayerFeedback.cpp +++ b/src/AIAC/LayerFeedback.cpp @@ -15,6 +15,10 @@ namespace AIAC void LayerFeedback::OnFrameStart() { if(m_CurrentFabFeedbackPtr != nullptr) m_CurrentFabFeedbackPtr->Deactivate(); + if(AC_FF_COMP == nullptr) { + m_CurrentFabFeedbackPtr = nullptr; + return; + } if (AC_FF_TOOL->GetTypeString() == "DRILLBIT"){ if (AC_FF_COMP->GetTypeString() == "HOLE") { diff --git a/src/AIAC/LayerFeedback.h b/src/AIAC/LayerFeedback.h index da2cccf80..9908ba27b 100644 --- a/src/AIAC/LayerFeedback.h +++ b/src/AIAC/LayerFeedback.h @@ -31,6 +31,8 @@ namespace AIAC inline void DeactivateCurrentFeedbackVisibility() { m_IsCurrentFabFeedbackVisible = false; } inline void ActivateCurrentFeedbackVisibility() { m_IsCurrentFabFeedbackVisible = true; } + FabFeedback* GetCurrentFabFeedback() { return m_CurrentFabFeedbackPtr; }; + private: HoleFeedback m_HoleFeedback; CutChainSawFeedback m_CutChainSawFeedback; diff --git a/src/AIAC/LayerLogRecorder.cpp b/src/AIAC/LayerLogRecorder.cpp index 1cad70681..c96524d15 100644 --- a/src/AIAC/LayerLogRecorder.cpp +++ b/src/AIAC/LayerLogRecorder.cpp @@ -61,7 +61,8 @@ void AIAC::LayerLogRecorder::StartRecording(std::string logRootFolderPath) { // copy the dependency files to the log folder std::string acimModelPath = AIAC_APP.GetLayer()->GetACInfoModelPath(); std::string scannedModelPath = AIAC_APP.GetLayer()->GetScannedModelPath(); - std::string ttoolModelPath = AIAC::Config::Get(AIAC::Config::SEC_TTOOL, AIAC::Config::CONFIG_FILE, ""); + std::string ttoolModelPath = AIAC::Config::Get( + AIAC::Config::SEC_TTOOL, AIAC::Config::CONFIG_FILE, "deps/TTool/assets/config.yml"); CopyFile(acimModelPath, m_LogFolderPath + "/AC_info_model.acim"); CopyFile(scannedModelPath, m_LogFolderPath + "/scanned_model.ply"); diff --git a/src/AIAC/LayerModel.cpp b/src/AIAC/LayerModel.cpp index e6632116c..ca46a501a 100644 --- a/src/AIAC/LayerModel.cpp +++ b/src/AIAC/LayerModel.cpp @@ -16,8 +16,14 @@ namespace AIAC void LayerModel::OnAttach() { - m_ACInfoModelPath = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::AC_INFO_MODEL, "assets/ACModel/test.acim"); - m_ScannedModelPath = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::SCANNED_MODEL, "assets/ACModel/28_scanned_model.ply"); + m_ACInfoModelPath = AIAC::Config::Get( + AIAC::Config::SEC_AIAC, + AIAC::Config::AC_INFO_MODEL, + "assets/ACModel/test.acim"); + m_ScannedModelPath = AIAC::Config::Get( + AIAC::Config::SEC_AIAC, + AIAC::Config::SCANNED_MODEL, + "assets/ACModel/28_scanned_model.ply"); m_AlignOffset = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::ALIGN_OFFSET, 0.0f); m_AlignRotation = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::ALIGN_ROTATION, 0); m_AlignFlip = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::ALIGN_FLIP, false); @@ -61,7 +67,8 @@ namespace AIAC void LayerModel::ReloadACInfoModel() { - std::string path = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::AC_INFO_MODEL, "assets/ACModel/test.acim"); + std::string path = AIAC::Config::Get( + AIAC::Config::SEC_AIAC, AIAC::Config::AC_INFO_MODEL, "assets/ACModel/test.acim"); if(!std::filesystem::exists(path)) { AIAC_WARN("LayerModel::ReloadACInfoModel()from path: " + path + " failed to load models"); diff --git a/src/AIAC/LayerToolhead.cpp b/src/AIAC/LayerToolhead.cpp index 8e0fb2f84..b6dad61a1 100644 --- a/src/AIAC/LayerToolhead.cpp +++ b/src/AIAC/LayerToolhead.cpp @@ -14,9 +14,9 @@ namespace AIAC { // init ttool TTool = std::make_shared( - AIAC::Config::Get(AIAC::Config::SEC_TTOOL, AIAC::Config::TTOOL_ROOT_PATH, "Missing TTool root path"), - AIAC::Config::Get(AIAC::Config::SEC_TTOOL, AIAC::Config::CONFIG_FILE, "Missing config file path"), - AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::CAM_PARAMS_FILE, "Missign camera calib file path") + AIAC::Config::Get(AIAC::Config::SEC_TTOOL, AIAC::Config::TTOOL_ROOT_PATH, "deps/TTool"), + AIAC::Config::Get(AIAC::Config::SEC_TTOOL, AIAC::Config::CONFIG_FILE, "deps/TTool/assets/config.yml"), + AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::CAM_PARAMS_FILE, "assets/tslam/calibration_orange_A_1280_720_000B.yml") ); // load the datasets acits @@ -95,9 +95,9 @@ namespace AIAC { TTool->DestrolView(); TTool = std::make_shared( - AIAC::Config::Get(AIAC::Config::SEC_TTOOL, AIAC::Config::TTOOL_ROOT_PATH, "Missing TTool root path"), - AIAC::Config::Get(AIAC::Config::SEC_TTOOL, AIAC::Config::CONFIG_FILE, "Missing config file path"), - AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::CAM_PARAMS_FILE, "Missign camera calib file path") + AIAC::Config::Get(AIAC::Config::SEC_TTOOL, AIAC::Config::TTOOL_ROOT_PATH, "deps/TTool"), + AIAC::Config::Get(AIAC::Config::SEC_TTOOL, AIAC::Config::CONFIG_FILE, "deps/TTool/assets/config.yml"), + AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::CAM_PARAMS_FILE, "assets/tslam/calibration_orange_A_1280_720_000B.yml") ); syncTToolAndACInfoToolhead(); } @@ -106,8 +106,8 @@ namespace AIAC { TTool->DestrolView(); TTool = std::make_shared( - AIAC::Config::Get(AIAC::Config::SEC_TTOOL, AIAC::Config::TTOOL_ROOT_PATH, "Missing TTool root path"), - AIAC::Config::Get(AIAC::Config::SEC_TTOOL, AIAC::Config::CONFIG_FILE, "Missing config file path"), + AIAC::Config::Get(AIAC::Config::SEC_TTOOL, AIAC::Config::TTOOL_ROOT_PATH, "deps/TTool"), + AIAC::Config::Get(AIAC::Config::SEC_TTOOL, AIAC::Config::CONFIG_FILE, "deps/TTool/assets/config.yml"), cameraMatrix, cameraSize ); diff --git a/src/AIAC/LayerToolhead.h b/src/AIAC/LayerToolhead.h index eff6445dc..2da78aa5b 100644 --- a/src/AIAC/LayerToolhead.h +++ b/src/AIAC/LayerToolhead.h @@ -19,7 +19,7 @@ namespace AIAC IsShowToolheadGOInfo(false), m_TtoolState(ttool::EventType::None) { - this->m_ACScaleFactor = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::SCALE_FACTOR, 0.0f); + this->m_ACScaleFactor = AIAC::Config::Get(AIAC::Config::SEC_AIAC, AIAC::Config::SCALE_FACTOR, 1.0f); this->ACInfoToolheadManager = std::make_shared(); }; diff --git a/src/AIAC/LayerUI.cpp b/src/AIAC/LayerUI.cpp index b09ecc5bf..056fc6910 100644 --- a/src/AIAC/LayerUI.cpp +++ b/src/AIAC/LayerUI.cpp @@ -117,12 +117,12 @@ namespace AIAC m_LogoLightClr = AIAC::Image(AIAC_LOGO_COLOR); // Set panes UI for layers - // Label Collapse PaneContent - StackPane(PaneUI("Camera", false, AIAC_BIND_EVENT_FN(SetPaneUICamera) )); - StackPane(PaneUI("Mapping", false, AIAC_BIND_EVENT_FN(SetPaneUISlam) )); - StackPane(PaneUI("ACIM (Execution model)", false, AIAC_BIND_EVENT_FN(SetPaneUIACIM) )); - StackPane(PaneUI("Toolhead", false, AIAC_BIND_EVENT_FN(SetPaneUIToolhead) )); - StackPane(PaneUI("Utils", false, AIAC_BIND_EVENT_FN(SetPaneUIUtils) )); + // Label Collapse PaneContent + StackPane(PaneUI("Camera", false, AIAC_BIND_EVENT_FN(SetPaneUICamera) )); + StackPane(PaneUI("Mapping", false, AIAC_BIND_EVENT_FN(SetPaneUISlam) )); + StackPane(PaneUI("ACIM (Execution model)", false, AIAC_BIND_EVENT_FN(SetPaneUIACIM) )); + StackPane(PaneUI("Toolhead", false, AIAC_BIND_EVENT_FN(SetPaneUIToolhead), AIAC_BIND_EVENT_FN(OnCollapsingPaneUIToolhead))); + StackPane(PaneUI("Utils", false, AIAC_BIND_EVENT_FN(SetPaneUIUtils) )); m_IsOpen = new bool(true); } @@ -174,6 +174,39 @@ namespace AIAC ImGui::DestroyContext(); } + template + void PaneUI::Show(Args &&... args) { + bool isOpened = ImGui::CollapsingHeader(m_Label, m_IsCollapsed ? ImGuiTreeNodeFlags_DefaultOpen : 0); + if (isOpened) { + // if this one is not opened yet, close the previously opened one + if (m_CollapseState != CollapseState::OPEN) { + auto lastOpenedPaneUI = AIAC_APP.GetLayer()->GetOpenedPaneUI(); + if (lastOpenedPaneUI != nullptr && lastOpenedPaneUI->m_Label != m_Label) { + ImGui::GetStateStorage()->SetInt(ImGui::GetID(lastOpenedPaneUI->m_Label), 0); + lastOpenedPaneUI->Show(); + } + AIAC_APP.GetLayer()->SetOpenedPaneUI(this); + } + m_CollapseState = CollapseState::OPEN; + m_func(std::forward(args)...); + } + + // check if it's just collapsed + if (!isOpened) { + if (m_CollapseState == CollapseState::OPEN) { + m_CollapseState = CollapseState::ON_COLLAPSING; + } + } + } + + template + void PaneUI::CheckOnCollapsing(Args &&... args) { + if (m_CollapseState == CollapseState::ON_COLLAPSING) { + m_onCollapseCallback(std::forward(args)...); + m_CollapseState = CollapseState::COLLAPSE; + } + } + void LayerUI::ShowMenuBar() { if (ImGui::BeginMainMenuBar()) @@ -203,7 +236,10 @@ namespace AIAC ImGui::Text("This is a prototype for augmented_carpentry \n Version 01.00.00 \n Build 2021-01-01 00:00:00 \n IBOIS, EPFL"); #endif - for (auto& pane : m_PaneUIStack) pane->Show(); + for (auto& pane : m_PaneUIStack) { + pane.Show(); + pane.CheckOnCollapsing(); + } ImGui::End(); } @@ -213,7 +249,7 @@ namespace AIAC ImGui::Begin("Scene Viewport", m_IsOpen); ImVec2 viewportSize = ImGui::GetContentRegionAvail(); - viewportSize.y -= (ImGui::GetTextLineHeight() + 10); + viewportSize.y -= (ImGui::GetTextLineHeight() + 16); AIAC_APP.GetRenderer()->SetGlobalViewSize(viewportSize.x, viewportSize.y); SetGlobalViewUI(viewportSize); @@ -276,6 +312,22 @@ namespace AIAC m_IsMouseLDown = true; m_LastMouseLPos = ImGui::GetMousePos(); } + ImGui::SameLine(); + if(ImGui::Button("NW")){ + AIAC_APP.GetRenderer()->SetGlobalViewToActivatedComponent(Renderer::StandardView::NW); + } + ImGui::SameLine(); + if(ImGui::Button("NE")){ + AIAC_APP.GetRenderer()->SetGlobalViewToActivatedComponent(Renderer::StandardView::NE); + } + ImGui::SameLine(); + if(ImGui::Button("SW")){ + AIAC_APP.GetRenderer()->SetGlobalViewToActivatedComponent(Renderer::StandardView::SW); + } + ImGui::SameLine(); + if(ImGui::Button("SE")){ + AIAC_APP.GetRenderer()->SetGlobalViewToActivatedComponent(Renderer::StandardView::SE); + } ImGui::PopStyleColor(); } @@ -316,7 +368,6 @@ namespace AIAC ImGui::BeginChild("camera_function_child", ImVec2(0, 50), true, ImGuiWindowFlags_HorizontalScrollbar); ImGui::PushStyleColor(ImGuiCol_Button, AIAC_UI_LIGHT_GREY); if(ImGui::Button("Start Calibration")){ - AIAC_APP.GetRenderer()->StartCamCalib(); AIAC_APP.GetLayer()->StartCalibration(); } ImGui::SameLine(); @@ -446,7 +497,7 @@ namespace AIAC ImGui::Text("ACIM File Manager:"); ImGui::BeginChild("ACIM File Manager", ImVec2(0, 60), true, ImGuiWindowFlags_HorizontalScrollbar); std::string currentACIMFileEntry = "Current ACIM: " + AIAC_APP.GetLayer()->GetACInfoModelName(); - ImGui::Text(currentACIMFileEntry.c_str()); + ImGui::Text("%s", currentACIMFileEntry.c_str()); if(ImGui::Button("Load ACIM")){ OpenFileSelectDialog("Open ACIM file", ".acim", m_TmpPathBuf, [&]{ AIAC_APP.GetLayer()->LoadACInfoModel(m_TmpPathBuf); @@ -476,7 +527,7 @@ namespace AIAC if (sliderVal != 0.f) AIAC_APP.GetLayer()->AddAlignOffset(sliderVal); sliderVal = 0.f; ImGui::SameLine(); - ImGui::Text(std::to_string(AIAC_APP.GetLayer()->GetAlignOffset()).c_str()); + ImGui::Text("%s", std::to_string(AIAC_APP.GetLayer()->GetAlignOffset()).c_str()); ImGui::PushStyleColor(ImGuiCol_Button, AIAC_UI_ROYAL_PURPLE); if(ImGui::Button("Align Center")){ @@ -529,7 +580,7 @@ namespace AIAC ImGui::PushStyleColor(ImGuiCol_Text, AIAC_UI_RED); ImGui::Text("Current Execution: %s", isCurrentDone.c_str()); ImGui::PopStyleColor(); - ImGui::BeginChild("components_control_panel", ImVec2(0, 160), true, ImGuiWindowFlags_HorizontalScrollbar); + ImGui::BeginChild("components_control_panel", ImVec2(0, 216), true, ImGuiWindowFlags_HorizontalScrollbar); // print the progress ImGui::Text("Progress: %d / %d ( %.2f%% )", AIAC_APP.GetLayer()->GetACInfoModel().GetTimberInfo().GetFabricatedComponents(), AIAC_APP.GetLayer()->GetACInfoModel().GetTimberInfo().GetTotalComponents(), @@ -596,12 +647,43 @@ namespace AIAC ImGui::SameLine(); if(ImGui::Checkbox("Show Cotas", &AIAC_APP.GetLayer()->GetACInfoModel().GetTimberInfo().IsShowingCotas)){ if(AIAC_APP.GetLayer()->GetACInfoModel().GetTimberInfo().IsShowingCotas){ - AIAC_APP.GetLayer()->GetACInfoModel().GetTimberInfo().SetAllCotasVisibility(true); + AIAC_APP.GetLayer()->GetACInfoModel().GetTimberInfo().UpdateCotasVisibility(true); } else { - AIAC_APP.GetLayer()->GetACInfoModel().GetTimberInfo().SetAllCotasVisibility(false); + AIAC_APP.GetLayer()->GetACInfoModel().GetTimberInfo().UpdateCotasVisibility(false); + } + } + + if (auto feedback = dynamic_cast(AIAC_APP.GetLayer()->GetCurrentFabFeedback())){ + ImGui::Checkbox("Manually Select Face", &feedback->IsRefFacesSelectedManually); + if (feedback->IsRefFacesSelectedManually) { + if(ImGui::Button("<##FaceSelect", ImVec2(halfWidth-30, 0))) + { + feedback->ManuallyScrollRefFace(-1); + } + ImGui::SameLine(); + if (ImGui::Button(">##FaceSelect", ImVec2(halfWidth-30, 0))) + { + feedback->ManuallyScrollRefFace(1); + } } } + if (auto feedback = dynamic_cast(AIAC_APP.GetLayer()->GetCurrentFabFeedback())){ + ImGui::Checkbox("Manually Select Face", &feedback->IsRefFacesSelectedManually); + if (feedback->IsRefFacesSelectedManually) { + if(ImGui::Button("<##FaceSelect", ImVec2(halfWidth-30, 0))) + { + feedback->ManuallyScrollRefFace(-1); + } + ImGui::SameLine(); + if (ImGui::Button(">##FaceSelect", ImVec2(halfWidth-30, 0))) + { + feedback->ManuallyScrollRefFace(1); + } + } + } + + ImGui::PushStyleColor(ImGuiCol_CheckMark, AIAC_UI_LIGHT_GREEN); if(ImGui::Checkbox("Mark as Done", &AIAC_APP.GetLayer()->GetACInfoModel().GetTimberInfo().GetCurrentComponent()->IsMarkedDone)); ImGui::PopStyleColor(); @@ -967,6 +1049,10 @@ namespace AIAC ImGui::EndChild(); } + void LayerUI::OnCollapsingPaneUIToolhead(){ + AIAC_APP.GetLayer()->IsShowSilouhette = false; + } + void LayerUI::ShowMappingPopup() { ImGui::SetNextWindowSize(ImVec2(ImGui::GetIO().DisplaySize.x, ImGui::GetIO().DisplaySize.y)); @@ -1184,7 +1270,6 @@ namespace AIAC ImGui::SameLine(); if(ImGui::Button("Exit")){ AIAC_APP.GetLayer()->StopCalibration(); - AIAC_APP.GetRenderer()->StopCamCalib(); } } ImGui::EndChild(); } ImGui::EndChild(); @@ -1225,14 +1310,27 @@ namespace AIAC if(ImGui::Button("Cancel", ImVec2(80, 0))){ m_IsCombiningMap = false; } ImGui::SameLine(); if(ImGui::Button("Confirm", ImVec2(80, 0))){ - if(strlen(m_CombMapParams.MapPathA) == 0 || strlen(m_CombMapParams.MapPathB) == 0 || strlen(m_CombMapParams.OutputPath) == 0){ + if(strlen(m_CombMapParams.MapPathA) == 0 || strlen(m_CombMapParams.MapPathB) == 0){ AIAC_ERROR("Path not selected."); - } else { - AIAC_APP.GetLayer()->Slam.CombineMap( - m_CombMapParams.MapPathA, m_CombMapParams.MapPathB, m_CombMapParams.OutputPath, - true, true, nullptr, 2); - memset(m_CombMapParams.MapPathA, 0, PATH_BUF_SIZE * 3); + AIAC_EBUS->EnqueueEvent(std::make_shared( + m_CombMapParams.MapPathA, + m_CombMapParams.MapPathB, + m_CombMapParams.OutputPath, + 50, + m_ReconstructParams.RadiusSearch, + m_ReconstructParams.CreaseAngleThreshold, + m_ReconstructParams.MinClusterSize, + m_ReconstructParams.AABBScaleFactor, + m_ReconstructParams.MaxPolyDist, + m_ReconstructParams.MaxPlnDist, + m_ReconstructParams.MaxPlnAngle, + m_ReconstructParams.Eps + )); + + memset(m_CombMapParams.MapPathA, 0, PATH_BUF_SIZE); + memset(m_CombMapParams.MapPathB, 0, PATH_BUF_SIZE); + memset(m_CombMapParams.OutputPath, 0, PATH_BUF_SIZE); m_IsCombiningMap = false; } } @@ -1262,7 +1360,9 @@ namespace AIAC if(ImGui::Button("Load from file", ImVec2(106, 0))) { std::string defaultConfigDir = AIAC::Config::Get( - AIAC::Config::SEC_TSLAM, AIAC::Config::RECONSTRUCT_CONFIG_DEFAULT_FILE); + AIAC::Config::SEC_TSLAM, + AIAC::Config::RECONSTRUCT_CONFIG_DEFAULT_FILE, + "assets/tslam/reconstruct_default.ini"); if (!defaultConfigDir.empty()) { AIAC_INFO("Default config for reconstruction dir: "); AIAC_INFO(defaultConfigDir); diff --git a/src/AIAC/LayerUI.h b/src/AIAC/LayerUI.h index 2a2625dea..f8b2d7bcd 100644 --- a/src/AIAC/LayerUI.h +++ b/src/AIAC/LayerUI.h @@ -1,5 +1,7 @@ #pragma once +#include + #include "AIAC/Layer.h" #include "AIAC/Image.h" @@ -16,20 +18,30 @@ namespace AIAC { class PaneUI { public: + enum CollapseState { + OPEN, + ON_COLLAPSING, + COLLAPSE + }; + typedef std::function Func; - PaneUI(const char *label, bool isCollapsed, Func func) - : m_Label(label), m_IsCollapsed(isCollapsed), m_func(std::move(func)) {} + PaneUI(const char *label, bool isCollapsed, Func func, Func onCollapseCallback=[]{}) + : m_Label(label), m_IsCollapsed(isCollapsed), m_func(std::move(func)), m_onCollapseCallback(std::move(onCollapseCallback)) { + if (m_IsCollapsed) m_CollapseState = CollapseState::COLLAPSE; + else m_CollapseState = CollapseState::OPEN; + } + + template + void Show(Args &&... args); template - void Show(Args &&... args) { - if (ImGui::CollapsingHeader(m_Label, m_IsCollapsed ? ImGuiTreeNodeFlags_DefaultOpen : 0)) { - m_func(std::forward(args)...); - } - } + void CheckOnCollapsing(Args &&... args); private: + CollapseState m_CollapseState; Func m_func; + Func m_onCollapseCallback; const char *m_Label; bool m_IsCollapsed; }; @@ -65,12 +77,15 @@ namespace AIAC { void ShowLogRecorderUI(); - inline void StackPane(PaneUI pane) { m_PaneUIStack.push_back(std::make_shared(pane)); } + inline void StackPane(PaneUI pane) { m_PaneUIStack.emplace_back(std::move(pane)); } void SetPaneUICamera(); void SetPaneUISlam(); void SetPaneUIToolhead(); + void OnCollapsingPaneUIToolhead(); void SetPaneUIACIM(); void SetPaneUIUtils(); + PaneUI* GetOpenedPaneUI() { return m_OpenedPaneUI; } + void SetOpenedPaneUI(PaneUI* paneUI) { m_OpenedPaneUI = paneUI; } private: void SetGlobalViewUI(ImVec2 viewportSize); @@ -94,7 +109,8 @@ namespace AIAC { bool *m_IsOpen = nullptr; - std::vector> m_PaneUIStack; + std::vector m_PaneUIStack; + PaneUI* m_OpenedPaneUI = nullptr; // UI File Selection std::string m_FileSelectDefaultPath = "."; diff --git a/src/AIAC/LayerUtils.h b/src/AIAC/LayerUtils.h index 888b6aef9..835e12f55 100644 --- a/src/AIAC/LayerUtils.h +++ b/src/AIAC/LayerUtils.h @@ -60,7 +60,8 @@ namespace AIAC { private: /// Default path to utils folder std::string m_UtilsPath = AIAC::Config::Get(AIAC::Config::SEC_UTILS, - AIAC::Config::UTILS_PATH); + AIAC::Config::UTILS_PATH, + "./temp"); private: ///< video recorder /// Flag to check if the video is being recorded bool m_Recording = false; diff --git a/src/AIAC/Mesh.cpp b/src/AIAC/Mesh.cpp deleted file mode 100644 index f488aa508..000000000 --- a/src/AIAC/Mesh.cpp +++ /dev/null @@ -1,117 +0,0 @@ -#include "aiacpch.h" - -#include "Mesh.h" - -//FIXME:: do we still need this class? -namespace AIAC -{ - bool Mesh::Load(const char * path){ - Assimp::Importer importer; - - const aiScene* scene = importer.ReadFile(path, aiProcess_JoinIdenticalVertices); - if( !scene) { - fprintf( stderr, importer.GetErrorString()); - getchar(); - return false; - } - const aiMesh* mesh = scene->mMeshes[0]; // here we use only the 1st mesh - - - - // Fill vertices positions & compute Bounding Box - Vertices.reserve(mesh->mNumVertices); - for(unsigned int i=0; imNumVertices; i++){ - aiVector3D pos = mesh->mVertices[i]; - Vertices.emplace_back(pos.x, pos.y , pos.z); - - BoundingBoxX.first = min(BoundingBoxX.first, pos.x); - BoundingBoxX.second = max(BoundingBoxX.second, pos.x); - BoundingBoxY.first = min(BoundingBoxY.first, pos.y); - BoundingBoxY.second = max(BoundingBoxY.second, pos.y); - BoundingBoxZ.first = min(BoundingBoxZ.first, pos.z); - BoundingBoxZ.second = max(BoundingBoxZ.second, pos.z); - } - - BoundingBoxCenter = glm::vec3( - (BoundingBoxX.first + BoundingBoxX.second) / 2.0f, - (BoundingBoxY.first + BoundingBoxY.second) / 2.0f, - (BoundingBoxZ.first + BoundingBoxZ.second) / 2.0f); - - // Build Bounding Box - /*000*/ BoundingBox[0] = glm::vec3(BoundingBoxX.first, BoundingBoxY.first, BoundingBoxZ.first); - /*001*/ BoundingBox[1] = glm::vec3(BoundingBoxX.first, BoundingBoxY.first, BoundingBoxZ.second); - /*010*/ BoundingBox[2] = glm::vec3(BoundingBoxX.first, BoundingBoxY.second, BoundingBoxZ.first); - /*011*/ BoundingBox[3] = glm::vec3(BoundingBoxX.first, BoundingBoxY.second, BoundingBoxZ.second); - /*100*/ BoundingBox[4] = glm::vec3(BoundingBoxX.second, BoundingBoxY.first, BoundingBoxZ.first); - /*101*/ BoundingBox[5] = glm::vec3(BoundingBoxX.second, BoundingBoxY.first, BoundingBoxZ.second); - /*110*/ BoundingBox[6] = glm::vec3(BoundingBoxX.second, BoundingBoxY.second, BoundingBoxZ.first); - /*111*/ BoundingBox[7] = glm::vec3(BoundingBoxX.second, BoundingBoxY.second, BoundingBoxZ.second); - - int edges[] = { - 0, 1, - 0, 2, - 0, 4, - 1, 3, - 1, 5, - 2, 3, - 2, 6, - 3, 7, - 4, 5, - 4, 6, - 5, 7, - 6, 7 - }; - for(int edge: edges) { - BoundingBoxEdges.emplace_back(Vertices[edge]); - } - - // Fill face indices - Indices.reserve(3*mesh->mNumFaces); - for (unsigned int i=0; imNumFaces; i++) { - // Assume the model has only triangles. - unsigned int pA = mesh->mFaces[i].mIndices[0]; - unsigned int pB = mesh->mFaces[i].mIndices[1]; - unsigned int pC = mesh->mFaces[i].mIndices[2]; - - Indices.push_back(pA); - Indices.push_back(pB); - Indices.push_back(pC); - - Edges.emplace_back(Vertices[pA]); - Edges.emplace_back(Vertices[pB]); - Edges.emplace_back(Vertices[pB]); - Edges.emplace_back(Vertices[pC]); - Edges.emplace_back(Vertices[pC]); - Edges.emplace_back(Vertices[pA]); - } - - // The "scene" pointer will be deleted automatically by "importer" - return true; - } - - bool Mesh::Load(std::string path){ - return Load(path.c_str()); - } - - void Mesh::Draw() { - glDrawPoints3d(Vertices, glm::vec4(0.9, 0.9, 0.9, 0.2), 1); - glDrawTriangles3d(Vertices, Indices, glm::vec4(0.6, 0.35, 0.2, 0.3)); - } - - void Mesh::DrawBoundingBoxEdges(glm::vec4 color) { - glDrawLines3d(BoundingBoxEdges, color); - } - - void Mesh::DrawVertices(glm::vec4 color, GLfloat pointSize) { - glDrawPoints3d(Vertices, color, pointSize); - } - - void Mesh::DrawEdges(glm::vec4 color) { - glDrawLines3d(Edges, color); - } - - void Mesh::DrawFaces(glm::vec4 color) { - glDrawTriangles3d(Vertices, Indices, color); - } -} // namespace AIAC - diff --git a/src/AIAC/Mesh.h b/src/AIAC/Mesh.h deleted file mode 100644 index b351efb1c..000000000 --- a/src/AIAC/Mesh.h +++ /dev/null @@ -1,52 +0,0 @@ -#pragma once -#include "GlHeader.h" -#include "AIAC/Render/GlUtils.h" - -// Include AssImp -#include "assimp/Importer.hpp" // C++ importer interface -#include "assimp/scene.h" // Output data structure -#include "assimp/postprocess.h" // Post processing flags - -#include "glm/glm.hpp" - -//FIXME:: do we still need this class? -namespace AIAC{ -class Mesh -{ -public: - Mesh() = default; - Mesh(const char* path) { Load(path); }; - Mesh(std::string path) { Load(path); }; - ~Mesh() = default; - - bool Load(const char* path); - bool Load(std::string path); - - glm::vec3 GetBboxCenter() { return BoundingBoxCenter; }; - - void Draw(); - void DrawVertices(glm::vec4 color, GLfloat pointSize); - void DrawEdges(glm::vec4 color); - void DrawFaces(glm::vec4 color); - void DrawBoundingBoxEdges(glm::vec4 color); - -public: - std::vector Indices; - std::vector Vertices; - std::vector UVs; - std::vector Normals; - std::vector Edges; - - std::map BoundingBox; - std::pair BoundingBoxX = {std::numeric_limits::max(), std::numeric_limits::min()}; - std::pair BoundingBoxY = {std::numeric_limits::max(), std::numeric_limits::min()}; - std::pair BoundingBoxZ = {std::numeric_limits::max(), std::numeric_limits::min()}; - glm::vec3 BoundingBoxCenter; - std::vector BoundingBoxEdges; - -private: - GLuint m_Vertexbuffer; - GLuint m_EdgeBuffer; -}; - -} diff --git a/src/AIAC/Render/GLObject.cpp b/src/AIAC/Render/GLObject.cpp index a698733af..8c21eb524 100644 --- a/src/AIAC/Render/GLObject.cpp +++ b/src/AIAC/Render/GLObject.cpp @@ -48,9 +48,9 @@ namespace AIAC // ----------------- // GLPointObject::GLPointObject(const std::vector &vertices, const std::vector &colors, GLfloat pointSize) { this->type = GLObjectType::POINTS; - this->size = vertices.size(); + this->size = int(vertices.size()); this->pointSize = pointSize; - + GLObject::BufferData(vertices, colors); } @@ -59,8 +59,8 @@ namespace AIAC BindVBOs(); GLfloat prevPointSize; glGetFloatv(GL_POINT_SIZE, &prevPointSize); - glPointSize(pointSize); - glDrawArrays(GL_POINTS, 0, pointSize); + glPointSize(this->pointSize); + glDrawArrays(GL_POINTS, 0, this->size); glPointSize(prevPointSize); } diff --git a/src/AIAC/Render/RenderAPI.cpp b/src/AIAC/Render/RenderAPI.cpp index 0ed418a51..db71db726 100644 --- a/src/AIAC/Render/RenderAPI.cpp +++ b/src/AIAC/Render/RenderAPI.cpp @@ -1,14 +1,15 @@ +#include +#include FT_FREETYPE_H + +#include "GlUtils.h" #include "RenderAPI.h" #include "TextRenderer.h" #include "AIAC/Log.h" - -#include -#include FT_FREETYPE_H #include "AIAC/Application.h" namespace AIAC { - void DrawAllGOs(glm::mat4 projection) + void DrawAllGOs(glm::mat4 projection, float textScale) { std::vector> gos; AIAC_GOREG->GetAllGOs(gos); @@ -17,17 +18,19 @@ namespace AIAC for(auto& go: gos){ if(!go->IsVisible()){ continue; - } + } if(go->GetType() == _GOText){ - goTexts.emplace_back(go); + if (textScale > 0) goTexts.emplace_back(go); } else{ DrawGO(go); } } - TextRenderer::SetProjection(projection); - for(auto& goText: goTexts){ - DrawGO(goText); + if (textScale > 0) { + TextRenderer::SetProjection(projection); + for(auto& goText: goTexts){ + DrawText(*std::dynamic_pointer_cast(goText), textScale); + } } } @@ -51,7 +54,7 @@ namespace AIAC } } - void DrawText(const GOText& goText, const glm::mat4& projection) { + void DrawText(const GOText& goText, float scale, const glm::mat4& projection) { if(projection != glm::mat4(1.0f)){ TextRenderer::SetProjection(projection); } @@ -59,11 +62,11 @@ namespace AIAC goText.GetText(), goText.GetAnchor(), goText.GetColor(), - goText.GetTextSize()); + goText.GetTextSize() * scale); } - void DrawTexts(const std::vector> &goTexts, const glm::mat4& projection) { + void DrawTexts(const std::vector> &goTexts, float scale, const glm::mat4& projection) { if(projection != glm::mat4(1.0f)){ TextRenderer::SetProjection(projection); } @@ -71,7 +74,7 @@ namespace AIAC if(!goText->IsVisible()){ continue; } - DrawText(*goText, projection); + DrawText(*goText, scale, projection); } } diff --git a/src/AIAC/Render/RenderAPI.h b/src/AIAC/Render/RenderAPI.h index 85d37ad3d..896583909 100644 --- a/src/AIAC/Render/RenderAPI.h +++ b/src/AIAC/Render/RenderAPI.h @@ -1,7 +1,11 @@ #pragma once +#include +#include + +#include "map.h" // TSLAM map + #include "TextRenderer.h" -#include "GlUtils.h" #include "AIAC/GOSys/GOPrimitive.h" namespace AIAC @@ -31,7 +35,7 @@ namespace AIAC * @brief Draw all the GOs present in the GORegistry. * @param projection OpenGL projection matrix. */ - void DrawAllGOs(glm::mat4 projection = glm::mat4(1.0f)); + void DrawAllGOs(glm::mat4 projection = glm::mat4(1.0f), float textScale = 1.0f); /** * @brief Draw a GOPrimitive. (This function neglects the "isVisible" attribute of the object and will draw it anyway) @@ -101,6 +105,6 @@ namespace AIAC void DrawMesh(const GOMesh& goMesh); void DrawMeshes(const std::vector> &goMeshes); - void DrawText(const GOText& goText, const glm::mat4& projection = glm::mat4(1.0f)); - void DrawTexts(std::vector goTexts, const glm::mat4& projection = glm::mat4(1.0f)); + void DrawText(const GOText& goText, float scale = 1.0f, const glm::mat4& projection = glm::mat4(1.0f)); + void DrawTexts(std::vector goTexts, float scale = 1.0f, const glm::mat4& projection = glm::mat4(1.0f)); } \ No newline at end of file diff --git a/src/AIAC/Render/Renderer.cpp b/src/AIAC/Render/Renderer.cpp index 76d1395d7..e6474a647 100644 --- a/src/AIAC/Render/Renderer.cpp +++ b/src/AIAC/Render/Renderer.cpp @@ -45,45 +45,6 @@ namespace AIAC InitCamCalibView(); m_MappingView.SetSize(600, 442); - - // auto pt = GOPoint::Add(0, 0, 0, 5.0f); - // pt->SetColor(glm::vec4(1.0f, 0.0f, 0.0f, 1.0f)); - - // GOLine::Add(glm::vec3(0,0,0), glm::vec3(0,0,10), 10.0f); - - // cout << "--------------------" << endl; - // auto myCylinder = GOCylinder::Add(glm::vec3(50,10,0), glm::vec3(50,0,10), 32.0f); - // myCylinder->SetColor(glm::vec4(0.5f, 0.5f, 0.0f, 0.2f)); - // cout << "--------------------" << endl; - - // vector pts; - // pts.push_back(glm::vec3(4,0,0)); - // pts.push_back(glm::vec3(99,5,10)); - // pts.push_back(glm::vec3(9,10,10)); - // auto myPolyline = GOPolyline::Add(pts); - // myPolyline->SetColor(glm::vec4(0.5f, 0.2f, 0.0f, 1.0f)); - - // auto circle = GOCircle::Add(glm::vec3(0, 5, 0), 10.0f); - // circle->SetColor(glm::vec4(1.0f, 0.0f, 0.0f, 1.0f)); - - // std::vector vertices = { - // glm::vec3(0.0f, 0.0f, 10.0f), - // glm::vec3(0.0f, 0.0f, 0.0f), - // glm::vec3(0.0f, 10.0f, 0.0f), - // glm::vec3(10.0f, 0.0f, 0.0f), - // }; - // std::vector colors = { - // glm::vec4(1.0f, 0.0f, 0.0f, 1.0f), - // glm::vec4(0.0f, 1.0f, 1.0f, 1.0f), - // glm::vec4(0.0f, 1.0f, 0.0f, 1.0f), - // glm::vec4(0.0f, 0.0f, 1.0f, 1.0f), - // }; - - // m_TestGLObject = std::make_shared(vertices, colors, 3.0f); - // glBindVertexArray(m_VAO); - // m_TestGLObject = glCreatePoints(vertices, colors, 3); - // cout << "m_TestGLObject: " << m_TestGLObject.vertexBuf << endl; - } void Renderer::InitProjMatrix(){ @@ -142,21 +103,12 @@ namespace AIAC m_CamVisualizationEdges.emplace_back( 0, 0,-h); m_CamVisualizationEdges.emplace_back( bW, -bH, 0); - m_GlobalProjMatrix = glm::perspective( - glm::radians(35.0f), - float(m_GlobalView.GetW()) / float(m_GlobalView.GetH()), 0.01f, 100.0f - ); + m_GlobalProjMatrix = glm::ortho(-m_GlobalProjOrthoSize, m_GlobalProjOrthoSize, -m_GlobalProjOrthoSize, m_GlobalProjOrthoSize, 0.0f, 1000.0f); m_GlobalCamMatrix = glm::lookAt( glm::vec3(20, 20, 20), // the position of your camera, in world space - DigitalModel.GetBboxCenter(), // where you want to look at, in world space - glm::vec3(0, 1, 0) // probably glm::vec3(0,1,0), but (0,-1,0) would make you looking upside-down, which can be great too - ); - - auto testLookAt4TTool = glm::lookAt( - glm::vec3(0, 0, 0), // the position of your camera, in world space - glm::vec3(0, 0, 1), // where you want to look at, in world space - glm::vec3(0, 1, 0) // probably glm::vec3(0,1,0), but (0,-1,0) would make you looking upside-down, which can be great too + glm::vec3(0, 0, 0), // where you want to look at, in world space + glm::vec3(0, 1, 0) // probably glm::vec3(0,1,0), but (0,-1,0) would make you looking upside-down, which can be great too ); } @@ -183,17 +135,13 @@ namespace AIAC void Renderer::SetGlobalViewSize(float w, float h) { m_GlobalView.SetSize(w, h); - m_GlobalProjMatrix = glm::perspective( - glm::radians(50.0f), - w / h, 0.1f,300.0f - ); } void Renderer::UpdateGlobalViewCameraRotation(double diffX, double diffY){ - auto t1 = glm::translate(glm::mat4(1),-DigitalModel.BoundingBoxCenter); + auto t1 = glm::translate(glm::mat4(1),-m_GlobalCamLookAtCenter); auto rx = glm::rotate(glm::mat4(1), float(-diffX / 100), glm::vec3(0,1,0)); auto ry = glm::rotate(glm::mat4(1), float(-diffY / 100), glm::vec3(1,0,0)); - auto t2 = glm::translate(glm::mat4(1), DigitalModel.BoundingBoxCenter); + auto t2 = glm::translate(glm::mat4(1), m_GlobalCamLookAtCenter); m_GlobalCamMatrix = m_GlobalCamMatrix * t2 * rx * ry * t1; } @@ -203,7 +151,55 @@ namespace AIAC } void Renderer::UpdateGlobalViewCameraScale(double diff) { - m_GlobalCamMatrix[3][2] += float(diff) / 10; + // m_GlobalCamMatrix[3][2] += float(diff) / 10; // this is for perspective projection + m_GlobalProjOrthoSize -= diff / 30; + if (m_GlobalProjOrthoSize < .1f) { + m_GlobalProjOrthoSize = .1f; + } + m_GlobalProjMatrix = glm::ortho(-m_GlobalProjOrthoSize, m_GlobalProjOrthoSize, -m_GlobalProjOrthoSize, m_GlobalProjOrthoSize, 0.0f, 1000.0f); + } + + void Renderer::SetGlobalViewToActivatedComponent(StandardView standardView){ + auto activatedComponent = AIAC_APP.GetLayer()->GetACInfoModel().GetTimberInfo().GetCurrentComponent(); + if (activatedComponent == nullptr) { + return; + } + + m_GlobalCamLookAtCenter = activatedComponent->GetCenter(); + + glm::vec3 camPosition; + const double camDistance = 15.0; + const double sqrt2 = sqrt(2); + + switch (standardView) { + case StandardView::TOP: + camPosition = glm::vec3(0, 0, 1); + break; + case StandardView::BOTTOM: + camPosition = glm::vec3(0, 0, -1); + break; + case StandardView::NW: + camPosition = glm::vec3(-sqrt2, sqrt2, 1); + break; + case StandardView::NE: + camPosition = glm::vec3(sqrt2, sqrt2, 1); + break; + case StandardView::SW: + camPosition = glm::vec3(-sqrt2, -sqrt2, 1); + break; + case StandardView::SE: + camPosition = glm::vec3(sqrt2, -sqrt2, 1); + break; + } + + camPosition *= camDistance; + camPosition += m_GlobalCamLookAtCenter; + + m_GlobalCamMatrix = glm::lookAt( + camPosition, + m_GlobalCamLookAtCenter, + glm::vec3(0, 1, 0) + ); } void Renderer::RenderGlobalView() { @@ -219,25 +215,8 @@ namespace AIAC glm::mat4 finalPoseMatrix = m_GlobalProjMatrix * m_GlobalCamMatrix; glUniformMatrix4fv(m_MatrixId, 1, GL_FALSE, &finalPoseMatrix[0][0]); - // if(ShowPointCloudMap){ - // PointCloudMap.DrawVertices(m_PointCloudMapColor, 1); - // } - // if(ShowDigitalModel){ - // DigitalModel.DrawBoundingBoxEdges(m_DigitalModelBoundingBoxColor); - // DigitalModel.DrawFaces(m_DigitalModelFaceColor); - // } - - // DrawSlamMap(AIAC_APP.GetLayer()->Slam.getMap(), glm::vec4(1, 0, 0, 1)); - - // visualize camera - // auto camPoseInv = AIAC_APP.GetLayer()->GetInvCamPoseGlm(); // camera pose in world space - // glm::mat4 cameraSpaceMVP = m_GlobalProjMatrix * m_GlobalCamMatrix * camPoseInv; - // glUniformMatrix4fv(m_MatrixId, 1, GL_FALSE, &cameraSpaceMVP[0][0]); - // // glDrawLines3d(m_CamVisualizationEdges, glm::vec4(0, 0, 1, 1)); - // glUniformMatrix4fv(m_MatrixId, 1, GL_FALSE, &finalPoseMatrix[0][0]); - // Draw All objects - DrawAllGOs(finalPoseMatrix); + DrawAllGOs(finalPoseMatrix, 0.05f); // Bind back to the main framebuffer glBindFramebuffer(GL_FRAMEBUFFER, 0); @@ -291,21 +270,6 @@ namespace AIAC // Draw the essential objects: map, point cloud map and digital model ! // glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); glm::vec4 edgeColor; -// if(AIAC_APP.GetLayer()->IsTracked()) { -// // if(ShowPointCloudMap){ -// // PointCloudMap.DrawVertices(m_PointCloudMapColor, 1); -// // } -// // if(ShowDigitalModel){ -// // DigitalModel.DrawBoundingBoxEdges(m_DigitalModelBoundingBoxColor); -// // DigitalModel.DrawFaces(m_DigitalModelFaceColor); -// // } -// // for (auto& mesh : Meshes) { -// // mesh.DrawEdges(m_DefaultEdgeColor); -// // } -// // Draw All objects -// // DrawSlamMap(AIAC_APP.GetLayer()->Slam.getMap(), glm::vec4(1, 0, 0, 1)); -// DrawAllGOs(finalPoseMatrix); -// } if (AIAC_APP.GetLayer()->GetNumLostFrame() <= 3){ DrawAllGOs(finalPoseMatrix); } diff --git a/src/AIAC/Render/Renderer.h b/src/AIAC/Render/Renderer.h index 1de1f2342..a62468db5 100644 --- a/src/AIAC/Render/Renderer.h +++ b/src/AIAC/Render/Renderer.h @@ -4,7 +4,6 @@ #include "glm/glm.hpp" -#include "AIAC/Mesh.h" #include "AIAC/GlHeader.h" #include "AIAC/Layer.h" @@ -16,6 +15,18 @@ namespace AIAC { class Renderer { + public: + // For navigating the global view + enum class StandardView + { + TOP, + BOTTOM, + NW, + NE, + SW, + SE + }; + public: Renderer() = default; virtual ~Renderer() = default; @@ -26,19 +37,16 @@ namespace AIAC GLuint GetGlobalView() const { return m_GlobalView.GetTexture(); }; void SetGlobalViewSize(float w, float h); + void SetGlobalViewToActivatedComponent(StandardView standardView); void UpdateGlobalViewCameraTranslation(double diffX, double diffY); void UpdateGlobalViewCameraRotation(double diffX, double diffY); void UpdateGlobalViewCameraScale(double diff); // Mapping View - void StartMapping() { ShowDigitalModel = false; ShowPointCloudMap = false; } - void StopMapping() { ShowDigitalModel = true; ShowPointCloudMap = true; } GLuint GetMappingView() const { return m_MappingView.GetTexture(); }; void SetMappingViewSize(float w, float h); // CamCalib view - void StartCamCalib() { Meshes.clear(); ShowDigitalModel = false; ShowPointCloudMap = false; } - void StopCamCalib() { ShowDigitalModel = true; ShowPointCloudMap = true; } GLuint GetCamCalibView() const { return m_CamCalibView.GetTexture(); }; void SetCamCalibViewSize(float w, float h); @@ -50,14 +58,6 @@ namespace AIAC SLAM_PROCESSED }; - public: - AIAC::Mesh PointCloudMap; - AIAC::Mesh DigitalModel; - std::vector Meshes; - - bool ShowPointCloudMap = true; - bool ShowDigitalModel = true; - private: void RenderMainView(); @@ -85,8 +85,10 @@ namespace AIAC // Global view Viewport m_GlobalView; + glm::vec3 m_GlobalCamLookAtCenter = glm::vec3(0, 0, 0); glm::mat4 m_GlobalCamMatrix; glm::mat4 m_GlobalProjMatrix; + float m_GlobalProjOrthoSize = 15.f; // Mapping view Viewport m_MappingView; diff --git a/src/AIAC/TouchMonitor.cpp b/src/AIAC/TouchMonitor.cpp index 810d75002..9a9c47f17 100644 --- a/src/AIAC/TouchMonitor.cpp +++ b/src/AIAC/TouchMonitor.cpp @@ -62,9 +62,12 @@ namespace AIAC } } - inline std::string TouchMonitor::ImportNameFromConfig() { return AIAC::Config::Get("TouchMonitorSpecs", "Name"); } - inline std::string TouchMonitor::ImportVideoModeFromConfig() { return AIAC::Config::Get("TouchMonitorSpecs", "LinkMode"); } - inline std::string TouchMonitor::ImportResolutionFromConfig(){ return AIAC::Config::Get("TouchMonitorSpecs", "Resolution"); } + inline std::string TouchMonitor::ImportNameFromConfig() { + return AIAC::Config::Get(Config::SEC_TOUCH_MONITOR_SPECS, Config::NAME, "WaveShare WS170120"); } + inline std::string TouchMonitor::ImportVideoModeFromConfig() { + return AIAC::Config::Get(Config::SEC_TOUCH_MONITOR_SPECS, Config::LINK_MODE, "HDMI"); } + inline std::string TouchMonitor::ImportResolutionFromConfig(){ + return AIAC::Config::Get(Config::SEC_TOUCH_MONITOR_SPECS, Config::RESOLUTION, "800x400"); } void TouchMonitor::Init() {