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# ground truth trajectory # file: 'rgbd_dataset_freiburg1_desk2.bag' # timestamp tx ty tz qx qy qz qw 1305031523.0922 1.2905 0.0005 1.5678 0.7317 0.5466 -0.3131 -0.2604 1305031523.1022 1.2910 0.0001 1.5699 0.7320 0.5480 -0.3139 -0.2556 1305031523.1123 1.2917 -0.0002 1.5724 0.7321 0.5493 -0.3141 -0.2523 1305031523.1222 1.2922 -0.0004 1.5751 0.7311 0.5509 -0.3151 -0.2504 1305031523.1322 1.2930 -0.0006 1.5780 0.7305 0.5523 -0.3153 -0.2488 1305031523.1422 1.2936 -0.0009 1.5812 0.7295 0.5537 -0.3156 -0.2482 1305031523.1522 1.2944 -0.0011 1.5845 0.7284 0.5552 -0.3158 -0.2479 1305031523.1622 1.2951 -0.0010 1.5881 0.7265 0.5577 -0.3160 -0.2475 1305031523.1722 1.2962 -0.0011 1.5919 0.7260 0.5589 -0.3149 -0.2477 1305031523.1822 1.2972 -0.0012 1.5955 0.7251 0.5599 -0.3148 -0.2485 1305031523.1922 1.2982 -0.0012 1.5995 0.7238 0.5619 -0.3135 -0.2493 1305031523.2022 1.2990 -0.0012 1.6034 0.7223 0.5630 -0.3135 -0.2511 1305031523.2122 1.3001 -0.0013 1.6075 0.7216 0.5641 -0.3121 -0.2524 1305031523.2222 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