gtsam/examples/data/18pointExample1.txt

2 18 36

0 0 -0.10000000000000000555 0.5
1 0 -0.5 -0.19999999999999998335
0 1 -0.10000000000000000555 -0
1 1 -1.2246467991473532688e-17 -0.2000000000000000111
0 2 -0.10000000000000000555 -0.5
1 2 0.5 -0.20000000000000003886
0 3 0 0.5
1 3 -0.5 -0.099999999999999977796
0 4 0 -0
1 4 -6.123233995736766344e-18 -0.10000000000000000555
0 5 0 -0.5
1 5 0.5 -0.10000000000000003331
0 6 0.10000000000000000555 0.5
1 6 -0.5 3.0616169978683830179e-17
0 7 0.10000000000000000555 -0
1 7 0 -0
0 8 0.10000000000000000555 -0.5
1 8 0.5 -3.0616169978683830179e-17
0 9 -0.2000000000000000111 1
1 9 -1 -0.39999999999999996669
0 10 -0.2000000000000000111 -0
1 10 -2.4492935982947065376e-17 -0.4000000000000000222
0 11 -0.2000000000000000111 -1
1 11 1 -0.40000000000000007772
0 12 0 1
1 12 -1 -0.19999999999999995559
0 13 0 -0
1 13 -1.2246467991473532688e-17 -0.2000000000000000111
0 14 0 -1
1 14 1 -0.20000000000000006661
0 15 0.2000000000000000111 1
1 15 -1 6.1232339957367660359e-17
0 16 0.2000000000000000111 -0
1 16 0 -0
0 17 0.2000000000000000111 -1
1 17 1 -6.1232339957367660359e-17

3.141592653589793116
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                   0
-0
0
0
1
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0

2.2214414690791830509
2.2214414690791826068
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-6.123233995736766344e-18
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1
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0

-0.10000000000000000555
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1

-0.10000000000000000555
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1

-0.10000000000000000555
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1

0
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1

0
0
1

0
0.5
1

0.10000000000000000555
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0.10000000000000000555
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1

0.10000000000000000555
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-0.10000000000000000555
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-0.10000000000000000555
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0.5

0
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0
0
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0
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0.10000000000000000555
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0.10000000000000000555
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0.10000000000000000555
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0.5