Motion information file

Motion is recorded in a CSV file. Each line represents a frame. This is the structure of the CSV:

t, r00, r01, r02, tx, r10, r11, r12, ty, r20, r21, r22, tz, e
t, r00, r01, r02, tx, r10, r11, r12, ty, r20, r21, r22, tz, e
t, r00, r01, r02, tx, r10, r11, r12, ty, r20, r21, r22, tz, e
...

The timestamp t is the starting timestamp of the frame. It is an integer. It is in the same time reference as the timestamps stored in the List-Mode file. The units are milliseconds.

The motion is defined by a rotation matrix and a translation vector. The rotation matrix is defined as:

r00 r01 r02
r10 r11 r12
r20 r21 r22

The translation vector is defined by tx, ty, and tz.

The error value e is between 0 and 1.