diff --git "a/ground_truths/eth3d_dslr_living_room/points3D.txt" "b/ground_truths/eth3d_dslr_living_room/points3D.txt"
new file mode 100644--- /dev/null
+++ "b/ground_truths/eth3d_dslr_living_room/points3D.txt"
@@ -0,0 +1,21929 @@
+# 3D point list with one line of data per point:
+#   POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)
+# Number of points: 21926, mean track length: 3.877
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+15171 1.76423 -4.11622 -2.58081 179 155 93 0.385249 32 2412 42 2433 31 1198 33 3076
+15170 0.145655 -3.57443 -2.66026 31 27 17 3.37352 32 5600 31 1191
+15169 1.65707 -4.3195 -2.63533 75 48 23 0.793696 33 1681 31 1186
+15168 1.99923 -4.67543 -3.07668 224 207 168 2.8418 40 1628 41 2328
+15165 1.79765 -4.09502 -2.44658 223 209 171 0.101252 40 2463 31 1172
+15164 1.79765 -4.09502 -2.44658 223 209 171 0.101252 40 2462 31 1171
+15163 1.59473 -2.52889 -1.80261 196 179 134 2.76268 32 4134 31 1170
+15162 1.79298 -4.09908 -2.40081 198 179 134 0.17772 40 3090 31 1169
+15161 0.721014 -2.81735 -2.08942 120 114 82 3.03615 32 2492 31 1164
+15158 0.345431 -5.73728 -3.01186 123 116 91 1.75531 20 1501 41 2198
+15157 1.2471 -4.63289 -2.62751 95 55 21 0.642653 32 2332 33 2951 43 2302 31 1149
+15156 1.25573 -4.63378 -2.62949 114 76 32 0.849033 32 2331 33 1459 40 2178 41 1558 43 2304 31 1148
+15154 0.38557 -1.9724 -1.78572 15 14 12 2.86936 21 1840 31 1145
+15153 -5.46786 -5.5767 -4.14634 17 17 12 2.86671 43 5357 31 1128
+15151 0.84034 -2.88904 -2.00122 91 84 56 1.81282 32 4110 31 1121
+15150 0.918511 -3.08003 -2.09109 39 29 17 1.78406 32 4104 31 1120
+15148 1.11818 -3.17516 -2.08648 220 207 169 0.386898 32 2383 46 1227 31 1118 47 1375
+15147 0.959352 -4.77104 -2.65306 205 170 99 0.469767 40 2650 41 1480 31 1117 38 6018 39 4800
+15146 1.78021 -4.11552 -2.26581 232 218 180 0.633494 40 2330 31 1114
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+15143 0.828857 -2.81671 -1.94534 36 34 29 1.72464 32 4113 31 1089
+15140 1.03419 -4.62893 -2.47825 176 156 112 3.40971 33 2881 31 1072
+15138 1.57606 -2.37345 -1.66477 193 178 137 1.54289 32 5538 31 1068
+15137 0.19816 -3.46127 -2.16281 34 26 16 3.43202 32 3989 31 1048
+15136 0.738475 -2.74146 -1.894 27 22 13 1.03936 32 4083 31 1047
+15135 0.736727 -2.78964 -1.91882 23 25 20 0.52994 32 2400 31 1045
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+15131 0.976629 -3.07689 -1.91751 18 18 14 0.229398 32 3872 31 1021
+15129 0.930717 -4.77958 -2.43619 236 225 185 0.464582 41 1425 31 1017
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+15124 0.292287 -3.70704 -2.1152 39 26 22 3.19247 32 3803 47 1222
+15123 0.505852 -3.78136 -2.1122 141 138 114 1.27828 32 1970 31 846
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+15121 1.77584 -4.12297 -2.07839 68 40 14 0.524327 33 2727 31 830
+15120 1.57609 -2.37152 -1.6281 192 179 144 1.047 32 2215 31 828
+15119 0.58994 -2.54503 -1.75951 119 109 75 0.311279 32 5007 31 694
+15118 0.632951 -2.59738 -1.77029 68 54 29 0.541791 32 4996 31 682
+15117 0.639699 -2.60905 -1.77591 148 134 93 0.565227 32 3992 31 680
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+15109 0.806606 -2.81875 -1.77548 153 136 92 0.720958 32 3801 31 640 47 962
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+15101 -0.134662 -2.38186 -1.75951 82 75 66 2.00398 47 723 31 592 27 492
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