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5
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4 # Number of points
0 0 0 # Point 0
0.252 0 0 # Point 3
0 0.178 0 #7
0 0.178 -0.022 #6

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V1
# 3D Points
8 # Number of points
0 0 0 # Point 0: X Y Z
0 0 -0.017
0.232 0 -0.017
0.232 0 0
0.232 0.155 0
0.232 0.155 -0.017
0 0.155 -0.017
0 0.155 0 # Point 7
# 3D Lines
0 # Number of lines
# Faces from 3D lines
0 # Number of faces
# Faces from 3D points
6 # Number of faces
4 0 1 2 3 # Face 0: [number of points] [index of the 3D points]...
4 1 6 5 2
4 4 5 6 7
4 0 3 4 7
4 5 4 3 2
4 0 7 6 1 # Face 5
# 3D cylinders
0 # Number of cylinders
# 3D circles
0 # Number of circles

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V1
# 3D Points
8 # Number of points
0 0 0 # Point 0: X Y Z
0 0 -0.080
0.200 0 -0.080
0.200 0 0
0.200 0.120 0
0.200 0.120 -0.080
0 0.120 -0.080
0 0.120 0 # Point 7
# 3D Lines
0 # Number of lines
# Faces from 3D lines
0 # Number of faces
# Faces from 3D points
6 # Number of faces
4 0 1 2 3 # Face 0: [number of points] [index of the 3D points]...
4 1 6 5 2
4 4 5 6 7
4 0 3 4 7
4 5 4 3 2
4 0 7 6 1 # Face 5
# 3D cylinders
0 # Number of cylinders
# 3D circles
0 # Number of circles

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4 # Number of points
0 0 0 # Point 0
0.235 0 0 # Point 3
0.235 0 -0.017 # Point 2
0.235 0.152 -0.017 # Point 5

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Book2 cMo for training image 000
rows: 4
cols: 4
data:
- [-0.8809152695, 0.255572538, 0.398335243, 0.09712224043]
- [-0.04710088684, -0.8848229364, 0.463540589, 0.05554590984]
- [0.4709244042, 0.3895780396, 0.7914917287, 0.2459293857]
- [0, 0, 0, 1]

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Visp_tests/training dataset/book2_training/train_image_001.yml Normal file
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Book2 cMo for training image 001
rows: 4
cols: 4
data:
- [-0.2038584411, -0.947987354, 0.2444620882, 0.07566458196]
- [0.8405845884, -0.04148675349, 0.5400892511, -0.1342457677]
- [-0.5018558417, 0.3155928166, 0.8053209846, 0.3575146448]
- [0, 0, 0, 1]

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Visp_tests/training dataset/book2_training/train_image_002.yml Normal file
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Book2 cMo for training image 002
rows: 4
cols: 4
data:
- [0.9960647039, -0.03346774171, 0.08206714224, -0.1096571651]
- [-0.02794669941, 0.7601219025, 0.6491792321, -0.08963593534]
- [-0.08410759516, -0.6489180253, 0.7561952849, 0.3372360247]
- [0, 0, 0, 1]

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Visp_tests/training dataset/book2_training/train_image_003.yml Normal file
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Book2 cMo for training image 003
rows: 4
cols: 4
data:
- [-0.4029119044, 0.9149459003, 0.02315160601, -0.02660207301]
- [-0.6539453455, -0.3054891914, 0.6921212603, 0.0644929134]
- [0.640326075, 0.2637240101, 0.7214098448, 0.1847502587]
- [0, 0, 0, 1]

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Book cMo for training image 000
rows: 4
cols: 4
data:
- [0.5665910387, -0.8235039121, 0.02856399138, -0.004725561405]
- [-0.612495359, -0.444094245, -0.6539340461, 0.05318802529]
- [0.5512023495, 0.3530178583, -0.7560121439, 0.398670845]
- [0, 0, 0, 1]

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Visp_tests/training dataset/book_training/train_image_001.yml Normal file
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Book cMo for training image 001
rows: 4
cols: 4
data:
- [-0.6442421126, -0.7648185729, 0.00215661327, 0.1005236514]
- [-0.5078681912, 0.4256891629, -0.7489049586, -0.03211180135]
- [0.5718583747, -0.4835713879, -0.6626739108, 0.4744785946]
- [0, 0, 0, 1]

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Visp_tests/training dataset/book_training/train_image_002.yml Normal file
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Book cMo for training image 002
rows: 4
cols: 4
data:
- [0.5931860286, 0.8050635925, -0.001716825525, -0.1530651462]
- [0.5488091651, -0.4059313336, -0.7307723672, -0.09305480426]
- [-0.5890151405, 0.4325417487, -0.6826190738, 0.5348952909]
- [0, 0, 0, 1]

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Visp_tests/training dataset/book_training/train_image_003.yml Normal file
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Book cMo for training image 003
rows: 4
cols: 4
data:
- [-0.4033631815, 0.9148985892, -0.01608462887, -0.04515121073]
- [0.6287289807, 0.2643387569, -0.7313172297, -0.168069378]
- [-0.6648293109, -0.3050993168, -0.6818477794, 0.5964581417]
- [0, 0, 0, 1]

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Visp_tests/training dataset/book_training/train_image_004.yml Normal file
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Book cMo for training image 004
rows: 4
cols: 4
data:
- [-0.9985837435, 0.05141800958, -0.0136636575, 0.09960909748]
- [0.04448102767, 0.6659832775, -0.7446393169, -0.1074251457]
- [-0.02918810413, -0.7441924902, -0.6673272002, 0.5639220715]
- [0, 0, 0, 1]

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Visp_tests/training dataset/book_training/train_image_005.yml Normal file
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Book cMo for training image 005
rows: 4
cols: 4
data:
- [-0.2314201876, -0.9583649151, 0.1672763771, 0.09835545579]
- [0.7484075924, -0.06552319445, 0.6599945353, -0.0974700766]
- [-0.6215551242, 0.2779269699, 0.7324109687, 0.5499983612]
- [0, 0, 0, 1]

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Visp_tests/training dataset/book_training/train_image_005.yml~ Normal file
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Book cMo for training image 005
rows: 4
cols: 4
data:
- [-0.2314201876, -0.9583649151, 0.1672763771, 0.09835545579]
- [0.7484075924, -0.06552319445, 0.6599945353, -0.0974700766]
- [-0.6215551242, 0.2779269699, 0.7324109687, 0.5499983612]
- [0; 0; 0; 1]

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Visp_tests/training dataset/book_training/train_image_006.yml Normal file
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Book cMo for training image 006
rows: 4
cols: 4
data:
- [-0.9945932359, 0.06416141072, 0.0816554258, 0.1218390655]
- [-0.03089262028, -0.933506626, 0.357226854, 0.06690798951]
- [0.09914605993, 0.3527728626, 0.93044149, 0.2360881003]
- [0, 0, 0, 1]

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Visp_tests/training dataset/book_training/train_image_006.yml~ Normal file
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Book cMo for training image 008
rows: 4
cols: 4
data:
- [0.02063568325, -0.5653102458, -0.8246202123, 0.0403687505]
- [0.8210674394, 0.4801939642, -0.3086454546, -0.1745029756]
- [0.5704580865, -0.6706996964, 0.4740669666, 0.4630312508]
- [0, 0, 0, 1]

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Visp_tests/training dataset/book_training/train_image_007.yml Normal file
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Book cMo for training image 007
rows: 4
cols: 4
data:
- [-0.03028468063, -0.4076156195, 0.9126512723, 0.05370078927]
- [-0.6648925807, 0.6899748614, 0.2860988409, 0.00863761359]
- [-0.7463247914, -0.5981506477, -0.2919162695, 0.5950621033]
- [0, 0, 0, 1]

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Visp_tests/training dataset/book_training/train_image_007.yml~ Normal file
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Book cMo for training image 007
rows: 4
cols: 4
data:
- [-0.03609085509, -0.3148440768, 0.9484569877, 0.04713881051]
- [-0.8006242946, 0.5771011583, 0.1611055304, 0.02971868344]
- [-0.5980787482, -0.7535432704, -0.2728998912, 0.6240615433]
- [0, 0, 0, 1]

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Visp_tests/training dataset/book_training/train_image_008.yml Normal file
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Book cMo for training image 006
rows: 4
cols: 4
data:
- [0.02063568325, -0.5653102458, -0.8246202123, 0.0403687505]
- [0.8210674394, 0.4801939642, -0.3086454546, -0.1745029756]
- [0.5704580865, -0.6706996964, 0.4740669666, 0.4630312508]
- [0, 0, 0, 1]

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Visp_tests/training dataset/book_training/train_image_009.yml Normal file
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Book cMo for training image 009
rows: 4
cols: 4
data:
- [-0.9994394457, 0.006264701471, -0.03288689451, 0.1238992921]
- [0.03112213929, -0.1881441717, -0.9816481972, 0.01594317069]
- [-0.01233721043, -0.9821214406, 0.1878437358, 0.4121166041]
- [0, 0, 0, 1]

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Visp_tests/training dataset/book_training/train_image_010.yml Normal file
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Book cMo for training image 010
rows: 4
cols: 4
data:
- [-0.4708977952, -0.8758554817, 0.1055103862, 0.1637869872]
- [0.5260415703, -0.1827654425, 0.8305883814, -0.07876409183]
- [-0.7081917345, 0.4466250868, 0.5468002369, 0.3485744882]
- [0, 0, 0, 1]

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V1
# 3D Points
8 # Number of points
0 0 0 # Point 0: X Y Z
0 0 -0.080
0.200 0 -0.080
0.200 0 0
0.200 0.120 0
0.200 0.120 -0.080
0 0.120 -0.080
0 0.120 0 # Point 7
# 3D Lines
0 # Number of lines
# Faces from 3D lines
0 # Number of faces
# Faces from 3D points
6 # Number of faces
4 0 1 2 3 # Face 0: [number of points] [index of the 3D points]...
4 1 6 5 2
4 4 5 6 7
4 0 3 4 7
4 5 4 3 2
4 0 7 6 1 # Face 5
# 3D cylinders
0 # Number of cylinders
# 3D circles
0 # Number of circles

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Box cMo for training image 000
rows: 4
cols: 4
data:
- [0.193116543, -0.9663692155, -0.169813251, 0.02612879614]
- [-0.8558813726, -0.08128751889, -0.5107439822, 0.06602788912]
- [0.4797635635, 0.2439731106, -0.8427953752, 0.2406530172]
- [0, 0, 0, 1]

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Visp_tests/training dataset/box_training/train_image_000.yml~ Normal file
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Book cMo for training image 000
rows: 4
cols: 4
data:
- [0.193116543, -0.9663692155, -0.169813251, 0.02612879614]
- [-0.8558813726, -0.08128751889, -0.5107439822, 0.06602788912]
- [0.4797635635, 0.2439731106, -0.8427953752, 0.2406530172]
- [0, 0, 0, 1]

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Visp_tests/training dataset/box_training/train_image_001.yml Normal file
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Box cMo for training image 001
rows: 4
cols: 4
data:
- [-0.8404490468, -0.533877465, 0.09284531287, 0.09379884947]
- [-0.4516932531, 0.5955441736, -0.6643044049, -0.02215848065]
- [0.2993636666, -0.6002516053, -0.741673382, 0.3246190621]
- [0, 0, 0, 1]

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Visp_tests/training dataset/box_training/train_image_001.yml~ Normal file
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Box cMo for training image 001
rows: 4
cols: 4
data:
- [0.193116543, -0.9663692155, -0.169813251, 0.02612879614]
- [-0.8558813726, -0.08128751889, -0.5107439822, 0.06602788912]
- [0.4797635635, 0.2439731106, -0.8427953752, 0.2406530172]
- [0, 0, 0, 1]

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Visp_tests/training dataset/box_training/train_image_002.yml Normal file
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Box cMo for training image 002
rows: 4
cols: 4
data:
- [0.8084275377, 0.5867850511, -0.04613263576, -0.1386628712]
- [0.3497507748, -0.5419394128, -0.7641832689, -0.03213693094]
- [-0.473412412, 0.6016518733, -0.6433472713, 0.3488456428]
- [0, 0, 0, 1]

9
Visp_tests/training dataset/box_training/train_image_002.yml~ Normal file
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Box cMo for training image 002
rows: 4
cols: 4
data:
- [0.8088424558, 0.5866555355, -0.04011439162, -0.1381142797]
- [0.3525144982, -0.5383633728, -0.765440009, -0.03407756373]
- [-0.4706457375, 0.604979472, -0.6422557343, 0.3485273406]
- [0, 0, 0, 1]

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Box cMo for training image 003
rows: 4
cols: 4
data:
- [-0.4725253004, 0.8729374239, -0.1212439461, 0.001179760294]
- [0.5586921668, 0.1903027077, -0.8072471382, -0.07790174822]
- [-0.6816031861, -0.4491827394, -0.577626145, 0.4715164047]
- [0, 0, 0, 1]

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Visp_tests/training dataset/box_training/train_image_004.yml Normal file
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Box cMo for training image 004
rows: 4
cols: 4
data:
- [-0.999698403, -0.01106995, -0.02192166036, 0.09655388361]
- [0.009689161966, 0.6424398649, -0.7662748463, -0.06560863397]
- [0.02256597275, -0.7662561427, -0.6421388485, 0.3517812457]
- [0, 0, 0, 1]

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Visp_tests/training dataset/box_training/train_image_005.yml Normal file
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Box cMo for training image 005
rows: 4
cols: 4
data:
- [-0.9937258079, -0.03409143048, -0.1065213271, 0.103404337]
- [-0.001029591397, 0.955160226, -0.2960876265, -0.0794672189]
- [0.1118389856, -0.2941202424, -0.9492024675, 0.2516764919]
- [0, 0, 0, 1]

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Visp_tests/training dataset/box_training/train_image_005.yml~ Normal file
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Box cMo for training image 005
rows: 4
cols: 4
data:
- [-0.9937258079, -0.03409143048, -0.1065213271, 0.103404337]
- [-0.001029591397, 0.955160226, -0.2960876265, -0.0794672189]
- [0.1118389856, -0.2941202424, -0.9492024675, 0.2516764919]
- [0, 0, 0, 1]

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0
cMo :
0.5665910387 -0.8235039121 0.02856399138 -0.004725561405
-0.612495359 -0.444094245 -0.6539340461 0.05318802529
0.5512023495 0.3530178583 -0.7560121439 0.398670845
0 0 0 1
1
cMo :
0.9988394919 -0.04371092911 0.02022434488 -0.1347632469
-0.01728363357 -0.7172534364 -0.6965980074 0.03038523268
0.04495492699 0.6954400496 -0.7171765417 0.4102291683
0 0 0 1
2
cMo :
0.5931860286 0.8050635925 -0.001716825525 -0.1530651462
0.5488091651 -0.4059313336 -0.7307723672 -0.09305480426
-0.5890151405 0.4325417487 -0.6826190738 0.5348952909
0 0 0 1
3
cMo :
-0.4033631815 0.9148985892 -0.01608462887 -0.04515121073
0.6287289807 0.2643387569 -0.7313172297 -0.168069378
-0.6648293109 -0.3050993168 -0.6818477794 0.5964581417
0 0 0 1
4
cMo :
-0.9985837435 0.05141800958 -0.0136636575 0.09960909748
0.04448102767 0.6659832775 -0.7446393169 -0.1074251457
-0.02918810413 -0.7441924902 -0.6673272002 0.5639220715
0 0 0 1
5
cMo :
-0.6442421126 -0.7648185729 0.00215661327 0.1005236514
-0.5078681912 0.4256891629 -0.7489049586 -0.03211180135
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