gtsam/examples/Data/18pointExample1.txt

2 18 36

0 0 0 -0
1 0 -6.123233995736766344e-18 -0.10000000000000000555
0 1 -0.10000000000000000555 -0
1 1 -1.2246467991473532688e-17 -0.2000000000000000111
0 2 0.10000000000000000555 -0
1 2 0 -0
0 3 0 -1
1 3 1 -0.20000000000000006661
0 4 0 1
1 4 -1 -0.19999999999999995559
0 5 -0.5 0.25
1 5 -0.25000000000000005551 -0.55000000000000004441
0 6 -0.5 -0.25
1 6 0.24999999999999997224 -0.55000000000000004441
0 7 0.16666666666666665741 0.33333333333333331483
1 7 -0.33333333333333331483 0.10000000000000000555
0 8 0.16666666666666665741 -0.33333333333333331483
1 8 0.33333333333333331483 0.099999999999999977796
0 9 -0.2000000000000000111 1
1 9 -1 -0.39999999999999996669
0 10 0.10000000000000000555 0.5
1 10 -0.5 3.0616169978683830179e-17
0 11 0.10000000000000000555 -0.5
1 11 0.5 -3.0616169978683830179e-17
0 12 -0.2000000000000000111 -0
1 12 -2.4492935982947065376e-17 -0.4000000000000000222
0 13 -0.2000000000000000111 -1
1 13 1 -0.40000000000000007772
0 14 0 -0
1 14 -1.2246467991473532688e-17 -0.2000000000000000111
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
                   0
                   0
-0
0
0
1
0
0

2.2214414690791830509
2.2214414690791826068
                    0
-6.123233995736766344e-18
-0.10000000000000000555
0
1
0
0

0
0
1

-0.10000000000000000555
0
1

0.10000000000000000555
0
1

0
0.5
0.5

0
-0.5
0.5

-1
-0.5
2

-1
0.5
2

0.25
-0.5
1.5

0.25
0.5
1.5

-0.10000000000000000555
-0.5
0.5

0.10000000000000000555
-0.5
1

0.10000000000000000555
0.5
1

-0.10000000000000000555
0
0.5

-0.10000000000000000555
0.5
0.5

0
0
0.5

0.10000000000000000555
-0.5
0.5

0.10000000000000000555
0
0.5

0.10000000000000000555
0.5
0.5