rgbd_dataset_freiburg1_desk/groundtruth.txt

# ground truth trajectory
# file: 'rgbd_dataset_freiburg1_desk.bag'
# timestamp tx ty tz qx qy qz qw
1305031449.7996 1.2334 -0.0113 1.6941 0.7907 0.4393 -0.1770 -0.3879
1305031449.8096 1.2334 -0.0111 1.6939 0.7911 0.4393 -0.1768 -0.3872
1305031449.8196 1.2330 -0.0111 1.6937 0.7913 0.4387 -0.1769 -0.3873
1305031449.8295 1.2328 -0.0110 1.6936 0.7916 0.4384 -0.1768 -0.3872
1305031449.8396 1.2325 -0.0110 1.6934 0.7919 0.4380 -0.1768 -0.3871
1305031449.8495 1.2323 -0.0110 1.6934 0.7923 0.4379 -0.1760 -0.3866
1305031449.8595 1.2321 -0.0109 1.6932 0.7925 0.4374 -0.1758 -0.3868
1305031449.8696 1.2316 -0.0108 1.6929 0.7926 0.4370 -0.1758 -0.3871
1305031449.8795 1.2312 -0.0108 1.6927 0.7929 0.4368 -0.1755 -0.3869
1305031449.8896 1.2307 -0.0106 1.6924 0.7932 0.4368 -0.1750 -0.3865
1305031449.8994 1.2302 -0.0105 1.6922 0.7935 0.4366 -0.1745 -0.3863
1305031449.9095 1.2298 -0.0105 1.6920 0.7936 0.4368 -0.1739 -0.3861
1305031449.9195 1.2292 -0.0104 1.6917 0.7935 0.4368 -0.1735 -0.3865
1305031449.9295 1.2286 -0.0103 1.6915 0.7934 0.4369 -0.1732 -0.3869
1305031449.9395 1.2279 -0.0102 1.6914 0.7929 0.4370 -0.1733 -0.3876
1305031449.9496 1.2273 -0.0101 1.6913 0.7925 0.4372 -0.1733 -0.3883
1305031449.9595 1.2268 -0.0099 1.6912 0.7921 0.4374 -0.1735 -0.3886
1305031449.9696 1.2262 -0.0097 1.6911 0.7916 0.4375 -0.1741 -0.3895
1305031449.9795 1.2254 -0.0094 1.6910 0.7910 0.4379 -0.1744 -0.3901
1305031449.9895 1.2245 -0.0090 1.6908 0.7901 0.4384 -0.1752 -0.3909
1305031449.9994 1.2237 -0.0086 1.6905 0.7895 0.4389 -0.1756 -0.3915
1305031450.0097 1.2229 -0.0081 1.6902 0.7888 0.4398 -0.1758 -0.3918
1305031450.0195 1.2219 -0.0076 1.6899 0.7881 0.4409 -0.1763 -0.3917
1305031450.0296 1.2211 -0.0072 1.6896 0.7878 0.4423 -0.1762 -0.3908
1305031450.0395 1.2203 -0.0066 1.6892 0.7871 0.4441 -0.1764 -0.3901
1305031450.0495 1.2194 -0.0060 1.6887 0.7863 0.4452 -0.1766 -0.3904
1305031450.0595 1.2185 -0.0054 1.6881 0.7857 0.4467 -0.1767 -0.3898
1305031450.0696 1.2177 -0.0048 1.6876 0.7854 0.4484 -0.1771 -0.3881
1305031450.0795 1.2169 -0.0040 1.6871 0.7851 0.4500 -0.1776 -0.3867
1305031450.0896 1.2162 -0.0033 1.6865 0.7847 0.4513 -0.1782 -0.3857
1305031450.0995 1.2154 -0.0023 1.6860 0.7841 0.4529 -0.1791 -0.3847
1305031450.1096 1.2145 -0.0015 1.6854 0.7834 0.4549 -0.1801 -0.3834
1305031450.1195 1.2139 -0.0006 1.6848 0.7825 0.4570 -0.1811 -0.3821
1305031450.1295 1.2132 0.0003 1.6841 0.7814 0.4592 -0.1825 -0.3811
1305031450.1395 1.2125 0.0013 1.6835 0.7804 0.4611 -0.1842 -0.3800
1305031450.1496 1.2119 0.0024 1.6828 0.7795 0.4637 -0.1856 -0.3781
1305031450.1595 1.2112 0.0035 1.6822 0.7781 0.4660 -0.1876 -0.3771
1305031450.1696 1.2106 0.0046 1.6815 0.7770 0.4681 -0.1897 -0.3757
1305031450.1796 1.2102 0.0058 1.6808 0.7760 0.4706 -0.1916 -0.3736
1305031450.1895 1.2096 0.0071 1.6800 0.7749 0.4725 -0.1944 -0.3722
1305031450.1996 1.2092 0.0086 1.6793 0.7735 0.4745 -0.1971 -0.3710
1305031450.2096 1.2090 0.0099 1.6786 0.7728 0.4765 -0.1996 -0.3686
1305031450.2196 1.2086 0.0114 1.6779 0.7714 0.4786 -0.2027 -0.3671
1305031450.2295 1.2082 0.0130 1.6770 0.7698 0.4807 -0.2059 -0.3660
1305031450.2395 1.2079 0.0145 1.6762 0.7683 0.4834 -0.2084 -0.3641
1305031450.2495 1.2076 0.0163 1.6755 0.7659 0.4861 -0.2115 -0.3638
1305031450.2595 1.2074 0.0180 1.6746 0.7636 0.4894 -0.2143 -0.3626
1305031450.2695 1.2072 0.0198 1.6738 0.7612 0.4931 -0.2169 -0.3611
1305031450.2795 1.2069 0.0218 1.6728 0.7583 0.4970 -0.2200 -0.3599
1305031450.2896 1.2069 0.0234 1.6718 0.7548 0.5003 -0.2236 -0.3605
1305031450.2995 1.2068 0.0253 1.6708 0.7522 0.5043 -0.2269 -0.3585
1305031450.3095 1.2070 0.0273 1.6700 0.7499 0.5080 -0.2292 -0.3564
1305031450.3195 1.2067 0.0295 1.6687 0.7469 0.5116 -0.2333 -0.3548
1305031450.3295 1.2069 0.0317 1.6677 0.7445 0.5157 -0.2362 -0.3521
1305031450.3395 1.2070 0.0341 1.6665 0.7423 0.5187 -0.2395 -0.3501
1305031450.3496 1.2071 0.0365 1.6650 0.7403 0.5220 -0.2429 -0.3471
1305031450.3595 1.2074 0.0393 1.6636 0.7390 0.5250 -0.2447 -0.3442
1305031450.3695 1.2080 0.0421 1.6620 0.7380 0.5279 -0.2465 -0.3404
1305031450.3795 1.2082 0.0449 1.6601 0.7366 0.5303 -0.2491 -0.3379
1305031450.3895 1.2085 0.0478 1.6586 0.7353 0.5339 -0.2497 -0.3346
1305031450.3995 1.2087 0.0509 1.6568 0.7332 0.5362 -0.2523 -0.3337
1305031450.4095 1.2093 0.0540 1.6553 0.7317 0.5396 -0.2526 -0.3311
1305031450.4195 1.2096 0.0570 1.6535 0.7298 0.5423 -0.2542 -0.3297
1305031450.4295 1.2101 0.0604 1.6518 0.7276 0.5449 -0.2557 -0.3292
1305031450.4395 1.2108 0.0635 1.6501 0.7261 0.5473 -0.2568 -0.3275
1305031450.4495 1.2111 0.0669 1.6484 0.7243 0.5493 -0.2584 -0.3270
1305031450.4595 1.2119 0.0705 1.6467 0.7230 0.5514 -0.2590 -0.3258
1305031450.4695 1.2126 0.0740 1.6448 0.7219 0.5522 -0.2603 -0.3258
1305031450.4796 1.2134 0.0778 1.6431 0.7212 0.5538 -0.2604 -0.3246
1305031450.4896 1.2141 0.0817 1.6410 0.7205 0.5550 -0.2606 -0.3241
1305031450.4995 1.2151 0.0856 1.6391 0.7200 0.5559 -0.2603 -0.3238
1305031450.5094 1.2159 0.0895 1.6370 0.7193 0.5570 -0.2598 -0.3238
1305031450.5195 1.2167 0.0933 1.6349 0.7182 0.5578 -0.2598 -0.3247
1305031450.5295 1.2177 0.0976 1.6328 0.7169 0.5585 -0.2601 -0.3263
1305031450.5395 1.2187 0.1016 1.6310 0.7160 0.5593 -0.2592 -0.3276
1305031450.5495 1.2195 0.1055 1.6289 0.7141 0.5604 -0.2600 -0.3292
1305031450.5595 1.2206 0.1094 1.6267 0.7125 0.5611 -0.2603 -0.3313
1305031450.5695 1.2216 0.1133 1.6244 0.7110 0.5622 -0.2608 -0.3321
1305031450.5796 1.2228 0.1174 1.6221 0.7102 0.5631 -0.2606 -0.3326
1305031450.5895 1.2239 0.1215 1.6195 0.7093 0.5633 -0.2613 -0.3337
1305031450.5995 1.2251 0.1255 1.6170 0.7086 0.5642 -0.2611 -0.3337
1305031450.6094 1.2261 0.1297 1.6143 0.7083 0.5641 -0.2617 -0.3341
1305031450.6195 1.2274 0.1339 1.6116 0.7081 0.5641 -0.2618 -0.3343
1305031450.6295 1.2286 0.1379 1.6088 0.7080 0.5641 -0.2625 -0.3342
1305031450.6395 1.2298 0.1422 1.6060 0.7079 0.5640 -0.2635 -0.3337
1305031450.6495 1.2309 0.1462 1.6030 0.7075 0.5642 -0.2647 -0.3333
1305031450.6595 1.2319 0.1503 1.6000 0.7072 0.5643 -0.2660 -0.3327
1305031450.6695 1.2330 0.1543 1.5969 0.7072 0.5645 -0.2667 -0.3317
1305031450.6796 1.2342 0.1585 1.5937 0.7077 0.5647 -0.2671 -0.3301
1305031450.6895 1.2352 0.1624 1.5904 0.7077 0.5654 -0.2680 -0.3282
1305031450.6995 1.2363 0.1664 1.5872 0.7082 0.5659 -0.2676 -0.3265
1305031450.7095 1.2373 0.1706 1.5838 0.7085 0.5663 -0.2682 -0.3247
1305031450.7195 1.2383 0.1745 1.5804 0.7091 0.5666 -0.2681 -0.3228
1305031450.7296 1.2392 0.1786 1.5770 0.7098 0.5664 -0.2680 -0.3218
1305031450.7396 1.2405 0.1827 1.5737 0.7108 0.5660 -0.2677 -0.3203
1305031450.7495 1.2414 0.1869 1.5705 0.7110 0.5656 -0.2684 -0.3203
1305031450.7596 1.2422 0.1910 1.5672 0.7110 0.5648 -0.2691 -0.3208
1305031450.7696 1.2431 0.1950 1.5639 0.7114 0.5644 -0.2689 -0.3210
1305031450.7795 1.2441 0.1991 1.5608 0.7118 0.5642 -0.2681 -0.3212
1305031450.7895 1.2450 0.2032 1.5575 0.7122 0.5640 -0.2671 -0.3215
1305031450.7996 1.2458 0.2072 1.5541 0.7123 0.5638 -0.2664 -0.3220
1305031450.8094 1.2470 0.2111 1.5510 0.7134 0.5639 -0.2641 -0.3213
1305031450.8195 1.2479 0.2151 1.5478 0.7143 0.5635 -0.2627 -0.3213
1305031450.8295 1.2488 0.2191 1.5446 0.7150 0.5627 -0.2615 -0.3222
1305031450.8396 1.2491 0.2230 1.5413 0.7150 0.5619 -0.2619 -0.3234
1305031450.8495 1.2502 0.2269 1.5383 0.7161 0.5614 -0.2597 -0.3234
1305031450.8595 1.2510 0.2307 1.5353 0.7171 0.5613 -0.2578 -0.3230
1305031450.8695 1.2515 0.2347 1.5322 0.7169 0.5614 -0.2570 -0.3239
1305031450.8795 1.2528 0.2385 1.5294 0.7185 0.5614 -0.2535 -0.3230
1305031450.8895 1.2530 0.2425 1.5264 0.7178 0.5619 -0.2535 -0.3238
1305031450.8996 1.2540 0.2463 1.5237 0.7184 0.5621 -0.2517 -0.3235
1305031450.9095 1.2545 0.2503 1.5210 0.7177 0.5615 -0.2524 -0.3255
1305031450.9194 1.2551 0.2543 1.5183 0.7176 0.5606 -0.2533 -0.3266
1305031450.9295 1.2559 0.2582 1.5159 0.7177 0.5591 -0.2541 -0.3283
1305031450.9395 1.2563 0.2622 1.5130 0.7173 0.5573 -0.2563 -0.3305
1305031450.9495 1.2566 0.2662 1.5103 0.7173 0.5560 -0.2577 -0.3315
1305031450.9595 1.2573 0.2700 1.5075 0.7178 0.5553 -0.2581 -0.3313
1305031450.9696 1.2575 0.2739 1.5046 0.7179 0.5544 -0.2593 -0.3317
1305031450.9796 1.2578 0.2777 1.5016 0.7180 0.5541 -0.2600 -0.3315
1305031450.9895 1.2580 0.2815 1.4985 0.7181 0.5533 -0.2614 -0.3314
1305031450.9996 1.2581 0.2852 1.4956 0.7182 0.5522 -0.2634 -0.3315
1305031451.0095 1.2587 0.2887 1.4927 0.7199 0.5512 -0.2627 -0.3300
1305031451.0195 1.2581 0.2923 1.4895 0.7186 0.5492 -0.2679 -0.3320
1305031451.0295 1.2579 0.2961 1.4861 0.7184 0.5465 -0.2714 -0.3340
1305031451.0396 1.2580 0.2994 1.4830 0.7197 0.5453 -0.2722 -0.3325
1305031451.0495 1.2575 0.3031 1.4794 0.7198 0.5430 -0.2752 -0.3336
1305031451.0596 1.2572 0.3063 1.4760 0.7211 0.5421 -0.2758 -0.3317
1305031451.0695 1.2566 0.3095 1.4722 0.7218 0.5406 -0.2780 -0.3309
1305031451.0795 1.2558 0.3128 1.4684 0.7225 0.5391 -0.2805 -0.3297
1305031451.0895 1.2550 0.3161 1.4645 0.7233 0.5372 -0.2831 -0.3287
1305031451.0995 1.2544 0.3193 1.4606 0.7249 0.5355 -0.2847 -0.3268
1305031451.1096 1.2533 0.3225 1.4565 0.7261 0.5328 -0.2874 -0.3260
1305031451.1195 1.2524 0.3255 1.4524 0.7281 0.5310 -0.2889 -0.3233
1305031451.1295 1.2516 0.3285 1.4484 0.7299 0.5292 -0.2900 -0.3212
1305031451.1396 1.2504 0.3313 1.4442 0.7311 0.5276 -0.2920 -0.3193
1305031451.1495 1.2493 0.3340 1.4402 0.7322 0.5267 -0.2937 -0.3167
1305031451.1595 1.2481 0.3365 1.4362 0.7327 0.5261 -0.2960 -0.3144
1305031451.1696 1.2468 0.3389 1.4322 0.7327 0.5253 -0.2992 -0.3127
1305031451.1796 1.2453 0.3414 1.4282 0.7327 0.5249 -0.3024 -0.3103
1305031451.1895 1.2441 0.3438 1.4242 0.7326 0.5256 -0.3043 -0.3072
1305031451.1995 1.2426 0.3461 1.4199 0.7333 0.5259 -0.3057 -0.3037
1305031451.2095 1.2413 0.3482 1.4158 0.7345 0.5269 -0.3059 -0.2989
1305031451.2195 1.2399 0.3505 1.4117 0.7356 0.5274 -0.3061 -0.2950
1305031451.2295 1.2384 0.3527 1.4075 0.7367 0.5284 -0.3057 -0.2909
1305031451.2395 1.2372 0.3549 1.4038 0.7374 0.5290 -0.3057 -0.2879
1305031451.2496 1.2361 0.3571 1.4002 0.7381 0.5298 -0.3050 -0.2855
1305031451.2596 1.2349 0.3593 1.3967 0.7378 0.5302 -0.3063 -0.2843
1305031451.2695 1.2335 0.3613 1.3934 0.7374 0.5304 -0.3073 -0.2837
1305031451.2795 1.2321 0.3635 1.3901 0.7367 0.5315 -0.3080 -0.2828
1305031451.2895 1.2310 0.3655 1.3870 0.7357 0.5333 -0.3083 -0.2816
1305031451.2995 1.2296 0.3676 1.3838 0.7339 0.5351 -0.3093 -0.2816
1305031451.3095 1.2283 0.3697 1.3809 0.7324 0.5378 -0.3097 -0.2800
1305031451.3195 1.2271 0.3717 1.3778 0.7309 0.5411 -0.3095 -0.2779
1305031451.3296 1.2257 0.3738 1.3749 0.7296 0.5441 -0.3091 -0.2758
1305031451.3395 1.2247 0.3761 1.3721 0.7282 0.5472 -0.3094 -0.2730
1305031451.3495 1.2235 0.3783 1.3694 0.7272 0.5498 -0.3095 -0.2705
1305031451.3595 1.2222 0.3807 1.3668 0.7253 0.5521 -0.3107 -0.2695
1305031451.3695 1.2213 0.3830 1.3644 0.7238 0.5549 -0.3114 -0.2669
1305031451.3796 1.2201 0.3856 1.3622 0.7215 0.5575 -0.3122 -0.2667
1305031451.3895 1.2191 0.3880 1.3602 0.7193 0.5602 -0.3126 -0.2666
1305031451.3995 1.2182 0.3907 1.3583 0.7163 0.5641 -0.3125 -0.2664
1305031451.4096 1.2173 0.3932 1.3567 0.7132 0.5687 -0.3122 -0.2655
1305031451.4195 1.2162 0.3959 1.3550 0.7092 0.5735 -0.3120 -0.2662
1305031451.4295 1.2154 0.3987 1.3537 0.7050 0.5786 -0.3113 -0.2669
1305031451.4395 1.2146 0.4015 1.3524 0.7010 0.5840 -0.3107 -0.2666
1305031451.4495 1.2137 0.4046 1.3513 0.6967 0.5889 -0.3109 -0.2668
1305031451.4595 1.2128 0.4077 1.3503 0.6924 0.5934 -0.3115 -0.2673
1305031451.4695 1.2119 0.4111 1.3494 0.6890 0.5975 -0.3117 -0.2667
1305031451.4795 1.2113 0.4145 1.3486 0.6865 0.6014 -0.3112 -0.2649
1305031451.4895 1.2106 0.4182 1.3480 0.6838 0.6047 -0.3118 -0.2636
1305031451.4996 1.2098 0.4219 1.3477 0.6808 0.6073 -0.3137 -0.2632
1305031451.5096 1.2090 0.4255 1.3476 0.6770 0.6101 -0.3164 -0.2634
1305031451.5196 1.2078 0.4292 1.3475 0.6722 0.6132 -0.3206 -0.2634
1305031451.5295 1.2073 0.4329 1.3478 0.6682 0.6180 -0.3216 -0.2610
1305031451.5395 1.2066 0.4368 1.3482 0.6637 0.6228 -0.3238 -0.2584
1305031451.5495 1.2060 0.4407 1.3486 0.6596 0.6268 -0.3261 -0.2563
1305031451.5595 1.2055 0.4447 1.3492 0.6557 0.6302 -0.3288 -0.2545
1305031451.5695 1.2049 0.4491 1.3500 0.6521 0.6325 -0.3324 -0.2534
1305031451.5795 1.2042 0.4536 1.3508 0.6500 0.6343 -0.3342 -0.2518
1305031451.5895 1.2035 0.4584 1.3516 0.6479 0.6362 -0.3360 -0.2500
1305031451.5995 1.2030 0.4633 1.3527 0.6472 0.6378 -0.3364 -0.2473
1305031451.6095 1.2023 0.4683 1.3537 0.6476 0.6392 -0.3357 -0.2436
1305031451.6195 1.2013 0.4733 1.3547 0.6476 0.6394 -0.3367 -0.2419
1305031451.6296 1.2005 0.4784 1.3560 0.6477 0.6397 -0.3373 -0.2399
1305031451.6395 1.1998 0.4836 1.3574 0.6482 0.6397 -0.3375 -0.2382
1305031451.6496 1.1990 0.4888 1.3589 0.6484 0.6396 -0.3382 -0.2372
1305031451.6595 1.1983 0.4940 1.3605 0.6477 0.6397 -0.3393 -0.2368
1305031451.6695 1.1976 0.4992 1.3624 0.6468 0.6397 -0.3407 -0.2372
1305031451.6796 1.1970 0.5045 1.3644 0.6458 0.6400 -0.3416 -0.2380
1305031451.6895 1.1960 0.5095 1.3662 0.6436 0.6385 -0.3464 -0.2409
1305031451.6995 1.1957 0.5147 1.3684 0.6433 0.6393 -0.3458 -0.2405
1305031451.7095 1.1951 0.5199 1.3706 0.6428 0.6382 -0.3479 -0.2419
1305031451.7195 1.1946 0.5251 1.3725 0.6433 0.6375 -0.3483 -0.2416
1305031451.7296 1.1943 0.5301 1.3748 0.6437 0.6368 -0.3488 -0.2418
1305031451.7395 1.1937 0.5353 1.3771 0.6446 0.6355 -0.3489 -0.2427
1305031451.7496 1.1926 0.5404 1.3794 0.6448 0.6335 -0.3510 -0.2443
1305031451.7596 1.1922 0.5453 1.3818 0.6462 0.6318 -0.3513 -0.2446
1305031451.7695 1.1918 0.5502 1.3843 0.6475 0.6303 -0.3514 -0.2449
1305031451.7795 1.1913 0.5550 1.3868 0.6485 0.6284 -0.3522 -0.2460
1305031451.7895 1.1910 0.5598 1.3894 0.6502 0.6270 -0.3519 -0.2456
1305031451.7995 1.1908 0.5642 1.3917 0.6521 0.6249 -0.3520 -0.2459
1305031451.8095 1.1906 0.5687 1.3945 0.6535 0.6231 -0.3519 -0.2467
1305031451.8195 1.1900 0.5733 1.3971 0.6545 0.6208 -0.3528 -0.2485
1305031451.8295 1.1896 0.5779 1.3999 0.6558 0.6185 -0.3533 -0.2502
1305031451.8396 1.1894 0.5822 1.4030 0.6567 0.6169 -0.3532 -0.2520
1305031451.8495 1.1889 0.5862 1.4057 0.6575 0.6148 -0.3541 -0.2535
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