The provided trajectories on the download page, T_Wl_C and T_Cp0_C, are using different orders for the quaternions.
In T_Wl_C, the quaternion elements are ordered as x, y, z, w, the same as in the TUM RGBD dataset format.
In T_Cp0_C, the quaternion elements are ordered as w, x, y, z.
The provided trajectories on the download page, T_Wl_C and T_Cp0_C, are using different orders for the quaternions. In T_Wl_C, the quaternion elements are ordered as x, y, z, w, the same as in the TUM RGBD dataset format. In T_Cp0_C, the quaternion elements are ordered as w, x, y, z.