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            ______   _____       ___      _____   
  ____     /_   _// |  __ \\    / _ \\   |__  //  
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 |  __//   /_____// |_____//  |_||  |_|| /_____|| 
 |_|`-`    `-----`   -----`   `-`   `-`  `-----`  
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Text this: Cameras and gravity: Estimating planar object orientation