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  ____     /_   _//  /_   _//  /_   _//  |  _ \\  
 |    \\    -| ||-     | ||     -| ||-   | |_| || 
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 |_|`-`    `-----`   `--`      `-----`   `-` --`  
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發送短信 : Cameras and gravity: Estimating planar object orientation