Upload ground-truth

ground-truth/IN_LARGE_01.txt

@@ -0,0 +1,347 @@
+#timestamp tx ty tz qx qy qz qw
+1430.086452736 0.001768822 -0.000625737 -0.003842662 -0.000693001 -0.013476823 -0.004985989 0.999896512
+1437.986204000 -0.013611351 0.003306574 0.499082778 -0.022968197 0.027315147 0.016664867 0.999224012
+1438.786446976 -0.046727252 -0.016832591 0.996706731 -0.015226030 -0.020343918 -0.015182308 0.999561799
+1444.486517984 0.411645119 -0.085350085 1.077794676 -0.029323912 0.082815286 0.016678777 0.995993749
+1445.584622208 0.953236836 0.006877854 1.086441452 -0.031818653 0.063860700 0.016631884 0.997312768
+1446.786971008 1.461308145 -0.028189872 1.162204090 -0.029972876 0.008614552 0.114857942 0.992892271
+1447.684911776 1.958893409 -0.132471157 1.152631194 -0.024062480 0.010188124 0.168423019 0.985368397
+1449.184816544 2.803524376 -0.120112749 1.165569163 -0.019123780 0.032719354 0.156714673 0.986916526
+1450.286885888 3.326143153 -0.068153680 1.178253794 -0.005572704 0.035268319 0.116182399 0.992585886
+1451.687102016 4.097478553 -0.165267474 1.200985109 -0.005407468 0.032455789 0.133947316 0.990442072
+1452.584528608 4.633425892 -0.186658285 1.257497805 -0.012841721 0.022623841 0.163343924 0.986226149
+1454.084927104 5.344792076 -0.142329398 1.222549617 -0.017614059 0.044729557 0.149581282 0.987580099
+1455.885616768 5.853523683 -0.130574637 1.252257872 -0.024205181 0.049002502 0.074437314 0.995726845
+1458.386418880 6.390412419 -0.253833126 1.247531383 -0.045580866 0.046722724 -0.041663736 0.996997244
+1459.385094112 6.924039079 -0.250898351 1.252405139 -0.015179196 0.052971011 -0.100932266 0.993366167
+1460.386841184 7.442049695 -0.254570288 1.270118042 -0.028067123 0.031886096 -0.090700922 0.994971786
+1461.385098944 7.942568468 -0.374880784 1.291851952 -0.006769510 0.053195756 -0.075142343 0.995729889
+1462.585112352 8.460429244 -0.409688011 1.299321446 -0.015273445 0.030712043 -0.182682051 0.982573540
+1463.687036576 8.919388154 -0.640650223 1.321141656 -0.031437500 0.029784782 -0.145359592 0.988430642
+1464.785221248 9.438201186 -0.701832026 1.296693321 -0.013194376 0.038031581 -0.130025406 0.990693138
+1465.886741408 9.964342629 -0.668436034 1.325826225 -0.012844878 0.012931289 -0.104436497 0.994364522
+1466.986359104 10.473061958 -0.739445189 1.332982028 -0.020815217 0.030680311 -0.079482460 0.996146563
+1467.986179040 10.993155933 -0.830601959 1.344461702 -0.016074051 0.032839334 -0.121202125 0.991954253
+1468.987531968 11.469315281 -1.000750478 1.359121620 -0.036997861 0.028451371 -0.032314568 0.998387419
+1470.185304000 11.996357627 -1.115900348 1.368406477 -0.012518098 0.034093189 0.011055688 0.999279098
+1471.287272960 12.513401285 -1.153525667 1.366780855 -0.001906659 0.035921843 0.019437817 0.999163725
+1472.387916480 13.007675949 -1.240222467 1.388018996 -0.010924320 0.011924349 0.175182159 0.984403208
+1473.486182624 13.555197043 -1.156939757 1.392985070 0.013514911 -0.008922698 0.224448362 0.974351402
+1474.488829280 14.048588573 -1.049189779 1.403687133 -0.011942538 -0.019529304 0.322381275 0.946333081
+1475.586791456 14.503674862 -0.783905332 1.420881015 -0.001463881 -0.025921485 0.354269762 0.934782797
+1476.887268896 14.965599143 -0.408895535 1.419442703 0.005956362 -0.022153470 0.406776919 0.913239454
+1477.888930048 15.437634188 -0.217500886 1.410791128 -0.015511087 -0.010123925 0.459330245 0.888072431
+1478.986464224 15.885075972 0.055513371 1.435925579 -0.002435503 -0.035782669 0.486424102 0.872986429
+1480.287557824 16.256259481 0.386634203 1.441509107 0.042731352 -0.085421961 0.575324760 0.812329124
+1482.188152320 16.350247922 0.488384076 1.463590191 0.046969989 -0.069326601 0.792903054 0.603566484
+1484.788649824 15.943061983 0.806608476 1.370789967 -0.039464854 -0.002513539 0.885254872 0.463422129
+1485.989921280 15.778815670 1.300074605 1.367402599 -0.042836918 -0.015179022 0.904196956 0.424691127
+1486.988337600 15.583550443 1.772877353 1.372962130 -0.032748175 0.003109039 0.895725472 0.443389077
+1487.989817760 15.412199449 2.283990831 1.376006869 -0.012345213 0.016428274 0.862402085 0.505806970
+1488.989215296 15.403486613 2.809095569 1.377967553 -0.041886423 -0.016360291 0.883526968 0.466216669
+1490.088423040 15.393817615 3.368550998 1.353817635 -0.032007024 0.002162760 0.859125317 0.510759114
+1491.190735360 15.387271267 3.915680797 1.343548089 -0.040373399 -0.000365647 0.855352359 0.516471041
+1492.089121824 15.323811231 4.423757536 1.362091617 -0.023537237 -0.000572705 0.844457974 0.535104754
+1493.090160320 15.185549342 4.941685631 1.350753920 -0.030491874 0.000987646 0.815400538 0.578093223
+1494.091000192 15.196509523 5.478366551 1.354165039 -0.035412790 -0.015409702 0.830314876 0.555955390
+1495.189448800 15.116531442 6.008703208 1.334642157 -0.035906857 0.003145002 0.828569215 0.558725589
+1496.191204832 15.054230282 6.510739815 1.320811465 -0.039297025 -0.004863973 0.820613103 0.570111099
+1497.190579968 15.051784156 7.024471807 1.327840178 -0.053434855 -0.008594921 0.841444312 0.537627661
+1498.289834592 14.997854919 7.564002693 1.308394514 -0.044432779 0.001822977 0.801618856 0.596179904
+1499.291951648 15.034577530 8.087428239 1.303419789 -0.056501227 0.001999163 0.803625728 0.592444321
+1500.189527456 14.980598191 8.604553926 1.300671066 -0.046175056 0.006626284 0.798639773 0.599998724
+1501.192373472 14.951038871 9.144839188 1.308265039 -0.038901546 0.008874764 0.800598654 0.597871956
+1502.291482432 14.970823702 9.670338194 1.305365652 -0.059580174 -0.000973318 0.821706184 0.566788812
+1503.390910880 14.918877684 10.178374238 1.278587575 -0.048967614 0.013384237 0.800542709 0.597122747
+1504.493038624 14.951963667 10.722418377 1.276474506 -0.048531966 0.007221372 0.828705510 0.557531434
+1505.591312736 15.048624639 11.218693876 1.276185178 -0.055052969 -0.003545596 0.823154680 0.565132288
+1506.791936576 15.087756583 11.737014380 1.271822807 -0.038628886 0.022157217 0.810935013 0.583440436
+1507.992861856 15.215614996 12.236721359 1.255726125 -0.062093020 0.009442398 0.822085922 0.565890137
+1509.191698144 15.305625305 12.752879437 1.269954400 -0.056509029 0.007423795 0.806453872 0.588545003
+1510.692075264 15.406608686 13.437740025 1.242599734 -0.046707366 0.026746735 0.781165430 0.622000720
+1511.794016960 15.465910790 13.955927384 1.226598784 -0.076376930 0.026329797 0.807144516 0.584801211
+1513.193954176 15.576524604 14.615607840 1.219084613 -0.090291040 0.034656416 0.820455423 0.563472305
+1514.492368576 15.558590351 15.257334099 1.224790364 -0.082808412 0.031346026 0.829917720 0.550816092
+1515.793090336 15.470913494 15.849335942 1.201553431 -0.078502375 0.039848451 0.808192962 0.582301543
+1517.893202624 15.531654711 16.352744428 1.208998131 -0.075906253 0.047617897 0.659992795 0.745909667
+1519.995008544 15.787041914 16.802389763 1.196098338 -0.085796741 0.053329354 0.614843205 0.782153127
+1521.193688064 15.910514178 17.343428728 1.184706893 -0.084448496 0.043340232 0.608377750 0.787951356
+1522.395311040 16.080831949 17.841976750 1.182065935 -0.078117581 0.041675911 0.590579492 0.802108146
+1523.595730752 16.268176146 18.306887323 1.184340107 -0.094143287 0.025765970 0.669121279 0.736716273
+1524.995087456 16.297992807 18.846724855 1.195020054 -0.081248424 0.019351415 0.753366545 0.652276301
+1526.495653120 16.256871708 19.377788210 1.153273035 -0.063109198 0.029414152 0.827744549 0.556769899
+1527.796947424 16.224981642 19.894707842 1.139575884 -0.075250518 0.028169650 0.889651426 0.449516309
+1528.894585664 16.015756000 20.400949609 1.144260404 -0.069209382 0.023234246 0.866094585 0.494521027
+1530.196299296 15.856406060 20.893606843 1.100899455 -0.059203108 0.063116178 0.832128816 0.547790701
+1531.497046304 15.982368553 21.373833260 1.086576871 -0.084965670 0.053019326 0.831807343 0.545956139
+1532.895795776 16.000855109 21.837934578 1.095386935 -0.085050502 0.056074204 0.766680102 0.633896690
+1534.496499264 16.046266321 22.354896003 1.068446251 -0.073242948 0.072676433 0.656310239 0.747403088
+1535.697827040 16.223091337 22.819849652 1.036414397 -0.078690048 0.051680951 0.675781777 0.731065553
+1536.795811712 16.252101324 23.323516819 1.046429763 -0.073507309 0.053241861 0.686768986 0.721187434
+1538.197471008 16.243919715 23.844585781 1.024188017 -0.064881168 0.028687560 0.719166634 0.691207553
+1539.197696864 16.355792711 24.322793829 0.990024508 -0.096194416 0.026420056 0.720689971 0.686043515
+1540.596353120 16.295123885 24.989637678 0.954136365 -0.101164596 0.056017818 0.671985216 0.731481062
+1542.697061216 16.140951384 25.914653214 0.934626416 -0.098531641 0.039496989 0.718349862 0.687536210
+1544.397021664 15.983884532 26.719487536 0.915184606 -0.076732175 0.045916716 0.763727514 0.639316340
+1545.697871136 15.764710503 27.302197513 0.894884205 -0.048217664 0.067069296 0.727229641 0.681406655
+1546.798653568 15.853533227 27.773760985 0.879057191 -0.058749187 0.066420141 0.764541604 0.638446805
+1547.997187072 15.726776147 28.293854557 0.867250161 -0.045224523 0.063746953 0.763149188 0.641479342
+1549.498204320 15.740847059 28.941015352 0.878306381 -0.037276950 0.060902522 0.693259572 0.717142649
+1550.599349056 15.922993296 29.433398706 0.876668920 -0.063947408 0.036264086 0.741527663 0.666883469
+1551.598244352 15.984613075 29.906163561 0.844944565 -0.081372399 0.064760820 0.751559481 0.651417056
+1552.800807520 16.097000771 30.434155408 0.849736962 -0.089155089 0.047375047 0.806231767 0.582922871
+1553.898584992 16.147236865 30.948099788 0.848408678 -0.108810170 0.026493351 0.807992413 0.578453484
+1555.498378368 16.235746655 31.468092363 0.820153297 -0.083756735 0.072409941 0.647414204 0.754053972
+1556.900297536 16.464701678 31.923342826 0.802564262 -0.103489421 0.069145328 0.597995868 0.791776919
+1557.999590560 16.581063163 32.450299356 0.834380354 -0.090769208 0.040373354 0.638126686 0.763495979
+1559.400462400 16.652828003 32.998935355 0.794883626 -0.104183620 0.054102162 0.626801960 0.770284926
+1560.801190752 16.750468210 33.525388219 0.774070813 -0.114652133 0.035005482 0.742292923 0.659266324
+1562.301348224 16.822360245 34.061202503 0.797911257 -0.114274483 0.058563812 0.836480390 0.532742118
+1563.600553312 16.704459375 34.560027826 0.795093657 -0.081919762 0.046656970 0.848688935 0.520424468
+1564.702398848 16.530713187 35.037736084 0.752513688 -0.096407931 0.042879412 0.902357491 0.417873729
+1565.901056064 16.324674603 35.498509152 0.785978400 -0.126534058 -0.014522554 0.890645244 0.436497404
+1567.802043392 16.061714382 36.116847930 0.741490285 -0.099872929 0.041659892 0.804797659 0.583602846
+1571.801576768 16.162957033 37.774961217 0.759608988 -0.071900397 0.040923299 0.710157069 0.699166453
+1573.201506688 16.204530135 38.395378376 0.735868579 -0.058983132 0.049767628 0.751552990 0.655143948
+1574.802407776 16.158177999 39.095556386 0.731791497 -0.060850948 0.032647041 0.797133321 0.599842762
+1576.002998208 16.120416845 39.652996433 0.702775304 -0.068784280 0.042360800 0.825197957 0.559038894
+1577.001025056 16.013690226 40.164682916 0.693220196 -0.057505736 0.064667578 0.819329740 0.566755360
+1578.102864096 15.902329375 40.662430094 0.660334582 -0.045717708 0.063521506 0.791675085 0.605909850
+1579.503409504 15.900278174 41.277832910 0.644042489 -0.069166665 0.042459984 0.778622739 0.622222526
+1580.802293824 15.868840163 41.843937147 0.621110529 -0.067539077 0.028726525 0.768058877 0.636160352
+1582.301551296 15.912477802 42.450268982 0.583578796 -0.055599522 0.059949951 0.736106453 0.671910054
+1583.603149856 16.079311643 42.996970326 0.573343769 -0.063840735 0.054314250 0.767698732 0.635306350
+1584.802884640 16.241000447 43.532958005 0.543980623 -0.098355497 0.037577280 0.812192394 0.573811132
+1586.101319584 16.227271479 44.083316363 0.512253482 -0.080633374 0.048751482 0.837291932 0.538577276
+1587.503297632 16.144062074 44.685090493 0.491959510 -0.079620665 0.024540288 0.893359467 0.441551448
+1588.802860128 15.842283166 45.136605642 0.460074528 -0.105840742 0.006083994 0.949457817 0.295450690
+1590.101354016 15.465816812 45.489089822 0.452534569 -0.085956096 0.036638533 0.963681487 0.250175317
+1591.502816992 15.201142099 45.965345303 0.432471112 -0.079887305 0.007248315 0.987557995 0.135260362
+1594.302781568 14.668505253 46.172686680 0.426960467 -0.038641272 -0.013219127 0.983925919 -0.173845934
+1597.602737248 13.193748720 46.103136569 0.405222609 -0.059133604 -0.013954165 0.980606093 -0.186335326
+1598.800886624 12.679793102 45.960975885 0.406720484 -0.057391790 0.002685237 0.989166910 -0.135086014
+1600.500990720 11.952368673 45.846202861 0.383529511 -0.075049251 -0.002712065 0.996802958 -0.027286326
+1602.801143072 10.956551204 45.892924799 0.386255366 -0.052284850 0.010887561 0.998501775 0.011936769
+1604.201631328 10.392243585 45.848376207 0.367199900 -0.053507980 0.005332028 0.991737359 -0.116473147
+1605.303382944 9.966841178 45.934626475 0.373056241 -0.062363251 -0.034630674 0.985970238 -0.150912975
+1606.803167232 9.377281552 46.117773949 0.338054403 -0.064182125 -0.033421718 0.977718274 -0.197056475
+1608.000531808 8.894189869 46.148817585 0.343258344 -0.064856254 -0.011408150 0.983598601 -0.167922975
+1609.402018560 8.377388038 46.279890091 0.346466371 -0.049639502 -0.001701980 0.990982477 -0.124448937
+1610.802988032 7.802623085 46.407741021 0.302734349 -0.084693973 -0.016334302 0.989677549 -0.114451744
+1612.101569760 7.288647141 46.497281183 0.307582829 -0.069136007 -0.013547355 0.994299158 0.080041538
+1613.701565184 6.756516290 46.565126156 0.278593490 -0.088643267 0.023444166 0.951888351 0.292407314
+1615.302828096 6.177588380 46.734211658 0.260401839 -0.061019288 0.024163228 0.954418309 0.291168534
+1616.903623264 5.456457732 46.875143137 0.239115648 -0.050767712 0.010708303 0.970814540 0.234153109
+1618.403227456 4.788517768 46.974493198 0.249603701 -0.037188629 -0.002225837 0.975275936 0.217829176
+1619.801302560 4.210020209 46.990710248 0.213692496 -0.045215978 0.008471433 0.960800601 0.273398275
+1621.103093696 3.703815756 47.055901724 0.208179100 -0.032167202 0.009723870 0.962966380 0.267520195
+1623.101597120 3.158999636 47.073868841 0.195051963 -0.037036586 0.025581929 0.935543323 0.350333307
+1624.802796000 2.566134548 47.058043945 0.183248727 -0.084165177 -0.016549147 0.987793392 0.130028111
+1626.202560224 2.047586994 47.035133734 0.150852248 -0.108249518 0.008342964 0.983415106 0.145285821
+1627.302781088 1.555445122 47.227204865 0.123264642 -0.112747119 -0.010907788 0.988116733 0.103899464
+1628.500974944 1.018747589 47.295889661 0.110766691 -0.116093582 -0.003102623 0.988035439 0.101485492
+1629.701963200 0.492506319 47.339067738 0.095478711 -0.098448464 -0.003668402 0.994720358 0.028749234
+1630.702778432 0.052496001 47.330147346 0.093994170 -0.084569481 -0.008569589 0.971133702 -0.222878090
+1632.101917504 -0.439688360 47.049655259 0.087917077 -0.104218465 0.012150265 0.964360334 -0.242900736
+1633.103406720 -0.965014152 46.805442794 0.056922522 -0.095934731 -0.014044956 0.968018198 -0.231389269
+1634.101620768 -1.498616541 46.632403457 0.112414056 -0.122117395 -0.010342677 0.970695337 -0.206717065
+1635.401497056 -2.040814025 46.367105620 0.060285408 -0.120461002 -0.001151025 0.985604240 -0.118629197
+1636.703161408 -2.554212921 46.329054511 0.039169482 -0.128653209 -0.010047468 0.981866976 -0.138872861
+1638.302276096 -3.093484385 46.458813747 0.040126553 -0.125103054 -0.016190774 0.990387517 0.056750448
+1639.802061408 -3.271068413 46.486441678 0.047775978 -0.125367786 0.009807937 0.941708320 0.312046862
+1644.002476064 -3.714475375 46.800315206 0.004973086 -0.129029366 -0.025210122 0.989122007 0.065988388
+1645.802373984 -4.454378170 46.814776362 0.006394357 -0.095841939 -0.002384344 0.994136094 -0.050029452
+1647.301362368 -5.127706069 46.801167674 -0.002825067 -0.098512498 0.011088595 0.990910187 -0.090940720
+1648.602498592 -5.673584357 46.856443294 -0.026975898 -0.099994181 0.029039592 0.990587349 -0.088856250
+1650.302644320 -6.287645523 46.938350542 -0.053959753 -0.092221076 0.005588343 0.979032825 -0.181548017
+1651.702570400 -6.821850992 46.920067914 -0.049828134 -0.093661991 -0.005420986 0.962865378 -0.253158472
+1653.702335520 -7.629894302 46.843067979 -0.073492835 -0.106785545 -0.041006462 0.959445902 -0.257642790
+1655.401616672 -8.170285580 46.793340404 -0.091107925 -0.130148982 -0.017129672 0.985568386 -0.106881501
+1657.301927392 -8.700661606 46.803268671 -0.118915862 -0.151112899 0.001380748 0.985560442 0.076383297
+1658.902294752 -9.189586121 47.004393882 -0.150978564 -0.138393908 0.008971026 0.970812205 0.195682539
+1660.202754912 -9.698534343 47.094301212 -0.151602831 -0.137283400 0.005488979 0.976626978 0.165300338
+1661.901763040 -10.366447678 47.090038779 -0.187699369 -0.160629662 -0.007615318 0.979722386 0.119520841
+1663.402479072 -10.956802982 47.147929711 -0.199622130 -0.149378175 0.012060014 0.975759453 0.159485060
+1665.003030144 -11.494231868 47.281966396 -0.226837577 -0.145525690 -0.019042897 0.980183311 0.133046461
+1666.201736704 -12.038952303 47.352809117 -0.250379572 -0.149247058 -0.007243170 0.980428309 0.128196715
+1667.501701408 -12.559985130 47.363281837 -0.260482274 -0.161694201 0.011511360 0.966243876 0.200241123
+1668.703353248 -13.087259871 47.495349473 -0.301908239 -0.162998919 -0.004019568 0.972950871 0.163655256
+1669.901432288 -13.605446401 47.588169639 -0.313804639 -0.154598964 0.007038420 0.972988315 0.171302170
+1671.601898400 -14.282780702 47.694672027 -0.320090682 -0.139716812 0.003174138 0.982010001 0.126990474
+1673.202659008 -14.920643359 47.753401690 -0.350138514 -0.139437926 -0.015252734 0.987932028 0.065695360
+1674.201290976 -15.409595931 47.654965957 -0.366777179 -0.135247758 -0.011641369 0.990402464 -0.026010947
+1675.502000256 -15.850784668 47.455119952 -0.364928132 -0.130337817 0.010326028 0.987262478 -0.090658572
+1676.702938080 -16.349112421 47.370833181 -0.376775888 -0.113915227 -0.026639492 0.970921118 -0.208869828
+1678.001399680 -16.796367003 47.138427665 -0.383583040 -0.136832015 -0.001859611 0.977840925 -0.158435084
+1681.302737920 -18.075926525 46.879630500 -0.417326666 -0.133194647 0.001662118 0.987820645 -0.080422437
+1682.802764256 -18.715971243 46.807037734 -0.417915007 -0.135051248 -0.008094220 0.987161807 -0.084899975
+1684.100712672 -19.274398095 46.854351031 -0.410172865 -0.129887542 0.004371863 0.991307831 0.020490612
+1685.900597952 -20.117063320 47.004260966 -0.459063262 -0.120570006 0.011289438 0.988563108 0.089885241
+1687.202173472 -20.660366915 47.023981087 -0.481294487 -0.084219970 0.029886777 0.995097581 0.042373830
+1688.602395360 -21.193281042 47.243436298 -0.492720374 -0.103882322 -0.004510269 0.992372942 -0.066218018
+1689.900203680 -21.745770971 47.300676161 -0.488442217 -0.087860959 -0.003590824 0.984733192 -0.150229465
+1691.501127712 -22.336819835 47.240937406 -0.521312077 -0.103309264 -0.003282219 0.988676808 -0.108790433
+1693.500345792 -23.000752424 47.229925746 -0.546703974 -0.101808053 0.002604216 0.992714522 0.064398545
+1697.799211488 -24.819443899 47.480742099 -0.659629441 -0.113379043 -0.002340057 0.986263298 0.120104948
+1699.300236832 -25.355980010 47.624508223 -0.663957612 -0.093092075 0.021894253 0.995288972 -0.015978038
+1700.800489376 -25.883224509 47.762561193 -0.691865764 -0.090026197 -0.029253214 0.985836402 -0.138444553
+1701.999156224 -26.410824058 47.744486533 -0.710794214 -0.083081221 -0.019555636 0.981662087 -0.170457101
+1703.699601568 -27.035520700 47.685868925 -0.735442460 -0.073293487 -0.015385121 0.974800020 -0.210135760
+1705.000226656 -27.542827659 47.644500164 -0.758008702 -0.066232868 -0.039464502 0.955105383 -0.286060236
+1707.897691200 -28.675871941 47.514758245 -0.803854528 -0.074803552 -0.032118255 0.955224256 -0.284465415
+1709.099138848 -29.199820810 47.401047289 -0.832120438 -0.088538759 -0.022515130 0.948098252 -0.304573272
+1710.299259584 -29.683393150 47.226710050 -0.841080958 -0.085614235 -0.054111948 0.899857206 -0.424264609
+1711.597585856 -30.048712353 46.861351935 -0.859042238 -0.093956585 -0.032753862 0.867148369 -0.488010746
+1712.898951616 -30.294162839 46.538914298 -0.867314205 0.066776167 0.066385314 -0.703080455 0.704850471
+1715.398286304 -30.436567835 45.743247440 -0.857452537 0.041893558 0.041367372 -0.616071026 0.785488315
+1717.197742912 -30.525233748 45.137589677 -0.844263814 0.056316075 0.063564969 -0.563413715 0.821799619
+1718.296672352 -30.328956979 44.664571398 -0.815357660 0.050105063 0.058358354 -0.524418801 0.847980079
+1720.296327200 -30.107696365 43.960755107 -0.797808519 0.057394778 0.069915012 -0.586846299 0.804630863
+1723.396887744 -30.118289997 43.764211611 -0.768393885 0.047207565 0.044774436 -0.820126378 0.568474044
+1725.996778560 -30.204673192 43.798832793 -0.777195235 -0.061472413 -0.035269689 0.935297725 -0.346693694
+1733.795214240 -30.341837358 43.576172962 -0.777135653 0.045763251 0.029265732 -0.820323948 0.569316154
+1735.994834656 -30.274555462 43.043043433 -0.780506110 0.031198029 0.041501308 -0.753910075 0.654924482
+1737.495221120 -30.408880479 42.507504510 -0.790623662 0.068567501 0.052161025 -0.757813936 0.646759631
+1738.895102240 -30.563346812 42.002623830 -0.778710092 0.047128374 0.076661885 -0.766027231 0.636479923
+1740.293670112 -30.583795789 41.491252893 -0.797602754 0.106752299 0.066188064 -0.787835682 0.602943307
+1742.194106304 -30.652279880 40.827048710 -0.785857621 0.101863974 0.078049642 -0.778043703 0.614965471
+1743.994475168 -30.921098328 40.201682224 -0.779356075 0.090812705 0.083485112 -0.806085039 0.578803268
+1745.694780576 -31.145221386 39.579772145 -0.781766648 0.079576990 0.105711320 -0.776718398 0.615795188
+1749.593716544 -31.424318599 38.573546442 -0.746988165 0.042697776 0.096254920 -0.710125308 0.696158013
+1751.893057056 -31.271384351 38.026979720 -0.726407156 0.034804634 0.045642232 -0.510472264 0.857977149
+1753.293632128 -31.200268925 37.463322872 -0.687498012 -0.006307568 0.033903538 -0.457098151 0.888748140
+1755.092926048 -31.080142540 36.744976463 -0.697248750 0.021872440 0.038096861 -0.457205707 0.888276081
+1756.492410720 -31.026574506 36.203323055 -0.691350569 0.009599901 0.068853282 -0.500872593 0.862725332
+1757.791178848 -30.815531892 35.741647455 -0.681436855 0.048207406 0.056886756 -0.529156986 0.845242070
+1759.292164192 -30.767040530 35.205141176 -0.649666189 0.025315044 0.053469997 -0.565154673 0.822861892
+1760.791613024 -30.836731096 34.703846367 -0.666466235 0.014457841 0.080981302 -0.634352102 0.768655988
+1762.891858272 -30.802056142 33.917889664 -0.659250638 0.031489421 0.077025181 -0.682207511 0.726409124
+1764.290614304 -30.809385210 33.386390833 -0.636272354 0.039095071 0.064780625 -0.686346707 0.723329285
+1765.591536960 -30.734216857 32.864821726 -0.637510403 0.060715043 0.066142529 -0.636704565 0.765864100
+1766.791224704 -30.673821999 32.329418782 -0.653578730 0.022447902 0.106901788 -0.550474572 0.827675843
+1767.989551840 -30.472706346 31.863774259 -0.623160659 0.052872073 0.098197922 -0.554970180 0.824361128
+1769.390705536 -30.352387459 31.365769165 -0.598413739 0.058647767 0.074691879 -0.655556195 0.749152498
+1770.990687872 -30.596176137 30.911776201 -0.617978270 0.097282361 0.080130856 -0.823348209 0.553368036
+1772.189417504 -30.894474288 30.493218352 -0.609581260 -0.087757084 -0.069064651 0.865176372 -0.488876236
+1773.489861280 -31.173475311 29.914028749 -0.607695582 -0.102813890 -0.051258299 0.859994824 -0.497204328
+1774.590482496 -31.497165826 29.572232957 -0.627566901 0.101491076 0.062501531 -0.818737617 0.561662975
+1775.689086912 -31.608103001 29.073994733 -0.616570195 0.098819040 0.070584769 -0.794111245 0.595518892
+1777.089907840 -31.636337395 28.478928228 -0.602715846 0.056755947 0.062889294 -0.758669064 0.645946853
+1778.390563712 -31.583659021 27.955354073 -0.606379314 0.032525578 0.087389500 -0.602148111 0.792921478
+1779.688585856 -31.364213835 27.447390043 -0.612130139 0.042641604 0.090120216 -0.563397988 0.820148930
+1780.989652128 -31.256873107 26.944844847 -0.598738764 0.050176078 0.065785780 -0.616101424 0.783310484
+1782.289912384 -31.288786944 26.398433836 -0.614220495 0.048872829 0.087886123 -0.634561247 0.766303646
+1783.487385344 -31.311546979 25.858672356 -0.607567780 0.066514612 0.060556243 -0.694703890 0.713650601
+1785.287537760 -31.379487447 25.182485825 -0.598975572 0.042067033 0.044829173 -0.703612986 0.707920504
+1786.288898304 -31.475212767 24.674696173 -0.612526341 0.042290493 0.060033058 -0.669989813 0.738730758
+1787.287050912 -31.381865073 24.138121846 -0.603923038 0.045296035 0.050591705 -0.677271925 0.732593559
+1788.488216768 -31.320450978 23.570726638 -0.600278346 0.038708741 0.034752808 -0.684593292 0.727068111
+1790.687837216 -31.317901862 22.522637161 -0.605795213 0.059523857 0.039742637 -0.654611133 0.752571342
+1791.988843296 -31.343341115 21.907210494 -0.586894433 0.038609299 0.040773167 -0.598619868 0.799063708
+1793.689234816 -31.290900634 21.076640566 -0.587444511 0.019361793 0.056085723 -0.588373165 0.806410666
+1794.686961120 -31.277977324 20.596243720 -0.587246729 0.029475143 0.074615262 -0.553446942 0.829012544
+1795.887887168 -31.252294405 20.070120101 -0.593271427 0.055915519 0.060986122 -0.624699940 0.776470152
+1797.588305760 -31.231098084 19.235096783 -0.598802226 0.056721151 0.070475115 -0.623115923 0.776881078
+1798.789400960 -31.415078409 18.714507460 -0.614468795 0.052424524 0.098792936 -0.626180752 0.771615845
+1799.786530400 -31.564602592 18.176125808 -0.623311116 0.083799033 0.073353106 -0.703752265 0.701663635
+1801.386447744 -31.683969636 17.408525394 -0.620682830 0.089670576 0.075311560 -0.743604660 0.658287006
+1802.788673504 -31.663117223 16.885825560 -0.645513201 0.053256350 0.098966052 -0.643599743 0.757067113
+1804.188825728 -31.808530628 16.316918580 -0.654613430 0.061512631 0.102041885 -0.681664999 0.721899150
+1805.287169024 -31.809015204 15.751905394 -0.637341329 0.074274395 0.086220308 -0.709854307 0.695096088
+1806.488898240 -31.839896271 15.185938057 -0.627032114 0.060121720 0.057065257 -0.720692283 0.688283259
+1807.688845056 -31.927945959 14.708742429 -0.634026343 0.050420253 0.078192726 -0.665647022 0.740445622
+1808.986043040 -31.854216453 14.165640343 -0.589586318 0.017166902 0.061996464 -0.688685595 0.722202128
+1876.188003552 -31.697088242 13.194452545 -0.641550293 0.070773071 0.111811474 -0.703519350 0.698249289
+1877.289633152 -31.782573140 12.688650582 -0.642125470 0.070549504 0.133987127 -0.686294062 0.711387843
+1878.187535072 -31.788912680 12.181673013 -0.657114414 0.090834104 0.138448513 -0.724466510 0.669127597
+1879.189103456 -31.801931082 11.663668404 -0.655536561 0.089001599 0.120592119 -0.762394176 0.629518865
+1880.188547168 -31.856490125 11.137048342 -0.638835732 0.070868358 0.113005585 -0.749969380 0.647885664
+1881.188744928 -31.874509768 10.627247410 -0.669184531 0.090230307 0.099718809 -0.801866159 0.582175586
+1882.189117760 -32.044376016 10.118739446 -0.658743241 0.075422049 0.100034092 -0.813683420 0.567650604
+1883.187080320 -32.077870648 9.593119923 -0.658594997 0.095168919 0.094802137 -0.838050478 0.528801089
+1884.289429280 -32.056568677 9.081242159 -0.650691291 -0.080165584 -0.092226065 0.858140051 -0.498663031
+1885.187872896 -32.060646270 8.562898705 -0.632585449 0.079928982 0.079480515 -0.857125185 0.502627893
+1886.187910112 -31.970519875 8.028248723 -0.664405573 -0.102712480 -0.086527775 0.880892736 -0.453863880
+1887.289521792 -31.917963946 7.506205983 -0.663973612 -0.081948266 -0.091867597 0.859109804 -0.496766130
+1888.588637472 -31.820695465 7.002499552 -0.673109326 0.080243705 0.094252401 -0.840393922 0.527654167
+1891.087740064 -31.936545855 6.489613866 -0.705260520 -0.115571681 -0.095836147 0.890902761 -0.428663243
+1892.389398208 -32.140355937 5.997593001 -0.722253635 -0.110586506 -0.117943485 0.855545280 -0.491836950
+1893.588745152 -32.360284085 5.522957796 -0.733629062 0.097477504 0.145340086 -0.804398375 0.567733014
+1894.787699168 -32.348098796 4.968856197 -0.746878608 0.097452930 0.117874410 -0.768348941 0.621490922
+1896.288363840 -32.223887599 4.447358828 -0.743083877 0.078468824 0.141388033 -0.646468880 0.745608377
+1897.288592000 -31.978244299 4.129068259 -0.733493557 0.007668815 0.152183474 -0.437705911 0.886112961
+1898.687925568 -31.524358195 4.066628855 -0.746842586 0.019248909 0.175824813 -0.375550047 0.909768427
+1900.089557056 -31.118170402 3.731982726 -0.730650535 0.000490297 0.149682703 -0.279506423 0.948405088
+1901.288786496 -30.644622127 3.506475024 -0.716361512 -0.021111403 0.147905900 -0.235351940 0.960358676
+1902.389221888 -30.141184366 3.388886998 -0.720622478 -0.000239307 0.151254090 -0.236932293 0.959680365
+1904.288960352 -29.302335974 2.984209600 -0.722497430 0.004539391 0.146504889 -0.221960162 0.963976435
+1905.289822912 -28.870563586 2.708841856 -0.700297420 -0.025924839 0.126949027 -0.164446105 0.977839648
+1906.288155136 -28.383904621 2.481307297 -0.691916159 -0.007955862 0.102266377 -0.160761719 0.981649130
+1907.289713408 -27.937133230 2.126244214 -0.693114366 -0.032999793 0.102803173 -0.110532947 0.987990904
+1909.189217280 -26.969542825 1.690462607 -0.668480683 -0.026466945 0.102437839 -0.002153822 0.994385426
+1910.590382592 -26.229774261 1.484225196 -0.639899987 -0.033768588 0.078412624 0.053506728 0.994911655
+1911.588688736 -25.635558121 1.397158391 -0.607011066 -0.039780250 0.082373454 0.091195221 0.991623219
+1912.589224096 -25.123219339 1.412795522 -0.590368524 -0.022512823 0.089320312 0.054713724 0.994244683
+1913.690481184 -24.538166545 1.347066958 -0.576328106 -0.047301913 0.092101943 0.126811565 0.986508810
+1914.889027552 -23.972747260 1.307063198 -0.518842008 -0.039880461 0.051785224 0.087766806 0.993994899
+1916.189480448 -23.439121285 1.315615432 -0.506151982 -0.039410774 0.028936093 0.014420667 0.998700476
+1917.290306592 -22.887512726 1.180148641 -0.496080836 -0.053057582 0.032695257 -0.001937305 0.998054739
+1918.689146912 -22.126090046 1.030467119 -0.458748622 -0.034245156 0.039100568 0.011171149 0.998586362
+1920.790758848 -21.112584288 0.802368665 -0.438472367 -0.041337055 0.048949607 0.011889091 0.997875211
+1921.988757568 -20.547143904 0.735743699 -0.404297476 -0.048926497 0.028533960 0.001566405 0.998394040
+1923.888799264 -19.529230827 0.607578951 -0.344760395 -0.044712323 0.016018035 -0.007027435 0.998847310
+1925.287910080 -18.776789106 0.552516676 -0.332795906 -0.039675376 0.046279454 -0.006320278 0.998120851
+1926.589204960 -18.148788969 0.541294668 -0.313992931 -0.022322791 0.056291196 -0.038996376 0.997403319
+1928.090459552 -17.417775224 0.461717857 -0.268327116 -0.014618234 0.016903700 -0.038458323 0.999010827
+1929.189102208 -16.861614698 0.335641402 -0.240680365 -0.026588397 0.032660310 -0.006433989 0.999092622
+1930.289406816 -16.331087552 0.275828693 -0.228613863 -0.000172775 0.041128684 -0.032158407 0.998636742
+1931.490662272 -15.822963264 0.148178554 -0.216694294 -0.019421992 0.079308715 -0.091566742 0.992446214
+1932.689688320 -15.276253567 0.016146565 -0.173541767 -0.012453433 0.113890621 -0.144054056 0.982915726
+1933.789605152 -14.750895572 -0.018023144 -0.174756133 -0.003922764 0.121648133 -0.210979433 0.969884069
+1934.790275904 -14.246272282 -0.154166537 -0.139147412 -0.027053426 0.119849837 -0.205230745 0.970971445
+1935.788783840 -13.726238305 -0.214378447 -0.120908275 0.002827557 0.122658131 -0.192931478 0.973511946
+1937.189978816 -13.135980766 -0.259925823 -0.047945928 -0.004563573 0.089592081 -0.180424009 0.979490011
+1938.289953408 -12.643004427 -0.391755147 -0.019559436 -0.015062880 0.095194713 -0.145977600 0.984582487
+1939.388237664 -12.111781961 -0.458241473 0.021985180 -0.004854195 0.096260660 -0.186979434 0.977624752
+1940.489630464 -11.605901478 -0.574671610 0.043570237 -0.045761470 0.088630863 -0.056140379 0.993428316
+1942.190357120 -10.966837609 -0.655264417 0.080250136 -0.072629449 0.089297023 0.191927987 0.974636239
+1943.790093472 -10.189808952 -0.592216831 0.132283596 -0.080294969 0.089052806 0.313175634 0.942095839
+1945.990699104 -9.273991165 -0.535709227 0.188142712 -0.071033157 0.104130721 0.266236668 0.955630844
+1947.890145408 -8.647480785 -0.596001757 0.262746859 -0.068877197 0.076119519 0.135121297 0.985497393
+1950.089229696 -8.118331088 -0.749239809 0.310966038 -0.056947385 0.066559128 -0.016000934 0.996028087
+1951.588378688 -7.557450348 -0.769228713 0.345770552 -0.037101051 0.079305008 -0.030233709 0.995701387
+1952.789814784 -6.990184530 -0.762960958 0.396000533 -0.039309441 0.063034809 0.014025514 0.997138790
+1953.888574656 -6.433502657 -0.643676530 0.456197632 -0.039952590 0.070762260 0.142165267 0.986502233
+1954.989471744 -5.958769478 -0.434426207 0.511065286 -0.032389666 0.048391856 0.169144248 0.983870161
+1956.090277696 -5.469519153 -0.405027551 0.548919622 -0.062709720 0.038590382 0.205619848 0.975858546
+1957.288037728 -4.941147562 -0.190056262 0.597519004 -0.052142590 0.031764499 0.192282015 0.979439095
+1958.290296928 -4.450849111 -0.002624685 0.659797816 -0.037945139 0.019692628 0.126944707 0.990988630
+1959.389854080 -3.926767693 0.025037288 0.682866990 -0.062849690 0.030928394 0.102650930 0.992248552
+1960.588704768 -3.385259396 0.094842475 0.714057765 -0.055756897 0.039723393 0.135371279 0.988427487
+1962.089109984 -2.664711909 0.025425939 0.786053230 -0.035831002 0.007022312 0.010140302 0.999282262
+1963.589982336 -1.963534389 -0.021053794 0.832728400 -0.049155793 0.012922318 0.019415950 0.998519295
+1964.588091104 -1.499029407 -0.114980854 0.889903273 -0.045918831 0.014673082 0.052696034 0.997446907
+1965.789068864 -0.926923995 -0.100689903 0.901350509 -0.038099614 0.019690304 -0.021929618 0.998839748
+1968.989857536 0.660022471 -0.102605504 1.002750066 -0.019613507 0.022518945 -0.011788404 0.999485007
+1969.988619520 1.133195659 -0.124976638 1.089614698 -0.044220542 0.002571856 0.003413585 0.999013171
+1971.488255168 1.859997177 -0.222394668 1.072853436 -0.029810213 0.043355243 -0.046268595 0.997542947
+1972.589499872 2.247970526 -0.329429899 -0.133031830 -0.038211542 0.051343296 -0.051681751 0.996611176
+1973.588829568 2.777077770 -0.399503699 -0.108032924 -0.025605322 0.048051467 -0.012229160 0.998442269
+1974.789073344 3.357375880 -0.389291306 -0.139822775 -0.018650132 0.059687790 -0.055608764 0.996493002
+1975.790190784 3.883021576 -0.419471287 -0.169648497 -0.022808548 0.047303204 -0.003176329 0.998615633
+1976.987560480 4.414927834 -0.391262847 -0.127411857 -0.010055854 0.061244495 -0.015944659 0.997945316
+1978.089482912 4.919631018 -0.471045909 -0.134784827 -0.016546358 0.031781793 0.010835263 0.999299668
+1978.988700416 5.442918822 -0.515192389 -0.124325318 -0.037115779 0.010200033 0.017038180 0.999114194
+1980.189740352 6.006695640 -0.532124928 -0.137230012 -0.022287268 0.019877832 0.015179855 0.999439250
+1981.089210112 6.527098074 -0.600737622 -0.147326100 -0.057351961 0.016967417 0.056883497 0.996588292
+1982.088735040 7.060038574 -0.527843673 -0.193018251 -0.051046033 0.026013522 0.006650965 0.998335844
+1983.389671968 7.716850818 -0.541003553 -0.186347611 -0.026394187 0.051586965 0.001928087 0.998318340
+1984.789501600 8.384181424 -0.615592671 -0.206203842 -0.057775591 0.049704420 0.042593493 0.996181882
+1985.788914944 8.907906531 -0.631047028 -0.221109740 -0.017978756 0.040919766 0.080936003 0.995717230
+1986.890418112 9.409811756 -0.701659469 -0.219767255 -0.035580291 0.036042334 0.077206563 0.995728497
+1989.588001984 10.880415765 -0.671288572 1.401431325 -0.048873481 0.005551762 0.002206990 0.998787631
+1990.689679904 11.411370754 -0.775528129 1.435405091 -0.027176800 -0.017456396 0.019422582 0.999289998
+1991.688790208 11.905991941 -0.951215508 1.441893834 -0.057063814 -0.014394924 0.122678547 0.990700529
+1992.888886720 12.434224812 -0.993909492 1.447052601 -0.038006365 -0.008675017 0.161430796 0.986114308
+1994.190519328 12.979338432 -1.093426778 1.453075148 -0.066419192 -0.009751794 0.278582478 0.958063842
+1995.890733056 13.700467271 -1.136891930 1.432521251 -0.068653460 -0.023742573 0.406019686 0.910973259

ground-truth/IN_MULTI_01.txt

@@ -0,0 +1,109 @@
+#timestamp tx ty tz qx qy qz qw
+168.418239904 -0.000001717 0.000001975 0.000008840 -0.000212893 0.000145427 -0.000064424 0.999999965
+179.217803200 -0.088129983 0.308408660 0.383013046 -0.012129785 0.002771148 0.144902771 0.989367665
+182.818505024 -0.028811646 0.811007437 0.444933894 0.003587178 -0.009447009 0.237102703 0.971432035
+186.418292000 0.321233256 1.170839583 0.528471441 0.090632374 -0.105660873 0.345458409 0.928051740
+189.018929888 0.682838271 1.552884419 0.547727389 0.101453105 -0.154801384 0.318434827 0.929700526
+192.818238144 1.166094688 1.768882007 0.544404291 0.071339727 -0.157978207 0.166141306 0.970747445
+194.918157888 1.661960343 1.714651268 0.549044521 0.091349964 -0.130238979 0.169495968 0.972606867
+196.817954560 2.172380164 1.740414119 0.555318985 0.077745940 -0.124441905 0.154514663 0.977033773
+199.118038304 2.675110290 1.763681309 0.547073150 0.072784169 -0.107407698 0.181070343 0.974874132
+202.017888992 3.180512243 1.725591041 0.501801514 0.015803268 0.003993311 0.167938459 0.985662714
+204.317913568 3.624034303 1.455147871 0.468395815 0.009459171 0.071161507 0.182619202 0.980559430
+212.718140672 3.147943057 1.272484549 0.463227971 0.003659751 0.098845686 0.204315437 0.973894929
+216.317829440 2.656656539 1.388660319 0.488869322 0.038325434 0.050486382 0.199127489 0.977921534
+222.318039424 2.161590785 1.523503612 0.542550833 0.025402871 -0.025603262 0.176219432 0.983689934
+229.817752704 1.943926271 1.624004132 0.479462860 0.027929173 0.027798695 -0.072048497 0.996622399
+232.517666016 2.387648285 1.354857001 0.479834376 -0.000064056 0.034378278 -0.164329983 0.985806162
+234.417526976 2.898403349 1.300636165 0.508830956 0.007693495 0.017077758 -0.202050730 0.979195933
+236.317852704 3.401860237 1.316223993 0.517255528 0.007548332 -0.051557285 -0.293923123 0.954407709
+238.817612864 3.902209320 1.269622918 0.528636896 0.018820796 -0.046397426 -0.365958744 0.929283200
+245.017266432 3.707579722 0.806600720 0.505194047 0.036645142 -0.007511384 -0.525330804 0.850075480
+250.317596832 3.673196421 0.760279773 0.503473242 0.038536868 0.019323314 -0.721166457 0.691419281
+255.317288640 3.598624827 0.832904586 0.481373842 -0.071399814 -0.021752904 0.867250248 -0.492245893
+262.117505120 3.488502755 0.976280494 0.475183805 -0.091612028 -0.021070266 0.961312735 -0.258923336
+267.217572288 3.963106772 1.149193164 0.468551487 -0.102586347 -0.039516966 0.983966756 -0.140442585
+271.917640544 4.226015971 1.262197140 0.465066210 -0.091649339 0.007338539 0.989927463 0.107658889
+280.017178752 3.785609136 1.482038428 0.577933022 0.092438932 -0.042962867 0.979149555 0.175715083
+282.017190112 3.275759892 1.549133853 0.591172185 0.132300064 -0.027807931 0.974883905 0.176989231
+284.216777856 2.760068453 1.637343036 0.578917235 0.118458644 -0.016445095 0.966044963 0.229030018
+286.616940896 2.258298103 1.720921116 0.585529925 0.095235319 -0.008008717 0.972739969 0.211290453
+290.417528192 1.774553725 1.578677064 0.552192549 0.065285187 -0.013830094 0.977781532 0.198722569
+293.217216896 1.277771890 1.532319333 0.533528169 0.025338306 -0.002535182 0.949656947 0.312256900
+296.317039136 0.778401073 1.611246954 0.518045291 -0.016461657 0.013057196 0.894654226 0.446266720
+299.317210560 0.277397224 1.603690573 0.490831000 0.007838938 0.035678317 0.858270490 0.511901504
+304.217688128 -0.194406465 1.426621917 0.487691026 -0.014324738 0.021963459 0.710512107 0.703198575
+308.017253792 -0.475956115 0.977306497 0.477073255 -0.008660888 0.059680783 0.536214027 0.841926377
+311.017313184 -0.762103961 0.550722271 0.502259414 0.008387775 0.024646044 0.622059806 0.782538450
+314.217349280 -0.768704849 0.045777225 0.521742603 0.012581101 0.013219327 0.710040789 0.703926347
+318.218035776 -0.725096408 -0.463836043 0.495116106 -0.050980963 0.007140448 0.755349052 0.653300626
+322.317797280 -0.246828468 -0.670488244 0.497649173 -0.043862948 0.006330974 0.788928520 0.612888675
+327.617816736 0.188001771 -0.950738717 0.498462301 -0.044656939 -0.009744047 0.828355811 0.558340091
+331.418153600 0.682854577 -1.056990999 0.503904758 -0.067010282 -0.010717187 0.801991512 0.593473029
+337.018410336 0.905419801 -1.145810508 0.494784468 -0.073953749 0.013440909 0.628682496 0.774023382
+342.918790976 1.105093562 -1.121193169 0.496806220 -0.081008534 0.019210425 0.414631221 0.906174550
+349.418800448 0.942184403 -1.210533014 0.500041549 -0.073950298 0.040688265 0.175494762 0.980856674
+354.418649504 0.891923446 -1.415764225 0.486109075 -0.051650079 0.072337171 -0.072844711 0.993375857
+359.418552992 0.505241510 -1.754078519 0.470572113 -0.037791319 0.074287190 -0.148087056 0.985457178
+369.418772256 1.008390364 -1.840118243 0.457934593 -0.030899327 0.046999381 -0.118630322 0.991345304
+371.618770432 1.511561675 -1.738043715 0.466739190 -0.015553161 0.053406989 -0.113376727 0.991994901
+373.818933312 2.031796358 -1.743402158 0.483316450 -0.032299895 0.041908589 -0.068586354 0.996242267
+375.718870112 2.539975745 -1.776859497 0.488130406 -0.041610062 0.054956691 -0.016346642 0.997488594
+377.618789536 3.062493849 -1.688631466 0.485092560 -0.027077618 0.040970714 -0.035531374 0.998162347
+379.119295360 3.585673873 -1.732538434 0.492874238 -0.022850978 0.038618949 -0.043740703 0.998035828
+380.619100992 4.087929825 -1.777902717 0.523030097 -0.014211936 0.017838564 -0.021565867 0.999508414
+385.519250688 3.577676187 -1.689122524 0.497469189 -0.044043606 0.064675555 0.058294896 0.995229273
+387.219263904 3.075725681 -1.612993261 0.502734011 -0.043541591 0.056284046 0.035481762 0.996834812
+389.019365376 2.567587168 -1.580772441 0.491764714 -0.021871717 0.074110231 0.029391930 0.996578038
+390.819325472 2.063584737 -1.618008443 0.488253897 -0.053479263 0.078962480 0.067347520 0.993162415
+393.319163200 1.562404652 -1.699429179 0.484632714 -0.019526395 0.079229360 0.080565462 0.993404760
+395.119242176 2.271627310 -1.784951145 0.517955907 -0.031094927 0.069862477 0.191430280 0.978522758
+397.019424704 1.917974024 -1.980650981 0.512927992 -0.058422305 0.057617231 0.435233721 0.896570520
+399.819511744 1.545225244 -2.327099800 0.493439074 -0.084617112 0.038339429 0.603459195 0.791964035
+406.619518880 1.547376378 -2.842174419 0.478857108 -0.124299329 0.028561998 0.710053932 0.692504275
+412.019471040 1.514840762 -3.352145433 0.479919681 -0.127175625 0.022072480 0.724822752 0.676739353
+416.719270176 1.439794283 -3.865406329 0.441753371 -0.125402032 0.062291128 0.705478845 0.694765157
+424.219494048 1.418336837 -4.366020460 0.454101165 -0.187527648 0.053193292 0.764957737 0.613880971
+432.119660640 1.327565671 -4.276685831 0.457377463 -0.203495542 0.056161641 0.891908944 0.399921103
+434.919493952 1.051070852 -3.828469691 0.428380201 -0.181407811 0.059103152 0.921984017 0.336966370
+437.719809440 0.672057226 -3.476355028 0.436804433 -0.113828377 0.033354301 0.965766698 0.230712089
+440.319986592 0.278642864 -3.169051627 0.452996986 -0.106886507 -0.006888944 0.985776797 0.129516809
+442.519685120 -0.200450849 -3.043783627 0.441684888 -0.105832382 -0.031412938 0.991113672 0.074224097
+447.319670272 -0.663299258 -2.897296926 0.394475409 -0.164941051 -0.025864491 0.983565393 -0.068757266
+450.319377728 -1.182419666 -2.994025341 0.386294721 -0.144424450 -0.040348723 0.963188634 -0.223124057
+453.719727360 -1.666975882 -3.150696720 0.368743114 -0.126392853 -0.038180623 0.923854066 -0.359255374
+457.819741888 -2.067821870 -3.479680042 0.369425696 0.101296398 0.064846839 -0.851643773 0.510146798
+460.519515520 -2.290734605 -3.941404591 0.364934433 0.084289940 0.065812557 -0.835310725 0.539288359
+463.019409664 -2.590434312 -4.367783627 0.340619365 0.088566643 0.061403230 -0.827368833 0.551233501
+465.819934080 -2.798624767 -4.807513561 0.354908506 0.066583849 0.061622606 -0.837303585 0.539170535
+469.619404608 -2.964306277 -5.294348183 0.351215981 -0.083541605 -0.034017320 0.907840361 -0.409504670
+473.419651968 -3.354504441 -5.583196344 0.333799707 0.088087414 0.036023292 -0.847760380 0.521784966
+477.119703680 -3.766191676 -5.913613529 0.344588769 0.060333526 0.046930637 -0.752870442 0.653722206
+479.919588640 -4.006904101 -6.377567423 0.370432653 0.020335516 0.027811386 -0.716042421 0.697211775
+482.620286368 -4.093801276 -6.875154489 0.343591382 0.035588108 0.012573824 -0.708171931 0.705036192
+487.820420192 -4.117988285 -7.370771827 0.393045303 -0.035874204 -0.064896121 -0.722923232 0.686944079
+492.820348352 -4.066747492 -7.870459069 0.404208204 -0.044222643 -0.145532985 -0.570495905 0.807096664
+496.120769248 -3.982595353 -8.142792966 0.408613327 0.007560638 -0.130577476 -0.355772158 0.925377325
+501.821833312 -3.868345600 -8.016505781 0.474497895 -0.024398715 -0.060173548 -0.125883291 0.989919890
+505.322397728 -3.741643501 -7.524482130 0.467241275 0.002969344 -0.020801595 -0.188969566 0.981760267
+508.923004608 -3.817410315 -7.030009385 0.472421706 -0.007273102 -0.012427123 -0.102467423 0.994634224
+511.623634144 -3.584734381 -6.564647898 0.444509983 -0.008637486 0.006080285 -0.189787866 0.981770466
+513.723354336 -3.296815010 -6.138566613 0.441994450 0.004938952 0.026091273 -0.270502989 0.962355138
+515.924254432 -2.966111480 -5.757054530 0.441733550 0.018234580 0.035516012 -0.384344307 0.922328789
+522.025104832 -2.483976618 -5.597998164 0.444325399 -0.007044553 0.055691219 -0.490674801 0.869535822
+524.625164704 -2.062372447 -5.833972522 0.407343527 0.008453591 0.107532150 -0.516776151 0.849301748
+527.826065984 -1.634862993 -6.124856341 0.409741771 0.039399786 0.072856308 -0.654236287 0.751745843
+530.825875936 -1.466966031 -6.582561796 0.501962038 0.005880876 -0.044073264 -0.690614082 0.721860854
+535.126570656 -1.432086757 -7.122427112 0.538914047 -0.071541078 -0.106226745 -0.698926503 0.703638950
+537.027083328 -1.438254708 -7.626246490 0.544807763 -0.065869964 -0.071801451 -0.743598986 0.661494970
+540.227718368 -1.579806504 -8.116810587 0.518577566 -0.051792486 -0.023842560 -0.861387528 0.504754459
+543.628283968 -1.740412458 -8.348556252 0.522392796 0.071225158 0.020383203 0.960128990 -0.269570658
+545.928624544 -1.659559965 -8.200099571 0.503603832 0.046327887 0.000993154 0.998787256 -0.016760170
+550.229474112 -1.579013322 -7.829769162 0.478932984 -0.054123379 -0.037282157 0.974935562 0.212569238
+553.830179136 -1.513304132 -7.327751561 0.453272690 -0.088286267 -0.046215881 0.918517986 0.382621543
+556.131220320 -1.498452097 -6.816056306 0.451496982 -0.122336344 -0.074711396 0.921515294 0.360924488
+558.129951264 -1.690217765 -6.338867241 0.436964249 -0.092830222 -0.029985979 0.921831227 0.375120694
+559.930855520 -1.896174472 -5.894287038 0.430156738 -0.096369331 -0.045112920 0.945825682 0.306751197
+562.031351520 -2.234125403 -5.478598601 0.426603756 -0.087089560 -0.064285476 0.968672400 0.223520003
+564.231606976 -2.599381592 -5.133470816 0.437110688 -0.083882345 -0.072145911 0.981743931 0.154732703
+566.932086048 -3.028100309 -4.867920049 0.449311828 -0.042273621 -0.058827712 0.995348889 -0.063540107

ground-truth/IN_MULTI_02.txt

@@ -0,0 +1,152 @@
+#timestamp tx ty tz qx qy qz qw
+3151.153126336 -0.000010612 -0.000016590 0.000069104 -0.000499133 0.000482445 0.000105958 0.999999753
+3164.653483104 -0.059076571 -0.049678362 0.437437598 -0.044850905 -0.041406122 -0.242598001 0.968204597
+3166.853812288 0.374398042 0.216867222 0.539481001 -0.077502190 -0.102661018 -0.324237102 0.937189648
+3168.953004640 0.902712882 0.222555513 0.554549012 -0.032463189 -0.065890117 -0.420199942 0.904453792
+3170.853164224 1.357423757 -0.010602406 0.583112109 -0.018050285 -0.079482240 -0.482817801 0.871919617
+3172.453608928 1.615743171 -0.463135453 0.643321991 -0.072453283 -0.087393128 -0.533176873 0.838352854
+3174.854264512 1.693476200 -0.949112054 0.690258162 -0.125647452 -0.122155043 -0.593754773 0.785331951
+3182.553875360 1.466247630 -0.502414280 0.667327711 -0.068226429 -0.110473087 -0.488855123 0.862648018
+3185.554019392 1.200014498 -0.069362911 0.648203250 -0.043329460 -0.111683712 -0.414570511 0.902097956
+3188.553570272 0.793378667 0.235038896 0.643530509 -0.053544793 -0.079318990 -0.459065723 0.883232805
+3191.054040352 0.524268084 0.196653900 0.588106304 -0.060545471 -0.009208569 -0.658663396 0.749941431
+3194.253777216 0.024682346 0.226617967 0.560883266 -0.059599503 0.024278052 -0.738003829 0.671721029
+3197.053401344 -0.431876318 0.015949524 0.567233009 -0.057544198 -0.023329492 -0.766750742 0.638934820
+3199.153482688 -0.855484697 -0.274159777 0.593380636 -0.115269512 -0.059916417 -0.753632031 0.644330967
+3200.754447360 -1.147988173 -0.683424344 0.610549634 -0.130457951 -0.098390428 -0.651034284 0.741252215
+3203.154330560 -1.168586587 -1.192800956 0.615174174 -0.103532092 -0.112693827 -0.491374028 0.857399128
+3204.553948000 -0.976817101 -1.679284718 0.644168651 -0.120517635 -0.121896655 -0.445097268 0.878922893
+3205.954001408 -0.608930792 -2.046446729 0.653400239 -0.093545702 -0.127216344 -0.397457616 0.903931944
+3207.454278752 -0.300113316 -2.439298232 0.659045618 -0.088803010 -0.120044262 -0.308529224 0.939421847
+3210.754189088 0.101990934 -2.687058667 0.682332857 -0.046889604 -0.168438432 -0.070762688 0.982050291
+3216.354757792 -0.261310532 -2.350388411 0.548529958 -0.063305691 -0.033163245 -0.278286739 0.957835778
+3218.754372064 -0.587161701 -1.952925080 0.525168956 -0.063091797 -0.071278280 -0.367145143 0.925280286
+3221.154154304 -0.845485971 -1.500551066 0.511082586 -0.071381278 -0.080820165 -0.382369174 0.917696558
+3224.354413984 -1.069979379 -1.057989307 0.510421712 -0.035368800 -0.109795416 -0.298598682 0.947382269
+3226.655050272 -1.117970749 -0.936259619 0.514149408 0.001372653 -0.146289149 -0.054501484 0.987738574
+3230.155479296 -0.980240663 -1.053976784 0.548036827 0.030359560 -0.187153632 0.195671444 0.962166727
+3233.855205152 -0.653252677 -1.147221186 0.585641765 0.097183610 -0.215839604 0.423744742 0.874305080
+3237.255145440 -0.468582953 -1.545901615 0.567572832 0.141219811 -0.140314376 0.632925856 0.748180606
+3240.055709184 -0.464182223 -1.810416916 0.561961530 0.110882331 -0.090377558 0.807634009 0.572071047
+3243.855416896 -0.411038529 -2.116888803 0.514672396 0.014979024 -0.014118912 0.923032949 0.384170280
+3248.054618400 -0.675059500 -1.697345601 0.474170040 -0.004378513 -0.020926812 0.861443913 0.507403609
+3250.355070048 -0.885009033 -1.240831011 0.433431291 -0.052455580 0.021330999 0.790869757 0.609359669
+3252.355685600 -1.098596928 -0.777236830 0.402623376 -0.082308425 0.008831807 0.773821038 0.627972223
+3254.155062880 -1.182986362 -0.265481714 0.391202626 -0.118709471 0.032674669 0.746171894 0.654269628
+3255.855121600 -1.245289195 0.240995436 0.376875753 -0.123079322 0.039868571 0.727781532 0.673495936
+3257.655719616 -1.230531654 0.767820328 0.379258103 -0.109729686 0.012156886 0.744672861 0.658236052
+3259.555721280 -1.233860065 1.273541002 0.372936437 -0.113953521 0.002786692 0.763061315 0.636195824
+3261.355117440 -1.265809131 1.816568555 0.384863634 -0.098257629 0.009522446 0.717538011 0.689488718
+3263.855348480 -1.034373576 2.266562041 0.354876067 -0.171194921 0.066693036 0.768845818 0.612471306
+3265.754914496 -0.632568925 2.591802670 0.341423864 -0.208294524 0.063406327 0.873886313 0.434644983
+3267.855682592 -0.355300875 2.868210795 0.362004710 -0.217981739 0.020232215 0.956470063 0.192977307
+3270.155230656 -0.257052404 3.261364408 0.372369948 -0.213856433 -0.013731737 0.975284820 -0.053826254
+3274.155298208 0.065101632 3.578761661 0.383463791 -0.139324347 -0.046366663 0.946007252 -0.288981337
+3280.055323136 -0.410459446 3.371647034 0.433782902 0.055218876 0.008549567 0.935623608 -0.348550506
+3281.855088032 -0.816162418 3.063079242 0.417141452 0.050850823 0.028609939 0.929083657 -0.365240302
+3283.556007936 -1.262617414 2.764615533 0.425849148 0.092677422 0.006772470 0.912927290 -0.397404323
+3285.155085376 -1.709337164 2.480899138 0.381460162 0.061009267 -0.006609299 0.918491208 -0.390652559
+3286.555013696 -2.045699814 2.053390760 0.367783762 0.028970393 0.013733808 0.910828485 -0.411539825
+3287.756323872 -2.458174025 1.741075572 0.355095696 0.032308794 -0.005382080 0.884790236 -0.464838523
+3288.954072864 -2.839890450 1.394526601 0.340621980 0.013558735 -0.009735124 0.903532454 -0.428196234
+3290.455540608 -3.263029213 1.057760328 0.311119130 -0.013865302 -0.016667856 0.897707281 -0.440060472
+3292.255686656 -3.749185969 0.907953670 0.288799355 0.056754629 0.045715997 -0.822266378 0.564420850
+3293.855374432 -4.058913490 0.505089382 0.284565092 0.050613156 0.068567605 -0.747772866 0.658464450
+3295.955103488 -4.232443067 0.036321331 0.262670083 0.054449677 0.065084288 -0.739921615 0.667321573
+3298.256182432 -4.619981005 -0.279757474 0.268414893 0.037288276 0.058858309 -0.770818034 0.633236098
+3302.155435680 -4.819335652 -0.003471515 0.230600029 -0.142467922 -0.121406423 0.877409230 -0.441721693
+3309.855381056 -4.726621795 -0.080125964 0.223931584 0.140245725 0.155685901 -0.734418362 0.645543179
+3314.355566592 -4.553018372 -0.550605419 0.247184811 0.086300864 0.106573255 -0.575506080 0.806219122
+3316.655930304 -4.477728055 -1.045994253 0.250790792 0.035280357 0.107260882 -0.467539863 0.876731858
+3318.555525856 -4.326724665 -1.560908249 0.241267305 0.030660528 0.136519246 -0.468862429 0.872119457
+3320.756076480 -4.037774786 -1.899967668 0.234896299 0.054824735 0.143082830 -0.679581380 0.717421518
+3322.955702304 -3.804107596 -2.037393204 0.240256789 0.118456383 0.137467954 -0.834805319 0.519784543
+3326.155589536 -3.583797677 -1.829830874 0.259810543 -0.126734385 -0.066960445 0.942254626 -0.302676043
+3330.456030304 -4.019260479 -2.080322917 0.261654374 -0.071386157 -0.075866566 0.969033417 -0.223884931
+3332.455580480 -4.426724597 -2.366598514 0.264156602 -0.068615023 -0.089225734 0.968752022 -0.221025566
+3334.355182336 -4.761637010 -2.755164532 0.251558848 -0.072030866 -0.074196984 0.973765655 -0.202703801
+3336.155574272 -5.118889657 -3.130662760 0.256287951 -0.049924471 -0.068674975 0.952721089 -0.291746289
+3337.955489856 -5.583470573 -3.415813029 0.255908712 -0.018066528 -0.059316844 0.929695827 -0.363074318
+3339.454816192 -5.905938286 -3.783780211 0.279081086 0.027680348 -0.016958608 0.936871997 -0.348165320
+3341.855078560 -6.248761376 -4.174088708 0.238425417 -0.022108114 -0.050047247 0.943286463 -0.327443715
+3349.855401248 -5.852769268 -3.972721962 0.210627712 0.105092784 0.074816111 -0.833559754 0.537162587
+3354.055732224 -5.784710336 -4.095398220 0.225736187 0.064355510 0.024765531 -0.681156945 0.728885690
+3358.056102112 -5.782342971 -4.197423008 0.279119945 0.015112926 -0.050618729 -0.490398700 0.869897326
+3361.256406240 -5.644273068 -4.382467197 0.305036594 -0.003170151 -0.054373041 -0.250145994 0.966676202
+3364.456565184 -5.650469986 -4.174063686 0.307237687 -0.009466518 -0.052878894 0.002893620 0.998552992
+3366.656490112 -5.793884765 -4.304748318 0.309059337 0.012711189 -0.076148561 0.249756434 0.965227413
+3370.256535712 -6.070997886 -4.326764037 0.274893106 0.009510896 -0.019644065 0.480178124 0.876901152
+3375.956153728 -5.834521662 -3.863672413 0.280684436 0.013656543 -0.076070914 0.412770171 0.907551848
+3377.856528544 -5.401930385 -3.559459159 0.302845561 0.028942430 -0.105465561 0.416416329 0.902573922
+3379.856446976 -5.003242140 -3.264080697 0.316859181 0.048884757 -0.107346500 0.478835539 0.869946337
+3382.056275520 -4.694801574 -2.866911851 0.358759656 0.060089984 -0.176985872 0.426250511 0.885086815
+3384.555943040 -4.348941988 -2.501507260 0.361717353 0.051303626 -0.229869485 0.288435247 0.928081748
+3387.555332512 -3.969802768 -2.155068583 0.393583451 0.005918532 -0.299096745 0.105311283 0.948376562
+3395.956566144 -3.771889206 -1.680327984 0.359987578 -0.033357727 -0.094948548 0.202358925 0.974128039
+3399.656222240 -4.016626646 -1.455670563 0.330321407 -0.065789726 -0.035158876 -0.039455244 0.996434291
+3405.856064864 -3.972945170 -1.652306882 0.351500919 -0.061361604 -0.001172622 -0.290368335 0.954946217
+3407.956698368 -3.487654364 -1.809520592 0.354730782 -0.067652134 0.011475114 -0.306464828 0.949406948
+3409.656784832 -2.972315164 -1.889968999 0.375071331 -0.062509981 -0.021764767 -0.306734045 0.949492361
+3411.556212960 -2.473705908 -2.009555635 0.388071591 -0.057310307 -0.061592275 -0.414972523 0.905937488
+3413.455880096 -1.996236034 -2.183561636 0.398884685 -0.062359281 -0.095623095 -0.508728835 0.853326333
+3415.556797472 -1.672687073 -2.588662823 0.435634547 -0.101224272 -0.092924804 -0.614502498 0.776858697
+3417.456417888 -1.436159518 -3.031952631 0.419575007 -0.077071529 -0.072681704 -0.693560498 0.712570037
+3419.455943712 -1.304880485 -3.526547742 0.431818200 -0.108850016 -0.054093002 -0.816635117 0.564216911
+3421.355656288 -1.203986839 -4.032291640 0.412558698 0.089423250 0.010152203 0.873732653 -0.478011703
+3423.056954912 -1.421693541 -4.488285560 0.386254820 0.086999319 0.019227678 0.908184162 -0.408981945
+3424.757056032 -1.782774025 -4.856690283 0.373803976 0.096627759 0.021984388 0.913565079 -0.394438690
+3426.656088032 -2.108153658 -5.266655823 0.359233006 0.122769242 0.014765205 0.929589679 -0.347240616
+3428.257178016 -2.520547771 -5.558769984 0.346425705 0.125495246 0.055177898 0.921558509 -0.363234849
+3429.857073440 -3.002452102 -5.728688947 0.321167187 0.074932299 0.015421501 0.910888396 -0.405503808
+3431.655373344 -3.357823102 -6.106858849 0.301623036 0.020713621 -0.013790665 0.894931278 -0.445513836
+3433.455982048 -3.708070269 -6.477258948 0.285077922 0.029516583 -0.015748560 0.899518040 -0.435605188
+3434.956696416 -4.197881159 -6.617505887 0.265509260 0.020103860 -0.014906173 0.891503134 -0.452327026
+3437.556496832 -4.637420597 -6.845799161 0.255783566 -0.015705043 -0.020999666 -0.857890676 0.513174354
+3443.456062304 -4.935448432 -7.118723829 0.333818386 -0.146317347 -0.168855359 -0.749806988 0.622797405
+3446.555950016 -5.323263651 -7.440565539 0.363102394 -0.157958535 -0.218045440 -0.553714814 0.787978490
+3448.556570336 -5.487792036 -7.591379041 0.384679850 -0.156559520 -0.255475355 -0.328371643 0.895766350
+3451.556243648 -5.269762319 -7.646570130 0.411201051 -0.073622774 -0.285055559 -0.093317079 0.951114294
+3454.056296864 -5.284462883 -7.694750599 0.356976680 -0.000685377 -0.242404659 0.147395470 0.958914810
+3457.356273760 -5.181475184 -7.484474490 0.282431534 0.014661655 -0.065250556 0.328111999 0.942270541
+3460.456180256 -4.709970470 -7.286123089 0.252110120 -0.022425159 -0.004773230 0.485781312 0.873782207
+3461.855429056 -4.323623443 -6.937958799 0.261145559 -0.011671014 0.012077463 0.510475919 0.859730757
+3463.355788896 -3.933378463 -6.589748928 0.261568065 -0.010614553 0.001806448 0.488375812 0.872569558
+3464.857402080 -3.500220974 -6.304514152 0.261232411 -0.044357087 0.013430545 0.524999775 0.849842419
+3466.255837920 -3.104571935 -5.963516511 0.284346708 -0.038046681 0.012273733 0.542874677 0.838864639
+3467.756457408 -2.670728083 -5.649049825 0.294203216 -0.050172273 0.010045931 0.577890742 0.814511788
+3469.257172544 -2.242096845 -5.342688136 0.302326816 -0.096238892 0.022426112 0.648435109 0.754833256
+3470.556232736 -1.944801568 -4.944349493 0.316039807 -0.098993151 0.011353822 0.684285317 0.722379211
+3472.056509024 -1.576893829 -4.557619998 0.342905383 -0.137549388 -0.039751323 0.788201997 0.598537992
+3473.557378176 -1.282925343 -4.124124586 0.351454453 -0.159281732 -0.055965894 0.875199853 0.453351189
+3475.055970720 -1.278417440 -3.613908237 0.355637965 -0.137439789 -0.051204730 0.916558421 0.372039869
+3476.656135040 -1.237165363 -3.108146163 0.351694032 -0.150451547 -0.072474214 0.969803000 0.177759345
+3478.357372384 -1.410079459 -2.640399654 0.381584194 -0.092811294 -0.082746678 0.992032050 -0.020389993
+3480.156817888 -1.800073499 -2.304553441 0.352986163 -0.096357174 -0.116342392 0.963611577 -0.220538375
+3481.655362368 -2.301197690 -2.103629637 0.323666831 -0.092346801 -0.092362137 0.942237385 -0.308439743
+3483.056159040 -2.842482057 -2.016683195 0.328618701 -0.076858537 -0.116552500 0.895695275 -0.422189121
+3484.556747008 -3.319562789 -1.893527752 0.302979391 0.062452358 0.129940666 -0.836857723 0.528109910
+3486.055520960 -3.825002927 -2.008224593 0.270474500 0.035189417 0.111814982 -0.847947140 0.516973115
+3488.256013824 -4.083535694 -1.845651014 0.250598786 0.008249569 0.100010695 -0.690205241 0.716627649
+3490.356571072 -4.169021446 -1.419111369 0.284035044 -0.037953481 0.070146966 -0.497831841 0.863601910
+3518.655882272 -4.486032870 -0.997581881 0.290947710 -0.073554244 0.013512231 -0.564967292 0.821721140
+3520.955274400 -4.821354241 -0.602265240 0.285872317 -0.038811307 0.046942961 -0.507972791 0.859220368
+3525.056617664 -4.616624946 -0.173247391 0.173253800 -0.003295182 0.140798243 -0.630004346 0.763719263
+3527.155584672 -4.281437968 0.080216032 0.152197308 0.061759591 0.162393529 -0.795669836 0.580289964
+3529.056609152 -3.794648372 0.279854464 0.159641153 -0.093537205 -0.135840915 0.851893808 -0.497072599
+3530.955799520 -3.334759271 0.491988644 0.219169455 -0.061717757 -0.088748720 0.874764190 -0.472343409
+3532.655675456 -2.942277061 0.815712677 0.245258556 -0.060314259 -0.116929511 0.876543989 -0.462997251
+3534.856264512 -2.626057044 1.227703802 0.254746954 -0.104286430 -0.124173519 0.904480593 -0.394494738
+3536.656624832 -2.288454651 1.612762818 0.284930248 -0.098128008 -0.142948622 0.884110200 -0.433926219
+3539.256240864 -1.894558687 1.990216360 0.297106003 -0.085321528 -0.154329559 0.856332870 -0.485389965
+3541.955958688 -1.679136543 2.463004517 0.333548977 -0.077575062 -0.136191834 0.899441765 -0.407976298
+3544.855946368 -1.378719880 2.875670182 0.362057591 -0.078844072 -0.161990738 0.882387924 -0.434672977
+3547.856345952 -1.014346974 3.249733304 0.393044927 -0.082248232 -0.130151234 0.888259327 -0.432779097
+3552.556493920 -1.020403922 3.124838925 0.412620266 0.024158928 0.080116641 -0.764664259 0.638982972
+3554.556109632 -1.171996572 2.624492875 0.401858074 0.026081221 0.076349961 -0.745387385 0.661740450
+3556.555941536 -1.280459908 2.127059705 0.402368678 0.021267003 0.072443167 -0.708248867 0.701921764
+3558.257091392 -1.407521260 1.636834235 0.409697962 -0.018225851 0.086910313 -0.607306773 0.789494678
+3559.757107520 -1.402985974 1.138933631 0.406244643 -0.027261654 0.069666181 -0.598380632 0.797717249
+3561.555730240 -1.267696375 0.656721833 0.412217689 -0.021927973 0.069834590 -0.590597733 0.803645023
+3563.755438688 -0.901973551 0.310169453 0.466600143 -0.062822096 0.004312969 -0.458825130 0.886296477
+3565.856436512 -0.555687268 0.093486591 0.455150336 -0.049676613 -0.009956774 -0.224835905 0.973081656
+3568.456283424 -0.135829398 -0.030740840 0.178929318 -0.036036540 -0.067285119 -0.135175828 0.987880247

ground-truth/IN_SMALL_01.txt

@@ -0,0 +1,26 @@
+#timestamp tx ty tz qx qy qz qw
+292.632341216 0.000000001 0.000000000 0.000000000 0.000000005 0.000000007 0.000000003 1.000000000
+300.733485088 -0.228417720 0.035531838 0.456334266 -0.032193193 0.033405849 0.026489053 0.998571969
+305.733541984 -0.211073045 0.503151265 0.649670525 -0.017340711 -0.010953455 0.026292200 0.999443868
+307.734801984 -0.090767254 0.961271215 0.642904269 -0.038316461 0.033499054 -0.225923651 0.972814564
+309.734997792 0.290118000 1.321556839 0.649193527 -0.023140452 0.034627393 -0.387908034 0.920756662
+311.835517056 0.792586981 1.411278153 0.679927473 -0.021496349 0.007617098 -0.521641863 0.852859699
+320.337283136 0.806749165 1.544436860 0.735188016 -0.018977369 0.004651522 -0.289222865 0.957062373
+327.938441568 0.314472119 1.424467394 0.677505833 -0.025127801 -0.034146887 -0.088807129 0.995146174
+330.238339264 -0.070709273 1.074230085 0.665331615 -0.038302468 -0.003647840 0.057839924 0.997584176
+332.037483392 -0.293673645 0.616498370 0.670574196 -0.027155235 0.032607852 0.092332198 0.994823662
+333.839285280 -0.064791279 0.155886417 0.682013254 -0.036177539 0.030295324 0.268057411 0.962246661
+335.940202496 0.219350646 -0.274075987 0.691297913 -0.041732120 0.034672033 0.416707979 0.907419849
+338.039680608 0.694086176 -0.511514328 0.725212057 -0.066526124 0.015642000 0.494256621 0.866625665
+339.839844896 1.225310480 -0.547275937 0.738811862 -0.026774137 -0.006544601 0.528467588 0.848505972
+341.740274784 1.713124676 -0.470932828 0.767191703 -0.052011645 -0.016607101 0.589848385 0.805666141
+343.840628224 2.206370061 -0.322750497 0.764717413 -0.062903696 0.013605250 0.664146565 0.744827162
+346.540384832 2.617398963 -0.435190444 0.784850470 -0.095250375 -0.020009635 0.827846160 0.552447061
+349.441229728 2.686692240 -0.382030630 0.827705546 -0.130163629 -0.017829209 0.936329499 0.325617626
+354.142253600 2.186897669 -0.325612238 0.829884105 -0.039783920 -0.025063098 0.923025662 0.381854865
+362.444030624 1.974756618 -0.423874364 0.790779528 -0.091365732 -0.028060643 0.985267796 0.141819596
+366.744613728 1.478838919 -0.332024499 0.769079168 -0.102067513 -0.030772690 0.992657857 -0.057151718
+369.244690208 0.972206830 -0.330787082 0.746053915 -0.055493352 -0.014409531 0.998288238 0.011577300
+373.245627424 1.329222792 -0.473133663 0.664632855 -0.100671541 0.004711288 0.957089794 0.271703837
+375.645986144 1.335886428 -0.452848569 0.640350853 -0.067074045 0.004855369 0.863014742 0.500685427
+379.646757952 1.397881955 -0.438832855 0.592780358 -0.020455312 -0.026716412 0.717735619 0.695503443

ground-truth/OUT_CAMPUS_01.txt

@@ -0,0 +1,131 @@
+#timestamp tx ty tz qx qy qz qw
+351.264911264 -0.000000000 -0.000000000 0.000000000 0.000000002 -0.000000001 -0.000000001 1.000000000
+368.163624608 0.156208850 0.086407409 0.258184647 0.018576176 0.113814754 -0.222693877 0.968043682
+370.263989184 0.642135055 -0.112470137 0.238028416 0.023023939 0.131852280 -0.359023257 0.923681324
+371.863005152 1.023682884 -0.462540659 0.273284832 0.078886210 0.104834709 -0.514456553 0.847420272
+374.762634848 1.334673413 -0.848629132 0.373200662 0.061209209 0.067235449 -0.619678517 0.779571243
+381.362065504 1.491531515 -1.359469499 0.452069823 0.069929596 0.028249040 -0.737948926 0.670629075
+383.262662304 1.225707709 -1.817403547 0.486019397 0.078516625 0.028764151 -0.846974661 0.525016186
+384.462594624 1.006530566 -2.227326045 0.482249174 0.061089862 0.037338730 -0.847365426 0.526161634
+385.761844480 0.745635934 -2.699653215 0.446151434 -0.069844433 -0.040035260 0.890622389 -0.447560804
+386.962983744 0.397011433 -3.113991612 0.434891127 -0.045381206 -0.046023517 0.895133181 -0.441088281
+388.662106976 0.063932098 -3.531298295 0.437390046 -0.045101241 -0.016203834 0.892750068 -0.447996235
+389.862132672 -0.318044451 -3.924004340 0.390352707 -0.049543391 -0.001598100 0.914643706 -0.401210311
+391.062522752 -0.689080102 -4.263152744 0.388394296 -0.047244653 -0.019549485 0.886305230 -0.460270243
+392.161259680 -1.005293273 -4.686792649 0.358710682 -0.053748556 -0.020760130 0.906900676 -0.417386189
+393.262343328 -1.391806833 -5.059427445 0.237826106 -0.051974086 -0.043556967 0.897623220 -0.435515803
+394.161088960 -1.686239037 -5.479362355 0.280652148 -0.043279166 -0.026052406 0.899865326 -0.433232662
+395.361683168 -2.042901799 -5.867832097 0.247120115 -0.053407308 -0.016996945 0.911687652 -0.407043428
+396.762520896 -2.465483124 -6.185431766 0.202107310 -0.053394312 -0.033535933 0.928176629 -0.366759568
+397.961246752 -2.831401797 -6.505949458 0.219219671 -0.069325044 -0.020020302 0.956604258 -0.282314634
+399.161748736 -3.236759105 -6.847440352 0.173141912 -0.059878951 -0.002281666 0.985171247 -0.160769355
+400.661873536 -3.755823893 -6.974295231 0.169647216 -0.072849322 -0.006150704 0.997054238 -0.023196251
+402.061389376 -4.256684007 -6.902754652 0.127999981 -0.046090891 0.019451184 0.989401770 0.136313959
+404.362505760 -4.708604453 -6.683867578 0.064232343 -0.034835627 -0.003015619 0.943723285 0.328882733
+406.060753312 -5.017425557 -6.290550528 0.033136077 -0.039912156 -0.000158951 0.903225344 0.427306483
+407.460846912 -5.357303831 -5.892443769 0.018300434 -0.033823366 0.010855256 0.877339904 0.478552690
+408.861430656 -5.588159302 -5.464432245 -0.058203358 -0.030291553 0.007699456 0.884447865 0.465591473
+409.960574368 -5.783825875 -4.981133532 -0.037076870 -0.004052787 -0.006839098 0.893983036 0.448030592
+411.360021856 -6.055251125 -4.571315234 -0.137666549 -0.013730811 0.006745479 0.870263918 0.492348435
+412.960715776 -6.262832919 -4.079639053 -0.161083505 0.000084370 0.004471283 0.862858225 0.505427115
+414.361350336 -6.505792980 -3.644273121 -0.220282542 -0.034657582 -0.002578886 0.866752408 0.497526549
+415.560613664 -6.711562765 -3.118201392 -0.276499195 -0.025980269 0.002208402 0.893034552 0.449232244
+416.959383392 -6.858334458 -2.630160215 -0.369569110 -0.017692589 0.005943088 0.856333982 0.516085953
+418.359256832 -7.009985943 -2.144144342 -0.418961888 -0.030911539 0.016285595 0.838592671 0.543638037
+419.860090304 -7.222240473 -1.655569890 -0.507356006 -0.034080633 0.013234925 0.836368018 0.546948240
+421.160135648 -7.416559901 -1.153924623 -0.543789171 -0.042910622 0.013009371 0.843123585 0.535847818
+422.459118144 -7.579882180 -0.660135267 -0.629295914 -0.032523390 0.034928020 0.801808934 0.595671972
+424.159553536 -7.657747939 -0.113894434 -0.714721774 -0.020495049 0.013227318 0.790750571 0.611652598
+426.059598016 -7.676062707 0.443433350 -0.856760630 -0.017642553 0.019986507 0.761643290 0.647447587
+427.959756992 -7.748484493 0.949715875 -0.889170885 -0.041421268 0.020176541 0.710200268 0.702490261
+429.760231392 -7.711922668 1.515356747 -0.891149416 -0.011142317 0.039293080 0.599501288 0.799330896
+431.859851392 -7.684666629 2.068784786 -0.878979129 -0.012156830 0.051273711 0.466592971 0.882900895
+433.859404608 -7.330618952 2.638739743 -0.820184328 0.003089656 0.044493005 0.308375194 0.950218582
+435.359458944 -6.904301949 3.282775264 -0.820290610 0.035595458 0.011987616 0.275090063 0.960684394
+437.259403296 -6.350743615 3.892044214 -0.765240633 0.038289557 -0.013510650 0.197893040 0.979382211
+438.359264384 -5.970019074 4.289569660 -0.737696860 0.057176068 -0.032174721 0.200400676 0.977514731
+440.058871424 -5.342499600 4.938154368 -0.699747770 0.044750022 -0.015180453 0.244581235 0.968476539
+441.158728320 -4.908817423 5.321967601 -0.625350122 0.044290169 -0.002099165 0.272214271 0.961214419
+442.257856064 -4.561505889 5.787327889 -0.626347631 0.047929041 0.001663989 0.304761927 0.951220267
+443.358614816 -4.175178353 6.127598399 -0.591502943 0.028331747 -0.010829136 0.336680516 0.941130198
+444.357744224 -3.853584252 6.540625628 -0.566886462 0.043235212 -0.012129357 0.334448296 0.941343577
+445.857691232 -3.391380077 7.047416963 -0.531068589 0.053220443 -0.010258971 0.288437910 0.955963230
+447.158455968 -2.955875190 7.418545652 -0.503117833 0.037513016 -0.015457956 0.318620257 0.947013596
+448.158191200 -2.654775667 7.902473426 -0.466331329 0.042369551 -0.022687542 0.367132321 0.928926128
+449.257847584 -2.355930497 8.340384925 -0.426955139 0.047646088 -0.013280421 0.341972244 0.938407294
+450.258544576 -1.958914701 8.686792041 -0.419499775 0.019909386 -0.015881822 0.378382084 0.925298958
+451.657836928 -1.656823308 9.162286858 -0.386819719 0.038706267 -0.018669468 0.332176737 0.942237787
+452.757868192 -1.330928847 9.550385357 -0.371632891 0.056897605 -0.009605256 0.289478494 0.955443758
+453.958033536 -0.926417713 9.879155371 -0.346855064 0.024645616 -0.003476396 0.325241343 0.945303521
+455.557427680 -0.447916209 10.427008784 -0.293752169 0.029077528 -0.018524795 0.351086929 0.935708009
+456.956381216 -0.106937050 10.866242658 -0.297422573 0.048116591 -0.002097242 0.290981829 0.955515636
+458.656112320 0.320466629 11.381221771 -0.266455255 0.038857151 -0.004484820 0.295970969 0.954395804
+461.356704832 0.771776892 11.867015784 -0.222547178 0.044172945 -0.014058499 0.309773547 0.949679752
+463.956735872 1.378883255 12.569195088 -0.187321178 0.033169821 -0.005745164 0.303291159 0.952303208
+465.355827904 1.826612916 13.053435769 -0.180168253 0.050756268 -0.009205917 0.257795399 0.964821613
+466.755327072 2.133705926 13.517091080 -0.145757857 0.047311123 0.000047834 0.229067705 0.972260152
+467.956676416 2.490178686 13.902464891 -0.151631772 0.024892993 -0.005156276 0.266648838 0.963458515
+469.456811648 2.906281641 14.379829453 -0.108678049 0.050388801 -0.005657463 0.242752555 0.968762260
+471.056460480 3.262637133 14.930488574 -0.070352981 0.050521440 -0.026418926 0.196654774 0.978813914
+472.455876640 3.587080770 15.421466868 -0.065120724 0.061780469 -0.010885172 0.175763299 0.982431729
+474.056845056 4.055405214 15.883103461 -0.031674448 0.062356866 -0.021441218 0.175657147 0.982240611
+476.155971872 4.642349993 16.530814282 -0.005623362 0.075444561 0.003934989 0.161064786 0.984048232
+477.557291488 5.039915504 16.977966775 0.023818938 0.045839710 -0.021578615 0.153230942 0.986890832
+478.857349952 5.504897617 17.414316980 0.063167196 0.034335346 -0.018972053 0.210681143 0.976767506
+480.156458752 5.807321134 17.888435725 0.080568923 0.053685054 -0.008399131 0.200397073 0.978206798
+481.458098784 6.180409893 18.342700445 0.058202755 0.042368525 -0.008447920 0.202599046 0.978308399
+482.457704256 6.606281431 18.744778258 0.120312656 0.020280903 -0.033840096 0.348433005 0.936503154
+485.558472448 6.921613062 19.156017024 0.138324552 0.035974922 -0.038164809 0.158998060 0.985884892
+486.757984416 7.358494361 19.638574988 0.162155892 0.042766645 -0.034589706 0.180812775 0.981978163
+489.458438240 8.056082701 20.566792447 0.176567383 0.038808328 -0.027476743 0.107043976 0.993116477
+490.558067296 8.416443894 20.951157544 0.234440441 0.051370429 -0.043229688 0.110941301 0.991556407
+491.758716832 8.718090505 21.418447977 0.236693076 0.055561823 -0.021679498 0.097691997 0.993427886
+493.657809248 9.386062444 22.052466490 0.303706927 0.062722075 -0.054762705 0.097355230 0.991760432
+494.658900256 9.778716499 22.367317184 0.333903230 0.043885726 -0.069362141 0.140443227 0.986680518
+495.958397824 10.287820174 22.872878387 0.409849586 0.049979866 -0.055394839 0.163956930 0.983641884
+497.058068992 10.683755206 23.330834138 0.387004837 0.059510741 -0.054000870 0.158455259 0.984090501
+498.758641664 11.181557209 23.890328097 0.453359240 0.070289694 -0.081246526 0.203688188 0.973123470
+500.059301664 11.513314994 24.355111117 0.463573262 0.042899829 -0.061549892 0.252248764 0.964749490
+501.459568320 11.886139092 24.974324783 0.489373599 0.057822327 -0.075900091 0.234437925 0.967437035
+502.859088032 12.268086436 25.552304743 0.519141690 0.054168100 -0.050437216 0.229393225 0.970515559
+504.859507360 12.776616207 26.212748605 0.557878234 0.048694834 -0.051626260 0.188687954 0.979469348
+506.259231232 13.223115815 26.781197478 0.569331196 0.058411738 -0.047032170 0.141965208 0.987026712
+508.260054368 13.826488198 27.438424626 0.645892630 0.061798307 -0.071392697 0.182272303 0.978703564
+509.760206400 14.261974597 28.049127246 0.674815981 0.061048655 -0.056208931 0.171436349 0.981693946
+510.860844224 14.702934558 28.323955905 0.719849377 0.049775787 -0.059735446 0.204007583 0.975876403
+512.461158176 15.248694459 28.861605362 0.769952850 0.049865905 -0.068163664 0.225415246 0.970595113
+513.760359872 15.538302133 29.310633346 0.772804061 0.058317748 -0.070634307 0.163798109 0.982232061
+515.460571264 15.847371372 29.788026848 0.794214652 0.071153283 -0.051172242 0.026917443 0.995788066
+516.862019328 16.246232278 30.283277332 0.804347814 0.065148617 -0.040025145 -0.059271549 0.995309167
+518.462034272 16.698503070 30.696621845 0.827263288 0.052133608 -0.042726499 -0.047417947 0.996598316
+519.962153344 17.009746487 31.104798934 0.826999105 0.060747972 -0.061997311 -0.149629405 0.984924968
+525.262578816 17.630492435 31.494617514 0.862999952 0.039855179 -0.025135154 -0.431269173 0.900992139
+528.763028448 18.315611199 30.560781785 1.157421441 0.061274198 -0.026504850 -0.553111826 0.830427904
+530.362581760 18.760199200 30.281437700 1.398855267 0.061749987 -0.004525734 -0.529789401 0.845866346
+532.962864032 19.265377390 29.778603286 1.742355693 0.066282903 -0.018135704 -0.587352142 0.806408953
+535.864358752 20.070711359 28.801581820 1.731575194 0.054024327 -0.002384990 -0.468758120 0.881669832
+537.263712608 20.615369031 28.185805140 1.758807823 0.043927970 -0.000639858 -0.459370195 0.887157894
+538.663617056 21.248317078 27.775411397 1.760963667 0.065235440 -0.016552418 -0.395126709 0.916157965
+539.963284064 21.796940964 27.392787576 1.758516915 0.088579810 -0.001128706 -0.377656046 0.921698655
+541.463701760 22.321549397 26.942736577 1.771766006 0.064544583 -0.002000516 -0.444832768 0.893282687
+542.964015168 22.838439802 26.569598267 1.791727091 0.051394855 0.015219528 -0.473495246 0.879164025
+544.664317632 23.365951803 26.256347666 1.803379054 0.072358931 0.028818247 -0.332414817 0.939911824
+547.463835040 23.965665537 26.230589152 1.796308324 0.062463763 0.053047627 -0.083408005 0.993140205
+548.864888224 24.495381630 26.172721709 1.798120697 0.045359979 0.072942429 0.118207767 0.989266867
+549.863735488 25.007360857 26.246164181 1.820418759 0.019441605 0.068875680 0.245938659 0.966639790
+551.264060928 25.481036554 26.483128093 1.846180356 0.042455421 0.054050851 0.277437339 0.958282167
+552.165037856 25.934513274 26.742097388 1.843778299 0.018499745 0.054510611 0.337083810 0.939713259
+553.164094464 26.283779877 27.090587662 1.823554421 0.060809373 0.080508365 0.296867089 0.949573777
+554.164902272 26.713993159 27.382059453 1.899461410 0.041120582 0.053695556 0.326808217 0.942667525
+555.264015360 27.125641410 27.769469625 1.985071852 0.060635875 0.051378733 0.269344731 0.959758684
+557.465370880 27.931977160 28.502425771 2.132906299 0.053133808 0.043926903 0.237296718 0.968987769
+559.365099552 28.621215953 29.083009451 2.242264531 0.060525473 0.053013426 0.195792407 0.977338928
+561.465432448 29.496231987 29.590947187 2.353634697 0.044691854 0.065820195 0.309296260 0.947631764
+565.064798912 29.677308941 30.024486327 2.398449616 -0.029716668 0.097394139 0.564984002 0.818794278
+568.265157824 29.745741184 29.912031529 2.362713949 -0.125284312 0.136650977 0.729522760 0.658351419
+571.665013408 29.298510607 30.317701928 2.382723764 -0.105987376 0.094856326 0.868295045 0.475218303
+573.265571136 29.023065822 30.775264664 2.365629242 -0.056834393 0.076444182 0.865413845 0.491919586
+574.565845600 28.728480692 31.209901082 2.373719534 -0.066728147 0.048047842 0.899638811 0.428822385
+575.864906912 28.383412861 31.574884836 2.339647180 -0.060267614 0.070422954 0.876575310 0.472254109
+577.165608320 28.059552826 31.965534822 2.340303420 -0.028723266 0.062384358 0.859121311 0.507141798
+578.465299808 27.780615448 32.405828476 2.299350517 -0.043442999 0.049363904 0.881563250 0.467463406

ground-truth/OUT_CAMPUS_02.txt

@@ -0,0 +1,159 @@
+#timestamp tx ty tz qx qy qz qw
+694.659502816 -0.000996868 -0.002278367 -0.000072510 0.002586933 -0.001821735 -0.000981899 0.999994512
+705.160778880 -0.135322431 -0.004075836 0.496007608 -0.010684531 0.009544038 -0.115812045 0.993167822
+707.761191200 -0.374549857 -0.059164012 0.771705257 -0.016920135 0.057370822 -0.354228298 0.933244135
+710.361892288 0.005543841 -0.328427579 1.011660313 0.016634414 0.078897862 -0.486268692 0.870081142
+711.461749504 0.348318517 -0.680354206 1.119152795 0.019426460 0.082532973 -0.461452387 0.883103964
+712.861105984 0.821769717 -0.980895601 1.096460351 0.059071473 0.082983301 -0.485993739 0.868006001
+714.161807104 1.263905455 -1.262214002 1.103501319 0.060466938 0.074860498 -0.481359555 0.871224786
+715.161574208 1.633560377 -1.610764712 1.094412351 0.039020230 0.096969912 -0.464457743 0.879405060
+716.461213152 2.123445547 -1.844080427 1.070312458 0.051296177 0.095138823 -0.493123479 0.863218720
+718.061208480 2.680423922 -2.198740398 1.103188545 0.050278987 0.095490875 -0.514447446 0.850704030
+719.162912736 3.075802250 -2.527052049 1.079912408 0.044813918 0.121461591 -0.443460610 0.886894291
+720.361769120 3.543598210 -2.778686267 1.074918872 0.052721512 0.124634033 -0.413724295 0.900288301
+721.862694720 4.011070970 -3.046118608 1.061553666 0.056209409 0.106263110 -0.295345557 0.947797273
+723.063182688 4.474953264 -3.208492161 1.057825994 0.028450288 0.110721104 -0.124384410 0.985626672
+724.262109952 4.959436012 -3.126944196 1.084635177 0.052203392 0.089475017 -0.021790501 0.994381316
+725.463433888 5.494162455 -3.036300148 1.066812062 0.030247476 0.099052088 0.119125749 0.987462825
+726.362103488 5.973987681 -2.884131760 1.108668203 0.040010698 0.089464050 0.209515535 0.972881579
+727.763115904 6.400109670 -2.588029442 1.075601766 0.026368454 0.107915426 0.257071694 0.959985992
+728.762952896 6.847246761 -2.305333957 1.090521956 0.021464857 0.094731838 0.284870064 0.953632106
+729.763033856 7.206053312 -1.894344953 1.127831720 0.041906855 0.109479843 0.255597705 0.959649826
+730.663648672 7.614360690 -1.586172326 1.181498477 0.015085682 0.098797606 0.313895810 0.944182653
+731.663350592 7.924671767 -1.123666661 1.229632196 0.018785292 0.111748784 0.280639902 0.953100508
+732.665302784 8.294366067 -0.729098756 1.304131915 -0.023287059 0.110128271 0.304516531 0.945832526
+733.863654944 8.633045073 -0.355984078 1.338620770 0.017156731 0.119565760 0.177806869 0.976623977
+734.964426496 9.089935060 -0.082624810 1.379925731 0.044695471 0.111936795 0.089036438 0.988708744
+736.164336544 9.710325295 0.251255670 1.468136922 0.018285800 0.118225439 0.075736742 0.989925407
+737.263055040 10.141002191 0.517127531 1.549901825 0.047462536 0.127747361 -0.080996954 0.987353737
+738.364668000 10.694729946 0.485851869 1.568924222 0.066518582 0.114764504 -0.254260072 0.957995924
+740.563260288 11.394084421 0.146531474 1.597194683 0.097774869 0.085400157 -0.491629722 0.861073235
+744.364945280 11.795166143 -0.174480148 1.644456306 0.052641032 0.031489128 -0.679267312 0.731322934
+746.364983360 12.102614481 -0.658694890 1.554789854 0.059562152 0.000744209 -0.702329471 0.709355346
+747.665717216 12.090490090 -1.166012568 1.531959326 0.043244973 0.020817956 -0.718103469 0.694279349
+748.864742912 12.155944288 -1.668616369 1.547340826 0.061867349 0.030947363 -0.772384199 0.631377418
+749.966374016 12.185055029 -2.186422795 1.498558548 0.067683574 0.019311519 -0.798404996 0.597992922
+751.966007840 12.121307778 -3.088755617 1.310980506 0.071568276 0.025104745 -0.824451944 0.560826748
+752.966113120 12.038482439 -3.583692386 1.253349028 0.052371002 0.054969323 -0.803139158 0.590934041
+754.265586176 12.069698387 -4.273330245 1.109786783 0.044123109 0.032850983 -0.803107926 0.593288867
+755.565316032 12.068955269 -4.873713645 1.009712752 0.078592757 0.028231070 -0.831380101 0.549393358
+757.365838784 12.103541975 -5.677092300 0.921263092 0.068079426 0.029552392 -0.830625047 0.551864128
+759.767013536 12.193771312 -6.866402384 0.807450658 0.047227338 0.047529470 -0.849008158 0.524114148
+760.865826144 12.339200583 -7.410603299 0.757304931 -0.075015240 -0.054418802 0.864060698 -0.494783281
+762.466258752 12.550616418 -8.021537012 0.757468448 -0.082681589 -0.046347859 0.898573588 -0.428463854
+764.267370176 12.594821295 -8.619768714 0.704852277 -0.064332873 -0.063758116 0.936108875 -0.339847549
+765.667012736 12.457439838 -9.110866996 0.716167153 -0.034405169 -0.035609562 0.967677504 -0.247282224
+766.966952384 12.441780135 -9.637603469 0.671282360 -0.011058816 -0.039034131 0.974924340 -0.218807143
+768.367046080 12.230940440 -10.214202685 0.635415179 -0.030559773 -0.005278512 0.988120014 -0.150522932
+769.667381632 11.895892715 -10.602631669 0.600251809 -0.046330349 -0.015886280 0.984869498 -0.166232571
+770.766925568 11.513435130 -11.090030992 0.595289443 -0.031453779 -0.010061154 0.975974958 -0.215365547
+771.867766464 11.196348106 -11.564125428 0.533866173 -0.063145721 -0.011028975 0.978768799 -0.194686033
+773.167807200 10.899235867 -12.069088488 0.481981952 -0.058911840 -0.034246940 0.981129573 -0.180945772
+774.768565984 10.565192617 -12.542473054 0.566548244 0.052166309 -0.021068749 0.991634517 -0.116171573
+776.066747680 10.305175786 -12.982852810 0.561568716 0.113862926 -0.012089135 0.987327140 -0.109882776
+777.167666176 9.868467486 -13.393459433 0.575655771 0.107023605 -0.002549037 0.987970628 -0.111595150
+778.567742560 9.400948648 -13.798974251 0.522220479 0.097061183 -0.013074847 0.976337364 -0.192804349
+779.865995008 9.091732493 -14.182645140 0.518461189 0.081753410 0.016626958 0.973672208 -0.212137781
+781.966865152 8.696223432 -14.934345546 0.745900148 0.006601420 -0.016429611 0.960676019 -0.277106571
+783.067701600 8.488062758 -15.395816923 0.727777099 0.007184456 -0.026552480 0.964300784 -0.263376793
+784.167155040 8.250023288 -15.876976993 0.742975813 0.042182493 -0.010849988 0.966352244 -0.253508006
+785.566238816 8.016997206 -16.412188716 0.726032990 0.021524982 0.007611868 0.973083348 -0.229319925
+787.066885568 7.573904515 -17.032443947 0.704720725 0.013267813 0.001604040 0.970859642 -0.239276046
+789.365877792 7.030605848 -17.779837528 0.662770708 0.037561326 -0.009988771 0.965779674 -0.256435281
+790.866448224 6.712020695 -18.255234044 0.674541276 0.030254399 -0.004828791 0.973699097 -0.225768803
+792.267834752 6.323698392 -18.598124668 0.611309418 0.030374830 -0.024421275 0.964627847 -0.260718539
+793.466425600 5.972928931 -19.070805094 0.630013704 0.052680143 -0.021452440 0.948025990 -0.313067638
+795.366175008 5.502601728 -19.721612674 0.588716281 0.041957567 0.007059690 0.942114765 -0.332580143
+797.065902304 5.123588913 -20.373640237 0.561807651 0.044916162 -0.000159879 0.948152816 -0.314624825
+798.666194880 4.752197920 -21.011615558 0.566114162 0.036876469 -0.007749786 0.950091470 -0.309687564
+799.666522560 4.446643468 -21.408926892 0.566393601 0.042708455 -0.021155010 0.936291826 -0.347974393
+800.765735584 4.235673639 -21.889244652 0.526733920 0.041026844 -0.012781145 0.955250079 -0.292661567
+802.266409472 3.947690484 -22.474984429 0.548611042 0.044216426 0.030038384 0.965902629 -0.253327255
+804.266508864 3.460678269 -23.261020741 0.480076698 0.045266080 0.002421670 0.955300030 -0.292142024
+805.768238400 3.027047620 -23.777596775 0.477810547 0.046748659 -0.009451744 0.944789987 -0.324186934
+807.767676704 2.507249604 -24.486789147 0.451425029 0.044913471 -0.013515225 0.938395472 -0.342365482
+808.666447680 2.187963190 -24.906202973 0.451865712 0.050477646 -0.008601459 0.926536867 -0.372703076
+810.166311296 1.864072827 -25.501555658 0.399271108 0.021077704 -0.007550198 0.939686427 -0.341303714
+812.266949504 1.204364689 -26.370090086 0.429775275 0.039414353 -0.007345414 0.918117818 -0.394274333
+814.167091904 0.643157612 -27.087183307 0.410250206 0.020378005 -0.010632078 0.906592954 -0.421379938
+816.268343840 -0.031248747 -27.870991739 0.369644845 0.001864850 -0.044086485 0.916166574 -0.398361384
+817.567109888 -0.227376378 -28.347152243 0.393857303 -0.002222116 -0.025744433 0.934287390 -0.355583256
+819.867750880 -0.763695049 -29.164001307 0.458268741 0.119619204 -0.002017827 0.939054858 -0.322278254
+821.767993216 -1.329076655 -29.907474451 0.436112190 0.127741247 -0.006318301 0.937554950 -0.323470314
+823.067399360 -1.659881374 -30.478250721 0.393421005 0.114398629 0.009675893 0.939222741 -0.323543007
+824.467440160 -2.028810294 -31.018939392 0.383601088 0.104812174 0.001906561 0.943259128 -0.315076235
+825.769424448 -2.275355546 -31.501195777 0.344917615 0.042539760 -0.042889027 0.923558690 -0.378669230
+826.968311808 -2.530154199 -32.066704327 0.350544190 0.036824251 -0.015998032 0.935749366 -0.350372995
+828.367910816 -2.779204100 -32.664522379 0.331167203 0.014203683 -0.029483825 0.946182574 -0.321974599
+829.569280608 -3.034990754 -33.146490052 0.304151438 0.012801481 -0.039063601 0.945165535 -0.323994366
+830.668647968 -3.366200448 -33.652861821 0.278207380 0.010708648 -0.041617088 0.939216644 -0.340625226
+832.167720960 -3.807844783 -34.285379298 0.211968896 -0.002258598 -0.059682792 0.950562069 -0.304737120
+833.170133344 -4.250394587 -34.638431878 -0.108952358 0.011509435 -0.052774116 0.962675357 -0.265214678
+834.369619296 -4.541065163 -35.058464850 -0.068719204 0.034716948 -0.048722752 0.953223941 -0.296285522
+837.070344992 -5.040360621 -35.744380746 -0.086019932 0.001684570 -0.068051564 0.987656298 -0.141072258
+838.569888192 -5.369549608 -36.236469889 -0.071968128 0.004093414 -0.057720097 0.998099735 -0.021184451
+840.770331104 -5.872973276 -36.599537566 -0.063739434 -0.009719038 -0.056091580 0.979020757 0.195647289
+843.170811520 -6.485485282 -36.624163279 -0.034248618 -0.004359522 -0.035749297 0.934379303 0.354455195
+845.669677664 -7.411914838 -36.224046142 -0.001563112 0.013894778 0.001717851 0.920795303 0.389795172
+850.170818624 -8.891406017 -35.264901211 0.035292004 -0.004091932 0.002306566 0.923450537 0.383689082
+852.070715936 -9.587023279 -34.855897891 0.094803373 0.007227383 -0.007774395 0.920290426 0.391092158
+853.770909216 -10.172332394 -34.449970764 0.160787616 0.006359716 0.017251611 0.907281538 0.420121920
+855.171912608 -10.648006928 -34.139708287 0.215079486 0.000492919 -0.028323590 0.936634668 0.349160726
+856.571710880 -11.209270036 -33.994091464 0.258006223 -0.006192099 -0.017394789 0.937010442 0.348813288
+858.671380160 -11.971008690 -33.560680454 0.401867654 -0.000823555 -0.024395713 0.935576585 0.352279606
+860.571944000 -12.723919245 -33.264411663 0.452514054 0.014601450 -0.026270959 0.962059838 0.271178427
+863.671194528 -13.764432304 -32.449332482 0.495536360 -0.029281509 0.002413108 0.930790186 0.364371463
+865.072048160 -14.254886553 -32.131288420 0.434183076 -0.021481664 -0.030691387 0.948098472 0.315762643
+866.572815072 -14.868163322 -31.758635455 0.420440493 -0.036566158 -0.012086008 0.954989649 0.294128937
+868.173194304 -15.439892324 -31.386956190 0.436271429 -0.054267708 -0.009013607 0.973216872 0.223210387
+870.373245472 -16.349255254 -31.302217734 0.467416672 -0.035398301 -0.045110578 0.997970315 0.027702467
+875.272573568 -18.263834922 -31.683552190 0.454935756 0.023592056 -0.044719334 0.998479846 0.021949620
+877.273036992 -19.010939400 -31.910385214 0.354559329 0.004087315 -0.041883901 0.998597486 0.032128125
+883.373062752 -21.046901891 -31.933768457 -0.033450237 -0.006878812 -0.030809727 0.976155661 0.214764422
+885.374106304 -21.600836619 -31.776912187 -0.142302860 -0.010842050 -0.011388144 0.968160242 0.249837298
+887.174062592 -22.095317027 -31.661121361 -0.172936494 0.015975897 -0.022413237 0.952984018 0.301768069
+888.873971616 -22.408556274 -31.476783762 -0.212521548 0.001028402 0.001676133 0.843378851 0.537316395
+891.273961920 -22.523069920 -31.229277328 -0.320635410 -0.015685338 -0.000952376 0.693391269 0.720390144
+893.474347168 -22.524265048 -30.844027604 -0.297495672 -0.015078036 0.020131985 0.473522292 0.880422723
+896.875292288 -22.033444262 -29.709782650 -0.225149058 0.021983041 -0.025460882 0.229800793 0.972656268
+900.973312960 -21.121845305 -28.183833172 -0.067613933 0.058995582 -0.091875643 0.118080281 0.986983058
+902.174671520 -20.650808408 -27.803662319 -0.107468257 0.039160918 -0.100688394 0.143282280 0.983767544
+904.074737792 -20.131902094 -27.102334868 -0.062236708 0.014527332 -0.104006629 0.171224784 0.979619199
+905.173326208 -19.814308742 -26.658727748 -0.034397646 0.035972708 -0.082493480 0.218507385 0.971676612
+907.474904320 -19.257610552 -25.771261468 0.034763475 0.037352297 -0.081883398 0.288984243 0.953093991
+908.573760128 -19.014044865 -25.305095931 0.042357158 0.043858423 -0.075731247 0.258801613 0.961957942
+909.974677696 -18.705943721 -24.804737101 0.069502054 0.067940232 -0.074805485 0.277495188 0.955397728
+911.874656544 -18.269908555 -24.063825327 0.088252000 0.054209707 -0.058613894 0.296438171 0.951709130
+913.674883200 -17.803221295 -23.381684489 0.114019054 0.043795310 -0.048659191 0.300484579 0.951537394
+915.076679168 -17.443707284 -22.915412471 0.134772313 0.027709910 -0.054415666 0.326753865 0.943134743
+917.276166464 -16.942806275 -22.091937618 0.151951282 0.046579030 -0.058685031 0.278478156 0.957515800
+918.375655008 -16.690852894 -21.661384495 0.208859318 0.033646130 -0.068112609 0.313784597 0.946450196
+919.975528320 -16.310997587 -21.085955782 0.233514126 0.049989055 -0.085158902 0.299547460 0.948957594
+923.876650560 -15.423830506 -19.648683889 0.330818869 0.030685176 -0.085395390 0.264597625 0.960080348
+926.077249056 -15.009649890 -18.762040906 0.345422235 -0.003949942 -0.050337517 0.262216550 0.963687269
+927.476649088 -14.612162108 -18.163328693 0.387368269 0.010104174 -0.050790758 0.259959929 0.964229832
+928.976053440 -14.329839729 -17.572036668 0.392093340 0.020208834 -0.033733095 0.259384519 0.964973309
+930.177130144 -13.984008977 -17.117299891 0.425451061 0.020282309 -0.032882606 0.224422863 0.973725769
+931.477696032 -13.660030550 -16.645600703 0.450901345 0.004386484 -0.029010297 0.243902279 0.969355956
+932.375653472 -13.401842607 -16.191397917 0.468846977 0.010292811 -0.033700555 0.269314530 0.962407476
+933.975842176 -12.977277537 -15.590075085 0.504118297 0.020745730 -0.032147653 0.235094853 0.971219175
+935.477522336 -12.570298455 -15.009337180 0.540102410 0.002545172 -0.021554085 0.244141865 0.969496689
+939.776610112 -11.273108692 -13.291223046 0.385416541 0.010059922 -0.023380286 0.225237466 0.973971501
+940.877072992 -11.028052304 -12.832287592 0.402735078 0.033282172 -0.018832356 0.221920283 0.974314767
+942.976376960 -10.463602341 -12.023450086 0.406730967 0.010278799 -0.002786812 0.223801852 0.974576597
+945.477484128 -9.769700183 -11.079144497 0.472475680 -0.001761782 -0.025912836 0.266812541 0.963398534
+946.977410208 -9.274232973 -10.396692346 0.493114306 0.006372998 -0.046192872 0.263628416 0.963496710
+949.577451648 -8.760875085 -9.538241413 0.491447568 0.027489748 -0.034860635 0.249523218 0.967350740
+950.578044288 -8.366614953 -9.128013701 0.529041994 0.011425446 -0.050049348 0.274382833 0.960249359
+951.976712832 -7.997517427 -8.544037297 0.501617701 0.026139339 -0.030545575 0.279176890 0.959397836
+953.876428928 -7.567531964 -7.792938116 0.545140753 0.021227074 -0.035970804 0.310655302 0.949604677
+955.377314272 -7.208727105 -7.171219853 0.563534345 0.038054022 -0.025880814 0.295663840 0.954183014
+956.679207232 -6.874866702 -6.706146600 0.586531399 0.006431861 -0.035858583 0.291089470 0.956002072
+957.878452832 -6.523072618 -6.175158700 0.600195618 0.000002225 -0.045740009 0.314510556 0.948151468
+959.177752800 -6.290196901 -5.650653235 0.613891219 -0.007270456 -0.051870052 0.262791452 0.963430086
+960.279490368 -6.046866051 -5.188079107 0.637927932 0.017332089 -0.022900620 0.244272925 0.969281247
+961.780278304 -5.792792168 -4.694594369 0.641085100 -0.001558876 -0.025444602 0.248125771 0.968392473
+963.079456320 -5.286762838 -4.047987962 0.697614121 -0.010441892 -0.036367499 0.283444423 0.958242075
+964.378324384 -4.999014999 -3.470486877 0.724018547 0.016868339 -0.038416390 0.282032145 0.958487224
+965.379578304 -4.790987832 -2.989742496 0.728519635 0.026353859 -0.015646785 0.265879439 0.963519082
+966.379573216 -4.565109377 -2.536111472 0.781149474 0.007389559 -0.032031156 0.288725754 0.956847475