gtsam的matlab的toolbox

Time dt accelX accelY accelZ omegaX omegaY omegaZ 46534.47837579 46534.47837579 1.7114864219577 0.1717911743144 9.80533438749 -0.0032006241515747 0.031231284764596 -0.0063569265706488 46536.397971133 1.91959534300258 0.83423778879884 0.68519339662861 10.098361301744 0.0061682862311423 0.0074921554772265 0.018982074411509 46536.407975484 0.0100043509955867 0.86576212047901 0.68649938713432 10.032802106483 0.005952543296471 0.0069608321556425 0.017633263249783 46536.418163923 0.010188439002377 0.91519280240716 0.62523947906417 9.9558217905103 0.0062926618020003 0.0081727073322961 0.016779273762316 46536.428073084 0.00990916099544847 0.89006888204609 0.52654855720454 9.9227735219338 0.0082677625317003 0.0073848012324517 0.016011382697968 46536.43803807 0.00996498600579798 0.84546354973917 0.48439127362386 9.9252224936437 0.011682098151945 0.005362081047584 0.016357675293273 46536.448204656 0.0101665859983768 0.7935240172783 0.58583758258028 9.8490341195971 0.015422783429153 0.0065407688904464 0.015396523999282 46536.458218421 0.0100137650006218 0.72785041468655 0.61697194519324 9.6780140016576 0.01614836591478 0.0073251535568794 0.01490054539939 46536.468137136 0.009918714997184 0.79448785248357 0.55484615341425 9.7008869014089 0.015652111027563 0.0003583805233475 0.014958963589481 46536.478104391 0.00996725499862805 0.80246967461103 0.52063923040212 9.7694238661976 0.014936294373429 -0.0012763765551546 0.015053619051059 46536.488107245 0.0100028540036874 0.76254422341938 0.6398383458418 9.705790286268 0.014936850217415 0.0016945799281186 0.0149465761934 46536.497991932 0.0098846870023408 0.79081258990647 0.69941259396553 9.5733567433278 0.0094878226848024 0.00032139293890078 0.01523208976439 46536.508004021 0.0100120889983373 0.8339957014205 0.5570157048707 9.5788082318286 0.003353149282082 -0.0040693160019343 0.015572276299732 46536.518074282 0.0100702609997825 0.78907134620743 0.44119834914009 9.5612269970543 0.0019981768897697 -0.0039299186016442 0.015237434854772 46536.527981651 0.00990736899984768 0.72739564427631 0.53667359676908 9.4864179474962 0.0022249503563042 -0.0044534308113976 0.016007319626556 46536.538021677 0.0100400259980233 0.71578629763487 0.59136755725372 9.4840452553717 0.00044370780285861 -0.0093744161896879 0.015872721682573 46536.547950822 0.0099291450023884 0.71811335298964 0.59762742366566 9.552678467066 -0.0032453483675702 -0.012547753761235 0.016818813430187 46536.557999431 0.0100486090013874 0.73492635004119 0.63546831011581 9.5071566970061 -0.0055080461124347 -0.01120559069705 0.017286991415659 46536.567995396 0.00999596499605104 0.72341739753501 0.70255306359844 9.4968881924552 -0.0098793391955695 -0.014150752092492 0.01798194270331 46536.577965282 0.00996988599945325 0.74154978790476 0.66033510405867 9.5954099635869 -0.014391438316234 -0.018797639278618 0.018055151297813 46536.588004853 0.0100395710032899 0.80515731971905 0.65026483844987 9.6762284690489 -0.016762722568799 -0.020803493386826 0.018127878603141 46536.59796822 0.00996336699608946 0.78357872176119 0.67589011268239 9.6810241986915 -0.018130314183479 -0.018875469378802 0.01838169681267 46536.607932465 0.00996424500044668 0.77321691349701 0.70839659578003 9.6978355688878 -0.019448767055957 -0.020661148971981 0.01825694229077 46536.618084055 0.0101515900023514 0.81834937647246 0.67974710641303 9.6947102335546 -0.020905451997564 -0.021139476626184 0.017934900947154 46536.627937427 0.00985337200108916 0.80184197000159 0.61899004045107 9.7289086985214 -0.019875634197929 -0.021609055132257 0.017526165805081 46536.637943072 0.0100056449955446 0.81655067450135 0.64096653438341 9.7332273937432 -0.01815128906824 -0.022678696862418 0.017012240934319 46536.647938137 0.00999506500374991 0.80992807332615 0.6238115542259 9.7455082846817 -0.015485595708004 -0.023656892333055 0.015814904794171 46536.657945077 0.0100069399995846 0.77552886232723 0.59871482109202 9.7737370419795 -0.013071256351803 -0.023685858483097 0.016141169075045 46536.667991572 0.0100464950010064 0.78170453297814 0.51520759792821 9.8193464856826 -0.011755567899033 -0.025474479710633 0.016130493713789 46536.677951307 0.00995973499811953 0.81369885303142 0.49248145823898 9.9390995128302 -0.0086572327141778 -0.027764307754038 0.01607041965672 46536.687966927 0.0100156199987396 0.82175402507671 0.57772923950313 9.9497945859056 -0.0054476478070511 -0.025254161590932 0.014921356708212 46536.697943256 0.00997632900543977 0.8274909213152 0.59999985357766 9.9027403980198 -0.0068820006359935 -0.022378037352292 0.01325465320198 46536.707992273 0.0100490169934346 0.87117228311792 0.54538487554101 9.8937493383168 -0.0089382005405945 -0.023609831749448 0.012584955221683 46536.718114171 0.010121898005309 0.84917144065023 0.46444714420986 9.8839769375693 -0.010882470459505 -0.022037856987031 0.013304211938431 46536.727966174 0.00985200300056022 0.8153657245527 0.43702007257838 9.7945053969339 -0.011543599890579 -0.019717678438976 0.013167080147666 46536.737926431 0.00996025699714664 0.78723086586979 0.46883206169163 9.7797895873938 -0.013493059906993 -0.02098552667313 0.013628018125516 46536.747938233 0.0100118019981892 0.74471623598932 0.50349225243788 9.7952861492847 -0.016711600920944 -0.02044019767216 0.013920815406689 46536.758140712 0.0102024790030555 0.72372880059093 0.5814334145722 9.754128226892 -0.019279360782802 -0.019796668021336 0.014580693095686 46536.768001332 0.00986061999719823 0.76140448050229 0.59845340238637 9.8221489928582 -0.023914456665382 -0.022833167818136 0.015365089131333 46536.777978143 0.00997681100125192 0.80503880842694 0.55743539202841 9.9353916439295 -0.028754288165575 -0.023602192645416 0.016690325761633 46536.787955924 0.00997778100281721 0.8188629871629 0.52360508322415 10.04342289734 -0.030463644940738 -0.020588363748603 0.016592776897388 46536.797911583 0.00995565899938811 0.79722353908847 0.58222432074053 10.066744462739 -0.031256598199628 -0.018188609186313 0.01721036036278 46536.807944446 0.0100328629996511 0.8024100082252 0.58942067262945 10.094877793328 -0.033741108469683 -0.017219817808366 0.017150306308363 46536.818041644 0.01009719799913 0.83909850699142 0.47159257173503 10.179976124329 -0.034481942199231 -0.017651845137111 0.016505260362108 46536.827997424 0.00995577999856323 0.8320937309427 0.54006868597478 10.21785470568 -0.031279150869346 -0.013919568366544 0.016519471307792 46536.837913042 0.00991561800037744 0.7667846713013 0.53974338307856 10.215971499828 -0.029714778238944 -0.010652633111563 0.016870550611623 46536.847912431 0.00999938900349662 0.7646869706061 0.55383687561678 10.255365774854 -0.027479061503103 -0.012449238144828 0.01624796801988 46536.857898508 0.0099860769987572 0.78751892501519 0.50794634427426 10.361465908625 -0.025611702277637 -0.011097852423104 0.015276272816898 46536.867989741 0.0100912330017309 0.77283108626291 0.49050939263312 10.379831022332 -0.021918446935992 -0.0063911745596384 0.014280831894363 46536.877939844 0.00995010299811838 0.78788642332347 0.49664298373815 10.332771368982 -0.018957679895593 -0.0049299983756927 0.013253207110209 46536.887906136 0.00996629199653398 0.81305845982495 0.42621153617743 10.338370663635 -0.017630527911254 -0.0039144986193388 0.011851726043677 46536.897899367 0.00999323100404581 0.79996969085121 0.39217480575082 10.306920064089 -0.013797948724566 -0.00054782382643794 0.011026467137126 46536.907941256 0.0100418889996945 0.75461423722353 0.42682858488819 10.281642054476 -0.011702756415881 0.0020468497475277 0.011449997066557 46536.917960544 0.0100192879981478 0.74043710164 0.43951429715496 10.229645746305 -0.011529842953499 0.0041263222853986 0.010777997506573 46536.928087742 0.0101271980020101 0.726946536394 0.33172215258172 10.162078884359 -0.012797366510474 0.0051858739425888 0.010808297880587 46536.938157482 0.0100697399975616 0.7291295559349 0.25592382969446 10.146947051705 -0.011306761533903 0.0064464928512005 0.011578053198499 46536.948129197 0.00