File: pose3example-offdiagonal.txt

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VERTEX_SE3:QUAT 0 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000
VERTEX_SE3:QUAT 1 1.001367 0.015390 0.004948 0.190253 0.283162 -0.392318 0.854230
EDGE_SE3:QUAT 0 1   1.001367 0.015390 0.004948   0.190253 0.283162 -0.392318 0.854230   10000.000000 1.000000 1.000000 1.000000 1.000000 1.000000   10000.000000 2.000000 2.000000 2.000000 2.000000   10000.000000 3.000000 3.000000 3.000000   10000.000000 4.000000 4.000000   10000.000000 5.000000   10000.0000