diff --git "a/ground_truths/eth3d_dslr_botanical_garden/points3D.txt" "b/ground_truths/eth3d_dslr_botanical_garden/points3D.txt"
new file mode 100644--- /dev/null
+++ "b/ground_truths/eth3d_dslr_botanical_garden/points3D.txt"
@@ -0,0 +1,9162 @@
+# 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: 9159, mean track length: 3.7099
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+7514 -11.511 4.41752 1.54757 153 156 133 0.383234 18 6890 29 8891 17 7209
+7513 -7.35668 6.99617 1.58743 80 66 46 0.599913 18 4768 19 4763 27 1203 28 1227 17 7172
+7512 -7.32589 7.01453 1.6626 114 103 84 1.01955 19 4762 27 4624 17 7170
+7511 -7.43886 6.96271 1.56376 130 117 96 1.16048 18 1240 19 1376 28 1226 17 7169
+7510 -7.70387 6.87667 1.54328 125 118 107 0.170891 18 6859 19 4862 27 4619 28 4607 17 7168
+7509 -7.63415 6.1921 1.58155 43 52 46 0.776146 19 1360 28 1216 17 7166 27 1195
+7508 -7.55622 6.18655 1.70565 45 53 46 1.15633 18 4762 19 4750 17 7163 27 1190
+7507 -9.39301 5.98371 1.78569 126 120 105 0.480329 18 6800 28 4582 17 7156
+7506 -9.5171 5.91814 1.76962 39 39 32 0.46595 18 6799 28 4578 17 7154
+7504 -11.1611 4.85143 1.8174 103 82 61 0.878187 18 8090 17 7139
+7503 -11.0916 4.81248 1.82121 86 69 51 2.14467 18 8089 17 7138 28 7764
+7502 -11.8491 4.37296 1.73644 73 69 55 0.489969 18 8115 29 8888 17 7132
+7501 -7.40332 6.96897 1.68086 79 64 47 1.07765 18 6814 19 1205 27 1202 28 4610 17 7103
+7500 -7.49028 7.11184 1.76823 65 61 52 1.78588 18 4649 27 1052 28 1224 17 7102 19 4761
+7499 -7.54417 6.18957 1.81545 42 52 44 1.66232 18 4641 17 7098 27 1043 19 4659
+7498 -7.54417 6.18957 1.81545 42 52 44 1.66232 18 4642 19 4660 17 7097 27 1044
+7497 -7.53211 6.17464 1.85705 47 57 49 1.10997 18 4640 19 4658 17 7096
+7496 -7.53516 6.18003 1.85741 43 53 46 1.04672 18 4639 19 4657 28 4490 17 7095 27 4500
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+7494 -9.84762 5.50945 1.85749 92 89 82 0.442487 18 6790 28 6532 17 7089
+7491 -10.5157 5.40478 1.98059 153 151 148 1.02549 18 8092 19 9021 17 7083
+7490 -11.5392 4.39704 2.16677 95 88 71 2.8654 18 8044 29 7273 17 7071
+7489 -7.2362 7.04228 1.89415 180 176 171 0.0953875 18 4550 27 4508 17 7042
+7488 -7.23791 7.04625 1.894 183 179 174 0.151948 18 4551 27 4507 17 7041 19 4663
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+7482 -7.54127 6.20235 1.96178 45 54 47 1.13304 19 4645 28 4487 17 7032 27 1038
+7481 -10.2052 6.81663 2.12928 208 219 230 1.0787 18 6731 28 6434 17 7025
+7479 -9.92114 5.46264 2.10851 216 230 243 0.191668 19 6821 17 7021
+7478 -8.2919 5.54303 2.9796 241 248 253 0.670701 18 4165 19 4132 28 4049 17 6782
+7477 -8.35276 5.51385 3.00633 241 247 254 1.06458 18 4164 19 4130 28 4047 17 6781
+7475 -8.54571 6.24688 3.21107 95 105 84 0.928379 18 4096 28 3967 17 6727
+7474 -8.34193 5.76295 3.13441 117 145 77 0.81965 18 4094 28 3965 17 6726
+7473 -8.10486 5.36453 3.05635 116 147 77 0.464707 18 4088 28 3964 17 6725
+7472 -8.27391 5.40537 3.09129 242 248 253 1.45341 18 6416 28 3962 17 6723 27 4034
+7471 -5.22605 2.24265 0.574869 127 122 118 1.10332 18 6358 19 6255 17 6570
+7470 -5.26677 2.23677 0.578426 167 167 167 1.38815 18 7825 17 6568 19 6254
+7469 -5.28928 2.20586 0.571142 164 158 155 0.710835 18 6322 17 6567 19 3668
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+7467 -5.78553 1.29508 0.625416 140 140 137 0.596055 29 3585 17 6552 28 7418
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+7464 -5.26518 2.5128 0.561005 129 123 120 0.393367 18 6217 19 3398 17 6469
+7463 -5.51161 2.32114 0.555375 179 176 174 1.48121 19 3484 17 6410 18 3732
+7462 -5.63644 2.15562 0.56449 161 155 152 1.08794 18 6208 19 6190 28 3101 17 6409
+7460 -5.39756 2.66482 0.549386 134 127 124 0.234421 18 6124 17 6371
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+7457 -5.68432 2.41708 0.547129 174 172 171 0.539724 18 6120 17 6366 19 6077
+7456 -5.72242 2.33954 0.554335 178 178 177 0.62477 18 7734 19 6076 28 3008 17 6365
+7455 -5.73696 2.33062 0.550764 178 177 177 0.568089 18 7732 19 7730 28 3007 17 6364
+7454 -5.73715 2.34234 0.559219 154 151 148 2.44371 18 7731 19 3391 28 2925 17 6363
+7453 -5.7461 2.30361 0.548789 181 180 179 0.482647 18 6118 19 6123 17 6362
+7452 -5.55556 2.70984 0.549221 168 167 167 1.1503 18 6029 19 3223 17 6308
+7451 -5.80311 2.45217 0.543016 179 180 181 1.16585 18 7707 17 6307 19 6040
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+7446 -5.8452 2.67934 0.535991 153 152 153 0.515178 18 7649 19 6001 17 6253
+7445 -6.29647 1.31978 0.783799 164 172 112 0.394572 18 9822 17 6248
+7444 -5.51353 3.18531 0.607411 183 171 163 0.686726 18 3048 17 6191
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+7441 -5.77247 3.25437 0.554938 179 172 167 1.20037 27 2462 28 2670 17 6122 18 5882
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+7430 -6.44327 3.01799 0.504888 182 179 176 1.22979 18 7522 28 2666 17 6063
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+7428 -5.7259 3.61817 0.649226 194 159 118 0.601436 18 5692 19 2760 17 6002
+7427 -6.06818 3.7754 0.532185 136 131 125 0.94145 18 2745 19 2759 17 5999
+7426 -6.23945 3.55326 0.496304 166 162 157 0.321187 18 5755 28 2561 17 5998
+7425 -6.23716 3.54972 0.49811 165 161 156 0.338995 18 5754 19 5706 28 2560 17 5997
+7423 -6.77663 1.94055 0.696996 123 136 144 1.01673 28 7151 17 5993 27 2669
+7422 -6.74219 1.88121 0.723259 141 154 167 0.491772 18 7605 28 5563 17 5992 29 6036
+7421 -5.57589 3.9465 0.748385 182 138 86 1.54243 19 2536 17 5926 18 5637
+7420 -5.57589 3.9465 0.748385 182 138 86 1.54243 19 2537 17 5925 18 5636
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+7418 -6.25126 3.9386 0.528107 183 179 176 0.371753 19 2644 17 5919 18 2646
+7417 -6.34167 3.63989 0.491626 149 141 134 0.247902 18 5689 19 5704 28 2462 17 5918
+7416 -6.51853 3.40007 0.492639 173 172 174 0.132821 28 2559 17 5916
+7415 -6.62785 3.51862 0.472014 184 181 179 0.363826 18 7443 19 5701 17 5913
+7414 -6.94568 2.14604 0.7718 154 169 155 0.671494 18 7481 29 5938 17 5897
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+7412 -5.68708 4.15991 0.722427 84 75 66 0.929224 19 5557 17 5828 18 5558
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