TUM数据格式: timestamp tx ty tz qx qy qz qw
例如:1317354879.544785976 0.33350 -0.00480 -0.07558-0.49915 0.50408 -0.49682 0.49992
void SaveEuRocTraj(double timestamp, const Eigen::Matrix<float, 3,4> &pose_)
{
ofstream foutC(traj_path_, ios::app);
foutC.setf(ios::fixed