# ground truth trajectory
# file: 'rgbd_dataset_freiburg3_nostructure_notexture_far.bag'
# timestamp tx ty tz qx qy qz qw
1341840839.3133 -1.3756 -0.9457 1.8124 0.6816 0.6932 -0.1884 -0.1393
1341840839.3233 -1.3754 -0.9453 1.8125 0.6819 0.6935 -0.1869 -0.1382
1341840839.3344 -1.3756 -0.9450 1.8122 0.6815 0.6936 -0.1883 -0.1379
1341840839.3433 -1.3755 -0.9445 1.8122 0.6814 0.6934 -0.1889 -0.1384
1341840839.3533 -1.3755 -0.9441 1.8121 0.6809 0.6936 -0.1895 -0.1392
1341840839.3633 -1.3754 -0.9436 1.8121 0.6801 0.6939 -0.1902 -0.1402
1341840839.3733 -1.3752 -0.9432 1.8120 0.6795 0.6944 -0.1904 -0.1406
1341840839.3833 -1.3751 -0.9428 1.8119 0.6790 0.6947 -0.1909 -0.1411
1341840839.3950 -1.3749 -0.9423 1.8119 0.6787 0.6952 -0.1908 -0.1406
1341840839.4033 -1.3747 -0.9418 1.8118 0.6785 0.6954 -0.1909 -0.1401
1341840839.4133 -1.3744 -0.9411 1.8118 0.6784 0.6957 -0.1904 -0.1396
1341840839.4234 -1.3742 -0.9405 1.8117 0.6783 0.6960 -0.1901 -0.1393
1341840839.4333 -1.3740 -0.9398 1.8115 0.6781 0.6959 -0.1906 -0.1398
1341840839.4433 -1.3737 -0.9391 1.8114 0.6778 0.6961 -0.1906 -0.1402
1341840839.4533 -1.3735 -0.9382 1.8111 0.6778 0.6961 -0.1903 -0.1409
1341840839.4644 -1.3733 -0.9376 1.8109 0.6776 0.6964 -0.1899 -0.1409
1341840839.4733 -1.3729 -0.9369 1.8108 0.6773 0.6970 -0.1893 -0.1403
1341840839.4833 -1.3725 -0.9359 1.8106 0.6769 0.6976 -0.1889 -0.1394
1341840839.4934 -1.3722 -0.9351 1.8104 0.6771 0.6976 -0.1889 -0.1386
1341840839.5033 -1.3717 -0.9341 1.8105 0.6773 0.6978 -0.1879 -0.1381
1341840839.5133 -1.3713 -0.9331 1.8102 0.6768 0.6980 -0.1895 -0.1375
1341840839.5233 -1.3710 -0.9321 1.8101 0.6766 0.6981 -0.1896 -0.1377
1341840839.5333 -1.3704 -0.9311 1.8101 0.6761 0.6985 -0.1897 -0.1375
1341840839.5433 -1.3698 -0.9301 1.8101 0.6760 0.6986 -0.1899 -0.1379
1341840839.5533 -1.3694 -0.9291 1.8099 0.6760 0.6984 -0.1898 -0.1387
1341840839.5633 -1.3690 -0.9280 1.8096 0.6760 0.6984 -0.1895 -0.1392
1341840839.5733 -1.3685 -0.9270 1.8094 0.6760 0.6985 -0.1889 -0.1396
1341840839.5833 -1.3681 -0.9259 1.8091 0.6760 0.6987 -0.1883 -0.1394
1341840839.5933 -1.3676 -0.9248 1.8089 0.6764 0.6986 -0.1873 -0.1393
1341840839.6033 -1.3670 -0.9235 1.8087 0.6762 0.6993 -0.1860 -0.1387
1341840839.6133 -1.3663 -0.9224 1.8088 0.6760 0.6998 -0.1845 -0.1388
1341840839.6233 -1.3657 -0.9213 1.8086 0.6757 0.7002 -0.1844 -0.1386
1341840839.6333 -1.3652 -0.9203 1.8084 0.6755 0.7002 -0.1848 -0.1389
1341840839.6433 -1.3648 -0.9192 1.8080 0.6746 0.7008 -0.1859 -0.1387
1341840839.6533 -1.3644 -0.9183 1.8078 0.6744 0.7007 -0.1865 -0.1391
1341840839.6633 -1.3637 -0.9170 1.8076 0.6739 0.7016 -0.1858 -0.1383
1341840839.6733 -1.3632 -0.9157 1.8073 0.6741 0.7016 -0.1851 -0.1382
1341840839.6833 -1.3627 -0.9146 1.8071 0.6742 0.7019 -0.1839 -0.1378
1341840839.6932 -1.3622 -0.9135 1.8068 0.6745 0.7019 -0.1830 -0.1374
1341840839.7034 -1.3615 -0.9121 1.8065 0.6747 0.7019 -0.1824 -0.1375
1341840839.7133 -1.3610 -0.9109 1.8063 0.6746 0.7021 -0.1820 -0.1374
1341840839.7252 -1.3604 -0.9096 1.8062 0.6747 0.7020 -0.1817 -0.1375
1341840839.7333 -1.3598 -0.9082 1.8060 0.6742 0.7026 -0.1817 -0.1375
1341840839.7433 -1.3592 -0.9069 1.8059 0.6740 0.7024 -0.1826 -0.1381
1341840839.7533 -1.3587 -0.9055 1.8056 0.6735 0.7025 -0.1832 -0.1385
1341840839.7633 -1.3580 -0.9041 1.8054 0.6732 0.7030 -0.1832 -0.1379
1341840839.7733 -1.3572 -0.9025 1.8052 0.6732 0.7032 -0.1830 -0.1373
1341840839.7833 -1.3566 -0.9010 1.8049 0.6735 0.7029 -0.1833 -0.1369
1341840839.7933 -1.3559 -0.8995 1.8045 0.6739 0.7025 -0.1835 -0.1365
1341840839.8033 -1.3551 -0.8979 1.8044 0.6748 0.7021 -0.1823 -0.1360
1341840839.8133 -1.3546 -0.8961 1.8038 0.6745 0.7023 -0.1832 -0.1351
1341840839.8233 -1.3540 -0.8944 1.8033 0.6747 0.7020 -0.1833 -0.1356
1341840839.8336 -1.3533 -0.8927 1.8028 0.6751 0.7018 -0.1826 -0.1357
1341840839.8433 -1.3529 -0.8910 1.8023 0.6752 0.7017 -0.1824 -0.1359
1341840839.8533 -1.3522 -0.8893 1.8017 0.6753 0.7018 -0.1817 -0.1355
1341840839.8634 -1.3516 -0.8877 1.8011 0.6755 0.7020 -0.1811 -0.1347
1341840839.8733 -1.3509 -0.8856 1.8006 0.6755 0.7023 -0.1803 -0.1341
1341840839.8833 -1.3502 -0.8835 1.8003 0.6761 0.7021 -0.1785 -0.1341
1341840839.8933 -1.3496 -0.8816 1.7998 0.6765 0.7020 -0.1782 -0.1338
1341840839.9033 -1.3490 -0.8798 1.7993 0.6769 0.7015 -0.1782 -0.1338
1341840839.9133 -1.3487 -0.8778 1.7985 0.6769 0.7010 -0.1797 -0.1342
1341840839.9233 -1.3482 -0.8760 1.7980 0.6771 0.7010 -0.1796 -0.1339
1341840839.9333 -1.3477 -0.8741 1.7974 0.6770 0.7010 -0.1797 -0.1339
1341840839.9433 -1.3469 -0.8720 1.7973 0.6772 0.7013 -0.1783 -0.1331
1341840839.9534 -1.3465 -0.8702 1.7965 0.6772 0.7010 -0.1799 -0.1330
1341840839.9633 -1.3457 -0.8682 1.7964 0.6774 0.7015 -0.1781 -0.1319
1341840839.9733 -1.3454 -0.8665 1.7956 0.6771 0.7014 -0.1796 -0.1315
1341840839.9833 -1.3449 -0.8647 1.7952 0.6776 0.7010 -0.1799 -0.1309
1341840839.9940 -1.3445 -0.8626 1.7946 0.6775 0.7010 -0.1801 -0.1308
1341840840.0033 -1.3441 -0.8606 1.7941 0.6776 0.7007 -0.1805 -0.1312
1341840840.0133 -1.3436 -0.8587 1.7938 0.6777 0.7008 -0.1805 -0.1306
1341840840.0233 -1.3431 -0.8566 1.7933 0.6776 0.7007 -0.1812 -0.1304
1341840840.0333 -1.3423 -0.8547 1.7933 0.6778 0.7006 -0.1813 -0.1301
1341840840.0433 -1.3420 -0.8528 1.7925 0.6772 0.7004 -0.1841 -0.1302
1341840840.0564 -1.3415 -0.8509 1.7920 0.6771 0.7002 -0.1853 -0.1298
1341840840.0633 -1.3410 -0.8487 1.7915 0.6770 0.7003 -0.1863 -0.1287
1341840840.0744 -1.3406 -0.8469 1.7909 0.6775 0.6997 -0.1871 -0.1277
1341840840.0833 -1.3401 -0.8446 1.7902 0.6779 0.6995 -0.1873 -0.1264
1341840840.0933 -1.3395 -0.8425 1.7898 0.6789 0.6994 -0.1853 -0.1249
1341840840.1040 -1.3393 -0.8405 1.7891 0.6798 0.6989 -0.1845 -0.1245
1341840840.1132 -1.3389 -0.8384 1.7883 0.6803 0.6987 -0.1834 -0.1242
1341840840.1233 -1.3385 -0.8364 1.7878 0.6807 0.6985 -0.1825 -0.1243
1341840840.1340 -1.3382 -0.8344 1.7873 0.6810 0.6981 -0.1827 -0.1249
1341840840.1433 -1.3377 -0.8325 1.7869 0.6806 0.6982 -0.1834 -0.1254
1341840840.1533 -1.3374 -0.8307 1.7862 0.6800 0.6980 -0.1857 -0.1261
1341840840.1633 -1.3368 -0.8285 1.7859 0.6795 0.6984 -0.1857 -0.1266
1341840840.1734 -1.3365 -0.8265 1.7852 0.6791 0.6984 -0.1875 -0.1263
1341840840.1836 -1.3360 -0.8243 1.7850 0.6793 0.6985 -0.1867 -0.1258
1341840840.1936 -1.3355 -0.8222 1.7846 0.6802 0.6981 -0.1859 -0.1245
1341840840.2034 -1.3355 -0.8203 1.7836 0.6804 0.6976 -0.1873 -0.1240
1341840840.2133 -1.3352 -0.8181 1.7829 0.6813 0.6973 -0.1861 -0.1225
1341840840.2233 -1.3347 -0.8159 1.7823 0.6820 0.6971 -0.1848 -0.1216
1341840840.2333 -1.3343 -0.8138 1.7818 0.6830 0.6966 -0.1837 -0.1207
1341840840.2433 -1.3341 -0.8119 1.7814 0.6832 0.6965 -0.1831 -0.1207
1341840840.2533 -1.3337 -0.8096 1.7812 0.6832 0.6966 -0.1831 -0.1202
1341840840.2633 -1.3333 -0.8077 1.7810 0.6833 0.6963 -0.1835 -0.1210
1341840840.2733 -1.3328 -0.8055 1.7809 0.6827 0.6967 -0.1838 -0.1216
1341840840.2833 -1.3324 -0.8034 1.7807 0.6828 0.6965 -0.1842 -0.1218
1341840840.2933 -1.3320 -0.8012 1.7807 0.6830 0.6961 -0.1847 -0.1223
1341840840.3034 -1.3317 -0.7991 1.7807 0.6829 0.6959 -0.1853 -0.1226
1341840840.3133 -1.3316 -0.7968 1.7807 0.6831 0.6953 -0.1862 -0.1233
1341840840.3233 -1.3312 -0.7943 1.7809 0.6834 0.6951 -0.1858 -0.1235
1341840840.3334 -1.3310 -0.7921 1.7808 0.6837 0.6945 -0.1870 -0.1236
1341840840.3433 -1.3308 -0.7897 1.7807 0.6842 0.6939 -0.1877 -0.1233
1341840840.3533 -1.3309 -0.7878 1.7803 0.6846 0.6930 -0.1898 -0.1228
1341840840.3635 -1.3307 -0.7853 1.7800 0.6848 0.6932 -0.1897 -0.1211
1341840840.3733 -1.3307 -0.7830 1.7797 0.6853 0.6930 -0.1894 -0.1195
1341840840.3833 -1.3307 -0.7808 1.7793 0.6858 0.6928 -0.1890 -0.1180
1341840840.3933 -1.3307 -0.7787 1.7790 0.6864 0.6925 -0.1887 -0.1169
1341840840.4033 -1.3306 -0.7765 1.7787 0.6872 0.6919 -0.1886 -0.1165
1341840840.4134 -1.3303 -0.7743 1.7787 0.6876 0.6916 -0.1877 -0.1165
1341840840.4233 -1.3302 -0.7721 1.7784 0.6875 0.6915 -0.1883 -0.1172
1341840840.4333 -1.3301 -0.7700 1.7781 0.6877 0.6911 -0.1885 -0.1184
1341840840.4433 -1.3301 -0.7679 1.7777 0.6875 0.6907 -0.1894 -0.1196
1341840840.4533 -1.3301 -0.7661 1.7773 0.6876 0.6906 -0.1893 -0.1202
1341840840.4634 -1.3299 -0.7639 1.7769 0.6874 0.6910 -0.1886 -0.1198
1341840840.4733 -1.3300 -0.7620 1.7764 0.6877 0.6911 -0.1881 -0.1190
1341840840.4833 -1.3302 -0.7601 1.7757 0.6879 0.6909 -0.1886 -0.1177
1341840840.4935 -1.3302 -0.7581 1.7752 0.6884 0.6907 -0.1882 -0.1167
1341840840.5033 -1.3302 -0.7561 1.7748 0.6889 0.6905 -0.1876 -0.1155
1341840840.5133 -1.3303 -0.7542 1.7745 0.6895 0.6902 -0.1874 -0.1148
1341840840.5233 -1.3303 -0.7522 1.7742 0.6895 0.6899 -0.1881 -0.1149
1341840840.5333 -1.3303 -0.7500 1.7741 0.6896 0.6899 -0.1882 -0.1147
1341840840.5433 -1.3302 -0.7481 1.7740 0.6897 0.6896 -0.1889 -0.1149
1341840840.5533 -1.3300 -0.7460 1.7741 0.6897 0.6895 -0.1884 -0.1155
1341840840.5633 -1.3298 -0.7441 1.7741 0.6897 0.6896 -0.1884 -0.1153
1341840840.5734 -1.3298 -0.7421 1.7741 0.6899 0.6894 -0.1884 -0.1149
1341840840.5846 -1.3299 -0.7402 1.7740 0.6901 0.6892 -0.1888 -0.1149
1341840840.5933 -1.3298 -0.7381 1.7740 0.6903 0.6890 -0.1891 -0.1139
1341840840.6033 -1.3298 -0.7360 1.7742 0.6905 0.6889 -0.1894 -0.1131
1341840840.6133 -1.3296 -0.7341 1.7744 0.6903 0.6890 -0.1903 -0.1127
1341840840.6233 -1.3295 -0.7321 1.7748 0.6901 0.6885 -0.1922 -0.1130
1341840840.6334 -1.3295 -0.7300 1.7750 0.6901 0.6880 -0.1940 -0.1131
1341840840.6433 -1.3294 -0.7279 1.7753 0.6898 0.6880 -0.1952 -0.1130
1341840840.6533 -1.3294 -0.7258 1.7754 0.6896 0.6881 -0.1959 -0.1126
1341840840.6633 -1.3294 -0.7238 1.7755 0.6899 0.6879 -0.1955 -0.1126
1341840840.6732 -1.3295 -0.7217 1.7756 0.6902 0.6877 -0.1949 -0.1123
1341840840.6833 -1.3297 -0.7198 1.7755 0.6905 0.6876 -0.1946 -0.1119
1341840840.6934 -1.3296 -0.7176 1.7758 0.6911 0.6877 -0.1921 -0.1123
1341840840.7035 -1.3297 -0.7156 1.7761 0.6914 0.6877 -0.1909 -0.1127
1341840840.7133 -1.3299 -0.7136 1.7762 0.6915 0.6873 -0.1907 -0.1142
1341840840.7233 -1.3299 -0.7114 1.7766 0.6915 0.6874 -0.1899 -0.1149
1341840840.7334 -1.3300 -0.7093 1.7767 0.6910 0.6875 -0.1907 -0.1160
1341840840.7433 -1.3300 -0.7074 1.7770 0.6907 0.6872 -0.1920 -0.1177
1341840840.7533 -1.3300 -0.7051 1.7776 0.6904 0.6873 -0.1918 -0.1188
1341840840.7633 -1.3301 -0.7030 1.7780 0.6897 0.6876 -0.1930 -0.1195
1341840840.7733 -1.3302 -0.7009 1.7783 0.6892 0.6878 -0.1938 -0.1197
1341840840.7833 -1.3303 -0.6987 1.7784 0.6893 0.6878 -0.1942 -0.1189
1341840840.7933 -1.3304 -0.6966 1.7785 0.6893 0.6880 -0.1941 -0.1178
1341840840.8033 -1.3305 -0.6944 1.7786 0.6896 0.6880 -0.1935 -0.1168
1341840840.8133 -1.3308 -0.6921 1.7788 0.6902 0.6878 -0.1923 -0.1163
1341840840.8232 -1.3311 -0.6899 1.7786 0.6905 0.6874 -0.1927 -0.1162
1341840840.8333 -1.3310 -0.6877 1.7791 0.6910 0.6875 -0.1908 -0.1165
1341840840.8433 -1.3311 -0.6854 1.7792 0.6912 0.6872 -0.1904 -0.1175
1341840840.8533 -1.3314 -0.6831 1.7791 0.6904 0.6872 -0.1921 -0.1193
1341840840.8634 -1.3312 -0.6807 1.7794 0.6898 0.6876 -0.1915 -0.1209
1341840840.8734 -1.3311 -0.6785 1.7795 0.6891 0.6880 -0.1919 -0.1221
1341840840.8833 -1.3311 -0.6762 1.7795 0.6887 0.6879 -0.1931 -0.1233
1341840840.8933 -1.3311 -0.6739 1.7792 0.6884 0.6879 -0.1939 -0.1241
1341840840.9033 -1.3310 -0.6717 1.7790 0.6882 0.6880 -0.1939 -0.1238
1341840840.9133 -1.3310 -0.6693 1.7788 0.6884 0.6880 -0.1938 -0.1232
1341840840.9232 -1.3309 -0.6669 1.7786 0.6888 0.6882 -0.1927 -0.1220
1341840840.9333 -1.3309 -0.6644 1.7780 0.6890 0.6883 -0.1919 -0.1212
1341840840.9432 -1.3309 -0.6620 1.7776 0.6892 0.6886 -0.1909 -0.1201
1341840840.9533 -1.3309 -0.6595 1.7771 0.6896 0.6886 -0.1897 -0.1197
1341840840.9634 -1.3308 -0.6569 1.7767 0.6896 0.6888 -0.1890 -0.1197
1341840840.9733 -1.3307 -0.6542 1.7763 0.6894 0.6888 -0.1889 -0.1207
1341840840.9833 -1.3305 -0.6517 1.7759 0.6893 0.6888 -0.1888 -0.1212
1341840840.9934 -1.3305 -0.6490 1.7754 0.6891 0.6887 -0.1893 -0.1224
1341840841.0033 -1.3304 -0.6462 1.7748 0.6889 0.6890 -0.1888 -0.1228
1341840841.0133 -1.3303 -0.6435 1.7743 0.6890 0.6891 -0.1880 -0.1228
1341840841.0233 -1.3305 -0.6407 1.7737 0.6889 0.6894 -0.1870 -0.1232
1341840841.0333 -1.3306 -0.6380 1.7727 0.6888 0.6895 -0.1867 -0.1236
1341840841.0434 -1.3307 -0.6352 1.7719 0.6889 0.6897 -0.1854 -0.1239
1341840841.0533 -1.3309 -0.6322 1.7712 0.6889 0.6902 -0.1836 -0.1236
1341840841.0634 -1.3308 -0.6291 1.7706 0.6897 0.6904 -0.1801 -0.1231
1341840841.0734 -1.3310 -0.6263 1.7697 0.6898 0.6908 -0.1793 -0.1221
1341840841.0833 -1.3310 -0.6234 1.7692 0.6901 0.6910 -0.1779 -0.1209
1341840841.0933 -1.3308 -0.6203 1.7692 0.6905 0.6910 -0.1766 -0.1209
1341840841.1033 -1.3305 -0.6172 1.7691 0.6906 0.6911 -0.1763 -0.1195
1341840841.1133 -1.3302 -0.6142 1.7690 0.6902 0.6911 -0.1778 -0.1199
1341840841.1233 -1.3299 -0.6112 1.7692 0.6899 0.6908 -0.1795 -0.1208
1341840841.1333 -1.3296 -0.6083 1.7693 0.6901 0.6901 -0.1807 -0.1219
1341840841.1433 -1.3294 -0.6051 1.7693 0.6900 0.6899 -0.1813 -0.1228
1341840841.1533 -1.3292 -0.6023 1.7691 0.6898 0.6897 -0.1822 -0.1234
1341840841.1633 -1.3288 -0.5992 1.7693 0.6906 0.6895 -0.1798 -0.1240
1341840841.1733 -1.3287 -0.5964 1.7691 0.6909 0.6894 -0.1792 -0.1237
1341840841.1833 -1.3282 -0.5935 1.7695 0.6921 0.6890 -0.1762 -0.1234
1341840841.1933 -1.3280 -0.5905 1.7698 0.6933 0.6883 -0.1744 -0.1235
1341840841.2033 -1.3276 -0.5875 1.7702 0.6937 0.6883 -0.1729 -0.1231
1341840841.2133 -1.3273 -0.5847 1.7707 0.6940 0.6878 -0.1732 -0.1233
1341840841.2233 -1.3269 -0.5818 1.7714 0.6939 0.6876 -0.1741 -0.1241
1341840841.2333 -1.3267 -0.5789 1.7721 0.6936 0.6871 -0.1762 -0.1257
1341840841.2433 -1.3262 -0.5761 1.7729 0.6934 0.6868 -0.1777 -0.1261
1341840841.2533 -1.3256 -0.5735 1.7739 0.6931 0.6867 -0.1793 -0.1263
1341840841.2633 -1.3254 -0.5707 1.7745 0.6928 0.6862 -0.1813 -0.1278
1341840841.2733 -1.3251 -0.5679 1.7752 0.6927 0.6860 -0.1825 -0.1278
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