TUM 数据集格式

The format of each line is ‘timestamp tx ty tz qx qy qz qw’
timestamp (float) gives the number of seconds since the Unix epoch.
tx ty tz (3 floats) give the position of the optical center of the color camera with respect to the world origin as defined by the motion capture system.
qx qy qz qw (4 floats) give the orientation of the optical center of the color camera in form of a unit quaternion with respect to the world origin as defined by the motion capture system.

https://vision.in.tum.de/data/datasets/rgbd-dataset/file_formats