diff --git "a/third-party/DPVO/datasets/euroc_groundtruth/MH_04_difficult.txt" "b/third-party/DPVO/datasets/euroc_groundtruth/MH_04_difficult.txt"
new file mode 100644--- /dev/null
+++ "b/third-party/DPVO/datasets/euroc_groundtruth/MH_04_difficult.txt"
@@ -0,0 +1,1977 @@
+#timestamp [ns] p_RS_R_x [m] p_RS_R_y [m] p_RS_R_z [m] q_RS_w [] q_RS_x [] q_RS_y [] q_RS_z []
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