init push
Browse files- CAD_selected/aeroplane.off +0 -0
- CAD_selected/bicycle.off +0 -0
- CAD_selected/boat.off +0 -0
- CAD_selected/bottle.off +2828 -0
- CAD_selected/bus.off +0 -0
- CAD_selected/car.off +0 -0
- CAD_selected/chair.off +2076 -0
- CAD_selected/diningtable.off +1097 -0
- CAD_selected/motorbike.off +0 -0
- CAD_selected/sofa.off +2349 -0
- CAD_selected/train.off +0 -0
- CAD_selected/tvmonitor.off +1346 -0
- app.py +165 -0
- requirements.txt +3 -0
CAD_selected/aeroplane.off
ADDED
The diff for this file is too large to render.
See raw diff
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CAD_selected/bicycle.off
ADDED
The diff for this file is too large to render.
See raw diff
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CAD_selected/boat.off
ADDED
The diff for this file is too large to render.
See raw diff
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CAD_selected/bottle.off
ADDED
@@ -0,0 +1,2828 @@
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1899 |
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1900 |
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1910 |
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1911 |
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1912 |
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1914 |
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1915 |
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1917 |
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1918 |
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1919 |
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1920 |
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1921 |
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1927 |
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1928 |
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1929 |
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1930 |
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1931 |
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1932 |
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1933 |
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1934 |
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1935 |
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1936 |
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1937 |
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1938 |
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1939 |
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1940 |
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1941 |
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1942 |
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1943 |
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1944 |
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1945 |
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1946 |
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1947 |
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1948 |
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1949 |
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1950 |
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1951 |
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1952 |
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1953 |
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1954 |
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1955 |
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1956 |
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1957 |
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1958 |
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1959 |
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1960 |
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1961 |
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1962 |
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1963 |
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1964 |
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1965 |
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1966 |
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1967 |
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1968 |
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1969 |
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1970 |
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1971 |
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1972 |
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1973 |
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1974 |
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1975 |
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1976 |
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1977 |
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1978 |
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1979 |
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1980 |
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1981 |
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1982 |
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1983 |
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1984 |
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1985 |
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1986 |
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1987 |
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1988 |
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1989 |
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1990 |
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1991 |
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1992 |
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1993 |
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1994 |
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1995 |
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1996 |
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1997 |
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1998 |
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1999 |
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2000 |
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2001 |
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2002 |
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2003 |
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2004 |
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2005 |
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2006 |
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2007 |
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2008 |
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2009 |
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2010 |
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2011 |
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2012 |
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2013 |
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2014 |
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2015 |
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2016 |
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2017 |
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2018 |
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2019 |
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2020 |
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2021 |
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2022 |
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2023 |
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2024 |
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2025 |
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2027 |
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2029 |
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2030 |
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2031 |
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2033 |
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2034 |
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2035 |
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2039 |
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2040 |
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2050 |
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2051 |
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2052 |
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2053 |
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2054 |
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2055 |
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2056 |
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2057 |
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2060 |
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2061 |
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2062 |
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2063 |
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2065 |
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2066 |
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2067 |
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2069 |
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2070 |
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2071 |
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2072 |
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2073 |
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2074 |
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2075 |
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2076 |
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2077 |
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2078 |
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2079 |
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2080 |
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2081 |
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2082 |
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2083 |
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2084 |
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2085 |
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2086 |
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2087 |
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2088 |
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2089 |
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CAD_selected/chair.off
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1866 |
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1868 |
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1870 |
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1871 |
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1873 |
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1875 |
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1876 |
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1877 |
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1878 |
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1879 |
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1880 |
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1881 |
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1882 |
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1890 |
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1892 |
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1893 |
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1895 |
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1898 |
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1899 |
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1900 |
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1901 |
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1904 |
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1905 |
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1906 |
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1907 |
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1908 |
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1909 |
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1910 |
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1911 |
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1912 |
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1913 |
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1914 |
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1915 |
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1916 |
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1917 |
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1918 |
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1919 |
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1920 |
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1921 |
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1922 |
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1923 |
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1924 |
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1925 |
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1926 |
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|
1927 |
+
3 787 786 785
|
1928 |
+
3 787 788 786
|
1929 |
+
3 789 788 787
|
1930 |
+
3 789 790 788
|
1931 |
+
3 791 790 789
|
1932 |
+
3 791 792 790
|
1933 |
+
3 793 792 791
|
1934 |
+
3 793 794 792
|
1935 |
+
3 795 794 793
|
1936 |
+
3 796 794 795
|
1937 |
+
3 796 797 794
|
1938 |
+
3 798 797 796
|
1939 |
+
3 798 799 797
|
1940 |
+
3 798 800 799
|
1941 |
+
3 801 800 798
|
1942 |
+
3 801 802 800
|
1943 |
+
3 803 802 801
|
1944 |
+
3 803 804 802
|
1945 |
+
3 803 805 804
|
1946 |
+
3 805 803 806
|
1947 |
+
3 807 805 806
|
1948 |
+
3 805 807 808
|
1949 |
+
3 807 809 808
|
1950 |
+
3 809 807 810
|
1951 |
+
3 810 811 809
|
1952 |
+
3 811 810 812
|
1953 |
+
3 812 813 811
|
1954 |
+
3 813 812 814
|
1955 |
+
3 815 813 814
|
1956 |
+
3 813 815 816
|
1957 |
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3 815 817 816
|
1958 |
+
3 817 815 818
|
1959 |
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3 818 819 817
|
1960 |
+
3 819 818 820
|
1961 |
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3 821 819 820
|
1962 |
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3 819 821 822
|
1963 |
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3 821 823 822
|
1964 |
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3 823 821 824
|
1965 |
+
3 825 823 824
|
1966 |
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3 823 825 826
|
1967 |
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3 826 825 827
|
1968 |
+
3 825 801 827
|
1969 |
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3 801 825 803
|
1970 |
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3 798 827 801
|
1971 |
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3 827 798 826
|
1972 |
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3 796 826 798
|
1973 |
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3 826 796 828
|
1974 |
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3 795 828 796
|
1975 |
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3 828 795 829
|
1976 |
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3 793 829 795
|
1977 |
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3 829 793 830
|
1978 |
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3 791 830 793
|
1979 |
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3 830 791 831
|
1980 |
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3 789 831 791
|
1981 |
+
3 831 789 832
|
1982 |
+
3 787 832 789
|
1983 |
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3 832 787 833
|
1984 |
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3 785 833 787
|
1985 |
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3 833 785 834
|
1986 |
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3 783 834 785
|
1987 |
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3 834 783 835
|
1988 |
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3 781 835 783
|
1989 |
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3 835 781 836
|
1990 |
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3 779 836 781
|
1991 |
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3 836 779 837
|
1992 |
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3 777 837 779
|
1993 |
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3 837 777 838
|
1994 |
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3 775 838 777
|
1995 |
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3 838 775 839
|
1996 |
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3 773 839 775
|
1997 |
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3 839 773 840
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1998 |
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3 769 840 773
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1999 |
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3 840 769 768
|
2000 |
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3 770 840 768
|
2001 |
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3 770 839 840
|
2002 |
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3 770 838 839
|
2003 |
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3 770 837 838
|
2004 |
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3 770 836 837
|
2005 |
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3 770 835 836
|
2006 |
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3 770 834 835
|
2007 |
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3 770 833 834
|
2008 |
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3 770 832 833
|
2009 |
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3 770 831 832
|
2010 |
+
3 770 830 831
|
2011 |
+
3 770 829 830
|
2012 |
+
3 823 829 770
|
2013 |
+
3 823 828 829
|
2014 |
+
3 823 826 828
|
2015 |
+
3 770 771 823
|
2016 |
+
3 770 771 823
|
2017 |
+
3 771 841 823
|
2018 |
+
3 772 841 771
|
2019 |
+
3 841 772 774
|
2020 |
+
3 774 842 841
|
2021 |
+
3 842 774 776
|
2022 |
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3 776 843 842
|
2023 |
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3 843 776 778
|
2024 |
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3 778 844 843
|
2025 |
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3 844 778 780
|
2026 |
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3 780 845 844
|
2027 |
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3 845 780 782
|
2028 |
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3 782 846 845
|
2029 |
+
3 846 782 784
|
2030 |
+
3 784 847 846
|
2031 |
+
3 847 784 786
|
2032 |
+
3 786 848 847
|
2033 |
+
3 848 786 788
|
2034 |
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3 788 849 848
|
2035 |
+
3 849 788 790
|
2036 |
+
3 790 850 849
|
2037 |
+
3 850 790 792
|
2038 |
+
3 792 851 850
|
2039 |
+
3 851 792 794
|
2040 |
+
3 794 852 851
|
2041 |
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3 852 794 797
|
2042 |
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3 797 853 852
|
2043 |
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3 853 797 799
|
2044 |
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3 799 854 853
|
2045 |
+
3 854 799 800
|
2046 |
+
3 800 855 854
|
2047 |
+
3 855 800 802
|
2048 |
+
3 802 856 855
|
2049 |
+
3 856 802 804
|
2050 |
+
3 856 852 855
|
2051 |
+
3 856 857 852
|
2052 |
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3 857 856 858
|
2053 |
+
3 822 857 858
|
2054 |
+
3 822 859 857
|
2055 |
+
3 822 860 859
|
2056 |
+
3 822 861 860
|
2057 |
+
3 822 823 861
|
2058 |
+
3 841 861 823
|
2059 |
+
3 861 841 842
|
2060 |
+
3 841 861 823
|
2061 |
+
3 861 841 842
|
2062 |
+
3 843 861 842
|
2063 |
+
3 844 861 843
|
2064 |
+
3 861 844 860
|
2065 |
+
3 845 860 844
|
2066 |
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3 846 860 845
|
2067 |
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3 847 860 846
|
2068 |
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3 848 860 847
|
2069 |
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3 860 848 859
|
2070 |
+
3 848 857 859
|
2071 |
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3 857 848 849
|
2072 |
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3 857 849 850
|
2073 |
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3 857 850 851
|
2074 |
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3 857 851 852
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2075 |
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3 855 852 854
|
2076 |
+
3 854 852 853
|
CAD_selected/diningtable.off
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1 |
+
OFF
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2 |
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1049 1298 0
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3 |
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4 |
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22 |
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25 |
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26 |
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27 |
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28 |
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29 |
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30 |
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35 |
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36 |
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42 |
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46 |
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48 |
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50 |
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51 |
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55 |
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56 |
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57 |
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58 |
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63 |
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65 |
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66 |
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68 |
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69 |
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70 |
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71 |
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72 |
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73 |
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74 |
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76 |
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77 |
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78 |
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79 |
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84 |
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87 |
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90 |
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91 |
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92 |
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98 |
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102 |
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103 |
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104 |
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105 |
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106 |
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107 |
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108 |
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109 |
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110 |
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111 |
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112 |
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113 |
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114 |
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115 |
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116 |
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118 |
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120 |
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121 |
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174 |
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1900 |
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1909 |
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1910 |
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1912 |
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1913 |
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1914 |
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1915 |
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1916 |
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1917 |
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1920 |
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1921 |
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1928 |
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1929 |
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1930 |
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1931 |
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1932 |
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1933 |
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1934 |
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1935 |
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1936 |
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1938 |
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1939 |
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1940 |
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1941 |
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1942 |
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1943 |
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1944 |
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1945 |
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1946 |
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1947 |
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1948 |
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1949 |
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1950 |
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1951 |
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1952 |
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1953 |
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1954 |
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1955 |
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1956 |
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1957 |
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1958 |
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1959 |
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1960 |
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1961 |
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1962 |
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1963 |
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1964 |
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1965 |
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1966 |
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1967 |
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1968 |
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1969 |
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1970 |
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1971 |
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1972 |
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1973 |
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1974 |
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1975 |
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1984 |
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1985 |
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1986 |
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1987 |
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1988 |
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1989 |
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1990 |
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1991 |
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1992 |
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1993 |
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1994 |
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1995 |
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1996 |
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1997 |
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1998 |
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1999 |
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2000 |
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2001 |
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2002 |
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2003 |
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2004 |
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2005 |
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2006 |
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2007 |
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2008 |
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2009 |
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2010 |
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2011 |
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2012 |
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2013 |
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2014 |
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2015 |
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2016 |
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2017 |
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2018 |
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2019 |
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2020 |
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2021 |
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2022 |
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2023 |
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2025 |
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2026 |
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2027 |
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2028 |
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2029 |
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2030 |
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2031 |
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2032 |
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2033 |
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2035 |
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2036 |
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2038 |
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2040 |
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2045 |
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2046 |
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2048 |
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2050 |
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2051 |
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2053 |
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2054 |
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2055 |
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2056 |
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2060 |
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2062 |
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2065 |
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2066 |
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2070 |
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2072 |
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2075 |
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2076 |
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2080 |
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2081 |
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2082 |
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2086 |
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2088 |
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2089 |
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2090 |
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2091 |
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2092 |
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2093 |
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2098 |
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2099 |
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2100 |
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2101 |
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2102 |
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2103 |
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2104 |
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1 |
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2 |
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830 |
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832 |
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833 |
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834 |
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835 |
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838 |
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840 |
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1296 |
+
3 651 652 653
|
1297 |
+
3 653 652 654
|
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+
3 653 654 655
|
1299 |
+
3 655 654 656
|
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+
3 655 656 657
|
1301 |
+
3 657 656 658
|
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+
3 657 658 659
|
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+
3 659 658 660
|
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+
3 659 660 661
|
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+
3 661 660 662
|
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+
3 661 662 663
|
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+
3 663 662 664
|
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+
3 663 664 665
|
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+
3 665 664 666
|
1310 |
+
3 665 666 667
|
1311 |
+
3 667 666 668
|
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+
3 667 668 669
|
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+
3 669 668 670
|
1314 |
+
3 670 668 671
|
1315 |
+
3 670 671 672
|
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+
3 672 671 673
|
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+
3 669 674 675
|
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+
3 674 669 670
|
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+
3 675 674 673
|
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+
3 675 673 671
|
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+
3 675 671 676
|
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+
3 675 676 677
|
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+
3 677 676 678
|
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+
3 677 678 679
|
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+
3 679 678 680
|
1326 |
+
3 679 680 681
|
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+
3 681 680 682
|
1328 |
+
3 681 682 683
|
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+
3 683 682 684
|
1330 |
+
3 683 684 685
|
1331 |
+
3 685 684 686
|
1332 |
+
3 685 686 687
|
1333 |
+
3 687 686 688
|
1334 |
+
3 687 688 689
|
1335 |
+
3 689 688 690
|
1336 |
+
3 689 690 691
|
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3 691 690 692
|
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+
3 691 692 693
|
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+
3 693 692 694
|
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+
3 693 694 695
|
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+
3 695 694 696
|
1342 |
+
3 695 696 697
|
1343 |
+
3 697 696 698
|
1344 |
+
3 697 698 699
|
1345 |
+
3 700 701 702
|
1346 |
+
3 701 700 703
|
app.py
ADDED
@@ -0,0 +1,165 @@
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|
1 |
+
import BboxTools as bbt
|
2 |
+
import gradio as gr
|
3 |
+
import numpy as np
|
4 |
+
from pytorch3d.renderer import RasterizationSettings, PerspectiveCameras, MeshRasterizer, MeshRenderer, HardPhongShader, BlendParams, camera_position_from_spherical_angles, look_at_rotation, PointLights
|
5 |
+
from pytorch3d.renderer import TexturesVertex as Textures
|
6 |
+
from pytorch3d.structures import Meshes
|
7 |
+
import torch
|
8 |
+
|
9 |
+
mesh_paths = {
|
10 |
+
"Aeroplane": "CAD_selected/aeroplane.off",
|
11 |
+
"Bicycle": "CAD_selected/bicycle.off",
|
12 |
+
"Boat": "CAD_selected/boat.off",
|
13 |
+
"Bottle": "CAD_selected/bottle.off",
|
14 |
+
"Bus": "CAD_selected/bus.off",
|
15 |
+
"Car": "CAD_selected/car.off",
|
16 |
+
"Chair": "CAD_selected/chair.off",
|
17 |
+
"Diningtable": "CAD_selected/diningtable.off",
|
18 |
+
"Motorbike": "CAD_selected/motorbike.off",
|
19 |
+
"Sofa": "CAD_selected/sofa.off",
|
20 |
+
"Train": "CAD_selected/train.off",
|
21 |
+
"Tvmonitor": "CAD_selected/tvmonitor.off",
|
22 |
+
}
|
23 |
+
|
24 |
+
|
25 |
+
def rotation_theta(theta, device_=None):
|
26 |
+
# cos -sin 0
|
27 |
+
# sin cos 0
|
28 |
+
# 0 0 1
|
29 |
+
if type(theta) == float:
|
30 |
+
if device_ is None:
|
31 |
+
device_ = 'cpu'
|
32 |
+
theta = torch.ones((1, 1, 1)).to(device_) * theta
|
33 |
+
else:
|
34 |
+
if device_ is None:
|
35 |
+
device_ = theta.device
|
36 |
+
theta = theta.view(-1, 1, 1)
|
37 |
+
|
38 |
+
mul_ = torch.Tensor([[1, 0, 0, 0, 1, 0, 0, 0, 0], [0, -1, 0, 1, 0, 0, 0, 0, 0]]).view(1, 2, 9).to(device_)
|
39 |
+
bia_ = torch.Tensor([0] * 8 + [1]).view(1, 1, 9).to(device_)
|
40 |
+
|
41 |
+
# [n, 1, 2]
|
42 |
+
cos_sin = torch.cat((torch.cos(theta), torch.sin(theta)), dim=2).to(device_)
|
43 |
+
|
44 |
+
# [n, 1, 2] @ [1, 2, 9] + [1, 1, 9] => [n, 1, 9] => [n, 3, 3]
|
45 |
+
trans = torch.matmul(cos_sin, mul_) + bia_
|
46 |
+
trans = trans.view(-1, 3, 3)
|
47 |
+
|
48 |
+
return trans
|
49 |
+
|
50 |
+
|
51 |
+
def campos_to_R_T(campos, theta, device='cpu', at=((0, 0, 0),), up=((0, 1, 0), )):
|
52 |
+
R = look_at_rotation(campos, at=at, device=device, up=up) # (n, 3, 3)
|
53 |
+
R = torch.bmm(R, rotation_theta(theta, device_=device))
|
54 |
+
T = -torch.bmm(R.transpose(1, 2), campos.unsqueeze(2))[:, :, 0] # (1, 3)
|
55 |
+
return R, T
|
56 |
+
|
57 |
+
|
58 |
+
def load_off(off_file_name, to_torch=False):
|
59 |
+
file_handle = open(off_file_name)
|
60 |
+
|
61 |
+
file_list = file_handle.readlines()
|
62 |
+
n_points = int(file_list[1].split(' ')[0])
|
63 |
+
all_strings = ''.join(file_list[2:2 + n_points])
|
64 |
+
array_ = np.fromstring(all_strings, dtype=np.float32, sep='\n')
|
65 |
+
|
66 |
+
all_strings = ''.join(file_list[2 + n_points:])
|
67 |
+
array_int = np.fromstring(all_strings, dtype=np.int32, sep='\n')
|
68 |
+
|
69 |
+
array_ = array_.reshape((-1, 3))
|
70 |
+
|
71 |
+
if not to_torch:
|
72 |
+
return array_, array_int.reshape((-1, 4))[:, 1::]
|
73 |
+
else:
|
74 |
+
return torch.from_numpy(array_), torch.from_numpy(array_int.reshape((-1, 4))[:, 1::])
|
75 |
+
|
76 |
+
|
77 |
+
def pre_process_mesh_pascal(verts):
|
78 |
+
verts = torch.cat((verts[:, 0:1], verts[:, 2:3], -verts[:, 1:2]), dim=1)
|
79 |
+
return verts
|
80 |
+
|
81 |
+
|
82 |
+
def render(azimuth, elevation, theta, dist, category, unit):
|
83 |
+
azimuth = float(azimuth)
|
84 |
+
elevation = float(elevation)
|
85 |
+
theta = float(theta)
|
86 |
+
dist = float(dist)
|
87 |
+
|
88 |
+
h, w = 256, 256
|
89 |
+
render_image_size = max(h, w)
|
90 |
+
crop_size = (256, 256)
|
91 |
+
device = 'cpu'
|
92 |
+
|
93 |
+
cameras = PerspectiveCameras(focal_length=12.0, device=device)
|
94 |
+
raster_settings = RasterizationSettings(
|
95 |
+
image_size=render_image_size,
|
96 |
+
blur_radius=0.0,
|
97 |
+
faces_per_pixel=1,
|
98 |
+
bin_size=0
|
99 |
+
)
|
100 |
+
raster_settings1 = RasterizationSettings(
|
101 |
+
image_size=render_image_size // 8,
|
102 |
+
blur_radius=0.0,
|
103 |
+
faces_per_pixel=1,
|
104 |
+
bin_size=0
|
105 |
+
)
|
106 |
+
rasterizer = MeshRasterizer(
|
107 |
+
cameras=cameras,
|
108 |
+
raster_settings=raster_settings1
|
109 |
+
)
|
110 |
+
lights = PointLights(device=device, location=((2.0, 2.0, -2.0),))
|
111 |
+
phong_renderer = MeshRenderer(
|
112 |
+
rasterizer=MeshRasterizer(
|
113 |
+
cameras=cameras,
|
114 |
+
raster_settings=raster_settings
|
115 |
+
),
|
116 |
+
shader=HardPhongShader(device=device, lights=lights, cameras=cameras)
|
117 |
+
)
|
118 |
+
|
119 |
+
x3d, xface = load_off(mesh_paths[category])
|
120 |
+
x3d = x3d * 1.0
|
121 |
+
verts = torch.from_numpy(x3d).to(device)
|
122 |
+
verts = pre_process_mesh_pascal(verts)
|
123 |
+
faces = torch.from_numpy(xface).to(device)
|
124 |
+
verts_rgb = torch.ones_like(verts)[None]
|
125 |
+
# verts_rgb = torch.ones_like(verts)[None] * torch.Tensor(color).view(1, 1, 3).to(verts.device)
|
126 |
+
textures = Textures(verts_rgb.to(device))
|
127 |
+
meshes = Meshes(verts=[verts], faces=[faces], textures=textures)
|
128 |
+
# meshes = Meshes(verts=[verts], faces=[faces])
|
129 |
+
|
130 |
+
C = camera_position_from_spherical_angles(dist, elevation, azimuth, degrees=(unit=='Degree'), device=device)
|
131 |
+
R, T = campos_to_R_T(C, theta, device=device)
|
132 |
+
image = phong_renderer(meshes_world=meshes.clone(), R=R, T=T)
|
133 |
+
image = image[:, ..., :3]
|
134 |
+
box_ = bbt.box_by_shape(crop_size, (render_image_size // 2,) * 2)
|
135 |
+
bbox = box_.bbox
|
136 |
+
image = image[:, bbox[0][0]:bbox[0][1], bbox[1][0]:bbox[1][1], :]
|
137 |
+
image = torch.squeeze(image).detach().cpu().numpy()
|
138 |
+
image = np.array((image / image.max()) * 255).astype(np.uint8)
|
139 |
+
|
140 |
+
cx, cy = (128, 128)
|
141 |
+
dx = int(-cx + w/2)
|
142 |
+
dy = int(-cy + h/2)
|
143 |
+
image_pad = np.pad(image, ((abs(dy), abs(dy)), (abs(dx), abs(dx)), (0, 0)), mode='edge')
|
144 |
+
image = image_pad[dy+abs(dy):dy+abs(dy)+image.shape[0], dx+abs(dx):dx+abs(dx)+image.shape[1]]
|
145 |
+
|
146 |
+
return image
|
147 |
+
|
148 |
+
|
149 |
+
with gr.Blocks() as demo:
|
150 |
+
gr.Markdown('# Visualize object pose')
|
151 |
+
gr.Markdown('This app runs on a free HuggingFace Space with no GPU support. Rendering an image generally takes a few seconds.')
|
152 |
+
with gr.Row():
|
153 |
+
with gr.Column(scale=1):
|
154 |
+
azimuth_box = gr.Textbox(label="Azimuth", value="45")
|
155 |
+
elevation_box = gr.Textbox(label="Elevation", value="15")
|
156 |
+
theta_box = gr.Textbox(label="Theta", value="0")
|
157 |
+
dist_box = gr.Textbox(label="Distance", value="4")
|
158 |
+
category_radio = gr.Radio(["Aeroplane", "Bicycle", "Boat", "Bottle", "Bus", "Car", "Chair", "Diningtable", "Motorbike", "Sofa", "Train", "Tvmonitor"], value="Aeroplane")
|
159 |
+
unit_radio = gr.Radio(["Degree", "Radian"], value="Degree")
|
160 |
+
render_btn = gr.Button("Render")
|
161 |
+
with gr.Column(scale=1):
|
162 |
+
output = gr.Image(shape=(256, 256))
|
163 |
+
render_btn.click(fn=render, inputs=[azimuth_box, elevation_box, theta_box, dist_box, category_radio, unit_radio], outputs=output)
|
164 |
+
|
165 |
+
demo.launch()
|
requirements.txt
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
BboxTools
|
2 |
+
torch
|
3 |
+
pytorch3d
|