The walkAll.mat file contains the 40 trajectories used in the benchmark paper, a 167 x 6 x 40 matrix.

The n-th 6D-trajectory can be accessed in matlab via
  walk(:,:,n)

The exposure time was set to 1/3, the frame rate of the Vicon recording system was set to 500fps.

The first 12 trajectories walkAll(:,:,1:12) were used in the benchmark.

The Rotation and Translation are stored as followed: 
(r_x, r_y, r_z, x,y,z )=(rotation about x, rotation_y, rotation_z, right,forward, up )

with the axis as described in the paper, so roughly the y-axis is the optical axis, the z-axis is showing up to the ceiling, the x-axis is showing to the right (a right-handed coordinate system). 


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.txt files
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the 167x6x40 matrix of the walkAll.mat file was also saved as 40 .txt files, each containing a table of size 167x6 (separated with comma)
