openvins_linux/ov_data/sim/tum_magistrale1_512_16_vinsmono.txt

# t x y z qx qy qz qw
1520500645.63961 0.142899742 0.052388094 1.187304958 0.015830772 -0.028678098 -0.01627294 0.999334163
1520500645.73742 0.030910574 0.063042828 1.184037067 0.020455424 -0.015804853 -0.024062302 0.999380546
1520500645.81517 -0.062613544 0.058794551 1.184688236 0.024577968 -0.026778099 -0.044338438 0.998361678
1520500645.91298 -0.181630649 0.033447855 1.177148732 0.015851521 -0.021306169 -0.077314472 0.996660868
1520500646.00577 -0.310212701 -0.005067278 1.163499877 0.015159339 -0.019303663 -0.087258541 0.995883612
1520500646.12114 -0.485075732 -0.051018713 1.172176495 0.019501607 0.000142988 -0.090427353 0.995715381
1520500646.34686 -0.792262302 -0.080843245 1.176312418 -0.012418434 -0.00778326 -0.096433111 0.995240686
1520500646.46473 -0.972406683 -0.071377835 1.157941094 -0.007893117 -0.008771761 -0.061037627 0.998080995
1520500646.52241 -1.057318378 -0.063530842 1.163686462 0.009164713 -0.003911398 -0.050587427 0.998679859
1520500646.60769 -1.161637868 -0.057043295 1.176204446 0.013499221 -0.007023707 -0.048078316 0.998729103
1520500646.7055 -1.237195005 -0.057054113 1.18446581 -0.0032968 0.003200695 -0.062838149 0.998015098
1520500646.8008 -1.248171509 -0.050419032 1.188675306 -0.005120194 0.00057072 -0.075166436 0.997158455
1520500646.93623 -1.145999459 -0.031469661 1.186178998 -0.007825781 0.006262608 -0.053418544 0.998526101
1520500647.00896 -1.051685433 -0.017269181 1.175839326 0.003052189 -0.005316587 -0.047189765 0.998870435
1520500647.09925 -0.927604907 -0.00387004 1.157637238 0.009977952 -0.027192514 -0.072812794 0.99693224
1520500647.2096 -0.765712252 0.00989133 1.150441738 0.026325363 -0.041523494 -0.058193358 0.997099874
1520500647.33249 -0.593511992 -0.006784126 1.145501522 0.007595396 -0.011455738 -0.02752088 0.999552965
1520500647.39017 -0.50295724 -0.022350884 1.136086812 0.013948586 0.001220701 -0.009442788 0.999859209
1520500647.60836 -0.076103571 -0.056005878 1.156061885 0.025676379 -0.016468844 0.102017926 0.994389528
1520500647.65601 0.023306913 -0.05923215 1.161998519 0.00951912 -0.016437348 0.125821038 0.991913974
1520500647.7137 0.142912932 -0.059257261 1.160212313 -0.006576794 -0.019645544 0.131463473 0.991109857
1520500647.79395 0.296227212 -0.04468349 1.170618308 -0.010000377 -0.030342658 0.125154391 0.991623251
1520500647.90681 0.494827032 -0.028955976 1.196319698 -0.004671897 -0.038240733 0.107108132 0.993502732
1520500647.9996 0.64321129 -0.043437672 1.195456592 -0.016659438 -0.046085804 0.096789721 0.994101371
1520500648.10745 0.817599763 -0.086411853 1.160181303 -0.00921155 -0.033712443 0.091149633 0.995227113
1520500648.2203 1.01099958 -0.111001534 1.154243676 0.00766855 -0.033624019 0.12120465 0.992034534
1520500648.31561 1.162083181 -0.121795953 1.154494974 0.005371818 -0.036715461 0.137738203 0.989776409
1520500648.40088 1.293068339 -0.123071077 1.144617195 0.015294699 -0.046039973 0.123350807 0.991181161
1520500648.49869 1.438720488 -0.108730906 1.151845251 0.007451035 -0.053258503 0.114441323 0.99197396
1520500648.599 1.566595127 -0.087979653 1.166840818 0.007198287 -0.037506591 0.14800634 0.988263528
1520500648.8498 1.545027043 -0.035996306 1.161657818 0.015097993 -0.035572777 0.164866025 0.98557733
1520500648.95764 1.401115961 -0.015228536 1.160900044 0.027170755 -0.021598735 0.131299971 0.990757131
1520500649.00028 1.333389048 -0.002662677 1.160721015 0.027618095 -0.00905751 0.120828074 0.992255248
1520500649.09307 1.175341924 0.025174691 1.155643002 0.031626498 -0.015062098 0.076881333 0.996438312
1520500649.22349 0.960855596 0.046991361 1.162259732 0.035448022 -0.025369047 0.001390112 0.999074531
1520500649.30374 0.840868309 0.050939566 1.162451781 0.025160532 -0.027433688 -0.036663708 0.998649696
1520500649.4166 0.662997698 0.061646649 1.153412665 0.025910834 0.009228537 -0.097817962 0.994860641
1520500649.50689 0.532676693 0.095111299 1.161146087 0.031606488 0.006500856 -0.121666549 0.992051686
1520500649.62225 0.388871034 0.185820589 1.169540818 0.001344784 0.004815366 -0.137093778 0.990550029
1520500649.70251 0.300767552 0.279179892 1.15981022 -0.005706042 0.002469537 -0.122799752 0.99241341
1520500649.80032 0.213789671 0.408879552 1.145357829 0.042871163 0.010612052 -0.121728072 0.991596371
1520500649.8906 0.176426212 0.519168941 1.13902475 0.048683208 -0.000153988 -0.145466847 0.988167387
1520500650.14391 0.18819597 0.768909254 1.143058989 0.058315526 -0.001330398 -0.143040769 0.988012121
1520500650.19657 0.177969444 0.797316399 1.148852055 0.047610018 -0.003515427 -0.13495894 0.989714176
1520500650.27934 0.13060225 0.826316756 1.150547939 0.049563352 -0.002398694 -0.123313637 0.991128327
1520500650.36962 0.037270833 0.84051755 1.153173335 0.025666402 0.012326346 -0.116859247 0.99274898
1520500650.47245 -0.079427397 0.833664058 1.155690684 0.013552374 0.005902817 -0.117547948 0.992959524
1520500650.57026 -0.182990939 0.793201512 1.137393093 0.028469128 -0.009383086 -0.13686689 0.990140192
1520500650.6781 -0.312052167 0.690328087 1.123575235 0.018649902 -0.00645226 -0.152907034 0.988052843
1520500650.76086 -0.425273461 0.596878039 1.158596909 0.004772175 0.025428063 -0.174888717 0.984257825
1520500650.85366 -0.54810116 0.498145574 1.196158049 -0.026393502 0.04022227 -0.205494089 0.977487729
1520500650.95899 -0.667778192 0.370425441 1.176014107 -0.025805241 0.01830289 -0.199130213 0.979470769
1520500651.05429 -0.756628597 0.228163039 1.160983687 -0.035864784 0.015549255 -0.141619093 0.989172016
1520500651.13956 -0.814542725 0.102713457 1.182793577 -0.027757458 0.009260777 -0.079444247 0.996422285
1520500651.37531 -0.903483502 -0.287533814 1.183582484 -0.04727353 0.020315426 -0.023414148 0.998419468
1520500651.45306 -0.92535112 -0.404046665 1.212767878 -0.064171245 0.013859088 -0.032340118 0.997332977
1520500651.5283 -0.934519313 -0.502422114 1.217422412 -0.067763886 0.004251165 -0.015698836 0.997575945
1520500651.61357 -0.927772043 -0.621793373 1.19639271 -0.063979817 -0.000910163 -0.003091178 0.997948104
1520500651.72392 -0.898173283 -0.768873522 1.186757315 -0.054834547 -0.01483301 0.035262793 0.997779243
1520500651.80417 -0.859286963 -0.837882668 1.197125464 -0.04815289 -0.016688878 0.064390457 0.996628078
1520500651.91201 -0.786776908 -0.886277634 1.188574239 -0.054734684 -0.026703998 0.054211375 0.996676407
1520500652.02989 -0.692369409 -0.876647128 1.174406535 -0.031728025 -0.018163764 -0.011824704 0.999297183
1520500652.10011 -0.654004267 -0.847298948 1.171927731 -0.013676453 -0.030742114 -0.037002526 0.998755112
1520500652.21046 -0.59306967 -0.754256794 1.174698985 -0.036914821 -0.004029864 -0.031752726 0.998814539
1520500652.32332 -0.526760332 -0.603905757 1.169817576 -0.045442195 0.001644401 -0.004735868 0.998960652
1520500652.39103 -0.482574132 -0.503934101 1.166573496 -0.01899897 -0.005175827 0.008952381 0.999774405
1520500652.60922 -0.34908935 -0.199395231 1.167724693 -0.045042032 -0.01147839 -0.001729141 0.99892351
1520500652.65938 -0.323470417 -0.129003882 1.166777527 -0.049739178 -0.021042608 -0.013659396 0.998453639
1520500652.77475 -0.268594954 0.03876804 1.176819137 -0.028401027 -0.010286279 -0.011912204 0.999480638
1520500652.87507 -0.221151206 0.189788151 1.164454816 -0.03005379 -0.006115489 0.013201725 0.999451395
1520500652.94278 -0.187494726 0.287425988 1.143689206 -0.026430606 -0.008550974 0.04537796 0.998599555
1520500653.06316 -0.12029481 0.426064669 1.121625601 0.027303426 -0.006401551 0.105773928 0.994010935
1520500653.15345 -0.057289803 0.469962926 1.118905178 0.024415933 0.015517228 0.113513345 0.993117887
1520500653.23872 0.01469097 0.468768746 1.125342048 0.012443025 0.017062231 0.10375919 0.994379466
1520500653.39171 0.162065187 0.433024018 1.153131633 -0.009331523 0.008287384 0.094711002 0.995430354
1520500653.44688 0.210468888 0.401017541 1.154336876 -0.000495715 0.006090834 0.090441128 0.995884547
1520500653.56225 0.312829745 0.290883132 1.137738203 -0.003410228 0.00597584 0.090352474 0.995889995
1520500653.63999 0.394839434 0.2022799 1.140665513 0.00037792 -0.006987197 0.110651413 0.993836292
1520500653.86822 0.587364624 -0.087740824 1.172156882 -0.029303817 -0.000095095 0.098914783 0.994672935
1520500653.94346 0.649935912 -0.191461066 1.182587517 -0.025887601 0.003461579 0.082552884 0.996256143
1520500654.00365 0.692177709 -0.26964894 1.197466644 -0.035315559 0.007155825 0.067628099 0.997066296
1520500654.09644 0.756010988 -0.384647154 1.198534575 -0.030651322 -0.004904971 0.066249747 0.997320644
1520500654.19927 0.836707372 -0.524468821 1.184487185 -0.046443957 -0.001042274 0.07306475 0.996246113
1520500654.29708 0.917605578 -0.634777953 1.195781074 -0.046049932 -0.012509676 0.078875031 0.995743127
1520500654.3999 1.002614209 -0.705213996 1.207370514 -0.049387821 -0.014801123 0.065344787 0.996533958
1520500654.50774 1.088830705 -0.726236273 1.201038808 -0.048660737 -0.019817505 0.005004975 0.998623523
1520500654.61057 1.158379506 -0.687614907 1.189607829 -0.036391734 -0.018394981 -0.038180927 0.998444351
1520500654.70587 1.205620825 -0.606547693 1.181899955 -0.034546359 -0.01270905 -0.045783537 0.998273186
1520500654.79867 1.237815987 -0.495675639 1.170933127 -0.037829705 -0.009191312 -0.027357346 0.998871075
1520500654.88895 1.266933052 -0.376847181 1.137518039 -0.00339587 -0.01359535 -0.028070622 0.999518719
1520500655.14226 1.396196384 -0.056610652 1.094542823 0.035129752 -0.00342841 -0.022077167 0.999136569
1520500655.23004 1.426140581 0.015183582 1.18808288 0.019941592 -0.006610646 -0.011019247 0.999729527
1520500655.30527 1.433944393 0.06733394 1.302852189 -0.037820944 -0.016461772 0.000347266 0.999183173
1520500655.40058 1.42695563 0.142117654 1.452870933 -0.10871082 0.003677678 0.020722103 0.993867146
1520500655.51093 1.398865542 0.233952747 1.579345678 -0.12805564 0.017841623 0.020085159 0.991404437
1520500655.5962 1.379555552 0.299688986 1.654222303 -0.139912649 0.025485152 0.010332475 0.989784639
1520500655.70655 1.349448366 0.381406518 1.717719706 -0.140077337 0.030079207 -0.020675802 0.989471401
1520500655.78931 1.31447316 0.427298227 1.722988431 -0.135617239 0.029805025 -0.044116679 0.989331108
1520500655.90217 1.245210533 0.472090387 1.615827893 -0.113924852 0.02080576 -0.063971715 0.991215657
1520500656.02505 1.142983408 0.512884106 1.400000252 -0.060148355 0.001961314 -0.067607578 0.995907066
1520500656.11534 1.067750239 0.535284244 1.251868161 -0.038051945 -0.001477355 -0.063770586 0.997241296
1520500656.33855 0.871183595 0.530575906 0.940208317 0.016386686 0.019790587 -0.086930262 0.995917475
1520500656.39874 0.811600898 0.520940235 0.885403314 0.049595321 0.012287671 -0.078004769 0.995653849
1520500656.50909 0.69560142 0.515040919 0.843954792 0.066442571 0.004659633 -0.083383563 0.994296849
1520500656.59687 0.577562094 0.485420484 0.919518739 0.030643527 -0.001216105 -0.105104863 0.994003671
1520500656.71976 0.38895061 0.424920456 1.145453437 -0.057934227 0.012202791 -0.077406733 0.995292084
1520500656.79249 0.294872235 0.402603936 1.293078471 -0.088421035 0.035975342 -0.059191029 0.993679446
1520500656.93544 0.168250515 0.383505122 1.560281638 -0.137746257 0.036111635 -0.056966427 0.988193172
1520500656.99312 0.124229915 0.378129663 1.651709407 -0.160132318 0.031005817 -0.054446165 0.985108741
1520500657.09846 0.031015496 0.368056893 1.781339473 -0.198438239 0.02470121 -0.065612907 0.977616784
1520500657.21382 -0.085227047 0.358733112 1.791668322 -0.205272241 0.010395667 -0.069228685 0.976205219
1520500657.31414 -0.19414726 0.335927286 1.653418917 -0.151865569 0.012238006 -0.070555753 0.985840516
1520500657.38938 -0.279292633 0.337877586 1.50840498 -0.106863424 0.005763276 -0.063243283 0.992248817
1520500657.56243 -0.454780168 0.379307049 1.20012502 -0.062142158 0.01702482 -0.067543749 0.995645115
1520500657.64017 -0.529075656 0.396186465 1.087817324 -0.068519693 0.033103399 -0.061358357 0.99521973
1520500657.69786 -0.584503004 0.404026062 1.011455736 -0.061896242 0.031357658 -0.058133845 0.995895016
1520500657.80821 -0.692370256 0.409605103 0.891342562 -0.032032352 0.044934711 -0.048715872 0.997293359
1520500657.90602 -0.78309533 0.419866869 0.818511482 0.004916549 0.021176411 -0.059286933 0.998019151
1520500658.00132 -0.863452715 0.420153676 0.81037288 0.038351782 0.018027227 -0.046344923 0.998028546
1520500658.11418 -0.990779304 0.33943759 0.914102566 0.006354013 0.017093251 -0.028055037 0.999449868
1520500658.19443 -1.096349993 0.239888159 1.065605367 -0.037412012 0.035439833 -0.024648362 0.998389202
1520500658.29475 -1.200633826 0.141804112 1.306662525 -0.095500479 0.033603995 -0.021821675 0.994628392
1520500658.41011 -1.265121565 0.071940487 1.555981707 -0.105852216 0.036364726 -0.021739726 0.993480696
1520500658.49538 -1.285550303 0.025309866 1.696133144 -0.095637408 0.014756928 -0.019600398 0.99511625
1520500658.60072 -1.292405884 -0.034420184 1.812438063 -0.140801497 0.010361728 -0.016598745 0.989855682
1520500658.83145 -1.245095845 -0.267451136 1.574201625 -0.082825344 0.009458514 0.020653875 0.996352532
1520500658.88161 -1.225574047 -0.321426766 1.444513379 -0.077621304 0.022857428 0.021288684 0.996517038
1520500658.95935 -1.190235671 -0.388263829 1.251505739 -0.031608446 0.016305552 0.043724366 0.998441574
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1520500659.23523 -1.022794542 -0.447286725 0.861702732 0.012471858 0.009568501 0.032390525 0.999359968
1520500659.36062 -0.909374403 -0.494834098 0.857686331 0.037973672 0.023567558 0.001663475 0.999005294
1520500659.45091 -0.821593438 -0.579981126 0.953369438 -0.028445676 0.025380395 -0.016921596 0.999164385
1520500659.5738 -0.687948536 -0.654550819 1.180508704 -0.115394095 0.007699787 0.007586315 0.993295641
1520500659.66659 -0.587786996 -0.641238839 1.38558588 -0.139757468 -0.00927063 0.013729366 0.990052445
1520500659.75939 -0.493650749 -0.599410918 1.57316296 -0.178417883 -0.014995787 0.031244213 0.983367093
1520500659.86221 -0.376369621 -0.544981607 1.740589846 -0.180573327 0.003512534 0.045786385 0.98249463
1520500660.04278 -0.164772157 -0.483475492 1.859061633 -0.149863284 -0.00305613 0.032384262 0.988200401
1520500660.09796 -0.105885158 -0.503494622 1.822165719 -0.141692515 0.013259095 0.039066623 0.9890734
1520500660.16818 -0.02970658 -0.551315282 1.704544139 -0.110489734 0.011015854 0.045638996 0.992792473
1520500660.2384 0.050287844 -0.600883026 1.5229928 -0.04502678 -0.004285363 0.057564622 0.997342919
1520500660.36129 0.200577054 -0.623863331 1.227114186 0.000955087 -0.008091574 0.075426845 0.997118742
1520500660.43402 0.280697342 -0.596097315 1.104548585 0.032309668 -0.000005358 0.076218545 0.9965756
1520500660.5519 0.400300966 -0.508227365 0.940856301 0.039754518 -0.016181902 0.043066924 0.998161543
1520500660.64971 0.490662887 -0.423678867 0.874475462 0.078370094 -0.011842512 -0.000699004 0.996874746
1520500660.75253 0.578709953 -0.398030538 0.919141357 0.04585534 -0.004345926 -0.029224013 0.998538424
1520500660.84031 0.652829386 -0.412359582 1.034843361 -0.031482099 -0.011351321 -0.01439851 0.999358113
1520500660.95567 0.755367829 -0.400801259 1.271092585 -0.11535882 -0.000825353 0.016441734 0.993203876
1520500661.05599 0.836084747 -0.352049878 1.48286354 -0.122950646 -0.003869533 0.011728699 0.992337031
1520500661.14126 0.90111422 -0.272906791 1.638086051 -0.188611367 -0.013949097 0.018708837 0.981805189
1520500661.3745 1.07754029 -0.01374207 1.690949746 -0.145342333 -0.067829234 0.051802608 0.985737732
1520500661.41212 1.09930048 0.013124392 1.636889431 -0.117146887 -0.072780693 0.048812572 0.989274351
1520500661.48485 1.126704051 0.066810593 1.500445816 -0.06759598 -0.094906165 0.052767593 0.99179371
1520500661.59771 1.101346322 0.180978207 1.265260066 -0.027197254 -0.089482362 0.054950481 0.994108121
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