diff --git a/DEMO_full_data/calib_colmap.txt b/DEMO_full_data/calib_colmap.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2affff3434490c4c6b59aa40416c46a05217e09c
--- /dev/null
+++ b/DEMO_full_data/calib_colmap.txt
@@ -0,0 +1,7 @@
+# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]
+1,OPENCV_FISHEYE,3008,4096,2134.23762,2134.23762,1531.05584,2054.14443,0.00372,-0.00331,0.00167,-0.00032
+2,OPENCV_FISHEYE,3008,4096,2145.84691,2145.84691,1454.09080,2070.55351,-0.00073,0.00690,-0.00779,0.00262
+3,OPENCV_FISHEYE,3008,4096,2149.38107,2149.38107,1554.65430,2040.67345,-0.00005,0.00720,-0.01048,0.00431
+4,OPENCV_FISHEYE,3008,4096,2143.89547,2143.89547,1555.54996,2067.95322,0.00004,0.00621,-0.00765,0.00276
+5,OPENCV_FISHEYE,3008,4096,2124.79956,2124.79956,1526.36616,2045.68190,0.02332,-0.06071,0.06724,-0.02565
+6,OPENCV_FISHEYE,3008,4096,2142.15010,2142.15010,1521.08415,2064.67281,0.00074,0.00517,-0.00678,0.00248
diff --git a/DEMO_full_data/frame_times.csv b/DEMO_full_data/frame_times.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b721098ff63ff1a071de5da8a7116458c14c3af8
--- /dev/null
+++ b/DEMO_full_data/frame_times.csv
@@ -0,0 +1,1520 @@
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diff --git a/DEMO_full_data/route_frame_synced.gpx b/DEMO_full_data/route_frame_synced.gpx
new file mode 100644
index 0000000000000000000000000000000000000000..6df5aa6eaa39bdb6e31f096045e4c1ef6d3480f8
--- /dev/null
+++ b/DEMO_full_data/route_frame_synced.gpx
@@ -0,0 +1,1531 @@
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