# ground truth trajectory
# file: 'rgbd_dataset_freiburg3_walking_halfsphere.bag'
# timestamp tx ty tz qx qy qz qw
1341846434.8269 -0.5177 -2.9045 1.5365 -0.7494 -0.0289 0.0358 0.6605
1341846434.8369 -0.5151 -2.9051 1.5374 -0.7499 -0.0304 0.0351 0.6600
1341846434.8474 -0.5128 -2.9054 1.5388 -0.7492 -0.0306 0.0349 0.6607
1341846434.8569 -0.5103 -2.9063 1.5395 -0.7499 -0.0333 0.0343 0.6599
1341846434.8669 -0.5077 -2.9069 1.5404 -0.7493 -0.0355 0.0334 0.6604
1341846434.8769 -0.5052 -2.9073 1.5411 -0.7494 -0.0379 0.0318 0.6602
1341846434.8869 -0.5028 -2.9080 1.5418 -0.7498 -0.0414 0.0309 0.6597
1341846434.8970 -0.5005 -2.9084 1.5425 -0.7490 -0.0451 0.0308 0.6603
1341846434.9069 -0.4981 -2.9091 1.5431 -0.7494 -0.0494 0.0308 0.6596
1341846434.9182 -0.4960 -2.9098 1.5437 -0.7498 -0.0543 0.0316 0.6587
1341846434.9269 -0.4934 -2.9104 1.5444 -0.7498 -0.0592 0.0326 0.6582
1341846434.9369 -0.4912 -2.9114 1.5446 -0.7508 -0.0641 0.0342 0.6565
1341846434.9470 -0.4887 -2.9123 1.5453 -0.7512 -0.0680 0.0361 0.6556
1341846434.9569 -0.4860 -2.9126 1.5464 -0.7506 -0.0706 0.0371 0.6560
1341846434.9670 -0.4835 -2.9132 1.5473 -0.7496 -0.0724 0.0388 0.6567
1341846434.9770 -0.4812 -2.9137 1.5483 -0.7494 -0.0731 0.0405 0.6569
1341846434.9869 -0.4788 -2.9142 1.5491 -0.7495 -0.0746 0.0416 0.6565
1341846434.9976 -0.4762 -2.9149 1.5500 -0.7497 -0.0764 0.0431 0.6559
1341846435.0070 -0.4737 -2.9157 1.5509 -0.7494 -0.0773 0.0445 0.6561
1341846435.0178 -0.4709 -2.9165 1.5518 -0.7499 -0.0790 0.0460 0.6552
1341846435.0269 -0.4682 -2.9167 1.5528 -0.7487 -0.0785 0.0470 0.6565
1341846435.0370 -0.4655 -2.9170 1.5539 -0.7479 -0.0783 0.0478 0.6574
1341846435.0472 -0.4625 -2.9180 1.5548 -0.7484 -0.0794 0.0479 0.6568
1341846435.0570 -0.4598 -2.9182 1.5559 -0.7477 -0.0789 0.0477 0.6576
1341846435.0669 -0.4570 -2.9185 1.5569 -0.7468 -0.0776 0.0471 0.6588
1341846435.0796 -0.4541 -2.9191 1.5579 -0.7472 -0.0782 0.0471 0.6583
1341846435.0878 -0.4513 -2.9194 1.5589 -0.7471 -0.0776 0.0466 0.6586
1341846435.0969 -0.4484 -2.9193 1.5602 -0.7456 -0.0773 0.0459 0.6603
1341846435.1069 -0.4458 -2.9193 1.5611 -0.7441 -0.0763 0.0459 0.6621
1341846435.1207 -0.4427 -2.9194 1.5622 -0.7436 -0.0776 0.0449 0.6626
1341846435.1269 -0.4401 -2.9198 1.5630 -0.7432 -0.0772 0.0464 0.6630
1341846435.1369 -0.4374 -2.9199 1.5638 -0.7427 -0.0771 0.0469 0.6636
1341846435.1472 -0.4348 -2.9199 1.5647 -0.7419 -0.0775 0.0480 0.6643
1341846435.1569 -0.4321 -2.9206 1.5652 -0.7432 -0.0786 0.0492 0.6627
1341846435.1670 -0.4295 -2.9205 1.5660 -0.7425 -0.0788 0.0508 0.6632
1341846435.1808 -0.4270 -2.9204 1.5667 -0.7423 -0.0798 0.0519 0.6633
1341846435.1869 -0.4245 -2.9204 1.5678 -0.7415 -0.0800 0.0547 0.6639
1341846435.1969 -0.4215 -2.9203 1.5690 -0.7412 -0.0808 0.0570 0.6640
1341846435.2069 -0.4189 -2.9200 1.5700 -0.7406 -0.0802 0.0591 0.6646
1341846435.2171 -0.4163 -2.9197 1.5709 -0.7398 -0.0797 0.0612 0.6653
1341846435.2269 -0.4137 -2.9197 1.5717 -0.7394 -0.0798 0.0639 0.6655
1341846435.2369 -0.4113 -2.9192 1.5726 -0.7378 -0.0791 0.0659 0.6671
1341846435.2470 -0.4087 -2.9188 1.5739 -0.7368 -0.0787 0.0689 0.6679
1341846435.2569 -0.4063 -2.9184 1.5746 -0.7362 -0.0801 0.0718 0.6682
1341846435.2670 -0.4036 -2.9186 1.5752 -0.7368 -0.0830 0.0742 0.6669
1341846435.2789 -0.4014 -2.9184 1.5761 -0.7369 -0.0849 0.0762 0.6664
1341846435.2869 -0.3988 -2.9187 1.5768 -0.7378 -0.0885 0.0786 0.6645
1341846435.2969 -0.3963 -2.9180 1.5780 -0.7356 -0.0884 0.0800 0.6668
1341846435.3069 -0.3939 -2.9178 1.5787 -0.7359 -0.0899 0.0813 0.6662
1341846435.3213 -0.3916 -2.9174 1.5792 -0.7360 -0.0908 0.0841 0.6656
1341846435.3270 -0.3892 -2.9172 1.5798 -0.7374 -0.0917 0.0860 0.6636
1341846435.3370 -0.3869 -2.9170 1.5800 -0.7380 -0.0932 0.0867 0.6627
1341846435.3469 -0.3842 -2.9167 1.5808 -0.7388 -0.0936 0.0877 0.6616
1341846435.3611 -0.3816 -2.9165 1.5818 -0.7389 -0.0940 0.0891 0.6613
1341846435.3669 -0.3789 -2.9161 1.5830 -0.7377 -0.0926 0.0917 0.6624
1341846435.3769 -0.3764 -2.9158 1.5838 -0.7377 -0.0923 0.0929 0.6624
1341846435.3869 -0.3738 -2.9154 1.5846 -0.7372 -0.0923 0.0932 0.6629
1341846435.3970 -0.3712 -2.9153 1.5855 -0.7364 -0.0917 0.0935 0.6637
1341846435.4069 -0.3688 -2.9150 1.5862 -0.7358 -0.0930 0.0958 0.6640
1341846435.4169 -0.3662 -2.9148 1.5870 -0.7349 -0.0935 0.0973 0.6647
1341846435.4274 -0.3637 -2.9146 1.5877 -0.7337 -0.0943 0.0988 0.6656
1341846435.4369 -0.3611 -2.9145 1.5884 -0.7329 -0.0951 0.1004 0.6661
1341846435.4470 -0.3583 -2.9141 1.5886 -0.7325 -0.0955 0.1016 0.6663
1341846435.4571 -0.3554 -2.9140 1.5890 -0.7328 -0.0961 0.1026 0.6657
1341846435.4669 -0.3526 -2.9137 1.5894 -0.7329 -0.0962 0.1027 0.6656
1341846435.4770 -0.3498 -2.9134 1.5899 -0.7323 -0.0959 0.1025 0.6664
1341846435.4870 -0.3469 -2.9133 1.5901 -0.7329 -0.0965 0.1016 0.6658
1341846435.4969 -0.3439 -2.9130 1.5903 -0.7332 -0.0969 0.1002 0.6656
1341846435.5069 -0.3409 -2.9127 1.5906 -0.7335 -0.0966 0.0992 0.6654
1341846435.5178 -0.3380 -2.9124 1.5908 -0.7336 -0.0964 0.0986 0.6655
1341846435.5270 -0.3350 -2.9121 1.5910 -0.7341 -0.0964 0.0984 0.6649
1341846435.5370 -0.3321 -2.9117 1.5910 -0.7342 -0.0968 0.0983 0.6647
1341846435.5469 -0.3289 -2.9114 1.5912 -0.7349 -0.0977 0.0967 0.6641
1341846435.5569 -0.3258 -2.9113 1.5915 -0.7356 -0.0985 0.0955 0.6633
1341846435.5669 -0.3230 -2.9108 1.5913 -0.7352 -0.1000 0.0969 0.6634
1341846435.5771 -0.3198 -2.9106 1.5914 -0.7353 -0.1016 0.0972 0.6629
1341846435.5893 -0.3168 -2.9102 1.5915 -0.7345 -0.1024 0.0977 0.6636
1341846435.5979 -0.3137 -2.9101 1.5915 -0.7335 -0.1043 0.0993 0.6643
1341846435.6069 -0.3103 -2.9103 1.5919 -0.7328 -0.1054 0.0995 0.6648
1341846435.6170 -0.3069 -2.9102 1.5920 -0.7315 -0.1074 0.1012 0.6657
1341846435.6269 -0.3039 -2.9099 1.5920 -0.7304 -0.1094 0.1047 0.6660
1341846435.6369 -0.3002 -2.9101 1.5923 -0.7306 -0.1114 0.1047 0.6655
1341846435.6469 -0.2971 -2.9096 1.5923 -0.7290 -0.1125 0.1070 0.6667
1341846435.6569 -0.2933 -2.9096 1.5922 -0.7289 -0.1132 0.1049 0.6670
1341846435.6670 -0.2898 -2.9095 1.5930 -0.7286 -0.1127 0.1066 0.6671
1341846435.6769 -0.2865 -2.9088 1.5931 -0.7269 -0.1120 0.1081 0.6689
1341846435.6869 -0.2829 -2.9086 1.5935 -0.7268 -0.1125 0.1084 0.6688
1341846435.6969 -0.2793 -2.9085 1.5937 -0.7270 -0.1131 0.1078 0.6686
1341846435.7070 -0.2757 -2.9084 1.5943 -0.7262 -0.1136 0.1078 0.6694
1341846435.7181 -0.2723 -2.9082 1.5945 -0.7263 -0.1148 0.1080 0.6690
1341846435.7269 -0.2686 -2.9080 1.5950 -0.7254 -0.1157 0.1083 0.6698
1341846435.7369 -0.2648 -2.9084 1.5954 -0.7273 -0.1176 0.1068 0.6677
1341846435.7470 -0.2613 -2.9084 1.5960 -0.7267 -0.1177 0.1072 0.6682
1341846435.7570 -0.2578 -2.9081 1.5961 -0.7256 -0.1183 0.1100 0.6688
1341846435.7669 -0.2543 -2.9081 1.5964 -0.7248 -0.1189 0.1111 0.6694
1341846435.7769 -0.2505 -2.9083 1.5971 -0.7248 -0.1204 0.1101 0.6693
1341846435.7869 -0.2469 -2.9086 1.5977 -0.7249 -0.1221 0.1104 0.6689
1341846435.7970 -0.2431 -2.9087 1.5981 -0.7250 -0.1233 0.1113 0.6684
1341846435.8070 -0.2395 -2.9085 1.5986 -0.7247 -0.1237 0.1115 0.6686
1341846435.8173 -0.2359 -2.9085 1.5991 -0.7242 -0.1242 0.1118 0.6691
1341846435.8269 -0.2322 -2.9084 1.5997 -0.7242 -0.1244 0.1122 0.6689
1341846435.8369 -0.2291 -2.9078 1.5998 -0.7230 -0.1241 0.1153 0.6698
1341846435.8469 -0.2251 -2.9078 1.6008 -0.7221 -0.1257 0.1154 0.6704
1341846435.8569 -0.2213 -2.9080 1.6013 -0.7230 -0.1272 0.1145 0.6693
1341846435.8669 -0.2177 -2.9080 1.6018 -0.7231 -0.1284 0.1156 0.6688
1341846435.8769 -0.2146 -2.9076 1.6022 -0.7225 -0.1290 0.1172 0.6691
1341846435.8871 -0.2111 -2.9070 1.6026 -0.7214 -0.1290 0.1200 0.6697
1341846435.8969 -0.2076 -2.9066 1.6030 -0.7214 -0.1292 0.1210 0.6695
1341846435.9069 -0.2035 -2.9066 1.6037 -0.7226 -0.1301 0.1194 0.6683
1341846435.9170 -0.2001 -2.9062 1.6043 -0.7225 -0.1306 0.1209 0.6680
1341846435.9269 -0.1968 -2.9062 1.6042 -0.7250 -0.1309 0.1227 0.6650
1341846435.9370 -0.1930 -2.9053 1.6052 -0.7233 -0.1310 0.1240 0.6666
1341846435.9469 -0.1899 -2.9052 1.6062 -0.7230 -0.1309 0.1273 0.6662
1341846435.9570 -0.1863 -2.9041 1.6062 -0.7221 -0.1313 0.1263 0.6673
1341846435.9669 -0.1830 -2.9034 1.6068 -0.7217 -0.1323 0.1280 0.6673
1341846435.9769 -0.1796 -2.9031 1.6063 -0.7236 -0.1340 0.1290 0.6647
1341846435.9870 -0.1764 -2.9016 1.6074 -0.7191 -0.1341 0.1316 0.6690
1341846435.9969 -0.1735 -2.9008 1.6074 -0.7185 -0.1345 0.1341 0.6691
1341846436.0069 -0.1703 -2.9000 1.6077 -0.7182 -0.1354 0.1363 0.6688
1341846436.0170 -0.1675 -2.8996 1.6072 -0.7198 -0.1365 0.1384 0.6664
1341846436.0271 -0.1639 -2.8979 1.6082 -0.7175 -0.1356 0.1399 0.6687
1341846436.0369 -0.1605 -2.8971 1.6082 -0.7180 -0.1359 0.1414 0.6679
1341846436.0472 -0.1573 -2.8960 1.6084 -0.7179 -0.1362 0.1428 0.6676
1341846436.0569 -0.1542 -2.8948 1.6089 -0.7166 -0.1355 0.1438 0.6689
1341846436.0669 -0.1509 -2.8938 1.6084 -0.7195 -0.1362 0.1446 0.6655
1341846436.0770 -0.1480 -2.8926 1.6085 -0.7193 -0.1367 0.1460 0.6653
1341846436.0876 -0.1449 -2.8916 1.6086 -0.7196 -0.1375 0.1473 0.6645
1341846436.0970 -0.1419 -2.8905 1.6085 -0.7197 -0.1383 0.1485 0.6640
1341846436.1070 -0.1389 -2.8894 1.6086 -0.7196 -0.1389 0.1503 0.6636
1341846436.1169 -0.1360 -2.8884 1.6085 -0.7198 -0.1394 0.1517 0.6629
1341846436.1270 -0.1328 -2.8879 1.6089 -0.7204 -0.1400 0.1523 0.6620
1341846436.1383 -0.1296 -2.8869 1.6092 -0.7200 -0.1402 0.1524 0.6624
1341846436.1469 -0.1265 -2.8857 1.6092 -0.7199 -0.1402 0.1525 0.6624
1341846436.1569 -0.1237 -2.8847 1.6093 -0.7192 -0.1398 0.1537 0.6630
1341846436.1669 -0.1206 -2.8837 1.6095 -0.7194 -0.1394 0.1540 0.6628
1341846436.1770 -0.1179 -2.8826 1.6096 -0.7189 -0.1394 0.1544 0.6633
1341846436.1869 -0.1154 -2.8818 1.6101 -0.7165 -0.1391 0.1551 0.6657
1341846436.1969 -0.1126 -2.8808 1.6102 -0.7159 -0.1401 0.1566 0.6659
1341846436.2070 -0.1099 -2.8802 1.6101 -0.7159 -0.1407 0.1581 0.6654
1341846436.2169 -0.1073 -2.8792 1.6104 -0.7147 -0.1406 0.1598 0.6663
1341846436.2273 -0.1050 -2.8779 1.6104 -0.7141 -0.1398 0.1603 0.6670
1341846436.2369 -0.1023 -2.8771 1.6094 -0.7173 -0.1403 0.1601 0.6635
1341846436.2470 -0.0996 -2.8760 1.6099 -0.7168 -0.1388 0.1612 0.6641
1341846436.2570 -0.0973 -2.8752 1.6098 -0.7178 -0.1387 0.1607 0.6631
1341846436.2669 -0.0952 -2.8743 1.6103 -0.7172 -0.1379 0.1611 0.6638
1341846436.2769 -0.0930 -2.8734 1.6105 -0.7176 -0.1382 0.1608 0.6634
1341846436.2870 -0.0909 -2.8726 1.6105 -0.7184 -0.1390 0.1607 0.6624
1341846436.2969 -0.0888 -2.8717 1.6100 -0.7197 -0.1405 0.1595 0.6610
1341846436.3069 -0.0871 -2.8708 1.6102 -0.7189 -0.1412 0.1604 0.6615
1341846436.3182 -0.0853 -2.8699 1.6109 -0.7177 -0.1411 0.1626 0.6622
1341846436.3269 -0.0836 -2.8692 1.6114 -0.7163 -0.1413 0.1639 0.6634
1341846436.3369 -0.0818 -2.8683 1.6112 -0.7177 -0.1419 0.1647 0.6616
1341846436.3469 -0.0803 -2.8674 1.6111 -0.7183 -0.1428 0.1641 0.6608
1341846436.3569 -0.0789 -2.8665 1.6115 -0.7175 -0.1430 0.1640 0.6617
1341846436.3669 -0.0772 -2.8657 1.6116 -0.7198 -0.1434 0.1640 0.6592
1341846436.3769 -0.0757 -2.8644 1.6117 -0.7195 -0.1438 0.1629 0.6597
1341846436.3870 -0.0743 -2.8635 1.6121 -0.7183 -0.1441 0.1626 0.6610
1341846436.3969 -0.0731 -2.8626 1.6122 -0.7182 -0.1443 0.1625 0.6610
1341846436.4069 -0.0718 -2.8617 1.6123 -0.7179 -0.1449 0.1631 0.6610
1341846436.4207 -0.0706 -2.8606 1.6123 -0.7172 -0.1458 0.1644 0.6613
1341846436.4270 -0.0695 -2.8596 1.6126 -0.7161 -0.1468 0.1656 0.6619
1341846436.4370 -0.0683 -2.8586 1.6122 -0.7168 -0.1487 0.1659 0.6608
1341846436.4469 -0.0671 -2.8572 1.6121 -0.7160 -0.1495 0.1664 0.6613
1341846436.4570 -0.0659 -2.8558 1.6121 -0.7150 -0.1500 0.1672 0.6621
1341846436.4669 -0.0648 -2.8546 1.6123 -0.7147 -0.1501 0.1678 0.6622
1341846436.4769 -0.0634 -2.8532 1.6122 -0.7145 -0.1498 0.1689 0.6622
1341846436.4870 -0.0622 -2.8519 1.6125 -0.7143 -0.1498 0.1694 0.6623
1341846436.4969 -0.0611 -2.8504 1.6125 -0.7148 -0.1503 0.1697 0.6615
1341846436.5069 -0.0600 -2.8490 1.6129 -0.7154 -0.1513 0.1716 0.6602
1341846436.5172 -0.0589 -2.8474 1.6126 -0.7173 -0.1534 0.1718 0.6576
1341846436.5270 -0.0582 -2.8456 1.6129 -0.7155 -0.1542 0.1714 0.6595
1341846436.5370 -0.0571 -2.8437 1.6122 -0.7167 -0.1566 0.1713 0.6577
1341846436.5470 -0.0563 -2.8420 1.6126 -0.7152 -0.1575 0.1732 0.6586
1341846436.5570 -0.0553 -2.8404 1.6130 -0.7152 -0.1581 0.1761 0.6576
1341846436.5671 -0.0541 -2.8385 1.6124 -0.7167 -0.1606 0.1771 0.6552
1341846436.5770 -0.0532 -2.8367 1.6131 -0.7148 -0.1610 0.1801 0.6563
1341846436.5870 -0.0521 -2.8347 1.6131 -0.7145 -0.1624 0.1816 0.6559
1341846436.5969 -0.0510 -2.8327 1.6129 -0.7149 -0.1640 0.1824 0.6548
1341846436.6069 -0.0497 -2.8305 1.6127 -0.7152 -0.1655 0.1835 0.6538
1341846436.6169 -0.0485 -2.8283 1.6126 -0.7157 -0.1669 0.1833 0.6529
1341846436.6269 -0.0470 -2.8259 1.6122 -0.7164 -0.1684 0.1833 0.6518
1341846436.6370 -0.0454 -2.8238 1.6121 -0.7168 -0.1696 0.1832 0.6511
1341846436.6469 -0.0438 -2.8215 1.6120 -0.7168 -0.1712 0.1831 0.6506
1341846436.6569 -0.0422 -2.8191 1.6118 -0.7161 -0.1724 0.1836 0.6510
1341846436.6673 -0.0406 -2.8169 1.6118 -0.7155 -0.1738 0.1848 0.6509
1341846436.6769 -0.0389 -2.8143 1.6116 -0.7144 -0.1756 0.1861 0.6513
1341846436.6870 -0.0373 -2.8120 1.6113 -0.7136 -0.1773 0.1876 0.6512
1341846436.6970 -0.0356 -2.8096 1.6110 -0.7133 -0.1790 0.1888 0.6508
1341846436.7070 -0.0338 -2.8072 1.6107 -0.7128 -0.1811 0.1900 0.6504
1341846436.7170 -0.0320 -2.8049 1.6104 -0.7134 -0.1830 0.1912 0.6489
1341846436.7269 -0.0302 -2.8023 1.6097 -0.7130 -0.1850 0.1915 0.6486
1341846436.7370 -0.0282 -2.7998 1.6099 -0.7128 -0.1862 0.1937 0.6478
1341846436.7470 -0.0261 -2.7975 1.6098 -0.7127 -0.1875 0.1954 0.6471
1341846436.7570 -0.0240 -2.7950 1.6097 -0.7118 -0.1890 0.1972 0.6471
1341846436.7670 -0.0219 -2.7924 1.6096 -0.7102 -0.1903 0.1992 0.6478
1341846436.7770 -0.0197 -2.7900 1.6098 -0.7087 -0.1922 0.2009 0.6484
1341846436.7870 -0.0175 -2.7876 1.6097 -0.7069 -0.1948 0.2028 0.6490
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