diff --git a/Result/Geo-RDS/Boon/crowd/CameraTrajectory.txt b/Result/Geo-RDS/Boon/crowd/CameraTrajectory.txt
new file mode 100644
index 0000000..a945150
--- /dev/null
+++ b/Result/Geo-RDS/Boon/crowd/CameraTrajectory.txt
@@ -0,0 +1,925 @@
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diff --git a/Result/Geo-RDS/Boon/crowd/KeyFrameTrajectory.txt b/Result/Geo-RDS/Boon/crowd/KeyFrameTrajectory.txt
new file mode 100644
index 0000000..5209bb6
--- /dev/null
+++ b/Result/Geo-RDS/Boon/crowd/KeyFrameTrajectory.txt
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diff --git a/Result/Geo-RDS/Boon/kidnapping_box/CameraTrajectory.txt b/Result/Geo-RDS/Boon/kidnapping_box/CameraTrajectory.txt
new file mode 100644
index 0000000..8571441
--- /dev/null
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diff --git a/Result/Geo-RDS/Boon/kidnapping_box/KeyFrameTrajectory.txt b/Result/Geo-RDS/Boon/kidnapping_box/KeyFrameTrajectory.txt
new file mode 100644
index 0000000..a5124cd
--- /dev/null
+++ b/Result/Geo-RDS/Boon/kidnapping_box/KeyFrameTrajectory.txt
@@ -0,0 +1,77 @@
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diff --git a/Result/Geo-RDS/Boon/moving_non_box/CameraTrajectory.txt b/Result/Geo-RDS/Boon/moving_non_box/CameraTrajectory.txt
new file mode 100644
index 0000000..4692005
--- /dev/null
+++ b/Result/Geo-RDS/Boon/moving_non_box/CameraTrajectory.txt
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diff --git a/Result/Geo-RDS/Boon/moving_non_box/KeyFrameTrajectory.txt b/Result/Geo-RDS/Boon/moving_non_box/KeyFrameTrajectory.txt
new file mode 100644
index 0000000..a70d41c
--- /dev/null
+++ b/Result/Geo-RDS/Boon/moving_non_box/KeyFrameTrajectory.txt
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diff --git a/Result/Geo-RDS/Boon/person_tracking/CameraTrajectory.txt b/Result/Geo-RDS/Boon/person_tracking/CameraTrajectory.txt
new file mode 100644
index 0000000..b37851b
--- /dev/null
+++ b/Result/Geo-RDS/Boon/person_tracking/CameraTrajectory.txt
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diff --git a/Result/Geo-RDS/Boon/person_tracking/KeyFrameTrajectory.txt b/Result/Geo-RDS/Boon/person_tracking/KeyFrameTrajectory.txt
new file mode 100644
index 0000000..ac14675
--- /dev/null
+++ b/Result/Geo-RDS/Boon/person_tracking/KeyFrameTrajectory.txt
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diff --git a/Result/Geo-RDS/Boon/placing_non_box/CameraTrajectory.txt b/Result/Geo-RDS/Boon/placing_non_box/CameraTrajectory.txt
new file mode 100644
index 0000000..07550ee
--- /dev/null
+++ b/Result/Geo-RDS/Boon/placing_non_box/CameraTrajectory.txt
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diff --git a/Result/Geo-RDS/Boon/placing_non_box/KeyFrameTrajectory.txt b/Result/Geo-RDS/Boon/placing_non_box/KeyFrameTrajectory.txt
new file mode 100644
index 0000000..4af74b6
--- /dev/null
+++ b/Result/Geo-RDS/Boon/placing_non_box/KeyFrameTrajectory.txt
@@ -0,0 +1,69 @@
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diff --git a/Result/Geo-RDS/TUM/sitting_half/CameraTrajectory.txt b/Result/Geo-RDS/TUM/sitting_half/CameraTrajectory.txt
new file mode 100644
index 0000000..aa847ca
--- /dev/null
+++ b/Result/Geo-RDS/TUM/sitting_half/CameraTrajectory.txt
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diff --git a/Result/Geo-RDS/TUM/sitting_half/KeyFrameTrajectory.txt b/Result/Geo-RDS/TUM/sitting_half/KeyFrameTrajectory.txt
new file mode 100644
index 0000000..742f251
--- /dev/null
+++ b/Result/Geo-RDS/TUM/sitting_half/KeyFrameTrajectory.txt
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diff --git a/Result/Geo-RDS/TUM/sitting_static/CameraTrajectory1.txt b/Result/Geo-RDS/TUM/sitting_static/CameraTrajectory1.txt
new file mode 100644
index 0000000..2517e4b
--- /dev/null
+++ b/Result/Geo-RDS/TUM/sitting_static/CameraTrajectory1.txt
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diff --git a/Result/Geo-RDS/TUM/sitting_static/KeyFrameTrajectory1.txt b/Result/Geo-RDS/TUM/sitting_static/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..8bd8928
--- /dev/null
+++ b/Result/Geo-RDS/TUM/sitting_static/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo-RDS/TUM/sitting_xyz/CameraTrajectory1.txt b/Result/Geo-RDS/TUM/sitting_xyz/CameraTrajectory1.txt
new file mode 100644
index 0000000..c7c2d69
--- /dev/null
+++ b/Result/Geo-RDS/TUM/sitting_xyz/CameraTrajectory1.txt
@@ -0,0 +1,1219 @@
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diff --git a/Result/Geo-RDS/TUM/sitting_xyz/CameraTrajectory2.txt b/Result/Geo-RDS/TUM/sitting_xyz/CameraTrajectory2.txt
new file mode 100644
index 0000000..ba4c016
--- /dev/null
+++ b/Result/Geo-RDS/TUM/sitting_xyz/CameraTrajectory2.txt
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diff --git a/Result/Geo-RDS/TUM/sitting_xyz/KeyFrameTrajectory1.txt b/Result/Geo-RDS/TUM/sitting_xyz/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..7c97279
--- /dev/null
+++ b/Result/Geo-RDS/TUM/sitting_xyz/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo-RDS/TUM/sitting_xyz/KeyFrameTrajectory2.txt b/Result/Geo-RDS/TUM/sitting_xyz/KeyFrameTrajectory2.txt
new file mode 100644
index 0000000..a902575
--- /dev/null
+++ b/Result/Geo-RDS/TUM/sitting_xyz/KeyFrameTrajectory2.txt
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diff --git a/Result/Geo-RDS/TUM/walking_half/CameraTrajectory1.txt b/Result/Geo-RDS/TUM/walking_half/CameraTrajectory1.txt
new file mode 100644
index 0000000..1eabe24
--- /dev/null
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diff --git a/Result/Geo-RDS/TUM/walking_half/CameraTrajectory2.txt b/Result/Geo-RDS/TUM/walking_half/CameraTrajectory2.txt
new file mode 100644
index 0000000..12f3e19
--- /dev/null
+++ b/Result/Geo-RDS/TUM/walking_half/CameraTrajectory2.txt
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diff --git a/Result/Geo-RDS/TUM/walking_half/CameraTrajectory4.txt b/Result/Geo-RDS/TUM/walking_half/CameraTrajectory4.txt
new file mode 100644
index 0000000..59ca8ba
--- /dev/null
+++ b/Result/Geo-RDS/TUM/walking_half/CameraTrajectory4.txt
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diff --git a/Result/Geo-RDS/TUM/walking_half/KeyFrameTrajectory1.txt b/Result/Geo-RDS/TUM/walking_half/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..c2c909f
--- /dev/null
+++ b/Result/Geo-RDS/TUM/walking_half/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo-RDS/TUM/walking_half/KeyFrameTrajectory2.txt b/Result/Geo-RDS/TUM/walking_half/KeyFrameTrajectory2.txt
new file mode 100644
index 0000000..b62ac14
--- /dev/null
+++ b/Result/Geo-RDS/TUM/walking_half/KeyFrameTrajectory2.txt
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diff --git a/Result/Geo-RDS/TUM/walking_half/KeyFrameTrajectory4.txt b/Result/Geo-RDS/TUM/walking_half/KeyFrameTrajectory4.txt
new file mode 100644
index 0000000..96e89e3
--- /dev/null
+++ b/Result/Geo-RDS/TUM/walking_half/KeyFrameTrajectory4.txt
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diff --git a/Result/Geo-RDS/TUM/walking_rpy/CameraTrajectory1.txt b/Result/Geo-RDS/TUM/walking_rpy/CameraTrajectory1.txt
new file mode 100644
index 0000000..fe2b3ae
--- /dev/null
+++ b/Result/Geo-RDS/TUM/walking_rpy/CameraTrajectory1.txt
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diff --git a/Result/Geo-RDS/TUM/walking_rpy/CameraTrajectory2.txt b/Result/Geo-RDS/TUM/walking_rpy/CameraTrajectory2.txt
new file mode 100644
index 0000000..8a375c4
--- /dev/null
+++ b/Result/Geo-RDS/TUM/walking_rpy/CameraTrajectory2.txt
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diff --git a/Result/Geo-RDS/TUM/walking_rpy/KeyFrameTrajectory1.txt b/Result/Geo-RDS/TUM/walking_rpy/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..a3cdc6f
--- /dev/null
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diff --git a/Result/Geo-RDS/TUM/walking_rpy/KeyFrameTrajectory2.txt b/Result/Geo-RDS/TUM/walking_rpy/KeyFrameTrajectory2.txt
new file mode 100644
index 0000000..f8d8f6f
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diff --git a/Result/Geo-RDS/TUM/walking_static/CameraTrajectory1.txt b/Result/Geo-RDS/TUM/walking_static/CameraTrajectory1.txt
new file mode 100644
index 0000000..a6f4f97
--- /dev/null
+++ b/Result/Geo-RDS/TUM/walking_static/CameraTrajectory1.txt
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diff --git a/Result/Geo-RDS/TUM/walking_static/CameraTrajectory2.txt b/Result/Geo-RDS/TUM/walking_static/CameraTrajectory2.txt
new file mode 100644
index 0000000..a10ac3c
--- /dev/null
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diff --git a/Result/Geo-RDS/TUM/walking_static/CameraTrajectory3.txt b/Result/Geo-RDS/TUM/walking_static/CameraTrajectory3.txt
new file mode 100644
index 0000000..decaf25
--- /dev/null
+++ b/Result/Geo-RDS/TUM/walking_static/CameraTrajectory3.txt
@@ -0,0 +1,717 @@
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diff --git a/Result/Geo-RDS/TUM/walking_static/KeyFrameTrajectory1.txt b/Result/Geo-RDS/TUM/walking_static/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..90a5d5b
--- /dev/null
+++ b/Result/Geo-RDS/TUM/walking_static/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo-RDS/TUM/walking_static/KeyFrameTrajectory2.txt b/Result/Geo-RDS/TUM/walking_static/KeyFrameTrajectory2.txt
new file mode 100644
index 0000000..8ed1066
--- /dev/null
+++ b/Result/Geo-RDS/TUM/walking_static/KeyFrameTrajectory2.txt
@@ -0,0 +1,219 @@
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diff --git a/Result/Geo-RDS/TUM/walking_static/KeyFrameTrajectory3.txt b/Result/Geo-RDS/TUM/walking_static/KeyFrameTrajectory3.txt
new file mode 100644
index 0000000..2ea07b0
--- /dev/null
+++ b/Result/Geo-RDS/TUM/walking_static/KeyFrameTrajectory3.txt
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diff --git a/Result/Geo-RDS/TUM/walking_xyz/CameraTrajectory1.txt b/Result/Geo-RDS/TUM/walking_xyz/CameraTrajectory1.txt
new file mode 100644
index 0000000..9a21131
--- /dev/null
+++ b/Result/Geo-RDS/TUM/walking_xyz/CameraTrajectory1.txt
@@ -0,0 +1,827 @@
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diff --git a/Result/Geo-RDS/TUM/walking_xyz/CameraTrajectory2.txt b/Result/Geo-RDS/TUM/walking_xyz/CameraTrajectory2.txt
new file mode 100644
index 0000000..b9b5b24
--- /dev/null
+++ b/Result/Geo-RDS/TUM/walking_xyz/CameraTrajectory2.txt
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diff --git a/Result/Geo-RDS/TUM/walking_xyz/KeyFrameTrajectory1.txt b/Result/Geo-RDS/TUM/walking_xyz/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..7df4e70
--- /dev/null
+++ b/Result/Geo-RDS/TUM/walking_xyz/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo-RDS/TUM/walking_xyz/KeyFrameTrajectory2.txt b/Result/Geo-RDS/TUM/walking_xyz/KeyFrameTrajectory2.txt
new file mode 100644
index 0000000..b118d29
--- /dev/null
+++ b/Result/Geo-RDS/TUM/walking_xyz/KeyFrameTrajectory2.txt
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diff --git a/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_crowd/CameraTrajectory.txt b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_crowd/CameraTrajectory.txt
new file mode 100644
index 0000000..131e25d
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_crowd/CameraTrajectory.txt
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diff --git a/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_crowd/KeyFrameTrajectory.txt b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_crowd/KeyFrameTrajectory.txt
new file mode 100644
index 0000000..6ab8475
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_crowd/KeyFrameTrajectory.txt
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diff --git a/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_kidnapping_box/CameraTrajectory1.txt b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_kidnapping_box/CameraTrajectory1.txt
new file mode 100644
index 0000000..e988aac
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_kidnapping_box/CameraTrajectory1.txt
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diff --git a/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_kidnapping_box/KeyFrameTrajectory1.txt b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_kidnapping_box/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..cf206cc
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_kidnapping_box/KeyFrameTrajectory1.txt
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diff --git a/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_moving_nonobstructing_box/CameraTrajectory.txt b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_moving_nonobstructing_box/CameraTrajectory.txt
new file mode 100644
index 0000000..bfe086f
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_moving_nonobstructing_box/CameraTrajectory.txt
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diff --git a/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_moving_nonobstructing_box/KeyFrameTrajectory.txt b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_moving_nonobstructing_box/KeyFrameTrajectory.txt
new file mode 100644
index 0000000..bc17256
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_moving_nonobstructing_box/KeyFrameTrajectory.txt
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diff --git a/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_person_tracking/CameraTrajectory1.txt b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_person_tracking/CameraTrajectory1.txt
new file mode 100644
index 0000000..4782eaa
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_person_tracking/CameraTrajectory1.txt
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diff --git a/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_person_tracking/KeyFrameTrajectory1.txt b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_person_tracking/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..00f3d1c
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_person_tracking/KeyFrameTrajectory1.txt
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diff --git a/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_placing_nonobstructing_box/CameraTrajectory.txt b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_placing_nonobstructing_box/CameraTrajectory.txt
new file mode 100644
index 0000000..55c2737
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_placing_nonobstructing_box/CameraTrajectory.txt
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diff --git a/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_placing_nonobstructing_box/KeyFrameTrajectory.txt b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_placing_nonobstructing_box/KeyFrameTrajectory.txt
new file mode 100644
index 0000000..9329f4b
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/Boon/rgbd_bonn_placing_nonobstructing_box/KeyFrameTrajectory.txt
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_crowd/CameraTrajectory03.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_crowd/CameraTrajectory03.txt
new file mode 100644
index 0000000..7533f6e
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_crowd/CameraTrajectory03.txt
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_crowd/KeyFrameTrajectory03.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_crowd/KeyFrameTrajectory03.txt
new file mode 100644
index 0000000..d6b3ee7
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_crowd/KeyFrameTrajectory03.txt
@@ -0,0 +1,77 @@
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_kidnapping_box/CameraTrajectory5.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_kidnapping_box/CameraTrajectory5.txt
new file mode 100644
index 0000000..b2734c2
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_kidnapping_box/CameraTrajectory5.txt
@@ -0,0 +1,1091 @@
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_kidnapping_box/KeyFrameTrajectory5.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_kidnapping_box/KeyFrameTrajectory5.txt
new file mode 100644
index 0000000..0ea92cb
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_kidnapping_box/KeyFrameTrajectory5.txt
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_moving_nonobstructing_box/CameraTrajectory1.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_moving_nonobstructing_box/CameraTrajectory1.txt
new file mode 100644
index 0000000..f656579
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_moving_nonobstructing_box/CameraTrajectory1.txt
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_moving_nonobstructing_box/KeyFrameTrajectory1.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_moving_nonobstructing_box/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..6dd8832
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_moving_nonobstructing_box/KeyFrameTrajectory1.txt
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_person_tracking/CameraTrajectory3.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_person_tracking/CameraTrajectory3.txt
new file mode 100644
index 0000000..c099c8b
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_person_tracking/CameraTrajectory3.txt
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_person_tracking/KeyFrameTrajectory3.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_person_tracking/KeyFrameTrajectory3.txt
new file mode 100644
index 0000000..7d298cd
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_person_tracking/KeyFrameTrajectory3.txt
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_placing_nonobstructing_box/CameraTrajectory1.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_placing_nonobstructing_box/CameraTrajectory1.txt
new file mode 100644
index 0000000..f72cdf2
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_placing_nonobstructing_box/CameraTrajectory1.txt
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_placing_nonobstructing_box/KeyFrameTrajectory1.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_placing_nonobstructing_box/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..b2d0ad6
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/Boon/rgbd_bonn_placing_nonobstructing_box/KeyFrameTrajectory1.txt
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/sitting_half/CameraTrajectory1.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/sitting_half/CameraTrajectory1.txt
new file mode 100644
index 0000000..02df7fb
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/sitting_half/CameraTrajectory1.txt
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/sitting_half/KeyFrameTrajectory1.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/sitting_half/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..c6be55d
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/sitting_half/KeyFrameTrajectory1.txt
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/sitting_static/CameraTrajectory_s_static0001.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/sitting_static/CameraTrajectory_s_static0001.txt
new file mode 100644
index 0000000..2d845bd
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/sitting_static/CameraTrajectory_s_static0001.txt
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/sitting_static/KeyFrameTrajectory_s_static0001.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/sitting_static/KeyFrameTrajectory_s_static0001.txt
new file mode 100644
index 0000000..d981d95
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/sitting_static/KeyFrameTrajectory_s_static0001.txt
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/sitting_xyz/CameraTrajectory1.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/sitting_xyz/CameraTrajectory1.txt
new file mode 100644
index 0000000..62fcca7
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/sitting_xyz/CameraTrajectory1.txt
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/sitting_xyz/KeyFrameTrajectory1.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/sitting_xyz/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..a05e8dd
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/sitting_xyz/KeyFrameTrajectory1.txt
@@ -0,0 +1,71 @@
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_half/CameraTrajectory.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_half/CameraTrajectory.txt
new file mode 100644
index 0000000..1eabe24
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_half/CameraTrajectory.txt
@@ -0,0 +1,1021 @@
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_half/KeyFrameTrajectory.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_half/KeyFrameTrajectory.txt
new file mode 100644
index 0000000..c2c909f
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_half/KeyFrameTrajectory.txt
@@ -0,0 +1,338 @@
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_rpy/CameraTrajectory.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_rpy/CameraTrajectory.txt
new file mode 100644
index 0000000..8dc7820
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_rpy/CameraTrajectory.txt
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_rpy/KeyFrameTrajectory.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_rpy/KeyFrameTrajectory.txt
new file mode 100644
index 0000000..187cb6b
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_rpy/KeyFrameTrajectory.txt
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_static/CameraTrajectory.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_static/CameraTrajectory.txt
new file mode 100644
index 0000000..121e38e
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_static/CameraTrajectory.txt
@@ -0,0 +1,717 @@
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_static/KeyFrameTrajectory.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_static/KeyFrameTrajectory.txt
new file mode 100644
index 0000000..bd11a0a
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_static/KeyFrameTrajectory.txt
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_xyz/CameraTrajectory.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_xyz/CameraTrajectory.txt
new file mode 100644
index 0000000..2a535f2
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_xyz/CameraTrajectory.txt
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diff --git a/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_xyz/KeyFrameTrajectory.txt b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_xyz/KeyFrameTrajectory.txt
new file mode 100644
index 0000000..98ac39c
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/PoseGraphOptimizer/TUM/walking_xyz/KeyFrameTrajectory.txt
@@ -0,0 +1,92 @@
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diff --git a/Result/GeoYOLO_SLAM/TUM/sit_half/CameraTrajectory1.txt b/Result/GeoYOLO_SLAM/TUM/sit_half/CameraTrajectory1.txt
new file mode 100644
index 0000000..a5867a0
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/TUM/sit_half/CameraTrajectory1.txt
@@ -0,0 +1,1074 @@
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diff --git a/Result/GeoYOLO_SLAM/TUM/sit_half/KeyFrameTrajectory1.txt b/Result/GeoYOLO_SLAM/TUM/sit_half/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..8845546
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/TUM/sit_half/KeyFrameTrajectory1.txt
@@ -0,0 +1,252 @@
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diff --git a/Result/GeoYOLO_SLAM/TUM/sit_static/CameraTrajectory0002.txt b/Result/GeoYOLO_SLAM/TUM/sit_static/CameraTrajectory0002.txt
new file mode 100644
index 0000000..5a0ed55
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/TUM/sit_static/CameraTrajectory0002.txt
@@ -0,0 +1,680 @@
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diff --git a/Result/GeoYOLO_SLAM/TUM/sit_static/KeyFrameTrajectory0002.txt b/Result/GeoYOLO_SLAM/TUM/sit_static/KeyFrameTrajectory0002.txt
new file mode 100644
index 0000000..69c4bc3
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/TUM/sit_static/KeyFrameTrajectory0002.txt
@@ -0,0 +1,43 @@
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diff --git a/Result/GeoYOLO_SLAM/TUM/sit_xyz/CameraTrajectory2.txt b/Result/GeoYOLO_SLAM/TUM/sit_xyz/CameraTrajectory2.txt
new file mode 100644
index 0000000..e52a443
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/TUM/sit_xyz/CameraTrajectory2.txt
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diff --git a/Result/GeoYOLO_SLAM/TUM/sit_xyz/KeyFrameTrajectory2.txt b/Result/GeoYOLO_SLAM/TUM/sit_xyz/KeyFrameTrajectory2.txt
new file mode 100644
index 0000000..d18e40f
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/TUM/sit_xyz/KeyFrameTrajectory2.txt
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diff --git a/Result/GeoYOLO_SLAM/TUM/walk_half/CameraTrajectory0002.txt b/Result/GeoYOLO_SLAM/TUM/walk_half/CameraTrajectory0002.txt
new file mode 100644
index 0000000..d83d092
--- /dev/null
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diff --git a/Result/GeoYOLO_SLAM/TUM/walk_half/KeyFrameTrajectory0002.txt b/Result/GeoYOLO_SLAM/TUM/walk_half/KeyFrameTrajectory0002.txt
new file mode 100644
index 0000000..b776de5
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/TUM/walk_half/KeyFrameTrajectory0002.txt
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diff --git a/Result/GeoYOLO_SLAM/TUM/walk_rpy/CameraTrajectory0007.txt b/Result/GeoYOLO_SLAM/TUM/walk_rpy/CameraTrajectory0007.txt
new file mode 100644
index 0000000..6349aea
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/TUM/walk_rpy/CameraTrajectory0007.txt
@@ -0,0 +1,856 @@
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diff --git a/Result/GeoYOLO_SLAM/TUM/walk_rpy/KeyFrameTrajectory0007.txt b/Result/GeoYOLO_SLAM/TUM/walk_rpy/KeyFrameTrajectory0007.txt
new file mode 100644
index 0000000..4680662
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/TUM/walk_rpy/KeyFrameTrajectory0007.txt
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diff --git a/Result/GeoYOLO_SLAM/TUM/walk_static/CameraTrajectory0019.txt b/Result/GeoYOLO_SLAM/TUM/walk_static/CameraTrajectory0019.txt
new file mode 100644
index 0000000..a307da1
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/TUM/walk_static/CameraTrajectory0019.txt
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diff --git a/Result/GeoYOLO_SLAM/TUM/walk_static/KeyFrameTrajectory0019.txt b/Result/GeoYOLO_SLAM/TUM/walk_static/KeyFrameTrajectory0019.txt
new file mode 100644
index 0000000..3909f11
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/TUM/walk_static/KeyFrameTrajectory0019.txt
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diff --git a/Result/GeoYOLO_SLAM/TUM/walk_xyz/CameraTrajectory_w_xyz0009.txt b/Result/GeoYOLO_SLAM/TUM/walk_xyz/CameraTrajectory_w_xyz0009.txt
new file mode 100644
index 0000000..01d5c67
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/TUM/walk_xyz/CameraTrajectory_w_xyz0009.txt
@@ -0,0 +1,826 @@
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diff --git a/Result/GeoYOLO_SLAM/TUM/walk_xyz/KeyFrameTrajectory_w_xyz0009.txt b/Result/GeoYOLO_SLAM/TUM/walk_xyz/KeyFrameTrajectory_w_xyz0009.txt
new file mode 100644
index 0000000..ab52e69
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/TUM/walk_xyz/KeyFrameTrajectory_w_xyz0009.txt
@@ -0,0 +1,502 @@
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/1.py b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/1.py
new file mode 100644
index 0000000..c5c06cb
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/1.py
@@ -0,0 +1,18 @@
+import matplotlib.pyplot as plt
+import matplotlib.image as mpimg
+
+# 加载保存的图像
+img = mpimg.imread('./walking_static/image.png')
+plt.imshow(img)
+
+# 获取当前坐标轴
+ax = plt.gca()
+
+# 设置 y 轴的范围
+ax.set_ylim(-3, 3)  # 调整 y 轴范围
+
+# 显示修改后的图像
+plt.show()
+
+
+
diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_half/NoOptimized_GeoYOLO_SLAM.txt b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_half/NoOptimized_GeoYOLO_SLAM.txt
new file mode 100644
index 0000000..a5867a0
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_half/NoOptimized_GeoYOLO_SLAM.txt
@@ -0,0 +1,1074 @@
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_half/Optimized_GeoYOLO_SLAM.txt b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_half/Optimized_GeoYOLO_SLAM.txt
new file mode 100644
index 0000000..02df7fb
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_half/Optimized_GeoYOLO_SLAM.txt
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_half/image.png b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_half/image.png
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_rpy/CameraTrajectory01.txt b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_rpy/CameraTrajectory01.txt
new file mode 100644
index 0000000..aae3716
--- /dev/null
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_rpy/CameraTrajectory2.txt b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_rpy/CameraTrajectory2.txt
new file mode 100644
index 0000000..41910c2
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_rpy/CameraTrajectory2.txt
@@ -0,0 +1,793 @@
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_rpy/KeyFrameTrajectory01.txt b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_rpy/KeyFrameTrajectory01.txt
new file mode 100644
index 0000000..40ecb8a
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_rpy/KeyFrameTrajectory01.txt
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_rpy/KeyFrameTrajectory2.txt b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_rpy/KeyFrameTrajectory2.txt
new file mode 100644
index 0000000..776df30
--- /dev/null
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_static/NoOptimized_GeoYOLO_SLAM.txt b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_static/NoOptimized_GeoYOLO_SLAM.txt
new file mode 100644
index 0000000..5a0ed55
--- /dev/null
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_static/Optimized_GeoYOLO_SLAM.txt b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_static/Optimized_GeoYOLO_SLAM.txt
new file mode 100644
index 0000000..2d845bd
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_static/Optimized_GeoYOLO_SLAM.txt
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_static/image.png b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_static/image.png
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_static/image.png:Zone.Identifier b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_static/image.png:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_xyz/NoOptimized_GeoYOLO_SLAM.txt b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_xyz/NoOptimized_GeoYOLO_SLAM.txt
new file mode 100644
index 0000000..e52a443
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_xyz/NoOptimized_GeoYOLO_SLAM.txt
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_xyz/Optimized_GeoYOLO_SLAM.txt b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_xyz/Optimized_GeoYOLO_SLAM.txt
new file mode 100644
index 0000000..62fcca7
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/sitting_xyz/Optimized_GeoYOLO_SLAM.txt
@@ -0,0 +1,1219 @@
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_half/NoOptimized_GeoYOLO_SLAM.txt b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_half/NoOptimized_GeoYOLO_SLAM.txt
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_half/Optimized_GeoYOLO_SLAM.txt b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_half/Optimized_GeoYOLO_SLAM.txt
new file mode 100644
index 0000000..1eabe24
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_half/Optimized_GeoYOLO_SLAM.txt
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_half/image.png b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_half/image.png
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index 0000000..8b60313
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_static/NoOptimized_GeoYOLO_SLAM.txt b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_static/NoOptimized_GeoYOLO_SLAM.txt
new file mode 100644
index 0000000..a307da1
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_static/NoOptimized_GeoYOLO_SLAM.txt
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_static/Optimized_GeoYOLO_SLAM.txt b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_static/Optimized_GeoYOLO_SLAM.txt
new file mode 100644
index 0000000..121e38e
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_static/Optimized_GeoYOLO_SLAM.txt
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_static/image.png b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_static/image.png
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_xyz/NoOptimized_GeoYOLO_SLAM.txt b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_xyz/NoOptimized_GeoYOLO_SLAM.txt
new file mode 100644
index 0000000..01d5c67
--- /dev/null
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diff --git a/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_xyz/Optimized_GeoYOLO_SLAM.txt b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_xyz/Optimized_GeoYOLO_SLAM.txt
new file mode 100644
index 0000000..2a535f2
--- /dev/null
+++ b/Result/GeoYOLO_SLAM/optimized_vs_nooptimized/walking_xyz/Optimized_GeoYOLO_SLAM.txt
@@ -0,0 +1,827 @@
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diff --git a/Result/Geo_Dyna/Boon/rgbd_bonn_crowd/CameraTrajectory3.txt b/Result/Geo_Dyna/Boon/rgbd_bonn_crowd/CameraTrajectory3.txt
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diff --git a/Result/Geo_Dyna/Boon/rgbd_bonn_crowd/KeyFrameTrajectory3.txt b/Result/Geo_Dyna/Boon/rgbd_bonn_crowd/KeyFrameTrajectory3.txt
new file mode 100644
index 0000000..d9c5e77
--- /dev/null
+++ b/Result/Geo_Dyna/Boon/rgbd_bonn_crowd/KeyFrameTrajectory3.txt
@@ -0,0 +1,253 @@
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diff --git a/Result/Geo_Dyna/Boon/rgbd_bonn_kidnapping_box/CameraTrajectory1.txt b/Result/Geo_Dyna/Boon/rgbd_bonn_kidnapping_box/CameraTrajectory1.txt
new file mode 100644
index 0000000..77ce2a3
--- /dev/null
+++ b/Result/Geo_Dyna/Boon/rgbd_bonn_kidnapping_box/CameraTrajectory1.txt
@@ -0,0 +1,1091 @@
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diff --git a/Result/Geo_Dyna/Boon/rgbd_bonn_kidnapping_box/KeyFrameTrajectory1.txt b/Result/Geo_Dyna/Boon/rgbd_bonn_kidnapping_box/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..57aed14
--- /dev/null
+++ b/Result/Geo_Dyna/Boon/rgbd_bonn_kidnapping_box/KeyFrameTrajectory1.txt
@@ -0,0 +1,78 @@
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diff --git a/Result/Geo_Dyna/Boon/rgbd_bonn_moving_nonobstructing_box/CameraTrajectory2.txt b/Result/Geo_Dyna/Boon/rgbd_bonn_moving_nonobstructing_box/CameraTrajectory2.txt
new file mode 100644
index 0000000..93b8100
--- /dev/null
+++ b/Result/Geo_Dyna/Boon/rgbd_bonn_moving_nonobstructing_box/CameraTrajectory2.txt
@@ -0,0 +1,778 @@
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diff --git a/Result/Geo_Dyna/Boon/rgbd_bonn_moving_nonobstructing_box/KeyFrameTrajectory2.txt b/Result/Geo_Dyna/Boon/rgbd_bonn_moving_nonobstructing_box/KeyFrameTrajectory2.txt
new file mode 100644
index 0000000..2989466
--- /dev/null
+++ b/Result/Geo_Dyna/Boon/rgbd_bonn_moving_nonobstructing_box/KeyFrameTrajectory2.txt
@@ -0,0 +1,38 @@
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diff --git a/Result/Geo_Dyna/Boon/rgbd_bonn_person_tracking/CameraTrajectory1.txt b/Result/Geo_Dyna/Boon/rgbd_bonn_person_tracking/CameraTrajectory1.txt
new file mode 100644
index 0000000..29e2444
--- /dev/null
+++ b/Result/Geo_Dyna/Boon/rgbd_bonn_person_tracking/CameraTrajectory1.txt
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diff --git a/Result/Geo_Dyna/Boon/rgbd_bonn_person_tracking/KeyFrameTrajectory1.txt b/Result/Geo_Dyna/Boon/rgbd_bonn_person_tracking/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..c40c2b1
--- /dev/null
+++ b/Result/Geo_Dyna/Boon/rgbd_bonn_person_tracking/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo_Dyna/Boon/rgbd_bonn_placing_nonobstructing_box/CameraTrajectory3.txt b/Result/Geo_Dyna/Boon/rgbd_bonn_placing_nonobstructing_box/CameraTrajectory3.txt
new file mode 100644
index 0000000..cfdefaf
--- /dev/null
+++ b/Result/Geo_Dyna/Boon/rgbd_bonn_placing_nonobstructing_box/CameraTrajectory3.txt
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diff --git a/Result/Geo_Dyna/Boon/rgbd_bonn_placing_nonobstructing_box/KeyFrameTrajectory3.txt b/Result/Geo_Dyna/Boon/rgbd_bonn_placing_nonobstructing_box/KeyFrameTrajectory3.txt
new file mode 100644
index 0000000..c61978d
--- /dev/null
+++ b/Result/Geo_Dyna/Boon/rgbd_bonn_placing_nonobstructing_box/KeyFrameTrajectory3.txt
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diff --git a/Result/Geo_Dyna/TUM/sitting_half/CameraTrajectory1.txt b/Result/Geo_Dyna/TUM/sitting_half/CameraTrajectory1.txt
new file mode 100644
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--- /dev/null
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diff --git a/Result/Geo_Dyna/TUM/sitting_half/CameraTrajectory2.txt b/Result/Geo_Dyna/TUM/sitting_half/CameraTrajectory2.txt
new file mode 100644
index 0000000..38d0fcf
--- /dev/null
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diff --git a/Result/Geo_Dyna/TUM/sitting_half/KeyFrameTrajectory1.txt b/Result/Geo_Dyna/TUM/sitting_half/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..630e4d0
--- /dev/null
+++ b/Result/Geo_Dyna/TUM/sitting_half/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo_Dyna/TUM/sitting_half/KeyFrameTrajectory2.txt b/Result/Geo_Dyna/TUM/sitting_half/KeyFrameTrajectory2.txt
new file mode 100644
index 0000000..3ffa7fd
--- /dev/null
+++ b/Result/Geo_Dyna/TUM/sitting_half/KeyFrameTrajectory2.txt
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diff --git a/Result/Geo_Dyna/TUM/sitting_static/CameraTrajectory2.txt b/Result/Geo_Dyna/TUM/sitting_static/CameraTrajectory2.txt
new file mode 100644
index 0000000..1b06775
--- /dev/null
+++ b/Result/Geo_Dyna/TUM/sitting_static/CameraTrajectory2.txt
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diff --git a/Result/Geo_Dyna/TUM/sitting_static/KeyFrameTrajectory2.txt b/Result/Geo_Dyna/TUM/sitting_static/KeyFrameTrajectory2.txt
new file mode 100644
index 0000000..7727b3d
--- /dev/null
+++ b/Result/Geo_Dyna/TUM/sitting_static/KeyFrameTrajectory2.txt
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diff --git a/Result/Geo_Dyna/TUM/sitting_xyz/CameraTrajectory1.txt b/Result/Geo_Dyna/TUM/sitting_xyz/CameraTrajectory1.txt
new file mode 100644
index 0000000..3bb25d6
--- /dev/null
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diff --git a/Result/Geo_Dyna/TUM/sitting_xyz/CameraTrajectory2.txt b/Result/Geo_Dyna/TUM/sitting_xyz/CameraTrajectory2.txt
new file mode 100644
index 0000000..c9f3f08
--- /dev/null
+++ b/Result/Geo_Dyna/TUM/sitting_xyz/CameraTrajectory2.txt
@@ -0,0 +1,1219 @@
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diff --git a/Result/Geo_Dyna/TUM/sitting_xyz/KeyFrameTrajectory1.txt b/Result/Geo_Dyna/TUM/sitting_xyz/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..91fa04a
--- /dev/null
+++ b/Result/Geo_Dyna/TUM/sitting_xyz/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo_Dyna/TUM/sitting_xyz/KeyFrameTrajectory2.txt b/Result/Geo_Dyna/TUM/sitting_xyz/KeyFrameTrajectory2.txt
new file mode 100644
index 0000000..aebe354
--- /dev/null
+++ b/Result/Geo_Dyna/TUM/sitting_xyz/KeyFrameTrajectory2.txt
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diff --git a/Result/Geo_Dyna/TUM/walking_half/CameraTrajectory2.txt b/Result/Geo_Dyna/TUM/walking_half/CameraTrajectory2.txt
new file mode 100644
index 0000000..e8676b4
--- /dev/null
+++ b/Result/Geo_Dyna/TUM/walking_half/CameraTrajectory2.txt
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diff --git a/Result/Geo_Dyna/TUM/walking_half/KeyFrameTrajectory2.txt b/Result/Geo_Dyna/TUM/walking_half/KeyFrameTrajectory2.txt
new file mode 100644
index 0000000..6882b71
--- /dev/null
+++ b/Result/Geo_Dyna/TUM/walking_half/KeyFrameTrajectory2.txt
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diff --git a/Result/Geo_Dyna/TUM/walking_rpy/CameraTrajectory1.txt b/Result/Geo_Dyna/TUM/walking_rpy/CameraTrajectory1.txt
new file mode 100644
index 0000000..39fa977
--- /dev/null
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diff --git a/Result/Geo_Dyna/TUM/walking_rpy/KeyFrameTrajectory.txt b/Result/Geo_Dyna/TUM/walking_rpy/KeyFrameTrajectory.txt
new file mode 100644
index 0000000..69cda5b
--- /dev/null
+++ b/Result/Geo_Dyna/TUM/walking_rpy/KeyFrameTrajectory.txt
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diff --git a/Result/Geo_Dyna/TUM/walking_rpy/KeyFrameTrajectory1.txt b/Result/Geo_Dyna/TUM/walking_rpy/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..a42a32c
--- /dev/null
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diff --git a/Result/Geo_Dyna/TUM/walking_static/CameraTrajectory2.txt b/Result/Geo_Dyna/TUM/walking_static/CameraTrajectory2.txt
new file mode 100644
index 0000000..4d4860d
--- /dev/null
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diff --git a/Result/Geo_Dyna/TUM/walking_static/KeyFrameTrajectory2.txt b/Result/Geo_Dyna/TUM/walking_static/KeyFrameTrajectory2.txt
new file mode 100644
index 0000000..6ad4bc2
--- /dev/null
+++ b/Result/Geo_Dyna/TUM/walking_static/KeyFrameTrajectory2.txt
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diff --git a/Result/Geo_Dyna/TUM/walking_xyz/CameraTrajectory2.txt b/Result/Geo_Dyna/TUM/walking_xyz/CameraTrajectory2.txt
new file mode 100644
index 0000000..556ae62
--- /dev/null
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diff --git a/Result/Geo_Dyna/TUM/walking_xyz/KeyFrameTrajectory2.txt b/Result/Geo_Dyna/TUM/walking_xyz/KeyFrameTrajectory2.txt
new file mode 100644
index 0000000..5c2cd79
--- /dev/null
+++ b/Result/Geo_Dyna/TUM/walking_xyz/KeyFrameTrajectory2.txt
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diff --git a/Result/Geo_ORB3/Boon/rgbd_bonn_crowd/CameraTrajectory1.txt b/Result/Geo_ORB3/Boon/rgbd_bonn_crowd/CameraTrajectory1.txt
new file mode 100644
index 0000000..0380c17
--- /dev/null
+++ b/Result/Geo_ORB3/Boon/rgbd_bonn_crowd/CameraTrajectory1.txt
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diff --git a/Result/Geo_ORB3/Boon/rgbd_bonn_crowd/KeyFrameTrajectory1.txt b/Result/Geo_ORB3/Boon/rgbd_bonn_crowd/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..047f4ef
--- /dev/null
+++ b/Result/Geo_ORB3/Boon/rgbd_bonn_crowd/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo_ORB3/Boon/rgbd_bonn_kidnapping_box/CameraTrajectory2.txt b/Result/Geo_ORB3/Boon/rgbd_bonn_kidnapping_box/CameraTrajectory2.txt
new file mode 100644
index 0000000..a9d704a
--- /dev/null
+++ b/Result/Geo_ORB3/Boon/rgbd_bonn_kidnapping_box/CameraTrajectory2.txt
@@ -0,0 +1,1091 @@
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diff --git a/Result/Geo_ORB3/Boon/rgbd_bonn_kidnapping_box/KeyFrameTrajectory2.txt b/Result/Geo_ORB3/Boon/rgbd_bonn_kidnapping_box/KeyFrameTrajectory2.txt
new file mode 100644
index 0000000..5bdc67b
--- /dev/null
+++ b/Result/Geo_ORB3/Boon/rgbd_bonn_kidnapping_box/KeyFrameTrajectory2.txt
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diff --git a/Result/Geo_ORB3/Boon/rgbd_bonn_moving_nonobstructing_box/CameraTrajectory1.txt b/Result/Geo_ORB3/Boon/rgbd_bonn_moving_nonobstructing_box/CameraTrajectory1.txt
new file mode 100644
index 0000000..0e57353
--- /dev/null
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diff --git a/Result/Geo_ORB3/Boon/rgbd_bonn_moving_nonobstructing_box/KeyFrameTrajectory1.txt b/Result/Geo_ORB3/Boon/rgbd_bonn_moving_nonobstructing_box/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..a82479e
--- /dev/null
+++ b/Result/Geo_ORB3/Boon/rgbd_bonn_moving_nonobstructing_box/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo_ORB3/Boon/rgbd_bonn_person_tracking/CameraTrajectory.txt b/Result/Geo_ORB3/Boon/rgbd_bonn_person_tracking/CameraTrajectory.txt
new file mode 100644
index 0000000..55676fc
--- /dev/null
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diff --git a/Result/Geo_ORB3/Boon/rgbd_bonn_person_tracking/CameraTrajectory1.txt b/Result/Geo_ORB3/Boon/rgbd_bonn_person_tracking/CameraTrajectory1.txt
new file mode 100644
index 0000000..17ce825
--- /dev/null
+++ b/Result/Geo_ORB3/Boon/rgbd_bonn_person_tracking/CameraTrajectory1.txt
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diff --git a/Result/Geo_ORB3/Boon/rgbd_bonn_person_tracking/KeyFrameTrajectory.txt b/Result/Geo_ORB3/Boon/rgbd_bonn_person_tracking/KeyFrameTrajectory.txt
new file mode 100644
index 0000000..d4621aa
--- /dev/null
+++ b/Result/Geo_ORB3/Boon/rgbd_bonn_person_tracking/KeyFrameTrajectory.txt
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diff --git a/Result/Geo_ORB3/Boon/rgbd_bonn_person_tracking/KeyFrameTrajectory1.txt b/Result/Geo_ORB3/Boon/rgbd_bonn_person_tracking/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..0799756
--- /dev/null
+++ b/Result/Geo_ORB3/Boon/rgbd_bonn_person_tracking/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo_ORB3/Boon/rgbd_bonn_placing_nonobstructing_box/CameraTrajectory1.txt b/Result/Geo_ORB3/Boon/rgbd_bonn_placing_nonobstructing_box/CameraTrajectory1.txt
new file mode 100644
index 0000000..6fc1dd3
--- /dev/null
+++ b/Result/Geo_ORB3/Boon/rgbd_bonn_placing_nonobstructing_box/CameraTrajectory1.txt
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diff --git a/Result/Geo_ORB3/Boon/rgbd_bonn_placing_nonobstructing_box/CameraTrajectory2.txt b/Result/Geo_ORB3/Boon/rgbd_bonn_placing_nonobstructing_box/CameraTrajectory2.txt
new file mode 100644
index 0000000..ff0ebd5
--- /dev/null
+++ b/Result/Geo_ORB3/Boon/rgbd_bonn_placing_nonobstructing_box/CameraTrajectory2.txt
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diff --git a/Result/Geo_ORB3/Boon/rgbd_bonn_placing_nonobstructing_box/KeyFrameTrajectory1.txt b/Result/Geo_ORB3/Boon/rgbd_bonn_placing_nonobstructing_box/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..1457f96
--- /dev/null
+++ b/Result/Geo_ORB3/Boon/rgbd_bonn_placing_nonobstructing_box/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo_ORB3/Boon/rgbd_bonn_placing_nonobstructing_box/KeyFrameTrajectory2.txt b/Result/Geo_ORB3/Boon/rgbd_bonn_placing_nonobstructing_box/KeyFrameTrajectory2.txt
new file mode 100644
index 0000000..1802310
--- /dev/null
+++ b/Result/Geo_ORB3/Boon/rgbd_bonn_placing_nonobstructing_box/KeyFrameTrajectory2.txt
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diff --git a/Result/Geo_ORB3/TUM/sit_half/CameraTrajectory1.txt b/Result/Geo_ORB3/TUM/sit_half/CameraTrajectory1.txt
new file mode 100644
index 0000000..c42ecea
--- /dev/null
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diff --git a/Result/Geo_ORB3/TUM/sit_half/CameraTrajectory1.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/sit_half/CameraTrajectory1.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/sit_half/CameraTrajectory2.txt b/Result/Geo_ORB3/TUM/sit_half/CameraTrajectory2.txt
new file mode 100644
index 0000000..909f167
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/sit_half/CameraTrajectory2.txt
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diff --git a/Result/Geo_ORB3/TUM/sit_half/CameraTrajectory2.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/sit_half/CameraTrajectory2.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/sit_half/KeyFrameTrajectory1.txt b/Result/Geo_ORB3/TUM/sit_half/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..6a31c7d
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/sit_half/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo_ORB3/TUM/sit_half/KeyFrameTrajectory1.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/sit_half/KeyFrameTrajectory1.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/sit_half/KeyFrameTrajectory2.txt b/Result/Geo_ORB3/TUM/sit_half/KeyFrameTrajectory2.txt
new file mode 100644
index 0000000..3928249
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/sit_half/KeyFrameTrajectory2.txt
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diff --git a/Result/Geo_ORB3/TUM/sit_half/KeyFrameTrajectory2.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/sit_half/KeyFrameTrajectory2.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/sit_rpy/CameraTrajectory.txt b/Result/Geo_ORB3/TUM/sit_rpy/CameraTrajectory.txt
new file mode 100644
index 0000000..4fb7182
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/sit_rpy/CameraTrajectory.txt
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diff --git a/Result/Geo_ORB3/TUM/sit_rpy/CameraTrajectory.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/sit_rpy/CameraTrajectory.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/sit_rpy/CameraTrajectory1.txt b/Result/Geo_ORB3/TUM/sit_rpy/CameraTrajectory1.txt
new file mode 100644
index 0000000..2faf62f
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/sit_rpy/CameraTrajectory1.txt
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diff --git a/Result/Geo_ORB3/TUM/sit_rpy/CameraTrajectory1.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/sit_rpy/CameraTrajectory1.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/sit_rpy/KeyFrameTrajectory.txt b/Result/Geo_ORB3/TUM/sit_rpy/KeyFrameTrajectory.txt
new file mode 100644
index 0000000..a37ecf2
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/sit_rpy/KeyFrameTrajectory.txt
@@ -0,0 +1,95 @@
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diff --git a/Result/Geo_ORB3/TUM/sit_rpy/KeyFrameTrajectory.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/sit_rpy/KeyFrameTrajectory.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/sit_rpy/KeyFrameTrajectory1.txt b/Result/Geo_ORB3/TUM/sit_rpy/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..ed81da7
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/sit_rpy/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo_ORB3/TUM/sit_rpy/KeyFrameTrajectory1.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/sit_rpy/KeyFrameTrajectory1.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/sit_static/0001.pdf b/Result/Geo_ORB3/TUM/sit_static/0001.pdf
new file mode 100644
index 0000000..ee739cd
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/sit_static/0001.pdf
@@ -0,0 +1,15 @@
+       2.92  ground truth
+             estimated
+
+       2.94
+
+y [m]  2.96
+
+       2.98
+
+       3.00
+
+       3.02
+                0.74 0.72 0.70 0.68 0.66 0.64 0.62
+                                           x [m]
+
diff --git a/Result/Geo_ORB3/TUM/sit_static/0001.pdf:Zone.Identifier b/Result/Geo_ORB3/TUM/sit_static/0001.pdf:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/sit_static/CameraTrajectory1.txt b/Result/Geo_ORB3/TUM/sit_static/CameraTrajectory1.txt
new file mode 100644
index 0000000..e427740
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/sit_static/CameraTrajectory1.txt
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diff --git a/Result/Geo_ORB3/TUM/sit_static/CameraTrajectory1.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/sit_static/CameraTrajectory1.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/sit_static/KeyFrameTrajectory1.txt b/Result/Geo_ORB3/TUM/sit_static/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..7d88300
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/sit_static/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo_ORB3/TUM/sit_static/KeyFrameTrajectory1.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/sit_static/KeyFrameTrajectory1.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/sit_xyz/CameraTrajectory1.txt b/Result/Geo_ORB3/TUM/sit_xyz/CameraTrajectory1.txt
new file mode 100644
index 0000000..01ce60c
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/sit_xyz/CameraTrajectory1.txt
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diff --git a/Result/Geo_ORB3/TUM/sit_xyz/CameraTrajectory1.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/sit_xyz/CameraTrajectory1.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/sit_xyz/CameraTrajectory2.txt b/Result/Geo_ORB3/TUM/sit_xyz/CameraTrajectory2.txt
new file mode 100644
index 0000000..ab26dec
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/sit_xyz/CameraTrajectory2.txt
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diff --git a/Result/Geo_ORB3/TUM/sit_xyz/CameraTrajectory2.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/sit_xyz/CameraTrajectory2.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/sit_xyz/KeyFrameTrajectory1.txt b/Result/Geo_ORB3/TUM/sit_xyz/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..f8613ad
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/sit_xyz/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo_ORB3/TUM/sit_xyz/KeyFrameTrajectory1.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/sit_xyz/KeyFrameTrajectory1.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/sit_xyz/KeyFrameTrajectory2.txt b/Result/Geo_ORB3/TUM/sit_xyz/KeyFrameTrajectory2.txt
new file mode 100644
index 0000000..5996fe5
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diff --git a/Result/Geo_ORB3/TUM/sit_xyz/KeyFrameTrajectory2.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/sit_xyz/KeyFrameTrajectory2.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_half/0001.pdf b/Result/Geo_ORB3/TUM/walk_half/0001.pdf
new file mode 100644
index 0000000..b5b05d2
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_half/0001.pdf
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+y [m]  2.6
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+       3.0
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+       3.2
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+            1.50 1.25 1.00 0.75 0.50 0.25 0.00 0.25
+                                     x [m]
+
diff --git a/Result/Geo_ORB3/TUM/walk_half/0001.pdf:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_half/0001.pdf:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_half/CameraTrajectory1.txt b/Result/Geo_ORB3/TUM/walk_half/CameraTrajectory1.txt
new file mode 100644
index 0000000..e52dbc4
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diff --git a/Result/Geo_ORB3/TUM/walk_half/CameraTrajectory1.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_half/CameraTrajectory1.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_half/KeyFrameTrajectory1.txt b/Result/Geo_ORB3/TUM/walk_half/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..f508f6e
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_half/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo_ORB3/TUM/walk_half/KeyFrameTrajectory1.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_half/KeyFrameTrajectory1.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_rpy/0001.pdf b/Result/Geo_ORB3/TUM/walk_rpy/0001.pdf
new file mode 100644
index 0000000..3c544f1
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_rpy/0001.pdf
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+       2.4  ground truth
+            estimated
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+       2.5
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+       2.6
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+y [m]  2.7
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+       2.8
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+       2.9
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+       3.0
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+            1.0           0.8  x [m]0.6  0.4  0.2
+
diff --git a/Result/Geo_ORB3/TUM/walk_rpy/0001.pdf:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_rpy/0001.pdf:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory1.txt b/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory1.txt
new file mode 100644
index 0000000..ef617f7
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory1.txt
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diff --git a/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory1.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory1.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory2.txt b/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory2.txt
new file mode 100644
index 0000000..1e6aa45
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory2.txt
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diff --git a/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory2.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory2.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory3.txt b/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory3.txt
new file mode 100644
index 0000000..d2f1f12
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory3.txt
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diff --git a/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory3.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory3.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory4.txt b/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory4.txt
new file mode 100644
index 0000000..a9b2bd3
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory4.txt
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diff --git a/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory4.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_rpy/CameraTrajectory4.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory1.txt b/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..94e97d7
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory1.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory1.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory2.txt b/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory2.txt
new file mode 100644
index 0000000..a6e1266
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory2.txt
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diff --git a/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory2.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory2.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory3.txt b/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory3.txt
new file mode 100644
index 0000000..9566a34
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory3.txt
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diff --git a/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory3.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory3.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory4.txt b/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory4.txt
new file mode 100644
index 0000000..9c63d0f
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory4.txt
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diff --git a/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory4.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_rpy/KeyFrameTrajectory4.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_rpy/rpy4.pdf b/Result/Geo_ORB3/TUM/walk_rpy/rpy4.pdf
new file mode 100644
index 0000000..265f785
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_rpy/rpy4.pdf
@@ -0,0 +1,18 @@
+       2.4  ground truth
+            estimated
+
+       2.5
+
+       2.6
+
+y [m]  2.7
+
+       2.8
+
+       2.9
+
+       3.0
+
+            1.0           0.8  0.6    0.4  0.2
+                               x [m]
+
diff --git a/Result/Geo_ORB3/TUM/walk_rpy/rpy4.pdf:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_rpy/rpy4.pdf:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_static/0001.pdf b/Result/Geo_ORB3/TUM/walk_static/0001.pdf
new file mode 100644
index 0000000..fd23490
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_static/0001.pdf
@@ -0,0 +1,16 @@
+       3.16  ground truth
+             estimated
+
+       3.18
+
+       3.20
+
+y [m]  3.22
+
+       3.24
+
+       3.26
+
+       3.28 0.86 0.84 0.82 0.80 0.78 0.76 0.74 0.72 0.70
+                                           x [m]
+
diff --git a/Result/Geo_ORB3/TUM/walk_static/0001.pdf:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_static/0001.pdf:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_static/CameraTrajectory1.txt b/Result/Geo_ORB3/TUM/walk_static/CameraTrajectory1.txt
new file mode 100644
index 0000000..8dd7e02
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_static/CameraTrajectory1.txt
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diff --git a/Result/Geo_ORB3/TUM/walk_static/CameraTrajectory1.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_static/CameraTrajectory1.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_static/KeyFrameTrajectory1.txt b/Result/Geo_ORB3/TUM/walk_static/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..0345a53
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_static/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo_ORB3/TUM/walk_static/KeyFrameTrajectory1.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_static/KeyFrameTrajectory1.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_xyz/0001.pdf b/Result/Geo_ORB3/TUM/walk_xyz/0001.pdf
new file mode 100644
index 0000000..0a10b34
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_xyz/0001.pdf
@@ -0,0 +1,13 @@
+                                       ground truth
+                                       estimated
+       2.6
+
+       2.8
+
+y [m]  3.0
+
+       3.2
+
+            1.4  1.2  1.0  0.8    0.6  0.4           0.2
+                           x [m]
+
diff --git a/Result/Geo_ORB3/TUM/walk_xyz/0001.pdf:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_xyz/0001.pdf:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_xyz/CameraTrajectory1.txt b/Result/Geo_ORB3/TUM/walk_xyz/CameraTrajectory1.txt
new file mode 100644
index 0000000..cb5f30b
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_xyz/CameraTrajectory1.txt
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diff --git a/Result/Geo_ORB3/TUM/walk_xyz/CameraTrajectory1.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_xyz/CameraTrajectory1.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_xyz/CameraTrajectory2.txt b/Result/Geo_ORB3/TUM/walk_xyz/CameraTrajectory2.txt
new file mode 100644
index 0000000..0f67004
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_xyz/CameraTrajectory2.txt
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diff --git a/Result/Geo_ORB3/TUM/walk_xyz/CameraTrajectory2.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_xyz/CameraTrajectory2.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_xyz/KeyFrameTrajectory 2.txt b/Result/Geo_ORB3/TUM/walk_xyz/KeyFrameTrajectory 2.txt
new file mode 100644
index 0000000..e8e90c3
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_xyz/KeyFrameTrajectory 2.txt	
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diff --git a/Result/Geo_ORB3/TUM/walk_xyz/KeyFrameTrajectory 2.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_xyz/KeyFrameTrajectory 2.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/Result/Geo_ORB3/TUM/walk_xyz/KeyFrameTrajectory1.txt b/Result/Geo_ORB3/TUM/walk_xyz/KeyFrameTrajectory1.txt
new file mode 100644
index 0000000..8f66081
--- /dev/null
+++ b/Result/Geo_ORB3/TUM/walk_xyz/KeyFrameTrajectory1.txt
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diff --git a/Result/Geo_ORB3/TUM/walk_xyz/KeyFrameTrajectory1.txt:Zone.Identifier b/Result/Geo_ORB3/TUM/walk_xyz/KeyFrameTrajectory1.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29