# ground truth trajectory
# file: 'rgbd_dataset_freiburg3_sitting_halfsphere.bag'
# timestamp tx ty tz qx qy qz qw
1341845948.9006 -0.2868 -2.7223 1.4429 -0.8027 0.0101 -0.0241 0.5958
1341845948.9106 -0.2867 -2.7210 1.4441 -0.8035 0.0103 -0.0244 0.5947
1341845948.9205 -0.2866 -2.7197 1.4452 -0.8045 0.0105 -0.0246 0.5934
1341845948.9305 -0.2866 -2.7183 1.4464 -0.8053 0.0108 -0.0244 0.5923
1341845948.9405 -0.2865 -2.7171 1.4477 -0.8067 0.0107 -0.0245 0.5904
1341845948.9505 -0.2866 -2.7157 1.4488 -0.8082 0.0108 -0.0241 0.5883
1341845948.9604 -0.2867 -2.7138 1.4500 -0.8084 0.0107 -0.0228 0.5881
1341845948.9706 -0.2865 -2.7127 1.4515 -0.8101 0.0113 -0.0246 0.5857
1341845948.9807 -0.2865 -2.7111 1.4527 -0.8110 0.0112 -0.0252 0.5844
1341845948.9904 -0.2865 -2.7097 1.4541 -0.8123 0.0114 -0.0263 0.5826
1341845949.0005 -0.2866 -2.7078 1.4552 -0.8127 0.0118 -0.0259 0.5820
1341845949.0105 -0.2865 -2.7060 1.4566 -0.8131 0.0123 -0.0270 0.5813
1341845949.0205 -0.2864 -2.7045 1.4581 -0.8142 0.0130 -0.0272 0.5798
1341845949.0305 -0.2861 -2.7031 1.4595 -0.8147 0.0133 -0.0271 0.5790
1341845949.0405 -0.2861 -2.7018 1.4613 -0.8157 0.0147 -0.0274 0.5776
1341845949.0505 -0.2864 -2.6995 1.4625 -0.8144 0.0156 -0.0247 0.5796
1341845949.0605 -0.2861 -2.6979 1.4641 -0.8148 0.0163 -0.0247 0.5790
1341845949.0705 -0.2861 -2.6963 1.4656 -0.8148 0.0175 -0.0241 0.5790
1341845949.0825 -0.2862 -2.6945 1.4670 -0.8147 0.0186 -0.0225 0.5791
1341845949.0905 -0.2860 -2.6929 1.4688 -0.8148 0.0197 -0.0226 0.5790
1341845949.1006 -0.2858 -2.6914 1.4705 -0.8155 0.0203 -0.0238 0.5779
1341845949.1104 -0.2858 -2.6897 1.4720 -0.8156 0.0217 -0.0238 0.5777
1341845949.1204 -0.2857 -2.6882 1.4736 -0.8160 0.0223 -0.0241 0.5771
1341845949.1305 -0.2853 -2.6866 1.4752 -0.8170 0.0227 -0.0250 0.5756
1341845949.1405 -0.2850 -2.6848 1.4770 -0.8165 0.0242 -0.0259 0.5762
1341845949.1504 -0.2848 -2.6832 1.4787 -0.8170 0.0252 -0.0263 0.5755
1341845949.1605 -0.2844 -2.6817 1.4804 -0.8177 0.0260 -0.0264 0.5745
1341845949.1704 -0.2842 -2.6801 1.4821 -0.8180 0.0271 -0.0263 0.5740
1341845949.1805 -0.2838 -2.6785 1.4837 -0.8185 0.0278 -0.0266 0.5733
1341845949.1904 -0.2836 -2.6770 1.4853 -0.8186 0.0291 -0.0267 0.5730
1341845949.2023 -0.2830 -2.6753 1.4872 -0.8186 0.0288 -0.0271 0.5729
1341845949.2104 -0.2824 -2.6739 1.4888 -0.8194 0.0297 -0.0283 0.5717
1341845949.2205 -0.2820 -2.6719 1.4904 -0.8195 0.0303 -0.0280 0.5715
1341845949.2304 -0.2817 -2.6705 1.4920 -0.8208 0.0322 -0.0288 0.5696
1341845949.2405 -0.2811 -2.6689 1.4937 -0.8213 0.0334 -0.0297 0.5687
1341845949.2504 -0.2806 -2.6671 1.4953 -0.8214 0.0341 -0.0307 0.5685
1341845949.2605 -0.2801 -2.6655 1.4968 -0.8228 0.0348 -0.0315 0.5664
1341845949.2704 -0.2794 -2.6639 1.4986 -0.8229 0.0354 -0.0328 0.5661
1341845949.2828 -0.2787 -2.6620 1.5003 -0.8232 0.0359 -0.0339 0.5657
1341845949.2904 -0.2780 -2.6604 1.5021 -0.8228 0.0367 -0.0353 0.5661
1341845949.3004 -0.2772 -2.6594 1.5037 -0.8245 0.0361 -0.0352 0.5636
1341845949.3106 -0.2768 -2.6569 1.5053 -0.8227 0.0381 -0.0369 0.5660
1341845949.3209 -0.2764 -2.6553 1.5069 -0.8227 0.0382 -0.0371 0.5660
1341845949.3304 -0.2759 -2.6536 1.5084 -0.8227 0.0387 -0.0379 0.5659
1341845949.3405 -0.2754 -2.6517 1.5101 -0.8219 0.0393 -0.0389 0.5670
1341845949.3513 -0.2747 -2.6501 1.5117 -0.8221 0.0394 -0.0402 0.5665
1341845949.3604 -0.2743 -2.6484 1.5131 -0.8226 0.0392 -0.0415 0.5658
1341845949.3705 -0.2739 -2.6467 1.5145 -0.8227 0.0394 -0.0427 0.5655
1341845949.3804 -0.2732 -2.6457 1.5159 -0.8241 0.0380 -0.0432 0.5636
1341845949.3905 -0.2731 -2.6431 1.5170 -0.8229 0.0389 -0.0445 0.5651
1341845949.4004 -0.2728 -2.6413 1.5181 -0.8233 0.0388 -0.0452 0.5645
1341845949.4104 -0.2724 -2.6395 1.5192 -0.8234 0.0390 -0.0454 0.5643
1341845949.4204 -0.2722 -2.6376 1.5201 -0.8237 0.0389 -0.0444 0.5640
1341845949.4304 -0.2718 -2.6359 1.5211 -0.8244 0.0388 -0.0450 0.5629
1341845949.4405 -0.2715 -2.6342 1.5220 -0.8250 0.0385 -0.0450 0.5620
1341845949.4504 -0.2714 -2.6324 1.5226 -0.8251 0.0387 -0.0448 0.5618
1341845949.4604 -0.2705 -2.6320 1.5237 -0.8280 0.0375 -0.0467 0.5575
1341845949.4704 -0.2707 -2.6295 1.5242 -0.8275 0.0365 -0.0455 0.5585
1341845949.4804 -0.2704 -2.6274 1.5248 -0.8277 0.0378 -0.0478 0.5578
1341845949.4904 -0.2705 -2.6256 1.5253 -0.8287 0.0381 -0.0477 0.5563
1341845949.5004 -0.2702 -2.6239 1.5259 -0.8299 0.0371 -0.0482 0.5546
1341845949.5105 -0.2704 -2.6224 1.5264 -0.8315 0.0357 -0.0474 0.5524
1341845949.5205 -0.2705 -2.6208 1.5265 -0.8339 0.0353 -0.0476 0.5488
1341845949.5306 -0.2703 -2.6187 1.5273 -0.8345 0.0335 -0.0477 0.5480
1341845949.5404 -0.2704 -2.6174 1.5280 -0.8351 0.0334 -0.0469 0.5471
1341845949.5505 -0.2706 -2.6155 1.5282 -0.8364 0.0327 -0.0468 0.5451
1341845949.5605 -0.2705 -2.6137 1.5287 -0.8370 0.0318 -0.0468 0.5443
1341845949.5704 -0.2705 -2.6121 1.5292 -0.8378 0.0319 -0.0466 0.5431
1341845949.5806 -0.2706 -2.6105 1.5297 -0.8386 0.0321 -0.0469 0.5419
1341845949.5905 -0.2708 -2.6093 1.5302 -0.8390 0.0317 -0.0469 0.5412
1341845949.6004 -0.2708 -2.6077 1.5305 -0.8408 0.0312 -0.0481 0.5384
1341845949.6104 -0.2708 -2.6058 1.5313 -0.8399 0.0301 -0.0483 0.5397
1341845949.6205 -0.2709 -2.6042 1.5318 -0.8406 0.0295 -0.0492 0.5387
1341845949.6320 -0.2709 -2.6031 1.5325 -0.8414 0.0265 -0.0482 0.5376
1341845949.6404 -0.2715 -2.6010 1.5329 -0.8404 0.0275 -0.0483 0.5390
1341845949.6505 -0.2717 -2.5996 1.5335 -0.8405 0.0267 -0.0471 0.5392
1341845949.6605 -0.2721 -2.5980 1.5341 -0.8407 0.0255 -0.0460 0.5390
1341845949.6704 -0.2724 -2.5967 1.5347 -0.8411 0.0255 -0.0453 0.5384
1341845949.6805 -0.2726 -2.5953 1.5353 -0.8416 0.0255 -0.0454 0.5376
1341845949.6946 -0.2726 -2.5935 1.5361 -0.8414 0.0249 -0.0457 0.5379
1341845949.7005 -0.2729 -2.5923 1.5367 -0.8428 0.0249 -0.0465 0.5356
1341845949.7104 -0.2729 -2.5915 1.5372 -0.8449 0.0250 -0.0480 0.5322
1341845949.7204 -0.2733 -2.5898 1.5376 -0.8456 0.0246 -0.0483 0.5311
1341845949.7305 -0.2736 -2.5886 1.5382 -0.8468 0.0247 -0.0492 0.5291
1341845949.7404 -0.2739 -2.5871 1.5387 -0.8477 0.0243 -0.0493 0.5276
1341845949.7506 -0.2743 -2.5858 1.5392 -0.8488 0.0245 -0.0489 0.5259
1341845949.7604 -0.2747 -2.5846 1.5398 -0.8495 0.0245 -0.0480 0.5248
1341845949.7704 -0.2751 -2.5832 1.5404 -0.8503 0.0240 -0.0466 0.5238
1341845949.7804 -0.2754 -2.5817 1.5410 -0.8510 0.0243 -0.0455 0.5227
1341845949.7905 -0.2758 -2.5805 1.5416 -0.8522 0.0240 -0.0442 0.5207
1341845949.8005 -0.2762 -2.5792 1.5422 -0.8534 0.0239 -0.0435 0.5190
1341845949.8106 -0.2765 -2.5777 1.5428 -0.8546 0.0240 -0.0430 0.5169
1341845949.8204 -0.2766 -2.5771 1.5436 -0.8578 0.0223 -0.0424 0.5118
1341845949.8305 -0.2770 -2.5751 1.5441 -0.8586 0.0234 -0.0437 0.5102
1341845949.8405 -0.2774 -2.5736 1.5447 -0.8602 0.0229 -0.0445 0.5075
1341845949.8506 -0.2777 -2.5721 1.5454 -0.8619 0.0226 -0.0450 0.5045
1341845949.8604 -0.2781 -2.5705 1.5461 -0.8632 0.0219 -0.0452 0.5023
1341845949.8704 -0.2786 -2.5688 1.5467 0.8646 -0.0215 0.0450 -0.5000
1341845949.8804 -0.2791 -2.5673 1.5476 0.8657 -0.0204 0.0440 -0.4982
1341845949.8905 -0.2796 -2.5658 1.5484 0.8666 -0.0197 0.0428 -0.4968
1341845949.9004 -0.2799 -2.5650 1.5494 0.8684 -0.0173 0.0408 -0.4939
1341845949.9144 -0.2805 -2.5627 1.5501 0.8679 -0.0184 0.0409 -0.4947
1341845949.9205 -0.2810 -2.5612 1.5510 0.8685 -0.0180 0.0401 -0.4938
1341845949.9305 -0.2812 -2.5598 1.5522 0.8692 -0.0173 0.0406 -0.4924
1341845949.9426 -0.2820 -2.5584 1.5530 0.8699 -0.0181 0.0401 -0.4913
1341845949.9504 -0.2821 -2.5570 1.5544 0.8706 -0.0168 0.0411 -0.4899
1341845949.9627 -0.2827 -2.5555 1.5554 0.8713 -0.0164 0.0414 -0.4886
1341845949.9705 -0.2831 -2.5541 1.5566 0.8721 -0.0160 0.0422 -0.4872
1341845949.9805 -0.2839 -2.5527 1.5575 0.8726 -0.0159 0.0414 -0.4863
1341845949.9905 -0.2843 -2.5513 1.5586 0.8732 -0.0151 0.0412 -0.4854
1341845950.0005 -0.2849 -2.5498 1.5597 0.8736 -0.0139 0.0406 -0.4847
1341845950.0104 -0.2853 -2.5491 1.5611 0.8750 -0.0121 0.0397 -0.4823
1341845950.0205 -0.2861 -2.5468 1.5620 0.8742 -0.0129 0.0399 -0.4838
1341845950.0304 -0.2865 -2.5453 1.5631 0.8745 -0.0123 0.0398 -0.4833
1341845950.0407 -0.2869 -2.5440 1.5641 0.8751 -0.0115 0.0396 -0.4821
1341845950.0505 -0.2874 -2.5425 1.5652 0.8755 -0.0113 0.0397 -0.4815
1341845950.0606 -0.2876 -2.5410 1.5662 0.8760 -0.0111 0.0403 -0.4804
1341845950.0704 -0.2880 -2.5396 1.5672 0.8770 -0.0113 0.0411 -0.4785
1341845950.0805 -0.2883 -2.5382 1.5681 0.8779 -0.0109 0.0417 -0.4769
1341845950.0907 -0.2884 -2.5370 1.5693 0.8793 -0.0095 0.0430 -0.4742
1341845950.1005 -0.2887 -2.5355 1.5702 0.8798 -0.0090 0.0432 -0.4733
1341845950.1105 -0.2892 -2.5341 1.5710 0.8801 -0.0097 0.0426 -0.4728
1341845950.1216 -0.2896 -2.5326 1.5718 0.8803 -0.0092 0.0429 -0.4723
1341845950.1305 -0.2900 -2.5312 1.5729 0.8808 -0.0090 0.0428 -0.4715
1341845950.1405 -0.2900 -2.5296 1.5741 0.8812 -0.0078 0.0432 -0.4707
1341845950.1505 -0.2905 -2.5282 1.5749 0.8816 -0.0086 0.0427 -0.4700
1341845950.1655 -0.2907 -2.5266 1.5759 0.8819 -0.0086 0.0434 -0.4693
1341845950.1705 -0.2909 -2.5251 1.5768 0.8823 -0.0088 0.0443 -0.4686
1341845950.1807 -0.2906 -2.5241 1.5783 0.8841 -0.0082 0.0482 -0.4647
1341845950.1945 -0.2908 -2.5227 1.5793 0.8851 -0.0079 0.0497 -0.4627
1341845950.2005 -0.2910 -2.5212 1.5802 0.8856 -0.0075 0.0512 -0.4615
1341845950.2106 -0.2912 -2.5196 1.5811 0.8864 -0.0071 0.0517 -0.4599
1341845950.2217 -0.2915 -2.5178 1.5820 0.8869 -0.0066 0.0521 -0.4590
1341845950.2305 -0.2918 -2.5163 1.5829 0.8873 -0.0059 0.0519 -0.4582
1341845950.2404 -0.2920 -2.5147 1.5838 0.8877 -0.0056 0.0516 -0.4576
1341845950.2505 -0.2923 -2.5132 1.5847 0.8877 -0.0056 0.0512 -0.4574
1341845950.2624 -0.2924 -2.5115 1.5856 0.8879 -0.0058 0.0515 -0.4572
1341845950.2704 -0.2926 -2.5100 1.5865 0.8879 -0.0061 0.0516 -0.4570
1341845950.2804 -0.2925 -2.5092 1.5875 0.8896 -0.0052 0.0517 -0.4537
1341845950.2905 -0.2928 -2.5070 1.5880 0.8892 -0.0063 0.0528 -0.4545
1341845950.3004 -0.2929 -2.5056 1.5887 0.8906 -0.0065 0.0539 -0.4515
1341845950.3107 -0.2930 -2.5041 1.5893 0.8923 -0.0063 0.0550 -0.4481
1341845950.3262 -0.2932 -2.5027 1.5898 0.8940 -0.0057 0.0560 -0.4445
1341845950.3305 -0.2934 -2.5013 1.5904 0.8957 -0.0051 0.0566 -0.4411
1341845950.3404 -0.2938 -2.5000 1.5910 0.8974 -0.0048 0.0566 -0.4375
1341845950.3506 -0.2941 -2.4986 1.5917 0.8989 -0.0037 0.0568 -0.4344
1341845950.3615 -0.2943 -2.4972 1.5925 0.9000 -0.0028 0.0568 -0.4321
1341845950.3704 -0.2945 -2.4959 1.5934 0.9008 -0.0022 0.0569 -0.4305
1341845950.3804 -0.2948 -2.4943 1.5945 0.9009 -0.0020 0.0562 -0.4304
1341845950.3905 -0.2950 -2.4928 1.5957 0.9008 -0.0019 0.0564 -0.4305
1341845950.4004 -0.2952 -2.4913 1.5970 0.9006 -0.0022 0.0568 -0.4309
1341845950.4105 -0.2952 -2.4900 1.5985 0.9008 -0.0017 0.0581 -0.4303
1341845950.4205 -0.2954 -2.4887 1.6000 0.9006 -0.0013 0.0589 -0.4307
1341845950.4304 -0.2955 -2.4873 1.6015 0.9002 -0.0009 0.0597 -0.4314
1341845950.4404 -0.2957 -2.4859 1.6031 0.8999 -0.0000 0.0603 -0.4318
1341845950.4505 -0.2959 -2.4844 1.6046 0.8992 0.0002 0.0608 -0.4332
1341845950.4605 -0.2961 -2.4832 1.6064 0.8996 0.0011 0.0612 -0.4323
1341845950.4705 -0.2962 -2.4820 1.6082 0.8997 0.0020 0.0610 -0.4322
1341845950.4804 -0.2961 -2.4815 1.6102 0.9009 0.0030 0.0602 -0.4299
1341845950.4905 -0.2966 -2.4793 1.6118 0.8998 0.0027 0.0600 -0.4322
1341845950.5006 -0.2968 -2.4780 1.6134 0.9002 0.0026 0.0601 -0.4313
1341845950.5105 -0.2969 -2.4767 1.6151 0.9006 0.0027 0.0605 -0.4303
1341845950.5205 -0.2971 -2.4754 1.6168 0.9014 0.0022 0.0612 -0.4285
1341845950.5304 -0.2973 -2.4743 1.6186 0.9030 0.0025 0.0623 -0.4251
1341845950.5405 -0.2973 -2.4733 1.6203 0.9047 0.0029 0.0632 -0.4213
1341845950.5505 -0.2974 -2.4722 1.6219 0.9065 0.0034 0.0642 -0.4172
1341845950.5604 -0.2978 -2.4709 1.6235 0.9081 0.0035 0.0639 -0.4139
1341845950.5705 -0.2981 -2.4697 1.6250 0.9098 0.0032 0.0634 -0.4102
1341845950.5804 -0.2984 -2.4687 1.6269 0.9112 0.0036 0.0628 -0.4071
1341845950.5905 -0.2985 -2.4677 1.6287 0.9128 0.0034 0.0625 -0.4036
1341845950.6005 -0.2988 -2.4665 1.6308 0.9141 0.0031 0.0627 -0.4007
1341845950.6104 -0.2990 -2.4654 1.6328 0.9153 0.0031 0.0628 -0.3979
1341845950.6207 -0.2992 -2.4643 1.6346 0.9163 0.0035 0.0626 -0.3956
1341845950.6321 -0.2996 -2.4630 1.6360 0.9171 0.0046 0.0625 -0.3936
1341845950.6404 -0.2998 -2.4623 1.6387 0.9192 0.0058 0.0619 -0.3888
1341845950.6504 -0.3005 -2.4605 1.6404 0.9194 0.0050 0.0622 -0.3884
1341845950.6605 -0.3006 -2.4594 1.6424 0.9202 0.0057 0.0621 -0.3866
1341845950.6705 -0.3010 -2.4577 1.6446 0.9202 0.0056 0.0620 -0.3865
1341845950.6805 -0.3014 -2.4564 1.6463 0.9205 0.0050 0.0608 -0.3860
1341845950.6906 -0.3015 -2.4553 1.6486 0.9212 0.0051 0.0608 -0.3843
1341845950.7005 -0.3020 -2.4538 1.6506 0.9214 0.0036 0.0600 -0.3839
1341845950.7105 -0.3021 -2.4525 1.6530 0.9218 0.0034 0.0605 -0.3828
1341845950.7204 -0.3022 -2.4510 1.6550 0.9220 0.0029 0.0604 -0.3825
1341845950.7305 -0.3026 -2.4493 1.6570 0.9218 0.0019 0.0603 -0.3829
1341845950.7404 -0.3028 -2.4478 1.6591 0.9219 0.0017 0.0610 -0.3825
1341845950.7505 -0.3027 -2.4464 1.6614 0.9225 0.0019 0.0630 -0.3808
1341845950.7604 -0.3030 -2.4449 1.6635 0.9230 0.0015 0.0632 -0.3795
1341845950.7705 -0.3032 -2.4432 1.6654 0.9233 0.0018 0.0635 -0.3787
1341845950.7805 -0.3033 -2.4414 1.6673 0.9235 0.0020 0.0628 -0.3785
1341845950.7910 -0.3035 -2.4396 1.6694 0.9235 0.0012 0.0628 -0.3784
1341845950.8005 -0.3034 -2.4381 1.6716 0.9239 0.0010 0.0631 -0.3774
1341845950.8105 -0.3034 -2.4362 1.6737 0.9240 0.0002 0.0627 -0.3772
1341845950.8205 -0.3034 -2.4344 1.6758 0.9244 -0.0000 0.0626 -0.3762
1341845950.8305 -0.3034 -2.4323 1.6777 0.9244 -0.0001 0.0624 -0.3762
1341845950.8405 -0.3034 -2.4304 1.6796 0.9246 0.0003 0.0633 -0.3756
1341845950.8510 -0.3032 -2.4284 1.6816 0.9249 0.0009 0.0644 -0.3746
1341845950.8605 -0.3032 -2.4262 1.6836 0.9247 0.0010 0.0652 -0.3751
1341845950.8704 -0.3029 -2.4248 1.6860 0.9257 0.0005 0.0684 -0.3720
1341845950.8806 -0.3028 -2.4229 1.6881 0.9261 0.0003 0.0686 -0.3710
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