# ground truth trajectory
# file: 'rgbd_dataset_freiburg3_checkerboard_large.bag'
# timestamp tx ty tz qx qy qz qw
1341835195.5477 0.4878 -0.7238 1.1589 -0.7335 -0.0299 -0.0434 0.6777
1341835195.5577 0.4869 -0.7234 1.1600 -0.7336 -0.0290 -0.0433 0.6776
1341835195.5677 0.4860 -0.7231 1.1612 -0.7338 -0.0292 -0.0440 0.6774
1341835195.5802 0.4847 -0.7228 1.1621 -0.7345 -0.0296 -0.0440 0.6765
1341835195.5878 0.4833 -0.7223 1.1632 -0.7345 -0.0311 -0.0444 0.6764
1341835195.5977 0.4819 -0.7220 1.1642 -0.7336 -0.0335 -0.0432 0.6773
1341835195.6077 0.4809 -0.7217 1.1651 -0.7332 -0.0348 -0.0462 0.6776
1341835195.6177 0.4797 -0.7211 1.1662 -0.7309 -0.0360 -0.0460 0.6800
1341835195.6277 0.4785 -0.7206 1.1673 -0.7295 -0.0362 -0.0472 0.6814
1341835195.6378 0.4770 -0.7196 1.1683 -0.7277 -0.0354 -0.0484 0.6833
1341835195.6477 0.4757 -0.7190 1.1693 -0.7268 -0.0342 -0.0482 0.6843
1341835195.6577 0.4743 -0.7183 1.1703 -0.7271 -0.0325 -0.0486 0.6840
1341835195.6677 0.4728 -0.7175 1.1714 -0.7268 -0.0316 -0.0479 0.6845
1341835195.6778 0.4710 -0.7170 1.1726 -0.7272 -0.0300 -0.0466 0.6842
1341835195.6877 0.4690 -0.7162 1.1739 -0.7273 -0.0281 -0.0443 0.6844
1341835195.6977 0.4668 -0.7158 1.1752 -0.7265 -0.0274 -0.0403 0.6854
1341835195.7077 0.4645 -0.7153 1.1766 -0.7262 -0.0258 -0.0361 0.6861
1341835195.7177 0.4616 -0.7146 1.1783 -0.7240 -0.0241 -0.0308 0.6887
1341835195.7277 0.4589 -0.7140 1.1798 -0.7229 -0.0223 -0.0269 0.6901
1341835195.7377 0.4562 -0.7134 1.1814 -0.7213 -0.0214 -0.0229 0.6919
1341835195.7478 0.4533 -0.7128 1.1828 -0.7203 -0.0191 -0.0194 0.6931
1341835195.7578 0.4503 -0.7121 1.1845 -0.7182 -0.0171 -0.0150 0.6955
1341835195.7677 0.4478 -0.7117 1.1854 -0.7200 -0.0157 -0.0143 0.6937
1341835195.7781 0.4452 -0.7108 1.1865 -0.7200 -0.0135 -0.0122 0.6937
1341835195.7877 0.4426 -0.7098 1.1877 -0.7240 -0.0104 -0.0110 0.6896
1341835195.7977 0.4404 -0.7087 1.1887 -0.7257 -0.0087 -0.0102 0.6879
1341835195.8077 0.4382 -0.7075 1.1899 -0.7280 -0.0060 -0.0099 0.6855
1341835195.8178 0.4358 -0.7066 1.1900 -0.7309 -0.0051 -0.0089 0.6825
1341835195.8277 0.4337 -0.7053 1.1907 -0.7313 -0.0037 -0.0096 0.6819
1341835195.8377 0.4311 -0.7040 1.1911 -0.7315 -0.0039 -0.0080 0.6818
1341835195.8478 0.4287 -0.7030 1.1915 -0.7312 -0.0033 -0.0081 0.6821
1341835195.8577 0.4264 -0.7020 1.1919 -0.7311 -0.0039 -0.0082 0.6822
1341835195.8677 0.4241 -0.7010 1.1923 -0.7300 -0.0036 -0.0078 0.6834
1341835195.8777 0.4220 -0.6999 1.1923 -0.7293 -0.0041 -0.0074 0.6841
1341835195.8877 0.4198 -0.6986 1.1927 -0.7284 -0.0037 -0.0075 0.6851
1341835195.8978 0.4179 -0.6974 1.1930 -0.7284 -0.0032 -0.0087 0.6851
1341835195.9077 0.4159 -0.6964 1.1934 -0.7283 -0.0025 -0.0097 0.6851
1341835195.9177 0.4139 -0.6950 1.1938 -0.7278 -0.0021 -0.0102 0.6857
1341835195.9277 0.4117 -0.6938 1.1941 -0.7272 -0.0016 -0.0102 0.6863
1341835195.9379 0.4090 -0.6926 1.1944 -0.7268 0.0001 -0.0082 0.6868
1341835195.9478 0.4070 -0.6916 1.1948 -0.7271 0.0007 -0.0066 0.6865
1341835195.9577 0.4046 -0.6904 1.1954 -0.7269 0.0019 -0.0046 0.6867
1341835195.9677 0.4026 -0.6893 1.1960 -0.7274 0.0033 -0.0036 0.6862
1341835195.9777 0.4004 -0.6880 1.1964 -0.7288 0.0042 -0.0032 0.6847
1341835195.9877 0.3984 -0.6864 1.1971 -0.7281 0.0058 -0.0036 0.6854
1341835195.9977 0.3962 -0.6851 1.1977 -0.7283 0.0075 -0.0040 0.6852
1341835196.0077 0.3940 -0.6836 1.1982 -0.7285 0.0082 -0.0048 0.6849
1341835196.0178 0.3918 -0.6820 1.1985 -0.7278 0.0105 -0.0043 0.6857
1341835196.0277 0.3898 -0.6807 1.1990 -0.7277 0.0116 -0.0039 0.6858
1341835196.0378 0.3878 -0.6795 1.1994 -0.7279 0.0122 -0.0038 0.6855
1341835196.0479 0.3858 -0.6782 1.1998 -0.7277 0.0120 -0.0031 0.6858
1341835196.0577 0.3837 -0.6771 1.2004 -0.7270 0.0121 -0.0019 0.6865
1341835196.0677 0.3817 -0.6760 1.2009 -0.7263 0.0123 -0.0015 0.6873
1341835196.0777 0.3797 -0.6746 1.2013 -0.7250 0.0121 -0.0017 0.6886
1341835196.0878 0.3777 -0.6736 1.2019 -0.7240 0.0123 -0.0018 0.6897
1341835196.0977 0.3757 -0.6723 1.2024 -0.7225 0.0124 -0.0023 0.6913
1341835196.1077 0.3738 -0.6711 1.2026 -0.7219 0.0125 -0.0028 0.6918
1341835196.1178 0.3719 -0.6702 1.2029 -0.7222 0.0121 -0.0033 0.6915
1341835196.1277 0.3700 -0.6691 1.2033 -0.7220 0.0112 -0.0040 0.6918
1341835196.1378 0.3677 -0.6680 1.2036 -0.7215 0.0110 -0.0033 0.6923
1341835196.1478 0.3654 -0.6669 1.2038 -0.7214 0.0097 -0.0032 0.6925
1341835196.1577 0.3632 -0.6660 1.2044 -0.7202 0.0090 -0.0028 0.6937
1341835196.1677 0.3608 -0.6650 1.2048 -0.7192 0.0088 -0.0017 0.6948
1341835196.1779 0.3586 -0.6640 1.2053 -0.7179 0.0089 -0.0004 0.6961
1341835196.1877 0.3564 -0.6630 1.2058 -0.7172 0.0095 0.0007 0.6968
1341835196.1977 0.3541 -0.6620 1.2064 -0.7170 0.0100 0.0015 0.6970
1341835196.2077 0.3520 -0.6609 1.2069 -0.7168 0.0108 0.0018 0.6972
1341835196.2178 0.3501 -0.6598 1.2074 -0.7167 0.0114 0.0012 0.6972
1341835196.2277 0.3479 -0.6583 1.2076 -0.7162 0.0123 0.0006 0.6978
1341835196.2377 0.3459 -0.6570 1.2079 -0.7159 0.0128 -0.0006 0.6980
1341835196.2477 0.3438 -0.6559 1.2082 -0.7156 0.0124 -0.0018 0.6984
1341835196.2583 0.3414 -0.6551 1.2086 -0.7153 0.0118 -0.0023 0.6988
1341835196.2677 0.3392 -0.6543 1.2090 -0.7144 0.0106 -0.0022 0.6996
1341835196.2777 0.3370 -0.6534 1.2093 -0.7136 0.0093 -0.0021 0.7005
1341835196.2877 0.3348 -0.6527 1.2095 -0.7133 0.0085 -0.0029 0.7008
1341835196.2977 0.3327 -0.6516 1.2099 -0.7116 0.0083 -0.0036 0.7025
1341835196.3077 0.3308 -0.6506 1.2102 -0.7115 0.0080 -0.0045 0.7027
1341835196.3193 0.3291 -0.6497 1.2104 -0.7121 0.0087 -0.0058 0.7020
1341835196.3277 0.3275 -0.6486 1.2106 -0.7123 0.0092 -0.0070 0.7018
1341835196.3377 0.3261 -0.6476 1.2109 -0.7128 0.0095 -0.0081 0.7012
1341835196.3535 0.3247 -0.6464 1.2112 -0.7125 0.0098 -0.0101 0.7015
1341835196.3578 0.3232 -0.6453 1.2115 -0.7116 0.0100 -0.0114 0.7024
1341835196.3677 0.3218 -0.6440 1.2119 -0.7099 0.0103 -0.0119 0.7041
1341835196.3778 0.3203 -0.6431 1.2125 -0.7081 0.0100 -0.0111 0.7059
1341835196.3878 0.3189 -0.6421 1.2131 -0.7061 0.0099 -0.0100 0.7080
1341835196.3977 0.3174 -0.6410 1.2137 -0.7041 0.0101 -0.0077 0.7100
1341835196.4077 0.3161 -0.6401 1.2144 -0.7028 0.0099 -0.0054 0.7113
1341835196.4177 0.3146 -0.6393 1.2151 -0.7022 0.0104 -0.0034 0.7119
1341835196.4277 0.3131 -0.6383 1.2156 -0.7025 0.0107 -0.0008 0.7116
1341835196.4378 0.3121 -0.6374 1.2164 -0.7022 0.0110 0.0015 0.7118
1341835196.4478 0.3108 -0.6363 1.2173 -0.7011 0.0112 0.0041 0.7130
1341835196.4578 0.3095 -0.6352 1.2182 -0.6996 0.0114 0.0063 0.7144
1341835196.4677 0.3085 -0.6342 1.2192 -0.6978 0.0118 0.0084 0.7161
1341835196.4778 0.3073 -0.6330 1.2201 -0.6925 0.0117 0.0115 0.7213
1341835196.4878 0.3062 -0.6324 1.2208 -0.6918 0.0116 0.0141 0.7218
1341835196.4977 0.3050 -0.6318 1.2216 -0.6913 0.0117 0.0166 0.7223
1341835196.5080 0.3038 -0.6309 1.2225 -0.6907 0.0115 0.0194 0.7227
1341835196.5178 0.3026 -0.6301 1.2233 -0.6916 0.0116 0.0211 0.7219
1341835196.5278 0.3021 -0.6294 1.2244 -0.6959 0.0133 0.0219 0.7177
1341835196.5377 0.3015 -0.6277 1.2260 -0.6960 0.0099 0.0222 0.7177
1341835196.5488 0.3003 -0.6269 1.2270 -0.6980 0.0108 0.0227 0.7157
1341835196.5578 0.2989 -0.6274 1.2272 -0.7030 0.0158 0.0227 0.7107
1341835196.5677 0.2981 -0.6265 1.2284 -0.7042 0.0162 0.0229 0.7095
1341835196.5782 0.2970 -0.6262 1.2296 -0.7059 0.0174 0.0233 0.7077
1341835196.5877 0.2960 -0.6263 1.2306 -0.7080 0.0181 0.0234 0.7056
1341835196.5977 0.2950 -0.6263 1.2317 -0.7093 0.0185 0.0235 0.7043
1341835196.6077 0.2940 -0.6264 1.2327 -0.7104 0.0185 0.0235 0.7031
1341835196.6177 0.2930 -0.6267 1.2336 -0.7115 0.0184 0.0231 0.7020
1341835196.6278 0.2922 -0.6268 1.2347 -0.7119 0.0188 0.0219 0.7017
1341835196.6398 0.2914 -0.6268 1.2357 -0.7120 0.0190 0.0207 0.7016
1341835196.6486 0.2906 -0.6267 1.2368 -0.7112 0.0189 0.0191 0.7025
1341835196.6577 0.2899 -0.6269 1.2379 -0.7107 0.0181 0.0173 0.7030
1341835196.6677 0.2892 -0.6271 1.2389 -0.7099 0.0169 0.0160 0.7039
1341835196.6777 0.2884 -0.6273 1.2401 -0.7086 0.0162 0.0147 0.7053
1341835196.6885 0.2877 -0.6274 1.2411 -0.7077 0.0149 0.0140 0.7062
1341835196.6977 0.2871 -0.6277 1.2421 -0.7071 0.0133 0.0138 0.7068
1341835196.7077 0.2864 -0.6282 1.2433 -0.7080 0.0121 0.0138 0.7060
1341835196.7178 0.2857 -0.6285 1.2442 -0.7088 0.0113 0.0148 0.7052
1341835196.7296 0.2852 -0.6289 1.2451 -0.7101 0.0106 0.0157 0.7038
1341835196.7377 0.2844 -0.6293 1.2459 -0.7117 0.0103 0.0167 0.7022
1341835196.7487 0.2838 -0.6296 1.2469 -0.7130 0.0102 0.0171 0.7009
1341835196.7577 0.2831 -0.6300 1.2479 -0.7150 0.0106 0.0171 0.6989
1341835196.7677 0.2824 -0.6303 1.2489 -0.7159 0.0110 0.0178 0.6979
1341835196.7778 0.2816 -0.6309 1.2498 -0.7169 0.0110 0.0186 0.6969
1341835196.7877 0.2811 -0.6311 1.2506 -0.7173 0.0105 0.0188 0.6964
1341835196.7978 0.2801 -0.6313 1.2515 -0.7163 0.0109 0.0198 0.6974
1341835196.8077 0.2792 -0.6315 1.2522 -0.7161 0.0108 0.0200 0.6976
1341835196.8178 0.2782 -0.6318 1.2528 -0.7157 0.0108 0.0196 0.6981
1341835196.8277 0.2780 -0.6323 1.2534 -0.7169 0.0108 0.0176 0.6969
1341835196.8377 0.2770 -0.6328 1.2540 -0.7192 0.0108 0.0169 0.6945
1341835196.8477 0.2759 -0.6332 1.2545 -0.7205 0.0112 0.0161 0.6932
1341835196.8577 0.2747 -0.6333 1.2551 -0.7207 0.0122 0.0159 0.6930
1341835196.8677 0.2739 -0.6335 1.2556 -0.7214 0.0102 0.0153 0.6922
1341835196.8777 0.2724 -0.6338 1.2558 -0.7222 0.0122 0.0147 0.6914
1341835196.8877 0.2709 -0.6342 1.2559 -0.7228 0.0134 0.0134 0.6908
1341835196.8977 0.2694 -0.6346 1.2560 -0.7228 0.0143 0.0121 0.6908
1341835196.9077 0.2687 -0.6351 1.2562 -0.7258 0.0157 0.0117 0.6876
1341835196.9178 0.2670 -0.6357 1.2569 -0.7271 0.0166 0.0098 0.6862
1341835196.9277 0.2653 -0.6359 1.2575 -0.7264 0.0176 0.0083 0.6870
1341835196.9377 0.2639 -0.6362 1.2580 -0.7259 0.0181 0.0064 0.6876
1341835196.9478 0.2624 -0.6365 1.2585 -0.7252 0.0185 0.0048 0.6882
1341835196.9579 0.2610 -0.6367 1.2590 -0.7255 0.0184 0.0039 0.6880
1341835196.9677 0.2593 -0.6372 1.2595 -0.7268 0.0181 0.0034 0.6866
1341835196.9777 0.2579 -0.6372 1.2603 -0.7277 0.0178 0.0039 0.6856
1341835196.9877 0.2561 -0.6377 1.2610 -0.7312 0.0182 0.0051 0.6819
1341835196.9977 0.2542 -0.6374 1.2621 -0.7319 0.0186 0.0075 0.6811
1341835197.0077 0.2522 -0.6379 1.2628 -0.7349 0.0195 0.0101 0.6778
1341835197.0180 0.2502 -0.6382 1.2638 -0.7379 0.0204 0.0126 0.6745
1341835197.0277 0.2489 -0.6379 1.2649 -0.7395 0.0209 0.0133 0.6727
1341835197.0377 0.2475 -0.6384 1.2658 -0.7423 0.0210 0.0138 0.6696
1341835197.0477 0.2457 -0.6383 1.2668 -0.7425 0.0208 0.0142 0.6694
1341835197.0577 0.2435 -0.6382 1.2681 -0.7427 0.0206 0.0152 0.6692
1341835197.0677 0.2415 -0.6379 1.2691 -0.7427 0.0205 0.0160 0.6691
1341835197.0777 0.2396 -0.6376 1.2702 -0.7426 0.0204 0.0165 0.6692
1341835197.0878 0.2375 -0.6373 1.2714 -0.7436 0.0204 0.0172 0.6680
1341835197.0977 0.2354 -0.6368 1.2726 -0.7455 0.0208 0.0173 0.6660
1341835197.1077 0.2331 -0.6363 1.2740 -0.7471 0.0224 0.0172 0.6642
1341835197.1179 0.2308 -0.6361 1.2753 -0.7503 0.0220 0.0170 0.6605
1341835197.1277 0.2285 -0.6359 1.2769 -0.7527 0.0235 0.0165 0.6577
1341835197.1377 0.2263 -0.6355 1.2785 -0.7540 0.0239 0.0155 0.6563
1341835197.1477 0.2241 -0.6353 1.2806 -0.7560 0.0237 0.0147 0.6540
1341835197.1577 0.2222 -0.6350 1.2825 -0.7570 0.0229 0.0136 0.6529
1341835197.1677 0.2202 -0.6347 1.2848 -0.7576 0.0227 0.0123 0.6522
1341835197.1777 0.2182 -0.6344 1.2867 -0.7578 0.0224 0.0122 0.6520
1341835197.1878 0.2165 -0.6340 1.2890 -0.7575 0.0226 0.0117 0.6523
1341835197.1978 0.2143 -0.6337 1.2915 -0.7568 0.0230 0.0100 0.6532
1341835197.2078 0.2124 -0.6335 1.2939 -0.7572 0.0232 0.0077 0.6527
1341835197.2178 0.2107 -0.6328 1.2966 -0.7564 0.0242 0.0054 0.6537
1341835197.2277 0.2087 -0.6323 1.2994 -0.7563 0.0249 0.0041 0.6538
1341835197.2377 0.2071 -0.6322 1.3024 -0.7577 0.0249 0.0027 0.6521
1341835197.2477 0.2050 -0.6317 1.3048 -0.7596 0.0264 0.0030 0.6499
1341835197.2577 0.2036 -0.6313 1.3077 -0.7610 0.0274 0.0033 0.6481
1341835197.2677 0.2020 -0.6308 1.3103 -0.7626 0.0287 0.0037 0.6462
1341835197.2777 0.2005 -0.6302 1.3131 -0.7631 0.0303 0.0047 0.6455
1341835197.2891 0.1993 -0.6301 1.3157 -0.7644 0.0320 0.0070 0.6439
1341835197.2977 0.1978 -0.6295 1.3185 -0.7636 0.0337 0.0079 0.6447
1341835197.3077 0.1960 -0.6291 1.3213 -0.7635 0.0355 0.0088 0.6448
1341835197.3178 0.1942 -0.6288 1.3239 -0.7635 0.0367 0.0096 0.6447
1341835197.3277 0.1928 -0.6289 1.3269 -0.7635 0.0365 0.0104 0.6447
1341835197.3378 0.1912 -0.6286 1.3296 -0.7636 0.0366 0.0110 0.6446
1341835197.3478 0.1896 -0.6286 1.3322 -0.7635 0.0358 0.0122 0.6447
1341835197.3577 0.1879 -0.6287 1.3347 -0.7641 0.0345 0.0133 0.6441
1341835197.3678 0.1864 -0.6290 1.3374 -0.7647 0.0327 0.0139 0.6434
1341835197.3777 0.1854 -0.6290 1.3398 -0.7644 0.0302 0.0146 0.6439
1341835197.3879 0.1837 -0.6296 1.3425 -0.7646 0.0270 0.0159 0.6437
1341835197.3978 0.1822 -0.6301 1.3451 -0.7647 0.0239 0.0169 0.6437
1341835197.4077 0.1807 -0.6304 1.3479 -0.7633 0.0228 0.0190 0.6453
1341835197.4178 0.1796 -0.6307 1.3507 -0.7634 0.0227 0.0188 0.6453
1341835197.4278 0.1787 -0.6306 1.3538 -0.7619 0.0251 0.0187 0.6470
1341835197.4377 0.1778 -0.6303 1.3569 -0.7610 0.0288 0.0183 0.6478
1341835197.4477 0.1774 -0.6299 1.3600 -0.7603 0.0329 0.0172 0.6485
1341835197.4577 0.1765 -0.6296 1.3628 -0.7610 0.0371 0.0168 0.6475
1341835197.4678 0.1757 -0.6294 1.3655 -0.7629 0.0407 0.0162 0.6450
1341835197.4778 0.1750 -0.6294 1.3683 -0.7659 0.0439 0.0167 0.6412
1341835197.4897 0.1742 -0.6292 1.3712 -0.7677 0.0463 0.0174 0.6389
1341835197.4978 0.1735 -0.6291 1.3742 -0.7697 0.0481 0.0194 0.6363
1341835197.5078 0.1726 -0.6291 1.3771 -0.7708 0.0501 0.0213 0.6348
1341835197.5191 0.1717 -0.6289 1.3802 -0.7704 0.0517 0.0248 0.6350
1341835197.5279 0.1711 -0.6288 1.3832 -0.7702 0.0532 0.0281 0.6350
1341835197.5377 0.1704 -0.6289 1.3865 -0.7704 0.0540 0.0323 0.6345
1341835197.5477 0.1698 -0.6292 1.3897 -0.7708 0.0541 0.0364 0.6337
1341835197.5590 0.1691 -0.6294 1.3931 -0.7710 0.0531 0.0415 0.6332
1341835197.5677 0.1683 -0.6298 1.3963 -0.7715 0.0515 0.0469 0.6324
1341835197.5777 0.1672 -0.6305 1.3991 -0.7720 0.0489 0.0517 0.6316
1341835197.5878 0.1661 -0.6315 1.4022 -0.7715 0.0451 0.0569 0.6321
1341835197.5977 0.1648 -0.6325 1.4050 -0.7705 0.0412 0.0619 0.6331
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