# ground truth trajectory
# file: 'rgbd_dataset_freiburg3_sitting_xyz.bag'
# timestamp tx ty tz qx qy qz qw
1341845820.8614 -0.6589 -2.9733 1.3988 -0.7454 -0.0266 -0.0113 0.6660
1341845820.8724 -0.6589 -2.9735 1.3987 -0.7456 -0.0268 -0.0113 0.6657
1341845820.8814 -0.6589 -2.9736 1.3988 -0.7453 -0.0270 -0.0117 0.6660
1341845820.8914 -0.6590 -2.9738 1.3988 -0.7455 -0.0273 -0.0120 0.6659
1341845820.9014 -0.6590 -2.9739 1.3987 -0.7456 -0.0276 -0.0121 0.6657
1341845820.9114 -0.6592 -2.9740 1.3986 -0.7461 -0.0278 -0.0121 0.6651
1341845820.9214 -0.6593 -2.9741 1.3985 -0.7463 -0.0279 -0.0120 0.6650
1341845820.9313 -0.6593 -2.9741 1.3985 -0.7466 -0.0281 -0.0117 0.6646
1341845820.9414 -0.6594 -2.9742 1.3984 -0.7468 -0.0282 -0.0117 0.6644
1341845820.9514 -0.6595 -2.9743 1.3984 -0.7471 -0.0283 -0.0115 0.6640
1341845820.9614 -0.6596 -2.9744 1.3983 -0.7472 -0.0284 -0.0116 0.6639
1341845820.9713 -0.6597 -2.9745 1.3983 -0.7473 -0.0286 -0.0115 0.6638
1341845820.9813 -0.6598 -2.9745 1.3982 -0.7473 -0.0286 -0.0118 0.6637
1341845820.9914 -0.6599 -2.9746 1.3981 -0.7472 -0.0286 -0.0118 0.6639
1341845821.0013 -0.6600 -2.9747 1.3981 -0.7474 -0.0287 -0.0119 0.6636
1341845821.0113 -0.6602 -2.9747 1.3981 -0.7473 -0.0289 -0.0119 0.6638
1341845821.0214 -0.6603 -2.9747 1.3980 -0.7472 -0.0289 -0.0117 0.6639
1341845821.0314 -0.6604 -2.9747 1.3979 -0.7469 -0.0287 -0.0114 0.6642
1341845821.0414 -0.6604 -2.9747 1.3978 -0.7469 -0.0283 -0.0110 0.6643
1341845821.0514 -0.6604 -2.9743 1.3981 -0.7459 -0.0269 -0.0098 0.6655
1341845821.0614 -0.6603 -2.9743 1.3980 -0.7459 -0.0268 -0.0090 0.6654
1341845821.0714 -0.6602 -2.9744 1.3981 -0.7460 -0.0268 -0.0076 0.6653
1341845821.0813 -0.6602 -2.9743 1.3982 -0.7457 -0.0263 -0.0070 0.6658
1341845821.0914 -0.6601 -2.9743 1.3982 -0.7451 -0.0258 -0.0063 0.6665
1341845821.1013 -0.6599 -2.9743 1.3982 -0.7447 -0.0252 -0.0062 0.6669
1341845821.1113 -0.6597 -2.9743 1.3982 -0.7441 -0.0242 -0.0063 0.6676
1341845821.1213 -0.6596 -2.9743 1.3983 -0.7440 -0.0235 -0.0066 0.6677
1341845821.1322 -0.6593 -2.9742 1.3983 -0.7441 -0.0226 -0.0072 0.6677
1341845821.1413 -0.6591 -2.9742 1.3983 -0.7442 -0.0217 -0.0076 0.6676
1341845821.1515 -0.6588 -2.9743 1.3984 -0.7445 -0.0210 -0.0081 0.6672
1341845821.1623 -0.6586 -2.9743 1.3984 -0.7446 -0.0202 -0.0083 0.6671
1341845821.1714 -0.6583 -2.9743 1.3985 -0.7447 -0.0193 -0.0082 0.6670
1341845821.1814 -0.6581 -2.9743 1.3986 -0.7445 -0.0186 -0.0080 0.6673
1341845821.1914 -0.6580 -2.9744 1.3987 -0.7440 -0.0180 -0.0075 0.6679
1341845821.2013 -0.6575 -2.9742 1.3992 -0.7428 -0.0189 -0.0076 0.6692
1341845821.2114 -0.6575 -2.9747 1.3991 -0.7427 -0.0198 -0.0075 0.6692
1341845821.2214 -0.6573 -2.9748 1.3992 -0.7422 -0.0194 -0.0073 0.6699
1341845821.2316 -0.6572 -2.9748 1.3994 -0.7417 -0.0193 -0.0076 0.6705
1341845821.2413 -0.6570 -2.9749 1.3995 -0.7420 -0.0189 -0.0083 0.6701
1341845821.2514 -0.6572 -2.9750 1.3993 -0.7428 -0.0173 -0.0085 0.6692
1341845821.2615 -0.6571 -2.9750 1.3995 -0.7434 -0.0168 -0.0094 0.6686
1341845821.2713 -0.6569 -2.9750 1.3995 -0.7437 -0.0166 -0.0105 0.6682
1341845821.2813 -0.6569 -2.9750 1.3998 -0.7441 -0.0165 -0.0112 0.6678
1341845821.2915 -0.6568 -2.9749 1.3999 -0.7440 -0.0165 -0.0119 0.6678
1341845821.3013 -0.6566 -2.9750 1.4001 -0.7440 -0.0168 -0.0127 0.6679
1341845821.3114 -0.6564 -2.9749 1.4003 -0.7436 -0.0167 -0.0137 0.6682
1341845821.3214 -0.6563 -2.9749 1.4005 -0.7436 -0.0163 -0.0143 0.6683
1341845821.3313 -0.6561 -2.9746 1.4010 -0.7425 -0.0146 -0.0146 0.6695
1341845821.3414 -0.6560 -2.9745 1.4011 -0.7424 -0.0142 -0.0149 0.6697
1341845821.3513 -0.6558 -2.9744 1.4013 -0.7423 -0.0136 -0.0151 0.6698
1341845821.3614 -0.6557 -2.9743 1.4014 -0.7424 -0.0131 -0.0148 0.6697
1341845821.3714 -0.6554 -2.9742 1.4016 -0.7425 -0.0126 -0.0142 0.6696
1341845821.3814 -0.6552 -2.9742 1.4019 -0.7428 -0.0121 -0.0137 0.6693
1341845821.3914 -0.6550 -2.9742 1.4020 -0.7421 -0.0116 -0.0137 0.6700
1341845821.4013 -0.6549 -2.9742 1.4022 -0.7417 -0.0113 -0.0136 0.6705
1341845821.4113 -0.6547 -2.9745 1.4020 -0.7417 -0.0119 -0.0144 0.6705
1341845821.4214 -0.6542 -2.9743 1.4024 -0.7410 -0.0130 -0.0157 0.6712
1341845821.4314 -0.6541 -2.9744 1.4026 -0.7409 -0.0127 -0.0166 0.6713
1341845821.4414 -0.6542 -2.9747 1.4024 -0.7414 -0.0107 -0.0170 0.6708
1341845821.4513 -0.6540 -2.9748 1.4025 -0.7417 -0.0105 -0.0175 0.6704
1341845821.4632 -0.6538 -2.9745 1.4029 -0.7412 -0.0089 -0.0176 0.6710
1341845821.4713 -0.6536 -2.9745 1.4030 -0.7411 -0.0087 -0.0176 0.6711
1341845821.4813 -0.6535 -2.9746 1.4031 -0.7408 -0.0086 -0.0175 0.6715
1341845821.4914 -0.6534 -2.9748 1.4032 -0.7404 -0.0084 -0.0174 0.6719
1341845821.5014 -0.6533 -2.9749 1.4033 -0.7400 -0.0081 -0.0172 0.6723
1341845821.5144 -0.6533 -2.9751 1.4033 -0.7396 -0.0077 -0.0174 0.6727
1341845821.5214 -0.6532 -2.9753 1.4034 -0.7394 -0.0075 -0.0177 0.6730
1341845821.5314 -0.6531 -2.9754 1.4036 -0.7386 -0.0070 -0.0179 0.6738
1341845821.5413 -0.6531 -2.9755 1.4036 -0.7385 -0.0070 -0.0183 0.6740
1341845821.5514 -0.6531 -2.9756 1.4036 -0.7381 -0.0069 -0.0187 0.6744
1341845821.5614 -0.6529 -2.9755 1.4039 -0.7378 -0.0088 -0.0196 0.6747
1341845821.5714 -0.6530 -2.9754 1.4038 -0.7375 -0.0091 -0.0197 0.6750
1341845821.5815 -0.6531 -2.9754 1.4038 -0.7379 -0.0094 -0.0196 0.6746
1341845821.5923 -0.6532 -2.9755 1.4036 -0.7383 -0.0099 -0.0196 0.6742
1341845821.6013 -0.6537 -2.9756 1.4033 -0.7387 -0.0087 -0.0187 0.6737
1341845821.6114 -0.6535 -2.9755 1.4037 -0.7383 -0.0107 -0.0196 0.6741
1341845821.6214 -0.6537 -2.9754 1.4036 -0.7382 -0.0107 -0.0196 0.6743
1341845821.6314 -0.6539 -2.9755 1.4036 -0.7382 -0.0110 -0.0198 0.6742
1341845821.6414 -0.6540 -2.9755 1.4035 -0.7386 -0.0113 -0.0204 0.6737
1341845821.6516 -0.6542 -2.9755 1.4035 -0.7386 -0.0116 -0.0205 0.6737
1341845821.6614 -0.6543 -2.9755 1.4035 -0.7388 -0.0115 -0.0210 0.6735
1341845821.6713 -0.6546 -2.9755 1.4034 -0.7393 -0.0118 -0.0213 0.6729
1341845821.6813 -0.6550 -2.9758 1.4032 -0.7400 -0.0104 -0.0205 0.6722
1341845821.6915 -0.6553 -2.9757 1.4031 -0.7403 -0.0107 -0.0204 0.6719
1341845821.7013 -0.6554 -2.9758 1.4031 -0.7405 -0.0107 -0.0202 0.6717
1341845821.7113 -0.6556 -2.9757 1.4031 -0.7402 -0.0108 -0.0200 0.6720
1341845821.7213 -0.6559 -2.9757 1.4031 -0.7399 -0.0111 -0.0196 0.6724
1341845821.7314 -0.6561 -2.9757 1.4032 -0.7396 -0.0111 -0.0191 0.6727
1341845821.7413 -0.6563 -2.9757 1.4033 -0.7396 -0.0113 -0.0185 0.6727
1341845821.7514 -0.6565 -2.9757 1.4032 -0.7395 -0.0110 -0.0180 0.6728
1341845821.7613 -0.6569 -2.9758 1.4031 -0.7398 -0.0109 -0.0174 0.6725
1341845821.7713 -0.6568 -2.9757 1.4034 -0.7392 -0.0111 -0.0176 0.6732
1341845821.7813 -0.6570 -2.9757 1.4036 -0.7390 -0.0112 -0.0175 0.6734
1341845821.7914 -0.6572 -2.9757 1.4037 -0.7387 -0.0110 -0.0176 0.6737
1341845821.8014 -0.6573 -2.9757 1.4040 -0.7383 -0.0112 -0.0181 0.6741
1341845821.8114 -0.6575 -2.9759 1.4042 -0.7382 -0.0116 -0.0188 0.6742
1341845821.8214 -0.6577 -2.9760 1.4043 -0.7387 -0.0119 -0.0197 0.6737
1341845821.8314 -0.6579 -2.9761 1.4046 -0.7390 -0.0120 -0.0202 0.6733
1341845821.8414 -0.6580 -2.9761 1.4047 -0.7391 -0.0123 -0.0209 0.6732
1341845821.8514 -0.6582 -2.9762 1.4049 -0.7392 -0.0124 -0.0210 0.6730
1341845821.8614 -0.6583 -2.9762 1.4051 -0.7392 -0.0122 -0.0212 0.6730
1341845821.8714 -0.6585 -2.9763 1.4052 -0.7393 -0.0125 -0.0208 0.6730
1341845821.8814 -0.6587 -2.9764 1.4054 -0.7389 -0.0126 -0.0204 0.6733
1341845821.8914 -0.6589 -2.9764 1.4056 -0.7386 -0.0126 -0.0203 0.6737
1341845821.9013 -0.6591 -2.9764 1.4057 -0.7381 -0.0125 -0.0201 0.6742
1341845821.9114 -0.6592 -2.9765 1.4058 -0.7379 -0.0123 -0.0200 0.6745
1341845821.9214 -0.6594 -2.9765 1.4059 -0.7376 -0.0119 -0.0200 0.6748
1341845821.9315 -0.6596 -2.9769 1.4057 -0.7384 -0.0130 -0.0204 0.6739
1341845821.9414 -0.6599 -2.9769 1.4058 -0.7382 -0.0129 -0.0205 0.6742
1341845821.9517 -0.6601 -2.9770 1.4059 -0.7383 -0.0131 -0.0206 0.6740
1341845821.9615 -0.6603 -2.9770 1.4060 -0.7384 -0.0132 -0.0208 0.6739
1341845821.9713 -0.6605 -2.9770 1.4060 -0.7385 -0.0134 -0.0213 0.6737
1341845821.9813 -0.6608 -2.9770 1.4062 -0.7391 -0.0134 -0.0216 0.6731
1341845821.9944 -0.6611 -2.9771 1.4062 -0.7393 -0.0134 -0.0220 0.6729
1341845822.0013 -0.6614 -2.9770 1.4064 -0.7391 -0.0132 -0.0221 0.6731
1341845822.0113 -0.6617 -2.9770 1.4065 -0.7387 -0.0131 -0.0223 0.6735
1341845822.0214 -0.6621 -2.9769 1.4066 -0.7384 -0.0131 -0.0224 0.6739
1341845822.0313 -0.6624 -2.9769 1.4068 -0.7382 -0.0131 -0.0223 0.6741
1341845822.0413 -0.6628 -2.9769 1.4069 -0.7381 -0.0129 -0.0223 0.6742
1341845822.0514 -0.6631 -2.9770 1.4070 -0.7385 -0.0129 -0.0223 0.6737
1341845822.0614 -0.6636 -2.9770 1.4071 -0.7386 -0.0128 -0.0222 0.6737
1341845822.0713 -0.6640 -2.9770 1.4072 -0.7387 -0.0128 -0.0223 0.6735
1341845822.0813 -0.6644 -2.9770 1.4073 -0.7385 -0.0127 -0.0224 0.6738
1341845822.0913 -0.6649 -2.9771 1.4075 -0.7381 -0.0125 -0.0225 0.6742
1341845822.1013 -0.6653 -2.9771 1.4077 -0.7378 -0.0124 -0.0228 0.6745
1341845822.1113 -0.6659 -2.9772 1.4078 -0.7372 -0.0124 -0.0233 0.6752
1341845822.1213 -0.6662 -2.9769 1.4083 -0.7359 -0.0110 -0.0233 0.6766
1341845822.1317 -0.6669 -2.9769 1.4084 -0.7359 -0.0107 -0.0235 0.6766
1341845822.1413 -0.6673 -2.9770 1.4084 -0.7365 -0.0108 -0.0240 0.6759
1341845822.1513 -0.6681 -2.9772 1.4079 -0.7379 -0.0107 -0.0240 0.6743
1341845822.1613 -0.6684 -2.9768 1.4084 -0.7373 -0.0104 -0.0243 0.6751
1341845822.1714 -0.6691 -2.9768 1.4084 -0.7376 -0.0105 -0.0238 0.6747
1341845822.1813 -0.6697 -2.9767 1.4085 -0.7376 -0.0107 -0.0232 0.6748
1341845822.1913 -0.6704 -2.9765 1.4084 -0.7375 -0.0109 -0.0222 0.6749
1341845822.2013 -0.6712 -2.9765 1.4085 -0.7373 -0.0112 -0.0217 0.6751
1341845822.2113 -0.6716 -2.9761 1.4087 -0.7363 -0.0128 -0.0217 0.6762
1341845822.2213 -0.6724 -2.9758 1.4087 -0.7359 -0.0127 -0.0215 0.6767
1341845822.2313 -0.6732 -2.9756 1.4088 -0.7355 -0.0126 -0.0214 0.6770
1341845822.2413 -0.6744 -2.9760 1.4081 -0.7372 -0.0125 -0.0211 0.6752
1341845822.2515 -0.6753 -2.9758 1.4081 -0.7377 -0.0127 -0.0214 0.6746
1341845822.2614 -0.6758 -2.9755 1.4084 -0.7380 -0.0143 -0.0220 0.6743
1341845822.2714 -0.6768 -2.9754 1.4084 -0.7380 -0.0146 -0.0219 0.6743
1341845822.2820 -0.6780 -2.9754 1.4081 -0.7385 -0.0136 -0.0212 0.6738
1341845822.2915 -0.6790 -2.9753 1.4082 -0.7382 -0.0141 -0.0213 0.6741
1341845822.3013 -0.6800 -2.9747 1.4086 -0.7367 -0.0131 -0.0209 0.6758
1341845822.3113 -0.6811 -2.9745 1.4088 -0.7363 -0.0130 -0.0211 0.6762
1341845822.3214 -0.6820 -2.9743 1.4089 -0.7364 -0.0133 -0.0218 0.6761
1341845822.3314 -0.6831 -2.9742 1.4091 -0.7362 -0.0136 -0.0218 0.6763
1341845822.3414 -0.6841 -2.9740 1.4091 -0.7360 -0.0136 -0.0220 0.6765
1341845822.3519 -0.6852 -2.9739 1.4092 -0.7365 -0.0137 -0.0222 0.6760
1341845822.3613 -0.6859 -2.9733 1.4096 -0.7354 -0.0152 -0.0227 0.6770
1341845822.3713 -0.6870 -2.9732 1.4096 -0.7353 -0.0149 -0.0229 0.6772
1341845822.3813 -0.6881 -2.9731 1.4097 -0.7351 -0.0146 -0.0232 0.6774
1341845822.3915 -0.6893 -2.9730 1.4097 -0.7348 -0.0145 -0.0234 0.6778
1341845822.4013 -0.6908 -2.9730 1.4096 -0.7348 -0.0130 -0.0231 0.6777
1341845822.4113 -0.6920 -2.9729 1.4097 -0.7350 -0.0133 -0.0230 0.6775
1341845822.4213 -0.6931 -2.9726 1.4096 -0.7349 -0.0135 -0.0231 0.6776
1341845822.4313 -0.6944 -2.9725 1.4096 -0.7351 -0.0139 -0.0226 0.6774
1341845822.4415 -0.6957 -2.9723 1.4097 -0.7351 -0.0138 -0.0223 0.6775
1341845822.4514 -0.6968 -2.9721 1.4097 -0.7352 -0.0136 -0.0224 0.6773
1341845822.4614 -0.6980 -2.9720 1.4099 -0.7353 -0.0132 -0.0224 0.6772
1341845822.4732 -0.6993 -2.9719 1.4099 -0.7357 -0.0134 -0.0223 0.6768
1341845822.4814 -0.7003 -2.9717 1.4103 -0.7352 -0.0148 -0.0227 0.6773
1341845822.4914 -0.7018 -2.9720 1.4100 -0.7359 -0.0164 -0.0230 0.6765
1341845822.5013 -0.7035 -2.9720 1.4096 -0.7365 -0.0151 -0.0224 0.6759
1341845822.5114 -0.7048 -2.9719 1.4096 -0.7366 -0.0152 -0.0223 0.6758
1341845822.5214 -0.7056 -2.9716 1.4100 -0.7362 -0.0167 -0.0230 0.6762
1341845822.5314 -0.7072 -2.9716 1.4097 -0.7366 -0.0152 -0.0221 0.6758
1341845822.5413 -0.7084 -2.9710 1.4100 -0.7361 -0.0140 -0.0217 0.6763
1341845822.5513 -0.7096 -2.9709 1.4099 -0.7363 -0.0140 -0.0210 0.6762
1341845822.5613 -0.7109 -2.9707 1.4099 -0.7367 -0.0139 -0.0204 0.6758
1341845822.5713 -0.7122 -2.9706 1.4099 -0.7366 -0.0136 -0.0201 0.6759
1341845822.5813 -0.7136 -2.9704 1.4100 -0.7364 -0.0134 -0.0202 0.6761
1341845822.5914 -0.7150 -2.9706 1.4096 -0.7373 -0.0147 -0.0209 0.6751
1341845822.6013 -0.7163 -2.9704 1.4097 -0.7374 -0.0150 -0.0212 0.6750
1341845822.6113 -0.7176 -2.9701 1.4096 -0.7379 -0.0148 -0.0215 0.6744
1341845822.6224 -0.7188 -2.9698 1.4095 -0.7385 -0.0148 -0.0212 0.6737
1341845822.6314 -0.7199 -2.9696 1.4095 -0.7386 -0.0143 -0.0208 0.6737
1341845822.6413 -0.7212 -2.9694 1.4097 -0.7389 -0.0136 -0.0200 0.6734
1341845822.6514 -0.7224 -2.9691 1.4098 -0.7389 -0.0132 -0.0193 0.6735
1341845822.6614 -0.7238 -2.9689 1.4100 -0.7381 -0.0128 -0.0181 0.6743
1341845822.6713 -0.7249 -2.9684 1.4104 -0.7365 -0.0139 -0.0175 0.6760
1341845822.6814 -0.7266 -2.9685 1.4104 -0.7360 -0.0123 -0.0158 0.6767
1341845822.6913 -0.7279 -2.9683 1.4107 -0.7352 -0.0124 -0.0147 0.6775
1341845822.7013 -0.7292 -2.9681 1.4108 -0.7345 -0.0121 -0.0143 0.6783
1341845822.7113 -0.7304 -2.9679 1.4111 -0.7342 -0.0116 -0.0143 0.6787
1341845822.7213 -0.7317 -2.9677 1.4113 -0.7337 -0.0112 -0.0143 0.6792
1341845822.7314 -0.7330 -2.9676 1.4115 -0.7342 -0.0112 -0.0139 0.6786
1341845822.7413 -0.7344 -2.9675 1.4117 -0.7344 -0.0111 -0.0137 0.6785
1341845822.7524 -0.7358 -2.9670 1.4122 -0.7333 -0.0092 -0.0134 0.6798
1341845822.7614 -0.7371 -2.9669 1.4125 -0.7327 -0.0091 -0.0132 0.6804
1341845822.7713 -0.7385 -2.9672 1.4122 -0.7338 -0.0107 -0.0139 0.6791
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