fprintf('tx ty tz qw qx qy qz:\n%f %f %f %f %f %f %f\n', x_gt_12(1:7)); T_gt_12 = [quat2rotm(x_gt_12(4:7)), x_gt_12(1:3)'; 0 0 0 1]; fprintf('Kabsch: \n'); x_kabsch ...
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