# ground truth trajectory
# file: 'rgbd_dataset_freiburg3_nostructure_texture_far.bag'
# timestamp tx ty tz qx qy qz qw
1341839845.5812 -2.3070 -2.3296 1.9537 0.9400 0.0560 -0.0009 -0.3365
1341839845.5911 -2.3075 -2.3296 1.9534 0.9399 0.0562 -0.0008 -0.3369
1341839845.6011 -2.3082 -2.3294 1.9533 0.9396 0.0565 -0.0007 -0.3375
1341839845.6111 -2.3086 -2.3293 1.9531 0.9395 0.0571 -0.0001 -0.3376
1341839845.6211 -2.3092 -2.3291 1.9528 0.9395 0.0581 0.0002 -0.3376
1341839845.6311 -2.3098 -2.3289 1.9526 0.9396 0.0593 0.0004 -0.3371
1341839845.6411 -2.3108 -2.3289 1.9522 0.9398 0.0597 0.0005 -0.3364
1341839845.6511 -2.3114 -2.3287 1.9519 0.9398 0.0608 0.0003 -0.3364
1341839845.6618 -2.3118 -2.3285 1.9517 0.9399 0.0624 -0.0002 -0.3356
1341839845.6711 -2.3124 -2.3284 1.9515 0.9402 0.0633 -0.0009 -0.3347
1341839845.6812 -2.3130 -2.3281 1.9512 0.9401 0.0643 -0.0017 -0.3349
1341839845.6911 -2.3135 -2.3279 1.9509 0.9402 0.0652 -0.0022 -0.3344
1341839845.7011 -2.3141 -2.3278 1.9507 0.9403 0.0654 -0.0024 -0.3340
1341839845.7111 -2.3147 -2.3276 1.9505 0.9405 0.0658 -0.0022 -0.3335
1341839845.7211 -2.3151 -2.3274 1.9503 0.9404 0.0662 -0.0020 -0.3335
1341839845.7311 -2.3155 -2.3274 1.9501 0.9404 0.0668 -0.0018 -0.3333
1341839845.7412 -2.3159 -2.3273 1.9500 0.9404 0.0674 -0.0016 -0.3333
1341839845.7511 -2.3165 -2.3272 1.9497 0.9403 0.0678 -0.0016 -0.3334
1341839845.7613 -2.3169 -2.3271 1.9497 0.9402 0.0683 -0.0018 -0.3337
1341839845.7711 -2.3175 -2.3269 1.9495 0.9402 0.0687 -0.0019 -0.3337
1341839845.7811 -2.3179 -2.3266 1.9490 0.9400 0.0691 -0.0027 -0.3340
1341839845.7911 -2.3184 -2.3264 1.9487 0.9404 0.0697 -0.0028 -0.3329
1341839845.8012 -2.3188 -2.3262 1.9484 0.9407 0.0704 -0.0029 -0.3319
1341839845.8111 -2.3192 -2.3261 1.9482 0.9408 0.0713 -0.0029 -0.3314
1341839845.8211 -2.3197 -2.3258 1.9480 0.9409 0.0724 -0.0028 -0.3309
1341839845.8312 -2.3201 -2.3257 1.9479 0.9407 0.0734 -0.0031 -0.3311
1341839845.8412 -2.3205 -2.3255 1.9478 0.9404 0.0739 -0.0031 -0.3318
1341839845.8511 -2.3209 -2.3254 1.9476 0.9402 0.0744 -0.0036 -0.3324
1341839845.8611 -2.3213 -2.3252 1.9475 0.9400 0.0744 -0.0037 -0.3329
1341839845.8711 -2.3216 -2.3250 1.9473 0.9399 0.0740 -0.0040 -0.3333
1341839845.8812 -2.3219 -2.3248 1.9470 0.9398 0.0739 -0.0040 -0.3335
1341839845.8911 -2.3222 -2.3247 1.9467 0.9401 0.0741 -0.0038 -0.3328
1341839845.9012 -2.3224 -2.3246 1.9464 0.9405 0.0743 -0.0035 -0.3316
1341839845.9111 -2.3226 -2.3245 1.9462 0.9410 0.0752 -0.0029 -0.3299
1341839845.9211 -2.3227 -2.3245 1.9459 0.9412 0.0763 -0.0031 -0.3291
1341839845.9311 -2.3230 -2.3244 1.9459 0.9413 0.0772 -0.0032 -0.3286
1341839845.9411 -2.3232 -2.3244 1.9457 0.9410 0.0777 -0.0037 -0.3292
1341839845.9511 -2.3234 -2.3242 1.9456 0.9408 0.0777 -0.0044 -0.3298
1341839845.9611 -2.3234 -2.3242 1.9456 0.9404 0.0771 -0.0051 -0.3312
1341839845.9712 -2.3235 -2.3239 1.9454 0.9401 0.0766 -0.0052 -0.3320
1341839845.9811 -2.3236 -2.3239 1.9453 0.9403 0.0763 -0.0051 -0.3318
1341839845.9911 -2.3237 -2.3238 1.9452 0.9405 0.0761 -0.0044 -0.3311
1341839846.0062 -2.3237 -2.3238 1.9450 0.9408 0.0766 -0.0037 -0.3303
1341839846.0111 -2.3237 -2.3237 1.9448 0.9410 0.0773 -0.0030 -0.3295
1341839846.0212 -2.3236 -2.3237 1.9447 0.9411 0.0782 -0.0024 -0.3289
1341839846.0311 -2.3236 -2.3236 1.9445 0.9412 0.0785 -0.0020 -0.3285
1341839846.0411 -2.3235 -2.3236 1.9444 0.9413 0.0787 -0.0021 -0.3283
1341839846.0511 -2.3235 -2.3235 1.9442 0.9412 0.0789 -0.0025 -0.3284
1341839846.0612 -2.3234 -2.3233 1.9441 0.9410 0.0786 -0.0030 -0.3293
1341839846.0711 -2.3233 -2.3232 1.9440 0.9409 0.0783 -0.0035 -0.3296
1341839846.0813 -2.3232 -2.3230 1.9438 0.9407 0.0783 -0.0039 -0.3300
1341839846.0911 -2.3231 -2.3230 1.9438 0.9408 0.0788 -0.0039 -0.3296
1341839846.1012 -2.3230 -2.3229 1.9436 0.9408 0.0794 -0.0039 -0.3295
1341839846.1111 -2.3228 -2.3228 1.9436 0.9409 0.0798 -0.0039 -0.3291
1341839846.1213 -2.3226 -2.3227 1.9435 0.9410 0.0799 -0.0035 -0.3289
1341839846.1344 -2.3224 -2.3227 1.9435 0.9410 0.0799 -0.0029 -0.3289
1341839846.1412 -2.3223 -2.3226 1.9435 0.9408 0.0799 -0.0024 -0.3294
1341839846.1511 -2.3221 -2.3225 1.9435 0.9407 0.0797 -0.0017 -0.3297
1341839846.1611 -2.3220 -2.3224 1.9435 0.9406 0.0793 -0.0009 -0.3301
1341839846.1722 -2.3218 -2.3223 1.9435 0.9407 0.0792 0.0000 -0.3297
1341839846.1812 -2.3216 -2.3221 1.9433 0.9408 0.0791 0.0010 -0.3296
1341839846.1911 -2.3215 -2.3218 1.9431 0.9410 0.0795 0.0019 -0.3290
1341839846.2011 -2.3213 -2.3216 1.9430 0.9410 0.0803 0.0024 -0.3287
1341839846.2111 -2.3212 -2.3214 1.9428 0.9410 0.0813 0.0025 -0.3286
1341839846.2212 -2.3211 -2.3212 1.9427 0.9410 0.0819 0.0019 -0.3285
1341839846.2312 -2.3208 -2.3211 1.9425 0.9408 0.0823 0.0015 -0.3290
1341839846.2412 -2.3206 -2.3208 1.9424 0.9406 0.0821 0.0009 -0.3294
1341839846.2512 -2.3204 -2.3206 1.9422 0.9407 0.0815 0.0007 -0.3295
1341839846.2611 -2.3203 -2.3206 1.9417 0.9408 0.0798 0.0007 -0.3294
1341839846.2730 -2.3201 -2.3202 1.9415 0.9406 0.0785 0.0009 -0.3302
1341839846.2812 -2.3200 -2.3198 1.9412 0.9408 0.0782 0.0010 -0.3300
1341839846.2911 -2.3196 -2.3191 1.9409 0.9407 0.0788 0.0016 -0.3300
1341839846.3012 -2.3195 -2.3188 1.9406 0.9408 0.0792 0.0016 -0.3295
1341839846.3112 -2.3194 -2.3185 1.9403 0.9409 0.0800 0.0015 -0.3292
1341839846.3212 -2.3193 -2.3181 1.9401 0.9408 0.0808 0.0014 -0.3293
1341839846.3312 -2.3194 -2.3177 1.9399 0.9408 0.0817 0.0007 -0.3289
1341839846.3412 -2.3195 -2.3173 1.9396 0.9405 0.0822 -0.0000 -0.3298
1341839846.3511 -2.3195 -2.3169 1.9393 0.9404 0.0829 -0.0004 -0.3297
1341839846.3611 -2.3194 -2.3164 1.9390 0.9405 0.0833 -0.0007 -0.3295
1341839846.3711 -2.3192 -2.3159 1.9388 0.9409 0.0836 0.0002 -0.3281
1341839846.3812 -2.3190 -2.3154 1.9384 0.9411 0.0836 0.0014 -0.3276
1341839846.3911 -2.3188 -2.3150 1.9382 0.9414 0.0838 0.0028 -0.3266
1341839846.4012 -2.3186 -2.3144 1.9379 0.9414 0.0845 0.0037 -0.3266
1341839846.4113 -2.3184 -2.3138 1.9377 0.9414 0.0847 0.0045 -0.3264
1341839846.4212 -2.3182 -2.3133 1.9375 0.9412 0.0848 0.0047 -0.3271
1341839846.4312 -2.3179 -2.3128 1.9374 0.9410 0.0850 0.0045 -0.3275
1341839846.4412 -2.3177 -2.3122 1.9372 0.9407 0.0846 0.0044 -0.3286
1341839846.4511 -2.3174 -2.3117 1.9371 0.9404 0.0845 0.0038 -0.3293
1341839846.4612 -2.3171 -2.3109 1.9369 0.9404 0.0841 0.0035 -0.3295
1341839846.4716 -2.3169 -2.3101 1.9366 0.9406 0.0840 0.0031 -0.3289
1341839846.4811 -2.3166 -2.3093 1.9363 0.9408 0.0841 0.0024 -0.3283
1341839846.4911 -2.3163 -2.3086 1.9362 0.9414 0.0844 0.0016 -0.3265
1341839846.5013 -2.3163 -2.3077 1.9360 0.9416 0.0852 0.0004 -0.3258
1341839846.5112 -2.3161 -2.3068 1.9358 0.9415 0.0856 -0.0007 -0.3260
1341839846.5212 -2.3157 -2.3060 1.9358 0.9416 0.0861 -0.0015 -0.3255
1341839846.5311 -2.3155 -2.3051 1.9359 0.9414 0.0860 -0.0022 -0.3260
1341839846.5412 -2.3152 -2.3041 1.9359 0.9413 0.0859 -0.0024 -0.3264
1341839846.5511 -2.3149 -2.3028 1.9360 0.9411 0.0854 -0.0023 -0.3271
1341839846.5612 -2.3146 -2.3017 1.9359 0.9412 0.0852 -0.0018 -0.3269
1341839846.5712 -2.3146 -2.3001 1.9358 0.9410 0.0837 -0.0013 -0.3279
1341839846.5812 -2.3144 -2.2988 1.9357 0.9413 0.0831 -0.0006 -0.3272
1341839846.5911 -2.3142 -2.2976 1.9357 0.9416 0.0831 0.0001 -0.3263
1341839846.6012 -2.3140 -2.2963 1.9358 0.9419 0.0833 0.0003 -0.3253
1341839846.6112 -2.3140 -2.2949 1.9359 0.9419 0.0840 -0.0001 -0.3253
1341839846.6212 -2.3138 -2.2936 1.9359 0.9420 0.0841 -0.0007 -0.3249
1341839846.6312 -2.3142 -2.2921 1.9357 0.9416 0.0840 -0.0014 -0.3260
1341839846.6411 -2.3137 -2.2906 1.9357 0.9415 0.0856 -0.0013 -0.3260
1341839846.6511 -2.3136 -2.2890 1.9357 0.9414 0.0856 -0.0012 -0.3261
1341839846.6611 -2.3138 -2.2868 1.9355 0.9410 0.0841 -0.0010 -0.3278
1341839846.6712 -2.3137 -2.2852 1.9355 0.9415 0.0842 -0.0003 -0.3262
1341839846.6812 -2.3138 -2.2838 1.9352 0.9423 0.0834 0.0007 -0.3243
1341839846.6912 -2.3134 -2.2818 1.9350 0.9424 0.0839 0.0019 -0.3238
1341839846.7012 -2.3136 -2.2797 1.9346 0.9423 0.0839 0.0025 -0.3240
1341839846.7113 -2.3134 -2.2782 1.9344 0.9427 0.0848 0.0027 -0.3228
1341839846.7212 -2.3135 -2.2764 1.9340 0.9427 0.0853 0.0024 -0.3225
1341839846.7312 -2.3135 -2.2747 1.9339 0.9427 0.0863 0.0014 -0.3222
1341839846.7417 -2.3140 -2.2722 1.9336 0.9422 0.0849 0.0002 -0.3242
1341839846.7512 -2.3141 -2.2703 1.9333 0.9422 0.0852 -0.0015 -0.3241
1341839846.7612 -2.3141 -2.2686 1.9329 0.9426 0.0847 -0.0026 -0.3229
1341839846.7712 -2.3142 -2.2665 1.9327 0.9424 0.0850 -0.0028 -0.3235
1341839846.7812 -2.3141 -2.2645 1.9325 0.9427 0.0850 -0.0027 -0.3226
1341839846.7912 -2.3147 -2.2621 1.9321 0.9424 0.0835 -0.0024 -0.3238
1341839846.8012 -2.3147 -2.2602 1.9318 0.9428 0.0827 -0.0012 -0.3230
1341839846.8112 -2.3151 -2.2580 1.9317 0.9429 0.0829 -0.0005 -0.3225
1341839846.8211 -2.3157 -2.2558 1.9316 0.9429 0.0834 0.0001 -0.3224
1341839846.8311 -2.3158 -2.2534 1.9315 0.9427 0.0850 0.0007 -0.3225
1341839846.8413 -2.3166 -2.2507 1.9312 0.9422 0.0837 0.0009 -0.3245
1341839846.8514 -2.3171 -2.2484 1.9311 0.9423 0.0838 0.0010 -0.3241
1341839846.8611 -2.3174 -2.2458 1.9310 0.9424 0.0845 0.0012 -0.3237
1341839846.8712 -2.3179 -2.2437 1.9307 0.9428 0.0850 0.0012 -0.3223
1341839846.8814 -2.3187 -2.2408 1.9306 0.9429 0.0854 0.0018 -0.3219
1341839846.8912 -2.3194 -2.2382 1.9307 0.9431 0.0854 0.0017 -0.3212
1341839846.9012 -2.3196 -2.2356 1.9304 0.9431 0.0865 0.0026 -0.3211
1341839846.9112 -2.3199 -2.2333 1.9303 0.9432 0.0873 0.0026 -0.3206
1341839846.9211 -2.3204 -2.2310 1.9302 0.9431 0.0872 0.0032 -0.3208
1341839846.9312 -2.3208 -2.2279 1.9303 0.9425 0.0867 0.0035 -0.3228
1341839846.9412 -2.3216 -2.2251 1.9302 0.9424 0.0853 0.0039 -0.3235
1341839846.9511 -2.3216 -2.2224 1.9302 0.9421 0.0858 0.0039 -0.3241
1341839846.9612 -2.3222 -2.2190 1.9301 0.9418 0.0838 0.0038 -0.3256
1341839846.9712 -2.3226 -2.2165 1.9299 0.9426 0.0829 0.0035 -0.3234
1341839846.9812 -2.3228 -2.2133 1.9300 0.9429 0.0844 0.0030 -0.3223
1341839846.9911 -2.3232 -2.2107 1.9299 0.9430 0.0843 0.0022 -0.3218
1341839847.0012 -2.3237 -2.2072 1.9299 0.9427 0.0839 0.0017 -0.3229
1341839847.0112 -2.3241 -2.2045 1.9298 0.9429 0.0833 0.0012 -0.3224
1341839847.0211 -2.3242 -2.2012 1.9299 0.9425 0.0849 0.0009 -0.3232
1341839847.0311 -2.3250 -2.1981 1.9299 0.9422 0.0826 0.0011 -0.3247
1341839847.0412 -2.3254 -2.1948 1.9300 0.9420 0.0815 0.0018 -0.3256
1341839847.0511 -2.3249 -2.1924 1.9300 0.9423 0.0818 0.0038 -0.3247
1341839847.0612 -2.3251 -2.1891 1.9300 0.9422 0.0825 0.0048 -0.3246
1341839847.0722 -2.3259 -2.1851 1.9300 0.9426 0.0792 0.0061 -0.3244
1341839847.0812 -2.3260 -2.1820 1.9296 0.9423 0.0782 0.0064 -0.3255
1341839847.0912 -2.3262 -2.1786 1.9296 0.9429 0.0793 0.0066 -0.3235
1341839847.1012 -2.3269 -2.1751 1.9296 0.9431 0.0785 0.0060 -0.3231
1341839847.1113 -2.3272 -2.1719 1.9296 0.9432 0.0788 0.0053 -0.3228
1341839847.1212 -2.3278 -2.1688 1.9295 0.9432 0.0778 0.0040 -0.3230
1341839847.1312 -2.3276 -2.1653 1.9296 0.9428 0.0791 0.0034 -0.3239
1341839847.1412 -2.3286 -2.1615 1.9297 0.9426 0.0772 0.0034 -0.3249
1341839847.1511 -2.3289 -2.1583 1.9297 0.9426 0.0772 0.0036 -0.3249
1341839847.1612 -2.3295 -2.1552 1.9297 0.9429 0.0755 0.0047 -0.3244
1341839847.1712 -2.3301 -2.1513 1.9297 0.9429 0.0750 0.0061 -0.3244
1341839847.1811 -2.3304 -2.1478 1.9296 0.9432 0.0757 0.0080 -0.3235
1341839847.1913 -2.3310 -2.1442 1.9300 0.9437 0.0757 0.0087 -0.3219
1341839847.2012 -2.3316 -2.1408 1.9301 0.9434 0.0751 0.0097 -0.3229
1341839847.2112 -2.3326 -2.1377 1.9303 0.9435 0.0749 0.0097 -0.3227
1341839847.2211 -2.3333 -2.1341 1.9306 0.9433 0.0752 0.0099 -0.3230
1341839847.2311 -2.3342 -2.1307 1.9309 0.9430 0.0743 0.0091 -0.3241
1341839847.2424 -2.3348 -2.1276 1.9309 0.9432 0.0748 0.0093 -0.3236
1341839847.2511 -2.3350 -2.1241 1.9311 0.9433 0.0764 0.0096 -0.3228
1341839847.2611 -2.3359 -2.1202 1.9312 0.9432 0.0750 0.0094 -0.3235
1341839847.2712 -2.3366 -2.1170 1.9314 0.9437 0.0751 0.0092 -0.3221
1341839847.2811 -2.3377 -2.1136 1.9317 0.9442 0.0746 0.0085 -0.3208
1341839847.2911 -2.3380 -2.1102 1.9320 0.9444 0.0760 0.0079 -0.3198
1341839847.3011 -2.3387 -2.1070 1.9323 0.9448 0.0773 0.0066 -0.3185
1341839847.3111 -2.3391 -2.1039 1.9328 0.9445 0.0778 0.0057 -0.3192
1341839847.3211 -2.3400 -2.1009 1.9331 0.9443 0.0761 0.0049 -0.3201
1341839847.3311 -2.3405 -2.0974 1.9336 0.9434 0.0753 0.0048 -0.3230
1341839847.3414 -2.3412 -2.0941 1.9340 0.9427 0.0751 0.0046 -0.3249
1341839847.3511 -2.3417 -2.0908 1.9341 0.9423 0.0737 0.0059 -0.3264
1341839847.3612 -2.3423 -2.0878 1.9346 0.9428 0.0736 0.0070 -0.3250
1341839847.3711 -2.3427 -2.0847 1.9345 0.9430 0.0746 0.0078 -0.3241
1341839847.3812 -2.3436 -2.0814 1.9348 0.9432 0.0736 0.0087 -0.3237
1341839847.3911 -2.3441 -2.0785 1.9351 0.9438 0.0742 0.0093 -0.3219
1341839847.4011 -2.3446 -2.0755 1.9352 0.9439 0.0742 0.0092 -0.3217
1341839847.4117 -2.3454 -2.0729 1.9356 0.9445 0.0750 0.0088 -0.3198
1341839847.4211 -2.3458 -2.0696 1.9358 0.9437 0.0743 0.0085 -0.3222
1341839847.4311 -2.3465 -2.0669 1.9359 0.9437 0.0732 0.0081 -0.3226
1341839847.4412 -2.3467 -2.0638 1.9361 0.9435 0.0741 0.0083 -0.3228
1341839847.4511 -2.3474 -2.0605 1.9361 0.9433 0.0723 0.0081 -0.3240
1341839847.4614 -2.3478 -2.0577 1.9362 0.9438 0.0720 0.0078 -0.3224
1341839847.4711 -2.3483 -2.0546 1.9360 0.9438 0.0718 0.0075 -0.3224
1341839847.4812 -2.3490 -2.0519 1.9361 0.9446 0.0706 0.0069 -0.3206
1341839847.4912 -2.3493 -2.0489 1.9362 0.9444 0.0704 0.0059 -0.3212
1341839847.5012 -2.3497 -2.0458 1.9363 0.9446 0.0715 0.0047 -0.3202
1341839847.5112 -2.3502 -2.0429 1.9365 0.9443 0.0722 0.0026 -0.3210
1341839847.5211 -2.3507 -2.0401 1.9366 0.9439 0.0725 0.0010 -0.3221
1341839847.5311 -2.3518 -2.0372 1.9368 0.9436 0.0701 -0.0005 -0.3236
1341839847.5412 -2.3523 -2.0343 1.9370 0.9438 0.0698 -0.0006 -0.3231
1341839847.5511 -2.3524 -2.0315 1.9373 0.9439 0.0711 -0.0002 -0.3224
1341839847.5612 -2.3526 -2.0289 1.9375 0.9440 0.0716 0.0006 -0.3220
1341839847.5711 -2.3534 -2.0260 1.9378 0.9440 0.0705 0.0013 -0.3224
1341839847.5815 -2.3537 -2.0236 1.9380 0.9442 0.0706 0.0025 -0.3218
1341839847.5911 -2.3541 -2.0211 1.9384 0.9441 0.0716 0.0038 -0.3216
1341839847.6011 -2.3547 -2.0183 1.9386 0.9435 0.0707 0.0051 -0.3236
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