# ground truth trajectory
# file: 'rgbd_dataset_freiburg3_nostructure_notexture_near_withloop.bag'
# timestamp tx ty tz qx qy qz qw
1341840943.1325 -3.8294 0.1214 0.8710 -0.6495 0.6939 -0.2382 0.1998
1341840943.1453 -3.8295 0.1221 0.8709 -0.6500 0.6936 -0.2383 0.1988
1341840943.1525 -3.8296 0.1227 0.8708 -0.6498 0.6935 -0.2398 0.1983
1341840943.1625 -3.8296 0.1234 0.8707 -0.6493 0.6935 -0.2412 0.1981
1341840943.1725 -3.8296 0.1240 0.8706 -0.6487 0.6935 -0.2427 0.1985
1341840943.1825 -3.8295 0.1249 0.8709 -0.6478 0.6937 -0.2438 0.1992
1341840943.1925 -3.8296 0.1258 0.8708 -0.6473 0.6940 -0.2445 0.1989
1341840943.2025 -3.8297 0.1266 0.8709 -0.6473 0.6940 -0.2449 0.1988
1341840943.2125 -3.8298 0.1275 0.8707 -0.6472 0.6940 -0.2452 0.1984
1341840943.2225 -3.8297 0.1288 0.8705 -0.6471 0.6943 -0.2450 0.1978
1341840943.2325 -3.8296 0.1299 0.8704 -0.6474 0.6943 -0.2450 0.1969
1341840943.2426 -3.8294 0.1312 0.8703 -0.6473 0.6944 -0.2455 0.1964
1341840943.2525 -3.8293 0.1326 0.8704 -0.6478 0.6941 -0.2459 0.1951
1341840943.2625 -3.8291 0.1341 0.8704 -0.6478 0.6942 -0.2463 0.1944
1341840943.2725 -3.8292 0.1357 0.8705 -0.6484 0.6938 -0.2467 0.1933
1341840943.2825 -3.8292 0.1371 0.8706 -0.6481 0.6939 -0.2475 0.1930
1341840943.2924 -3.8291 0.1391 0.8706 -0.6477 0.6936 -0.2486 0.1937
1341840943.3026 -3.8290 0.1413 0.8708 -0.6480 0.6932 -0.2491 0.1937
1341840943.3125 -3.8290 0.1431 0.8708 -0.6478 0.6925 -0.2504 0.1950
1341840943.3226 -3.8292 0.1454 0.8711 -0.6473 0.6930 -0.2504 0.1951
1341840943.3325 -3.8295 0.1478 0.8714 -0.6476 0.6930 -0.2500 0.1945
1341840943.3425 -3.8295 0.1502 0.8716 -0.6476 0.6930 -0.2503 0.1942
1341840943.3527 -3.8298 0.1528 0.8718 -0.6475 0.6930 -0.2504 0.1942
1341840943.3627 -3.8301 0.1554 0.8717 -0.6484 0.6924 -0.2508 0.1930
1341840943.3725 -3.8302 0.1581 0.8718 -0.6485 0.6921 -0.2515 0.1929
1341840943.3825 -3.8302 0.1609 0.8721 -0.6478 0.6924 -0.2524 0.1928
1341840943.3925 -3.8304 0.1637 0.8722 -0.6473 0.6927 -0.2530 0.1928
1341840943.4025 -3.8304 0.1668 0.8725 -0.6472 0.6929 -0.2531 0.1922
1341840943.4125 -3.8307 0.1698 0.8728 -0.6464 0.6944 -0.2522 0.1909
1341840943.4225 -3.8307 0.1729 0.8730 -0.6457 0.6948 -0.2522 0.1916
1341840943.4325 -3.8306 0.1764 0.8734 -0.6448 0.6955 -0.2526 0.1916
1341840943.4443 -3.8309 0.1798 0.8734 -0.6435 0.6964 -0.2531 0.1922
1341840943.4527 -3.8312 0.1831 0.8737 -0.6436 0.6961 -0.2534 0.1925
1341840943.4630 -3.8313 0.1870 0.8740 -0.6427 0.6969 -0.2538 0.1919
1341840943.4725 -3.8312 0.1903 0.8743 -0.6424 0.6968 -0.2551 0.1914
1341840943.4825 -3.8312 0.1939 0.8744 -0.6429 0.6957 -0.2568 0.1918
1341840943.4926 -3.8315 0.1975 0.8748 -0.6425 0.6962 -0.2572 0.1908
1341840943.5025 -3.8315 0.2013 0.8751 -0.6420 0.6967 -0.2578 0.1898
1341840943.5125 -3.8316 0.2053 0.8753 -0.6415 0.6969 -0.2582 0.1902
1341840943.5226 -3.8314 0.2091 0.8760 -0.6405 0.6981 -0.2579 0.1894
1341840943.5325 -3.8313 0.2130 0.8763 -0.6394 0.6983 -0.2596 0.1901
1341840943.5425 -3.8297 0.2168 0.8766 -0.6344 0.7003 -0.2643 0.1931
1341840943.5552 -3.8298 0.2208 0.8772 -0.6330 0.7012 -0.2653 0.1929
1341840943.5626 -3.8312 0.2250 0.8780 -0.6339 0.7016 -0.2630 0.1916
1341840943.5725 -3.8296 0.2281 0.8771 -0.6267 0.6995 -0.2760 0.2045
1341840943.5826 -3.8297 0.2323 0.8780 -0.6251 0.7008 -0.2771 0.2032
1341840943.5926 -3.8307 0.2364 0.8784 -0.6249 0.7012 -0.2770 0.2028
1341840943.6025 -3.8304 0.2406 0.8788 -0.6222 0.7023 -0.2795 0.2038
1341840943.6125 -3.8303 0.2448 0.8796 -0.6205 0.7044 -0.2798 0.2013
1341840943.6226 -3.8303 0.2494 0.8809 -0.6221 0.7070 -0.2746 0.1940
1341840943.6325 -3.8313 0.2536 0.8820 -0.6214 0.7116 -0.2688 0.1877
1341840943.6426 -3.8317 0.2580 0.8821 -0.6204 0.7119 -0.2706 0.1875
1341840943.6526 -3.8320 0.2622 0.8821 -0.6186 0.7129 -0.2715 0.1881
1341840943.6625 -3.8324 0.2662 0.8827 -0.6176 0.7142 -0.2707 0.1873
1341840943.6725 -3.8330 0.2702 0.8825 -0.6166 0.7144 -0.2726 0.1877
1341840943.6825 -3.8329 0.2743 0.8832 -0.6150 0.7167 -0.2716 0.1854
1341840943.6928 -3.8331 0.2785 0.8832 -0.6135 0.7178 -0.2722 0.1849
1341840943.7025 -3.8339 0.2824 0.8835 -0.6136 0.7187 -0.2713 0.1826
1341840943.7125 -3.8341 0.2865 0.8837 -0.6125 0.7193 -0.2725 0.1824
1341840943.7228 -3.8341 0.2903 0.8832 -0.6111 0.7190 -0.2760 0.1827
1341840943.7325 -3.8345 0.2940 0.8833 -0.6114 0.7187 -0.2768 0.1818
1341840943.7426 -3.8346 0.2979 0.8834 -0.6100 0.7192 -0.2791 0.1814
1341840943.7525 -3.8353 0.3020 0.8834 -0.6100 0.7192 -0.2791 0.1808
1341840943.7665 -3.8352 0.3056 0.8835 -0.6088 0.7194 -0.2810 0.1811
1341840943.7725 -3.8352 0.3095 0.8833 -0.6075 0.7201 -0.2823 0.1805
1341840943.7825 -3.8353 0.3127 0.8833 -0.6083 0.7198 -0.2821 0.1798
1341840943.7940 -3.8351 0.3166 0.8830 -0.6063 0.7211 -0.2833 0.1794
1341840943.8025 -3.8352 0.3205 0.8828 -0.6057 0.7224 -0.2826 0.1773
1341840943.8125 -3.8354 0.3239 0.8828 -0.6063 0.7228 -0.2817 0.1749
1341840943.8225 -3.8353 0.3277 0.8826 -0.6052 0.7239 -0.2816 0.1743
1341840943.8325 -3.8367 0.3310 0.8827 -0.6034 0.7273 -0.2791 0.1706
1341840943.8425 -3.8350 0.3351 0.8829 -0.6036 0.7262 -0.2803 0.1725
1341840943.8525 -3.8351 0.3391 0.8829 -0.6023 0.7270 -0.2807 0.1730
1341840943.8625 -3.8352 0.3426 0.8832 -0.6025 0.7266 -0.2811 0.1733
1341840943.8725 -3.8354 0.3461 0.8836 -0.6026 0.7263 -0.2816 0.1734
1341840943.8831 -3.8356 0.3500 0.8840 -0.6015 0.7269 -0.2822 0.1736
1341840943.8926 -3.8356 0.3530 0.8843 -0.6013 0.7263 -0.2845 0.1730
1341840943.9025 -3.8357 0.3569 0.8845 -0.5987 0.7277 -0.2865 0.1728
1341840943.9125 -3.8358 0.3602 0.8848 -0.5980 0.7276 -0.2885 0.1724
1341840943.9225 -3.8359 0.3638 0.8853 -0.5968 0.7289 -0.2882 0.1716
1341840943.9325 -3.8364 0.3676 0.8855 -0.5958 0.7301 -0.2873 0.1716
1341840943.9427 -3.8363 0.3710 0.8857 -0.5958 0.7301 -0.2869 0.1723
1341840943.9525 -3.8363 0.3744 0.8858 -0.5959 0.7301 -0.2865 0.1726
1341840943.9625 -3.8362 0.3785 0.8859 -0.5945 0.7307 -0.2868 0.1743
1341840943.9725 -3.8370 0.3820 0.8861 -0.5949 0.7311 -0.2858 0.1730
1341840943.9825 -3.8372 0.3851 0.8865 -0.5960 0.7309 -0.2849 0.1715
1341840943.9925 -3.8377 0.3886 0.8863 -0.5957 0.7313 -0.2855 0.1699
1341840944.0025 -3.8379 0.3919 0.8865 -0.5944 0.7325 -0.2861 0.1683
1341840944.0125 -3.8384 0.3951 0.8867 -0.5945 0.7322 -0.2871 0.1674
1341840944.0226 -3.8385 0.3980 0.8868 -0.5938 0.7317 -0.2893 0.1679
1341840944.0325 -3.8386 0.4009 0.8868 -0.5927 0.7322 -0.2902 0.1683
1341840944.0425 -3.8388 0.4040 0.8869 -0.5911 0.7333 -0.2906 0.1686
1341840944.0525 -3.8392 0.4074 0.8868 -0.5902 0.7340 -0.2903 0.1692
1341840944.0626 -3.8391 0.4095 0.8870 -0.5905 0.7338 -0.2902 0.1694
1341840944.0725 -3.8384 0.4119 0.8869 -0.5920 0.7321 -0.2903 0.1714
1341840944.0826 -3.8382 0.4154 0.8866 -0.5868 0.7360 -0.2905 0.1718
1341840944.0925 -3.8383 0.4173 0.8870 -0.5863 0.7369 -0.2907 0.1696
1341840944.1025 -3.8384 0.4196 0.8868 -0.5852 0.7377 -0.2910 0.1691
1341840944.1125 -3.8381 0.4228 0.8861 -0.5816 0.7401 -0.2914 0.1705
1341840944.1243 -3.8377 0.4247 0.8861 -0.5808 0.7404 -0.2925 0.1698
1341840944.1325 -3.8373 0.4263 0.8863 -0.5831 0.7392 -0.2922 0.1678
1341840944.1425 -3.8370 0.4283 0.8861 -0.5826 0.7395 -0.2928 0.1672
1341840944.1525 -3.8372 0.4317 0.8854 -0.5792 0.7426 -0.2917 0.1672
1341840944.1626 -3.8367 0.4336 0.8854 -0.5797 0.7423 -0.2919 0.1665
1341840944.1725 -3.8358 0.4345 0.8857 -0.5822 0.7405 -0.2926 0.1648
1341840944.1825 -3.8354 0.4368 0.8872 -0.5832 0.7447 -0.2842 0.1566
1341840944.1925 -3.8344 0.4387 0.8871 -0.5813 0.7454 -0.2860 0.1569
1341840944.2025 -3.8335 0.4408 0.8874 -0.5801 0.7464 -0.2859 0.1565
1341840944.2125 -3.8333 0.4437 0.8873 -0.5777 0.7481 -0.2859 0.1577
1341840944.2225 -3.8319 0.4455 0.8875 -0.5776 0.7476 -0.2869 0.1589
1341840944.2325 -3.8316 0.4482 0.8872 -0.5750 0.7496 -0.2860 0.1602
1341840944.2425 -3.8308 0.4498 0.8873 -0.5751 0.7492 -0.2864 0.1608
1341840944.2525 -3.8295 0.4506 0.8878 -0.5766 0.7472 -0.2889 0.1607
1341840944.2625 -3.8282 0.4521 0.8880 -0.5755 0.7475 -0.2899 0.1612
1341840944.2725 -3.8269 0.4531 0.8880 -0.5765 0.7459 -0.2917 0.1619
1341840944.2825 -3.8264 0.4566 0.8871 -0.5687 0.7521 -0.2904 0.1629
1341840944.2925 -3.8255 0.4579 0.8873 -0.5680 0.7535 -0.2892 0.1613
1341840944.3025 -3.8241 0.4582 0.8878 -0.5711 0.7516 -0.2890 0.1595
1341840944.3125 -3.8229 0.4598 0.8876 -0.5713 0.7518 -0.2884 0.1588
1341840944.3225 -3.8215 0.4611 0.8875 -0.5714 0.7523 -0.2872 0.1583
1341840944.3325 -3.8199 0.4624 0.8871 -0.5699 0.7532 -0.2877 0.1587
1341840944.3425 -3.8180 0.4637 0.8872 -0.5692 0.7542 -0.2869 0.1578
1341840944.3525 -3.8170 0.4655 0.8870 -0.5693 0.7548 -0.2855 0.1568
1341840944.3625 -3.8159 0.4681 0.8866 -0.5648 0.7583 -0.2849 0.1573
1341840944.3725 -3.8133 0.4674 0.8873 -0.5681 0.7541 -0.2889 0.1584
1341840944.3827 -3.8115 0.4685 0.8878 -0.5671 0.7543 -0.2903 0.1587
1341840944.3947 -3.8099 0.4697 0.8880 -0.5661 0.7542 -0.2921 0.1593
1341840944.4025 -3.8079 0.4710 0.8880 -0.5641 0.7547 -0.2939 0.1608
1341840944.4125 -3.8070 0.4743 0.8873 -0.5581 0.7594 -0.2926 0.1620
1341840944.4225 -3.8054 0.4756 0.8874 -0.5586 0.7595 -0.2918 0.1611
1341840944.4326 -3.8036 0.4769 0.8874 -0.5590 0.7595 -0.2911 0.1612
1341840944.4425 -3.8017 0.4781 0.8870 -0.5588 0.7593 -0.2917 0.1614
1341840944.4532 -3.7993 0.4792 0.8867 -0.5582 0.7592 -0.2929 0.1619
1341840944.4625 -3.7970 0.4797 0.8865 -0.5600 0.7581 -0.2930 0.1608
1341840944.4725 -3.7961 0.4826 0.8852 -0.5546 0.7630 -0.2905 0.1605
1341840944.4825 -3.7940 0.4839 0.8849 -0.5538 0.7640 -0.2901 0.1594
1341840944.4925 -3.7922 0.4848 0.8847 -0.5548 0.7641 -0.2886 0.1584
1341840944.5025 -3.7894 0.4850 0.8844 -0.5555 0.7630 -0.2899 0.1585
1341840944.5125 -3.7888 0.4860 0.8836 -0.5521 0.7666 -0.2880 0.1568
1341840944.5226 -3.7867 0.4871 0.8831 -0.5501 0.7680 -0.2882 0.1565
1341840944.5641 -3.7777 0.4925 0.8810 -0.5412 0.7720 -0.2920 0.1608
1341840944.5724 -3.7756 0.4936 0.8806 -0.5389 0.7739 -0.2918 0.1599
1341840944.5825 -3.7730 0.4935 0.8802 -0.5420 0.7716 -0.2920 0.1600
1341840944.5924 -3.7709 0.4946 0.8795 -0.5410 0.7723 -0.2922 0.1594
1341840944.6025 -3.7689 0.4959 0.8789 -0.5398 0.7745 -0.2900 0.1573
1341840944.6124 -3.7679 0.4981 0.8788 -0.5357 0.7800 -0.2851 0.1529
1341840944.6224 -3.7661 0.4994 0.8781 -0.5353 0.7814 -0.2830 0.1505
1341840944.6328 -3.7641 0.5004 0.8777 -0.5343 0.7823 -0.2829 0.1499
1341840944.6424 -3.7618 0.5016 0.8769 -0.5325 0.7829 -0.2846 0.1499
1341840944.6524 -3.7597 0.5028 0.8764 -0.5311 0.7835 -0.2856 0.1498
1341840944.6625 -3.7577 0.5040 0.8758 -0.5296 0.7841 -0.2866 0.1502
1341840944.6725 -3.7562 0.5052 0.8754 -0.5303 0.7840 -0.2859 0.1493
1341840944.6825 -3.7543 0.5066 0.8751 -0.5292 0.7853 -0.2850 0.1483
1341840944.6929 -3.7521 0.5080 0.8748 -0.5291 0.7858 -0.2842 0.1478
1341840944.7026 -3.7499 0.5093 0.8745 -0.5279 0.7869 -0.2838 0.1471
1341840944.7124 -3.7480 0.5105 0.8743 -0.5276 0.7878 -0.2829 0.1452
1341840944.7225 -3.7462 0.5119 0.8743 -0.5263 0.7893 -0.2821 0.1429
1341840944.7324 -3.7443 0.5134 0.8744 -0.5246 0.7909 -0.2818 0.1411
1341840944.7425 -3.7428 0.5149 0.8747 -0.5230 0.7924 -0.2814 0.1395
1341840944.7525 -3.7414 0.5163 0.8752 -0.5219 0.7933 -0.2810 0.1389
1341840944.7639 -3.7399 0.5180 0.8755 -0.5203 0.7946 -0.2805 0.1387
1341840944.7725 -3.7381 0.5194 0.8754 -0.5186 0.7942 -0.2837 0.1411
1341840944.7824 -3.7367 0.5216 0.8759 -0.5169 0.7959 -0.2820 0.1411
1341840944.7925 -3.7353 0.5235 0.8762 -0.5160 0.7970 -0.2807 0.1407
1341840944.8043 -3.7336 0.5253 0.8766 -0.5153 0.7980 -0.2793 0.1404
1341840944.8124 -3.7322 0.5270 0.8770 -0.5147 0.7990 -0.2779 0.1400
1341840944.8225 -3.7322 0.5288 0.8775 -0.5180 0.7987 -0.2737 0.1370
1341840944.8324 -3.7306 0.5306 0.8782 -0.5166 0.7997 -0.2736 0.1368
1341840944.8425 -3.7285 0.5320 0.8787 -0.5141 0.8006 -0.2754 0.1377
1341840944.8524 -3.7267 0.5337 0.8792 -0.5122 0.8015 -0.2763 0.1376
1341840944.8642 -3.7251 0.5353 0.8798 -0.5102 0.8027 -0.2764 0.1375
1341840944.8726 -3.7233 0.5368 0.8802 -0.5088 0.8031 -0.2779 0.1377
1341840944.8825 -3.7215 0.5383 0.8809 -0.5075 0.8038 -0.2786 0.1370
1341840944.8925 -3.7199 0.5396 0.8813 -0.5062 0.8044 -0.2793 0.1367
1341840944.9024 -3.7182 0.5409 0.8819 -0.5041 0.8056 -0.2798 0.1363
1341840944.9125 -3.7177 0.5423 0.8825 -0.5010 0.8084 -0.2786 0.1335
1341840944.9224 -3.7158 0.5439 0.8829 -0.4992 0.8095 -0.2787 0.1335
1341840944.9352 -3.7143 0.5456 0.8829 -0.4962 0.8112 -0.2788 0.1338
1341840944.9425 -3.7125 0.5468 0.8835 -0.4951 0.8120 -0.2785 0.1343
1341840944.9540 -3.7110 0.5479 0.8839 -0.4958 0.8118 -0.2780 0.1334
1341840944.9728 -3.7092 0.5495 0.8842 -0.4951 0.8126 -0.2779 0.1315
1341840944.9730 -3.7073 0.5509 0.8844 -0.4946 0.8129 -0.2781 0.1312
1341840944.9826 -3.7057 0.5523 0.8847 -0.4940 0.8134 -0.2779 0.1304
1341840944.9925 -3.7040 0.5537 0.8852 -0.4932 0.8140 -0.2784 0.1288
1341840945.0025 -3.7024 0.5549 0.8856 -0.4925 0.8146 -0.2785 0.1279
1341840945.0124 -3.6977 0.5536 0.8867 -0.5032 0.8057 -0.2832 0.1320
1341840945.0225 -3.6958 0.5546 0.8873 -0.5026 0.8054 -0.2848 0.1327
1341840945.0325 -3.6943 0.5562 0.8876 -0.5006 0.8068 -0.2844 0.1326
1341840945.0425 -3.6927 0.5581 0.8879 -0.4980 0.8084 -0.2838 0.1336
1341840945.0524 -3.6911 0.5594 0.8881 -0.4979 0.8086 -0.2834 0.1337
1341840945.0630 -3.6893 0.5609 0.8882 -0.4975 0.8092 -0.2825 0.1335
1341840945.0725 -3.6877 0.5621 0.8884 -0.4975 0.8094 -0.2823 0.1327
1341840945.0825 -3.6859 0.5635 0.8886 -0.4976 0.8094 -0.2826 0.1319
1341840945.0924 -3.6842 0.5647 0.8887 -0.4981 0.8091 -0.2831 0.1307
1341840945.1025 -3.6830 0.5664 0.8888 -0.4972 0.8100 -0.2832 0.1283
1341840945.1125 -3.6817 0.5679 0.8890 -0.4968 0.8102 -0.2839 0.1271
1341840945.1272 -3.6803 0.5689 0.8895 -0.4968 0.8102 -0.2842 0.1260
1341840945.1324 -3.6791 0.5706 0.8894 -0.4956 0.8108 -0.2850 0.1257
1341840945.1425 -3.6776 0.5716 0.8895 -0.4950 0.8109 -0.2857 0.1259
1341840945.1524 -3.6761 0.5731 0.8896 -0.4943 0.8113 -0.2857 0.1257
1341840945.1646 -3.6748 0.5747 0.8896 -0.4931 0.8126 -0.2842 0.1256
1341840945.1743 -3.6734 0.5760 0.8895 -0.4926 0.8133 -0.2832 0.1255
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