# ground truth trajectory
# file: 'rgbd_dataset_freiburg3_structure_texture_far.bag'
# timestamp tx ty tz qx qy qz qw
1341839113.7770 -1.3820 2.3257 1.1232 0.3262 0.7504 -0.5255 -0.2332
1341839113.7869 -1.3818 2.3256 1.1231 0.3256 0.7507 -0.5254 -0.2333
1341839113.7969 -1.3815 2.3254 1.1230 0.3252 0.7508 -0.5255 -0.2333
1341839113.8069 -1.3813 2.3251 1.1229 0.3245 0.7506 -0.5261 -0.2333
1341839113.8169 -1.3819 2.3252 1.1232 0.3216 0.7514 -0.5264 -0.2344
1341839113.8269 -1.3816 2.3250 1.1232 0.3213 0.7515 -0.5265 -0.2341
1341839113.8369 -1.3814 2.3248 1.1231 0.3211 0.7517 -0.5264 -0.2339
1341839113.8482 -1.3811 2.3247 1.1229 0.3210 0.7519 -0.5262 -0.2338
1341839113.8578 -1.3810 2.3245 1.1228 0.3212 0.7519 -0.5260 -0.2341
1341839113.8669 -1.3810 2.3244 1.1226 0.3215 0.7520 -0.5256 -0.2342
1341839113.8769 -1.3813 2.3243 1.1226 0.3218 0.7519 -0.5255 -0.2346
1341839113.8869 -1.3811 2.3242 1.1226 0.3222 0.7520 -0.5251 -0.2344
1341839113.8976 -1.3803 2.3237 1.1221 0.3256 0.7512 -0.5249 -0.2327
1341839113.9070 -1.3803 2.3236 1.1221 0.3261 0.7513 -0.5247 -0.2324
1341839113.9169 -1.3803 2.3235 1.1221 0.3264 0.7512 -0.5248 -0.2318
1341839113.9277 -1.3803 2.3232 1.1221 0.3266 0.7507 -0.5255 -0.2316
1341839113.9369 -1.3803 2.3229 1.1221 0.3266 0.7506 -0.5258 -0.2314
1341839113.9469 -1.3802 2.3227 1.1219 0.3265 0.7508 -0.5256 -0.2312
1341839113.9570 -1.3801 2.3225 1.1218 0.3261 0.7511 -0.5254 -0.2313
1341839113.9669 -1.3801 2.3224 1.1217 0.3254 0.7515 -0.5252 -0.2315
1341839113.9769 -1.3799 2.3222 1.1216 0.3250 0.7523 -0.5241 -0.2317
1341839113.9869 -1.3798 2.3220 1.1215 0.3242 0.7527 -0.5238 -0.2320
1341839113.9970 -1.3798 2.3218 1.1213 0.3239 0.7527 -0.5239 -0.2323
1341839114.0069 -1.3797 2.3216 1.1213 0.3237 0.7528 -0.5241 -0.2321
1341839114.0169 -1.3797 2.3214 1.1212 0.3233 0.7526 -0.5247 -0.2320
1341839114.0272 -1.3796 2.3212 1.1212 0.3233 0.7525 -0.5251 -0.2316
1341839114.0369 -1.3796 2.3210 1.1211 0.3235 0.7525 -0.5250 -0.2312
1341839114.0470 -1.3796 2.3208 1.1210 0.3238 0.7526 -0.5248 -0.2309
1341839114.0569 -1.3797 2.3206 1.1209 0.3242 0.7529 -0.5241 -0.2310
1341839114.0669 -1.3794 2.3205 1.1206 0.3245 0.7536 -0.5231 -0.2306
1341839114.0769 -1.3794 2.3202 1.1204 0.3250 0.7539 -0.5224 -0.2305
1341839114.0869 -1.3794 2.3200 1.1203 0.3254 0.7544 -0.5216 -0.2301
1341839114.0970 -1.3794 2.3197 1.1201 0.3257 0.7548 -0.5210 -0.2297
1341839114.1069 -1.3792 2.3195 1.1200 0.3257 0.7552 -0.5207 -0.2292
1341839114.1169 -1.3792 2.3192 1.1198 0.3253 0.7554 -0.5205 -0.2292
1341839114.1290 -1.3791 2.3190 1.1198 0.3248 0.7555 -0.5208 -0.2293
1341839114.1369 -1.3789 2.3188 1.1197 0.3240 0.7556 -0.5210 -0.2296
1341839114.1470 -1.3788 2.3185 1.1195 0.3231 0.7553 -0.5217 -0.2302
1341839114.1570 -1.3785 2.3183 1.1193 0.3223 0.7556 -0.5215 -0.2307
1341839114.1686 -1.3782 2.3180 1.1191 0.3217 0.7559 -0.5213 -0.2311
1341839114.1769 -1.3782 2.3177 1.1192 0.3207 0.7562 -0.5213 -0.2314
1341839114.1870 -1.3778 2.3174 1.1189 0.3205 0.7572 -0.5201 -0.2312
1341839114.1971 -1.3771 2.3172 1.1185 0.3203 0.7581 -0.5190 -0.2308
1341839114.2080 -1.3775 2.3172 1.1188 0.3176 0.7591 -0.5189 -0.2316
1341839114.2169 -1.3771 2.3170 1.1187 0.3177 0.7592 -0.5189 -0.2314
1341839114.2270 -1.3758 2.3165 1.1182 0.3208 0.7580 -0.5192 -0.2299
1341839114.2369 -1.3752 2.3164 1.1179 0.3214 0.7576 -0.5195 -0.2298
1341839114.2469 -1.3750 2.3163 1.1179 0.3220 0.7569 -0.5201 -0.2300
1341839114.2570 -1.3749 2.3163 1.1180 0.3214 0.7571 -0.5198 -0.2307
1341839114.2670 -1.3743 2.3161 1.1176 0.3217 0.7574 -0.5192 -0.2306
1341839114.2769 -1.3739 2.3157 1.1175 0.3220 0.7576 -0.5187 -0.2310
1341839114.2872 -1.3734 2.3154 1.1174 0.3224 0.7580 -0.5177 -0.2311
1341839114.2970 -1.3731 2.3148 1.1173 0.3236 0.7573 -0.5183 -0.2305
1341839114.3070 -1.3725 2.3145 1.1170 0.3229 0.7577 -0.5183 -0.2303
1341839114.3169 -1.3720 2.3141 1.1168 0.3226 0.7575 -0.5187 -0.2303
1341839114.3279 -1.3712 2.3140 1.1166 0.3203 0.7589 -0.5181 -0.2305
1341839114.3370 -1.3707 2.3135 1.1165 0.3197 0.7588 -0.5186 -0.2305
1341839114.3470 -1.3693 2.3129 1.1160 0.3214 0.7584 -0.5186 -0.2294
1341839114.3569 -1.3691 2.3124 1.1162 0.3211 0.7577 -0.5197 -0.2295
1341839114.3680 -1.3685 2.3122 1.1159 0.3209 0.7578 -0.5194 -0.2303
1341839114.3770 -1.3674 2.3119 1.1154 0.3210 0.7584 -0.5186 -0.2300
1341839114.3870 -1.3669 2.3115 1.1152 0.3206 0.7578 -0.5194 -0.2305
1341839114.3969 -1.3666 2.3113 1.1148 0.3204 0.7579 -0.5192 -0.2310
1341839114.4069 -1.3659 2.3112 1.1141 0.3214 0.7588 -0.5178 -0.2300
1341839114.4169 -1.3654 2.3110 1.1138 0.3205 0.7595 -0.5173 -0.2300
1341839114.4269 -1.3650 2.3107 1.1136 0.3211 0.7595 -0.5170 -0.2298
1341839114.4369 -1.3646 2.3101 1.1136 0.3232 0.7585 -0.5176 -0.2288
1341839114.4469 -1.3642 2.3097 1.1133 0.3239 0.7581 -0.5180 -0.2282
1341839114.4578 -1.3637 2.3098 1.1130 0.3234 0.7591 -0.5167 -0.2283
1341839114.4697 -1.3632 2.3095 1.1128 0.3235 0.7587 -0.5173 -0.2283
1341839114.4769 -1.3628 2.3092 1.1125 0.3236 0.7590 -0.5167 -0.2283
1341839114.4869 -1.3618 2.3087 1.1118 0.3255 0.7582 -0.5171 -0.2275
1341839114.4989 -1.3621 2.3087 1.1118 0.3228 0.7590 -0.5171 -0.2289
1341839114.5070 -1.3617 2.3085 1.1115 0.3221 0.7591 -0.5171 -0.2293
1341839114.5169 -1.3613 2.3082 1.1111 0.3216 0.7591 -0.5171 -0.2300
1341839114.5270 -1.3609 2.3081 1.1107 0.3208 0.7589 -0.5174 -0.2310
1341839114.5370 -1.3594 2.3075 1.1100 0.3234 0.7581 -0.5177 -0.2295
1341839114.5469 -1.3586 2.3072 1.1096 0.3233 0.7585 -0.5175 -0.2289
1341839114.5569 -1.3579 2.3072 1.1096 0.3229 0.7596 -0.5164 -0.2282
1341839114.5669 -1.3575 2.3070 1.1094 0.3230 0.7597 -0.5161 -0.2283
1341839114.5769 -1.3571 2.3069 1.1093 0.3233 0.7599 -0.5158 -0.2279
1341839114.5870 -1.3567 2.3067 1.1091 0.3239 0.7600 -0.5153 -0.2278
1341839114.5970 -1.3565 2.3063 1.1090 0.3257 0.7593 -0.5153 -0.2275
1341839114.6069 -1.3559 2.3062 1.1089 0.3263 0.7594 -0.5148 -0.2276
1341839114.6169 -1.3555 2.3061 1.1088 0.3267 0.7590 -0.5149 -0.2281
1341839114.6269 -1.3550 2.3061 1.1086 0.3268 0.7591 -0.5146 -0.2285
1341839114.6370 -1.3545 2.3060 1.1085 0.3266 0.7588 -0.5148 -0.2291
1341839114.6469 -1.3533 2.3059 1.1082 0.3265 0.7593 -0.5141 -0.2291
1341839114.6569 -1.3531 2.3058 1.1083 0.3259 0.7593 -0.5143 -0.2297
1341839114.6669 -1.3525 2.3057 1.1083 0.3254 0.7596 -0.5140 -0.2301
1341839114.6769 -1.3516 2.3055 1.1082 0.3249 0.7600 -0.5138 -0.2301
1341839114.6869 -1.3508 2.3053 1.1082 0.3245 0.7600 -0.5136 -0.2308
1341839114.6970 -1.3498 2.3053 1.1082 0.3243 0.7601 -0.5134 -0.2314
1341839114.7070 -1.3490 2.3052 1.1082 0.3243 0.7602 -0.5131 -0.2318
1341839114.7169 -1.3481 2.3051 1.1082 0.3244 0.7595 -0.5138 -0.2324
1341839114.7270 -1.3466 2.3052 1.1080 0.3250 0.7594 -0.5134 -0.2326
1341839114.7370 -1.3462 2.3053 1.1083 0.3238 0.7598 -0.5130 -0.2339
1341839114.7469 -1.3452 2.3049 1.1081 0.3258 0.7589 -0.5135 -0.2331
1341839114.7569 -1.3439 2.3048 1.1080 0.3265 0.7590 -0.5130 -0.2328
1341839114.7669 -1.3425 2.3050 1.1081 0.3252 0.7605 -0.5117 -0.2326
1341839114.7769 -1.3408 2.3046 1.1077 0.3279 0.7599 -0.5112 -0.2318
1341839114.7870 -1.3400 2.3044 1.1079 0.3282 0.7595 -0.5113 -0.2324
1341839114.7969 -1.3388 2.3043 1.1078 0.3284 0.7594 -0.5111 -0.2330
1341839114.8070 -1.3377 2.3046 1.1081 0.3267 0.7597 -0.5110 -0.2345
1341839114.8175 -1.3355 2.3040 1.1076 0.3287 0.7586 -0.5117 -0.2336
1341839114.8269 -1.3341 2.3038 1.1076 0.3286 0.7584 -0.5121 -0.2338
1341839114.8410 -1.3329 2.3039 1.1078 0.3273 0.7588 -0.5117 -0.2351
1341839114.8469 -1.3314 2.3037 1.1075 0.3271 0.7591 -0.5113 -0.2352
1341839114.8569 -1.3297 2.3036 1.1072 0.3270 0.7597 -0.5105 -0.2353
1341839114.8669 -1.3280 2.3030 1.1070 0.3290 0.7584 -0.5113 -0.2348
1341839114.8769 -1.3259 2.3030 1.1070 0.3291 0.7589 -0.5105 -0.2350
1341839114.8873 -1.3244 2.3029 1.1069 0.3289 0.7591 -0.5099 -0.2356
1341839114.8969 -1.3227 2.3024 1.1065 0.3300 0.7580 -0.5109 -0.2356
1341839114.9071 -1.3207 2.3025 1.1064 0.3298 0.7584 -0.5102 -0.2361
1341839114.9170 -1.3189 2.3023 1.1063 0.3297 0.7580 -0.5106 -0.2368
1341839114.9269 -1.3175 2.3021 1.1065 0.3283 0.7575 -0.5118 -0.2378
1341839114.9369 -1.3145 2.3017 1.1058 0.3310 0.7566 -0.5118 -0.2368
1341839114.9469 -1.3129 2.3018 1.1060 0.3303 0.7569 -0.5113 -0.2378
1341839114.9569 -1.3110 2.3014 1.1058 0.3316 0.7564 -0.5117 -0.2367
1341839114.9694 -1.3089 2.3012 1.1054 0.3321 0.7567 -0.5114 -0.2359
1341839114.9769 -1.3071 2.3013 1.1054 0.3311 0.7577 -0.5103 -0.2364
1341839114.9881 -1.3053 2.3011 1.1052 0.3309 0.7576 -0.5106 -0.2365
1341839115.0010 -1.3029 2.3006 1.1048 0.3329 0.7569 -0.5108 -0.2352
1341839115.0070 -1.3009 2.3007 1.1044 0.3332 0.7572 -0.5099 -0.2359
1341839115.0170 -1.2997 2.3009 1.1044 0.3325 0.7573 -0.5093 -0.2378
1341839115.0270 -1.2980 2.3008 1.1044 0.3333 0.7566 -0.5092 -0.2390
1341839115.0369 -1.2964 2.3008 1.1043 0.3340 0.7563 -0.5092 -0.2394
1341839115.0469 -1.2936 2.3006 1.1041 0.3378 0.7550 -0.5085 -0.2391
1341839115.0595 -1.2925 2.3007 1.1041 0.3370 0.7548 -0.5093 -0.2395
1341839115.0691 -1.2900 2.3003 1.1038 0.3395 0.7538 -0.5094 -0.2388
1341839115.0769 -1.2878 2.3001 1.1036 0.3400 0.7536 -0.5098 -0.2379
1341839115.0869 -1.2860 2.3001 1.1034 0.3393 0.7541 -0.5098 -0.2375
1341839115.0970 -1.2846 2.3000 1.1033 0.3375 0.7546 -0.5100 -0.2379
1341839115.1073 -1.2823 2.2997 1.1028 0.3392 0.7545 -0.5092 -0.2374
1341839115.1169 -1.2800 2.2995 1.1026 0.3384 0.7546 -0.5093 -0.2381
1341839115.1270 -1.2785 2.2994 1.1025 0.3366 0.7550 -0.5095 -0.2392
1341839115.1369 -1.2761 2.2990 1.1018 0.3383 0.7538 -0.5098 -0.2396
1341839115.1469 -1.2740 2.2989 1.1019 0.3381 0.7545 -0.5088 -0.2399
1341839115.1586 -1.2726 2.2987 1.1017 0.3377 0.7539 -0.5093 -0.2412
1341839115.1669 -1.2713 2.2985 1.1017 0.3368 0.7537 -0.5098 -0.2420
1341839115.1769 -1.2686 2.2982 1.1011 0.3396 0.7527 -0.5099 -0.2411
1341839115.1869 -1.2665 2.2980 1.1008 0.3403 0.7530 -0.5095 -0.2400
1341839115.1981 -1.2651 2.2978 1.1006 0.3395 0.7530 -0.5101 -0.2401
1341839115.2075 -1.2634 2.2976 1.1005 0.3397 0.7535 -0.5094 -0.2393
1341839115.2169 -1.2606 2.2973 1.0998 0.3423 0.7546 -0.5068 -0.2377
1341839115.2273 -1.2590 2.2971 1.0995 0.3417 0.7553 -0.5061 -0.2379
1341839115.2369 -1.2577 2.2968 1.0992 0.3399 0.7547 -0.5079 -0.2386
1341839115.2469 -1.2559 2.2965 1.0991 0.3394 0.7548 -0.5079 -0.2390
1341839115.2572 -1.2531 2.2966 1.0984 0.3412 0.7551 -0.5062 -0.2391
1341839115.2704 -1.2516 2.2964 1.0981 0.3397 0.7550 -0.5068 -0.2405
1341839115.2769 -1.2489 2.2960 1.0974 0.3419 0.7544 -0.5064 -0.2399
1341839115.2884 -1.2470 2.2961 1.0972 0.3397 0.7544 -0.5073 -0.2410
1341839115.2987 -1.2449 2.2955 1.0969 0.3404 0.7541 -0.5077 -0.2403
1341839115.3073 -1.2432 2.2952 1.0967 0.3399 0.7551 -0.5069 -0.2394
1341839115.3169 -1.2417 2.2949 1.0968 0.3387 0.7566 -0.5060 -0.2382
1341839115.3269 -1.2401 2.2946 1.0964 0.3381 0.7576 -0.5049 -0.2384
1341839115.3369 -1.2376 2.2942 1.0961 0.3404 0.7580 -0.5030 -0.2378
1341839115.3469 -1.2360 2.2937 1.0959 0.3405 0.7584 -0.5026 -0.2373
1341839115.3569 -1.2349 2.2935 1.0958 0.3392 0.7579 -0.5037 -0.2386
1341839115.3677 -1.2322 2.2928 1.0953 0.3420 0.7569 -0.5035 -0.2381
1341839115.3768 -1.2306 2.2928 1.0952 0.3412 0.7575 -0.5027 -0.2390
1341839115.3869 -1.2291 2.2923 1.0952 0.3410 0.7570 -0.5032 -0.2395
1341839115.3969 -1.2280 2.2920 1.0951 0.3396 0.7573 -0.5036 -0.2401
1341839115.4075 -1.2259 2.2912 1.0946 0.3428 0.7562 -0.5036 -0.2389
1341839115.4169 -1.2243 2.2912 1.0943 0.3424 0.7576 -0.5015 -0.2394
1341839115.4269 -1.2228 2.2908 1.0939 0.3421 0.7579 -0.5015 -0.2389
1341839115.4369 -1.2215 2.2901 1.0940 0.3420 0.7585 -0.5010 -0.2380
1341839115.4469 -1.2203 2.2894 1.0938 0.3421 0.7590 -0.5003 -0.2378
1341839115.4574 -1.2191 2.2888 1.0936 0.3418 0.7589 -0.5001 -0.2391
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1341839115.4769 -1.2154 2.2876 1.0934 0.3454 0.7579 -0.4989 -0.2395
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1341839115.5168 -1.2101 2.2849 1.0936 0.3479 0.7557 -0.5006 -0.2394
1341839115.5269 -1.2092 2.2844 1.0933 0.3463 0.7562 -0.5009 -0.2395
1341839115.5369 -1.2072 2.2834 1.0931 0.3481 0.7567 -0.4994 -0.2385
1341839115.5469 -1.2058 2.2830 1.0928 0.3471 0.7580 -0.4982 -0.2383
1341839115.5569 -1.2043 2.2823 1.0927 0.3471 0.7596 -0.4958 -0.2380
1341839115.5669 -1.2031 2.2815 1.0926 0.3461 0.7595 -0.4962 -0.2392
1341839115.5769 -1.2018 2.2807 1.0926 0.3462 0.7595 -0.4961 -0.2391
1341839115.5869 -1.1999 2.2799 1.0924 0.3476 0.7586 -0.4961 -0.2399
1341839115.5971 -1.1988 2.2792 1.0922 0.3473 0.7570 -0.4981 -0.2412
1341839115.6076 -1.1978 2.2784 1.0923 0.3470 0.7567 -0.4986 -0.2418
1341839115.6172 -1.1967 2.2776 1.0923 0.3473 0.7564 -0.4988 -0.2418
1341839115.6269 -1.1957 2.2770 1.0921 0.3476 0.7561 -0.4987 -0.2422
1341839115.6369 -1.1940 2.2758 1.0920 0.3510 0.7552 -0.4983 -0.2412
1341839115.6469 -1.1937 2.2750 1.0919 0.3497 0.7553 -0.4987 -0.2418
1341839115.6569 -1.1921 2.2738 1.0916 0.3526 0.7552 -0.4974 -0.2408
1341839115.6685 -1.1913 2.2727 1.0915 0.3521 0.7554 -0.4974 -0.2407
1341839115.6769 -1.1904 2.2715 1.0915 0.3528 0.7567 -0.4954 -0.2401
1341839115.6869 -1.1895 2.2704 1.0914 0.3531 0.7569 -0.4946 -0.2402
1341839115.6969 -1.1887 2.2693 1.0913 0.3528 0.7566 -0.4949 -0.2411
1341839115.7069 -1.1875 2.2683 1.0912 0.3525 0.7562 -0.4954 -0.2419
1341839115.7169 -1.1868 2.2672 1.0910 0.3515 0.7548 -0.4974 -0.2435
1341839115.7282 -1.1857 2.2661 1.0909 0.3512 0.7542 -0.4981 -0.2443
1341839115.7369 -1.1839 2.2647 1.0907 0.3537 0.7533 -0.4978 -0.2441
1341839115.7470 -1.1833 2.2634 1.0906 0.3520 0.7532 -0.4992 -0.2441
1341839115.7570 -1.1822 2.2621 1.0904 0.3524 0.7536 -0.4984 -0.2439
1341839115.7670 -1.1806 2.2604 1.0900 0.3540 0.7538 -0.4973 -0.2432
1341839115.7784 -1.1799 2.2591 1.0896 0.3533 0.7545 -0.4968 -0.2433
1341839115.7869 -1.1790 2.2576 1.0893 0.3536 0.7548 -0.4960 -0.2434
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