# ground truth trajectory
# file: 'rgbd_dataset_freiburg3_walking_xyz.bag'
# timestamp tx ty tz qx qy qz qw
1341846313.6378 -0.6885 -3.1192 1.4248 -0.7691 -0.0414 -0.0040 0.6378
1341846313.6478 -0.6869 -3.1189 1.4247 -0.7696 -0.0416 -0.0027 0.6371
1341846313.6579 -0.6853 -3.1185 1.4248 -0.7690 -0.0418 -0.0020 0.6378
1341846313.6678 -0.6833 -3.1181 1.4250 -0.7692 -0.0438 -0.0022 0.6375
1341846313.6778 -0.6817 -3.1177 1.4249 -0.7685 -0.0438 -0.0017 0.6383
1341846313.6879 -0.6800 -3.1176 1.4245 -0.7691 -0.0455 -0.0017 0.6375
1341846313.6979 -0.6781 -3.1171 1.4244 -0.7686 -0.0455 -0.0015 0.6381
1341846313.7082 -0.6763 -3.1168 1.4243 -0.7687 -0.0455 -0.0011 0.6379
1341846313.7186 -0.6744 -3.1164 1.4242 -0.7689 -0.0452 -0.0005 0.6377
1341846313.7284 -0.6724 -3.1160 1.4242 -0.7692 -0.0448 0.0005 0.6374
1341846313.7379 -0.6705 -3.1156 1.4241 -0.7692 -0.0442 0.0007 0.6375
1341846313.7478 -0.6683 -3.1153 1.4239 -0.7697 -0.0444 0.0012 0.6369
1341846313.7579 -0.6663 -3.1149 1.4239 -0.7695 -0.0445 0.0011 0.6371
1341846313.7678 -0.6642 -3.1142 1.4239 -0.7683 -0.0438 0.0017 0.6386
1341846313.7778 -0.6621 -3.1139 1.4238 -0.7681 -0.0448 0.0015 0.6388
1341846313.7878 -0.6600 -3.1136 1.4237 -0.7680 -0.0452 0.0010 0.6388
1341846313.7979 -0.6579 -3.1132 1.4236 -0.7670 -0.0459 0.0008 0.6400
1341846313.8078 -0.6558 -3.1132 1.4231 -0.7681 -0.0464 0.0002 0.6386
1341846313.8179 -0.6536 -3.1126 1.4234 -0.7678 -0.0448 0.0005 0.6391
1341846313.8279 -0.6518 -3.1123 1.4229 -0.7682 -0.0432 0.0006 0.6388
1341846313.8379 -0.6496 -3.1120 1.4228 -0.7681 -0.0426 0.0002 0.6389
1341846313.8478 -0.6470 -3.1114 1.4230 -0.7681 -0.0439 -0.0013 0.6389
1341846313.8579 -0.6453 -3.1111 1.4224 -0.7680 -0.0420 -0.0013 0.6391
1341846313.8678 -0.6432 -3.1108 1.4223 -0.7682 -0.0418 -0.0020 0.6388
1341846313.8780 -0.6411 -3.1105 1.4220 -0.7682 -0.0417 -0.0026 0.6388
1341846313.8878 -0.6389 -3.1106 1.4217 -0.7687 -0.0427 -0.0022 0.6382
1341846313.8978 -0.6369 -3.1098 1.4214 -0.7687 -0.0413 -0.0025 0.6383
1341846313.9079 -0.6351 -3.1099 1.4208 -0.7699 -0.0421 -0.0023 0.6368
1341846313.9179 -0.6329 -3.1096 1.4205 -0.7704 -0.0417 -0.0020 0.6362
1341846313.9278 -0.6307 -3.1093 1.4203 -0.7713 -0.0407 -0.0024 0.6352
1341846313.9378 -0.6283 -3.1086 1.4202 -0.7711 -0.0387 -0.0024 0.6355
1341846313.9478 -0.6260 -3.1081 1.4202 -0.7711 -0.0381 -0.0037 0.6356
1341846313.9612 -0.6237 -3.1075 1.4200 -0.7710 -0.0362 -0.0052 0.6358
1341846313.9678 -0.6221 -3.1072 1.4194 -0.7712 -0.0332 -0.0063 0.6357
1341846313.9779 -0.6198 -3.1070 1.4185 -0.7724 -0.0331 -0.0084 0.6342
1341846313.9879 -0.6179 -3.1066 1.4181 -0.7725 -0.0326 -0.0091 0.6341
1341846313.9978 -0.6159 -3.1062 1.4175 -0.7727 -0.0325 -0.0095 0.6338
1341846314.0079 -0.6136 -3.1053 1.4174 -0.7721 -0.0311 -0.0089 0.6347
1341846314.0179 -0.6115 -3.1051 1.4169 -0.7726 -0.0304 -0.0088 0.6341
1341846314.0284 -0.6094 -3.1047 1.4165 -0.7736 -0.0293 -0.0082 0.6330
1341846314.0378 -0.6070 -3.1043 1.4165 -0.7744 -0.0294 -0.0088 0.6320
1341846314.0478 -0.6048 -3.1037 1.4159 -0.7752 -0.0277 -0.0091 0.6310
1341846314.0580 -0.6031 -3.1039 1.4150 -0.7761 -0.0266 -0.0097 0.6300
1341846314.0678 -0.6008 -3.1031 1.4148 -0.7754 -0.0247 -0.0105 0.6309
1341846314.0778 -0.5981 -3.1027 1.4145 -0.7745 -0.0253 -0.0127 0.6320
1341846314.0878 -0.5960 -3.1024 1.4141 -0.7744 -0.0244 -0.0137 0.6321
1341846314.0978 -0.5941 -3.1022 1.4133 -0.7741 -0.0220 -0.0138 0.6325
1341846314.1078 -0.5920 -3.1019 1.4132 -0.7744 -0.0203 -0.0137 0.6322
1341846314.1180 -0.5899 -3.1017 1.4128 -0.7748 -0.0192 -0.0137 0.6318
1341846314.1278 -0.5877 -3.1016 1.4122 -0.7758 -0.0186 -0.0137 0.6306
1341846314.1378 -0.5857 -3.1013 1.4119 -0.7760 -0.0170 -0.0141 0.6303
1341846314.1479 -0.5837 -3.1011 1.4116 -0.7764 -0.0159 -0.0146 0.6299
1341846314.1579 -0.5817 -3.1011 1.4113 -0.7767 -0.0150 -0.0153 0.6295
1341846314.1678 -0.5796 -3.1008 1.4109 -0.7763 -0.0143 -0.0166 0.6299
1341846314.1778 -0.5774 -3.1008 1.4104 -0.7762 -0.0138 -0.0175 0.6301
1341846314.1879 -0.5755 -3.1005 1.4101 -0.7761 -0.0129 -0.0180 0.6302
1341846314.1986 -0.5736 -3.1004 1.4098 -0.7766 -0.0121 -0.0179 0.6296
1341846314.2078 -0.5717 -3.1002 1.4096 -0.7771 -0.0111 -0.0176 0.6291
1341846314.2178 -0.5698 -3.1000 1.4092 -0.7779 -0.0099 -0.0174 0.6281
1341846314.2304 -0.5679 -3.0998 1.4088 -0.7788 -0.0092 -0.0174 0.6270
1341846314.2378 -0.5661 -3.0997 1.4087 -0.7791 -0.0084 -0.0174 0.6266
1341846314.2478 -0.5644 -3.0996 1.4085 -0.7796 -0.0080 -0.0178 0.6260
1341846314.2579 -0.5626 -3.0999 1.4081 -0.7801 -0.0092 -0.0190 0.6254
1341846314.2678 -0.5607 -3.0995 1.4083 -0.7787 -0.0088 -0.0191 0.6271
1341846314.2779 -0.5590 -3.0993 1.4083 -0.7778 -0.0090 -0.0196 0.6281
1341846314.2879 -0.5574 -3.0993 1.4082 -0.7778 -0.0092 -0.0200 0.6281
1341846314.2980 -0.5554 -3.0986 1.4086 -0.7764 -0.0101 -0.0212 0.6297
1341846314.3078 -0.5536 -3.0988 1.4085 -0.7774 -0.0108 -0.0214 0.6285
1341846314.3178 -0.5518 -3.0987 1.4084 -0.7775 -0.0107 -0.0222 0.6284
1341846314.3279 -0.5501 -3.0989 1.4079 -0.7790 -0.0118 -0.0235 0.6265
1341846314.3378 -0.5485 -3.0987 1.4080 -0.7790 -0.0112 -0.0240 0.6265
1341846314.3479 -0.5467 -3.0982 1.4085 -0.7782 -0.0092 -0.0243 0.6274
1341846314.3609 -0.5449 -3.0982 1.4088 -0.7781 -0.0087 -0.0251 0.6276
1341846314.3679 -0.5435 -3.0984 1.4087 -0.7790 -0.0070 -0.0257 0.6265
1341846314.3781 -0.5418 -3.0982 1.4089 -0.7781 -0.0067 -0.0263 0.6275
1341846314.3885 -0.5398 -3.0982 1.4091 -0.7780 -0.0100 -0.0281 0.6276
1341846314.3978 -0.5383 -3.0981 1.4090 -0.7779 -0.0102 -0.0285 0.6277
1341846314.4078 -0.5364 -3.0979 1.4097 -0.7776 -0.0090 -0.0285 0.6281
1341846314.4178 -0.5347 -3.0980 1.4099 -0.7772 -0.0088 -0.0287 0.6285
1341846314.4279 -0.5330 -3.0981 1.4102 -0.7779 -0.0083 -0.0299 0.6276
1341846314.4379 -0.5313 -3.0983 1.4105 -0.7780 -0.0075 -0.0313 0.6274
1341846314.4504 -0.5295 -3.0984 1.4107 -0.7779 -0.0072 -0.0333 0.6275
1341846314.4579 -0.5277 -3.0985 1.4110 -0.7775 -0.0069 -0.0354 0.6278
1341846314.4679 -0.5261 -3.0986 1.4115 -0.7770 -0.0068 -0.0377 0.6283
1341846314.4781 -0.5245 -3.0991 1.4114 -0.7772 -0.0088 -0.0402 0.6280
1341846314.4879 -0.5228 -3.0993 1.4119 -0.7767 -0.0099 -0.0423 0.6284
1341846314.4978 -0.5212 -3.0995 1.4122 -0.7767 -0.0106 -0.0436 0.6282
1341846314.5079 -0.5196 -3.0996 1.4124 -0.7766 -0.0108 -0.0443 0.6284
1341846314.5181 -0.5179 -3.0995 1.4124 -0.7761 -0.0104 -0.0457 0.6289
1341846314.5279 -0.5163 -3.0996 1.4127 -0.7766 -0.0097 -0.0460 0.6283
1341846314.5378 -0.5146 -3.0996 1.4130 -0.7770 -0.0085 -0.0463 0.6277
1341846314.5479 -0.5129 -3.0997 1.4131 -0.7776 -0.0074 -0.0462 0.6270
1341846314.5579 -0.5111 -3.0996 1.4140 -0.7770 -0.0058 -0.0456 0.6278
1341846314.5690 -0.5093 -3.0997 1.4143 -0.7769 -0.0050 -0.0470 0.6279
1341846314.5779 -0.5074 -3.0998 1.4148 -0.7762 -0.0039 -0.0481 0.6287
1341846314.5885 -0.5057 -3.1002 1.4150 -0.7761 -0.0043 -0.0497 0.6287
1341846314.5979 -0.5040 -3.0998 1.4154 -0.7741 -0.0024 -0.0508 0.6311
1341846314.6078 -0.5022 -3.0997 1.4155 -0.7749 -0.0011 -0.0520 0.6299
1341846314.6179 -0.5005 -3.1002 1.4155 -0.7760 -0.0014 -0.0528 0.6285
1341846314.6279 -0.4988 -3.1001 1.4157 -0.7763 -0.0009 -0.0524 0.6282
1341846314.6379 -0.4972 -3.1003 1.4158 -0.7771 -0.0008 -0.0529 0.6271
1341846314.6493 -0.4955 -3.1002 1.4162 -0.7769 -0.0001 -0.0531 0.6274
1341846314.6624 -0.4938 -3.1005 1.4164 -0.7773 -0.0001 -0.0540 0.6268
1341846314.6679 -0.4921 -3.1007 1.4168 -0.7774 0.0001 -0.0549 0.6266
1341846314.6783 -0.4903 -3.1009 1.4172 -0.7771 0.0012 -0.0562 0.6268
1341846314.6879 -0.4886 -3.1013 1.4171 -0.7775 0.0010 -0.0584 0.6261
1341846314.6979 -0.4867 -3.1012 1.4179 -0.7759 0.0032 -0.0587 0.6281
1341846314.7078 -0.4849 -3.1017 1.4182 -0.7759 0.0031 -0.0594 0.6281
1341846314.7178 -0.4830 -3.1018 1.4188 -0.7744 0.0041 -0.0584 0.6300
1341846314.7279 -0.4813 -3.1021 1.4193 -0.7740 0.0052 -0.0575 0.6306
1341846314.7378 -0.4793 -3.1019 1.4202 -0.7721 0.0076 -0.0562 0.6330
1341846314.7478 -0.4773 -3.1020 1.4206 -0.7715 0.0089 -0.0551 0.6338
1341846314.7578 -0.4753 -3.1026 1.4207 -0.7717 0.0086 -0.0543 0.6337
1341846314.7678 -0.4734 -3.1025 1.4216 -0.7705 0.0111 -0.0537 0.6351
1341846314.7778 -0.4710 -3.1029 1.4220 -0.7701 0.0115 -0.0540 0.6355
1341846314.7878 -0.4693 -3.1035 1.4221 -0.7704 0.0115 -0.0546 0.6351
1341846314.7979 -0.4670 -3.1035 1.4227 -0.7696 0.0126 -0.0551 0.6360
1341846314.8079 -0.4647 -3.1037 1.4230 -0.7691 0.0133 -0.0561 0.6365
1341846314.8178 -0.4625 -3.1039 1.4232 -0.7686 0.0142 -0.0566 0.6370
1341846314.8279 -0.4603 -3.1039 1.4230 -0.7686 0.0147 -0.0578 0.6370
1341846314.8378 -0.4580 -3.1040 1.4232 -0.7683 0.0154 -0.0586 0.6372
1341846314.8479 -0.4557 -3.1039 1.4232 -0.7683 0.0168 -0.0587 0.6371
1341846314.8581 -0.4532 -3.1035 1.4237 -0.7674 0.0191 -0.0589 0.6381
1341846314.8679 -0.4510 -3.1036 1.4237 -0.7675 0.0198 -0.0597 0.6379
1341846314.8778 -0.4486 -3.1034 1.4237 -0.7670 0.0215 -0.0602 0.6385
1341846314.8878 -0.4463 -3.1032 1.4236 -0.7670 0.0226 -0.0609 0.6383
1341846314.8979 -0.4440 -3.1032 1.4236 -0.7671 0.0241 -0.0615 0.6381
1341846314.9079 -0.4416 -3.1028 1.4235 -0.7667 0.0251 -0.0605 0.6387
1341846314.9178 -0.4392 -3.1026 1.4233 -0.7663 0.0259 -0.0610 0.6390
1341846314.9279 -0.4368 -3.1023 1.4230 -0.7664 0.0268 -0.0606 0.6389
1341846314.9382 -0.4347 -3.1020 1.4226 -0.7669 0.0280 -0.0595 0.6384
1341846314.9478 -0.4324 -3.1019 1.4222 -0.7682 0.0294 -0.0590 0.6368
1341846314.9578 -0.4303 -3.1016 1.4217 -0.7689 0.0304 -0.0580 0.6360
1341846314.9687 -0.4283 -3.1015 1.4213 -0.7703 0.0312 -0.0569 0.6343
1341846314.9778 -0.4263 -3.1012 1.4210 -0.7706 0.0315 -0.0569 0.6340
1341846314.9879 -0.4244 -3.1010 1.4208 -0.7710 0.0314 -0.0571 0.6334
1341846314.9979 -0.4224 -3.1011 1.4206 -0.7717 0.0311 -0.0586 0.6326
1341846315.0078 -0.4204 -3.1009 1.4205 -0.7711 0.0307 -0.0597 0.6332
1341846315.0178 -0.4183 -3.1009 1.4206 -0.7709 0.0312 -0.0610 0.6333
1341846315.0278 -0.4162 -3.1006 1.4205 -0.7702 0.0319 -0.0623 0.6339
1341846315.0378 -0.4145 -3.1008 1.4205 -0.7707 0.0329 -0.0630 0.6332
1341846315.0478 -0.4124 -3.1006 1.4204 -0.7707 0.0337 -0.0634 0.6332
1341846315.0582 -0.4104 -3.1003 1.4203 -0.7708 0.0345 -0.0624 0.6331
1341846315.0679 -0.4085 -3.1003 1.4202 -0.7709 0.0348 -0.0617 0.6329
1341846315.0778 -0.4069 -3.1003 1.4201 -0.7711 0.0346 -0.0608 0.6329
1341846315.0879 -0.4051 -3.1003 1.4202 -0.7711 0.0344 -0.0602 0.6329
1341846315.0978 -0.4035 -3.1003 1.4203 -0.7710 0.0334 -0.0605 0.6331
1341846315.1078 -0.4018 -3.1003 1.4206 -0.7708 0.0333 -0.0605 0.6333
1341846315.1179 -0.4002 -3.1009 1.4202 -0.7715 0.0315 -0.0617 0.6324
1341846315.1279 -0.3983 -3.1006 1.4203 -0.7705 0.0319 -0.0618 0.6336
1341846315.1378 -0.3966 -3.1003 1.4202 -0.7707 0.0325 -0.0617 0.6334
1341846315.1479 -0.3948 -3.1003 1.4202 -0.7715 0.0331 -0.0613 0.6324
1341846315.1579 -0.3931 -3.0999 1.4206 -0.7720 0.0344 -0.0604 0.6318
1341846315.1679 -0.3915 -3.1000 1.4205 -0.7738 0.0338 -0.0599 0.6297
1341846315.1778 -0.3903 -3.0995 1.4201 -0.7743 0.0331 -0.0601 0.6291
1341846315.1878 -0.3885 -3.0997 1.4200 -0.7759 0.0311 -0.0598 0.6272
1341846315.1978 -0.3869 -3.0997 1.4198 -0.7766 0.0293 -0.0603 0.6265
1341846315.2079 -0.3852 -3.0994 1.4197 -0.7767 0.0280 -0.0609 0.6264
1341846315.2178 -0.3834 -3.0998 1.4198 -0.7785 0.0271 -0.0632 0.6238
1341846315.2279 -0.3823 -3.0995 1.4191 -0.7794 0.0253 -0.0621 0.6229
1341846315.2378 -0.3806 -3.0993 1.4190 -0.7798 0.0252 -0.0618 0.6224
1341846315.2479 -0.3792 -3.0991 1.4187 -0.7808 0.0250 -0.0610 0.6213
1341846315.2580 -0.3776 -3.0989 1.4185 -0.7812 0.0248 -0.0598 0.6209
1341846315.2678 -0.3759 -3.0987 1.4185 -0.7820 0.0246 -0.0578 0.6201
1341846315.2778 -0.3743 -3.0986 1.4183 -0.7826 0.0244 -0.0559 0.6195
1341846315.2879 -0.3730 -3.0983 1.4181 -0.7833 0.0247 -0.0548 0.6188
1341846315.2978 -0.3713 -3.0982 1.4183 -0.7831 0.0254 -0.0529 0.6192
1341846315.3078 -0.3697 -3.0975 1.4188 -0.7815 0.0269 -0.0516 0.6212
1341846315.3178 -0.3682 -3.0975 1.4189 -0.7809 0.0267 -0.0513 0.6220
1341846315.3278 -0.3664 -3.0972 1.4193 -0.7790 0.0269 -0.0507 0.6244
1341846315.3378 -0.3649 -3.0970 1.4195 -0.7778 0.0269 -0.0499 0.6259
1341846315.3478 -0.3636 -3.0971 1.4194 -0.7778 0.0263 -0.0499 0.6260
1341846315.3579 -0.3619 -3.0966 1.4199 -0.7763 0.0286 -0.0490 0.6278
1341846315.3678 -0.3603 -3.0963 1.4200 -0.7756 0.0295 -0.0472 0.6287
1341846315.3779 -0.3586 -3.0963 1.4202 -0.7755 0.0307 -0.0461 0.6289
1341846315.3879 -0.3569 -3.0960 1.4203 -0.7747 0.0322 -0.0454 0.6299
1341846315.3978 -0.3553 -3.0959 1.4203 -0.7745 0.0333 -0.0446 0.6301
1341846315.4078 -0.3539 -3.0956 1.4205 -0.7736 0.0342 -0.0442 0.6312
1341846315.4180 -0.3523 -3.0954 1.4204 -0.7729 0.0347 -0.0444 0.6321
1341846315.4303 -0.3506 -3.0953 1.4204 -0.7726 0.0353 -0.0448 0.6323
1341846315.4378 -0.3489 -3.0950 1.4203 -0.7719 0.0357 -0.0452 0.6331
1341846315.4479 -0.3472 -3.0948 1.4202 -0.7717 0.0370 -0.0455 0.6333
1341846315.4578 -0.3456 -3.0948 1.4201 -0.7720 0.0385 -0.0460 0.6327
1341846315.4678 -0.3438 -3.0944 1.4198 -0.7723 0.0401 -0.0467 0.6322
1341846315.4778 -0.3423 -3.0942 1.4197 -0.7722 0.0418 -0.0469 0.6323
1341846315.4878 -0.3408 -3.0941 1.4194 -0.7729 0.0429 -0.0462 0.6314
1341846315.4995 -0.3394 -3.0940 1.4192 -0.7725 0.0438 -0.0460 0.6318
1341846315.5078 -0.3381 -3.0939 1.4191 -0.7728 0.0443 -0.0454 0.6315
1341846315.5178 -0.3368 -3.0939 1.4190 -0.7724 0.0445 -0.0458 0.6320
1341846315.5278 -0.3357 -3.0939 1.4190 -0.7722 0.0446 -0.0461 0.6321
1341846315.5378 -0.3348 -3.0938 1.4191 -0.7719 0.0452 -0.0461 0.6325
1341846315.5478 -0.3337 -3.0937 1.4190 -0.7719 0.0457 -0.0463 0.6324
1341846315.5578 -0.3328 -3.0937 1.4190 -0.7722 0.0461 -0.0463 0.6321
1341846315.5678 -0.3320 -3.0937 1.4190 -0.7726 0.0463 -0.0465 0.6315
1341846315.5780 -0.3313 -3.0938 1.4191 -0.7729 0.0463 -0.0467 0.6311
1341846315.5878 -0.3307 -3.0939 1.4192 -0.7727 0.0464 -0.0473 0.6313
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