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  _____     _____     _  __     ___     __   _   
 |__  //   |  ___||  | |/ //   / _ \\  | || | || 
   / //    | ||__    | ' //   / //\ \\ | '--' || 
  / //__   | ||__    | . \\  |  ___  ||| .--. || 
 /_____||  |_____||  |_|\_\\ |_||  |_|||_|| |_|| 
 `-----`   `-----`   `-` --` `-`   `-` `-`  `-`

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Text this: Scene coordinate encoding for 3D representation and relocalization