diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_0.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6a22493ec3b9483ce53c58c331ffee35da98733
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd5c17ec4364dddadec9ebc16293985fdbaeb0855b88e657337148df7bff2ed0
+size 521358
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_0_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_0_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..55bbfefe56f621256ec1b5d6a5c3e1ded8ea8dbc
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_0_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ffebe4abb3b23cfdbbce1f7fee7ae46af487dc044b28fac67d017a0ca9cacb8
+size 111077
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_0_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_0_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b73206bb659e322195d51b3d8e58550ad78b6455
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_0_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6994ad23b88e165de78090de0b09166f4e679078b32a44dbee42441ee71f0b1c
+size 11556
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_1.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8557d8bd062e70a1e73fc0c38e792122db86cb3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2aaadf5c65088dcf6d40d8c294048f5355439b813ec4c6f05df313899cc9514
+size 523021
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_10.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_10.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3dbc745876a922330a5c1e134b3fdf5d157f144
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa8065a9d1ebd0c03ddcdd24a8586d3eb3acfe20d62448ce8df880b956b98ac8
+size 526187
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_10_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_10_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..33a7ea0e49935d96db74e48092a3de92237bfc65
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_10_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecdeb98f7803cd3bf6cddf4c056d530b0ddb5bfbbcaa3d7efabf7e234c1f04ee
+size 110061
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_10_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_10_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4ae77505bf7883ff01654ce554f2c3d4ffb1203
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_10_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:088df8c9d0fbf19b0b1066ea1c1e78da5b0d253e15ada5001239581152028f4c
+size 11617
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_11.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_11.png
new file mode 100644
index 0000000000000000000000000000000000000000..320b50f493db8c02459dfdff13f7e31c6ca4fb81
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:837595d4e0b9b1ac16a8da636e7f6a26adcfcd197ba3895146ca3a1c43a41ddf
+size 528904
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_11_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_11_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..723ddea0fe09725b5870ad4ecc67ba73ff0d6145
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_11_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:790966f84a8585626664205ef9d0723e4830576a536c51dd38cd89516e995ae5
+size 110508
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_11_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_11_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea2872a660b03e80f699fe6deef36d0e963d65da
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_11_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5604341977f6471da7413c15d7eea24362d779ba4279f65b919b1266b6f2a44
+size 11491
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_12.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_12.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5d9adc70547d2a0648c05ba7e38436e27030b71
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_12.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ffbfaf16c6930a378391a5e2c36043047774207772c6f4a660863170f7cfdb4
+size 531287
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_12_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_12_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e33d8457247e585d3d5a381ef3cccaa3812b1e5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_12_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a824daad8a4af08cc392b5d09f663c246b93f75f4fa66337a34c09e0435647d
+size 110134
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_12_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_12_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..818c6584e2f18f019185647acc3e278c837812e5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_12_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66e58c15e1009635072d1adf815dc61c8c18db7aa60225f3db326a87068399a6
+size 11505
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_13.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_13.png
new file mode 100644
index 0000000000000000000000000000000000000000..66bce15b7686e7b9407aeb82f9b547e85474dc06
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_13.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd9d0cc73108714bb3d624420fac92d697e694b2ba118b64e9424bd91ae93981
+size 537396
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_13_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_13_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddd0bcecc4d557ce8439bb628c7644d938a15061
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_13_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f14e33febd5db1587a8dfc55a36704f3473d97fd36a60d4ba1954bbc0eda57f
+size 110218
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_13_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_13_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f4498aae51a38fbbbdc80add6adc47c368290b9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_13_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7efd63a5aa7c332f7a1da33672f08921363bfccdfcc37e7b6f9ff602b7823c95
+size 11453
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_14.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_14.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ad9909c986e0100559e83042133cafd5b20e87a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_14.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:852df6a0470f8c601e860713cdaa5199d428ef879a6262a4cbaa0639c8eea7de
+size 536106
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_14_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_14_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..993ec4d62e305de72d9785cfa456d8ab48bd66d1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_14_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:730bc31c0b03f883de0ab970ec79f6a5e4fde7fa559bde1b10421752161cbf13
+size 109809
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_14_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_14_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3dcb983a48996d3b2d1ff2053e63a3f22fa91d1a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_14_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a498dab66450348b96a0271163c501d28ce0a053b3031687f4f37920ffa275e
+size 11588
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_15.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_15.png
new file mode 100644
index 0000000000000000000000000000000000000000..9997ee9e0d50bf638c1e8ddecbc55b4a24806ecb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_15.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3b43138b52f47451c5ac61390b7bd341ad75d395720819c2955e25da14e1b4a
+size 531942
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_15_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_15_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bca213848d9ef7b14a4f50f03d37a647ad73cb21
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_15_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88ab2f2f2f27f93c81de3cb8c0c46becaee19f8cfe9c9ed7f75b8cc72e86d4b2
+size 109819
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_15_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_15_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4f63250224455b353ed8041aa94e9c3767f478c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_15_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:401d23a144a11c0005d733a39a26197cd9285af3cf95345377adb233a56ab6f6
+size 11578
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_16.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_16.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c4f08f47474da8317c2ef1177d439f7f21b10ac
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_16.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:362da9dac0e5bff48cc5d47f6ff334bfaa22b2510d489f84189ee7b5ccc207c9
+size 531022
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_16_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_16_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..df9cbfc80d5d46b4c7181313bd7cb784a9f3edf5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_16_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e657acba0e5344a927320c6d527762859b53610225c032c1a0e86b7769cb0c5
+size 110049
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_16_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_16_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..44bf1bb8f5f1000b3124683abcf05545f63a4399
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_16_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d202f6694f08341f6bf02c8587317ab18d029c12ad60d1e9bdf41c8291d862f
+size 11627
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_17.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_17.png
new file mode 100644
index 0000000000000000000000000000000000000000..0379b9c69da6983a50101e37a886d813f6369021
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_17.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c679412e835806bc2e28d3fd19032b4d1f78dc6235e1d3bb3469fb74adcf1ecb
+size 530790
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_17_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_17_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..700646d1d735dab80e817609a5025e4379b0abc5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_17_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01a9229ad8250011df0de8e52c2985f93efde72cc0611d3d2a6721777abc5019
+size 109994
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_17_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_17_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f322fed147eeab83fa07dc2eb8a51162075c0e6
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_17_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:500fc07f0f4ca9cf1f7018f4808997792bfcc3e3f08867a7c04fa6350368df68
+size 11546
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_18.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_18.png
new file mode 100644
index 0000000000000000000000000000000000000000..247a2cce1504b4a5eb46f7e3cb4a6e1fcbbcf0e8
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_18.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab47083c7a2694080542bbe574332e95612d0cb68413e2e3332c58ff3e4dd479
+size 534056
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_18_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_18_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..16e3c86a784a99fac0bbe9bcc7febbf7395190bd
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_18_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31592092e5573efd78fbc42074c4b1e5c9e062a834f87372175126edf7015f49
+size 109951
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_18_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_18_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6479f2f82f06644540e3ce5629a87ea5108abe9c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_18_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c2cf99a5fadc0aa938f5504eaccb05e9f57d102ce99eb5d4830202470539763
+size 11598
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_19.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_19.png
new file mode 100644
index 0000000000000000000000000000000000000000..acb6bc1c9c3fd9f670182bcc7cfbf865eac3fccd
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_19.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f797d5bdd5d64baafd8e491bb2568e93bfc261ab703e7d4b7b6b5717a87acefa
+size 533021
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_19_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_19_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d34e09d0b79f3bbe627be76a2c4ae140d30da50d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_19_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbc389ba4b41a7b9ef09a8437b38c9dfc80c25eb5c283542bf3b0b823e76cbf1
+size 109830
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_19_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_19_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0864bff8fa13c4a73b5259a3b45597f3d06ce37
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_19_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dac418151ffcf586ba053867e8ff929c7f64f6f0f04ccd208c4a9d69919e045
+size 11618
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_1_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_1_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..16092591def3b3927e9f69807f4c62086aac3afb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_1_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:002f61793f54fe14fbf1e41683b89abbacee01d8c53bf6b5a049ae4e70eb0fea
+size 109826
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_1_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_1_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0a825980bf19b180ff59202c33560658523cb8b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_1_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3e0f15713d0032edec3da3d20dddd590a78e4f6629cc891edf2ed538edd0813
+size 11545
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_2.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_2.png
new file mode 100644
index 0000000000000000000000000000000000000000..22f2d16aded007cfd119b98af639f5896e274203
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fc6797f7f7716c4ba75f9f9145a943d81378bdbb2536234d9ed6238535138c1
+size 525613
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_20.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_20.png
new file mode 100644
index 0000000000000000000000000000000000000000..8750ba5342bf44f425419d619e97212386bf2975
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_20.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abb2f493ec1f649fa5225399994a9abea87575cb9969c6413509710c24caa5bf
+size 533759
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_20_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_20_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..78cdf7cee5691f82bff57b2f33710b8b081333a8
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_20_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1f85e7c6081a0ebf2da363c02403519fd2f678790e4df9a62ce0de163cd6b3f
+size 109820
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_20_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_20_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..99b51ccd2fd0f42ca95485db43ac2f0feab553a8
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_20_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dafa1c6e179db1773c70c2819a3e5841eb2549d7692e9c21bf525abd5d5b03b
+size 11556
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_21.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_21.png
new file mode 100644
index 0000000000000000000000000000000000000000..68c88090ff350c936c045233bbe221af5025aa42
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_21.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a07b9d48ed28f6c299325ed4742be3a046606f36ce4b05468c1e642d8bc7746
+size 533133
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_21_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_21_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1f1feaf3747d4182adc1b786987727667e8299f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_21_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dd570ee0c79b94ef2ffdb30c678691bfad4f5bd11479f791308014d0426d64b
+size 110391
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_21_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_21_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..937175d26a4fa9f3c0dcba1eab9568686cf51bfa
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_21_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb9e84d7bafdcc63c3e0ff384cee6e3f63d78bd7a220a1fb0029d4bdc08eb98f
+size 11616
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_22.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_22.png
new file mode 100644
index 0000000000000000000000000000000000000000..062e13d7a7d9a2fcbb393b844cad12621b2267e2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_22.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83ae05fd98fedb4645a74ffab8fbdb06a93e951edb3778b204976518f038ed0f
+size 532323
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_22_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_22_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb66999487a7f1d029609fd2fd90e6ff001995b7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_22_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68d806b902204a6b4fd8eb8bdcf932cd4cab79f5ed663b0873f68369d2696b6b
+size 109977
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_22_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_22_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd0e3032d59a871b280e8d5aab59b51eecb1aba5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_22_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fdfcdaea19aef5dda9d5eb9496d6c7066e765de32b853500539c2a4c27fffbb
+size 11559
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_23.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_23.png
new file mode 100644
index 0000000000000000000000000000000000000000..676666c51b217f29af58408c1c4712368be9e3e8
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_23.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db45f0c66568846d97b5d6495a57744423e0771c47369937b55eb13179b281f4
+size 527923
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_23_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_23_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d891a0b14ab23e752da6f145222018ab9b99c7d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_23_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e62789f7c76a9e43741a133561bc1623df1869ba3b0dc221e8e84ccec7357f71
+size 109919
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_23_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_23_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3fc6771b66e2110cbc916bee1d10bab5956e8ae
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_23_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5000cc77ec7a98ae4044995b4d62cebe83094a601e798030f2404328a1515f80
+size 11545
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_24.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_24.png
new file mode 100644
index 0000000000000000000000000000000000000000..70070e7e646990e5eeaf5bd31a23112b188d2b04
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_24.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a692bda8d81cf220d13d3e8c16a04f2efd02709d9460c7fdb9918a54c777cbb5
+size 523567
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_24_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_24_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6232c0ec733152889ccfd23a558d8a853c49a59e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_24_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:628e24681d1a4ec2d186e9bc0f329f5e7d4244230969f62b1245ffccbacebe81
+size 110456
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_24_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_24_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..732fc3e1aff60de0d7f0ef16076dc9ae934df7ae
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_24_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3ea5b583d7f5fcee0b95ca0a8b68169198d49b2fbfa6ba9cd28cba781b7189b
+size 11465
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_25.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_25.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b311379774f2a54967e967d468b1c21a3d071b0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_25.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:622b01f25fc5177221f6488d1a1c633c8e93d62d88c5053b0062498965fa89a6
+size 524265
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_25_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_25_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1b3b85928f598f9949e5defe5e2492cc749b1c1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_25_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe6dc5ece6d6f29c42bfeffd8876a47f8c582d59ce3891617719d7b5802967c8
+size 109667
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_25_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_25_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..90d4e92bd70df13c466a4aaf195f1faa7c31a1b0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_25_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dc0024a0f37480b05de9c13521b0ea44c4bca01043c853af8dbf6c0042ef0e5
+size 11567
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_26.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_26.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c2b8acbae55ff224c837fd1c94fcadcbf06d9f7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_26.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbdbd4a466816c148d54b06bbbf663928978009f5e350691f734fd9b63862e4c
+size 521827
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_26_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_26_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3cc718fd9b2a8faf368d9e31d3a618b5609dbe07
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_26_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b9a61e7680f0f38f53c3183d36dff432b0e06e7068aeb7fa5624599785da2f7
+size 110317
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_26_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_26_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4b7a504f4ec3539ac52193c65d7c3e8eb47c185
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_26_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:023b08ee0b883bd793e083682c913e2ebafec6c8f3a789a2b52e0cb09f04f019
+size 11581
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_27.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_27.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec5b993c12ddf601951e1919896e442198d69006
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_27.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81f7a2fc05f4847f4eb0315d056bcc8df3f373df1af7b01b4f0de318085cc262
+size 522074
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_27_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_27_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d29b74340bae62379ab8805471e0325cb75a4cb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_27_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b84d5d6d89af7c95016b35ec02c0df6f3b3cb36294d4a87b40a2215cd534dc74
+size 110391
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_27_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_27_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..16a9ca0434f1d3867f8be3c19d3c9e122e0ada49
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_27_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6443d507f825c14558e1ed753362669d0096ea02a4bdcd6d905ac14177c0fcaf
+size 11551
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_28.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_28.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0de5e5e7c7fa475aa9c72c18a537108967fba6c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_28.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:618dc32aa41d592f8f80d789403175767ef920d7e9fdaab5f5b6bc329f0e8cee
+size 524542
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_28_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_28_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..44d2c42889f9f690bdebe4220a24ed8f4194fa6a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_28_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d538efb3efb3ada3b834a26f5d65e25b58395f85cbce8b38563f704955747fe
+size 110023
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_28_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_28_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd5ce07472b59a92bdb13b61ca869e6e3850b3fd
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_28_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26da48b2b0f9c1f35a62a28b5018e52c387b332c100c0f8be7b665722e020089
+size 11580
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_29.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_29.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7a3a1a0f808748ea8b96ab28aa88843e2cab45b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_29.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74b6bee70a56e700a33afa666302a69210869c2da2918c202157020f30ca52c9
+size 524058
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_29_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_29_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f8ba885594040a402dc3d382a510d53de595f81
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_29_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ca531ca4370f712fbc5f9cc9f10288007f54a2d64f0a8877908f0c51d71feb2
+size 110224
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_29_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_29_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..464d5d9be50e942d79d08f9b776231f9a2036aba
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_29_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbad9471de1769ce82615d784f051d89ca04fffcdf60555c4725585cf96fdfa1
+size 11559
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_2_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_2_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d9fb763a8c5bc4daaae12fc95cd510e39911861
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_2_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19861101dd6ffb249897b4f8bb5cf0ec9ec88de90b1dfab4ab89ee457b87f2bd
+size 110543
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_2_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_2_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd8f870c18dd308fdd762720b700b075e1421f9e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_2_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e24698307c353c2ef275f249c993ed36755624cbf6d4d1523e2268abb840c45
+size 11498
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_3.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_3.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a8240d8ebf8737c4f78bc0405193b6347597c17
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49c9a38ce93b22bd192dd59e4fb8c781b7a504910bae0cf2e59a46b9e53ded33
+size 526056
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_30.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_30.png
new file mode 100644
index 0000000000000000000000000000000000000000..375311360fae778a45e603ab3c5b0e9e0861b921
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_30.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04b3b8c56ef836802653ef8d7ac8c8b484403fc611dafbb63a87db6c5d698bd4
+size 520181
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_30_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_30_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..83a9120cf66e987ad6d65fa162446bd92dcd4ebb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_30_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b22345f26229e0db9c00ee632987b004f5b70bca6bbf9949eefdc47098be6b80
+size 110417
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_30_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_30_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e260acbeebb091794c1d3f4a1c92c5ae756dd14e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_30_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18076c535b7391492e52ec48a971c83fdcc907ee4866368b536faacb9c3ce645
+size 11573
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_31.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_31.png
new file mode 100644
index 0000000000000000000000000000000000000000..288b42c58ba7724c41bc86a609ccdb9d34113cbe
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_31.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19787b23659a02d27a81fe53767eb184ddcb1292783220847194963db9d97f94
+size 520545
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_31_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_31_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..92d74314613789b4b7ef7e111c8f12912388d6ae
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_31_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9946531eb2540e09e0d815083e0730dea36cb741ed46d25b3803979c09735d46
+size 110672
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_31_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_31_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..679e0599353edbba719b39b3f3b8ca429dacac80
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_31_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56cc3d4e77ae6b29cb75f759061ba2dec26e14c2236fd63b6ab0d2b3fd169f51
+size 11517
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_32.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_32.png
new file mode 100644
index 0000000000000000000000000000000000000000..46abf6016d4c6c179d95819071a387275a0d0da5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_32.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2720aa28aecd185b50a509aca098681be66c34aaf667b3eb64f2443a793d97b4
+size 519020
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_32_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_32_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..950fd5dbc6d9b5cab14e3cf1bcf52f988a7ea2a2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_32_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e953e3903d5de4166c609fa54b136434374563d3a498ca4fda7df724e6274bb
+size 110154
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_32_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_32_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..753012a2ea8eb6242a606ebc8e0cc722a8846b24
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_32_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbcbc7a001ef5fe61263f86ad28f446595e7fa278e31428883d440b467a5b092
+size 11488
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_33.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_33.png
new file mode 100644
index 0000000000000000000000000000000000000000..d984a18aeb80e67165da0f03892031bbd05e3ef9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_33.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74ae963c1c6d734caa793a32a6d0c4866d9987fb0ef75c0b1df6a8dac58baaa7
+size 520310
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_33_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_33_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b5666e3719df5b404cbe0d4f37a4b7192e488f4
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_33_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef2880e78c217b6d07b96bd7edca43befd2c58a6b5a2fd43d4b5165a66d0a585
+size 110378
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_33_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_33_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..202dd64069524d2d0e57a94a000dc0d9ceb0630d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_33_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3d9875c1754053fc0a778a8798a9143ba7e258161ee8f7105e1bfe5b96bec75
+size 11463
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_34.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_34.png
new file mode 100644
index 0000000000000000000000000000000000000000..881898e8196accc51af4541487392e65031c6852
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_34.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa7485da9cd478bcb9078762eb16d267b39be66e0c5aa5c74e5012e44b6fd21c
+size 521045
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_34_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_34_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c1734034d7216607b89232add59386b4f1b26ef
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_34_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5710f250d24cd2b5fe2b973996d14be34fd0e5a9389b922a302dd5fd9b6fabea
+size 110437
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_34_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_34_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b85ddc843dfef53a0024478fbc30df1b9d10275
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_34_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48b7365433c3301c942e593ac0a57a7bf18dfa9241fd48b45fbbc6dfcea46fc3
+size 11386
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_35.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_35.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9e1c110cbcb64400caa5736efa2c8759b742917
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_35.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10c6d71fc9de7ac5ca58449af511a575170960dc87a47799fa95e8d3a0b79092
+size 517778
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_35_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_35_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a97597c9e3aeb0dded5bb560037b32053893917
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_35_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1339491570e0b1d3641c1d119b87e8cbfa7b3d2ec122954056705c8417aa3032
+size 110775
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_35_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_35_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba3a0de9152b5baa23302a778cadaf69d4860c89
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_35_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f174576ccebddd5915e0127320c33bd5564240048dacb81a3f0a1cc6d04757f6
+size 11540
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_36.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_36.png
new file mode 100644
index 0000000000000000000000000000000000000000..f50952a00e806442f93eae607ab87273ac5b86de
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_36.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4fd666829afa1776cf02bcd23edbaf85a5f611c62fe079c1902908a6c63a488
+size 515771
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_36_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_36_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..85812865a86dac6c1108625793a4dee2f619363f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_36_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:244c6f166125c517bb6dd9d7a2a0057a05ff7f7781bca720853a9a0563d532d8
+size 110378
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_36_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_36_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..52a65fe44183fd53deca8026ce3aead68b9f3921
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_36_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e28483514679def58b38c190d7cc05c47e4dbe6b2d720d3a25357ab6ef82b4a
+size 11521
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_37.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_37.png
new file mode 100644
index 0000000000000000000000000000000000000000..3130738c4e4ff9348f4d80bc7cf377be23d0d257
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_37.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dae80cc57d9f80042d31f33a2991121dafd95f95a3600bc447d478803c6a5498
+size 514964
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_37_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_37_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b467ec09265b225bdeb6962d7a68af9cd5c869b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_37_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fcb702d4367d623f98220978ae82e5df2f5ecc12510c8e0c8b0a9e31b431c12
+size 110835
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_37_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_37_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..93b3d69dd9b60923764fc578f99b7f0b49e2badb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_37_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b25a623ed3d099f095445e1ee5da489c96d6a6640e1cc5035253127f6f9adc07
+size 11445
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_38.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_38.png
new file mode 100644
index 0000000000000000000000000000000000000000..5cc3e35a02a36e59ce3f63268d8a8b91ce810243
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_38.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88efac4a3a3652fa602be549eb016adf3673c744dbeed6900238cf2fad75251a
+size 511697
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_38_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_38_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c917f615a349861802adb9ae1a16a35dce351b71
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_38_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf6d061b94a16dba10fe090177e1256afc0a05f0ed99b2b119f55136ad34f552
+size 110883
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_38_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_38_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..81e95bcff68e26c6c01a110cb02d5340cce9fca9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_38_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db87b7377c9c07bcec09c7a0bfcd30e981f536acdf3c5dffbb4e9988c4689eeb
+size 11567
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_39.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_39.png
new file mode 100644
index 0000000000000000000000000000000000000000..8db0b516a3941b2f2f4afce96e06974a6e49130b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_39.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5981b8e6feb83883a2fd0ab71e21d1960320e0466095ce7a957c40662060a30d
+size 510453
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_39_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_39_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd37f36ac1bb5a3428e3c1086990a6e83d2ee74a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_39_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef51bc774a9bed3a0f6b7686c518e3ef9edca62d30e540523bbc7ce1c74c1a68
+size 110535
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_39_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_39_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2da291f5059e9eb9b95b75d3167298cb1abc29f7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_39_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:520c4e5a613902d41beb1a7d22b75f96deb2838a31dc2f6ca1ea640f34b3d08b
+size 11584
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_3_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_3_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..16111344b6fb671802ad9ecb13e271378ff52ce1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_3_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a80fb0cfa32aa06e4111e3d8a43fadc99b9ba6895f721554085fdaff01e5fa88
+size 110975
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_3_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_3_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..94dff1937da15d726c48c96f11bd90c7737ba45d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_3_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b233be9c25d2f133240060628879911624d702ff5d42441463a9dcb35c720568
+size 11459
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_4.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_4.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8191a50d858cae08f315c440c90f1124ab81bec
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:322890ea353157a1898cd4f586d3f29253aeafb0d48e42bae7b4f946d5c80380
+size 525838
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_40.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_40.png
new file mode 100644
index 0000000000000000000000000000000000000000..48fd7f60b93492a3d4beb9e7e53385f11b668340
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_40.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63becdd4fc8296e8172038793bfd9a27fb62071e565a339fe40e087995b41ae5
+size 511452
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_40_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_40_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a71bacca83f333b76be9934a70da2af3c0a1adb4
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_40_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf6ecedf49295627611107af720deebe9db4f7978608a592486445e8268f78e5
+size 110869
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_40_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_40_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce46028462319ac067343f4a0aa63192f30ac65c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_40_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef6b6ab46eaae6438df1f06da4ad24dda860475f550190df1e70e5e7683c2ee7
+size 11436
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_41.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_41.png
new file mode 100644
index 0000000000000000000000000000000000000000..2216af9bb416703090867dd59cf03099847239b9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_41.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c316e1c302c1b40e3a4b1af0ac49f94820ed54ba82abd3a98942a851e01c772
+size 513709
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_41_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_41_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..52191a881dfae391120744484bf3caf678d10829
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_41_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32e7851e1047e87a2c652b57430e33fec55a3cb9607e97b7648a7fecdc6fc5fb
+size 111043
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_41_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_41_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f171fc31f6df42dd55f05468f8454aa03c62fb0d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_41_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd2ac88ae30880a2aacbf8ba3f8636b420273bf0ca77faec400deb01e254524d
+size 11458
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_42.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_42.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a321a412100c3baeb6e5ce1712ed9e26aa0ae5e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_42.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9016a652f6b64ffb41f27058c3cb283d7617639d8470fb7c477a894184ac90d5
+size 517935
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_42_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_42_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..533fd0de54338024267afa751ef835c173c42d7f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_42_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dfd0d6c9067ea30a3279acd9c5e209e1ed2c8c986e7909a71d0087995d99c41
+size 110988
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_42_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_42_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4de4102ffbd3570088891a54b9676090adf25c6
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_42_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74b2f10f90bedbcd5feb8b5bd369553ba2cc1978cfed44a179c96a67222387a1
+size 11556
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_43.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_43.png
new file mode 100644
index 0000000000000000000000000000000000000000..9590fc7f72d305d2acb2d54d8e564122a6715316
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_43.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc40397f0d40748a22b221d463387fc9d7500df831a940b647be62206120fc88
+size 518067
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_43_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_43_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7632facce70b48b68075bd12754a7121cc51d8c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_43_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ede7000730371a25aeb6df45c0295b0a0128291e60eb0b4af89f1a0241bef91c
+size 111201
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_43_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_43_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6998f7d256d1cf2fd1b07ce7f76df7c1e3fd5931
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_43_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f877358c777da350260cb3d105d581ecc1a99878eb18f2ca62f335995c6bbb8
+size 11585
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_44.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_44.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f09854b35446020876608d36db9cb245042d4b1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_44.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f657a7fd9d9ea5eb51fcc1ae5b626d2a40f11dfb03445b6d3e6c73806baf4d93
+size 517849
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_44_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_44_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a90791d90a54b8d83936ff6aadcbf9ddb49f090
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_44_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e9fa981938ac354cbda35bc1e11501fbb7d4f805119153e67ac72241024c99a
+size 111131
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_44_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_44_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8180f3a05763b43b9f910215668bbe926397e068
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_44_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5f9d4ed00e3942a8befc3d68479a14959ac89f30d3aaf50819a97d6da001f23
+size 11538
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_45.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_45.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b57f5a3f57667ee9b08dd5b2be1591a78726444
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_45.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f93edba91225664eb195ce965b0b8c56cfd7f02cca4fb05aaa0b1eae2835658
+size 515016
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_45_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_45_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc0c3369137db3f119ef9e10b58d3dfc15b66078
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_45_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e329ed1dee34391b0a66028b5c83b653ebce23cfccb5e4f9258288561a7a6f43
+size 111187
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_45_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_45_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b064046615241010190bb97f9ba103d7ae54053
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_45_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22338886607ed52eb112e2fa7d5ad28da0b2504f7951e212be44d74ec3ece728
+size 11561
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_46.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_46.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c13db9bc2d1a46d74d504b88d2af60428e36ea9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_46.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f930752bf390ea828bec175155b0236da6bdcf71fb6052f2d4fb23122e8982f
+size 515904
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_46_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_46_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..351dbd2eb8d38959ab94ad91cfd2180ed24a3dd6
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_46_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dab35c468627ab0da04b52780cba9d99c592be3fdd4170802f72019c917d5a9
+size 111584
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_46_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_46_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0161997d0f32cfdbc06300fdfbe5e7447ae8c38
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_46_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbde1d05be766688bed672fa55b0ba8c3e68f819ce87b375ce41025b51b8004b
+size 11480
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_47.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_47.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c29c17f4bea8f19c0e4624c233f3494719767ee
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_47.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d098d8076485980e0d41b622ae17fcbd01995b1a182e41652a4af2ad7b95d76a
+size 523181
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_47_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_47_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2e5c7f7106e533a8e03e34c02abd0cc49ebe7da
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_47_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f751c94a9568a6c1cae75791a06d4a97e3d521828da50faa6031c8cbd65add5
+size 111103
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_47_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_47_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..30d0cb39ff33b47f2ea8522e781c728eca8ed228
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_47_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0765a4220a0facfa8a9ac54c6b68ae0594cc1d1967e3c2e3c56b0a36659837a8
+size 11594
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_48.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_48.png
new file mode 100644
index 0000000000000000000000000000000000000000..1eb25b1fbe5a6e349478b66d2c6a642804634c5a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_48.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f15d64705fbf9c4796087dab6583148f70a7140553036ac0e41d585d99c6bda
+size 528289
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_48_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_48_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..95b1cb54af816f283e91158074089f4b0db82c16
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_48_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17740d1847774672f6c93f4de474948b2f228fe0ccb5891166cc5609b438a852
+size 111281
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_48_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_48_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..56ae37af25422c888a93d7221635009db30c605c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_48_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:042db502b3ac9140961dbc6b786daa5de345ff5ecb2885dd2f92a2126b76554d
+size 11493
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_49.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_49.png
new file mode 100644
index 0000000000000000000000000000000000000000..677debeb3015ead63567bf407d5cf89b7479b782
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_49.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7be2f6eaee3328acc47a24d0313b2003d92e0e25e079a9e0cd7ef1f67aa3c485
+size 530069
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_49_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_49_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c8d9a15e9f0856851deb2def45172fd5832454d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_49_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e82e0294c49e0176bd1e5b59f4562d8604c4d81eb7eb98047f620414d771b9b
+size 111212
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_49_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_49_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a10e94e9d73ab765e0ebb861e839c854dc815591
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_49_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60f8f299944128805fe2f660aef01e98a489e90579e2421031a0b39da824defa
+size 11428
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_4_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_4_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..25937c445415edae9cde1403d1d47e5f303d84ff
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_4_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5df21abbeddcb8df4c26fdbe985d948a104954cb507fa0020577f8aa066f969
+size 110148
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_4_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_4_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c9c283e430ffcc46f9c96837360360f34f6c109
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_4_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc0034cffff2c0d012dc308e2f33cb86ff1e982d6a35e59f480a99058480e952
+size 11505
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_5.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_5.png
new file mode 100644
index 0000000000000000000000000000000000000000..467e1339509faebbc14f50ae7445921b8dd70240
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03f369cd86f4904cf338a406450ad0b2264a3a68b3e405b80161771b71e20e74
+size 524664
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_50.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_50.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfd82e69cfd5b3cdefe4dc769a88a97b5a4c7d3c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_50.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae42b1868875bb8fb8144522c2a6ca2ff89ee13c21edb453b3c8954636d3c736
+size 534160
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_50_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_50_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..15d6f5f2fdb45634194972894d9c8dd2edd35246
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_50_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d54b9ea5957f3871d67d6b418a93b8d96f73464b848dc39e0de2fda9ed1853b
+size 111095
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_50_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_50_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..befe214db241565bec2d7d845f14f49b73fdadb7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_50_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a576a1dc2ce462b7d4c4827744b200b69389e2008b855eccac06055ed3e35e13
+size 11377
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_51.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_51.png
new file mode 100644
index 0000000000000000000000000000000000000000..23e5c6553badc58e3f89a78c0905c77cd7174029
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_51.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf35dd5779f1efb024d1f1de9dca3a75fc3f757c3d307552ba182c308f524391
+size 536953
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_51_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_51_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..27b87f34e7fbe098f7b5f4ab1dfaa6fc912140fd
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_51_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f547dd3d33a0d4a00e7099648c5f40d5926efe274696c96d9220f3429e60457b
+size 111103
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_51_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_51_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..20c9bac5fab4de6e4ee6a8f474bf1080992747f7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_51_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea3eb969a28f66056bf957b3bdb67290b5f2df68f90b81af010ff7a34fbc1abb
+size 11474
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_52.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_52.png
new file mode 100644
index 0000000000000000000000000000000000000000..727ab90620eba5c994e01cb7ad7c4237e4be7cfe
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_52.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a4a9dec6863d444123e81f225c284b57140ad638b82b05a1201fa85407e081f
+size 538319
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_52_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_52_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..422e98a1ffc772bcd691c9399d9c96c735faf9c9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_52_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9b44f9c6843912070c5640a1d9b4a99bcf78d674b6e0a6158e23e01122c7b4c
+size 111051
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_52_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_52_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ede4d1d1983e000e58f091b7d60af7658112670
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_52_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55d138be014858345b6616ffd5b7750f9fb0020892c994f99bf0f394ae260d5f
+size 11583
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_53.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_53.png
new file mode 100644
index 0000000000000000000000000000000000000000..aad6cb28f3d2fc54cd0be03312b39c2f4b435035
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_53.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef4e7a34af4379bf9f2a56370ff4477f6d297deee374324aeacfc02934773879
+size 539661
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_53_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_53_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a46d8fb2afe48aca3b2ef38c0f9ad93912b29416
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_53_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11c29ba0323f5955231107b8e889e35a39d80343aecaece3d213830d7b1dce0a
+size 111594
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_53_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_53_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..93a15b90a88ef191ff7301246ec5eaffc09e6f24
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_53_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2618acf0e5951880a559f2a74a683a102c38d90f14ce49b4c0311a7c1e664a63
+size 11411
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_54.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_54.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bc784f921999d516c259dfb79a3b4aeb222fab5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_54.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dea6ca9d0d937c84dbaae4dce6cd244061304a9d00e69476f545cfb7494c4bb
+size 542450
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_54_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_54_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8bee661a7b0c20b06b103bd7ad92e9856c974fa9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_54_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daa6d06cdb691f675f0ad9fd45cc2a69f48401464997f544132d24ce5d80a035
+size 111070
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_54_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_54_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ef4ab095ffcabe3972a3cb6f2a7e3985794d7cc
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_54_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73977edc3d3ddd55a73e32f65f45330f754c2cc1328bc51dd91bbe7f8542b62c
+size 11372
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_55.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_55.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ba4f14c76407c97808de6d9d78a932f114b4d22
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_55.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fe1165380b1962f6097bcf866f84024609509613711878fd2a4d1d550d4e9c2
+size 539688
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_55_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_55_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a6588d7f4a325ba8e1cee05d4b6ad288e06fdc1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_55_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db6b55a60870d4f69aa4e85bb3c8ccc83417ba78854fe9192b8d7a6301c6e4f5
+size 111577
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_55_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_55_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9da9663010b8e7bd0518e718cb4e00652a9cfa51
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_55_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75e96ab9ad4fab6917777427065b0e96add8246954009037ac205cf4585d1544
+size 11529
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_56.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_56.png
new file mode 100644
index 0000000000000000000000000000000000000000..791b48b41411cf1ca505ab3573c1c8ac291477b2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_56.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac2ae8d7dfb4dd264d5e8949a72cae3ece72ec535d44a81b3ea921629883e517
+size 539183
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_56_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_56_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6140391c58ff2a01b3fffd003d0bd0f1cd094e68
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_56_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb4a8a23261b2ffad89cd44fa282c06d88d264d1c6c36cf40418a862b01df4ba
+size 111553
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_56_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_56_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4afd613029c946467960661d9c6d363c7bcedeae
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_56_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:040aaa1e307dbe755234c0296c77f65850599100455efb8284e04046ec7988e9
+size 11515
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_57.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_57.png
new file mode 100644
index 0000000000000000000000000000000000000000..f29e36b6fff3398392fdc763199240b62a003d40
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_57.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3cdd7bc047b042368c2b7b390efdb008689f6770cc98b56df78faaf143edd5c
+size 538221
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_57_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_57_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..79a27b8022c3ff8f81ab4e2168aa842c1d5d046a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_57_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68aa309d61cb9b5c18f6bf9fb970cec04d25e0910e2fcc98d90aabc445ae39b2
+size 111186
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_57_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_57_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..480377adc49a14990bf3d12795737358d1159d91
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_57_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b9e46990b0e90d8e4c3540dbbe895047e5a7a437dc912dca23979484390e2a6
+size 11474
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_58.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_58.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd9b8c9a3ab431888d89116985161e5e82393d27
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_58.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7f2235707321875c792cb4a2c483cfb76c858ae655f51f58804eb0060fe69dd
+size 537150
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_58_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_58_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1929d9d2c532d9eadab9066cb9dd4b9d89cbe7d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_58_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88a0e56d7b1462f7b2a3efb79d89f5b14a1772f255c2ac3517fefe614d569c67
+size 111572
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_58_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_58_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee8e2f53568ef5bccea59b41875225c164f0af8a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_58_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a13a98562874b6c5536a38aa65caa1e6fd73a86e63eda71f85e1c78cbda15688
+size 11569
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_59.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_59.png
new file mode 100644
index 0000000000000000000000000000000000000000..a95950a6b52d11d54445d27dbf11fe075b233115
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_59.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:073e5cc63eb981f5ebcc3d0203338982f15e15721ead4b904124b4b425773d10
+size 534878
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_59_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_59_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0cbd7fdb7ce3195f67c04e5e9586530e8a9ede08
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_59_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e04e25aa06d9a86555ee87c0e854b18b165ad54bf31f68fdb15f493ecbe4170
+size 111265
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_59_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_59_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5ebca3f95aa852725b5d392ba9f1afc45dbe4fc
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_59_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61aff25e6d113f81b0b7a3c2a455e107ed6fc0793a977413a6ae6bcee5393244
+size 11596
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_5_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_5_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b85efba08393678f359da4f6388b12b6996d2181
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_5_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5152d6f14256d3404aea7e62dc1b6176b4f116ceba80e99279a78c06be2b010a
+size 110504
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_5_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_5_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e81d5e22002e4f0e6b00d063c389171d3fca9561
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_5_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d03d38cb2c5953e303cf4197185c129f4f7bd2d2f2b1cd8d6fce56e62a2ae567
+size 11487
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_6.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_6.png
new file mode 100644
index 0000000000000000000000000000000000000000..994938c9afedc11be5d25bfcf9ee4842b8811b6f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59baf10dc22487f97593b27840af328b5e333bc0ca1ebedaec066d8db8c33a6f
+size 522593
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_60.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_60.png
new file mode 100644
index 0000000000000000000000000000000000000000..4bd2ece7c58d55efe39af22ba83ef8bedac9ada5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_60.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2118459415c92b6105de6abc127c3adc10c47031bcd5613dbbacc353316261c6
+size 534706
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_60_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_60_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..11891114bbae6ffd7be8dec6d6068ab712047ec7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_60_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e21255ff5610c51017c4d10b9d98205c7b796f36ec0d8d99cf60e480a032b351
+size 110617
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_60_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_60_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ff8b3216a0c4919b6c7722e0459f38c1aee89ac
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_60_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13f8d1faea879dc437e2b1a4a42b0c29737b15ed87cfe38e12159d5d59108d07
+size 11505
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_61.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_61.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e2685a4f3199bef03256da65fa08325b01a9f95
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_61.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b0561e41891a515839768763778910c622a1bcb0d4dbd2a3acba51f4c9074a3
+size 539973
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_61_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_61_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d7120dedc115e5f19efd1fcdd9326093f671e8f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_61_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a715057787e3f675e5b30cf220f803df6b8f0fc8120479b4b5fac82fc49617c
+size 110711
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_61_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_61_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..20b127e9d745fff724276b2b3fdb7de1522acd9d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_61_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9788b2404c7ca8a6bf7a14e47ebde2040683a0c6137923ecfa12da38dd051b1a
+size 11545
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_62.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_62.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bb7f7864f9c9f155a979451d882b095f610f717
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_62.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb5f67f7abd2ddfdb42361ad711efab68458b15096704f63c6877778e2d9eeeb
+size 541397
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_62_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_62_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3cbf6509731d8495605cd2982808ef0e877b2bcf
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_62_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a100197c9f554ef8b2c3f9fc6caf828603b5e0fdcd507a7cd4014cf5580ad7be
+size 110818
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_62_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_62_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..49e81ca78fcfa5f1795d9b455fa07ba0f02e361c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_62_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc307b40312ab7e764f831e6f51f224daf53409d1f05dff4a15a0645f26ffff0
+size 11469
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_63.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_63.png
new file mode 100644
index 0000000000000000000000000000000000000000..013676d3cef467a33f01a4c46c3c85c62029df16
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_63.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb51d76a2ffe4b9f8e7cdcd4437e957529c905c72f87912db768618c33886325
+size 545157
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_63_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_63_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7a431a481ec5fa891bc26deb33f5953ecb16e3b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_63_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a858e5b4151127c89255e693ce186f9a71875cd2d9e7039f13ada79084854474
+size 110322
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_63_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_63_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9936477ff8165dd0f4a4ce43ef3a2b6c6635f8c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_63_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7df0d12b87941ea020b4490135fdff2303cf43a6a597ee2e33341bfff7bd6c15
+size 11374
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_64.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_64.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c3984fa12adf994dddf72b7a4c4c8d2ee3f63b7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_64.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eb5dee7a2f33a96bacddf7d9a1935c104e9d9d0783a7220fa44022c32b6804e
+size 544053
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_64_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_64_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a3991593dc585d3d105a781bb1ce308eac4d7af
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_64_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51674df2fe9bd45ad806e3da8879c159e4313459f4f9f9c35f2573ada338f835
+size 110762
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_64_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_64_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6a642eb4e5b7bea1bd48fa47a963b675c9909e3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_64_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57bd0bd7af86d08dc7d481b0901d61e3e153107e2035ace5b2ab60acca9b0677
+size 11486
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_65.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_65.png
new file mode 100644
index 0000000000000000000000000000000000000000..52a6d1f3e79e92967543c64c072377bb9a4f388d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_65.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ca810e21b041c0a9f1eca9ed2489953dcea93ae1c75f8af0267112a7d7a45ce
+size 542213
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_65_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_65_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb8bffba0ad865f2172e410893660f9eeed70296
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_65_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddf701196a51e4a63a91eb187691d13b527f52ca13bfbdd91cbb14ee459ed884
+size 110286
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_65_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_65_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e41561c23e5f4ec1b33f1f7a443de57b273a410
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_65_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa3c10eafb4136e504108ebb0e98c3d12c9f7d9a0a2d0daa209704146cd49024
+size 11430
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_66.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_66.png
new file mode 100644
index 0000000000000000000000000000000000000000..256bff613bc874c38d8238bd7fca876f5abf26bd
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_66.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c96e638a668326006749976f8a32f155ba79352731c6addbf42f26f1a182fb9
+size 544497
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_66_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_66_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..10ea909a8fd156db6d85282432d78e9c28160648
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_66_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c54a9bf86022f78c8616f6e582e9ca7b353bd571e861a7b1bccfad561196712b
+size 110548
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_66_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_66_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a910726356896a45155ff3ec6cc5bd3668ea5a07
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_66_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff94d7bf720b4513de48464de001f2a564577a3f4625606c70d32019efcbec39
+size 11406
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_67.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_67.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7118ca229b046a926cedf1a074845a3cfa10d65
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_67.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d338ec9fea848098f5058756ebe14b778c218227042d39833a69f9e5bb15ad56
+size 549638
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_67_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_67_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5099504d2fbfa238adb466ad4e4b0596d8e4ddab
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_67_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3441d6b44cdef79e0db5716e28dec7f3c99f9b944c3e5eb746827436c08b0b9c
+size 110892
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_67_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_67_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb382afecf6e200114242f3ceeefb81f285d02ba
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_67_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7033ad95cdb3c7dab6e841d4ee99f66c0c4c9bc429da797c1af72d01655653f5
+size 11395
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_68.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_68.png
new file mode 100644
index 0000000000000000000000000000000000000000..23cc9a1c5f234b2a05ba61381941010601aa6034
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_68.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5d369689bfc67980fcd83c7238b7bad99c60cd1c37414dba2aed2dc2c1b8dab
+size 552244
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_68_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_68_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c37a45686f74a21b463a554b6a5c095e030bae61
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_68_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:200fb057235dbde9b1fa673e2a4f766d2a90b77ff6d68340688cdf1f00970849
+size 110483
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_68_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_68_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..74e6d2fc0626b2f10a277f6bd52b75991079dc4f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_68_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a03640c976f1fed6463751cece46c53c98a677422e99553302c6f541d622327
+size 11465
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_69.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_69.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d8c85142f479ffe2f1dcc56acda3f291aa5eaf7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_69.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9e4e2669ecf4dd9d1cf080fdd9bfb90ceb71019472d100d1c27570384eaf409
+size 554503
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_69_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_69_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f940da6f883bf8e00f196657e9ff730a473bc4a6
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_69_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:915d756e02bc8d938058f9b8181c6603cfc030d8b16565c14a994b06b24149af
+size 110985
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_69_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_69_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..488b5cdf7d1a3c82654346c2139ada7fe398edec
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_69_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a47fc5b890283b526f595d4e5df0af6862c2be75a534cf83c9e246f08882883
+size 11394
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_6_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_6_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d0d9360455d41434828b12673ceec318ffff6c4
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_6_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5eb9627ac9398f11c942423faa9616961b8f929db40f14a93143bdb7d05d9f21
+size 110748
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_6_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_6_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4aa6a47ad856d6ba152dc20c5ad8c8e8c5f7837
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_6_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd69e2d985ed69599f4c6da8a2ce470875f83c27dff561c5eb3b8a901c0faeb1
+size 11619
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_7.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_7.png
new file mode 100644
index 0000000000000000000000000000000000000000..535b45f04e82b49c302bab0d6d708ce2398c8359
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60ca1c3467ef9c34c500dca8aab37fa234f21cb99ebc5246efda74870dab45a3
+size 526367
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_70.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_70.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f46a3df9b4908cf8ef31beae35c1652c6ba39e7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_70.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8850ebb41ac0d193a5043886ae66d013d0aa9333b645dda999b1978f71b46506
+size 554623
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_70_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_70_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e31fd5b2ca80e9e528d83526d4075e613a031957
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_70_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26cf6477e15df9861b12f4b81c8a62943506174bd47dc6e728cc67776689d17f
+size 110897
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_70_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_70_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6685970779c107ee0004634cb0d9830eb2122315
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_70_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99c3efb0eeaca2e883c53d0f4350a4118efd6dbf6c0aa20398527f30007d302b
+size 11537
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_71.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_71.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9375c24e7dc399f0c1266844d803632c820f7c7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_71.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:423df822d726a2bb8ca8ba9519a82189db90fb6521c1dda121064e24dff641b7
+size 553815
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_71_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_71_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e212a15af322572ad1b50e1f6470efaa32bdbc3e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_71_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f91372204b7d789cc2d91c5c781fbbfc9fd5583c7032d879d4dd87f3e4f573e9
+size 109840
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_71_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_71_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd1fa235666f8132b473aaa47b46490e70fd23ed
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_71_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c4289aa8341a15cf16f48f099c7adbd9d61de47c4ac0a89b1bd7cb2da9ae111
+size 11490
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_72.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_72.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec31c7f89d7283516e5055e52418154b0ae52a4d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_72.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3163d82011a96401cd92d0e28030f0cff8ceb06a270f2ffdbe1b65ac4b4c2e4d
+size 555223
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_72_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_72_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..471c46ed44aba7594ac72a8c643bd494039f96c0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_72_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02e4743f37ecbb35b5f9af224a6d0a88226c0bc7a96219a26f4485606d392cb2
+size 111212
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_72_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_72_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6a2ff7e16b279b841aca68e07e334ff8bdbe25a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_72_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2536c2c3ffb9f9ade51f48e6582ab706d6f00a129c4e92beb733d8efa5885451
+size 11481
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_73.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_73.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ffc007eaeef8c58170b2b53a02e01b975e5b6df
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_73.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec19ad9cda12afef4b3d5c09675440e4f861e179c1ba48e11caa587ce40a5c12
+size 553610
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_73_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_73_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1fd5af71f9f854ddbf533e6beabc428c15f2a3a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_73_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b56b17515a3abded4cdf3ecbe6e5f362fe1ef7a214f89deb1f0155a18a7d5e3a
+size 111276
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_73_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_73_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..809d6a76735cd90ffc80d5d4bd47abeecf694897
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_73_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd21c57ce304ef7e2bcab6034dbb7c344c63462765779c2a3a897ca92795a1ce
+size 11501
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_74.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_74.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c3840ab65f5e45b506f3614ad028deb5cdc4adb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_74.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3286d3a0e447439a67bcd2e61e3b1c1da022950e482d9a52136bf0a62db627aa
+size 556295
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_74_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_74_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..db2a6d3a7935afafff80059a335b4bdfbd908eac
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_74_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbfeddedcc21293376e5c5b5b0920d5b2b79364b0ff45166c8f23e1180224e6e
+size 110057
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_74_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_74_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d74dd9e04d7a85becfc037dafbf988ec2c75baa3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_74_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dee6833933ee8113ef3945978ecb28e8a2cee42b2df9a9d0bd54581a7f58e02b
+size 11431
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_75.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_75.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f362109aab92dadd7d06db5ed7b144ec8783dec
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_75.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f367a7e1f643c6ce3ab4dfcf2b82e3e40385c6c086d1baf7a792370d1649fb1a
+size 555645
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_75_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_75_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e890c6f08efc2db9efb03e6038ace909e66fc5fa
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_75_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e8c29e4dd1225eb55a590084e3e9168f27c53544d018d9d816fc218e90b8097
+size 111503
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_75_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_75_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c6a701e490b4eeeb3f94821ba804af09026e184
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_75_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c390cca9b88fd5ac54d3bb747adeb81c8e4e6423e1ec8dab0b6fa4bcc6eef38
+size 11455
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_76.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_76.png
new file mode 100644
index 0000000000000000000000000000000000000000..e58e94f892ebd9fb9aa01ab4c7cb3a7c02f1ba6a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_76.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:710c9d10139046dea16e3f66d4f8b00e4e30cd498d60ebe90db6c9af492e16b3
+size 553201
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_76_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_76_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..de56046c5c8ba52f9302c65ed20fd012bf17d87c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_76_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4b16e5e78ebebe73b539fa86819f9e3fee67fbaaa8bd67abc209bd116ae0758
+size 110645
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_76_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_76_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5572c74e1ecdd835e885430c7c190cf6dbfa5aa9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_76_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fed2f88dc46c44ac897e0e8aaf9de1cc28ada1348bb8ebc8229676c270e888c
+size 11441
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_77.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_77.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd45014981f27ea578c3331daca7e1cb3e191fe1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_77.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22748490d06bf506f1b67818b4c1f8386bc787d64d114c9dca43bb2ef7dde448
+size 557189
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_77_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_77_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c482d647d15d828b85bbb4cfdfdd26f671096bb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_77_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:834b9e4b65bf03d2af2369ec8fd23823be26c140a46698c0c162eb3137880f26
+size 110767
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_77_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_77_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..711a6987afe934a9cefe04066b3257f2a40bc4d0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_77_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3000c0933c017a09861ce624ead6138937af6a9ebceb6dd7ed4127567b7e0534
+size 11402
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_78.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_78.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e53ed046799e3718778f336b0addec8ea052243
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_78.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1631f3f092325c430dd05fd637741d0641ed9462c257d4c0e8bce95c51109a6d
+size 558019
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_78_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_78_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..42c81796f93765753bc2165015d0775ab55bc245
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_78_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36912d0f24be41e0b3668b4cd2df66054916ea2a4c708bfb54d5715e15cef577
+size 111698
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_78_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_78_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8dfa6409c592d46ee6b3ac6631eab0a271e818bd
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_78_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16ab59cdffc2ea041ab8d493b56b438cf7dabc2aef30662a7c2886a490f3f557
+size 11284
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_79.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_79.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8d95536cfa2c8605795d76ea8fa200f0d95eed7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_79.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4f9c8d62dc30fb608e3f6eaacc0272b8158c6170a83cae2ece1e12449118bde
+size 554732
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_79_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_79_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b8e1cc71444a045483bd4fde911dc7190a4ce3e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_79_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3930f276a74ae7b7d673822d2e5e4f1865e0b1e66fb41bf8f8194665e6424a80
+size 110830
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_79_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_79_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4b0e251f0e2e4f3a00f51fed78f2476020129bc
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_79_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab24ebce0b64e225055dd2c3c2bce29f787e54f98592d5121411dd7a05f0439c
+size 11398
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_7_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_7_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d23975db5397bdc6cebafa5ce4748cbeb23d96f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_7_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1089ae2453b7eb7878c5cd9adca1e0134b2367840418404bfdb83ffd2c77cc1d
+size 109955
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_7_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_7_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..81d9f5bece5e10d9d45618aae3149e7fdca05ae9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_7_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:197c279af6d52db20f583328fe501ddc0003af9e72523509765683f234e83635
+size 11576
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_8.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_8.png
new file mode 100644
index 0000000000000000000000000000000000000000..320801e3f119f87455e6a9b966591d6ed0285cfa
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_8.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16ad8f3bcbd9a87f5dfb487936f9ba79ce821a7c47d1b9f6e78e9311fb05843d
+size 530405
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_80.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_80.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1e3c57a6d5c8eb541515d2fa6084026d4b185f5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_80.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:662993ddf13b29014478f5e21473f32a4b10bb1f96fae48cae1865c78c775a9f
+size 549825
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_80_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_80_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..845192d469c05d0ab1e81743e69ef86602033747
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_80_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb0996ef41e2ae19b5f0e6d17092ed5e3ea2943d83c9bc8ff13cc4db22a3f77f
+size 111625
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_80_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_80_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..096061a81dded3df41396ea3cd824c3b29f0d83c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_80_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90fb2d5d4f817de20883a6e42729e397eb59ee41bd0aa5d43d6fc5fde4baa947
+size 11402
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_81.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_81.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2471f887023a91e7253ecfb973917fef1d8b565
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_81.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:809cbc642402d250427bddf719d759ff62462235dc5cc5abfeb8fa48bedf0229
+size 552127
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_81_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_81_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e31719ae11da089e5b2d8075f92c0d2f367a0e52
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_81_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13852dfb79cd7d9e9bc8a526e18d908475d91f0d6bc717c5f59e5435db670c3e
+size 111761
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_81_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_81_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b09d75262b0ea1b76fae2d0bc3e6d4c91993a256
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_81_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:205d27f2b7a03f07349c3729c4054e8e2a6c71353ff64ba7f786a23c5de1ea91
+size 11462
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_82.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_82.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f1d7664b07a0da7b6836dc46edf2e2513d4f5ad
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_82.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fec1d49aacd3756d846718a863c840ad72350791261d56448bd484556600f533
+size 551954
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_82_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_82_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..42a7e42346b46faaf4e944f440b67cd77324acc8
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_82_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11899a15b754fe30411acf09f56949983ab047370e8d2919ecc031c78fb2119f
+size 110941
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_82_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_82_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7ede86c43381bc6d1f77aeb956ba4c9e37e7ae3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_82_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b556eb96bc0c8a3a264c55025c1eb2216a8c1de6796c2c8e4e974418861406f9
+size 11511
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_83.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_83.png
new file mode 100644
index 0000000000000000000000000000000000000000..8bac403c7f750e9d805e01990144bd1b3559a6f1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_83.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fad05bb10c833f9b66a48dfc5222f7b321a8d21235edff569df445cab191d58
+size 552516
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_83_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_83_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0940e2b08af79ec383b4fd6a2889600bebf30b70
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_83_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e722f65a561fbe34ac9add8e02691efdea13e9525ccaaa5a1d09571988080c42
+size 111432
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_83_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_83_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b04102b07fdf9e32e0ad0d0a0b8af7cce585e062
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_83_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d550c5426025fccbfdbb9914978f312f469eac63404efce0f3aafdb0f402ee73
+size 11498
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_84.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_84.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c82006c47803c7f5bbc8dc5cecec59fc7a07d5b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_84.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6c5c9c4815336b695dd914868f2048030c125494ff4defc7f4ef9668462a53c
+size 553127
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_84_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_84_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e58c5c595ebc7512b72fedf929361ca99674f0e1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_84_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10f5557e98d545db533ff20575db5f10e74433d771b73c838ff83dbdedf01d84
+size 111449
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_84_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_84_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e902723fc42ee13bf8f34b50a8b829684d68b733
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_84_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:175559daf0fe1bf813c64673191677e0a67c91c81341fa065fe214b3ae5370f0
+size 11521
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_85.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_85.png
new file mode 100644
index 0000000000000000000000000000000000000000..32445bb2ebe8953988adb22a421c2862871e0ccc
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_85.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:350e8cb67bc17df56558cd3d3c998caf3039b1a468b490f37c0a71f64045a499
+size 554240
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_85_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_85_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..462e509af53f41b142f3b6ec71df60cf9cf24609
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_85_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81abac7521d29bc2c627b4629e2853052012120a7b1ed40fb44969c8a9e0a822
+size 110879
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_85_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_85_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..86721c14be93e6435eda5a98db7e5151f9172a33
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_85_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:020025c6bd7f3dced1c3571dc77d38a2a466b4c628374cda6a77413e2299d08a
+size 11358
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_86.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_86.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a9b1b8f82cf19801a600ce550552cd839634f99
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_86.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95bf1e5d4ef4d0af2aca2919e41280fe014922e7c9acc29a7381b0d9a3aa8903
+size 556600
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_86_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_86_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d7cc366d7c87784bc616f0c930d1b597373e1ad
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_86_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0afde720cf3125077466d96593122e0e615e27e8d284f24d937020f104eb3cd
+size 111792
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_86_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_86_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..339ee64ffc5235d452ceef3334e43c7572947c9b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_86_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dc8cc52441428f4a0b4d7f7262a9f099d6b34980fdbc336a93e386ecfdbd188
+size 11450
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_87.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_87.png
new file mode 100644
index 0000000000000000000000000000000000000000..132ded82732a6ed46b352ceb20707cefc1b132e4
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_87.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a066589ba191e126147d2bf65e2fb64aa731b53c3394f667339a3070ec630cfc
+size 558908
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_87_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_87_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..81b9b6729ad254358449804e13923f970a83001c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_87_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbe6275028ce3c4710201a385795ebdf5b1319148f9b5cc462547524066133bf
+size 111134
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_87_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_87_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4d3c88dcd4b33471e72ed27f0cde2a02479b469
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_87_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:796efa9af383f1686ecad7cc62aeafd700afbc257644fdafab4eaf541a8af0bd
+size 11468
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_88.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_88.png
new file mode 100644
index 0000000000000000000000000000000000000000..f74e7d71d8501a4501bf5fbcfdf6d15ff258d87e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_88.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9f348d8c037af5e9859913ad16d238a85aadf6c174ed59564a1d151508221a9
+size 563263
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_88_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_88_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b351a83969f6f9170aa54a12c594438430713a6f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_88_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e21894ebc37ef179f5c81b3f833549f60a36d10228e4a79b427035ffd2560fe
+size 111248
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_88_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_88_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6711f364249166ed4841aef01a43a20eff425732
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_88_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1467e56fa4e09a6382e5c1b69546c1c20c7e0778a636491160d96fa2cc499e19
+size 11502
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_89.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_89.png
new file mode 100644
index 0000000000000000000000000000000000000000..998aecbbd822d50bdc9383e71a852a8dc6b3ca8a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_89.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eadf8df7406318eaeb03fe7646a6d133399660c77a61fe0a574ede6aadfdb790
+size 559013
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_89_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_89_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0296af06de08c363a2d8951fa54e41e48f4c8cab
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_89_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de30dd70e999b787b4ace378c6281955d0433a7769ced469ab610369859faf5b
+size 112202
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_89_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_89_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f34057e7410c6d576a8b4d797c7db42bb91be77
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_89_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0194fbd691155645e42a0edd8a02be2308cb8d2b9494ee7af24e2ff92f8f76f
+size 11419
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_8_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_8_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4acc4efffe138fd1d6554b3792c19979d380c99e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_8_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c601c46139677c6240e309b9206580a64e244e6843681ced7a5c7fc5cc9fd10
+size 110280
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_8_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_8_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4844545b9c2f58268eef867c9379ffa98d7e9a2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_8_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69c6e68a50e6afa80c86e8722b9756af9017a4bb65edcc09dd4b2aee9f038002
+size 11540
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_9.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_9.png
new file mode 100644
index 0000000000000000000000000000000000000000..df80286fdb2f2c60f875fd834f6b2db8d7714418
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_9.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0de155ea1fbc9a340d62d76aebc3455bd51d7e9790e06be3ba748bf77143186f
+size 529924
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_90.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_90.png
new file mode 100644
index 0000000000000000000000000000000000000000..e44fa216663f5043694e96a1631768b60e9ca28b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_90.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:362cca297c038a5a806e3ef253f7fced0a2941e1f4293a7d8b40992c7d2a4b21
+size 556586
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_90_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_90_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd45cdb2c3c775b9c42ca601a615034f7f943ffa
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_90_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39186f55483b069ace5a199d1fe77b76197f5a5176106ed831224469f841667e
+size 110872
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_90_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_90_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd9e7bf13f5ae1908793f2e7c39acbdb74bc5a1d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_90_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:273ff8bf6cf8756d8d9d4fb7e679d811e1f06381b52582874c6a13283e10ff18
+size 11400
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_91.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_91.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e3a12cf27ea2de673e61364eba0c47c3ef03a24
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_91.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e7a73fb1bf2b1badec275e4ca3b17bb6c07fb3783a03f6688cd73089a92f19f
+size 552932
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_91_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_91_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4dce327474fc36df7879a93161d271609173ef81
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_91_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2006023bd521d5bf0007eb2fe53e159d5df0c434b6a13ba01981f622991b787
+size 111640
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_91_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_91_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b24cac6a5012aa6bbcd5b9fa268c3dfef891f729
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_91_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a452e4924161b2832630a574cc15870acf523b1297835beb964ed1b924210024
+size 11353
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_92.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_92.png
new file mode 100644
index 0000000000000000000000000000000000000000..7aa912edee64d5cac182bb6e823f1324ab4c28b5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_92.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b2b3a6bc5bd6f51aaa32c0ed170904c0bf2d5f63305e51cf4a1360232209b2f
+size 551885
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_92_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_92_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..32f5c863a783e0af6ba2feabedd13fa756fd9b93
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_92_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2ac163099cf26afa76ad1c5f36937ed9c0fd7f387049ab2f1cae0a41a7a639e
+size 111568
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_92_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_92_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3110b79dcfb0cc3070e49db4c75614e4aaec4114
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_92_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5f0cc6203a3ffae627d05966bebc0a74281a228ba175193e12120d332f8c604
+size 11288
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_93.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_93.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ce8e2aaaf8a8bfe6609be6c59943ed230928f2b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_93.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e4484c2d0045e01f4f78d9b44c195baa8babd489fc32c90ff327c0fed58e110
+size 552447
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_93_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_93_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..495bf45741bfd4e0f9d5329fdc50111a8668d025
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_93_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5924e3eb3fbd8d12b71aee7ac1854e4493a32e7d59ae3b143c32797ece6cc6b
+size 110795
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_93_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_93_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8aa219bfecfcf9ae1a9fe7ca206ddecd489d583c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_93_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:550d9e431a7bdb8a355ef37d8ca3174ed6bf89620c04d58ecd3d91e0d059edd2
+size 11423
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_94.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_94.png
new file mode 100644
index 0000000000000000000000000000000000000000..c01e8fc216c32d2d00c6ed2d346b3b1aef590bfe
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_94.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d463771895e9233faeb5cdbfdb89df6f61264c8c078c96e3581b5655ea62454
+size 556014
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_94_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_94_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..589714449d58d296ba99c19507be13d0811cab72
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_94_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08d77e281e6311b6af042a9b72191eef8ee7fe49266331d810f3978697c53c6b
+size 111590
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_94_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_94_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..461e89d3dab8dec779262af014b6d8b0429590a0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_94_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:938db6796bd4599429f3ea0f736ce13440f8a22732541e3df3b2d3674373a724
+size 11414
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_95.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_95.png
new file mode 100644
index 0000000000000000000000000000000000000000..84fc7310ec665c90ee526a6b80fa7c4ef9881efb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_95.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99cc2715143cc0338060f8ac95605f7501a69e12c694633ff95dadaa96f5cad4
+size 557332
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_95_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_95_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..49892995c6548a4429f0c63bcd504712717bd862
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_95_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9876e92e83e05193861fd662a05d75f77fe2e819df0917c3686b139196337945
+size 111806
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_95_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_95_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..421711845e67203ce88d1193a6d5f139019becb5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_95_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44632a91bece01b4722435e1ca7899fd9a2cc35df51ddfddee5a62d008d7b5ce
+size 11255
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_96.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_96.png
new file mode 100644
index 0000000000000000000000000000000000000000..65ca6de3b58cfb5a3ec31e9d26f8d1956aa0f595
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_96.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8860471df9a91814d3eead178e617e0dc1ec9f29053b292652f6e6d82f42bb48
+size 556714
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_96_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_96_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..09b3f04d9959d68d684999e0a50d6c678542c223
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_96_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58d681ee620cf02249cba03d9c615d9130034f33d407149ec7d5d9ae6dee6a16
+size 111135
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_96_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_96_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..035e50fff3bb4ef239a86cc1ecc027f5a362841b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_96_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa38329887eb7ba0e96b4d827d0ce5d6ee045ab513dd5d9becac93d078e5ef2c
+size 11402
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_97.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_97.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1125c3f14e201054208b1b186e55c8a26288ba3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_97.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a191023554965e4dc3fe3ee10ca50c38b910e75f67132c31c677c6a20088723
+size 560416
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_97_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_97_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1976bc10591c783c52eacb5e5e76eb1cfef8c4f1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_97_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4af93f514f3c753938b76918a1b4a8786699f0a7a8b27a6adb058a8ee47be2de
+size 112143
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_97_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_97_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cff01456ed7b836d4a6ce95e4c1ed48b2932e3e0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_97_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8030ecebe6a6b6718376ecd8681116575d154870e6166916f86ce211438879e
+size 11393
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_98.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_98.png
new file mode 100644
index 0000000000000000000000000000000000000000..15ea388c96a5deb4a4f7df27c7b20e9d8555e2b7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_98.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b11b39d5f2a3ed64598060a23416cea6c43d8b3bc147837d605e61e4697d143f
+size 555309
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_98_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_98_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..405b04c89a78077b4fc30b43c58a46f370d0de62
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_98_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8af61f98d1df88dce47e2f0ab77f5114254f90c72f7a4fbd79f1033f84f62c44
+size 112175
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_98_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_98_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..844435e73cae67d19b8e563d52b57aa67ee61ba2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_98_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae25f2c44e640207da14b4ff787f0e3eaf8d2bd57ab0156cace22a4fbd90d836
+size 11410
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_99.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_99.png
new file mode 100644
index 0000000000000000000000000000000000000000..9cbb12daac9b3ca589cc300740ef89c5d0c211af
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_99.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:804ed925a3eac4cb6d7b1ce3c85bb7116a785b615ad7e34fd840887f6d1b90c6
+size 551811
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_99_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_99_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..abd355656304590ed316bc393efefc7e4191766d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_99_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d017ebdfee4ab62e47e1ad4cc56127fb76d235620615951be7bc2f76a0f667a7
+size 111527
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_99_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_99_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..76e64d13e8fe19ebc33811a22d20710ce1a56100
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_99_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8da4a53a8e00808ab0738fe9ad02bffe6d90135012bca46d724ac8e96427dac3
+size 11434
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_9_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_9_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..44bd7028769eefe7305848be574b24d909779532
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_9_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fd729a42112788923aa1f17dfd13fa1183dab9704231dc78241e1ffdcd8e784
+size 110505
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_9_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_9_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..585d1f9bd0d68d4283336e37c347864474576d6b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/test/r_9_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ece1430a14679921ae920225f177f33e63f89983f6ca42e32f954c7236ee2a1a
+size 11598
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_0.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f9222b6da77467aaafc5decff254c0f82f0dd9f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db3d1e948c4b68b77d71fa48954604a8fd17a151d96e04b543031fd95a701351
+size 532493
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_0_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_0_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8548a3f4bb9545f63b872759226561579140f719
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_0_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ae3b3539976b5978b5c9fd0cf634bd2618d424a570ae97b7832249cbfbbd37d
+size 111961
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_0_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_0_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a97ca95f997b6ae94ce924dc94919bab41d27f02
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_0_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59472783815feb1a2fc1716ea1d856d050bdacabaf8a4db41baeafb0fdfb04b0
+size 10738
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_1.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..318a3a51a242738cf897ceaab08e23489952f948
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0963f98975095900ebd024acf7ada8c66b4ec22159878133c7bb402d30a8baac
+size 514349
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_10.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_10.png
new file mode 100644
index 0000000000000000000000000000000000000000..184c94f71704c6a9b86d0fac1feb3a5cc0ebbdae
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:802d332c44015b718d6d9b224c0e00129669016e50101200676d49d5966a4419
+size 508890
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_10_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_10_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e949f3c0d9c5e93144b1ee97bad5e7c4c31bfd73
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_10_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0aab712036b36cad4e080b8f0d6754827da718c66da90b655a3f581048a43ed
+size 109574
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_10_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_10_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2563de049481e5b6dbeea99a3cd898d0e8e94443
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_10_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d77a2b74e73bae7363a7435468c03cfd5b6a352753026b2fef808c005352b9d
+size 11030
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_11.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_11.png
new file mode 100644
index 0000000000000000000000000000000000000000..d769846027237f18610fb2d095067364aa642be2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd32fbea1b3802797a8e797c89fde474b4f353b15cf59f272ee6e3886141e224
+size 511489
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_11_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_11_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7e8dc3fa9a940b6951ea7b95583bfd001190d68
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_11_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:830695892ed3048ef24aa5758dad6c5691f1bc83b3b3f710942691c6884f7351
+size 109374
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_11_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_11_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8baeaa814e2a640d986ef88ede04a61575ec86e7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_11_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:643ae8c4ab35b8920a9dc65e78e36491c7cf893e1f95b6977f6d1566ec0a8aa5
+size 11476
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_12.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_12.png
new file mode 100644
index 0000000000000000000000000000000000000000..b52674d007507d32e16afb649eb74083b695af9c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_12.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e0e2aaaa456730dcf46f3258303650070c93b5f09c2f6e60213737269c55492
+size 512893
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_12_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_12_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd3d4e5032959f34191c64dbe76efbb3b804b17a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_12_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e06f359f0fa080b8d40bf8130efb1c6bba4179db5af5f91d3a7d287f21b4f33b
+size 112438
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_12_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_12_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..76d8a7544156fe0970c8d9b5b0dba0932c89f6f0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_12_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:392658b962ac958ff5163914ec4005ccefc09b3649a243653947d871b0202256
+size 10810
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_13.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_13.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd49b4e0463574b16ebb105a0d8293b777888775
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_13.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63f8269100934ef8b670055796f96e180746c5234e14577e5845776735af34a6
+size 507667
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_13_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_13_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..230e25478d294cf8758719e24c3f463de02b75cb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_13_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6516eac1dd5c06875ec6b29be174af66579c03b410102647e39b304e6e2bb417
+size 108777
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_13_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_13_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0281e31fdc5ab5d6aae743737f4f737637162d5f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_13_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb80886fdecc7ccdd6d7e5a33f5b0d9121c392400a7a4b2bbf7635ad5bf2d390
+size 11237
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_14.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_14.png
new file mode 100644
index 0000000000000000000000000000000000000000..029798a201e625ab6a1c8c30630a6811ae4145c1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_14.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dce95cae015c65b5ca2cac8883933d5c9abbcd11b31f391f9f458eae7093be51
+size 521386
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_14_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_14_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7810b5eb5953705706f9c2533e5e2788dafc8d49
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_14_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9059fbffab810abeafb4dcd96405cbe8d423e082864f4f3c103803dd5d92dba9
+size 108686
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_14_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_14_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..eaa31c3bbea45f57a3fe85df63dfdda6dd729914
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_14_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8d2b091c78f5defc071ba9dcb53d296dea9ce2ae3d263b030eebfe7ac89da05
+size 11226
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_15.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_15.png
new file mode 100644
index 0000000000000000000000000000000000000000..227f759afde87c73e0d558f22ab34b6333b5f9f8
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_15.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac84ccccac829b3f20b0e3a8c440923807b9a0692d111d407bb43b82fcc637f6
+size 504653
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_15_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_15_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe07b8f1089469bfc139182802beea4a5c73c321
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_15_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc70ce0724205d52176bef3df84fa8b93da8c21a55b60261f3d57e3303e312ef
+size 109321
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_15_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_15_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7c2bb40ff168cb50e7cd3abed4afda5ee0440bb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_15_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c724fa2599154d093db243d58136b897de32d3c7785974f5ce6d39502f9f518f
+size 11149
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_16.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_16.png
new file mode 100644
index 0000000000000000000000000000000000000000..a16c98b2145ddf7c9eae9552cfbbd2df8bc7ca64
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_16.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f26f0058b3ec00732a92be03188d080582f6e79a602bcdced156675f7512949
+size 518684
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_16_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_16_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..889233faa03b71504914b6499b64a643e656af1d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_16_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad416c1241615e4a3ca149c227f9adb5a8812c309a54f5d0274a54347a669130
+size 109085
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_16_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_16_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee5b8f2441e0b3113bdb349b03c4ea8c1a46c605
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_16_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3aa339d4900ab629ff0d21f038bf68485887bc67b5e86a8b4eb1284a53ec63b
+size 11373
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_17.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_17.png
new file mode 100644
index 0000000000000000000000000000000000000000..12d3e77750b7e5429192f1307a240719bfec1b1e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_17.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:580669dc6d3df937e84bb48bc0da05aff7922a45b4a16faf4bd0d0e791f4777a
+size 548775
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_17_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_17_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1cf1aeb31e9b6c29a9c528ed0f1d776837f0b4fc
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_17_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff9a87ce435d8f4cee40fb25a92fcd775f947b876097707958246b9692bc9bcf
+size 111989
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_17_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_17_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce6f4b5fa9a4f4a250222105c5c112b888d0b40a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_17_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7aaabb6bf1c3355da8dbe39ae61309d49c84727c6204e6cf0ba4449224d5ee5
+size 11448
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_18.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_18.png
new file mode 100644
index 0000000000000000000000000000000000000000..728569055bd2eba7e29327bdfee3ed7489fd8d73
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_18.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30978dd82b23601dfcf5dbf333b35e5e189f507603f2b64fbd5c89a0ed93ae8c
+size 517503
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_18_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_18_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e440f76d1fe486d4e3f625af0bd32719f75267bb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_18_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70ce429670b31fef849790292d1e7c291ad6b3a9c684c90f4741e05900ca10d0
+size 110886
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_18_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_18_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..22a82c88f15b51a1ef78aff77d77da821c57abfc
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_18_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66f408df42f16d0bcf700f687e8779423800a2c3d18397fc83d624ab11bedaf2
+size 11039
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_19.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_19.png
new file mode 100644
index 0000000000000000000000000000000000000000..31885821d1fa9240c3efa0f396052fd39e8c249d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_19.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a234ae44a16a27a5078b657472ef2c3eaeb80fd71a6334e90a99fdbdc4e9714c
+size 511140
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_19_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_19_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3eb1fc1d8f4b1c0bd3e9e3485c505a6362022b74
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_19_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cf9605ac0e5fd9958da5263ef6a0a772bb73580e5e445d876dc86dbbb58952f
+size 111357
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_19_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_19_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fbbd9c2e8adb8af156f4141e3ac4723fe7ff12ec
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_19_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e654f37891ef52b94c55ce241fafc98bcc2725cc22c63c6340b5415add14da7
+size 11083
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_1_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_1_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..56e52383247779ad8f3dbaf51fb8ff6afc0e4311
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_1_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5c78e60d9e7933ca7ca8c9e05039185049a0e1715b38e832a4b5782f2e079fa
+size 110265
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_1_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_1_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..63744dc19731f3ad59f05012ba65abb3593e38f7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_1_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b32eae3bc0a69476a845a12b4817b9d99ed19ef9fb1cce42544d998fe762960
+size 11351
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_2.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_2.png
new file mode 100644
index 0000000000000000000000000000000000000000..286c172236a7cf026a5ce83ca719af2113afb067
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e57fd5325c9f1d36c49d403c800768c8c4a6a10b42a2cf388f392012ab0e304c
+size 521954
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_20.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_20.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1bc13c4596f38102ce16de724c3f4e992e98c3e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_20.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90485a5dff5873acce64838ad33ecede5de3c27fea718df5cb4699a97b04cf4e
+size 509107
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_20_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_20_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d297346c026307f73dbc030c9542cd5d8bc4be1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_20_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8499ac1381d5b4260f7dd7b53fac17865c885bec2444a7a184e9ad9a0500f0b
+size 107650
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_20_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_20_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bd58941f08968a819140b1c528b39ab66998330
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_20_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c4cfa44aeea181587346038eaf9579e93c13b7d81c426929f59008ae930c305
+size 11285
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_21.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_21.png
new file mode 100644
index 0000000000000000000000000000000000000000..5cdcfe6b31bc22461c9bc7be2d8fd88a50593223
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_21.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1162c1340d427e9ad6aaaed6aa3169cff1378cea4cfaf3fabbb2923ba8f19a5e
+size 496517
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_21_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_21_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..58f21ddb98926517271e22dc333e79465291ef9b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_21_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b7eeb67b7629701bf7790bdbb50ef4f2a3174155bd926e05fffa5649adc6b45
+size 109336
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_21_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_21_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c877d1b265ad35f8d0f8074520f6b25d0920d7b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_21_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87714482353fd5c5dbe4964ee95731e38c4216c6a8ad936d7cfaf8eb316f293f
+size 11524
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_22.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_22.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6de721377d2ec758b10f4d342f097ce832badaf
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_22.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6caecddd9c7c4594786a3360d31472a5753bb205901b5c550687430c4d90fa0
+size 528500
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_22_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_22_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1e1c7cc5024ba43324a6004b4f28a3d1515420b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_22_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:624213dc0ece57ce4e76433a3f17e34acb0e1d0cb66f9f7bddc7804fd40dd30f
+size 111118
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_22_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_22_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf0342db71c14dd1f5f4fc9213cf33eb7ad4b049
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_22_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de6ab77b98508af858683057ba5718c5a46505e7ae01341511d0f3e4845a56e6
+size 11587
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_23.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_23.png
new file mode 100644
index 0000000000000000000000000000000000000000..91e71f3e4df1617312b6de94d41c60bba82f1fe8
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_23.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6de660a27ccc1776f423d556f826096c57daf125159736691dafbb10b09feefb
+size 513846
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_23_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_23_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c052569b59c08ff452bd10fbaa1f9583addb609
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_23_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d73f4a82fb5f0a14a1c7dcaf65ac74edde617bc7bc6651d05decd4b4f54b5faf
+size 109362
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_23_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_23_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f4fda674c375269bc85adf1a8716c7e9aa6b5ff
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_23_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7160dd028117b8151bd061b4db87cfa882c9f8ab64367f3da96f087ebc6d024c
+size 11484
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_24.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_24.png
new file mode 100644
index 0000000000000000000000000000000000000000..21252aefe104d12c1f099479836cfd7964519828
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_24.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48b6c9c37177c772149b9a7d9c8461d3d07987dc35df475c98653de24f2fea5e
+size 513526
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_24_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_24_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee6761599e3220d9032378e13fb6a2cc1fea8680
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_24_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:619b9ed6dc271d6583d382cdc4beac5e879c4e30826bf049b6ae74febd10d45c
+size 108996
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_24_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_24_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..80934f8310bb20d56e47276ee4a826c38fca1698
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_24_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9177fe9225c63f0b26999a377dfb2ddf7b7c6cf83ffb2c4ab0c321ad657d6c4
+size 10982
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_25.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_25.png
new file mode 100644
index 0000000000000000000000000000000000000000..97f9e07067bc64186216647a3dfc73c81cccecf9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_25.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb87db11f8c238010e4878506366b338c2beaad631949817d0c0cc6883ed2fc6
+size 504191
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_25_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_25_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e29e35c8165f0339dfb55c9cacd2bda2fd14a6f6
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_25_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dd685c3a20315742077e7a6a16862fb7d4245699b0e7e3a15e57954e43867be
+size 110195
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_25_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_25_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..90478b2774e90f7bcaf1346f8b45398ec5a353a4
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_25_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ff4ab617e988356272a09bde0be06032b57c6ca20882d40e2b252c8324f77c9
+size 10254
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_26.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_26.png
new file mode 100644
index 0000000000000000000000000000000000000000..c93b7b566cdbc1bdb9893eadbe70df432980c31b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_26.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:143a02d15d79e344347809061c1e43f020dabbbe812aa76ca2d92c355b1f37c7
+size 513492
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_26_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_26_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..314316f78d11483fe580c58af2f67c71e69c2b63
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_26_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7edd51ad9ba91e5825a617f2ad1f9dbd8a2331bd7b55d2478aeefd9f0551c546
+size 110141
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_26_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_26_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e4a5a5d4f7da47f264106f6141114814d544079
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_26_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d56f49132d4678f89e99dabb74a2df7c6560354a9b008afa76340de143cf09bd
+size 11551
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_27.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_27.png
new file mode 100644
index 0000000000000000000000000000000000000000..003ad3f679185d68d6c3b710e9d4a5cd7f9eddcb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_27.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:489983978ba331bc024119ced129bd0185cdbe831fd2179724bd9c4d177c31ef
+size 513309
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_27_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_27_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2e1285ce2975dd05c8babc4bc94fc209a84c86f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_27_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2011ee761d156806d17dfa94dda39ae0fbd76d1b1d019e88e9eaa24e6eb2804a
+size 109597
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_27_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_27_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8acfd3c5d2940338551567ac2c151fb751b16b5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_27_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:501d3f97dc608e3202bcb214e3694eefce595d4b551ef4ceb5cd5e56c1d62554
+size 10042
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_28.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_28.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd11881b47afa5bc0bf48139663e59b627ce0604
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_28.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01049071a79da358676970c2f7374c28663b570e239f00c130d76012988fb278
+size 507424
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_28_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_28_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..04425f5b1f58abc9d88ac3e84a7121586e323970
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_28_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b36228ac23e113dbff11c701087634605e7e9d7b1a1da6f5e252336e6318557d
+size 110063
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_28_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_28_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0af309bfa7514b13241be44b5bf8b4d6e8cc58eb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_28_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bb2480268f2f9787e34a7ecdae56ac875bc14657221c8cf81c030701944f340
+size 11003
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_29.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_29.png
new file mode 100644
index 0000000000000000000000000000000000000000..64c493e531e6ed77b9dfd94f575b78e0a54d6c9d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_29.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d1351d60070eecf612cf9ce0577861939f2372533a4bbea005965ba6aecfcba
+size 534702
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_29_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_29_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3dd9a58ba523940bd980c6fb0ad73f30353a8985
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_29_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d56ffdccc908a70492cfe2775eb8f52262a6ffaeae6ad51afae1a4681e1d0a63
+size 111369
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_29_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_29_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1940330beccd328df9d5d4182b1d1d1b0544d16
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_29_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4003b0d9ee824d7bb823a687db4d7493d27de7a16bf6248f66ecb27838c80228
+size 10690
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_2_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_2_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f81d952a7d3aad536ab9e20e200e2981279e49d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_2_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ed63c7ab9a26f4a57f8d20ea95d83c70bbbd7f11be7a250de7cb11d231eba82
+size 108361
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_2_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_2_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..546b4bfb401f14faeb52ac5a32b68cbfc48ee3e5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_2_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edb065a375935c03a3c99367cf75c42f7cb440168ccd3fae3f4a3a2052cff8e0
+size 11168
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_3.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_3.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a69951ef9e83f61fe7d177c8f5d0116ccd62a89
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4978eca7d105b67dd5cb3a1414abc8e0eb25409227f6360be143615d5588ee2d
+size 570442
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_30.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_30.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1878c972a948bcdd5a8c18614e6aadb341e1f7a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_30.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:892eb23767a8223e3e3ac81ec5e5190da3e37266d6a392bf1ac93e04aaf3e2ab
+size 534683
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_30_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_30_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..44be66e7a88002e20b262b09229b2d2bb2a117ed
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_30_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d52ad3c3ab1ccd222d893d36bfb7c1b7f1b700d327638c04c27daf31e4b3df81
+size 111617
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_30_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_30_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2349388a84894605ccabc48c623ba44e2ea0dc03
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_30_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:354b20734f3080fcb6dbdd4d45e933d89f4069f16d2b57cc112ac79a2b97987f
+size 10884
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_31.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_31.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fe534e5aa6f3d4a98a920317643d6b5711a9d6e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_31.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bccc42113a83b41183c029b79f28dc2c3c8129ebc2974854fc8bda3824a51f1b
+size 528455
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_31_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_31_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..07a4902b94e4cd93368c94801b13e42ec86e84fe
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_31_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fc4631d67b774a9d69ce82cf93ef4bd1e5c0f1eb8682778d298c6347fd5bbe6
+size 111311
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_31_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_31_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ca26c09da0dcdbacffa84841e7b432eb0e14c40
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_31_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9ac464da7e38ec9d1b83d03455c1ca09548fe0d98117a063295aab3f875854b
+size 11474
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_32.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_32.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9220bd829f6db5ce89a58a95c7f8bc5ea1c0ae2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_32.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b59e51dbceff7af4700c91c1b53132a405cc9a2b095b28a3fac504d8a3e89c0a
+size 517074
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_32_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_32_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..55b7f665e46e325c36a5112ba272c51a37288500
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_32_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:325832a5eb748bea7ef1f1c9cd5861fda7862c41dd3ba9701a5627f7871d5e2c
+size 110528
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_32_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_32_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..351616dfa71be6432c77e49b53adac7b291ac9a5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_32_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45ba6051b777db8c2809eb0c003690c57e14afc0e49764370e9478067bdae2c7
+size 11066
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_33.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_33.png
new file mode 100644
index 0000000000000000000000000000000000000000..35d2f31d7867ae59b38f50d84f738b7bd8d1b75c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_33.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:712926f4abe60c3b342cd6a689118c3b8ff12f4b37ffaffe01f1a8ad71f653af
+size 492126
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_33_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_33_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b664e5b84910fed08c7142198e3b3aa0437e3a26
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_33_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:065080aaa205c19cd0ec39041d82bc683b4d2e940150200113c2dfdc9b40c29a
+size 108294
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_33_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_33_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..42518a4b3eb6064dfe35cacfb5d306377541bc99
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_33_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94ef716ea8b61b100a7f341ac406adc9bdd2a2ba36f2c65769bc95f9ca8994a3
+size 11444
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_34.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_34.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8f3e3147ab11c05d185ceb8175964a98580ae6e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_34.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:253ae77e1c2f5c5a6efac4d5128112d40726df860239d78717eda175e0e75cb9
+size 523902
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_34_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_34_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ed1d80e0ffdce6a11d41cef5636c4d2ff1508a1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_34_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b53849442361b49bc458e4c3b1f1292940ae7bf3f27443fb9cb657f2a30a6e8c
+size 112304
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_34_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_34_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bce34b6a14a47ec02a64d331e271750df97abeb8
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_34_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a5da247db9cac85dfb7668f40111fa22ccf347801f768e3a7832671fb6fdfe2
+size 10940
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_35.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_35.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf334a76313c3e6a4816185c5618adf7c126ff7e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_35.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d35e4ca80a5ce6408700be2be7f9c151c10537dc2c9a1cd613d8cac6d041f958
+size 539180
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_35_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_35_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..46f213adca9544dad9e995e36e0918e83dc8177c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_35_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a99468c107029b61cb4f2b9b94039b2b428d225c25a924f1756e34fc12a5507
+size 111095
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_35_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_35_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1f50b66f77a0eecd334119f9792ddbe3b693101
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_35_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d881e151c854de9305678fc374b68515cbe307dd9dd8940e88c536739ca2be7
+size 11517
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_36.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_36.png
new file mode 100644
index 0000000000000000000000000000000000000000..6eb49a587d9b6346def2bb387f573a7a1bb85a69
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_36.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16460f9aec7fa78f13e9815728f7993d325eac20ab13fb63afa1ad06aff6e1b8
+size 515856
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_36_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_36_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3827e6629804b34632e934b47dd8ff73d583a16
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_36_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8dc5237738ab61555557502ef989c727ba4511846938b769e827fca30696f40
+size 108117
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_36_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_36_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7144a08e46d00c7d7343a6a1a98594a75e4ae16
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_36_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79689060bac6ed31ea8d5f6a71434e6f8fbfa7c16af7369ffd76309b127d6ee1
+size 11410
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_37.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_37.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa3a994bd970a8d7878e0b649a8f0005de0eb2df
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_37.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71fc880134b6ce6784464b4a76e0111cd655b35224e541d5b280d60c10f4eb2e
+size 516819
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_37_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_37_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..33e0dde3cb231c203940186a29a721553b1bbbc2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_37_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dd1681d43d3cffd12948a2260dbb8c9f0d17338f9d98c5118a86357b4b57993
+size 108802
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_37_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_37_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e717cc35c932f84b1f41913bbb5da5c36a1dcdbe
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_37_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69b8fde608a346e3de9ff4d964c1f9bcc4fecf376df73acebcc9d4f00fba8fb7
+size 11384
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_38.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_38.png
new file mode 100644
index 0000000000000000000000000000000000000000..25a1e68ff6c6d9719146ca2d029ac07ebd05e720
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_38.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:217d5ac7fa15c902e786547da020cd22fc6b48c58b08dd0a767ef924056100ee
+size 509504
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_38_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_38_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2a8b634899d348ec1ce774f65be068356edcc9f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_38_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e59aea4b1801f4f449afcfaf2c0078fa994ecbfa75ee57fedf61174e0c476b4e
+size 109496
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_38_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_38_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ba16d2eb041520ddf6c1261100dce9c939718f0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_38_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da12ed9c0e0a619163277881f7769be530c52aa321cc261d3909b357de32c7de
+size 10057
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_39.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_39.png
new file mode 100644
index 0000000000000000000000000000000000000000..3672deaf0a142d12cc53c30135b38958e9773a18
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_39.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3152ad7ce125ae2db2fecdd7f0656dd4f200a352fc5a20b365f224bf1319fb4
+size 486753
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_39_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_39_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce460bd0a27fc7bd3ada41fc4e679c5dd30619df
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_39_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8aa310b0a92f5161bf5b537faa513974427ead6cf68e245061d28852577b0c5b
+size 109651
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_39_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_39_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d986fe28c480311e029768c2188e0f6584d62654
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_39_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f41ff337f907fdd6e6050a4109b1cae53d651260212b93a46e8de40cd6eeeb92
+size 11243
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_3_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_3_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8d25e2f6e512bb8b619d563d834ad725473cf3f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_3_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c56dadf1f5e793f7aa96500df60fc419388fd84084b0fbcee60b102dbc39e575
+size 113078
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_3_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_3_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b18059a154c4d822ce110286ed54013beb0fe2d2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_3_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:339e01ea4153c5e4ec7d06b5d2c391a2c0633124bcc7ffe4210e9054d9167d26
+size 10971
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_4.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_4.png
new file mode 100644
index 0000000000000000000000000000000000000000..de45a121c62c630099eb562e512516f1c8c4c31c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fab06eade6fa9e754f3a080eddbfcb3dd0158778f44b2e7d54920b3cfe97e04
+size 515960
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_40.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_40.png
new file mode 100644
index 0000000000000000000000000000000000000000..99340d7d709045600aef95e67ce7dc1f5b69ec6c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_40.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcb105b983f42249f3f61e3f7466fe69a12b72f07b5af82c0748e7a0445e00b3
+size 563749
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_40_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_40_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb4fd64efdddaa3a60ecc61c7406eb37c6f80962
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_40_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f8a185b34ed1bf0b37cb6cee4329fa8d10957f0b32c8a8cdb63295ba3ebaffb
+size 111944
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_40_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_40_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a733f647bac40db4ed75b90eabb03e51b574c37
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_40_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38db536ee6cd2a7519b873e41210a57e434803774e21a355f759da0c57beb29b
+size 10477
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_41.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_41.png
new file mode 100644
index 0000000000000000000000000000000000000000..3006332bb5d9f9f7074ed307822995ab5957b328
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_41.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db02d5da4b6b0c48053c100f03f40d7dabd31a7a40f540c93621f6e7e9bca83d
+size 568100
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_41_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_41_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0df90964e67bf710c384f762368a644ac011b904
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_41_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:517cf0b4521fa88929bcc67c10fcc076e60d724371c28a6fa1234666d275ba0d
+size 112169
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_41_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_41_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d525b3ef587bd5b4fe2a1ef0a01cb73b7a4b586b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_41_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abd5b23361a13007240ae8c1b247d3012f14857a52f285d1e132d19eb05ab37f
+size 11097
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_42.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_42.png
new file mode 100644
index 0000000000000000000000000000000000000000..117599939431abdf74af80a48e36c75670268b9f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_42.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5a12fb52ccc341ae08f6b23011cf075a479e35b30c72f244d93881c71e814e5
+size 535674
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_42_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_42_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e689e7135e59b3ae44c7e2a7ee2a30e503272756
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_42_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afbd2025f631f2a84851ceb6835f1bb1dd6e23393d97cf5b88fb6992eb0a5c8d
+size 111042
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_42_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_42_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d79b40ecb1ae086434979b0ab1a5d9d640957d1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_42_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c1b67d61798f97470972477aaa17fe3e0c2db5a8dfc94c32ef2d29a20a284ef
+size 11559
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_43.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_43.png
new file mode 100644
index 0000000000000000000000000000000000000000..f03845d5dac3ddb0899be97146530f337d79a875
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_43.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbbdfb6d19d4390e77ba22824bbcb62ceac4ce676f3b78a6a9b911b5d850987d
+size 523013
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_43_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_43_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a9681c248966dd9888dad2045efb2251d803473
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_43_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e887bbd7d119e96170db67c728f8312c3f4c91bcab9865bae21971ac88c3101
+size 109684
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_43_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_43_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3f3dde4af1929ae1ee33630317da8bac597482a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_43_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3466619ffaf9f9c039e345abdfb9d7169b46e7b154d80e71ffe08bad98d7052c
+size 11098
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_44.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_44.png
new file mode 100644
index 0000000000000000000000000000000000000000..14024178ea93d597398bf28b62b81388a94b9546
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_44.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5be91681346d280a4d3c1e0894e45eeb61547c338d2bbeac6ad0e21ec688bf4
+size 513109
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_44_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_44_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f298dd30c5a4aa9e23cebc1f2e9815b23481b930
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_44_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03800431f14d55988869cb779cc63d2099de2c0d53b0146427b96d2176b48a24
+size 109463
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_44_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_44_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb120abe54d53dcd7f331372a8b1f24030b8e336
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_44_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:452b0ca4ababdd135d41e28dd70049ab187c9aa184a76b379877b3c3725d51be
+size 11179
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_45.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_45.png
new file mode 100644
index 0000000000000000000000000000000000000000..48fb1614cd763e0cbbb7ea3f80be22a837891a24
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_45.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05bedfe07be575814dd7afe95c5bdca79b054dbfc4fcc873acc427929af3b4a4
+size 496084
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_45_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_45_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..993d444a11e109188b92763b95abe1dfed9ae9ea
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_45_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98c7c9dcfdcb54716b2f42eabff18b181a366e6901453f56ee8149d026a0b523
+size 109258
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_45_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_45_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..23954deaa7aff5c019552b3da4c1a4d6d9b1d4ae
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_45_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84f04a43bd52a15dbdc628b54a896c18d298e4858934a34c9a5c2b6503465607
+size 11506
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_46.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_46.png
new file mode 100644
index 0000000000000000000000000000000000000000..047392f106de3f69203127532e7c5a24b75c0e69
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_46.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73447837e568cc5d24548ab0dd4958d0f922189074948084670caddff7fbd0e5
+size 523488
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_46_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_46_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2df4ee18434ebbe5ff842dc34c333b825ba03789
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_46_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:617581f6df5fd14856d78c8f96c16ddeb51c1a4d09e4ef41832d0fce67aebf27
+size 109329
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_46_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_46_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c52fa4b957e1f5c94586802c40f3c77938a6c5f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_46_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40f54f5d093b8fc9057b141d2955b7051397b486ec282f5756a95ccb01d31660
+size 11402
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_47.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_47.png
new file mode 100644
index 0000000000000000000000000000000000000000..38b3020bf47132bbfec9ab60c2f6fc39b6158b01
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_47.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43f15e42b9ae933bb5c2d9e17238c0901d14db7e9f83d8305d5bf8a92d85f60e
+size 525511
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_47_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_47_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8d0dbaf3160623c6d14ccb1d066219a67a93ba5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_47_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee7748303ad6e7f2a01d0db1a3744cb67ee36338169589dd003e131bfd805948
+size 109890
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_47_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_47_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..894de5f8b570b2ec5c7b20c9a620563764927d52
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_47_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef732cfb3242805b23cecafd82cc4be0ee9e3001687decf26dceb47bb4d47604
+size 11575
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_48.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_48.png
new file mode 100644
index 0000000000000000000000000000000000000000..85102bd3fdca16bda7515ce384a74ee3f4a5c113
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_48.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4d3634de1adffbcd571ff0e9b8e09cc929af473983d32aeabc72db4781e8894
+size 551550
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_48_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_48_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f61d19504069fbb4c590d3f6a608c9e25e37ffd
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_48_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b7d07ee2249f8dce792600a59f44793a47278ed268a2a8b460b8ab1ea32f209
+size 112365
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_48_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_48_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b033347485bab3ef656c36275a34e697258e5f8c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_48_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7e0a0f14116de9d5063693bffbdc615757a3863bc7ac3c0968026e54aaa2733
+size 11389
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_49.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_49.png
new file mode 100644
index 0000000000000000000000000000000000000000..92459799247bd58b562411e0746ffe360ea97c69
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_49.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23569a1ddb251eb672b0b65412f5be79837e176c84db931e05b67c789d764ebc
+size 524519
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_49_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_49_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5b1b4a939463172c061896c491c69c49d53da40
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_49_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c74db89764200739ec9c0ce93b75c138b1f628ed0cfceafc9a1dc79aaed69878
+size 111693
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_49_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_49_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b676d4fa4c38a83b831281e20d91cba7409ae56
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_49_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8199e54f8d15351729e06e85dd3cafa24534433865ea494d86c4a847c0a94efa
+size 10953
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_4_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_4_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..256d6e8f362e6584dc80f4a7898e473dfa09a046
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_4_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36cb2430e5b2201dac28f2c7e0b65b53e4aa279d1cdfd3492b14677a9ee11316
+size 109670
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_4_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_4_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..24dab657a88f11e2de22c415e03a7e07c0f78755
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_4_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c4e93ad4b3307b074f0599b6c8f24b463941a6adbcaab9cafc68cfda7ed9c0c
+size 11627
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_5.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_5.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcd46bce691e5e4208d47d6ac2b4f58a0610326e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa804e81e9728f36ea9e55bcfe37202083306b65b4765059cfd9dd5856df66f9
+size 510451
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_50.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_50.png
new file mode 100644
index 0000000000000000000000000000000000000000..81a94de84f73b54e047b896a251d182435cf82f6
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_50.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2fd1d8af0a45d1000ff471e116d634f0860d575ac9ce7f9b35aeda0ab72f6d4
+size 495692
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_50_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_50_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..873a13ff5ae276b80e73c58b465763f6dfb46918
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_50_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a96e2ec99f7758b94b80f2020677d350557b2424e8eb1ef6db20d9ae8390299
+size 109040
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_50_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_50_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..81435dead021592e121cbb4da7132199e527ca17
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_50_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cde57738a793760f00a24e5b7e5b97ee6368ef9d5ba3ca6588a172025ff1d813
+size 11263
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_51.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_51.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec71ae87c50f7d94d54eefbf244d0a0c8256fc74
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_51.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8493a58bb40069c8d2e45a196d32afdcd5389b6cee691d1532080bc36653a9ea
+size 560565
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_51_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_51_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb474b41ae9d6ba7dc65deb85a93bc96b523b3e2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_51_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f44d2599fdda69cad586b39c3f9e70f07c40fb0ff444248994b525c4fbd1e66
+size 110878
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_51_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_51_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cda9d1c6b43a4576c153dade3467942e1e693f52
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_51_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cccd946be7be5d198c84c1d16d1362d46c8d545cc4e17136c583491d22b1a76c
+size 11425
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_52.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_52.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf31647751bb9cebf2d32953d28f7fe6d78a78b1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_52.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a69d98032d1a41340869a3ebe16db77410c7035d5efc44acaaa2e4cd80ecf4d
+size 510147
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_52_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_52_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..09c2633e0f06c7913fb215a02e9e4be50b1cc718
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_52_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b25181f8a28f1e613de090db2b3c1e30158ff7803d9c160fc121cd9aaa818b5
+size 109207
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_52_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_52_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..020d61003e22ae8b7d383bf84355f75293be00f1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_52_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:670793398e71e6328564a5f811cbc1adb3eae9fd33f01fecdbf94e84e9b96ba6
+size 11512
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_53.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_53.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8b1cbd7ce3db20d4e3b5374f5a8cc342b61f54a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_53.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c18afc472d5265a64ddc35d7e92d06011f6d645de2f746180b57c8e20b2aae80
+size 561880
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_53_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_53_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b9a6df3fef33fc5a40cffc0b093054cd794c02f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_53_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fab44b3b64ffb7d964914339c6416904f2c49105694a974171d99c9e04c18627
+size 112595
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_53_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_53_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6cdcba93e8a4f1e75f3c3ae65e046b6269e65f7c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_53_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c15d14b7f8749c8aa3726eaf892f2931ec454a883c653026a7af4d38c7f6c06
+size 11258
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_54.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_54.png
new file mode 100644
index 0000000000000000000000000000000000000000..a62b0c3d5146b7159acaac7e836eef0403d1de2b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_54.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bc89dd4d70f48808d3997ae9e4ffecbc419d5214314e28844f416ee05bd50fb
+size 512305
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_54_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_54_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ed30c856384e6fb5d4de38099155e3851710eb4
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_54_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02aa572a4ab32e0597fc96f7d181e112c777fd9d833aa45c26d855a0e17edeb4
+size 107942
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_54_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_54_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..58f39bfcca3e17e71f1c4dc1027f5b682199017e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_54_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:940e45528c22881ded51b528001a0a5d92f6f20e83b5b4f61cd293f80023f6c6
+size 11228
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_55.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_55.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd8146e453e075fba8c34f800a88718de8f68562
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_55.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:567ae34646361a49d0859d9874b15270e8dda8cd373061a8332948d4aa77c3be
+size 514229
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_55_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_55_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c49f953769ede8f5f399cc008fa1a41f3d859e5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_55_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:275233a1dad4d8f4cb83aa7305965d00fadcfccec834ee3bad991b7ddd23201c
+size 107621
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_55_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_55_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4130e1675dbb7012eb7452ae5fc78d5ae27e1f86
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_55_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54761afb3da1d40a214f766e133ad19fe1429fa7a1de719e209b60ab4c0b8842
+size 11235
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_56.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_56.png
new file mode 100644
index 0000000000000000000000000000000000000000..970851206c5a773090f0b15b4853a2bede4cb4e9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_56.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4261290d7f238ca564f723fda8c59cb1ca2d76e381e3c76fb4939625d528e23
+size 494640
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_56_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_56_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b434ebf1475578c3a3021cc15f25b45eab71c1bd
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_56_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:617ca3ef6822430c469880a905f4b410d8bf26ca3d0b5da5aad74ae9d32470f6
+size 109049
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_56_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_56_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe1d52ed4c3f5fc8f7834c4768a36376b57db73e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_56_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7604f5b3445669759bf785b0dc3701bf4fa9666585c107f7a0c3701293626bc9
+size 11278
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_57.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_57.png
new file mode 100644
index 0000000000000000000000000000000000000000..a22ee2206f0b22c4d024d887db8324e974e5aa57
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_57.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3d26d7e019660a91f8e7381bee6bf5b67e8ab31304a7cfc1a0b45c3525b27a1
+size 537064
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_57_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_57_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf28afd900073dbb58dad9887b592666e447948a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_57_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbfb623e93825fcfee4712ce64174f1f69140989b7ca5bbdcf04eff7e32dc4fe
+size 111014
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_57_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_57_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c87b47d5340c365d78cc73ef64748592aa5d69b0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_57_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1a5cf91b3aaa2c78964743af24004fec8c3566882d0a84d1f38b0239f94e50c
+size 11621
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_58.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_58.png
new file mode 100644
index 0000000000000000000000000000000000000000..abb657a00d715270f4ed899fabee1168e2e846c6
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_58.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b170ddc18b854e5242fba760dcd191b8069009c032ef2dbfced3b90c24f5248c
+size 517745
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_58_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_58_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2345e2b661125eb276370045ca2d2a510fef817e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_58_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0d374ec93e9ceb6e55c64a40cbb66e699f0824c07113019653266d64c6cfd34
+size 107205
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_58_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_58_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9096fa0841dd2baaf6b1065de2cb8aa8d6abe4c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_58_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f158bc0d440dfcb64fca3a68b99823bfd4e98c39d79bcaad3f83d44cc8b6f732
+size 11290
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_59.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_59.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff56a2522244deda5003119626c50c5ccffd0259
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_59.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74dc322645bbd3499bfbe56d387b7aa4da7bdfee3e35dae6b762564dee578c5d
+size 524138
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_59_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_59_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd0253ef6955a802cdeb6b65eed10931acb00668
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_59_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ad9295bdd93326c9fe0e083eec6a30d298a777743eb2fe5b570db3e5b047bb3
+size 109040
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_59_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_59_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c22d6bf976100bd2f9e800a065364d8af89f74c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_59_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:290c10b89c6345c32a2f44a395be1624d4c59182bac3bc5892737ec06f91d388
+size 11008
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_5_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_5_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..03eff50a5e2fd66ca96cb4d3a804df87d0a54338
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_5_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e117d1845d4e1519edd627a9dfdb25c4f827bdae8a8ca26c6c97c96910751a0
+size 108637
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_5_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_5_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e02d370fe5adb39ea435ccdbac954374b90a084c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_5_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54d7aa597f70eafe252039093398514887c4fd4450f430a13ae60430c64ae44b
+size 11185
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_6.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_6.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a00c7c621473cef59fe703f190ba75413d01b95
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b021794398e71d7847f51fab0539b361dab8dac1594776964d3e45d70b1410e
+size 510946
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_60.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_60.png
new file mode 100644
index 0000000000000000000000000000000000000000..7db7ee1a8dc771fd3a7ee03e7594f55a88e8607f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_60.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a25b40efb04c2b795d5654e7296794e6011a36288cef1cd16a6219ce17734473
+size 489575
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_60_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_60_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..76bef0edde2756a54d571162a07e8693559af4c9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_60_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a762b3555c64ab658b4553f4e8ee577a7484297ee0bd423e696a81ee3749a0e
+size 109158
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_60_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_60_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9956127d45417ae59beaad50922444a1dab161d3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_60_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db758908ad2fdcf9770ae7d2f572eb16a2b0ee7d4f062e9d6a5bfd967608f305
+size 11362
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_61.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_61.png
new file mode 100644
index 0000000000000000000000000000000000000000..732cfd3cd9b0be5b06a0d8c64c94fae851db2bd2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_61.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ba229e4aeabbf5b35dcc2d23497d19ac23d338e5ee228d26b4366ec3088b306
+size 500195
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_61_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_61_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bf64031fa0a4388196975a58d3d20c25f763f66
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_61_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bfc9bfa8a6e8ae5245d504598cc8d16c57d71644d74524fbca7a668e5345185
+size 108803
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_61_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_61_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..04f6397c008e114536d7b71c946dbd835f160669
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_61_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42e824c671399d7b0172287c1427dd59ba3acfacbe57fd7147a0dd721d337a20
+size 11433
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_62.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_62.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b67e8113d66cb60179ffa8f36aa8bfe6ec0490e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_62.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6041a46fe08cc8b195ac10f84f9c34c4054199ef1fa3b6dc759d92779ca9cb2
+size 505316
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_62_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_62_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..44869eca362574b9fc3d6ffee1fc72b81647eba2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_62_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:792ff8271a7f2874103824c50323c4f0615e6c404d179ab48852bbe1f5f2cf79
+size 108968
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_62_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_62_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..262181e67f41582815bc809e3425b89f398c848b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_62_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91d4e466ee3fc1772b61b6b07e08316ce64f2296d0c7466acfbd65a8e6f69da0
+size 11286
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_63.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_63.png
new file mode 100644
index 0000000000000000000000000000000000000000..af2946c69abcabd82502cee2dde101b692a46529
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_63.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67f2dc08bccd535d40f8259fd30026896dacf3243b5a9438baa53f61f0b2a2c0
+size 503640
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_63_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_63_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..61ef56377ff6776dc34ff71f1da21e5cf8b5dfe1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_63_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9249303c53e90e99b8dcf51e96a96670e731b87bad4f888215ea2eb86e09d64e
+size 108719
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_63_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_63_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c0d3a9001944977c14d12b2fdcd40ff3f133209
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_63_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:779762a619f9ca2cfa01a2f7177a78b9e0d5af069c3a3b8cf5a09a7e32c24f14
+size 11371
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_64.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_64.png
new file mode 100644
index 0000000000000000000000000000000000000000..8377a19ce669b476dc5ff1b332ddd9850fdbe984
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_64.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f92c92c066205eb139a62b43bdba223c22ae636c8827d67b607013f3b72b1b2
+size 536884
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_64_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_64_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..745e1a43c406a34472af7b1942b55b61993b944c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_64_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9492b135cf08c33bda4cf5f0c923507ed1e2e4241f19798a7781afbf954a39a
+size 110123
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_64_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_64_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e0fa6601855b9f559c4f6f7780e511ee067b4d0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_64_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82628752898409d3dec913827e12937668306434df3ccfa7cd9cefb82d605755
+size 11482
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_65.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_65.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9f00a0fe82cc0cf0cb3bc0a8e950e7df9b6e796
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_65.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff5c5051424ce4f2b327bb342df1b240d42df23730ee1532daf6809e4e01151a
+size 527334
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_65_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_65_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..73454e2d867bc2aca5fe2de63266d9c6929df0b3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_65_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36f0ceab7a9876ed0a59b20f0b93a8d8a8720cf6b981e807329cc232a6173faa
+size 109868
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_65_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_65_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..24006f808ae134ef6c1f19274a5901aa01b1a0b8
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_65_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c7cc2ee05e774e7f22ff8e62bccc51e01dfede35a683b706c767f66b518d9e2
+size 11617
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_66.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_66.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fd473d22c7579a7c84faac260a27a61e19af577
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_66.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20db4b8d9f293d0b0ef927580d34d71d7838949573b43ddabc9da7a4d1b53cda
+size 514006
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_66_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_66_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f4c12338869f811f5bb6a4422d7cd4ff7b34fb3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_66_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e506b236ba64621699b7093804f2c369b2fdb1cba5187e89344c711aa6bfebe
+size 111011
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_66_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_66_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..78ebcd0f3f915d62baa1fedb95547a7863604062
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_66_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9a484989968ad58defdf4d944f41ba247b8c192cc26b04f0208ac700b67d162
+size 10997
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_67.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_67.png
new file mode 100644
index 0000000000000000000000000000000000000000..273d477ef214d913bab352beaa8c9277fb1e69e7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_67.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af8d1df7f220bb8f7d26d16ffa13ff4aaf2c2a20b950afa15d00b6f24123f869
+size 507184
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_67_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_67_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9ba0140dc0f6a1e28fbd411fef92dbcc73532ae
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_67_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a6b63f8a768092f642a75074d5c69a09a6f130ac3858c88110c310592bc1f4e
+size 109751
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_67_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_67_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d99ec4714ba561b795a493ec736f021d2833b54a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_67_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3689306d35957b00cabdaad234e657c4687392b9950e62d0764c36056c30c6d3
+size 11503
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_68.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_68.png
new file mode 100644
index 0000000000000000000000000000000000000000..b43490bcb118a53b70ff69b5187b299c4d61e7a9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_68.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ef4c8a16667922111886ea7c661c4169f2b44cb713e50b00fed28959ae06fd9
+size 507730
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_68_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_68_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..24131d8b639057b3104123255f5b3d7cd8fad34b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_68_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fab8af18a870fe2c5c5bc020aa34dd81efd54fc48acc22e7361f8c13f4f9a63e
+size 107713
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_68_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_68_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..104a234d8395fbb1b394dc8cd6a87c4a12e7d92b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_68_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:559c51727bff297332e58b7ee439234f609e434927a499187460ae3c4738d6e1
+size 11168
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_69.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_69.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0c05b5595f7106e1e34e35101022ade6a121d8f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_69.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53087b60dbafc2176bdd08cde95269edf28ce4ad8f7343e0b259bda551889702
+size 509568
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_69_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_69_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ef4a33dfece57a9199ed2c30b74b74e52ee58f5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_69_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:485df39027d2bf6d24eaa977f84b6bae6d9531bb7fc01694fb80ad3ab7b6b29f
+size 108152
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_69_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_69_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e09b33650ae3af0bbc87ba410c3c2165d51713f9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_69_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:168eed2a7fafe620c6755e77f0580c47747d1aaf82b6a206dea7469d07606644
+size 11415
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_6_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_6_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..42d9520404708a768aad4a639905db372023d3e3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_6_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d37643ac8ccbdfb3d4f8d7f0d104851165d6a8b08d1b33b8abd11911d2366a10
+size 109386
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_6_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_6_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f8a29c512f8124f45be3d3f1c3ed8e95b5d99c5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_6_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5f75c2850a5ad4a02b6bcee2b4c3f5d20daff2d7c0161a4d556aa86cb755aa5
+size 11271
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_7.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_7.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9c60fd632c511b799a76414fa65f775d2ada8a2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6efd343ee8a5d107d9aca7526456631e3aebb35ab039defe1df88bc7c4166bdb
+size 492797
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_70.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_70.png
new file mode 100644
index 0000000000000000000000000000000000000000..b029e1eb9917065911c5cbce6f4940286f6d65aa
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_70.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08ce4641e646be717f449db19a4c8b7cb151d6dfc9d1dd1e116bd65cb351da3d
+size 514369
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_70_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_70_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4bf8e849153f04de5f64b5b0c79942c6fde97649
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_70_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b240204ebae3f13218ea056ab8a1529a5756e32d2cc1edd4b0d28eed70a87bd4
+size 111551
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_70_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_70_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0904be658deec3eb1a61e67afff84e88c25a260
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_70_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bce4d10d91b0120bbc44204cefdf08cdf217a3cc85651e62f51002e0672611b4
+size 10653
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_71.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_71.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf6b3410af7f15274db197789b2ece18c919addb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_71.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc0bb0b53efb0d3e38248c1af0975f8474a7328cae483d61dc17250a8d9683d2
+size 506872
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_71_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_71_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c522a103e5b40129fb91c3048f215a84c37f8dd1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_71_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4750af6d00ebe0cf52ee533c84b28e275b6ab9b9cbef99f9f6ef541c896cc853
+size 108397
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_71_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_71_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c4637606f86663d107d463604480f813a6bd98b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_71_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6eade6c38c8c68fe96e8a4efab5cc57b4f74f11eb3fa5302ce60a295361f06b
+size 11182
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_72.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_72.png
new file mode 100644
index 0000000000000000000000000000000000000000..58e7f7005d72969a568650ea6a9b7f20914f5a06
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_72.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37c8136dd054731a0e121735c576769a264bf5e438f9ced1e87306768bd6ace9
+size 508406
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_72_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_72_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..09fb0bb1832791757c78a15fc97e76127fae6b3b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_72_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:737b9abbffc781f1790df98ded3c8c346977b598a5fe27495f8224c162428d07
+size 108432
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_72_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_72_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d467a9a9c65c1330cbdd56589ee5a3bd722e097d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_72_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62cf987acaff0b990394d197595444f935dff3c10195ad37bcff98eeda36df94
+size 11372
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_73.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_73.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d0ea1bf8812fcc0b445784e14ca89cbe7aac6b7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_73.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4835bf83e5721e81c99517e383b7a08653613e0c2893685e202aba8a7616600e
+size 511088
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_73_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_73_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0226ec9ff819d0e7e9fc65edd5108d2d4f1e3c3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_73_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:074537a66c5f73a9ff2a5e230cfac574071d633c08d07fd8167f703a8104fe03
+size 110019
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_73_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_73_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2a0888f6ddd3a7293a8d3a0279e08d1eadbdfff
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_73_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d63bda2199eaa525905a3606cbd9a7c41bd5fd184bbf4f5c39da963c5feb59f
+size 11106
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_74.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_74.png
new file mode 100644
index 0000000000000000000000000000000000000000..8047db19ae34e6a5adbecd7aba1658aac5036da5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_74.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6837c6d44d21816002535905ce93408997a6bf22b8693db3e4f73ace2bb52dc
+size 519294
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_74_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_74_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..04ac9623046d4b3e51a02e1c67f813bd37ab511c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_74_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78927d68fcd72436a5c86531ba6df9a521078fb2a6158fa4299eb71f7059c02a
+size 109944
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_74_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_74_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0af80a0aa109e37a77d012b560d5084d0ba20014
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_74_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89b4484735dbe3d0605298ea275d7212160ad4ab46446d288a942b5d843fb321
+size 11082
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_75.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_75.png
new file mode 100644
index 0000000000000000000000000000000000000000..83639fbfee5fcd4ef59051fc66fe14376cd4a893
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_75.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:112dafeb99d6a6c59bf463f46fff8afa8180476f6a2c2398c39ded76731e6422
+size 507770
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_75_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_75_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..73f541654b3354b80ff7b95d40aca67569e37a96
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_75_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:915150a044b6c2d1c234a15933b64018cbdabb9d6039b7af9399269e24db8dec
+size 107824
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_75_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_75_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbbb188a5480a7e1b9579f2cbdc0bd38e7e15713
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_75_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5253d80a3a38bae1af0f7c632acc3a0c66ae65e2a2aaeb7c0364a34737c75bae
+size 11434
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_76.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_76.png
new file mode 100644
index 0000000000000000000000000000000000000000..441d2bbd4dc6e6a5fd28a1b2c62f7cb198252fa8
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_76.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7deccf4639c05c6de87f6aaa3fb9f6c5e401534a242ca1d2ab329229e597886
+size 529418
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_76_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_76_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2216ff862f2ef1e69423e25de0e04f9657829d5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_76_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4864bfce0abffc8a4ef45dcfdbc8803c9c2370b519b83dd054a6ede72a89204
+size 108334
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_76_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_76_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..97f99160ae000f68c608fa77ad26891866cadba0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_76_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b63a62d088d4b08ea9782ea5125765c54078c8abde61d93f3955b973a0b177da
+size 11368
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_77.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_77.png
new file mode 100644
index 0000000000000000000000000000000000000000..85787bb11db357d73145731ad5661f2694b575c2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_77.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40ecc3944b90770d7fa1b0da7f7e7f3973fae2a4e4b60deaf1a0e9b273f5d886
+size 530071
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_77_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_77_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8bda27ff695003adcba495f4a71e5c42ba99c0f6
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_77_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4561be6bb774d50e3578f60204a9e770ceb76815e2f89b3ebef65c4109c0e44
+size 111810
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_77_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_77_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4eac4677e28483995c9b107c3d1374afc140c41
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_77_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eb311fde4e9cedffe15f4e78011c6f490452eb31721daff0d84ec562d37d24f
+size 10954
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_78.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_78.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b1797f31a8817e28845a1f599baafcab0ded8ed
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_78.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a73bcc9d5678bae8923156455ff04bcb5b2b09976c3632dd5f735abbdc1553d7
+size 519084
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_78_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_78_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..aada2246a4ad1bd997d7caca1de44e56a79537a2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_78_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5575eae7402108eb8748ed1e33bab817ffffca81f3723255415afd51bb2fbab
+size 108237
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_78_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_78_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6fc1376cf578b859038a451a04bb5b92f9b7b9f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_78_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbf43592ef37573420c2fafec789455a50346608c7e406617c652cf728ad008f
+size 11182
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_79.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_79.png
new file mode 100644
index 0000000000000000000000000000000000000000..34a1111dcc64662fd9dda6741d71d9620c207981
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_79.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c5245aec303ae80c62892b18e02bac5e352724541fd0119d9cd94701cfd5e4a
+size 501103
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_79_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_79_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..63f11a61a200b850bec91c1681ec7158631ec369
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_79_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71b80ff50faa6d078e54733d69b33cac1584415ecd7f74e1b86ad1f8a7584979
+size 109056
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_79_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_79_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..386fbda2bf056fedb3becb3b1e908172277f9d4b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_79_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7721cc8bfb1062bc3e3e47b0393c0aaf3e42d18905481904d3e2883c803d751
+size 11220
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_7_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_7_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..57a80a5a840db3ee8dbb8264de0da3719b4ac5b8
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_7_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:064d86e427b32657dd8be705671e2654990daf6f7548fce38ba0af7eb8f45edf
+size 110575
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_7_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_7_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..73d6c04b053e0b13c608e481bed6af7777e30e33
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_7_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:689d162ada5e9ff611c289b21421623bebdf5574cf0db40685a6b838d1c9f5d6
+size 11022
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_8.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_8.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8c3b5366b9b267c9fb854ffbaf591991f0c447b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_8.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84fdf0f335b058d11c9c1950deda72ef73a8889fb425252f4ba73f466aa7987c
+size 531704
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_80.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_80.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ca472be7c7187e5915f2f1d07a656268d7dfdc2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_80.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20142afeb53002fba60fd77f63c33e4a1b7cad37ce29980ef06f056ef5c275e6
+size 497407
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_80_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_80_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..659fcf3e017c1fee7ee7a3a1ac0f32c0065d8cf4
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_80_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a07a8665b68393e60e9069fefa136ec1450bb8be469ab37c0a187ea6a4f714ee
+size 109038
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_80_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_80_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..52cb6c05a25a2bc6410df342b18b4e061d955c7a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_80_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:909cec5a6fe66167b34108057d9d76a600cf6ed5531ddcfcbadc15b560ef348d
+size 11345
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_81.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_81.png
new file mode 100644
index 0000000000000000000000000000000000000000..640420c17969c0316c1f5cad1debf08c050feaad
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_81.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d2cb85be780d8cee616413b0f6e885aa991bca2baa865b5902367aa2a00d678
+size 531803
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_81_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_81_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f0e28c6db72df89dbe601a784df97a14715ab9c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_81_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72a866bd9ce81f04e93d86299151f19092151edc764bb85eac9f586a10cb11ab
+size 109440
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_81_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_81_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..23bb0568cf012a878823e28e6c1e27966c3e1943
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_81_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ee11aea1300767d1b8c9efc2c3cd8f79bd970b876d08685eb9bd0dc6684f154
+size 11447
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_82.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_82.png
new file mode 100644
index 0000000000000000000000000000000000000000..98a25813828b75b91cefe76812143450f0d0943c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_82.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46f34a7a4ee32d241c322ecec3ed6be101c6b9b469e4dd50a7802366bef9f983
+size 485650
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_82_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_82_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6a7cc36f306aa6645cd9e529424ff95952e33a2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_82_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceb425cd4d3b1394fa18df8e64835bd7b72ec477673822a3fe9bf102ddb31554
+size 110024
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_82_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_82_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..08909b6eaabb229f14e3a007621abf7ed8a7208f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_82_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:899ab6f96ca3611cb72dc6e71c767d796f59394296c9f5cd02a44fe67dd308f8
+size 10958
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_83.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_83.png
new file mode 100644
index 0000000000000000000000000000000000000000..eda0bb3cd2bfd1c959ba1d35ebb293b00beb071a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_83.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d89177be883c87bac1faf36b67bab6bbbf4e314ed83c4bbd255e92887c8b9e8b
+size 524236
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_83_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_83_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..889e0df7da4b397e5cf8ede083388e350ff7353e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_83_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ebd37ffc83fa7e2cb87ff81144605e928adc3b5170d18004e3af5a966a5098f
+size 110226
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_83_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_83_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7211af50527db30165b5f357597026e7b6e6739
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_83_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18b59f04c798a77abd1bfb9e427acd7de76fede28fb623b067dd3a3ffe49c0c3
+size 11557
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_84.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_84.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f84a2ee91412a010f4ef76ef10c7ac0b37355ce
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_84.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25554d9aba286dcb00aa5ba088a665b6031429a3e10bbeb047551f091c67fa97
+size 488714
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_84_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_84_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..31a784be32c4f5bc86bfc8c7ca846f76d691f4dd
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_84_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eb64c31e0b477ce9295f41d04c6a7372f97c9aca8f8ad7849652779f7e7b2c7
+size 110284
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_84_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_84_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..73e387949d82444e591d67ded9c7557cb92ced13
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_84_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef605c8081d1144f4c6300651da261956a65dd1aca424677e8385e435205f253
+size 11025
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_85.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_85.png
new file mode 100644
index 0000000000000000000000000000000000000000..61746410e801e730d83a711fbdec7e2ebf71f488
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_85.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:452888b7c8e207be76ea5a5a44eba195947111d8d63b162e691ca53a3d97d62c
+size 552520
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_85_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_85_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..47061b9291d655dd6593ce040df0e34779ba91f5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_85_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcb00f91ace4c9aea6e8c0d8031cfd14a59bc8a5aaba112f08dfd3cf3330f4d4
+size 112297
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_85_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_85_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..abd626b74ffcbab7b4b49810f4c4327b9890b929
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_85_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4302608dc83502c8b0ba26bc7a11ff6babd65d908a03236aaf810bef4cfbc2b
+size 11401
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_86.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_86.png
new file mode 100644
index 0000000000000000000000000000000000000000..a80275a1c8b2b9b3dc23f21817a54d3657f4f734
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_86.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59b9461e013e5a504faf29a719f741be1034e3b384697ac65509ae8200d4bea8
+size 539986
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_86_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_86_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..384704ec68108ff6af97a354d190992e81eb3189
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_86_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4d885495aa929f39c159f2d1994e3ebef7b32189295aff8c191aa178ad48e6e
+size 110911
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_86_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_86_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a067a195a9aefb753130af470dbd44d87bcd87b3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_86_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c19f54c8115be23d84e0a5b375b15427dc658f21f34c33a58add03923a7f937
+size 11583
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_87.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_87.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9fa7cb01dfd88c2c97e68bb5c1a0cc0b75dcc75
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_87.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac4be381beb5cfded5d23834e54d476a681e023cb3dc952c405ce9b1f31a174a
+size 511669
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_87_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_87_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1b3a71f2e5bba0a0e08e894135e420131dda169
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_87_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efb669177333bb57da87140ec3f771e674cabe194bdd80e54e98b982deb59e0b
+size 108527
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_87_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_87_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1e04a11c218e51a3cd08dd0c4ef04d523281b32
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_87_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d5e9da2bf0e7ec742fe55526861664e5df8c6052864b6830d36636634224ee1
+size 11525
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_88.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_88.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfbceaa3a16372536cb868c14b7f247d08a6456a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_88.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efc78431475558442c3129db22e627c05ae67932a20874a1893ded7d2e921d6a
+size 497598
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_88_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_88_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..16cdd75cb0dc2802a846af264d4672c664bea9b1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_88_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1de8467005b49c4d237848201b0fc3c136d0d39c599b9fb97dd4eaca304ba49e
+size 108650
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_88_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_88_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6499f5fdaeed17e6e765902f485c0c6e9c450d86
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_88_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80ec87a48c0b40f8de0ed598a074de46baafea834519af53fff120d92f8106c0
+size 11348
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_89.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_89.png
new file mode 100644
index 0000000000000000000000000000000000000000..782050b304c5ed7a94551cbd849cb69e99e8b253
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_89.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5abe5cead89ff116b1e17da57e6f9409f938a9fa664b55b02c2d126d0000960d
+size 540223
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_89_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_89_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..140c7920d5c7f19b6be14ebb24c989b660ee281f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_89_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b16e37dafcdb42e7f14bc0ea19c0f634081e52e36074498fb7492b7674c57c1
+size 110400
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_89_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_89_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a548a6dfbe33a26923d09fbfdd060c130df50ce8
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_89_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c29d6dfc6eeb5305a6e2a213f380eeb0739911fa8ccd0f3307e63773949e686
+size 11500
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_8_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_8_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..36ed97e6306b99f60d86805bc0ceaeebe8d2e285
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_8_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94722a516b6da22a4a3fb02ed89e01dce088b81f829edb1ea75081b0987f842d
+size 112044
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_8_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_8_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..32dce6025a770878769e3fc0340c81c4b1e792fc
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_8_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3476d84c900a04e3d913398bdf9bad80e043f51a7ae5e51faa6b4c2e5f3f01c7
+size 10925
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_9.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_9.png
new file mode 100644
index 0000000000000000000000000000000000000000..230a6d6c6d3ea14cdf0855397ccba8a188800ce2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_9.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32a29bb6a2d00bb41b324298d735af9b5100993538eaa3360ef4ee13a8cc29dc
+size 552575
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_90.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_90.png
new file mode 100644
index 0000000000000000000000000000000000000000..6467b739f62c067712797269c6b85a5cd6584422
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_90.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29113bab3563cbf87ee00aa654b8e76554edd350c7c593b92e3ee4fbb46287d8
+size 515064
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_90_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_90_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..718b5645625027a4ccf985f9d8d1a5c711862eb9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_90_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fe22fca47fd0c6b20102dd7412a81f5d2185a2084878a69ddf8cdb8dd0c30ba
+size 110255
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_90_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_90_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5d8ec7b02d2f62670a2a71b72adc8d350bb8048
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_90_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:532c55710e5f24a92ff59040022e5a7ec585e57f093f6a02454a74d82c882740
+size 11057
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_91.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_91.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6d92919eae58d1a4df22cf5fc6646ec6fee5738
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_91.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:773a4434330b1e8a01e78fea36ad32dc56ba9b85919a544e7ed973989808166d
+size 554800
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_91_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_91_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..88f5221b4c3eb9c93c2a810049d32607e8f423fb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_91_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06975ef22f283028eae32c8712f552c9d26e8f3042373de5a3f2f7b5d52be4db
+size 112734
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_91_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_91_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab2b1b36ea872aec488175088ef6053094b865a7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_91_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e168d0a68601934530ebff32414b147a347432d979e12fd0f2782eeb2448ea8
+size 11163
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_92.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_92.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfe0b1e94fa16656281d25e3568369efc373b356
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_92.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b7798c173eaef80860206c404d9045a4f1eb386991fdaea7d2d9ffbdb3ee322
+size 493930
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_92_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_92_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b15d7d0839845f8ff2faa57f09fef812c6a9d655
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_92_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0481cb52eb2064a865655d7295cd0ac49b776d0a150f48f9687490e56a1a2f89
+size 109127
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_92_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_92_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a03cb348619e3a6febacc21b62a255a5679e7ccd
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_92_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bab7657479e0f1c0f1f1152cc231e7df0d1b385af039a60081b26e24c665a6a2
+size 11460
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_93.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_93.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec66fddbfc4423c27db2d168529a132e637cf7b3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_93.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b5e79ed73f4a5e94e9f339b160eb29d141a0539390a96b18d5af3936a49d702
+size 555131
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_93_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_93_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6328cc7f35e658ee197c531076aecd6863d7900
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_93_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c02230a45f51480b21d1d194f05a7eb56a1bc4b205692d08f675578dc88081d
+size 112274
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_93_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_93_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d65954140e1257cd158ead7120e5392c138932cd
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_93_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:686686277bf0e59b760353216b02349eb5fcf52b5bce247602c4c34a4463e787
+size 11001
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_94.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_94.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b08522d6d4592fa41e659e1b5a39fc182a276da
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_94.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d56c2cd0c294b32c7f096bbc2f5df64513f55037c13fd598079e5283500cbfd0
+size 549876
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_94_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_94_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0919ea43e76af9aaab858fb4769d665a0238d9ea
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_94_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2da36ffb747c0ba2548504c421ca49d45bb05e8e3a4456c78a018a4d88ad73c
+size 111670
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_94_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_94_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9b5289b439c6b9493a0a9ed5f02564286485858
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_94_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a054cf2ed0925b0c6ac3827f9893a7f72a09a9edb836079b89901c1682f8dc5
+size 10081
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_95.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_95.png
new file mode 100644
index 0000000000000000000000000000000000000000..7be64d687fdac141f9b6ddde80457c4a7fa08052
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_95.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6efb91d5429f4befc88177d7ed4b0897f4947de4330d6282b841abd90bc5d936
+size 518178
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_95_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_95_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7df02811eef7bcee6b5c4eacfc558dbae2f2e89
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_95_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71647c67e200d5285d077950329bc1baaa233fe35174678b10bca032443a841f
+size 111361
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_95_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_95_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..720ddf5e75287f191912192dda765c8be8cfa8a1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_95_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc22821fdbde1c9912fbf3f2c6cca9fe1d67aa55c64d91f9a4f07789dd5b48df
+size 11048
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_96.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_96.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae55fec8d96d41cb12e30c5182089d7611925ba6
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_96.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:845d47f7c2c704d3a2e21f96aa5ac4edaca76fe8656e4f064edd6ab9934a0a1f
+size 522151
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_96_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_96_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5578e2cc3f165b29e7090caba16be6ce53f22ed
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_96_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92ba387a75317bb6111f81e7ad4238f5cae65b9439f5d75bda7aeb42b97b7821
+size 110571
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_96_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_96_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..46c9fbdc7854ddfd3f5c7a4eae3473ca5f4bb5c7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_96_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c014f0e5ae15bbac4eb1bb11e0c76b6219c395370cf790050f934e5001038b44
+size 11004
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_97.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_97.png
new file mode 100644
index 0000000000000000000000000000000000000000..81180ca18e9243a8982041f7c3483354c93927f0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_97.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56e14661d0d7917da29b602957fef3d188db2d3aa6678753cae8e5cb8f50167c
+size 567238
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_97_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_97_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5eb6d1d44aa1bbc1e5478aed9435f88258c0dae
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_97_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ea096c31e6cf5de5d61c3c05d6fa33d799839a1651c8878ae7ddd47dc3a6872
+size 112908
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_97_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_97_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a66231e3efb4f7b81abec8e913121e93c5408f4
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_97_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3f4d68e04ab02dce9184444bbf43f04e0e2b6bf866b4614d199303c5eacef66
+size 11222
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_98.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_98.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a4b38503f154116616e9ec51c580ced2a7525b8
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_98.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f153a46a11d4b37cf8f2bcec8203ce6075355b8c2915e912afabe7a18c0df9ce
+size 571694
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_98_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_98_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f47bfbfef9b8bdfb7872d2e7f075ff36002e44f3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_98_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e8f0b5a49785956963e153d203bbcc70c8f3a68cad4a0d0d12fd4de0c392b7
+size 113509
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_98_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_98_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4bd01c77f2d5b85657ba9a8cfb12562a6501518a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_98_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0642e83ec4aa863c0e60d90aa54f3698c60048e40cd21f6355a0f338a8e27ba0
+size 10960
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_99.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_99.png
new file mode 100644
index 0000000000000000000000000000000000000000..22e482950521d019f79b06e17a560103d99d54ad
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_99.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e28ebbd9629ca68a9d8963d167d63988d2b38d2becdaf539b07af91f86df695
+size 570734
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_99_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_99_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ec4382e9c423714c8915e007f687d6af3d5de01
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_99_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f60c449d6b3836214243b19358eb530a38bc423fee65c7ab20b9c7892b347f8f
+size 112863
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_99_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_99_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca1974abbcc49d5ebd894c0452ec5c7565817a8f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_99_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b593e0e277ac7957753addb9a3ac85e690fd996ddbdc61d5e0d61ea1428a4d6b
+size 10773
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_9_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_9_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfaa3bc46610b5c3049ed79ef9ec698c0ae9f560
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_9_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a2049bdf45dfb08f246ff6ea5988f7d202d2b3f10ad88d501a30fa1e06b809b
+size 111656
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_9_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_9_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2f723fe38752144aef4e887644d192537140910
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/train/r_9_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d66946867679942fa175052bfcfffb95179076838005f2afe1aa0f3dddbc83e4
+size 11360
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/transforms_test.json b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/transforms_test.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8ab1d040e861d4527476ba09a37969cf43027fc
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/transforms_test.json
@@ -0,0 +1,3205 @@
+{
+    "camera_angle_x": 1.1656107902526855,
+    "frames": [
+        {
+            "file_path": "./test/r_0",
+            "depth_file_path": "./test/r_0_depth_0000.png",
+            "mask_file_path": "./test/r_0_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -1.0,
+                    0.0,
+                    0.0,
+                    0.0
+                ],
+                [
+                    0.0,
+                    -0.29552018642425537,
+                    0.9553365111351013,
+                    3.8213460445404053
+                ],
+                [
+                    0.0,
+                    0.9553365111351013,
+                    0.29552021622657776,
+                    1.182080864906311
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_1",
+            "depth_file_path": "./test/r_1_depth_0000.png",
+            "mask_file_path": "./test/r_1_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9980267286300659,
+                    0.01879808120429516,
+                    -0.0599106140434742,
+                    -0.2396424561738968
+                ],
+                [
+                    -0.06279052048921585,
+                    -0.2987869679927826,
+                    0.9522519111633301,
+                    3.8090076446533203
+                ],
+                [
+                    -1.862645149230957e-09,
+                    0.9541345834732056,
+                    0.2993777394294739,
+                    1.1975109577178955
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_2",
+            "depth_file_path": "./test/r_2_depth_0000.png",
+            "mask_file_path": "./test/r_2_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.992114782333374,
+                    0.038004837930202484,
+                    -0.11943221092224121,
+                    -0.47772884368896484
+                ],
+                [
+                    -0.1253332495689392,
+                    -0.30083927512168884,
+                    0.9454032778739929,
+                    3.7816131114959717
+                ],
+                [
+                    0.0,
+                    0.9529173374176025,
+                    0.303230345249176,
+                    1.212921380996704
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_3",
+            "depth_file_path": "./test/r_3_depth_0000.png",
+            "mask_file_path": "./test/r_3_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9822872877120972,
+                    0.057540684938430786,
+                    -0.17832785844802856,
+                    -0.7133114337921143
+                ],
+                [
+                    -0.187381312251091,
+                    -0.3016388714313507,
+                    0.9348273873329163,
+                    3.739309549331665
+                ],
+                [
+                    -7.450580596923828e-09,
+                    0.9516843557357788,
+                    0.3070780336856842,
+                    1.2283121347427368
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_4",
+            "depth_file_path": "./test/r_4_depth_0000.png",
+            "mask_file_path": "./test/r_4_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9685832262039185,
+                    0.0773228257894516,
+                    -0.23636379837989807,
+                    -0.9454551935195923
+                ],
+                [
+                    -0.2486899197101593,
+                    -0.3011524975299835,
+                    0.9205761551856995,
+                    3.682304620742798
+                ],
+                [
+                    0.0,
+                    0.9504357576370239,
+                    0.31092068552970886,
+                    1.2436827421188354
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_5",
+            "depth_file_path": "./test/r_5_depth_0000.png",
+            "mask_file_path": "./test/r_5_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9510565400123596,
+                    0.09726563841104507,
+                    -0.2933102548122406,
+                    -1.1732410192489624
+                ],
+                [
+                    -0.30901703238487244,
+                    -0.29935282468795776,
+                    0.9027161002159119,
+                    3.6108644008636475
+                ],
+                [
+                    0.0,
+                    0.9491716027259827,
+                    0.3147582709789276,
+                    1.2590330839157104
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_6",
+            "depth_file_path": "./test/r_6_depth_0000.png",
+            "mask_file_path": "./test/r_6_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9297764897346497,
+                    0.11728105694055557,
+                    -0.34894245862960815,
+                    -1.3957698345184326
+                ],
+                [
+                    -0.3681245446205139,
+                    -0.2962181270122528,
+                    0.8813280463218689,
+                    3.5253121852874756
+                ],
+                [
+                    0.0,
+                    0.9478923678398132,
+                    0.3185907006263733,
+                    1.2743628025054932
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_7",
+            "depth_file_path": "./test/r_7_depth_0000.png",
+            "mask_file_path": "./test/r_7_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9048271179199219,
+                    0.13727888464927673,
+                    -0.4030415713787079,
+                    -1.6121662855148315
+                ],
+                [
+                    -0.4257793426513672,
+                    -0.2917324900627136,
+                    0.8565069437026978,
+                    3.426027774810791
+                ],
+                [
+                    -7.450581485102248e-09,
+                    0.9465973973274231,
+                    0.3224179446697235,
+                    1.289671778678894
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_8",
+            "depth_file_path": "./test/r_8_depth_0000.png",
+            "mask_file_path": "./test/r_8_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8763066530227661,
+                    0.15716730058193207,
+                    -0.45539557933807373,
+                    -1.8215820789337158
+                ],
+                [
+                    -0.48175370693206787,
+                    -0.2858862280845642,
+                    0.8283613920211792,
+                    3.3134450912475586
+                ],
+                [
+                    0.0,
+                    0.9452869892120361,
+                    0.3262399733066559,
+                    1.304959774017334
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_9",
+            "depth_file_path": "./test/r_9_depth_0000.png",
+            "mask_file_path": "./test/r_9_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8443279266357422,
+                    0.17685313522815704,
+                    -0.5057998299598694,
+                    -2.0231988430023193
+                ],
+                [
+                    -0.5358268618583679,
+                    -0.27867594361305237,
+                    0.797012984752655,
+                    3.1880509853363037
+                ],
+                [
+                    0.0,
+                    0.9439612030982971,
+                    0.33005663752555847,
+                    1.3202263116836548
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_10",
+            "depth_file_path": "./test/r_10_depth_0000.png",
+            "mask_file_path": "./test/r_10_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8090169429779053,
+                    0.19624261558055878,
+                    -0.5540581345558167,
+                    -2.2162325382232666
+                ],
+                [
+                    -0.5877853035926819,
+                    -0.2701047360897064,
+                    0.7625954747200012,
+                    3.050381898880005
+                ],
+                [
+                    0.0,
+                    0.9426199197769165,
+                    0.3338678479194641,
+                    1.3354713916778564
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_11",
+            "depth_file_path": "./test/r_11_depth_0000.png",
+            "mask_file_path": "./test/r_11_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7705132365226746,
+                    0.21524129807949066,
+                    -0.5999838709831238,
+                    -2.399935483932495
+                ],
+                [
+                    -0.637424111366272,
+                    -0.2601819634437561,
+                    0.7252557277679443,
+                    2.9010229110717773
+                ],
+                [
+                    0.0,
+                    0.9412631392478943,
+                    0.3376736640930176,
+                    1.3506946563720703
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_12",
+            "depth_file_path": "./test/r_12_depth_0000.png",
+            "mask_file_path": "./test/r_12_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7289685606956482,
+                    0.23375505208969116,
+                    -0.6433998942375183,
+                    -2.5735995769500732
+                ],
+                [
+                    -0.6845471858978271,
+                    -0.24892379343509674,
+                    0.6851511597633362,
+                    2.7406046390533447
+                ],
+                [
+                    0.0,
+                    0.9398912787437439,
+                    0.3414739668369293,
+                    1.3658958673477173
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_13",
+            "depth_file_path": "./test/r_13_depth_0000.png",
+            "mask_file_path": "./test/r_13_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.6845470070838928,
+                    0.2516901195049286,
+                    -0.6841399669647217,
+                    -2.7365598678588867
+                ],
+                [
+                    -0.7289687395095825,
+                    -0.23635266721248627,
+                    0.6424499750137329,
+                    2.5697999000549316
+                ],
+                [
+                    0.0,
+                    0.9385039210319519,
+                    0.34526869654655457,
+                    1.3810747861862183
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_14",
+            "depth_file_path": "./test/r_14_depth_0000.png",
+            "mask_file_path": "./test/r_14_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.6374239325523376,
+                    0.2689536511898041,
+                    -0.7220489978790283,
+                    -2.8881959915161133
+                ],
+                [
+                    -0.7705135941505432,
+                    -0.22249773144721985,
+                    0.597330629825592,
+                    2.389322519302368
+                ],
+                [
+                    0.0,
+                    0.9371011257171631,
+                    0.34905779361724854,
+                    1.3962311744689941
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_15",
+            "depth_file_path": "./test/r_15_depth_0000.png",
+            "mask_file_path": "./test/r_15_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.587785005569458,
+                    0.2854546010494232,
+                    -0.756983757019043,
+                    -3.027935028076172
+                ],
+                [
+                    -0.80901700258255,
+                    -0.2073948085308075,
+                    0.549980640411377,
+                    2.199922561645508
+                ],
+                [
+                    0.0,
+                    0.9356832504272461,
+                    0.35284119844436646,
+                    1.4113647937774658
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_16",
+            "depth_file_path": "./test/r_16_depth_0000.png",
+            "mask_file_path": "./test/r_16_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.5358266830444336,
+                    0.30110326409339905,
+                    -0.7888134121894836,
+                    -3.1552536487579346
+                ],
+                [
+                    -0.844327986240387,
+                    -0.19108587503433228,
+                    0.5005960464477539,
+                    2.0023841857910156
+                ],
+                [
+                    0.0,
+                    0.934249997138977,
+                    0.35661882162094116,
+                    1.4264752864837646
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_17",
+            "depth_file_path": "./test/r_17_depth_0000.png",
+            "mask_file_path": "./test/r_17_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.48175352811813354,
+                    0.31581273674964905,
+                    -0.817420244216919,
+                    -3.269680976867676
+                ],
+                [
+                    -0.8763068318367004,
+                    -0.17361944913864136,
+                    0.44938036799430847,
+                    1.7975214719772339
+                ],
+                [
+                    -1.4901161193847656e-08,
+                    0.9328015446662903,
+                    0.36039063334465027,
+                    1.441562533378601
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_18",
+            "depth_file_path": "./test/r_18_depth_0000.png",
+            "mask_file_path": "./test/r_18_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.42577898502349854,
+                    0.32949867844581604,
+                    -0.8426997661590576,
+                    -3.3707985877990723
+                ],
+                [
+                    -0.9048269987106323,
+                    -0.15505021810531616,
+                    0.3965441882610321,
+                    1.5861765146255493
+                ],
+                [
+                    0.0,
+                    0.9313375949859619,
+                    0.3641566038131714,
+                    1.456626296043396
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_19",
+            "depth_file_path": "./test/r_19_depth_0000.png",
+            "mask_file_path": "./test/r_19_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.3681243062019348,
+                    0.34208017587661743,
+                    -0.8645609617233276,
+                    -3.4582438468933105
+                ],
+                [
+                    -0.929776668548584,
+                    -0.13543900847434998,
+                    0.34230363368988037,
+                    1.3692145347595215
+                ],
+                [
+                    7.450581485102248e-09,
+                    0.9298586845397949,
+                    0.3679165542125702,
+                    1.4716662168502808
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_20",
+            "depth_file_path": "./test/r_20_depth_0000.png",
+            "mask_file_path": "./test/r_20_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.30901676416397095,
+                    0.3534797430038452,
+                    -0.8829273581504822,
+                    -3.5317094326019287
+                ],
+                [
+                    -0.9510566592216492,
+                    -0.1148524284362793,
+                    0.286880224943161,
+                    1.147520899772644
+                ],
+                [
+                    0.0,
+                    0.9283647537231445,
+                    0.37167054414749146,
+                    1.4866821765899658
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_21",
+            "depth_file_path": "./test/r_21_depth_0000.png",
+            "mask_file_path": "./test/r_21_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.24868956208229065,
+                    0.3636240065097809,
+                    -0.8977368474006653,
+                    -3.5909464359283447
+                ],
+                [
+                    -0.9685831069946289,
+                    -0.09336266666650772,
+                    0.23049935698509216,
+                    0.9219971895217896
+                ],
+                [
+                    -7.450578820566989e-09,
+                    0.9268554449081421,
+                    0.3754185736179352,
+                    1.5016738176345825
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_22",
+            "depth_file_path": "./test/r_22_depth_0000.png",
+            "mask_file_path": "./test/r_22_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.18738101422786713,
+                    0.3724442720413208,
+                    -0.9089409112930298,
+                    -3.635763645172119
+                ],
+                [
+                    -0.9822875261306763,
+                    -0.07104741781949997,
+                    0.17338944971561432,
+                    0.6935577988624573
+                ],
+                [
+                    0.0,
+                    0.9253310561180115,
+                    0.37916022539138794,
+                    1.5166409015655518
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_23",
+            "depth_file_path": "./test/r_23_depth_0000.png",
+            "mask_file_path": "./test/r_23_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.12533287703990936,
+                    0.3798765242099762,
+                    -0.9165071845054626,
+                    -3.6660287380218506
+                ],
+                [
+                    -0.9921147227287292,
+                    -0.04798942804336548,
+                    0.11578145623207092,
+                    0.4631258249282837
+                ],
+                [
+                    3.725290298461914e-09,
+                    0.9237914085388184,
+                    0.382895827293396,
+                    1.531583309173584
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_24",
+            "depth_file_path": "./test/r_24_depth_0000.png",
+            "mask_file_path": "./test/r_24_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.06279014050960541,
+                    0.3858622610569,
+                    -0.9204172492027283,
+                    -3.681668519973755
+                ],
+                [
+                    -0.9980267286300659,
+                    -0.02427625097334385,
+                    0.05790739879012108,
+                    0.23162956535816193
+                ],
+                [
+                    0.0,
+                    0.9222369194030762,
+                    0.3866252303123474,
+                    1.5465006828308105
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_25",
+            "depth_file_path": "./test/r_25_depth_0000.png",
+            "mask_file_path": "./test/r_25_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    4.0133926404450904e-07,
+                    0.3903481662273407,
+                    -0.9206675291061401,
+                    -3.682669162750244
+                ],
+                [
+                    -1.0,
+                    1.5666203978526028e-07,
+                    -3.6950004300706496e-07,
+                    -1.477999717280909e-06
+                ],
+                [
+                    0.0,
+                    0.9206672310829163,
+                    0.39034831523895264,
+                    1.5613927841186523
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_26",
+            "depth_file_path": "./test/r_26_depth_0000.png",
+            "mask_file_path": "./test/r_26_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.06279094517230988,
+                    0.3932873606681824,
+                    -0.9172689914703369,
+                    -3.6690759658813477
+                ],
+                [
+                    -0.9980267882347107,
+                    0.024743711575865746,
+                    -0.05771006643772125,
+                    -0.230840265750885
+                ],
+                [
+                    0.0,
+                    0.9190828204154968,
+                    0.39406487345695496,
+                    1.5762594938278198
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_27",
+            "depth_file_path": "./test/r_27_depth_0000.png",
+            "mask_file_path": "./test/r_27_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.12533368170261383,
+                    0.3946384787559509,
+                    -0.9102482795715332,
+                    -3.640993118286133
+                ],
+                [
+                    -0.9921146631240845,
+                    0.049854617565870285,
+                    -0.11499151587486267,
+                    -0.4599660634994507
+                ],
+                [
+                    0.0,
+                    0.9174829721450806,
+                    0.3977750837802887,
+                    1.5911003351211548
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_28",
+            "depth_file_path": "./test/r_28_depth_0000.png",
+            "mask_file_path": "./test/r_28_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.187381774187088,
+                    0.3943674862384796,
+                    -0.8996456861495972,
+                    -3.5985827445983887
+                ],
+                [
+                    -0.9822871685028076,
+                    0.07522982358932495,
+                    -0.1716170310974121,
+                    -0.6864681243896484
+                ],
+                [
+                    7.450580596923828e-09,
+                    0.9158682823181152,
+                    0.4014788269996643,
+                    1.6059153079986572
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_29",
+            "depth_file_path": "./test/r_29_depth_0000.png",
+            "mask_file_path": "./test/r_29_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.2486903816461563,
+                    0.3924466073513031,
+                    -0.8855161070823669,
+                    -3.5420644283294678
+                ],
+                [
+                    -0.9685830473899841,
+                    0.10076337307691574,
+                    -0.22736236453056335,
+                    -0.9094494581222534
+                ],
+                [
+                    0.0,
+                    0.9142387509346008,
+                    0.40517598390579224,
+                    1.620703935623169
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_30",
+            "depth_file_path": "./test/r_30_depth_0000.png",
+            "mask_file_path": "./test/r_30_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.30901750922203064,
+                    0.38885512948036194,
+                    -0.8679285049438477,
+                    -3.4717140197753906
+                ],
+                [
+                    -0.9510563611984253,
+                    0.1263469159603119,
+                    -0.2820075750350952,
+                    -1.1280303001403809
+                ],
+                [
+                    0.0,
+                    0.912594199180603,
+                    0.4088665544986725,
+                    1.63546621799469
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_31",
+            "depth_file_path": "./test/r_31_depth_0000.png",
+            "mask_file_path": "./test/r_31_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.3681250810623169,
+                    0.3835796117782593,
+                    -0.8469655513763428,
+                    -3.387862205505371
+                ],
+                [
+                    -0.9297763705253601,
+                    0.15187016129493713,
+                    -0.33533790707588196,
+                    -1.3413516283035278
+                ],
+                [
+                    0.0,
+                    0.9109347462654114,
+                    0.4125504493713379,
+                    1.6502017974853516
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_32",
+            "depth_file_path": "./test/r_32_depth_0000.png",
+            "mask_file_path": "./test/r_32_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.4257798194885254,
+                    0.37661388516426086,
+                    -0.8227232098579407,
+                    -3.2908928394317627
+                ],
+                [
+                    -0.904826819896698,
+                    0.17722131311893463,
+                    -0.3871447443962097,
+                    -1.5485789775848389
+                ],
+                [
+                    0.0,
+                    0.9092604517936707,
+                    0.4162276089191437,
+                    1.6649104356765747
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_33",
+            "depth_file_path": "./test/r_33_depth_0000.png",
+            "mask_file_path": "./test/r_33_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.48175424337387085,
+                    0.36795923113822937,
+                    -0.7953105568885803,
+                    -3.1812422275543213
+                ],
+                [
+                    -0.876306414604187,
+                    0.20228758454322815,
+                    -0.4372262954711914,
+                    -1.7489051818847656
+                ],
+                [
+                    0.0,
+                    0.9075711965560913,
+                    0.41989797353744507,
+                    1.6795918941497803
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_34",
+            "depth_file_path": "./test/r_34_depth_0000.png",
+            "mask_file_path": "./test/r_34_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.5358272790908813,
+                    0.3576246500015259,
+                    -0.7648488283157349,
+                    -3.0593953132629395
+                ],
+                [
+                    -0.8443275690078735,
+                    0.2269558161497116,
+                    -0.48538848757743835,
+                    -1.9415539503097534
+                ],
+                [
+                    0.0,
+                    0.905867338180542,
+                    0.4235614836215973,
+                    1.6942459344863892
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_35",
+            "depth_file_path": "./test/r_35_depth_0000.png",
+            "mask_file_path": "./test/r_35_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.5877858400344849,
+                    0.34562647342681885,
+                    -0.7314713001251221,
+                    -2.925884962081909
+                ],
+                [
+                    -0.8090167045593262,
+                    0.2511126697063446,
+                    -0.5314457416534424,
+                    -2.1257827281951904
+                ],
+                [
+                    0.0,
+                    0.904148519039154,
+                    0.42721810936927795,
+                    1.7088721990585327
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_36",
+            "depth_file_path": "./test/r_36_depth_0000.png",
+            "mask_file_path": "./test/r_36_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.6374245285987854,
+                    0.331989049911499,
+                    -0.6953223943710327,
+                    -2.781289577484131
+                ],
+                [
+                    -0.7705128192901611,
+                    0.2746456265449524,
+                    -0.5752215385437012,
+                    -2.3008861541748047
+                ],
+                [
+                    1.4901161193847656e-08,
+                    0.9024151563644409,
+                    0.43086767196655273,
+                    1.723470687866211
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_37",
+            "depth_file_path": "./test/r_37_depth_0000.png",
+            "mask_file_path": "./test/r_37_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.6845476627349854,
+                    0.3167441189289093,
+                    -0.6565574407577515,
+                    -2.626229763031006
+                ],
+                [
+                    -0.7289681434631348,
+                    0.2974429726600647,
+                    -0.6165493726730347,
+                    -2.4661974906921387
+                ],
+                [
+                    0.0,
+                    0.9006668925285339,
+                    0.4345102608203888,
+                    1.7380410432815552
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_38",
+            "depth_file_path": "./test/r_38_depth_0000.png",
+            "mask_file_path": "./test/r_38_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.728969156742096,
+                    0.2999311685562134,
+                    -0.6153416037559509,
+                    -2.4613664150238037
+                ],
+                [
+                    -0.6845465898513794,
+                    0.3193947374820709,
+                    -0.6552731990814209,
+                    -2.6210927963256836
+                ],
+                [
+                    1.4901161193847656e-08,
+                    0.8989039659500122,
+                    0.4381457567214966,
+                    1.7525830268859863
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_39",
+            "depth_file_path": "./test/r_39_depth_0000.png",
+            "mask_file_path": "./test/r_39_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.7705137133598328,
+                    0.28159719705581665,
+                    -0.5718493461608887,
+                    -2.2873973846435547
+                ],
+                [
+                    -0.6374234557151794,
+                    0.3403930366039276,
+                    -0.6912481784820557,
+                    -2.7649927139282227
+                ],
+                [
+                    -1.4901159417490817e-08,
+                    0.8971265554428101,
+                    0.44177407026290894,
+                    1.7670962810516357
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_40",
+            "depth_file_path": "./test/r_40_depth_0000.png",
+            "mask_file_path": "./test/r_40_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.8090174794197083,
+                    0.2617964446544647,
+                    -0.5262635946273804,
+                    -2.1050543785095215
+                ],
+                [
+                    -0.5877845883369446,
+                    0.36033251881599426,
+                    -0.7243409156799316,
+                    -2.8973636627197266
+                ],
+                [
+                    0.0,
+                    0.8953340649604797,
+                    0.44539520144462585,
+                    1.7815808057785034
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_41",
+            "depth_file_path": "./test/r_41_depth_0000.png",
+            "mask_file_path": "./test/r_41_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.8443283438682556,
+                    0.24059075117111206,
+                    -0.4787752032279968,
+                    -1.9151008129119873
+                ],
+                [
+                    -0.5358260869979858,
+                    0.37911105155944824,
+                    -0.75443035364151,
+                    -3.01772141456604
+                ],
+                [
+                    1.4901161193847656e-08,
+                    0.893527090549469,
+                    0.4490090608596802,
+                    1.7960362434387207
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_42",
+            "depth_file_path": "./test/r_42_depth_0000.png",
+            "mask_file_path": "./test/r_42_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.8763071894645691,
+                    0.21804887056350708,
+                    -0.4295818507671356,
+                    -1.7183274030685425
+                ],
+                [
+                    -0.4817529618740082,
+                    0.3966302275657654,
+                    -0.7814080715179443,
+                    -3.1256322860717773
+                ],
+                [
+                    1.4901162970204496e-08,
+                    0.8917056322097778,
+                    0.4526155889034271,
+                    1.8104623556137085
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_43",
+            "depth_file_path": "./test/r_43_depth_0000.png",
+            "mask_file_path": "./test/r_43_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9048274159431458,
+                    0.19424642622470856,
+                    -0.378887414932251,
+                    -1.515549659729004
+                ],
+                [
+                    -0.42577850818634033,
+                    0.4127956032752991,
+                    -0.8051785230636597,
+                    -3.2207140922546387
+                ],
+                [
+                    1.4901161193847656e-08,
+                    0.8898696899414062,
+                    0.4562147259712219,
+                    1.8248589038848877
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_44",
+            "depth_file_path": "./test/r_44_depth_0000.png",
+            "mask_file_path": "./test/r_44_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9297767877578735,
+                    0.16926565766334534,
+                    -0.3269009292125702,
+                    -1.3076037168502808
+                ],
+                [
+                    -0.3681236803531647,
+                    0.4275173544883728,
+                    -0.8256596326828003,
+                    -3.302638530731201
+                ],
+                [
+                    0.0,
+                    0.8880192041397095,
+                    0.4598064124584198,
+                    1.8392256498336792
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_45",
+            "depth_file_path": "./test/r_45_depth_0000.png",
+            "mask_file_path": "./test/r_45_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9510567784309387,
+                    0.14319518208503723,
+                    -0.2738359272480011,
+                    -1.0953437089920044
+                ],
+                [
+                    -0.3090161383152008,
+                    0.44071078300476074,
+                    -0.8427829146385193,
+                    -3.371131658554077
+                ],
+                [
+                    -7.450580596923828e-09,
+                    0.8861541152000427,
+                    0.463390588760376,
+                    1.853562355041504
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_46",
+            "depth_file_path": "./test/r_46_depth_0000.png",
+            "mask_file_path": "./test/r_46_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9685834646224976,
+                    0.11612958461046219,
+                    -0.2199094146490097,
+                    -0.8796374201774597
+                ],
+                [
+                    -0.24868899583816528,
+                    0.4522966146469116,
+                    -0.8564939498901367,
+                    -3.4259748458862305
+                ],
+                [
+                    -7.450580596923828e-09,
+                    0.8842745423316956,
+                    0.46696731448173523,
+                    1.8678687810897827
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_47",
+            "depth_file_path": "./test/r_47_depth_0000.png",
+            "mask_file_path": "./test/r_47_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9822874665260315,
+                    0.08816923201084137,
+                    -0.16534081101417542,
+                    -0.6613632440567017
+                ],
+                [
+                    -0.1873803436756134,
+                    0.4622017741203308,
+                    -0.866751492023468,
+                    -3.467005968093872
+                ],
+                [
+                    0.0,
+                    0.8823806047439575,
+                    0.4705362021923065,
+                    1.882144808769226
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_48",
+            "depth_file_path": "./test/r_48_depth_0000.png",
+            "mask_file_path": "./test/r_48_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9921149015426636,
+                    0.05941971018910408,
+                    -0.11035158485174179,
+                    -0.44140633940696716
+                ],
+                [
+                    -0.12533226609230042,
+                    0.4703591465950012,
+                    -0.8735296726226807,
+                    -3.4941186904907227
+                ],
+                [
+                    -3.725290742551124e-09,
+                    0.8804722428321838,
+                    0.47409752011299133,
+                    1.8963900804519653
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_49",
+            "depth_file_path": "./test/r_49_depth_0000.png",
+            "mask_file_path": "./test/r_49_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9980267882347107,
+                    0.029991475865244865,
+                    -0.05516371130943298,
+                    -0.22065478563308716
+                ],
+                [
+                    -0.06278950721025467,
+                    0.4767085611820221,
+                    -0.8768162727355957,
+                    -3.5072641372680664
+                ],
+                [
+                    0.0,
+                    0.8785496354103088,
+                    0.4776512086391449,
+                    1.9106043577194214
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_50",
+            "depth_file_path": "./test/r_50_depth_0000.png",
+            "mask_file_path": "./test/r_50_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    1.0,
+                    -5.009726464777486e-07,
+                    9.126389954872138e-07,
+                    3.6505550724541536e-06
+                ],
+                [
+                    1.0410971071905806e-06,
+                    0.4811968505382538,
+                    -0.8766127824783325,
+                    -3.5064501762390137
+                ],
+                [
+                    0.0,
+                    0.8766126036643982,
+                    0.48119696974754333,
+                    1.9247874021530151
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_51",
+            "depth_file_path": "./test/r_51_depth_0000.png",
+            "mask_file_path": "./test/r_51_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9980266690254211,
+                    -0.03043726645410061,
+                    0.054921358823776245,
+                    0.21968543529510498
+                ],
+                [
+                    0.06279158592224121,
+                    0.48377829790115356,
+                    -0.8729351758956909,
+                    -3.4917407035827637
+                ],
+                [
+                    0.0,
+                    0.8746612071990967,
+                    0.48473480343818665,
+                    1.9389392137527466
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_52",
+            "depth_file_path": "./test/r_52_depth_0000.png",
+            "mask_file_path": "./test/r_52_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9921144247055054,
+                    -0.06119634211063385,
+                    0.10937869548797607,
+                    0.4375147819519043
+                ],
+                [
+                    0.12533429265022278,
+                    0.484414666891098,
+                    -0.8658139109611511,
+                    -3.4632556438446045
+                ],
+                [
+                    0.0,
+                    0.8726955652236938,
+                    0.4882648289203644,
+                    1.9530593156814575
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_53",
+            "depth_file_path": "./test/r_53_depth_0000.png",
+            "mask_file_path": "./test/r_53_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9822870492935181,
+                    -0.09215221554040909,
+                    0.16315679252147675,
+                    0.652627170085907
+                ],
+                [
+                    0.18738242983818054,
+                    0.483075886964798,
+                    -0.8552926182746887,
+                    -3.421170473098755
+                ],
+                [
+                    -7.450580596923828e-09,
+                    0.8707156181335449,
+                    0.4917868971824646,
+                    1.9671475887298584
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_54",
+            "depth_file_path": "./test/r_54_depth_0000.png",
+            "mask_file_path": "./test/r_54_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9685828685760498,
+                    -0.12317688018083572,
+                    0.21604320406913757,
+                    0.8641728162765503
+                ],
+                [
+                    0.24869099259376526,
+                    0.4797400236129761,
+                    -0.8414287567138672,
+                    -3.3657150268554688
+                ],
+                [
+                    0.0,
+                    0.8687214851379395,
+                    0.49530091881752014,
+                    1.9812036752700806
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_55",
+            "depth_file_path": "./test/r_55_depth_0000.png",
+            "mask_file_path": "./test/r_55_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9510560631752014,
+                    -0.15414035320281982,
+                    0.2678300440311432,
+                    1.0713201761245728
+                ],
+                [
+                    0.3090180456638336,
+                    0.4743933379650116,
+                    -0.8242928981781006,
+                    -3.2971715927124023
+                ],
+                [
+                    0.0,
+                    0.8667132258415222,
+                    0.4988068640232086,
+                    1.9952274560928345
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_56",
+            "depth_file_path": "./test/r_56_depth_0000.png",
+            "mask_file_path": "./test/r_56_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.929776132106781,
+                    -0.18491122126579285,
+                    0.3183148503303528,
+                    1.2732594013214111
+                ],
+                [
+                    0.36812567710876465,
+                    0.4670308232307434,
+                    -0.8039687275886536,
+                    -3.2158749103546143
+                ],
+                [
+                    0.0,
+                    0.8646906018257141,
+                    0.5023046731948853,
+                    2.009218692779541
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_57",
+            "depth_file_path": "./test/r_57_depth_0000.png",
+            "mask_file_path": "./test/r_57_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9048267006874084,
+                    -0.21535730361938477,
+                    0.36730122566223145,
+                    1.4692049026489258
+                ],
+                [
+                    0.4257805347442627,
+                    0.4576560854911804,
+                    -0.780552327632904,
+                    -3.122209310531616
+                ],
+                [
+                    0.0,
+                    0.8626540899276733,
+                    0.5057942867279053,
+                    2.023177146911621
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_58",
+            "depth_file_path": "./test/r_58_depth_0000.png",
+            "mask_file_path": "./test/r_58_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.8763060569763184,
+                    -0.24534592032432556,
+                    0.41459983587265015,
+                    1.6583993434906006
+                ],
+                [
+                    0.48175475001335144,
+                    0.4462812840938568,
+                    -0.7541520595550537,
+                    -3.016608238220215
+                ],
+                [
+                    -2.9802322387695312e-08,
+                    0.860603392124176,
+                    0.5092756152153015,
+                    2.037102460861206
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_59",
+            "depth_file_path": "./test/r_59_depth_0000.png",
+            "mask_file_path": "./test/r_59_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.844327449798584,
+                    -0.27474501729011536,
+                    0.4600290060043335,
+                    1.840116024017334
+                ],
+                [
+                    0.5358279943466187,
+                    0.432927668094635,
+                    -0.7248876690864563,
+                    -2.899550676345825
+                ],
+                [
+                    0.0,
+                    0.8585387468338013,
+                    0.512748658657074,
+                    2.050994634628296
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_60",
+            "depth_file_path": "./test/r_60_depth_0000.png",
+            "mask_file_path": "./test/r_60_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.809016227722168,
+                    -0.3034231662750244,
+                    0.5034154653549194,
+                    2.0136618614196777
+                ],
+                [
+                    0.5877863168716431,
+                    0.4176250100135803,
+                    -0.6928900480270386,
+                    -2.7715601921081543
+                ],
+                [
+                    0.0,
+                    0.8564600348472595,
+                    0.5162133574485779,
+                    2.0648534297943115
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_61",
+            "depth_file_path": "./test/r_61_depth_0000.png",
+            "mask_file_path": "./test/r_61_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.7705124020576477,
+                    -0.3312503397464752,
+                    0.5445951819419861,
+                    2.1783804893493652
+                ],
+                [
+                    0.6374250054359436,
+                    0.40041178464889526,
+                    -0.6583006978034973,
+                    -2.63320255279541
+                ],
+                [
+                    0.0,
+                    0.8543672561645508,
+                    0.5196696519851685,
+                    2.0786783695220947
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_62",
+            "depth_file_path": "./test/r_62_depth_0000.png",
+            "mask_file_path": "./test/r_62_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.7289677262306213,
+                    -0.35809892416000366,
+                    0.5834134221076965,
+                    2.333653688430786
+                ],
+                [
+                    0.6845480799674988,
+                    0.381335586309433,
+                    -0.6212705373764038,
+                    -2.4850821495056152
+                ],
+                [
+                    1.4901161193847656e-08,
+                    0.8522605895996094,
+                    0.5231173038482666,
+                    2.0924692153930664
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_63",
+            "depth_file_path": "./test/r_63_depth_0000.png",
+            "mask_file_path": "./test/r_63_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.6845461130142212,
+                    -0.38384371995925903,
+                    0.619726300239563,
+                    2.478905200958252
+                ],
+                [
+                    0.7289695739746094,
+                    0.36045223474502563,
+                    -0.5819600820541382,
+                    -2.3278403282165527
+                ],
+                [
+                    0.0,
+                    0.8501400947570801,
+                    0.5265565514564514,
+                    2.1062262058258057
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_64",
+            "depth_file_path": "./test/r_64_depth_0000.png",
+            "mask_file_path": "./test/r_64_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.6374231576919556,
+                    -0.4083624482154846,
+                    0.6534002423286438,
+                    2.613600969314575
+                ],
+                [
+                    0.7705140113830566,
+                    0.33782604336738586,
+                    -0.5405384302139282,
+                    -2.162153720855713
+                ],
+                [
+                    -2.9802322387695312e-08,
+                    0.8480057120323181,
+                    0.5299871563911438,
+                    2.119948625564575
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_65",
+            "depth_file_path": "./test/r_65_depth_0000.png",
+            "mask_file_path": "./test/r_65_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.5877842903137207,
+                    -0.4315374195575714,
+                    0.6843135952949524,
+                    2.7372543811798096
+                ],
+                [
+                    0.8090177178382874,
+                    0.31352949142456055,
+                    -0.4971816837787628,
+                    -1.9887267351150513
+                ],
+                [
+                    1.4901161193847656e-08,
+                    0.8458573818206787,
+                    0.5334091186523438,
+                    2.133636474609375
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_66",
+            "depth_file_path": "./test/r_66_depth_0000.png",
+            "mask_file_path": "./test/r_66_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.5358258485794067,
+                    -0.45325446128845215,
+                    0.7123560309410095,
+                    2.849424123764038
+                ],
+                [
+                    0.8443285822868347,
+                    0.28764328360557556,
+                    -0.45207369327545166,
+                    -1.8082947731018066
+                ],
+                [
+                    0.0,
+                    0.843695342540741,
+                    0.5368223786354065,
+                    2.147289514541626
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_67",
+            "depth_file_path": "./test/r_67_depth_0000.png",
+            "mask_file_path": "./test/r_67_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.48175257444381714,
+                    -0.47340476512908936,
+                    0.7374296188354492,
+                    2.949718475341797
+                ],
+                [
+                    0.8763073682785034,
+                    0.26025569438934326,
+                    -0.40540415048599243,
+                    -1.6216166019439697
+                ],
+                [
+                    0.0,
+                    0.8415194153785706,
+                    0.5402268767356873,
+                    2.160907506942749
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_68",
+            "depth_file_path": "./test/r_68_depth_0000.png",
+            "mask_file_path": "./test/r_68_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.4257781505584717,
+                    -0.49188464879989624,
+                    0.759448766708374,
+                    3.037795066833496
+                ],
+                [
+                    0.9048275947570801,
+                    0.23146258294582367,
+                    -0.3573682904243469,
+                    -1.4294731616973877
+                ],
+                [
+                    0.0,
+                    0.839329719543457,
+                    0.5436225533485413,
+                    2.174490213394165
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_69",
+            "depth_file_path": "./test/r_69_depth_0000.png",
+            "mask_file_path": "./test/r_69_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.3681233823299408,
+                    -0.5085965991020203,
+                    0.7783409357070923,
+                    3.113363742828369
+                ],
+                [
+                    0.9297770261764526,
+                    0.20136688649654388,
+                    -0.3081658184528351,
+                    -1.2326632738113403
+                ],
+                [
+                    1.4901162970204496e-08,
+                    0.8371263742446899,
+                    0.5470093488693237,
+                    2.188037395477295
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_70",
+            "depth_file_path": "./test/r_70_depth_0000.png",
+            "mask_file_path": "./test/r_70_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.30901575088500977,
+                    -0.5234494805335999,
+                    0.7940465211868286,
+                    3.1761860847473145
+                ],
+                [
+                    0.951056957244873,
+                    0.17007829248905182,
+                    -0.2580001950263977,
+                    -1.0320007801055908
+                ],
+                [
+                    0.0,
+                    0.8349094390869141,
+                    0.5503872036933899,
+                    2.2015488147735596
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_71",
+            "depth_file_path": "./test/r_71_depth_0000.png",
+            "mask_file_path": "./test/r_71_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.24868857860565186,
+                    -0.5363588929176331,
+                    0.806519091129303,
+                    3.226076364517212
+                ],
+                [
+                    0.9685835838317871,
+                    0.1377127766609192,
+                    -0.2070777416229248,
+                    -0.8283109664916992
+                ],
+                [
+                    7.450581485102248e-09,
+                    0.8326788544654846,
+                    0.553756058216095,
+                    2.21502423286438
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_72",
+            "depth_file_path": "./test/r_72_depth_0000.png",
+            "mask_file_path": "./test/r_72_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.18737995624542236,
+                    -0.547248125076294,
+                    0.8157256841659546,
+                    3.2629027366638184
+                ],
+                [
+                    0.9822874069213867,
+                    0.10439237952232361,
+                    -0.15560683608055115,
+                    -0.6224273443222046
+                ],
+                [
+                    7.4505792646561986e-09,
+                    0.8304349184036255,
+                    0.557115912437439,
+                    2.228463649749756
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_73",
+            "depth_file_path": "./test/r_73_depth_0000.png",
+            "mask_file_path": "./test/r_73_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.12533186376094818,
+                    -0.5560473203659058,
+                    0.8216466903686523,
+                    3.2865867614746094
+                ],
+                [
+                    0.9921149015426636,
+                    0.07024432718753815,
+                    -0.10379695892333984,
+                    -0.4151878356933594
+                ],
+                [
+                    0.0,
+                    0.8281770348548889,
+                    0.5604666471481323,
+                    2.2418665885925293
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_74",
+            "depth_file_path": "./test/r_74_depth_0000.png",
+            "mask_file_path": "./test/r_74_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.06278910487890244,
+                    -0.5626958012580872,
+                    0.8242760300636292,
+                    3.2971041202545166
+                ],
+                [
+                    0.9980267882347107,
+                    0.03540102019906044,
+                    -0.051857881247997284,
+                    -0.20743152499198914
+                ],
+                [
+                    0.0,
+                    0.8259057402610779,
+                    0.563808262348175,
+                    2.2552330493927
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_75",
+            "depth_file_path": "./test/r_75_depth_0000.png",
+            "mask_file_path": "./test/r_75_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -1.4424363143916707e-06,
+                    -0.5671406388282776,
+                    0.8236209750175476,
+                    3.2944839000701904
+                ],
+                [
+                    1.0,
+                    -8.180641657418164e-07,
+                    1.188020746667462e-06,
+                    4.752082986669848e-06
+                ],
+                [
+                    0.0,
+                    0.8236209750175476,
+                    0.5671406388282776,
+                    2.2685625553131104
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_76",
+            "depth_file_path": "./test/r_76_depth_0000.png",
+            "mask_file_path": "./test/r_76_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.06279198080301285,
+                    -0.5693379640579224,
+                    0.8197019696235657,
+                    3.2788078784942627
+                ],
+                [
+                    0.9980266094207764,
+                    -0.035820551216602325,
+                    0.05157248675823212,
+                    0.20628994703292847
+                ],
+                [
+                    1.862645149230957e-09,
+                    0.8213225603103638,
+                    0.5704637765884399,
+                    2.2818551063537598
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_77",
+            "depth_file_path": "./test/r_77_depth_0000.png",
+            "mask_file_path": "./test/r_77_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.1253347396850586,
+                    -0.5692530870437622,
+                    0.812552809715271,
+                    3.250211238861084
+                ],
+                [
+                    0.9921146035194397,
+                    -0.07191426306962967,
+                    0.10265053063631058,
+                    0.4106021225452423
+                ],
+                [
+                    3.725290742551124e-09,
+                    0.8190111517906189,
+                    0.5737776160240173,
+                    2.2951104640960693
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_78",
+            "depth_file_path": "./test/r_78_depth_0000.png",
+            "mask_file_path": "./test/r_78_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.18738281726837158,
+                    -0.5668602585792542,
+                    0.8022201657295227,
+                    3.208880662918091
+                ],
+                [
+                    0.9822869896888733,
+                    -0.10813527554273605,
+                    0.15303294360637665,
+                    0.6121317744255066
+                ],
+                [
+                    7.450580596923828e-09,
+                    0.8166861534118652,
+                    0.577082097530365,
+                    2.30832839012146
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_79",
+            "depth_file_path": "./test/r_79_depth_0000.png",
+            "mask_file_path": "./test/r_79_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.2486913502216339,
+                    -0.5621432065963745,
+                    0.7887635231018066,
+                    3.15505313873291
+                ],
+                [
+                    0.9685826301574707,
+                    -0.14433477818965912,
+                    0.20252135396003723,
+                    0.8100851774215698
+                ],
+                [
+                    7.450578820566989e-09,
+                    0.8143477439880371,
+                    0.5803772211074829,
+                    2.3215084075927734
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_80",
+            "depth_file_path": "./test/r_80_depth_0000.png",
+            "mask_file_path": "./test/r_80_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.3090185225009918,
+                    -0.555095911026001,
+                    0.7722539305686951,
+                    3.0890157222747803
+                ],
+                [
+                    0.9510561227798462,
+                    -0.18036256730556488,
+                    0.2509218454360962,
+                    1.0036873817443848
+                ],
+                [
+                    1.4901162970204496e-08,
+                    0.8119962215423584,
+                    0.5836626887321472,
+                    2.334650754928589
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_81",
+            "depth_file_path": "./test/r_81_depth_0000.png",
+            "mask_file_path": "./test/r_81_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.3681260347366333,
+                    -0.5457215309143066,
+                    0.7527757287025452,
+                    3.0111029148101807
+                ],
+                [
+                    0.9297759532928467,
+                    -0.21606743335723877,
+                    0.29804638028144836,
+                    1.1921855211257935
+                ],
+                [
+                    -1.4901161193847656e-08,
+                    0.80963134765625,
+                    0.586938738822937,
+                    2.347754955291748
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_82",
+            "depth_file_path": "./test/r_82_depth_0000.png",
+            "mask_file_path": "./test/r_82_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.42578068375587463,
+                    -0.5340331196784973,
+                    0.730424165725708,
+                    2.921696186065674
+                ],
+                [
+                    0.9048262238502502,
+                    -0.2512979805469513,
+                    0.3437129855155945,
+                    1.3748517036437988
+                ],
+                [
+                    0.0,
+                    0.807253360748291,
+                    0.5902052521705627,
+                    2.3608205318450928
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_83",
+            "depth_file_path": "./test/r_83_depth_0000.png",
+            "mask_file_path": "./test/r_83_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.4817550778388977,
+                    -0.5200541615486145,
+                    0.7053053379058838,
+                    2.821221351623535
+                ],
+                [
+                    0.876305878162384,
+                    -0.28590330481529236,
+                    0.3877463936805725,
+                    1.55098557472229
+                ],
+                [
+                    0.0,
+                    0.8048617839813232,
+                    0.5934619903564453,
+                    2.3738479614257812
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_84",
+            "depth_file_path": "./test/r_84_depth_0000.png",
+            "mask_file_path": "./test/r_84_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.5358282327651978,
+                    -0.5038176774978638,
+                    0.67753666639328,
+                    2.71014666557312
+                ],
+                [
+                    0.8443270921707153,
+                    -0.3197336196899414,
+                    0.42997944355010986,
+                    1.7199177742004395
+                ],
+                [
+                    0.0,
+                    0.8024576306343079,
+                    0.596709132194519,
+                    2.386836528778076
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_85",
+            "depth_file_path": "./test/r_85_depth_0000.png",
+            "mask_file_path": "./test/r_85_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.5877866148948669,
+                    -0.48536625504493713,
+                    0.6472452878952026,
+                    2.5889811515808105
+                ],
+                [
+                    0.8090161085128784,
+                    -0.3526404798030853,
+                    0.4702529013156891,
+                    1.8810116052627563
+                ],
+                [
+                    1.4901162970204496e-08,
+                    0.8000400066375732,
+                    0.5999464988708496,
+                    2.3997859954833984
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_86",
+            "depth_file_path": "./test/r_86_depth_0000.png",
+            "mask_file_path": "./test/r_86_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.6374252438545227,
+                    -0.4647529721260071,
+                    0.6145678758621216,
+                    2.4582715034484863
+                ],
+                [
+                    0.770512044429779,
+                    -0.38447844982147217,
+                    0.5084165334701538,
+                    2.0336661338806152
+                ],
+                [
+                    0.0,
+                    0.7976095676422119,
+                    0.603174090385437,
+                    2.412696361541748
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_87",
+            "depth_file_path": "./test/r_87_depth_0000.png",
+            "mask_file_path": "./test/r_87_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.6845483779907227,
+                    -0.4420399069786072,
+                    0.5796501040458679,
+                    2.3186004161834717
+                ],
+                [
+                    0.7289674282073975,
+                    -0.41510456800460815,
+                    0.5443295836448669,
+                    2.1773183345794678
+                ],
+                [
+                    1.4901161193847656e-08,
+                    0.795166015625,
+                    0.6063918471336365,
+                    2.425567388534546
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_88",
+            "depth_file_path": "./test/r_88_depth_0000.png",
+            "mask_file_path": "./test/r_88_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7289698719978333,
+                    -0.4172988533973694,
+                    0.5426459312438965,
+                    2.170583724975586
+                ],
+                [
+                    0.6845458149909973,
+                    -0.44437968730926514,
+                    0.5778612494468689,
+                    2.3114449977874756
+                ],
+                [
+                    -1.4901162970204496e-08,
+                    0.7927093505859375,
+                    0.6095996499061584,
+                    2.438398599624634
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_89",
+            "depth_file_path": "./test/r_89_depth_0000.png",
+            "mask_file_path": "./test/r_89_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7705146074295044,
+                    -0.3906109631061554,
+                    0.503716766834259,
+                    2.014867067337036
+                ],
+                [
+                    0.6374226808547974,
+                    -0.47216933965682983,
+                    0.6088912487030029,
+                    2.4355649948120117
+                ],
+                [
+                    1.4901164746561335e-08,
+                    0.7902399301528931,
+                    0.6127975583076477,
+                    2.451190233230591
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_90",
+            "depth_file_path": "./test/r_90_depth_0000.png",
+            "mask_file_path": "./test/r_90_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8090181350708008,
+                    -0.36206623911857605,
+                    0.4630310833454132,
+                    1.8521243333816528
+                ],
+                [
+                    0.5877838134765625,
+                    -0.4983433485031128,
+                    0.6373100876808167,
+                    2.5492403507232666
+                ],
+                [
+                    0.0,
+                    0.7877575755119324,
+                    0.6159854531288147,
+                    2.463941812515259
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_91",
+            "depth_file_path": "./test/r_91_depth_0000.png",
+            "mask_file_path": "./test/r_91_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8443289995193481,
+                    -0.33176329731941223,
+                    0.4207633435726166,
+                    1.6830533742904663
+                ],
+                [
+                    0.535825252532959,
+                    -0.5227774977684021,
+                    0.6630196571350098,
+                    2.652078628540039
+                ],
+                [
+                    1.4901161193847656e-08,
+                    0.7852623462677002,
+                    0.6191632747650146,
+                    2.4766530990600586
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_92",
+            "depth_file_path": "./test/r_92_depth_0000.png",
+            "mask_file_path": "./test/r_92_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8763076066970825,
+                    -0.2998092472553253,
+                    0.3770934045314789,
+                    1.5083736181259155
+                ],
+                [
+                    0.48175203800201416,
+                    -0.5453534126281738,
+                    0.6859334111213684,
+                    2.7437336444854736
+                ],
+                [
+                    0.0,
+                    0.7827541828155518,
+                    0.6223310232162476,
+                    2.4893240928649902
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_93",
+            "depth_file_path": "./test/r_93_depth_0000.png",
+            "mask_file_path": "./test/r_93_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9048279523849487,
+                    -0.26631900668144226,
+                    0.3322058320045471,
+                    1.3288233280181885
+                ],
+                [
+                    0.4257775545120239,
+                    -0.5659595131874084,
+                    0.7059768438339233,
+                    2.8239073753356934
+                ],
+                [
+                    -1.4901161193847656e-08,
+                    0.7802333831787109,
+                    0.6254885792732239,
+                    2.5019543170928955
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_94",
+            "depth_file_path": "./test/r_94_depth_0000.png",
+            "mask_file_path": "./test/r_94_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9297772645950317,
+                    -0.23141521215438843,
+                    0.2862889766693115,
+                    1.145155906677246
+                ],
+                [
+                    0.36812281608581543,
+                    -0.5844914317131042,
+                    0.72308748960495,
+                    2.8923499584198
+                ],
+                [
+                    1.4901161193847656e-08,
+                    0.7776997685432434,
+                    0.6286359429359436,
+                    2.5145437717437744
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_95",
+            "depth_file_path": "./test/r_95_depth_0000.png",
+            "mask_file_path": "./test/r_95_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9510571956634521,
+                    -0.1952274590730667,
+                    0.2395341396331787,
+                    0.9581365585327148
+                ],
+                [
+                    0.309015154838562,
+                    -0.6008523106575012,
+                    0.7372151613235474,
+                    2.9488606452941895
+                ],
+                [
+                    0.0,
+                    0.7751534581184387,
+                    0.631773054599762,
+                    2.527092218399048
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_96",
+            "depth_file_path": "./test/r_96_depth_0000.png",
+            "mask_file_path": "./test/r_96_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9685837030410767,
+                    -0.15789195895195007,
+                    0.19213497638702393,
+                    0.7685397863388062
+                ],
+                [
+                    0.2486879974603653,
+                    -0.6149535775184631,
+                    0.7483224272727966,
+                    2.9932894706726074
+                ],
+                [
+                    0.0,
+                    0.7725944519042969,
+                    0.6348998546600342,
+                    2.5395991802215576
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_97",
+            "depth_file_path": "./test/r_97_depth_0000.png",
+            "mask_file_path": "./test/r_97_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9822876453399658,
+                    -0.11955106258392334,
+                    0.1442863941192627,
+                    0.5771455764770508
+                ],
+                [
+                    0.1873793601989746,
+                    -0.6267154216766357,
+                    0.7563839554786682,
+                    3.025535821914673
+                ],
+                [
+                    0.0,
+                    0.770022988319397,
+                    0.6380162239074707,
+                    2.552064895629883
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_98",
+            "depth_file_path": "./test/r_98_depth_0000.png",
+            "mask_file_path": "./test/r_98_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9921150207519531,
+                    -0.08035262674093246,
+                    0.09618403762578964,
+                    0.38473615050315857
+                ],
+                [
+                    0.12533123791217804,
+                    -0.6360669136047363,
+                    0.7613874673843384,
+                    3.0455498695373535
+                ],
+                [
+                    3.725290742551124e-09,
+                    0.7674388289451599,
+                    0.6411222219467163,
+                    2.5644888877868652
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./test/r_99",
+            "depth_file_path": "./test/r_99_depth_0000.png",
+            "mask_file_path": "./test/r_99_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9980267286300659,
+                    -0.04044945165514946,
+                    0.04802326485514641,
+                    0.19209305942058563
+                ],
+                [
+                    0.0627884566783905,
+                    -0.642946720123291,
+                    0.7633329629898071,
+                    3.0533318519592285
+                ],
+                [
+                    0.0,
+                    0.76484215259552,
+                    0.6442177891731262,
+                    2.576871156692505
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        }
+    ]
+}
\ No newline at end of file
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/transforms_train.json b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/transforms_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..9992aed55293ac8b6e632ffc840f591f82a98d8e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/transforms_train.json
@@ -0,0 +1,3205 @@
+{
+    "camera_angle_x": 1.1656107902526855,
+    "frames": [
+        {
+            "file_path": "./train/r_0",
+            "depth_file_path": "./train/r_0_depth_0000.png",
+            "mask_file_path": "./train/r_0_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7624990344047546,
+                    -0.5271812081336975,
+                    -0.37506696581840515,
+                    -1.5002678632736206
+                ],
+                [
+                    -0.6469892859458923,
+                    0.6213011145591736,
+                    0.44202920794487,
+                    1.76811683177948
+                ],
+                [
+                    4.470348002882929e-08,
+                    0.5797111392021179,
+                    -0.8148220777511597,
+                    -3.2592883110046387
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_1",
+            "depth_file_path": "./train/r_1_depth_0000.png",
+            "mask_file_path": "./train/r_1_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.8858592510223389,
+                    0.1960546225309372,
+                    -0.4204953908920288,
+                    -1.6819815635681152
+                ],
+                [
+                    -0.4639546275138855,
+                    0.3743400573730469,
+                    -0.8028796315193176,
+                    -3.2115185260772705
+                ],
+                [
+                    0.0,
+                    0.9063287377357483,
+                    0.4225730001926422,
+                    1.6902920007705688
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_2",
+            "depth_file_path": "./train/r_2_depth_0000.png",
+            "mask_file_path": "./train/r_2_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7214403748512268,
+                    0.024650447070598602,
+                    0.6920376420021057,
+                    2.768150568008423
+                ],
+                [
+                    0.6924765110015869,
+                    0.02568148635327816,
+                    0.7209831476211548,
+                    2.883932590484619
+                ],
+                [
+                    1.8626450382086546e-09,
+                    0.9993662238121033,
+                    -0.03559751808643341,
+                    -0.14239007234573364
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_3",
+            "depth_file_path": "./train/r_3_depth_0000.png",
+            "mask_file_path": "./train/r_3_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7543427348136902,
+                    0.5698242783546448,
+                    -0.3259866535663605,
+                    -1.303946614265442
+                ],
+                [
+                    -0.6564807891845703,
+                    -0.6547682881355286,
+                    0.37458163499832153,
+                    1.4983265399932861
+                ],
+                [
+                    0.0,
+                    0.4965667724609375,
+                    0.867998480796814,
+                    3.471993923187256
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_4",
+            "depth_file_path": "./train/r_4_depth_0000.png",
+            "mask_file_path": "./train/r_4_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.024538554251194,
+                    0.2818048298358917,
+                    -0.9591577649116516,
+                    -3.8366315364837646
+                ],
+                [
+                    -0.9996988773345947,
+                    0.006917165592312813,
+                    -0.023543432354927063,
+                    -0.09417374432086945
+                ],
+                [
+                    0.0,
+                    0.9594468474388123,
+                    0.2818896770477295,
+                    1.1275588274002075
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_5",
+            "depth_file_path": "./train/r_5_depth_0000.png",
+            "mask_file_path": "./train/r_5_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8698486685752869,
+                    0.022405387833714485,
+                    0.4928100109100342,
+                    1.9712400436401367
+                ],
+                [
+                    0.49331918358802795,
+                    0.0395064614713192,
+                    0.8689508438110352,
+                    3.4758033752441406
+                ],
+                [
+                    1.862645593320167e-09,
+                    0.9989679455757141,
+                    -0.04541764408349991,
+                    -0.18167057633399963
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_6",
+            "depth_file_path": "./train/r_6_depth_0000.png",
+            "mask_file_path": "./train/r_6_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.803030788898468,
+                    0.1030886173248291,
+                    0.5869534611701965,
+                    2.3478140830993652
+                ],
+                [
+                    0.5959376692771912,
+                    0.13891273736953735,
+                    0.7909243702888489,
+                    3.1636979579925537
+                ],
+                [
+                    -7.450580596923828e-09,
+                    0.9849244356155396,
+                    -0.17298555374145508,
+                    -0.6919422745704651
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_7",
+            "depth_file_path": "./train/r_7_depth_0000.png",
+            "mask_file_path": "./train/r_7_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.6975024938583374,
+                    -0.2158936858177185,
+                    -0.6832863688468933,
+                    -2.7331454753875732
+                ],
+                [
+                    -0.7165824174880981,
+                    -0.21014522016048431,
+                    -0.665092945098877,
+                    -2.660371780395508
+                ],
+                [
+                    0.0,
+                    0.9535350203514099,
+                    -0.3012824058532715,
+                    -1.205129623413086
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_8",
+            "depth_file_path": "./train/r_8_depth_0000.png",
+            "mask_file_path": "./train/r_8_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8906311392784119,
+                    -0.3139893710613251,
+                    -0.32891780138015747,
+                    -1.3156713247299194
+                ],
+                [
+                    -0.4547266364097595,
+                    0.614982008934021,
+                    0.6442209482192993,
+                    2.5768840312957764
+                ],
+                [
+                    0.0,
+                    0.7233308553695679,
+                    -0.6905014514923096,
+                    -2.7620060443878174
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_9",
+            "depth_file_path": "./train/r_9_depth_0000.png",
+            "mask_file_path": "./train/r_9_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.7385122179985046,
+                    0.4992021322250366,
+                    -0.45320746302604675,
+                    -1.812829852104187
+                ],
+                [
+                    -0.6742401719093323,
+                    0.5467886328697205,
+                    -0.4964095652103424,
+                    -1.9856382608413696
+                ],
+                [
+                    -1.4901161193847656e-08,
+                    0.6721752285957336,
+                    0.7403921484947205,
+                    2.961568593978882
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_10",
+            "depth_file_path": "./train/r_10_depth_0000.png",
+            "mask_file_path": "./train/r_10_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.5941570997238159,
+                    0.22927917540073395,
+                    0.7709789872169495,
+                    3.0839154720306396
+                ],
+                [
+                    0.8043490648269653,
+                    0.1693640798330307,
+                    0.5695072412490845,
+                    2.278028726577759
+                ],
+                [
+                    0.0,
+                    0.9585129022598267,
+                    -0.2850493788719177,
+                    -1.1401973962783813
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_11",
+            "depth_file_path": "./train/r_11_depth_0000.png",
+            "mask_file_path": "./train/r_11_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.8343865275382996,
+                    -0.0966353565454483,
+                    0.5426424145698547,
+                    2.170569658279419
+                ],
+                [
+                    0.5511798858642578,
+                    0.1462884247303009,
+                    -0.8214623928070068,
+                    -3.2858495712280273
+                ],
+                [
+                    0.0,
+                    0.984510600566864,
+                    0.17532457411289215,
+                    0.7012982964515686
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_12",
+            "depth_file_path": "./train/r_12_depth_0000.png",
+            "mask_file_path": "./train/r_12_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.12350166589021683,
+                    -0.7929508686065674,
+                    -0.5966374278068542,
+                    -2.386549711227417
+                ],
+                [
+                    -0.9923443794250488,
+                    0.09868625551462173,
+                    0.07425417751073837,
+                    0.2970167100429535
+                ],
+                [
+                    0.0,
+                    0.6012402176856995,
+                    -0.7990682721138,
+                    -3.1962730884552
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_13",
+            "depth_file_path": "./train/r_13_depth_0000.png",
+            "mask_file_path": "./train/r_13_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.7388951182365417,
+                    0.14362308382987976,
+                    0.6583361029624939,
+                    2.6333444118499756
+                ],
+                [
+                    0.6738205552101135,
+                    -0.15749356150627136,
+                    -0.7219153046607971,
+                    -2.8876612186431885
+                ],
+                [
+                    0.0,
+                    0.9770200848579407,
+                    -0.2131473869085312,
+                    -0.85258948802948
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_14",
+            "depth_file_path": "./train/r_14_depth_0000.png",
+            "mask_file_path": "./train/r_14_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.6429196000099182,
+                    0.07078395783901215,
+                    0.7626559734344482,
+                    3.0506234169006348
+                ],
+                [
+                    0.7659335732460022,
+                    -0.05941558629274368,
+                    -0.6401683688163757,
+                    -2.560673236846924
+                ],
+                [
+                    0.0,
+                    0.9957205057144165,
+                    -0.09241528064012527,
+                    -0.3696610927581787
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_15",
+            "depth_file_path": "./train/r_15_depth_0000.png",
+            "mask_file_path": "./train/r_15_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.951147198677063,
+                    0.07479777932167053,
+                    0.2995401918888092,
+                    1.1981608867645264
+                ],
+                [
+                    0.3087378442287445,
+                    0.23043401539325714,
+                    0.9228113889694214,
+                    3.6912460327148438
+                ],
+                [
+                    -7.450580596923828e-09,
+                    0.970209002494812,
+                    -0.24226953089237213,
+                    -0.9690782427787781
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_16",
+            "depth_file_path": "./train/r_16_depth_0000.png",
+            "mask_file_path": "./train/r_16_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9969376921653748,
+                    -0.013348482549190521,
+                    0.0770530253648758,
+                    0.3082121014595032
+                ],
+                [
+                    0.07820071280002594,
+                    -0.17017243802547455,
+                    0.9823064804077148,
+                    3.9292259216308594
+                ],
+                [
+                    0.0,
+                    0.9853238463401794,
+                    0.17069517076015472,
+                    0.6827806830406189
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_17",
+            "depth_file_path": "./train/r_17_depth_0000.png",
+            "mask_file_path": "./train/r_17_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9957911968231201,
+                    0.05687752366065979,
+                    -0.07186687737703323,
+                    -0.2874675393104553
+                ],
+                [
+                    -0.09165098518133163,
+                    -0.6179762482643127,
+                    0.7808361053466797,
+                    3.123344898223877
+                ],
+                [
+                    3.725290742551124e-09,
+                    0.7841363549232483,
+                    0.6205883026123047,
+                    2.482353448867798
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_18",
+            "depth_file_path": "./train/r_18_depth_0000.png",
+            "mask_file_path": "./train/r_18_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.4354133903980255,
+                    0.4312509000301361,
+                    0.7902137637138367,
+                    3.1608550548553467
+                ],
+                [
+                    0.9002306461334229,
+                    0.2085825651884079,
+                    0.3822016716003418,
+                    1.5288066864013672
+                ],
+                [
+                    0.0,
+                    0.8777902126312256,
+                    -0.47904497385025024,
+                    -1.916179895401001
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_19",
+            "depth_file_path": "./train/r_19_depth_0000.png",
+            "mask_file_path": "./train/r_19_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9948453903198242,
+                    0.05308479815721512,
+                    0.08639804273843765,
+                    0.3455921709537506
+                ],
+                [
+                    0.10140323638916016,
+                    -0.5208035707473755,
+                    -0.847632646560669,
+                    -3.390530586242676
+                ],
+                [
+                    3.7252898543727042e-09,
+                    0.8520245552062988,
+                    -0.5235019326210022,
+                    -2.094007730484009
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_20",
+            "depth_file_path": "./train/r_20_depth_0000.png",
+            "mask_file_path": "./train/r_20_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.940708577632904,
+                    -0.022122658789157867,
+                    -0.3384937345981598,
+                    -1.3539749383926392
+                ],
+                [
+                    -0.3392159044742584,
+                    0.06135023012757301,
+                    0.9387058615684509,
+                    3.7548234462738037
+                ],
+                [
+                    -1.862645149230957e-09,
+                    0.9978711605072021,
+                    -0.0652170404791832,
+                    -0.2608681619167328
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_21",
+            "depth_file_path": "./train/r_21_depth_0000.png",
+            "mask_file_path": "./train/r_21_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9645291566848755,
+                    0.06948745995759964,
+                    -0.2546672224998474,
+                    -1.0186688899993896
+                ],
+                [
+                    -0.26397714018821716,
+                    0.2538957893848419,
+                    -0.9305122494697571,
+                    -3.7220489978790283
+                ],
+                [
+                    0.0,
+                    0.96473228931427,
+                    0.2632329761981964,
+                    1.0529319047927856
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_22",
+            "depth_file_path": "./train/r_22_depth_0000.png",
+            "mask_file_path": "./train/r_22_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.37774163484573364,
+                    0.4739396870136261,
+                    -0.7954196929931641,
+                    -3.1816787719726562
+                ],
+                [
+                    -0.9259113073348999,
+                    0.19335192441940308,
+                    -0.3245052993297577,
+                    -1.2980211973190308
+                ],
+                [
+                    0.0,
+                    0.859066903591156,
+                    0.511863112449646,
+                    2.047452449798584
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_23",
+            "depth_file_path": "./train/r_23_depth_0000.png",
+            "mask_file_path": "./train/r_23_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.3078760802745819,
+                    0.11145704239606857,
+                    -0.9448754787445068,
+                    -3.7795019149780273
+                ],
+                [
+                    -0.9514264464378357,
+                    -0.03606685623526573,
+                    0.30575624108314514,
+                    1.2230249643325806
+                ],
+                [
+                    0.0,
+                    0.9931145906448364,
+                    0.117147296667099,
+                    0.468589186668396
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_24",
+            "depth_file_path": "./train/r_24_depth_0000.png",
+            "mask_file_path": "./train/r_24_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.7006779909133911,
+                    0.1597035974264145,
+                    0.695374071598053,
+                    2.781496286392212
+                ],
+                [
+                    0.713477611541748,
+                    -0.1568385511636734,
+                    -0.6828992366790771,
+                    -2.7315969467163086
+                ],
+                [
+                    0.0,
+                    0.9746261835098267,
+                    -0.22383829951286316,
+                    -0.8953531980514526
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_25",
+            "depth_file_path": "./train/r_25_depth_0000.png",
+            "mask_file_path": "./train/r_25_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.8896239995956421,
+                    -0.440787136554718,
+                    -0.11948222666978836,
+                    -0.47792890667915344
+                ],
+                [
+                    -0.4566938877105713,
+                    -0.8586382269859314,
+                    -0.23274728655815125,
+                    -0.930989146232605
+                ],
+                [
+                    0.0,
+                    0.2616243362426758,
+                    -0.9651697874069214,
+                    -3.8606791496276855
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_26",
+            "depth_file_path": "./train/r_26_depth_0000.png",
+            "mask_file_path": "./train/r_26_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.47670769691467285,
+                    0.23494932055473328,
+                    -0.8470823764801025,
+                    -3.38832950592041
+                ],
+                [
+                    -0.879061758518219,
+                    0.12741100788116455,
+                    -0.4593655467033386,
+                    -1.8374621868133545
+                ],
+                [
+                    0.0,
+                    0.9636209607124329,
+                    0.26727280020713806,
+                    1.0690912008285522
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_27",
+            "depth_file_path": "./train/r_27_depth_0000.png",
+            "mask_file_path": "./train/r_27_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9290998578071594,
+                    -0.36564087867736816,
+                    -0.055499542504549026,
+                    -0.2219981700181961
+                ],
+                [
+                    -0.3698289394378662,
+                    0.9185784459114075,
+                    0.1394282728433609,
+                    0.5577130913734436
+                ],
+                [
+                    7.450580596923828e-09,
+                    0.1500679850578308,
+                    -0.9886756539344788,
+                    -3.954702615737915
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_28",
+            "depth_file_path": "./train/r_28_depth_0000.png",
+            "mask_file_path": "./train/r_28_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.33690789341926575,
+                    0.2795846462249756,
+                    0.8990692496299744,
+                    3.5962769985198975
+                ],
+                [
+                    0.9415376782417297,
+                    0.10004302114248276,
+                    0.32171154022216797,
+                    1.2868461608886719
+                ],
+                [
+                    0.0,
+                    0.9548946619033813,
+                    -0.2969447672367096,
+                    -1.1877790689468384
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_29",
+            "depth_file_path": "./train/r_29_depth_0000.png",
+            "mask_file_path": "./train/r_29_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8842272758483887,
+                    -0.39277753233909607,
+                    -0.2527211904525757,
+                    -1.0108847618103027
+                ],
+                [
+                    -0.4670570194721222,
+                    0.7436022162437439,
+                    0.4784490168094635,
+                    1.913796067237854
+                ],
+                [
+                    1.4901162970204496e-08,
+                    0.5410926938056946,
+                    -0.8409628868103027,
+                    -3.363851547241211
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_30",
+            "depth_file_path": "./train/r_30_depth_0000.png",
+            "mask_file_path": "./train/r_30_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8420860767364502,
+                    -0.3857349455356598,
+                    -0.3769605755805969,
+                    -1.5078425407409668
+                ],
+                [
+                    -0.5393428206443787,
+                    0.6022552847862244,
+                    0.5885556936264038,
+                    2.3542230129241943
+                ],
+                [
+                    1.4901157641133977e-08,
+                    0.698925793170929,
+                    -0.7151941657066345,
+                    -2.860776901245117
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_31",
+            "depth_file_path": "./train/r_31_depth_0000.png",
+            "mask_file_path": "./train/r_31_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9980645179748535,
+                    0.029385816305875778,
+                    -0.054805878549814224,
+                    -0.2192235141992569
+                ],
+                [
+                    -0.06218690052628517,
+                    0.4716257154941559,
+                    -0.8796033263206482,
+                    -3.5184133052825928
+                ],
+                [
+                    0.0,
+                    0.8813090920448303,
+                    0.4725402891635895,
+                    1.890161156654358
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_32",
+            "depth_file_path": "./train/r_32_depth_0000.png",
+            "mask_file_path": "./train/r_32_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.5932114124298096,
+                    -0.3614945411682129,
+                    -0.71932053565979,
+                    -2.87728214263916
+                ],
+                [
+                    -0.8050470352172852,
+                    0.2663728892803192,
+                    0.5300425887107849,
+                    2.1201703548431396
+                ],
+                [
+                    -1.4901164746561335e-08,
+                    0.8935137987136841,
+                    -0.4490354657173157,
+                    -1.7961418628692627
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_33",
+            "depth_file_path": "./train/r_33_depth_0000.png",
+            "mask_file_path": "./train/r_33_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.8120373487472534,
+                    0.04761721193790436,
+                    -0.5816596150398254,
+                    -2.3266384601593018
+                ],
+                [
+                    -0.5836054086685181,
+                    0.06625530868768692,
+                    -0.8093299269676208,
+                    -3.2373197078704834
+                ],
+                [
+                    3.725290076417309e-09,
+                    0.996665894985199,
+                    0.08159144222736359,
+                    0.32636576890945435
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_34",
+            "depth_file_path": "./train/r_34_depth_0000.png",
+            "mask_file_path": "./train/r_34_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.18717269599437714,
+                    0.6402842402458191,
+                    0.7449849247932434,
+                    2.9799396991729736
+                ],
+                [
+                    0.9823271036148071,
+                    0.1219998151063919,
+                    0.14194948971271515,
+                    0.5677979588508606
+                ],
+                [
+                    0.0,
+                    0.7583878636360168,
+                    -0.6518034934997559,
+                    -2.6072139739990234
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_35",
+            "depth_file_path": "./train/r_35_depth_0000.png",
+            "mask_file_path": "./train/r_35_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9424451589584351,
+                    -0.1687847524881363,
+                    0.28863275051116943,
+                    1.1545310020446777
+                ],
+                [
+                    0.334360808134079,
+                    -0.47574466466903687,
+                    0.8135538697242737,
+                    3.2542154788970947
+                ],
+                [
+                    1.4901161193847656e-08,
+                    0.8632373213768005,
+                    0.5047982335090637,
+                    2.019192934036255
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_36",
+            "depth_file_path": "./train/r_36_depth_0000.png",
+            "mask_file_path": "./train/r_36_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.32998865842819214,
+                    0.031992603093385696,
+                    -0.943442702293396,
+                    -3.773770332336426
+                ],
+                [
+                    -0.9439849257469177,
+                    -0.01118364930152893,
+                    0.3297991156578064,
+                    1.319196343421936
+                ],
+                [
+                    0.0,
+                    0.9994255900382996,
+                    0.033891014754772186,
+                    0.13556404411792755
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_37",
+            "depth_file_path": "./train/r_37_depth_0000.png",
+            "mask_file_path": "./train/r_37_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7607195973396301,
+                    0.13808774948120117,
+                    -0.6342219114303589,
+                    -2.5368876457214355
+                ],
+                [
+                    -0.6490805745124817,
+                    -0.16183823347091675,
+                    0.7433052659034729,
+                    2.9732210636138916
+                ],
+                [
+                    -7.450580596923828e-09,
+                    0.9771078824996948,
+                    0.2127436399459839,
+                    0.8509745597839355
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_38",
+            "depth_file_path": "./train/r_38_depth_0000.png",
+            "mask_file_path": "./train/r_38_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9916910529136658,
+                    -0.12688493728637695,
+                    -0.0211945828050375,
+                    -0.08477833122015
+                ],
+                [
+                    -0.1286429464817047,
+                    0.9781389236450195,
+                    0.16338618099689484,
+                    0.6535447239875793
+                ],
+                [
+                    0.0,
+                    0.16475510597229004,
+                    -0.986334502696991,
+                    -3.945338010787964
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_39",
+            "depth_file_path": "./train/r_39_depth_0000.png",
+            "mask_file_path": "./train/r_39_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9551008939743042,
+                    -0.046450983732938766,
+                    -0.2926168441772461,
+                    -1.1704673767089844
+                ],
+                [
+                    -0.29628080129623413,
+                    -0.14974097907543182,
+                    -0.9432896375656128,
+                    -3.773158550262451
+                ],
+                [
+                    -3.725290298461914e-09,
+                    0.9876335263252258,
+                    -0.15678025782108307,
+                    -0.6271210312843323
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_40",
+            "depth_file_path": "./train/r_40_depth_0000.png",
+            "mask_file_path": "./train/r_40_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9771266579627991,
+                    -0.2032032161951065,
+                    0.0627065971493721,
+                    0.2508263885974884
+                ],
+                [
+                    0.2126585990190506,
+                    0.9336810111999512,
+                    -0.2881251573562622,
+                    -1.1525006294250488
+                ],
+                [
+                    0.0,
+                    0.2948698103427887,
+                    0.9555374383926392,
+                    3.8221497535705566
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_41",
+            "depth_file_path": "./train/r_41_depth_0000.png",
+            "mask_file_path": "./train/r_41_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.08465836942195892,
+                    -0.8413289785385132,
+                    0.5338526964187622,
+                    2.1354105472564697
+                ],
+                [
+                    0.9964101314544678,
+                    -0.07148215174674988,
+                    0.045357923954725266,
+                    0.18143168091773987
+                ],
+                [
+                    3.7252898543727042e-09,
+                    0.5357760787010193,
+                    0.8443602323532104,
+                    3.3774404525756836
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_42",
+            "depth_file_path": "./train/r_42_depth_0000.png",
+            "mask_file_path": "./train/r_42_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.8605623841285706,
+                    -0.25573641061782837,
+                    0.4404897689819336,
+                    1.7619593143463135
+                ],
+                [
+                    0.5093450546264648,
+                    0.43207862973213196,
+                    -0.744228184223175,
+                    -2.9769129753112793
+                ],
+                [
+                    1.4901161193847656e-08,
+                    0.8648161888122559,
+                    0.5020886063575745,
+                    2.008354663848877
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_43",
+            "depth_file_path": "./train/r_43_depth_0000.png",
+            "mask_file_path": "./train/r_43_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.1667795330286026,
+                    0.25297194719314575,
+                    0.952989935874939,
+                    3.811959743499756
+                ],
+                [
+                    0.9859942197799683,
+                    -0.042789846658706665,
+                    -0.16119690239429474,
+                    -0.644787609577179
+                ],
+                [
+                    0.0,
+                    0.9665271043777466,
+                    -0.2565653324127197,
+                    -1.026261329650879
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_44",
+            "depth_file_path": "./train/r_44_depth_0000.png",
+            "mask_file_path": "./train/r_44_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8436771631240845,
+                    -0.13492093980312347,
+                    -0.5196202397346497,
+                    -2.0784809589385986
+                ],
+                [
+                    -0.5368508696556091,
+                    0.212032288312912,
+                    0.8165987133979797,
+                    3.266394853591919
+                ],
+                [
+                    -7.450580596923828e-09,
+                    0.9679042100906372,
+                    -0.2513192296028137,
+                    -1.0052769184112549
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_45",
+            "depth_file_path": "./train/r_45_depth_0000.png",
+            "mask_file_path": "./train/r_45_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.681307315826416,
+                    0.08858872950077057,
+                    -0.7266170382499695,
+                    -2.906468152999878
+                ],
+                [
+                    -0.7319974899291992,
+                    0.08245404064655304,
+                    -0.676299512386322,
+                    -2.705198049545288
+                ],
+                [
+                    -3.725290298461914e-09,
+                    0.9926496744155884,
+                    0.1210232675075531,
+                    0.4840930700302124
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_46",
+            "depth_file_path": "./train/r_46_depth_0000.png",
+            "mask_file_path": "./train/r_46_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9664931893348694,
+                    0.051581013947725296,
+                    -0.25145724415779114,
+                    -1.0058289766311646
+                ],
+                [
+                    -0.25669315457344055,
+                    -0.19421124458312988,
+                    0.9467790722846985,
+                    3.787116289138794
+                ],
+                [
+                    0.0,
+                    0.979602575302124,
+                    0.20094430446624756,
+                    0.8037772178649902
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_47",
+            "depth_file_path": "./train/r_47_depth_0000.png",
+            "mask_file_path": "./train/r_47_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.506027340888977,
+                    0.2498948872089386,
+                    -0.8255234360694885,
+                    -3.302093267440796
+                ],
+                [
+                    -0.8625172972679138,
+                    -0.14660999178886414,
+                    0.48432356119155884,
+                    1.9372940063476562
+                ],
+                [
+                    -7.4505792646561986e-09,
+                    0.9571091532707214,
+                    0.28972741961479187,
+                    1.158909559249878
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_48",
+            "depth_file_path": "./train/r_48_depth_0000.png",
+            "mask_file_path": "./train/r_48_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9770615696907043,
+                    0.1440577358007431,
+                    -0.156837597489357,
+                    -0.6273503303527832
+                ],
+                [
+                    -0.21295693516731262,
+                    0.6609471440315247,
+                    -0.7195820212364197,
+                    -2.8783278465270996
+                ],
+                [
+                    7.4505797087454084e-09,
+                    0.7364754676818848,
+                    0.6764642000198364,
+                    2.7058565616607666
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_49",
+            "depth_file_path": "./train/r_49_depth_0000.png",
+            "mask_file_path": "./train/r_49_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9351987242698669,
+                    0.22950530052185059,
+                    0.2696869671344757,
+                    1.0787479877471924
+                ],
+                [
+                    0.3541240096092224,
+                    0.6060957312583923,
+                    0.7122106552124023,
+                    2.8488428592681885
+                ],
+                [
+                    0.0,
+                    0.76156085729599,
+                    -0.6480931639671326,
+                    -2.5923728942871094
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_50",
+            "depth_file_path": "./train/r_50_depth_0000.png",
+            "mask_file_path": "./train/r_50_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9620578289031982,
+                    0.027261152863502502,
+                    0.27148059010505676,
+                    1.0859222412109375
+                ],
+                [
+                    0.27284589409828186,
+                    -0.09612315148115158,
+                    -0.957243800163269,
+                    -3.828974723815918
+                ],
+                [
+                    0.0,
+                    0.9949960112571716,
+                    -0.09991413354873657,
+                    -0.3996564745903015
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_51",
+            "depth_file_path": "./train/r_51_depth_0000.png",
+            "mask_file_path": "./train/r_51_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.34487250447273254,
+                    -0.5646426677703857,
+                    0.7498276829719543,
+                    2.9993104934692383
+                ],
+                [
+                    0.9386494755744934,
+                    0.20745736360549927,
+                    -0.27549681067466736,
+                    -1.1019871234893799
+                ],
+                [
+                    -1.4901160305669237e-08,
+                    0.7988365292549133,
+                    0.6015480756759644,
+                    2.4061920642852783
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_52",
+            "depth_file_path": "./train/r_52_depth_0000.png",
+            "mask_file_path": "./train/r_52_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.2466285228729248,
+                    0.16557203233242035,
+                    -0.9548614025115967,
+                    -3.8194456100463867
+                ],
+                [
+                    -0.9691100716590881,
+                    -0.04213637486100197,
+                    0.24300238490104675,
+                    0.972009539604187
+                ],
+                [
+                    0.0,
+                    0.9852969646453857,
+                    0.17084956169128418,
+                    0.6833982467651367
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_53",
+            "depth_file_path": "./train/r_53_depth_0000.png",
+            "mask_file_path": "./train/r_53_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.6525071859359741,
+                    -0.5318147540092468,
+                    0.5398217439651489,
+                    2.1592869758605957
+                ],
+                [
+                    0.7577823400497437,
+                    0.45793214440345764,
+                    -0.4648267924785614,
+                    -1.859307050704956
+                ],
+                [
+                    1.4901157641133977e-08,
+                    0.7123703956604004,
+                    0.7018037438392639,
+                    2.8072149753570557
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_54",
+            "depth_file_path": "./train/r_54_depth_0000.png",
+            "mask_file_path": "./train/r_54_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8639833927154541,
+                    0.028256181627511978,
+                    0.5027269124984741,
+                    2.0109078884124756
+                ],
+                [
+                    0.5035204291343689,
+                    0.04848437011241913,
+                    0.8626217842102051,
+                    3.4504873752593994
+                ],
+                [
+                    -1.862645149230957e-09,
+                    0.998424232006073,
+                    -0.05611724779009819,
+                    -0.22446900606155396
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_55",
+            "depth_file_path": "./train/r_55_depth_0000.png",
+            "mask_file_path": "./train/r_55_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.702282190322876,
+                    0.042757660150527954,
+                    -0.7106133699417114,
+                    -2.842453718185425
+                ],
+                [
+                    -0.7118986248970032,
+                    -0.04218008741736412,
+                    0.7010143399238586,
+                    2.8040575981140137
+                ],
+                [
+                    0.0,
+                    0.9981947541236877,
+                    0.060061436146497726,
+                    0.2402457594871521
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_56",
+            "depth_file_path": "./train/r_56_depth_0000.png",
+            "mask_file_path": "./train/r_56_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.7430387139320374,
+                    -0.09380292892456055,
+                    -0.6626421809196472,
+                    -2.6505682468414307
+                ],
+                [
+                    -0.6692485213279724,
+                    -0.10414548218250275,
+                    -0.7357040047645569,
+                    -2.9428155422210693
+                ],
+                [
+                    0.0,
+                    0.9901286959648132,
+                    -0.14016161859035492,
+                    -0.5606463551521301
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_57",
+            "depth_file_path": "./train/r_57_depth_0000.png",
+            "mask_file_path": "./train/r_57_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9974478483200073,
+                    -0.0337967649102211,
+                    0.06289443373680115,
+                    0.2515777349472046
+                ],
+                [
+                    0.07139980047941208,
+                    -0.4721372723579407,
+                    0.8786287307739258,
+                    3.514514923095703
+                ],
+                [
+                    -1.862645149230957e-09,
+                    0.8808770179748535,
+                    0.4733453392982483,
+                    1.8933813571929932
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_58",
+            "depth_file_path": "./train/r_58_depth_0000.png",
+            "mask_file_path": "./train/r_58_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7431672811508179,
+                    -0.04268094152212143,
+                    -0.6677429676055908,
+                    -2.670971632003784
+                ],
+                [
+                    -0.6691055297851562,
+                    0.04740520566701889,
+                    0.7416539788246155,
+                    2.966615676879883
+                ],
+                [
+                    0.0,
+                    0.9979633688926697,
+                    -0.06378807872533798,
+                    -0.25515228509902954
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_59",
+            "depth_file_path": "./train/r_59_depth_0000.png",
+            "mask_file_path": "./train/r_59_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.16618137061595917,
+                    0.2261158525943756,
+                    0.9598205089569092,
+                    3.8392820358276367
+                ],
+                [
+                    0.9860951900482178,
+                    -0.038106102496385574,
+                    -0.16175344586372375,
+                    -0.647013783454895
+                ],
+                [
+                    3.725290298461914e-09,
+                    0.973354697227478,
+                    -0.22930428385734558,
+                    -0.9172171354293823
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_60",
+            "depth_file_path": "./train/r_60_depth_0000.png",
+            "mask_file_path": "./train/r_60_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.8366204500198364,
+                    -0.0025581528898328543,
+                    -0.5477771162986755,
+                    -2.191108226776123
+                ],
+                [
+                    -0.5477830171585083,
+                    -0.003907026723027229,
+                    -0.8366113901138306,
+                    -3.346445083618164
+                ],
+                [
+                    0.0,
+                    0.9999891519546509,
+                    -0.004670011345297098,
+                    -0.018680043518543243
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_61",
+            "depth_file_path": "./train/r_61_depth_0000.png",
+            "mask_file_path": "./train/r_61_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9978640675544739,
+                    0.0006916661513969302,
+                    0.0653219223022461,
+                    0.2612876892089844
+                ],
+                [
+                    0.06532558798789978,
+                    -0.010565366595983505,
+                    -0.997808039188385,
+                    -3.99123215675354
+                ],
+                [
+                    0.0,
+                    0.9999440312385559,
+                    -0.010587981902062893,
+                    -0.04235192760825157
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_62",
+            "depth_file_path": "./train/r_62_depth_0000.png",
+            "mask_file_path": "./train/r_62_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.5204005837440491,
+                    -0.09935937821865082,
+                    -0.8481220006942749,
+                    -3.3924880027770996
+                ],
+                [
+                    -0.8539222478866577,
+                    0.06055197864770889,
+                    0.5168657898902893,
+                    2.0674631595611572
+                ],
+                [
+                    3.725290298461914e-09,
+                    0.9932074546813965,
+                    -0.11635647714138031,
+                    -0.46542590856552124
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_63",
+            "depth_file_path": "./train/r_63_depth_0000.png",
+            "mask_file_path": "./train/r_63_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9957454800605774,
+                    -0.0028962434735149145,
+                    0.09210126101970673,
+                    0.3684050142765045
+                ],
+                [
+                    0.09214678406715393,
+                    0.03129703924059868,
+                    -0.9952535629272461,
+                    -3.981013774871826
+                ],
+                [
+                    0.0,
+                    0.9995059967041016,
+                    0.031430765986442566,
+                    0.12572304904460907
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_64",
+            "depth_file_path": "./train/r_64_depth_0000.png",
+            "mask_file_path": "./train/r_64_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.43328624963760376,
+                    -0.3238033950328827,
+                    0.8410793542861938,
+                    3.3643174171447754
+                ],
+                [
+                    0.9012566208839417,
+                    0.15567104518413544,
+                    -0.404355525970459,
+                    -1.617422103881836
+                ],
+                [
+                    -1.4901164746561335e-08,
+                    0.9332296252250671,
+                    0.3592800796031952,
+                    1.4371203184127808
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_65",
+            "depth_file_path": "./train/r_65_depth_0000.png",
+            "mask_file_path": "./train/r_65_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.5461828112602234,
+                    -0.23577608168125153,
+                    0.8037997484207153,
+                    3.215198516845703
+                ],
+                [
+                    0.837665855884552,
+                    -0.15373295545578003,
+                    0.5241011381149292,
+                    2.0964043140411377
+                ],
+                [
+                    0.0,
+                    0.9595706462860107,
+                    0.2814679443836212,
+                    1.1258716583251953
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_66",
+            "depth_file_path": "./train/r_66_depth_0000.png",
+            "mask_file_path": "./train/r_66_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.706486701965332,
+                    0.24143850803375244,
+                    0.6652699112892151,
+                    2.6610796451568604
+                ],
+                [
+                    0.7077264189720154,
+                    -0.24101556837558746,
+                    -0.6641045212745667,
+                    -2.6564180850982666
+                ],
+                [
+                    0.0,
+                    0.9400100708007812,
+                    -0.34114667773246765,
+                    -1.3645867109298706
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_67",
+            "depth_file_path": "./train/r_67_depth_0000.png",
+            "mask_file_path": "./train/r_67_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.34801751375198364,
+                    0.1802910417318344,
+                    -0.9199885725975037,
+                    -3.6799542903900146
+                ],
+                [
+                    -0.9374880194664001,
+                    0.06692826002836227,
+                    -0.341521292924881,
+                    -1.366085171699524
+                ],
+                [
+                    7.450580596923828e-09,
+                    0.9813334941864014,
+                    0.19231292605400085,
+                    0.7692517042160034
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_68",
+            "depth_file_path": "./train/r_68_depth_0000.png",
+            "mask_file_path": "./train/r_68_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8145931363105774,
+                    0.029736921191215515,
+                    -0.5792699456214905,
+                    -2.317080020904541
+                ],
+                [
+                    -0.5800328254699707,
+                    -0.041762277483940125,
+                    0.8135218620300293,
+                    3.2540876865386963
+                ],
+                [
+                    1.862645149230957e-09,
+                    0.9986848831176758,
+                    0.051267653703689575,
+                    0.2050706297159195
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_69",
+            "depth_file_path": "./train/r_69_depth_0000.png",
+            "mask_file_path": "./train/r_69_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.264851450920105,
+                    0.040968529880046844,
+                    -0.9634186625480652,
+                    -3.8536741733551025
+                ],
+                [
+                    -0.9642892479896545,
+                    -0.011252406053245068,
+                    0.2646123468875885,
+                    1.0584492683410645
+                ],
+                [
+                    9.313224635931761e-10,
+                    0.9990971088409424,
+                    0.04248573258519173,
+                    0.1699429154396057
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_70",
+            "depth_file_path": "./train/r_70_depth_0000.png",
+            "mask_file_path": "./train/r_70_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9855190515518188,
+                    -0.14457780122756958,
+                    -0.08859790861606598,
+                    -0.3543916344642639
+                ],
+                [
+                    -0.1695651412010193,
+                    -0.8402917385101318,
+                    -0.5149344205856323,
+                    -2.0597376823425293
+                ],
+                [
+                    0.0,
+                    0.5225006937980652,
+                    -0.852638840675354,
+                    -3.410555362701416
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_71",
+            "depth_file_path": "./train/r_71_depth_0000.png",
+            "mask_file_path": "./train/r_71_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.0631435215473175,
+                    -0.09757304191589355,
+                    -0.993223249912262,
+                    -3.972892999649048
+                ],
+                [
+                    -0.998004674911499,
+                    0.006173423491418362,
+                    0.0628410056233406,
+                    0.2513640224933624
+                ],
+                [
+                    -4.656613983300417e-10,
+                    0.9952090978622437,
+                    -0.0977681502699852,
+                    -0.3910726010799408
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_72",
+            "depth_file_path": "./train/r_72_depth_0000.png",
+            "mask_file_path": "./train/r_72_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.05230383947491646,
+                    0.02798984758555889,
+                    -0.9982389807701111,
+                    -3.992955446243286
+                ],
+                [
+                    -0.9986312389373779,
+                    0.0014659831067547202,
+                    -0.05228329822421074,
+                    -0.20913316309452057
+                ],
+                [
+                    -1.1641530794914701e-10,
+                    0.9996071457862854,
+                    0.0280282124876976,
+                    0.11211283504962921
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_73",
+            "depth_file_path": "./train/r_73_depth_0000.png",
+            "mask_file_path": "./train/r_73_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.1233784407377243,
+                    0.4132578372955322,
+                    0.9022171497344971,
+                    3.6088685989379883
+                ],
+                [
+                    0.9923597574234009,
+                    0.05137965828180313,
+                    0.11217115819454193,
+                    0.4486846327781677
+                ],
+                [
+                    0.0,
+                    0.9091634750366211,
+                    -0.4164395332336426,
+                    -1.6657581329345703
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_74",
+            "depth_file_path": "./train/r_74_depth_0000.png",
+            "mask_file_path": "./train/r_74_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.24350467324256897,
+                    0.313823938369751,
+                    0.9177254438400269,
+                    3.6709017753601074
+                ],
+                [
+                    0.9698997139930725,
+                    -0.07878916710615158,
+                    -0.23040570318698883,
+                    -0.9216228127479553
+                ],
+                [
+                    -7.450580596923828e-09,
+                    0.9462063908576965,
+                    -0.3235633075237274,
+                    -1.2942532300949097
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_75",
+            "depth_file_path": "./train/r_75_depth_0000.png",
+            "mask_file_path": "./train/r_75_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.12271687388420105,
+                    -0.04920627176761627,
+                    -0.9912211298942566,
+                    -3.9648845195770264
+                ],
+                [
+                    -0.9924419522285461,
+                    -0.006084425840526819,
+                    -0.12256591022014618,
+                    -0.4902636408805847
+                ],
+                [
+                    4.656613983300417e-10,
+                    0.9987700581550598,
+                    -0.04958102107048035,
+                    -0.1983240842819214
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_76",
+            "depth_file_path": "./train/r_76_depth_0000.png",
+            "mask_file_path": "./train/r_76_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.24861732125282288,
+                    0.03462471067905426,
+                    0.967982828617096,
+                    3.8719308376312256
+                ],
+                [
+                    0.9686017036437988,
+                    -0.008887349627912045,
+                    -0.24845847487449646,
+                    -0.9938337802886963
+                ],
+                [
+                    -9.313224080820248e-10,
+                    0.9993608593940735,
+                    -0.03574710711836815,
+                    -0.1429884135723114
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_77",
+            "depth_file_path": "./train/r_77_depth_0000.png",
+            "mask_file_path": "./train/r_77_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.39272838830947876,
+                    0.6237554550170898,
+                    0.6757909655570984,
+                    2.7031638622283936
+                ],
+                [
+                    0.9196544885635376,
+                    0.26636794209480286,
+                    0.28858911991119385,
+                    1.1543564796447754
+                ],
+                [
+                    -1.4901161193847656e-08,
+                    0.7348314523696899,
+                    -0.6782498359680176,
+                    -2.7129993438720703
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_78",
+            "depth_file_path": "./train/r_78_depth_0000.png",
+            "mask_file_path": "./train/r_78_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.6882140040397644,
+                    0.039574868977069855,
+                    0.7244276404380798,
+                    2.8977103233337402
+                ],
+                [
+                    0.7255077362060547,
+                    0.03754057735204697,
+                    0.6871894001960754,
+                    2.7487573623657227
+                ],
+                [
+                    0.0,
+                    0.9985111951828003,
+                    -0.054547831416130066,
+                    -0.21819129586219788
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_79",
+            "depth_file_path": "./train/r_79_depth_0000.png",
+            "mask_file_path": "./train/r_79_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.3758816719055176,
+                    -0.09997094422578812,
+                    -0.921259343624115,
+                    -3.68503737449646
+                ],
+                [
+                    -0.9266676902770996,
+                    -0.04055093973875046,
+                    -0.3736879229545593,
+                    -1.4947516918182373
+                ],
+                [
+                    0.0,
+                    0.9941636919975281,
+                    -0.10788219422101974,
+                    -0.431528776884079
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_80",
+            "depth_file_path": "./train/r_80_depth_0000.png",
+            "mask_file_path": "./train/r_80_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.7878472805023193,
+                    -0.0027562445029616356,
+                    -0.615864634513855,
+                    -2.4634580612182617
+                ],
+                [
+                    -0.6158707141876221,
+                    -0.0035259020514786243,
+                    -0.7878395915031433,
+                    -3.151357412338257
+                ],
+                [
+                    0.0,
+                    0.9999899864196777,
+                    -0.004475363064557314,
+                    -0.017901448532938957
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_81",
+            "depth_file_path": "./train/r_81_depth_0000.png",
+            "mask_file_path": "./train/r_81_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.06193916127085686,
+                    -0.24335159361362457,
+                    0.9679584503173828,
+                    3.8718338012695312
+                ],
+                [
+                    0.9980799555778503,
+                    0.015101989731192589,
+                    -0.060069870203733444,
+                    -0.24027948081493378
+                ],
+                [
+                    0.0,
+                    0.9698206186294556,
+                    0.2438197284936905,
+                    0.975278913974762
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_82",
+            "depth_file_path": "./train/r_82_depth_0000.png",
+            "mask_file_path": "./train/r_82_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9724861979484558,
+                    -0.09752722084522247,
+                    -0.21156324446201324,
+                    -0.846252977848053
+                ],
+                [
+                    -0.23296043276786804,
+                    -0.4071243703365326,
+                    -0.8831642866134644,
+                    -3.5326571464538574
+                ],
+                [
+                    7.450580596923828e-09,
+                    0.908150851726532,
+                    -0.41864287853240967,
+                    -1.6745715141296387
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_83",
+            "depth_file_path": "./train/r_83_depth_0000.png",
+            "mask_file_path": "./train/r_83_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.7326216101646423,
+                    -0.22711201012134552,
+                    0.6416273713111877,
+                    2.566509485244751
+                ],
+                [
+                    0.6806361079216003,
+                    0.24445834755897522,
+                    -0.6906334757804871,
+                    -2.7625339031219482
+                ],
+                [
+                    -1.4901160305669237e-08,
+                    0.9426878094673157,
+                    0.3336760997772217,
+                    1.3347043991088867
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_84",
+            "depth_file_path": "./train/r_84_depth_0000.png",
+            "mask_file_path": "./train/r_84_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.807056188583374,
+                    -0.18427889049053192,
+                    -0.5609827637672424,
+                    -2.243931293487549
+                ],
+                [
+                    -0.5904747843742371,
+                    -0.25187090039253235,
+                    -0.7667466998100281,
+                    -3.0669870376586914
+                ],
+                [
+                    -1.4901162970204496e-08,
+                    0.9500537514686584,
+                    -0.31208598613739014,
+                    -1.24834406375885
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_85",
+            "depth_file_path": "./train/r_85_depth_0000.png",
+            "mask_file_path": "./train/r_85_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9848453998565674,
+                    0.11283712089061737,
+                    -0.13170981407165527,
+                    -0.5268392562866211
+                ],
+                [
+                    -0.17343498766422272,
+                    0.6407421827316284,
+                    -0.74791020154953,
+                    -2.99164080619812
+                ],
+                [
+                    0.0,
+                    0.7594188451766968,
+                    0.6506019234657288,
+                    2.602407693862915
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_86",
+            "depth_file_path": "./train/r_86_depth_0000.png",
+            "mask_file_path": "./train/r_86_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7585687637329102,
+                    0.2913540303707123,
+                    -0.5828261375427246,
+                    -2.3313045501708984
+                ],
+                [
+                    -0.651593029499054,
+                    -0.33918726444244385,
+                    0.6785119771957397,
+                    2.714047908782959
+                ],
+                [
+                    0.0,
+                    0.8944633603096008,
+                    0.4471411406993866,
+                    1.7885645627975464
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_87",
+            "depth_file_path": "./train/r_87_depth_0000.png",
+            "mask_file_path": "./train/r_87_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.09352975338697433,
+                    0.2178703397512436,
+                    -0.9714860320091248,
+                    -3.8859431743621826
+                ],
+                [
+                    -0.9956164956092834,
+                    0.02046707458794117,
+                    -0.09126289188861847,
+                    -0.3650515079498291
+                ],
+                [
+                    0.0,
+                    0.9757630228996277,
+                    0.2188296616077423,
+                    0.8753184080123901
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_88",
+            "depth_file_path": "./train/r_88_depth_0000.png",
+            "mask_file_path": "./train/r_88_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.5491432547569275,
+                    -0.02481324039399624,
+                    -0.8353598117828369,
+                    -3.3414392471313477
+                ],
+                [
+                    -0.8357282280921936,
+                    -0.016304370015859604,
+                    -0.5489011406898499,
+                    -2.1956045627593994
+                ],
+                [
+                    0.0,
+                    0.9995590448379517,
+                    -0.029690561816096306,
+                    -0.11876224726438522
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_89",
+            "depth_file_path": "./train/r_89_depth_0000.png",
+            "mask_file_path": "./train/r_89_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7356010675430298,
+                    -0.20839150249958038,
+                    0.6445649862289429,
+                    2.5782601833343506
+                ],
+                [
+                    0.6774150729179382,
+                    -0.22629112005233765,
+                    0.6999293565750122,
+                    2.799717664718628
+                ],
+                [
+                    1.4901162970204496e-08,
+                    0.9515067934989929,
+                    0.30762749910354614,
+                    1.2305101156234741
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_90",
+            "depth_file_path": "./train/r_90_depth_0000.png",
+            "mask_file_path": "./train/r_90_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8266474008560181,
+                    -0.15112580358982086,
+                    -0.5420471429824829,
+                    -2.1681885719299316
+                ],
+                [
+                    -0.5627202391624451,
+                    0.22200681269168854,
+                    0.7962781190872192,
+                    3.185112476348877
+                ],
+                [
+                    -1.4901161193847656e-08,
+                    0.963262140750885,
+                    -0.268562912940979,
+                    -1.074251651763916
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_91",
+            "depth_file_path": "./train/r_91_depth_0000.png",
+            "mask_file_path": "./train/r_91_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9119771122932434,
+                    0.335761159658432,
+                    -0.23571696877479553,
+                    -0.9428678750991821
+                ],
+                [
+                    -0.41024160385131836,
+                    0.7464053630828857,
+                    -0.5240046381950378,
+                    -2.0960185527801514
+                ],
+                [
+                    0.0,
+                    0.5745809078216553,
+                    0.8184477090835571,
+                    3.2737908363342285
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_92",
+            "depth_file_path": "./train/r_92_depth_0000.png",
+            "mask_file_path": "./train/r_92_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9452493786811829,
+                    0.03445490077137947,
+                    -0.3245251476764679,
+                    -1.2981005907058716
+                ],
+                [
+                    -0.32634907960891724,
+                    0.09979642182588577,
+                    -0.9399664402008057,
+                    -3.7598657608032227
+                ],
+                [
+                    -3.725290742551124e-09,
+                    0.994411051273346,
+                    0.10557684302330017,
+                    0.4223073720932007
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_93",
+            "depth_file_path": "./train/r_93_depth_0000.png",
+            "mask_file_path": "./train/r_93_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.2740679085254669,
+                    0.8402721881866455,
+                    -0.467791885137558,
+                    -1.871167540550232
+                ],
+                [
+                    -0.9617102742195129,
+                    0.2394605278968811,
+                    -0.1333111971616745,
+                    -0.533244788646698
+                ],
+                [
+                    0.0,
+                    0.4864165484905243,
+                    0.873727023601532,
+                    3.494908094406128
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_94",
+            "depth_file_path": "./train/r_94_depth_0000.png",
+            "mask_file_path": "./train/r_94_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8316630125045776,
+                    -0.5479539036750793,
+                    0.08990642428398132,
+                    0.3596256971359253
+                ],
+                [
+                    0.5552806854248047,
+                    -0.8206894397735596,
+                    0.13465596735477448,
+                    0.5386238694190979
+                ],
+                [
+                    -7.450580596923828e-09,
+                    0.16191156208515167,
+                    0.986805260181427,
+                    3.947221040725708
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_95",
+            "depth_file_path": "./train/r_95_depth_0000.png",
+            "mask_file_path": "./train/r_95_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.312820166349411,
+                    0.46303024888038635,
+                    0.8293048739433289,
+                    3.3172194957733154
+                ],
+                [
+                    0.9498124122619629,
+                    -0.1524987518787384,
+                    -0.2731310725212097,
+                    -1.0925242900848389
+                ],
+                [
+                    1.4901161193847656e-08,
+                    0.873124897480011,
+                    -0.487496554851532,
+                    -1.949986219406128
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_96",
+            "depth_file_path": "./train/r_96_depth_0000.png",
+            "mask_file_path": "./train/r_96_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.42594432830810547,
+                    0.4639749228954315,
+                    0.7767230868339539,
+                    3.1068918704986572
+                ],
+                [
+                    0.90474933385849,
+                    0.21843339502811432,
+                    0.36567121744155884,
+                    1.4626847505569458
+                ],
+                [
+                    1.4901160305669237e-08,
+                    0.8584949374198914,
+                    -0.5128216743469238,
+                    -2.051286458969116
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_97",
+            "depth_file_path": "./train/r_97_depth_0000.png",
+            "mask_file_path": "./train/r_97_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.4740219712257385,
+                    -0.6978477835655212,
+                    0.5369465947151184,
+                    2.1477866172790527
+                ],
+                [
+                    0.8805133104324341,
+                    0.3756844997406006,
+                    -0.28906378149986267,
+                    -1.1562552452087402
+                ],
+                [
+                    1.4901164746561335e-08,
+                    0.6098111867904663,
+                    0.7925466299057007,
+                    3.170186996459961
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_98",
+            "depth_file_path": "./train/r_98_depth_0000.png",
+            "mask_file_path": "./train/r_98_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.8093599081039429,
+                    -0.5219542980194092,
+                    0.26925864815711975,
+                    1.077034592628479
+                ],
+                [
+                    0.5873129963874817,
+                    0.7192908525466919,
+                    -0.37105792760849,
+                    -1.48423171043396
+                ],
+                [
+                    1.4901161193847656e-08,
+                    0.4584585130214691,
+                    0.8887158036231995,
+                    3.554863214492798
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./train/r_99",
+            "depth_file_path": "./train/r_99_depth_0000.png",
+            "mask_file_path": "./train/r_99_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.04226440191268921,
+                    -0.9036173224449158,
+                    0.4262502193450928,
+                    1.705000877380371
+                ],
+                [
+                    0.9991065263748169,
+                    -0.038224998861551285,
+                    0.018031323328614235,
+                    0.07212529331445694
+                ],
+                [
+                    -1.862645371275562e-09,
+                    0.4266314208507538,
+                    0.9044255614280701,
+                    3.6177022457122803
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        }
+    ]
+}
\ No newline at end of file
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/transforms_val.json b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/transforms_val.json
new file mode 100644
index 0000000000000000000000000000000000000000..b909f15a6b5030de81dceecd763608401d760759
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/transforms_val.json
@@ -0,0 +1,3205 @@
+{
+    "camera_angle_x": 1.1656107902526855,
+    "frames": [
+        {
+            "file_path": "./val/r_0",
+            "depth_file_path": "./val/r_0_depth_0000.png",
+            "mask_file_path": "./val/r_0_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9936510920524597,
+                    0.01073460839688778,
+                    -0.1119917780160904,
+                    -0.4479670524597168
+                ],
+                [
+                    -0.11250504851341248,
+                    -0.09480869024991989,
+                    0.9891178607940674,
+                    3.9564709663391113
+                ],
+                [
+                    -9.313224080820248e-10,
+                    0.9954375624656677,
+                    0.09541448205709457,
+                    0.3816578686237335
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_1",
+            "depth_file_path": "./val/r_1_depth_0000.png",
+            "mask_file_path": "./val/r_1_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8315136432647705,
+                    0.10502058267593384,
+                    -0.5454868078231812,
+                    -2.1819467544555664
+                ],
+                [
+                    -0.555504322052002,
+                    -0.1572013795375824,
+                    0.8165188431739807,
+                    3.2660744190216064
+                ],
+                [
+                    0.0,
+                    0.9819666147232056,
+                    0.18905453383922577,
+                    0.756217896938324
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_2",
+            "depth_file_path": "./val/r_2_depth_0000.png",
+            "mask_file_path": "./val/r_2_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.15378454327583313,
+                    0.21795885264873505,
+                    0.9637656807899475,
+                    3.85506272315979
+                ],
+                [
+                    0.9881044626235962,
+                    -0.0339222252368927,
+                    -0.1499965488910675,
+                    -0.59998619556427
+                ],
+                [
+                    0.0,
+                    0.9753682613372803,
+                    -0.22058281302452087,
+                    -0.8823312520980835
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_3",
+            "depth_file_path": "./val/r_3_depth_0000.png",
+            "mask_file_path": "./val/r_3_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9568418264389038,
+                    0.05343210697174072,
+                    0.28565508127212524,
+                    1.142620325088501
+                ],
+                [
+                    0.2906094193458557,
+                    -0.17592710256576538,
+                    -0.9405295252799988,
+                    -3.762118101119995
+                ],
+                [
+                    -3.725290298461914e-09,
+                    0.9829519987106323,
+                    -0.18386228382587433,
+                    -0.7354491353034973
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_4",
+            "depth_file_path": "./val/r_4_depth_0000.png",
+            "mask_file_path": "./val/r_4_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9611790180206299,
+                    -0.11417467147111893,
+                    0.25119543075561523,
+                    1.004781723022461
+                ],
+                [
+                    0.27592572569847107,
+                    -0.39772409200668335,
+                    0.8750317692756653,
+                    3.500127077102661
+                ],
+                [
+                    7.450580596923828e-09,
+                    0.9103733897209167,
+                    0.41378772258758545,
+                    1.6551508903503418
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_5",
+            "depth_file_path": "./val/r_5_depth_0000.png",
+            "mask_file_path": "./val/r_5_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9572023153305054,
+                    0.10755261033773422,
+                    -0.2686935067176819,
+                    -1.074773907661438
+                ],
+                [
+                    -0.28941968083381653,
+                    0.3557104468345642,
+                    -0.8886542916297913,
+                    -3.554616689682007
+                ],
+                [
+                    0.0,
+                    0.9283869862556458,
+                    0.3716147840023041,
+                    1.4864590167999268
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_6",
+            "depth_file_path": "./val/r_6_depth_0000.png",
+            "mask_file_path": "./val/r_6_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9763031005859375,
+                    0.19415035843849182,
+                    0.09559454023838043,
+                    0.38237816095352173
+                ],
+                [
+                    0.2164086550474167,
+                    0.8758873343467712,
+                    0.43126392364501953,
+                    1.7250556945800781
+                ],
+                [
+                    0.0,
+                    0.4417315125465393,
+                    -0.8971472382545471,
+                    -3.5885889530181885
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_7",
+            "depth_file_path": "./val/r_7_depth_0000.png",
+            "mask_file_path": "./val/r_7_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7352173328399658,
+                    -0.32269197702407837,
+                    0.5960917472839355,
+                    2.384366989135742
+                ],
+                [
+                    0.6778315305709839,
+                    -0.35001140832901,
+                    0.6465574502944946,
+                    2.5862298011779785
+                ],
+                [
+                    0.0,
+                    0.8794100284576416,
+                    0.4760652184486389,
+                    1.9042608737945557
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_8",
+            "depth_file_path": "./val/r_8_depth_0000.png",
+            "mask_file_path": "./val/r_8_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.959033727645874,
+                    0.20383505523204803,
+                    -0.19673751294612885,
+                    -0.7869500517845154
+                ],
+                [
+                    -0.2832920551300049,
+                    0.6900465488433838,
+                    -0.666019082069397,
+                    -2.664076328277588
+                ],
+                [
+                    0.0,
+                    0.6944689154624939,
+                    0.7195227146148682,
+                    2.8780908584594727
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_9",
+            "depth_file_path": "./val/r_9_depth_0000.png",
+            "mask_file_path": "./val/r_9_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.3826623857021332,
+                    -0.6663509011268616,
+                    0.6399577260017395,
+                    2.559830904006958
+                ],
+                [
+                    0.9238882064819336,
+                    -0.27599382400512695,
+                    0.2650620937347412,
+                    1.0602483749389648
+                ],
+                [
+                    1.4901160305669237e-08,
+                    0.6926786303520203,
+                    0.7212462425231934,
+                    2.8849849700927734
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_10",
+            "depth_file_path": "./val/r_10_depth_0000.png",
+            "mask_file_path": "./val/r_10_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.99335116147995,
+                    0.03806109353899956,
+                    -0.10865025967359543,
+                    -0.43460097908973694
+                ],
+                [
+                    -0.11512394994497299,
+                    0.3284114897251129,
+                    -0.9374926686286926,
+                    -3.7499701976776123
+                ],
+                [
+                    -3.725290298461914e-09,
+                    0.9437673687934875,
+                    0.3306097388267517,
+                    1.3224388360977173
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_11",
+            "depth_file_path": "./val/r_11_depth_0000.png",
+            "mask_file_path": "./val/r_11_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7438110709190369,
+                    -0.006916423328220844,
+                    -0.6683541536331177,
+                    -2.6734163761138916
+                ],
+                [
+                    -0.6683899164199829,
+                    0.0076968735083937645,
+                    0.7437713146209717,
+                    2.9750850200653076
+                ],
+                [
+                    4.6566123179658803e-10,
+                    0.9999464750289917,
+                    -0.010347887873649597,
+                    -0.04139154776930809
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_12",
+            "depth_file_path": "./val/r_12_depth_0000.png",
+            "mask_file_path": "./val/r_12_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9260953664779663,
+                    0.011508431285619736,
+                    0.3771143853664398,
+                    1.5084575414657593
+                ],
+                [
+                    0.3772900700569153,
+                    0.02824857272207737,
+                    0.9256642460823059,
+                    3.7026569843292236
+                ],
+                [
+                    9.313227966600834e-10,
+                    0.9995346069335938,
+                    -0.030502885580062866,
+                    -0.12201154232025146
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_13",
+            "depth_file_path": "./val/r_13_depth_0000.png",
+            "mask_file_path": "./val/r_13_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.698230504989624,
+                    -0.7025556564331055,
+                    -0.13743948936462402,
+                    -0.5497579574584961
+                ],
+                [
+                    -0.7158730626106262,
+                    -0.6852413415908813,
+                    -0.1340523213148117,
+                    -0.5362092852592468
+                ],
+                [
+                    0.0,
+                    0.19198858737945557,
+                    -0.9813971519470215,
+                    -3.925588607788086
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_14",
+            "depth_file_path": "./val/r_14_depth_0000.png",
+            "mask_file_path": "./val/r_14_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.1183183342218399,
+                    0.6564717292785645,
+                    0.745013952255249,
+                    2.980055809020996
+                ],
+                [
+                    0.9929757118225098,
+                    0.07822208851575851,
+                    0.08877237141132355,
+                    0.3550894856452942
+                ],
+                [
+                    3.7252898543727042e-09,
+                    0.7502841353416443,
+                    -0.6611154675483704,
+                    -2.6444618701934814
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_15",
+            "depth_file_path": "./val/r_15_depth_0000.png",
+            "mask_file_path": "./val/r_15_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7264696359634399,
+                    -0.21125715970993042,
+                    -0.6539207100868225,
+                    -2.61568284034729
+                ],
+                [
+                    -0.6871985793113708,
+                    0.22332976758480072,
+                    0.691290020942688,
+                    2.765160083770752
+                ],
+                [
+                    -1.4901161193847656e-08,
+                    0.951574444770813,
+                    -0.30741795897483826,
+                    -1.229671835899353
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_16",
+            "depth_file_path": "./val/r_16_depth_0000.png",
+            "mask_file_path": "./val/r_16_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.07353964447975159,
+                    -0.3478281497955322,
+                    0.9346697330474854,
+                    3.7386789321899414
+                ],
+                [
+                    0.9972925186157227,
+                    0.025648601353168488,
+                    -0.06892188638448715,
+                    -0.2756875455379486
+                ],
+                [
+                    0.0,
+                    0.9372074007987976,
+                    0.3487725555896759,
+                    1.3950902223587036
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_17",
+            "depth_file_path": "./val/r_17_depth_0000.png",
+            "mask_file_path": "./val/r_17_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.2735578119754791,
+                    0.781568706035614,
+                    0.5606393814086914,
+                    2.2425575256347656
+                ],
+                [
+                    0.9618554711341858,
+                    0.22228312492370605,
+                    0.15944939851760864,
+                    0.6377975940704346
+                ],
+                [
+                    -1.4901158529312397e-08,
+                    0.5828726291656494,
+                    -0.8125634789466858,
+                    -3.250253915786743
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_18",
+            "depth_file_path": "./val/r_18_depth_0000.png",
+            "mask_file_path": "./val/r_18_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.10003320872783661,
+                    -0.22603431344032288,
+                    0.9689697027206421,
+                    3.875877857208252
+                ],
+                [
+                    0.9949841499328613,
+                    0.022724924609065056,
+                    -0.09741779416799545,
+                    -0.38967105746269226
+                ],
+                [
+                    0.0,
+                    0.9738542437553406,
+                    0.2271738499403,
+                    0.9086951613426208
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_19",
+            "depth_file_path": "./val/r_19_depth_0000.png",
+            "mask_file_path": "./val/r_19_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.020230785012245178,
+                    0.4991935193538666,
+                    0.8662543296813965,
+                    3.465017318725586
+                ],
+                [
+                    0.9997952580451965,
+                    -0.010101145133376122,
+                    -0.0175285954028368,
+                    -0.0701143816113472
+                ],
+                [
+                    -9.313225191043273e-10,
+                    0.866431474685669,
+                    -0.49929574131965637,
+                    -1.9971829652786255
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_20",
+            "depth_file_path": "./val/r_20_depth_0000.png",
+            "mask_file_path": "./val/r_20_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9881758689880371,
+                    0.006400516722351313,
+                    -0.15319062769412994,
+                    -0.6127625107765198
+                ],
+                [
+                    -0.15332426130771637,
+                    0.04125136882066727,
+                    -0.9873145222663879,
+                    -3.9492580890655518
+                ],
+                [
+                    0.0,
+                    0.9991282820701599,
+                    0.041744962334632874,
+                    0.1669798493385315
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_21",
+            "depth_file_path": "./val/r_21_depth_0000.png",
+            "mask_file_path": "./val/r_21_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7206165194511414,
+                    0.027868671342730522,
+                    -0.6927735805511475,
+                    -2.7710940837860107
+                ],
+                [
+                    -0.6933339238166809,
+                    -0.0289653018116951,
+                    0.7200341820716858,
+                    2.880136489868164
+                ],
+                [
+                    0.0,
+                    0.9991915822029114,
+                    0.04019518196582794,
+                    0.16078071296215057
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_22",
+            "depth_file_path": "./val/r_22_depth_0000.png",
+            "mask_file_path": "./val/r_22_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.8732953071594238,
+                    -0.17369791865348816,
+                    0.45517510175704956,
+                    1.8207001686096191
+                ],
+                [
+                    0.48719123005867004,
+                    0.311355322599411,
+                    -0.8159060478210449,
+                    -3.2636237144470215
+                ],
+                [
+                    0.0,
+                    0.9342841506004333,
+                    0.3565293252468109,
+                    1.426117181777954
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_23",
+            "depth_file_path": "./val/r_23_depth_0000.png",
+            "mask_file_path": "./val/r_23_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.4804597496986389,
+                    0.7353338003158569,
+                    0.4779568612575531,
+                    1.9118274450302124
+                ],
+                [
+                    0.8770167827606201,
+                    0.4028409421443939,
+                    0.2618410587310791,
+                    1.0473642349243164
+                ],
+                [
+                    0.0,
+                    0.5449802279472351,
+                    -0.8384488821029663,
+                    -3.3537955284118652
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_24",
+            "depth_file_path": "./val/r_24_depth_0000.png",
+            "mask_file_path": "./val/r_24_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.47200170159339905,
+                    -0.24900932610034943,
+                    0.8457003831863403,
+                    3.382800579071045
+                ],
+                [
+                    0.8815975785255432,
+                    0.1333179920911789,
+                    -0.452782541513443,
+                    -1.8111296892166138
+                ],
+                [
+                    0.0,
+                    0.9592813849449158,
+                    0.28245240449905396,
+                    1.1298093795776367
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_25",
+            "depth_file_path": "./val/r_25_depth_0000.png",
+            "mask_file_path": "./val/r_25_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.995708703994751,
+                    0.00013886624947190285,
+                    0.0925435945391655,
+                    0.370174378156662
+                ],
+                [
+                    0.09254370629787445,
+                    0.0014941085828468204,
+                    0.9957075119018555,
+                    3.982830047607422
+                ],
+                [
+                    0.0,
+                    0.999998927116394,
+                    -0.0015005478635430336,
+                    -0.006002191454172134
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_26",
+            "depth_file_path": "./val/r_26_depth_0000.png",
+            "mask_file_path": "./val/r_26_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.2904112637042999,
+                    -0.8500760197639465,
+                    0.4393540918827057,
+                    1.7574163675308228
+                ],
+                [
+                    0.9569019079208374,
+                    0.2579905390739441,
+                    -0.13334007561206818,
+                    -0.5333603024482727
+                ],
+                [
+                    0.0,
+                    0.45914226770401,
+                    0.8883627653121948,
+                    3.5534510612487793
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_27",
+            "depth_file_path": "./val/r_27_depth_0000.png",
+            "mask_file_path": "./val/r_27_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9348528981208801,
+                    -0.09455656260251999,
+                    -0.34221217036247253,
+                    -1.3688486814498901
+                ],
+                [
+                    -0.3550353944301605,
+                    -0.2489793449640274,
+                    -0.901087760925293,
+                    -3.604351043701172
+                ],
+                [
+                    0.0,
+                    0.9638819694519043,
+                    -0.26632997393608093,
+                    -1.0653198957443237
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_28",
+            "depth_file_path": "./val/r_28_depth_0000.png",
+            "mask_file_path": "./val/r_28_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.06615229696035385,
+                    0.9814943671226501,
+                    0.17970073223114014,
+                    0.7188029289245605
+                ],
+                [
+                    0.9978095293045044,
+                    -0.06507064402103424,
+                    -0.011913713067770004,
+                    -0.04765485227108002
+                ],
+                [
+                    0.0,
+                    0.18009518086910248,
+                    -0.9836491942405701,
+                    -3.9345967769622803
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_29",
+            "depth_file_path": "./val/r_29_depth_0000.png",
+            "mask_file_path": "./val/r_29_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.5448978543281555,
+                    0.05327630788087845,
+                    -0.8368082046508789,
+                    -3.3472328186035156
+                ],
+                [
+                    -0.8385024666786194,
+                    -0.03462141752243042,
+                    0.5437968373298645,
+                    2.175187349319458
+                ],
+                [
+                    1.862645149230957e-09,
+                    0.997979462146759,
+                    0.06353744864463806,
+                    0.25414979457855225
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_30",
+            "depth_file_path": "./val/r_30_depth_0000.png",
+            "mask_file_path": "./val/r_30_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.048826806247234344,
+                    -0.3812330961227417,
+                    0.9231886267662048,
+                    3.6927545070648193
+                ],
+                [
+                    0.9988073110580444,
+                    0.01863662153482437,
+                    -0.0451301746070385,
+                    -0.180520698428154
+                ],
+                [
+                    -1.862645371275562e-09,
+                    0.9242909550666809,
+                    0.3816883862018585,
+                    1.526753544807434
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_31",
+            "depth_file_path": "./val/r_31_depth_0000.png",
+            "mask_file_path": "./val/r_31_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8509067893028259,
+                    -0.3782399594783783,
+                    -0.36454370617866516,
+                    -1.4581748247146606
+                ],
+                [
+                    -0.5253167152404785,
+                    0.6126722693443298,
+                    0.5904871225357056,
+                    2.3619484901428223
+                ],
+                [
+                    -1.4901161193847656e-08,
+                    0.6939502358436584,
+                    -0.7200228571891785,
+                    -2.880091428756714
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_32",
+            "depth_file_path": "./val/r_32_depth_0000.png",
+            "mask_file_path": "./val/r_32_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.8874951601028442,
+                    -0.32511335611343384,
+                    -0.32657888531684875,
+                    -1.306315541267395
+                ],
+                [
+                    -0.4608171582221985,
+                    -0.6261410117149353,
+                    -0.6289634704589844,
+                    -2.5158538818359375
+                ],
+                [
+                    -1.4901161193847656e-08,
+                    0.708695113658905,
+                    -0.7055148482322693,
+                    -2.822059392929077
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_33",
+            "depth_file_path": "./val/r_33_depth_0000.png",
+            "mask_file_path": "./val/r_33_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.24910351634025574,
+                    0.6462589502334595,
+                    -0.7213159799575806,
+                    -2.8852639198303223
+                ],
+                [
+                    -0.9684768915176392,
+                    0.16622531414031982,
+                    -0.1855308562517166,
+                    -0.7421234250068665
+                ],
+                [
+                    0.0,
+                    0.7447941303253174,
+                    0.6672942042350769,
+                    2.6691768169403076
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_34",
+            "depth_file_path": "./val/r_34_depth_0000.png",
+            "mask_file_path": "./val/r_34_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.5201665163040161,
+                    0.17445364594459534,
+                    0.8360578417778015,
+                    3.344231367111206
+                ],
+                [
+                    0.8540648818016052,
+                    0.10625064373016357,
+                    0.5091993808746338,
+                    2.036797523498535
+                ],
+                [
+                    0.0,
+                    0.9789161086082458,
+                    -0.20426274836063385,
+                    -0.8170509934425354
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_35",
+            "depth_file_path": "./val/r_35_depth_0000.png",
+            "mask_file_path": "./val/r_35_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8688252568244934,
+                    0.04727339744567871,
+                    0.49285683035850525,
+                    1.9714268445968628
+                ],
+                [
+                    0.4951186776161194,
+                    0.08295450359582901,
+                    0.8648563027381897,
+                    3.4594242572784424
+                ],
+                [
+                    0.0,
+                    0.9954314827919006,
+                    -0.09547893702983856,
+                    -0.3819156289100647
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_36",
+            "depth_file_path": "./val/r_36_depth_0000.png",
+            "mask_file_path": "./val/r_36_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8623424768447876,
+                    0.4227473735809326,
+                    -0.2786577343940735,
+                    -1.114630937576294
+                ],
+                [
+                    -0.5063254833221436,
+                    -0.7199974656105042,
+                    0.47459277510643005,
+                    1.8983711004257202
+                ],
+                [
+                    0.0,
+                    0.550352931022644,
+                    0.8349320888519287,
+                    3.339728355407715
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_37",
+            "depth_file_path": "./val/r_37_depth_0000.png",
+            "mask_file_path": "./val/r_37_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.6696925163269043,
+                    -0.6432186365127563,
+                    0.3711896240711212,
+                    1.4847584962844849
+                ],
+                [
+                    0.7426385879516602,
+                    0.5800381898880005,
+                    -0.3347293436527252,
+                    -1.3389173746109009
+                ],
+                [
+                    -1.4901161193847656e-08,
+                    0.4998253285884857,
+                    0.8661261796951294,
+                    3.4645047187805176
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_38",
+            "depth_file_path": "./val/r_38_depth_0000.png",
+            "mask_file_path": "./val/r_38_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7501578330993652,
+                    0.40654900670051575,
+                    -0.5215180516242981,
+                    -2.0860722064971924
+                ],
+                [
+                    -0.6612588167190552,
+                    -0.4612050950527191,
+                    0.5916304588317871,
+                    2.3665218353271484
+                ],
+                [
+                    0.0,
+                    0.7886746525764465,
+                    0.6148107647895813,
+                    2.459243059158325
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_39",
+            "depth_file_path": "./val/r_39_depth_0000.png",
+            "mask_file_path": "./val/r_39_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.1535443812608719,
+                    0.14958471059799194,
+                    0.9767540693283081,
+                    3.9070162773132324
+                ],
+                [
+                    0.9881417751312256,
+                    -0.02324352040886879,
+                    -0.15177488327026367,
+                    -0.6070995330810547
+                ],
+                [
+                    0.0,
+                    0.9884756803512573,
+                    -0.15137982368469238,
+                    -0.6055192947387695
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_40",
+            "depth_file_path": "./val/r_40_depth_0000.png",
+            "mask_file_path": "./val/r_40_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.7792195677757263,
+                    0.2664596438407898,
+                    -0.5672886371612549,
+                    -2.2691547870635986
+                ],
+                [
+                    -0.6267514228820801,
+                    0.33128049969673157,
+                    -0.7052913308143616,
+                    -2.8211655616760254
+                ],
+                [
+                    0.0,
+                    0.9051256775856018,
+                    0.4251440763473511,
+                    1.7005765438079834
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_41",
+            "depth_file_path": "./val/r_41_depth_0000.png",
+            "mask_file_path": "./val/r_41_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.947957456111908,
+                    0.1986944079399109,
+                    -0.24879135191440582,
+                    -0.9951652884483337
+                ],
+                [
+                    -0.3183968663215637,
+                    -0.5915693640708923,
+                    0.7407220602035522,
+                    2.96288800239563
+                ],
+                [
+                    0.0,
+                    0.7813873887062073,
+                    0.6240463256835938,
+                    2.496185064315796
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_42",
+            "depth_file_path": "./val/r_42_depth_0000.png",
+            "mask_file_path": "./val/r_42_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8670633435249329,
+                    -0.26317575573921204,
+                    0.4230125844478607,
+                    1.6920503377914429
+                ],
+                [
+                    0.49819785356521606,
+                    -0.45803096890449524,
+                    0.7362108826637268,
+                    2.9448435306549072
+                ],
+                [
+                    0.0,
+                    0.8490853309631348,
+                    0.5282555222511292,
+                    2.1130220890045166
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_43",
+            "depth_file_path": "./val/r_43_depth_0000.png",
+            "mask_file_path": "./val/r_43_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.2691066265106201,
+                    0.5669605135917664,
+                    0.7785482406616211,
+                    3.1141929626464844
+                ],
+                [
+                    0.963110625743866,
+                    0.1584167331457138,
+                    0.2175373136997223,
+                    0.8701492547988892
+                ],
+                [
+                    0.0,
+                    0.8083685040473938,
+                    -0.5886766314506531,
+                    -2.3547065258026123
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_44",
+            "depth_file_path": "./val/r_44_depth_0000.png",
+            "mask_file_path": "./val/r_44_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7721909284591675,
+                    -0.2678983211517334,
+                    -0.5761524438858032,
+                    -2.304609775543213
+                ],
+                [
+                    -0.6353905200958252,
+                    0.32557716965675354,
+                    0.7001988291740417,
+                    2.800795316696167
+                ],
+                [
+                    -1.4901161193847656e-08,
+                    0.9067689776420593,
+                    -0.42162778973579407,
+                    -1.6865111589431763
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_45",
+            "depth_file_path": "./val/r_45_depth_0000.png",
+            "mask_file_path": "./val/r_45_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7852796912193298,
+                    0.1616252362728119,
+                    -0.5976731181144714,
+                    -2.3906924724578857
+                ],
+                [
+                    -0.6191412806510925,
+                    -0.20499524474143982,
+                    0.7580508589744568,
+                    3.032203435897827
+                ],
+                [
+                    0.0,
+                    0.9653260111808777,
+                    0.2610474228858948,
+                    1.044189691543579
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_46",
+            "depth_file_path": "./val/r_46_depth_0000.png",
+            "mask_file_path": "./val/r_46_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.5407892465591431,
+                    0.7566024661064148,
+                    0.3675592541694641,
+                    1.4702370166778564
+                ],
+                [
+                    0.8411581516265869,
+                    0.4864274859428406,
+                    0.23630762100219727,
+                    0.9452304840087891
+                ],
+                [
+                    0.0,
+                    0.436968058347702,
+                    -0.8994770050048828,
+                    -3.5979080200195312
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_47",
+            "depth_file_path": "./val/r_47_depth_0000.png",
+            "mask_file_path": "./val/r_47_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7814488410949707,
+                    -0.10834416002035141,
+                    0.6144911050796509,
+                    2.4579644203186035
+                ],
+                [
+                    0.6239693760871887,
+                    -0.1356884092092514,
+                    0.7695783972740173,
+                    3.0783135890960693
+                ],
+                [
+                    -7.450580596923828e-09,
+                    0.9848097562789917,
+                    0.17363697290420532,
+                    0.6945478916168213
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_48",
+            "depth_file_path": "./val/r_48_depth_0000.png",
+            "mask_file_path": "./val/r_48_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.20480483770370483,
+                    -0.02665926143527031,
+                    -0.9784396886825562,
+                    -3.9137587547302246
+                ],
+                [
+                    -0.9788028597831726,
+                    -0.005578187759965658,
+                    -0.2047288417816162,
+                    -0.8189153671264648
+                ],
+                [
+                    -9.31322685637781e-10,
+                    0.9996289014816284,
+                    -0.027236605063080788,
+                    -0.10894642025232315
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_49",
+            "depth_file_path": "./val/r_49_depth_0000.png",
+            "mask_file_path": "./val/r_49_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.4628854990005493,
+                    0.7726568579673767,
+                    -0.4344402551651001,
+                    -1.7377612590789795
+                ],
+                [
+                    -0.886418342590332,
+                    -0.40347951650619507,
+                    0.22686362266540527,
+                    0.9074546098709106
+                ],
+                [
+                    -1.4901164746561335e-08,
+                    0.4901076555252075,
+                    0.8716617822647095,
+                    3.486647605895996
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_50",
+            "depth_file_path": "./val/r_50_depth_0000.png",
+            "mask_file_path": "./val/r_50_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.3205999433994293,
+                    0.5749224424362183,
+                    -0.752781331539154,
+                    -3.0111258029937744
+                ],
+                [
+                    -0.9472147822380066,
+                    0.19459165632724762,
+                    -0.25479087233543396,
+                    -1.0191636085510254
+                ],
+                [
+                    -1.4901161193847656e-08,
+                    0.7947316765785217,
+                    0.6069609522819519,
+                    2.4278440475463867
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_51",
+            "depth_file_path": "./val/r_51_depth_0000.png",
+            "mask_file_path": "./val/r_51_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.3549589216709137,
+                    -0.3642567992210388,
+                    0.8610000610351562,
+                    3.444000244140625
+                ],
+                [
+                    0.934881865978241,
+                    0.13830219209194183,
+                    -0.32690727710723877,
+                    -1.307629108428955
+                ],
+                [
+                    0.0,
+                    0.9209718108177185,
+                    0.38962873816490173,
+                    1.558514952659607
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_52",
+            "depth_file_path": "./val/r_52_depth_0000.png",
+            "mask_file_path": "./val/r_52_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.5922900438308716,
+                    -0.30492106080055237,
+                    -0.745798647403717,
+                    -2.9831948280334473
+                ],
+                [
+                    -0.80572509765625,
+                    0.22414806485176086,
+                    0.5482380390167236,
+                    2.1929523944854736
+                ],
+                [
+                    0.0,
+                    0.9256243705749512,
+                    -0.3784431517124176,
+                    -1.5137728452682495
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_53",
+            "depth_file_path": "./val/r_53_depth_0000.png",
+            "mask_file_path": "./val/r_53_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9727839827537537,
+                    -0.005423867143690586,
+                    -0.23165035247802734,
+                    -0.9266014099121094
+                ],
+                [
+                    -0.23171384632587433,
+                    -0.02277054637670517,
+                    -0.9725174307823181,
+                    -3.8900697231292725
+                ],
+                [
+                    0.0,
+                    0.9997260570526123,
+                    -0.023407606407999992,
+                    -0.09363042563199997
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_54",
+            "depth_file_path": "./val/r_54_depth_0000.png",
+            "mask_file_path": "./val/r_54_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.46836453676223755,
+                    0.46837472915649414,
+                    0.7491726875305176,
+                    2.9966907501220703
+                ],
+                [
+                    0.8835353851318359,
+                    -0.24828672409057617,
+                    -0.3971385061740875,
+                    -1.5885539054870605
+                ],
+                [
+                    0.0,
+                    0.8479259610176086,
+                    -0.5301144123077393,
+                    -2.120457649230957
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_55",
+            "depth_file_path": "./val/r_55_depth_0000.png",
+            "mask_file_path": "./val/r_55_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.3075840175151825,
+                    -0.2824144661426544,
+                    -0.9086441397666931,
+                    -3.6345765590667725
+                ],
+                [
+                    -0.9515209197998047,
+                    -0.09129192680120468,
+                    -0.2937238812446594,
+                    -1.1748955249786377
+                ],
+                [
+                    0.0,
+                    0.9549386501312256,
+                    -0.29680323600769043,
+                    -1.1872129440307617
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_56",
+            "depth_file_path": "./val/r_56_depth_0000.png",
+            "mask_file_path": "./val/r_56_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9898012280464172,
+                    0.1383977234363556,
+                    0.0337594710290432,
+                    0.1350378841161728
+                ],
+                [
+                    0.14245572686195374,
+                    0.9616056680679321,
+                    0.23456525802612305,
+                    0.9382610321044922
+                ],
+                [
+                    0.0,
+                    0.23698221147060394,
+                    -0.9715139865875244,
+                    -3.8860559463500977
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_57",
+            "depth_file_path": "./val/r_57_depth_0000.png",
+            "mask_file_path": "./val/r_57_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.21901866793632507,
+                    0.8527718782424927,
+                    0.4741423428058624,
+                    1.8965693712234497
+                ],
+                [
+                    0.9757208824157715,
+                    0.19142046570777893,
+                    0.1064300462603569,
+                    0.4257201850414276
+                ],
+                [
+                    0.0,
+                    0.48594069480895996,
+                    -0.8739917874336243,
+                    -3.495967149734497
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_58",
+            "depth_file_path": "./val/r_58_depth_0000.png",
+            "mask_file_path": "./val/r_58_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9199365973472595,
+                    0.20200037956237793,
+                    0.3360247313976288,
+                    1.3440989255905151
+                ],
+                [
+                    0.3920673131942749,
+                    -0.4739684760570526,
+                    -0.7884397506713867,
+                    -3.153759002685547
+                ],
+                [
+                    0.0,
+                    0.8570588231086731,
+                    -0.5152186155319214,
+                    -2.0608744621276855
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_59",
+            "depth_file_path": "./val/r_59_depth_0000.png",
+            "mask_file_path": "./val/r_59_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8608875870704651,
+                    -0.07497414946556091,
+                    -0.5032408237457275,
+                    -2.012963056564331
+                ],
+                [
+                    -0.5087949633598328,
+                    0.1268572360277176,
+                    0.8514899015426636,
+                    3.405959129333496
+                ],
+                [
+                    7.4505792646561986e-09,
+                    0.989083468914032,
+                    -0.147356316447258,
+                    -0.5894252061843872
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_60",
+            "depth_file_path": "./val/r_60_depth_0000.png",
+            "mask_file_path": "./val/r_60_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.0629924088716507,
+                    -0.5016907453536987,
+                    -0.8627504110336304,
+                    -3.4510016441345215
+                ],
+                [
+                    -0.9980140924453735,
+                    0.03166559338569641,
+                    0.05445487052202225,
+                    0.217819482088089
+                ],
+                [
+                    0.0,
+                    0.8644671440124512,
+                    -0.5026891231536865,
+                    -2.010756492614746
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_61",
+            "depth_file_path": "./val/r_61_depth_0000.png",
+            "mask_file_path": "./val/r_61_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.302007794380188,
+                    -0.49243423342704773,
+                    0.8162718415260315,
+                    3.265087366104126
+                ],
+                [
+                    0.9533054232597351,
+                    0.15600350499153137,
+                    -0.2585954964160919,
+                    -1.0343819856643677
+                ],
+                [
+                    0.0,
+                    0.8562540411949158,
+                    0.516554594039917,
+                    2.066218376159668
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_62",
+            "depth_file_path": "./val/r_62_depth_0000.png",
+            "mask_file_path": "./val/r_62_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8992629051208496,
+                    -0.18030278384685516,
+                    0.3985188603401184,
+                    1.5940752029418945
+                ],
+                [
+                    0.4374086856842041,
+                    -0.37068215012550354,
+                    0.8193097710609436,
+                    3.277238607406616
+                ],
+                [
+                    0.0,
+                    0.911090075969696,
+                    0.41220682859420776,
+                    1.648827075958252
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_63",
+            "depth_file_path": "./val/r_63_depth_0000.png",
+            "mask_file_path": "./val/r_63_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.605099618434906,
+                    0.26202601194381714,
+                    -0.751795768737793,
+                    -3.007183074951172
+                ],
+                [
+                    -0.7961497902870178,
+                    -0.1991482377052307,
+                    0.5713891386985779,
+                    2.2855565547943115
+                ],
+                [
+                    1.4901159417490817e-08,
+                    0.9442894458770752,
+                    0.32911643385887146,
+                    1.3164657354354858
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_64",
+            "depth_file_path": "./val/r_64_depth_0000.png",
+            "mask_file_path": "./val/r_64_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.856183648109436,
+                    0.3186842203140259,
+                    -0.40668168663978577,
+                    -1.626726746559143
+                ],
+                [
+                    -0.5166717171669006,
+                    0.5280959010124207,
+                    -0.6739176511764526,
+                    -2.6956706047058105
+                ],
+                [
+                    1.4901162970204496e-08,
+                    0.7871180176734924,
+                    0.6168022155761719,
+                    2.4672088623046875
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_65",
+            "depth_file_path": "./val/r_65_depth_0000.png",
+            "mask_file_path": "./val/r_65_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.24880416691303253,
+                    -0.1723085343837738,
+                    -0.9531034231185913,
+                    -3.8124139308929443
+                ],
+                [
+                    -0.968553900718689,
+                    -0.04426297917962074,
+                    -0.24483521282672882,
+                    -0.9793409109115601
+                ],
+                [
+                    0.0,
+                    0.9840479493141174,
+                    -0.17790290713310242,
+                    -0.7116116881370544
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_66",
+            "depth_file_path": "./val/r_66_depth_0000.png",
+            "mask_file_path": "./val/r_66_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.26963844895362854,
+                    -0.3599309027194977,
+                    0.893165647983551,
+                    3.572662591934204
+                ],
+                [
+                    0.9629616737365723,
+                    -0.10078408569097519,
+                    0.2500948905944824,
+                    1.0003795623779297
+                ],
+                [
+                    7.450580596923828e-09,
+                    0.9275195002555847,
+                    0.373774915933609,
+                    1.495099663734436
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_67",
+            "depth_file_path": "./val/r_67_depth_0000.png",
+            "mask_file_path": "./val/r_67_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.05769086256623268,
+                    0.9447929859161377,
+                    0.3225492835044861,
+                    1.2901972532272339
+                ],
+                [
+                    0.998334527015686,
+                    0.054596852511167526,
+                    0.01863919012248516,
+                    0.07455676794052124
+                ],
+                [
+                    0.0,
+                    0.3230874836444855,
+                    -0.9463689923286438,
+                    -3.7854764461517334
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_68",
+            "depth_file_path": "./val/r_68_depth_0000.png",
+            "mask_file_path": "./val/r_68_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9413743615150452,
+                    -0.09732288867235184,
+                    0.32302096486091614,
+                    1.2920838594436646
+                ],
+                [
+                    0.33736371994018555,
+                    -0.271568238735199,
+                    0.9013525247573853,
+                    3.605410099029541
+                ],
+                [
+                    7.450580596923828e-09,
+                    0.9574856758117676,
+                    0.28848060965538025,
+                    1.153922438621521
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_69",
+            "depth_file_path": "./val/r_69_depth_0000.png",
+            "mask_file_path": "./val/r_69_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9988139867782593,
+                    -0.04332380369305611,
+                    -0.022219892591238022,
+                    -0.0888795554637909
+                ],
+                [
+                    -0.0486895926296711,
+                    -0.8887407183647156,
+                    -0.45581692457199097,
+                    -1.8232672214508057
+                ],
+                [
+                    0.0,
+                    0.4563581049442291,
+                    -0.8897964358329773,
+                    -3.5591847896575928
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_70",
+            "depth_file_path": "./val/r_70_depth_0000.png",
+            "mask_file_path": "./val/r_70_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.10775560140609741,
+                    -0.36151450872421265,
+                    0.9261188507080078,
+                    3.704474925994873
+                ],
+                [
+                    0.9941774606704712,
+                    -0.039183359593153,
+                    0.10037895292043686,
+                    0.40151575207710266
+                ],
+                [
+                    0.0,
+                    0.9315426349639893,
+                    0.3636319041252136,
+                    1.454527497291565
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_71",
+            "depth_file_path": "./val/r_71_depth_0000.png",
+            "mask_file_path": "./val/r_71_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.23971877992153168,
+                    0.269887775182724,
+                    0.9325746893882751,
+                    3.7302987575531006
+                ],
+                [
+                    0.9708425998687744,
+                    0.0666402131319046,
+                    0.23026973009109497,
+                    0.9210789203643799
+                ],
+                [
+                    7.450582373280668e-09,
+                    0.960582971572876,
+                    -0.277993381023407,
+                    -1.111973524093628
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_72",
+            "depth_file_path": "./val/r_72_depth_0000.png",
+            "mask_file_path": "./val/r_72_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.45358729362487793,
+                    0.7867569327354431,
+                    0.41865506768226624,
+                    1.674620270729065
+                ],
+                [
+                    0.8912118673324585,
+                    -0.40042436122894287,
+                    -0.2130768597126007,
+                    -0.8523074388504028
+                ],
+                [
+                    -1.4901161193847656e-08,
+                    0.46975943446159363,
+                    -0.8827945590019226,
+                    -3.5311782360076904
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_73",
+            "depth_file_path": "./val/r_73_depth_0000.png",
+            "mask_file_path": "./val/r_73_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9963752627372742,
+                    -0.055710747838020325,
+                    -0.06428659707307816,
+                    -0.25714635848999023
+                ],
+                [
+                    -0.08506734669208527,
+                    -0.6525278091430664,
+                    -0.7529748678207397,
+                    -3.011898994445801
+                ],
+                [
+                    0.0,
+                    0.755713939666748,
+                    -0.6549017429351807,
+                    -2.6196067333221436
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_74",
+            "depth_file_path": "./val/r_74_depth_0000.png",
+            "mask_file_path": "./val/r_74_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9999595284461975,
+                    0.003484437707811594,
+                    -0.008297891356050968,
+                    -0.03319156542420387
+                ],
+                [
+                    -0.008999795652925968,
+                    -0.38715288043022156,
+                    0.9219716191291809,
+                    3.6878864765167236
+                ],
+                [
+                    2.3283064365386963e-10,
+                    0.9220089912414551,
+                    0.3871685564517975,
+                    1.54867422580719
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_75",
+            "depth_file_path": "./val/r_75_depth_0000.png",
+            "mask_file_path": "./val/r_75_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.8822455406188965,
+                    -0.362923800945282,
+                    -0.29988181591033936,
+                    -1.1995271444320679
+                ],
+                [
+                    -0.4707895815372467,
+                    0.6801083087921143,
+                    0.561969518661499,
+                    2.247877836227417
+                ],
+                [
+                    0.0,
+                    0.6369761824607849,
+                    -0.7708835005760193,
+                    -3.083533525466919
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_76",
+            "depth_file_path": "./val/r_76_depth_0000.png",
+            "mask_file_path": "./val/r_76_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.08480997383594513,
+                    0.8106749057769775,
+                    0.579321563243866,
+                    2.317286252975464
+                ],
+                [
+                    0.9963971972465515,
+                    -0.06900192052125931,
+                    -0.04930989816784859,
+                    -0.19723959267139435
+                ],
+                [
+                    3.725290298461914e-09,
+                    0.5814163684844971,
+                    -0.8136062026023865,
+                    -3.254424810409546
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_77",
+            "depth_file_path": "./val/r_77_depth_0000.png",
+            "mask_file_path": "./val/r_77_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.7077265977859497,
+                    0.4937055706977844,
+                    -0.5053493976593018,
+                    -2.021397590637207
+                ],
+                [
+                    -0.7064864635467529,
+                    -0.4945721924304962,
+                    0.5062364339828491,
+                    2.0249457359313965
+                ],
+                [
+                    0.0,
+                    0.7152994871139526,
+                    0.6988180875778198,
+                    2.7952723503112793
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_78",
+            "depth_file_path": "./val/r_78_depth_0000.png",
+            "mask_file_path": "./val/r_78_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.999511182308197,
+                    -0.005590937100350857,
+                    -0.030761167407035828,
+                    -0.12304465472698212
+                ],
+                [
+                    -0.03126512095332146,
+                    -0.17873604595661163,
+                    -0.983400285243988,
+                    -3.933600664138794
+                ],
+                [
+                    -4.6566123179658803e-10,
+                    0.9838812351226807,
+                    -0.17882345616817474,
+                    -0.7152937650680542
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_79",
+            "depth_file_path": "./val/r_79_depth_0000.png",
+            "mask_file_path": "./val/r_79_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9688155055046082,
+                    0.0017823056550696492,
+                    -0.24777697026729584,
+                    -0.9911078810691833
+                ],
+                [
+                    -0.2477833777666092,
+                    -0.006968688685446978,
+                    0.9687904119491577,
+                    3.875161647796631
+                ],
+                [
+                    1.1641532182693481e-10,
+                    0.9999740719795227,
+                    0.0071930005215108395,
+                    0.028772002086043358
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_80",
+            "depth_file_path": "./val/r_80_depth_0000.png",
+            "mask_file_path": "./val/r_80_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.1840464025735855,
+                    -0.006713616196066141,
+                    -0.9828948378562927,
+                    -3.9315783977508545
+                ],
+                [
+                    -0.9829175472259521,
+                    0.001257091062143445,
+                    0.18404214084148407,
+                    0.7361684441566467
+                ],
+                [
+                    0.0,
+                    0.9999766945838928,
+                    -0.006830295547842979,
+                    -0.02732117474079132
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_81",
+            "depth_file_path": "./val/r_81_depth_0000.png",
+            "mask_file_path": "./val/r_81_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.022309832274913788,
+                    0.79847252368927,
+                    -0.6016176342964172,
+                    -2.406470537185669
+                ],
+                [
+                    -0.999751091003418,
+                    -0.01781822368502617,
+                    0.013425329700112343,
+                    0.05370131880044937
+                ],
+                [
+                    0.0,
+                    0.6017672419548035,
+                    0.7986714243888855,
+                    3.194685697555542
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_82",
+            "depth_file_path": "./val/r_82_depth_0000.png",
+            "mask_file_path": "./val/r_82_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.18319272994995117,
+                    0.4091484248638153,
+                    0.8938891887664795,
+                    3.575556993484497
+                ],
+                [
+                    0.9830770492553711,
+                    0.07624327391386032,
+                    0.16657289862632751,
+                    0.6662916541099548
+                ],
+                [
+                    0.0,
+                    0.9092769622802734,
+                    -0.41619157791137695,
+                    -1.6647664308547974
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_83",
+            "depth_file_path": "./val/r_83_depth_0000.png",
+            "mask_file_path": "./val/r_83_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9727074503898621,
+                    0.010805251076817513,
+                    0.23178350925445557,
+                    0.9271340370178223
+                ],
+                [
+                    0.23203523457050323,
+                    0.04529634118080139,
+                    0.9716521501541138,
+                    3.886608600616455
+                ],
+                [
+                    9.31322685637781e-10,
+                    0.9989150166511536,
+                    -0.046567291021347046,
+                    -0.18626916408538818
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_84",
+            "depth_file_path": "./val/r_84_depth_0000.png",
+            "mask_file_path": "./val/r_84_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9998618960380554,
+                    0.005173867102712393,
+                    0.015790579840540886,
+                    0.06316231936216354
+                ],
+                [
+                    0.016616595908999443,
+                    0.31132444739341736,
+                    0.950158417224884,
+                    3.800633668899536
+                ],
+                [
+                    -4.6566125955216364e-10,
+                    0.9502896070480347,
+                    -0.3113674223423004,
+                    -1.2454696893692017
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_85",
+            "depth_file_path": "./val/r_85_depth_0000.png",
+            "mask_file_path": "./val/r_85_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.2939325273036957,
+                    -0.1859206259250641,
+                    0.9375698566436768,
+                    3.750279426574707
+                ],
+                [
+                    0.9558262228965759,
+                    0.05717369541525841,
+                    -0.28831836581230164,
+                    -1.1532734632492065
+                ],
+                [
+                    -3.725290298461914e-09,
+                    0.98089998960495,
+                    0.19451303780078888,
+                    0.7780521512031555
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_86",
+            "depth_file_path": "./val/r_86_depth_0000.png",
+            "mask_file_path": "./val/r_86_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.1851392686367035,
+                    -0.4873400032520294,
+                    -0.8533599376678467,
+                    -3.4134397506713867
+                ],
+                [
+                    -0.9827125072479248,
+                    0.09181299060583115,
+                    0.1607697457075119,
+                    0.6430789828300476
+                ],
+                [
+                    0.0,
+                    0.8683721423149109,
+                    -0.49591317772865295,
+                    -1.9836527109146118
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_87",
+            "depth_file_path": "./val/r_87_depth_0000.png",
+            "mask_file_path": "./val/r_87_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.9697088003158569,
+                    -0.12973928451538086,
+                    0.206960529088974,
+                    0.827842116355896
+                ],
+                [
+                    0.24426411092281342,
+                    -0.5150545239448547,
+                    0.8216165900230408,
+                    3.286466360092163
+                ],
+                [
+                    7.450581485102248e-09,
+                    0.8472818732261658,
+                    0.5311435461044312,
+                    2.1245741844177246
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_88",
+            "depth_file_path": "./val/r_88_depth_0000.png",
+            "mask_file_path": "./val/r_88_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.4405805468559265,
+                    -0.4925462007522583,
+                    -0.7505245804786682,
+                    -3.0020978450775146
+                ],
+                [
+                    -0.8977131247520447,
+                    0.24173234403133392,
+                    0.3683432340621948,
+                    1.4733728170394897
+                ],
+                [
+                    0.0,
+                    0.8360405564308167,
+                    -0.5486677885055542,
+                    -2.1946709156036377
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_89",
+            "depth_file_path": "./val/r_89_depth_0000.png",
+            "mask_file_path": "./val/r_89_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.32826822996139526,
+                    -0.4176633656024933,
+                    0.8472292423248291,
+                    3.3889169692993164
+                ],
+                [
+                    0.9445846080780029,
+                    -0.1451490968465805,
+                    0.29443463683128357,
+                    1.1777385473251343
+                ],
+                [
+                    0.0,
+                    0.8969331979751587,
+                    0.44216614961624146,
+                    1.7686645984649658
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_90",
+            "depth_file_path": "./val/r_90_depth_0000.png",
+            "mask_file_path": "./val/r_90_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.6624815464019775,
+                    0.18773746490478516,
+                    0.7251709699630737,
+                    2.900683879852295
+                ],
+                [
+                    0.7490782737731934,
+                    0.16603416204452515,
+                    0.6413379907608032,
+                    2.565351963043213
+                ],
+                [
+                    7.450580596923828e-09,
+                    0.968084454536438,
+                    -0.2506246268749237,
+                    -1.0024985074996948
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_91",
+            "depth_file_path": "./val/r_91_depth_0000.png",
+            "mask_file_path": "./val/r_91_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.2777763307094574,
+                    0.3689678907394409,
+                    0.8869626522064209,
+                    3.547851085662842
+                ],
+                [
+                    0.9606457948684692,
+                    -0.1066892221570015,
+                    -0.2564704418182373,
+                    -1.0258818864822388
+                ],
+                [
+                    0.0,
+                    0.9232984185218811,
+                    -0.3840831518173218,
+                    -1.5363328456878662
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_92",
+            "depth_file_path": "./val/r_92_depth_0000.png",
+            "mask_file_path": "./val/r_92_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9595422744750977,
+                    -0.18907558917999268,
+                    0.20863588154315948,
+                    0.8345434665679932
+                ],
+                [
+                    0.2815643846988678,
+                    0.6443500518798828,
+                    -0.7110094428062439,
+                    -2.8440377712249756
+                ],
+                [
+                    0.0,
+                    0.7409879565238953,
+                    0.6715181469917297,
+                    2.686072587966919
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_93",
+            "depth_file_path": "./val/r_93_depth_0000.png",
+            "mask_file_path": "./val/r_93_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.4144856333732605,
+                    -0.08330263942480087,
+                    0.9062352776527405,
+                    3.624941110610962
+                ],
+                [
+                    0.9100558757781982,
+                    -0.03794024512171745,
+                    0.41274550557136536,
+                    1.6509820222854614
+                ],
+                [
+                    -3.725290742551124e-09,
+                    0.9958015084266663,
+                    0.09153576195240021,
+                    0.36614304780960083
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_94",
+            "depth_file_path": "./val/r_94_depth_0000.png",
+            "mask_file_path": "./val/r_94_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.759496808052063,
+                    0.4678709805011749,
+                    -0.45195314288139343,
+                    -1.8078125715255737
+                ],
+                [
+                    -0.6505113840103149,
+                    -0.5462571382522583,
+                    0.5276724696159363,
+                    2.110689878463745
+                ],
+                [
+                    0.0,
+                    0.6947660446166992,
+                    0.7192357778549194,
+                    2.8769431114196777
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_95",
+            "depth_file_path": "./val/r_95_depth_0000.png",
+            "mask_file_path": "./val/r_95_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.7265046238899231,
+                    -0.2407790571451187,
+                    0.6435965299606323,
+                    2.5743861198425293
+                ],
+                [
+                    0.6871616244316101,
+                    0.25456470251083374,
+                    -0.6804452538490295,
+                    -2.721781015396118
+                ],
+                [
+                    0.0,
+                    0.9366011619567871,
+                    0.35039663314819336,
+                    1.4015865325927734
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_96",
+            "depth_file_path": "./val/r_96_depth_0000.png",
+            "mask_file_path": "./val/r_96_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.24268348515033722,
+                    -0.8969718813896179,
+                    -0.3695209324359894,
+                    -1.478083610534668
+                ],
+                [
+                    -0.9701054692268372,
+                    0.2243882417678833,
+                    0.09244007617235184,
+                    0.36976027488708496
+                ],
+                [
+                    0.0,
+                    0.3809080719947815,
+                    -0.9246130585670471,
+                    -3.6984517574310303
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_97",
+            "depth_file_path": "./val/r_97_depth_0000.png",
+            "mask_file_path": "./val/r_97_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    -0.861674427986145,
+                    -0.36868923902511597,
+                    0.34869107604026794,
+                    1.3947643041610718
+                ],
+                [
+                    0.5074615478515625,
+                    -0.6260377764701843,
+                    0.5920807123184204,
+                    2.3683228492736816
+                ],
+                [
+                    0.0,
+                    0.6871281266212463,
+                    0.7265362739562988,
+                    2.9061450958251953
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_98",
+            "depth_file_path": "./val/r_98_depth_0000.png",
+            "mask_file_path": "./val/r_98_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.9840334057807922,
+                    0.16231469810009003,
+                    -0.07302133738994598,
+                    -0.29208534955978394
+                ],
+                [
+                    -0.1779836267232895,
+                    0.8974031805992126,
+                    -0.40371930599212646,
+                    -1.6148772239685059
+                ],
+                [
+                    0.0,
+                    0.41027000546455383,
+                    0.9119641780853271,
+                    3.6478567123413086
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        },
+        {
+            "file_path": "./val/r_99",
+            "depth_file_path": "./val/r_99_depth_0000.png",
+            "mask_file_path": "./val/r_99_mask_0000.png",
+            "rotation": 0.06283185307179587,
+            "transform_matrix": [
+                [
+                    0.03793121129274368,
+                    0.2886279821395874,
+                    -0.9566896557807922,
+                    -3.826758623123169
+                ],
+                [
+                    -0.9992803931236267,
+                    0.010955892503261566,
+                    -0.036314528435468674,
+                    -0.1452581137418747
+                ],
+                [
+                    0.0,
+                    0.9573786854743958,
+                    0.2888358533382416,
+                    1.1553434133529663
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ]
+        }
+    ]
+}
\ No newline at end of file
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_0.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..17c14439a200397823289b5e720b1299bda3be79
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a05c7866a7588c05002aa2be3ad9eda2072e699febd903111f224f787584fc13
+size 513660
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_0_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_0_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1fa71a0002f6e4386cf117fe7a657ede5526ed4
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_0_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14b7880ccbc227ddd63a9b833a2abfae41a302821ba4be4ca2aa93f573d1ec00
+size 108407
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_0_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_0_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9ea7b38dd2862d1ebcbc6776f4ac8f823d8fa19
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_0_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0188216eed518b9f55592327e36fa52e4d78d37232d514b970a1d09958716e0
+size 11359
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_1.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..313c341b650332e72b4612590404e747e8c67654
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7dbe8c16d250203662687287adc5b6b7cdcccc1058dfa195425afeff36583dd
+size 511913
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_10.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_10.png
new file mode 100644
index 0000000000000000000000000000000000000000..c41978514966762eee40c669654bf2e8eaadd280
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:677513fec2755914a76bfa831a40e4eef7d2cbfb220ed9e857b982515c4b63c6
+size 512475
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_10_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_10_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..86e7077f9514a2eb08f63b49153caa7cc173f4c6
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_10_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:578009eea1e5d03ebc6aaaf2a256455c94ecd446ed620c7d05f0f5b42d5f5461
+size 110462
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_10_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_10_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a1b141f7c89de99d945a56f529bcba0a2bea1b5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_10_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f73b3670879a4e080b2343e7fd3a391f3771e22151660c662f3454ce01b396e4
+size 11603
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_11.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_11.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e330137032ef22705f3098ba2505d2aa96aef62
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:068a684420212bf03cec371ab35e224ac4dde1261363eefdc283ca00217d49e0
+size 515391
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_11_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_11_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3842b31f86f85738cbeba492a799b0de10251ed9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_11_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:113347e28e14c9de2860a348aa17ceb36fbe5f30a271e3363a0c67a8ff27ea78
+size 108951
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_11_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_11_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..98e9f30126c7092953b7e2cd6789b0a8d367f865
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_11_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81169048bd2f6adb8a661d866c720ed924b6352e646ecace97c8b104ca4f8e58
+size 11251
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_12.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_12.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e7968a6ce5fd07bc9561f747ea29786b99d69c3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_12.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d99afec2080d63ce826669c4998bd0458e358b1a2aac919e9b6eaa171b3f15c7
+size 509309
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_12_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_12_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e382cdbd07f916d8b7ec8d97e59e3f7a4c22d2fb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_12_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d371d0ef60aad1a675d9fde276c63291f6aab041c90f8b7784488cf469825cc
+size 108971
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_12_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_12_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6e39f750afb2e5f3dc6369345120b84a797d0df
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_12_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f004e8b3ce68fa97c38cda91594b367920511bbfa42a9e2eea237b965cc55bb3
+size 11185
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_13.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_13.png
new file mode 100644
index 0000000000000000000000000000000000000000..75543d3dd1adf318b56f529afd486db8244e5f38
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_13.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e1bb837958d77fa83824b9f08591ca32affa0ad7de44d9c8e0b0ddb595c64c0
+size 501300
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_13_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_13_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..59a18b9231ea21edaaf6613067c46f11cbdc90d1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_13_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cbda954d95656a542b02546a2d4014fbf6e1a605687dea49d5e5198e543858b
+size 109486
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_13_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_13_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..97df68b59bb7d2cc880d1f8300a42035d3cde129
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_13_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e4f04331c659017e676f0a85304f3b68f3dea57a7ef55153890b8445a68281e
+size 10127
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_14.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_14.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef35ac6d56d4bedf9b66fd729c4e1428e5f7bc4d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_14.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30dd22c5c610a0ac5dbc078fcb3b4f2d0c94f0a8e98241bb560b7bfca3023830
+size 521308
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_14_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_14_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..493f8aeb374717840db5bb38123345f2dc4139bc
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_14_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de181d40fc2808d6c8aa3fec7dfa463849476feeb4684f17a2d2fe806a3f3c79
+size 112175
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_14_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_14_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5bb6ee1b51bb33b9e1629822ee3cc64f346298e4
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_14_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02bdc195757249d6ff861e759ef471998391db1b5cd8c902bc1c0462b178c084
+size 10966
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_15.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_15.png
new file mode 100644
index 0000000000000000000000000000000000000000..c821f3265c07fe0ddbdef591b3bc5298e4f7f518
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_15.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0069f7ef10bc655214a452d052f40bac96046d90d4acddf3c6bd59b2fb7ae74a
+size 521528
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_15_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_15_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6dee36944ab1cc4c7fd3cc4bbbf500941f62fea
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_15_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69e03687492634217ec6c696efd73fac2d6585f9890ed3b89486b3bda3348c26
+size 110493
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_15_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_15_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..88d4ee13cf5da177beda107a0f84f6ce91c9b797
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_15_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:567faa27fc3684f8f63562459c3027cef212616e7e8cb67a58d09d060c345efc
+size 11055
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_16.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_16.png
new file mode 100644
index 0000000000000000000000000000000000000000..00203885f3d50002b3d1228a66c4a77d52af2dce
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_16.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7edf2c3fb336216e7dbbd98513d3aa7348323b5765322f6809d5af34720a87e3
+size 538213
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_16_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_16_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c62b3f396c4a0acf415c7ae90d0ad0d77614f713
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_16_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5db1e71c8f9a3322152d776a0c87e335f3ec41c871c966cfa1021fbaab5b6498
+size 110071
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_16_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_16_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fd7806d76382256ef38c52da013f193ac43da66
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_16_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6a63b9caa84524e820804477342989b5657544e886b9bcdd6e9a92098376f08
+size 11551
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_17.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_17.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d46c458f96da977da71b9790ba5ace1851d39d7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_17.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a9b826a4b65f7293199a9ab797484d86aa1be81b72a0ce7b2763768649e9399
+size 529733
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_17_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_17_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f3c837f70c165af59125be525d32744771cafe6
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_17_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d235d1379b7ea2ed7365c410b531fe8395c8b1318dcddca7c8956138ac2ca5d6
+size 111430
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_17_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_17_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..875628d9ccaf0e7869aff086a0f0e6841877f0e8
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_17_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b00d21035ee3d9b46e5fc3a74dc49ec1286ef22c47d4637f39211968db187489
+size 10737
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_18.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_18.png
new file mode 100644
index 0000000000000000000000000000000000000000..72bee7d02712eea484b9ae09cd4d773c0e4fb94b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_18.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80889e723d2983d99016cb12135a616ee15d59705a7c1bbe35c97308ed1677fe
+size 531956
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_18_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_18_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..75fb8441d9650a1c0cb56f94315c8c8c3eac0cf0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_18_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a419237d1d163c4ae9ed6995fedff264036999319472459607a19af7c4206697
+size 108787
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_18_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_18_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..869c829bdf0e0d28d562b6526aedcfa0597e8bed
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_18_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf40a12a56df0206228c1d26d8082da3b25631adeea7e404b8688582b253d9e3
+size 11452
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_19.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_19.png
new file mode 100644
index 0000000000000000000000000000000000000000..97e2260a1e5851db8f02b97d1f6dbe70e2520498
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_19.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a0745b9e35ba699f3cc47eb98ba0d39c2abcf476ff5d89a416a814bf2559961
+size 514858
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_19_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_19_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..26dabd270219f1ff366f1010d640f2156231f124
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_19_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:598b22a0c8ee641118467c0b22ca7f59d609f3c82d5729108a9147455ddbdeb0
+size 111647
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_19_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_19_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..06e567558a56dfac5c0a94413d55f9f9504ac173
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_19_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fbc9970f6c53b72823708a2e1d294c348813a774b90b5ea69d9a6f0ffe1d148
+size 11029
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_1_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_1_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..71da1daf64301e9ed2508a21f31d76928cc2ff76
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_1_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f93acf6798e8862b8e6412fbede7cb2b8caf967308f5497c9220b9be4c5cd992
+size 109137
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_1_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_1_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..43c19baba027cbae881f42ed3ebaef08990b8e1e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_1_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da58630821dcfb6394cd5ad9bc14282a117bdec4a550855afccbd4319cd50693
+size 11557
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_2.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_2.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e6579710dde21f00ba47967752e25d796b9f070
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5218e75a65648839fe7dda67e316267ca10570f8aca38a08f8309eb9aeaa33b8
+size 523759
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_20.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_20.png
new file mode 100644
index 0000000000000000000000000000000000000000..5036cfb544a1ac718ba1fac2937c2528d63eb725
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_20.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68a5631dc07c8df0de967aab8db1e8af0d194502cc28e7e68318479fd82d60a7
+size 501471
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_20_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_20_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f40843859b7c6ba429283419ac6e00faa0d0d3c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_20_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b538f2e8d129b7eb709386168a1d02766483c2612876b3d6ad5e3653f4b3986
+size 107824
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_20_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_20_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4060b4c56aae5c2a1491a19ddf20e5ab166a49ca
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_20_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6de852a9a05cb53147fbd393066da15846d9c28850c0fb4519db007bd54af33
+size 11431
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_21.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_21.png
new file mode 100644
index 0000000000000000000000000000000000000000..8805e2c9c36491f95d7628f7edb0022d07e77834
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_21.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13aa0240bd9c4e3f6c7aa0325ec4bea9f0843b67d7bce3100e50d3d5d49007a6
+size 513746
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_21_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_21_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1bf37cb9a6b695b6cb33eebab3dd7f30b352019
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_21_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b4751adbacbd81c0a6a8fc20d7ba50de73b909c86346b2356522ae786b6c5d8
+size 108708
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_21_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_21_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..56d1d10eac16d9c3991a81ca44f323200d5aec8c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_21_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a3917b1be64b2d75845c473a574d9472cea7b1b708c6115d69c9bfdc99a2e65
+size 11371
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_22.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_22.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bd3c46c4e8d4a8bd23b95d489be6093ebc79502
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_22.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd0dcb125dd0cd0c573b04b8160c3d055882a8d1cf4ac7453584b9073e79e05f
+size 520589
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_22_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_22_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..10e4ce72fa6ae58a3abe0fd1c96f7f2139147624
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_22_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65ac892bf50709a0657cd7ec52075df1533295916bd2a26ac22fa58e595b5074
+size 109830
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_22_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_22_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d355be6f5a54f27114ba57b8f2cde914cce988a2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_22_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:085af97d5b6e30e5c4bf77a88c54653213493ea8f8fc0d0b9339a0f1093fd4c6
+size 11574
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_23.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_23.png
new file mode 100644
index 0000000000000000000000000000000000000000..d197de2612b4ded514e7a4518f017ab719e23d3b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_23.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f13082228f6d44d0c441eece52164385df8425331d517b23bbddf467defcd02
+size 535426
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_23_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_23_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d333ea611c1359f36cd18d975d12d0687ae5a27
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_23_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cdb0c554e889628224a61d3415d97d88b81addce634e9bab291f7d9b71c7c12
+size 111365
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_23_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_23_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..30a4270ca06fca9f6a70bb773552d05c0b090d1f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_23_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ccf21801ce9b2d73b5bf235ba5734f6413d793fc53d33a85209eefafa84e4af
+size 10602
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_24.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_24.png
new file mode 100644
index 0000000000000000000000000000000000000000..187baefaa18beb08e4245dd50872cfaa563879fa
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_24.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2391b9e1ee34ed83eb84b988bfd60bcdd11b45b348680f332a6acf1ecbeb2988
+size 531567
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_24_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_24_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1bd5fc86946f37041af432d2fa00c2cf052c5af
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_24_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a353332caf0f36ce50addfdbc0b456241f7b5c7c0f9a7a31ef8fb546070ddbda
+size 110026
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_24_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_24_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..281a2fb7deb85e37fe373bb651f58c0e05a230bb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_24_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35a7e2accf4e1baa0821151d77f2db1cb994e47715fd3856633ccde39c292ac5
+size 11557
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_25.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_25.png
new file mode 100644
index 0000000000000000000000000000000000000000..79dda8a1a387359683b95c7a7a98e984bd9d18b4
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_25.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:345244bed23fc96e968e3f72f4315780a793e0463bf33ccc4a636eb3697f125b
+size 508795
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_25_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_25_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d00b9e90ffb245e9420cf27d9d148b99c9615c7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_25_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:152bae3ec3a1bfd87981a867240bdfa39617060bbe0aff90096fe2d264fa4b1f
+size 109135
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_25_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_25_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..82a309421db1072b82f0081d4fe414c5875a1f38
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_25_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce2f125cd0c5ba50c4b206b739203cdf0bcbd8bcf8dc684454d2b2bdcdeb15af
+size 11194
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_26.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_26.png
new file mode 100644
index 0000000000000000000000000000000000000000..39215238b4e4fcc85fc6b436ce69240ed62e2147
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_26.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9daf0b3fd88d959ccdc929e02d8e603870f5a7b497e0bed7cec213bdead788de
+size 574389
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_26_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_26_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c85069c7297004e0c932ee925e5dcae496ee98da
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_26_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f65658223eea0dbe24e7e7b7c7c3d7202ce2a9398de7ee4449b52514fc25145
+size 113250
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_26_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_26_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b59a04560cb6827fb3d68381fce7ffbc50b8326
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_26_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ac23e05a990d450b798879f8f154dd05080d4f945b0729b07cf7356ff545a22
+size 10870
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_27.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_27.png
new file mode 100644
index 0000000000000000000000000000000000000000..8176bc5d49eb9015b826ba078d88ccd3de255d94
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_27.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68d38806e7c9deb3a32cf5a755800c0521f8f282d75df428a10ef526a405ab72
+size 485256
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_27_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_27_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3099de2538d77cce0ae945a53f53a22a88b8904b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_27_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2b68937e6ae460906677d33ca198db2c382120479f7520dd0a8c8e5df5b9b0c
+size 109739
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_27_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_27_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc4f2974f6fcde269fe51b5f5a3b644e57fdffb3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_27_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8bd8cf2ef2306b02b983ed49816305359152149566a50bad558c645ce3c8633
+size 11030
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_28.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_28.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0d4b49a55001f6833957defed0ef8060f99cee2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_28.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8038e9fa61499822042892c3cc1993fb9bc0ed159c0fea3d2ca210a3c63b6f6c
+size 508595
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_28_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_28_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5cce06789a8409c242578b43e405bcab61087dc
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_28_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d662a1fe2c70686739a5ceab4ea10fbd108d800123984ccdbbd8f6db4b6cdfc
+size 109630
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_28_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_28_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a0b2f3a334b700fb2108e28ab051da57b229092
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_28_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f8c1827f2b573295a475ac8685aa1ac81b9df78169606a2f3629638ce1d619b
+size 10108
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_29.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_29.png
new file mode 100644
index 0000000000000000000000000000000000000000..adfa0802e2d167112f3c6182043e9e432d725e36
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_29.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34cc2cb6f636d2f89b66eb02eb6525d25a4d3ca715c477b7016173089feda743
+size 507555
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_29_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_29_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f1580538a10bdf6d846bd8bdd3cca134d81fd5a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_29_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d4e0de554aeddfd5d5b2059881582e3c442481fcbb5799543509e9329ec428b
+size 107774
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_29_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_29_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d978eb8de89232e5460426d01ac202dd2cfa76a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_29_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e98b624bc9a74ab89431f8eabab7edb3fcaa7f8f92c4b4a941612c27dd791d65
+size 11449
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_2_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_2_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0219eb6eda12e0a8ac03f939c9c6a64dc0588d4f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_2_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42b2a640445c98a470086f86fd558a4940782e1a91b58bde488fbc0a5ef25247
+size 108738
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_2_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_2_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..203263368fc5b02bcd3a6c29daf6825ec019bfeb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_2_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d581569ed030bc1958a040a554484de106069f6c0281aa4d830c940368543378
+size 11133
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_3.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_3.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef82eb130a4a2de612398c294485228078229b7d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99a4d07da71d6d19c3df6235ce7fdcc9ebb2895218a1b0ef922c512472c229c4
+size 496478
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_30.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_30.png
new file mode 100644
index 0000000000000000000000000000000000000000..a909f6701c1fb84ed1b39cea5c0e4543c5c6d614
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_30.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8645cacfa6883152fcff4cc0fbfc00c4417c2d65ada97d1062a186d6ac012f4a
+size 539215
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_30_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_30_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..13248a3ff6c0ae2b974edf8ef79764b88e073cc7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_30_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8949808f506e7764f9b6f991ac80b43d7b1bf0bf7f657ac55e8f927bbf37bdd2
+size 109816
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_30_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_30_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..be2e87d075b871b018e7169081bd1ff3b4f7ee01
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_30_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50deac2bff2e7b4ec69c460432be00af81c0084807eb904a3997f98442730e25
+size 11580
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_31.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_31.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8a97875013dfcddc2803e304c9e6f6f7d189495
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_31.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff1b715ed7bd11dcb8f46631a24e9cf3f964d37f190eafa7073ccebab0cb7754
+size 535263
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_31_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_31_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3bb166a1d242dd2707a1ec8959dd0f297fb9fb92
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_31_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b504b632b922bd1e4b0a4eba1a431c084228c81e6a0cda0e3d44068f1f98c49
+size 111460
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_31_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_31_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..648c57fdef7f5fd3a4fc5b6d4b01631a0080a4ed
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_31_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71ce572526470ca966b5ee8ea473684e0eb786e93f73b25402c261587302a6cb
+size 10861
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_32.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_32.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a4fa775965d30c60ca7ee44b11a1fcbfedea78a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_32.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:478e0ee08ae10867fd6578eb58c94200dd01efdd967a988aa4c05e22b9489c7b
+size 516881
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_32_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_32_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..35e9087741a5c90ab40e1fa0db2e3bba8c0c8cbf
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_32_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a543ef8a11fa04742b6c8815bd94a487192a6ebcb0e1b2a03ec710e9cf11d417
+size 111889
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_32_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_32_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0d945e3892bc3ec1b0bbe291cfc4f67eaa50e85
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_32_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02c511625a3d3145918ef64d1172f77bb136b2a2bc55c0f194e3b564369ca23f
+size 10898
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_33.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_33.png
new file mode 100644
index 0000000000000000000000000000000000000000..eca236b6e3e508654b44a732f458b7eaaa5afe64
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_33.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2952d7811fc34980d8e9ad6ce8e427904fc178a3f1a6349ed19d35910272474
+size 556904
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_33_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_33_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c7e316815ecd8b2aa884f304f0b4ad9df86ae44
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_33_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0560ab24ae7ddcc684b8289bfaed606c9b0be0267a6ec65ec5d24ce27a11329f
+size 111659
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_33_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_33_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7862f2b41575932305498655280c45b801a0d19
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_33_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce64b9b84e6d299535c2fee5c5ef99bbe3bb4e84c4ce447b0c8cbab2febb6e7d
+size 11313
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_34.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_34.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6198fe2552bc61c42b664225db0d4c559872180
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_34.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41728c3389608af42633cd2eb5af334fe9a771f61aa811386b9039a9628b0e38
+size 512434
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_34_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_34_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5768c4f4d83f227ca915f4d1c59900841ece9f9e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_34_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:333215e03c929dda8f68d4c6c74e7dc39c56fc128c74b671a68cdd3237976e15
+size 109084
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_34_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_34_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..647bedee25a11eb8d2d33cc4db4b5457b320d41e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_34_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:babbc44142dee17fe55a228ab8519b4baa12a7a525a3ead6d3cace3fbd215163
+size 11210
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_35.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_35.png
new file mode 100644
index 0000000000000000000000000000000000000000..34be1373494c4a4d8df8d9bef613bae89a102f02
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_35.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19d7484efd6fb3b0f87b440814f489d103b6de0e70aab4788a049eaeddd156e4
+size 508541
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_35_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_35_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e25e8127fa2fc4735089db2df751b26189d836e4
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_35_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e60e6db960b10dc8613b809043aad463619d9b909885ff922d2b9049fed0994
+size 108869
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_35_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_35_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..221397153ed2b39b0ac040fd8829a880ba7d0e0a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_35_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9433e4da76b035754aa764d1a391a0e9c616e4e0ff3adba433bbd1e690e7d06
+size 11151
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_36.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_36.png
new file mode 100644
index 0000000000000000000000000000000000000000..faa39029f9f0138d72ef88b7eabb5db41945e005
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_36.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5ea4c5be65d69da8676cf20d3642a4fa37ac8599503fbbdd2e247fb3c43310b
+size 570889
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_36_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_36_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d4496563b183f94016e5ca11f415994a9c63e86
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_36_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f533974cde0a21fe5f020cfe26c69c9ac31673ba1b892a472af63bf911873b31
+size 112809
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_36_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_36_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d178bb59daddb0498a8207dd26a4dbeabfb6fd7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_36_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6ca4fbe36df407b90be051bd119e8355cc49c3fb5d4cd1d1ce5da2c1757c35d
+size 11100
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_37.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_37.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ae95ff862f4f47c664077c8067feeb19943e81c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_37.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dda1ebe9d66199689b26f69753c393a582f82f152ab410a0bf7a90f3359e9b1
+size 566077
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_37_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_37_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..64b5f2a1d9f201546dea49eb2c63c23e335c1451
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_37_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a05c364eb4151a862afd28ac6f6e26d0f3537cef6162998cb8dad4783cc34299
+size 113299
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_37_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_37_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f288a1fce7ffcee90c825b1514598624122cd9a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_37_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53f234973e2120f439466dee0cdacc5277b6634f30841d940a81b9e947515903
+size 11019
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_38.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_38.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf9a8d74dcbec42a149a5caa0e09ab26ebab1b88
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_38.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:127e36c3513b720e94ea49a121c862f71d428eecc767547b2d8abd9b68cca3a2
+size 561764
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_38_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_38_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c3bbc1cd89794b1075beff82c08bbcf82cd0c3f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_38_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56e8fd51f65c47d393af94e7726ef34607def6295c2839b81b4fbe2055071d38
+size 111455
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_38_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_38_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..79a8bf1becb713dee525ed1f9401acec9979a98b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_38_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:758a63d7cfc275ae317badf4f30738f9c3c012cf995399ed0a433dae768e39bc
+size 11405
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_39.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_39.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffff2a285c8e67c71006590de8b37c7f1cd6563f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_39.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e1d465a2dc4733bb92117332f1a371c1be399ea1f12a9cda146ab9288e0519b
+size 525736
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_39_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_39_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c435172499e1a2c3334a85d99838bc4c35386b56
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_39_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb8cc0d8159bcebafb464706a208c8be028c4e25db43bf495cb4fddb08481fd7
+size 109546
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_39_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_39_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2997b4cd3f932a869ea1853f74073ac11670b172
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_39_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35e4884a2683cbcd039c67402e54a14e8e942e8149a7908f943c84cca222588b
+size 11295
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_3_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_3_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..23ff10d07b2a0c5df3468432c5432f3d2173b08f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_3_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d927905313e1b49769e1e9029d274fe1eaca703ba1fafd62822da80800e88bf
+size 109841
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_3_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_3_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c226f2236cf4b486fc2f3a9ddda299f3801cbecd
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_3_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4acb5f650cd484358ff93b072d797415db784ef2ad6a7d1fa0e9fdbc39fd69b3
+size 11323
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_4.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_4.png
new file mode 100644
index 0000000000000000000000000000000000000000..67048ac84081df17626a219f7af570e98b765dfa
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9d39b5ff8c5e0566ae2d560373164e5ea626f77d3a541e802f46817f0f86ab6
+size 532713
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_40.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_40.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0d0b351f45f9517e97512af8c542d08bf848568
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_40.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aae679f5ecdb3e1e0470b46c1756f50a4ce78618be7c794d2649bc5af8ead8ef
+size 507273
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_40_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_40_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ad471c360e6cf6ef2dc44ac78a137142f0d8ef7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_40_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ea7a676bf0b7f75332aab783228447bdc3339e896f9300e6762003e2071aca5
+size 110428
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_40_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_40_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fafb0bf6a36f0d41944b87b21c7f266bd94725d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_40_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc0c8effabcb307edf72cd5cf8321dcd72a2e98fcc0709abd32dd3e01701cbcf
+size 11602
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_41.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_41.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1a86985fbf4936713b2c5bb6d5e714aa2a58608
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_41.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbdcc3f319fec53c9ce2e2a1cd45d3b8d6e3b52afff47e40592fa349f95fd2e1
+size 558447
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_41_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_41_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..63236df9692c655343c43ed5f527c1305dec22cc
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_41_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aec542e89f62ca6d798a6943dc1fdaaf334f0d1a8bca710735a190f29aebe443
+size 111225
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_41_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_41_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..25284d1b5729d3d990013d40c350ecf5fe70e9ac
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_41_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d837111c91e43a424d6c1916a876cc866bb8581e9d18b61486a26cfd1444e475
+size 11423
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_42.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_42.png
new file mode 100644
index 0000000000000000000000000000000000000000..8346de3e4d646ad1b9b4c1aad3e0352c70a02960
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_42.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d359f1c05f93f989505f34de17d1da4728845cbac3198e222ebe8d03da1be310
+size 540688
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_42_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_42_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3048cc8e5964f6b9841f4b0de9bde44a2774c95a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_42_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bea13471d0a4ee1de5903bf436001af3d095e2fc6810f2f380ef180393e0e61
+size 110562
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_42_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_42_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7218dc8c95daf640c123be8ed5f1153f0412a0d0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_42_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17a98b15177ba2c57418295bb913d77fdd97fa732506ec938078ed192c10cf9d
+size 11366
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_43.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_43.png
new file mode 100644
index 0000000000000000000000000000000000000000..27b1fed94a5af741ac3a24a9aecc97df842aac14
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_43.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39a6b1be00cd2c61b3e00133d818cbabebe9407d24dfeca78bbadd14dc02fe09
+size 522757
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_43_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_43_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ab1cfb5f22a354fd7ec33f3aeabd69e6ae37a86
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_43_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b47ac6da5ed544a790e2f139b3c5295a9ea6078c16c0857577abf8d50f4e225
+size 111213
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_43_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_43_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a41b10225276d74bcc1b81d620848cd2af27387
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_43_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdfc56aaf1df9262deabd3886e296c8171efecb8fc7d703b96e75a0bad3a4496
+size 11009
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_44.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_44.png
new file mode 100644
index 0000000000000000000000000000000000000000..6cda5ad0d52fe902ec3fc18da5bf8b22a7ac2840
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_44.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7abe3af9927b92d979ec56030ff1ad25492cc16dbdcf678e7db699083a4ebf7b
+size 527787
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_44_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_44_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c041cf54b9bda102c224fc954fc0b8fd6d4b03ae
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_44_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6935390551a2519431a3e8aa0521d4fbe33cbd298d223e667b701e5654b28b26
+size 110116
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_44_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_44_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3da4368defd382dfec68e6b2eba6c166d6a48e0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_44_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d971ed3a9f789e6744ec1e11672c392a009b9c432262078c107b372660310bf3
+size 10954
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_45.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_45.png
new file mode 100644
index 0000000000000000000000000000000000000000..765ad462169e9aafd29eecd4e9443c21b3f801bc
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_45.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ca8dcdce6037e74ca31a9b94986142d2a1527bc34463b2fa0f33db802fa5bfb
+size 521632
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_45_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_45_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d988163954744bae3d3b3f05a17c14591ed8808
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_45_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f94e44071ae820623fa4b77c2e3690ce18c192bb6bf4a55a10f80b8be90746e2
+size 109188
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_45_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_45_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e83bde6c8855cc2395fc58dd149a8b833a8671e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_45_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fe5cca0efc43ca2e096f02c309c6d48769f067134f6de32d95a84ce67ea9b55
+size 11398
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_46.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_46.png
new file mode 100644
index 0000000000000000000000000000000000000000..d34faff62c7d8eb72941dd0b4daa64e16a6e7434
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_46.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0ef8e55b47625cb61a6982ffe833a867eb613a2e74e2bfbb64b8d32d93c9e3c
+size 528073
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_46_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_46_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c358e4f4eabd2ce9020be7d7df02e24a6b2b5576
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_46_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91ebe05898b1d2be2f2ddb04faedc42026174c3f04889bdaf66a7bf498526f0d
+size 112559
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_46_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_46_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d6509794d6a51802f18b8d9e45aad721bb88f57
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_46_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9afc81b5f1c20c1c41b69e2f00fa37aeba04224edd3828e7644bfb837f41ca6
+size 10486
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_47.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_47.png
new file mode 100644
index 0000000000000000000000000000000000000000..2540f46fee5d2490e3feb907c55ce03cd843f934
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_47.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5abb7e5c86d6e88d1f5c76e4f1fd68dbb93f3369331585a92348de04646c8aa9
+size 518525
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_47_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_47_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c45492f8f5d432a3b599d6ce8c5748f96a543129
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_47_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8ce8437ab90d21f051c2f23c5a363f2808f3be01befff30fcbb7e0006158d8b
+size 109445
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_47_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_47_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d01b6979f5c59465b909ab21cc504c2a770c4b8e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_47_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:094d833e102dc9a6660c180dcd5b807ee3c30ed79cc914a48fb3b21080d76602
+size 11273
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_48.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_48.png
new file mode 100644
index 0000000000000000000000000000000000000000..fed4d3e3c733db3882b5e8e9e753b3c797aee961
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_48.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46ee6884c5d5b58a2c343ffcf2a0b0957d6a78dcdca43e35900e5e71b250526d
+size 504400
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_48_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_48_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3cdf625835e329c455f10aaa3f790af1017b110
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_48_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:081356c0320264f452cc758455769a37a1294200c3e0e21dcb39449af5158f0e
+size 109100
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_48_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_48_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1c67060b8e3d54fadd3e5514b5e6bdaa8da627b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_48_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d7e6f025a6545b12094f8d88506e1c4b11130a5167596c6cbcd3f404071a499
+size 11441
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_49.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_49.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8555b7b363ee216489a10003d5e7c84b13d6923
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_49.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:500203c1abd1086acc78d3069b2209a151d7408396c9174be07078942f788f86
+size 574453
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_49_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_49_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b233dfea3e466d9ce0047607ecf8e01a107566cd
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_49_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67e5ce25c0db88ad3cf93f085cf2158b411bb776fb381ddc569f9c273e292dd4
+size 112572
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_49_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_49_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..657ba3efad9c26c91ed2052e4cbccb5587c62872
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_49_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e39d2ceda4ed83c024597062128dd15191769c76cf1e13056ab6ad535c7fe4b4
+size 11008
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_4_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_4_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..14e201725ac10bf4b51d96a3bb6ed3f464d65048
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_4_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:243bb1b5db3f165e60c3b8e58250c7dff84e905805b30a282f34cbd3ccfda75b
+size 110529
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_4_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_4_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..73a3f52b0ec28ba405e21816653abaee8c8be46d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_4_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0479db0173f6262a189fe5d88754d60c837c9ba592e9b9c1963a549688431aa
+size 11503
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_5.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_5.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bbbcc146d17555366a0637640d6e3ed09857801
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5af357b7630237711cdceb1f31a990b3e3a33bca78064dfe373c9e033b49b99
+size 507855
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_50.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_50.png
new file mode 100644
index 0000000000000000000000000000000000000000..afab686fe9c1fec1e9bbfe2e7fb8391d83243a58
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_50.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4e3047fa4afff852ddf5a944cd19999dd8799780d22348afddb2924a15e3ea3
+size 544721
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_50_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_50_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e8657baadd49117ae0b520144054cc94477e4e4
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_50_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b53bda4dc516ae8317428f1f76bd2b4660eccb9cc15477b7b14e37ba537219d
+size 110953
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_50_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_50_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..452805d6236c3211323db3b23e1e246c40e1ef71
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_50_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d18ca90264d2a1e025c3de8276320a455f9d483d5153803a9d89f63edf67c39d
+size 11356
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_51.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_51.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7298ff1e8117429c02970789258aa68ceb188cb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_51.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:452eef8cd48dceee82b1ef558efe16b76c56e4924e0f09ff309526e6a64c9719
+size 540618
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_51_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_51_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a47ec90e1bac4d409249ed0fa46f2045912cdeca
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_51_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2dd7ac2d176a219decf444152be1c0cef6f17c6c782746f3841a80e2715d03e
+size 110398
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_51_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_51_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b86f820fe090b0b46a2899d4e2c0fdf9acdf9a9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_51_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dedc0146ba1d450f24416d7646185c23caf5cbd3bc68111be27cae886f2e903
+size 11563
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_52.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_52.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6424a3faafaac8f19fd031e32bcbe986cd4f953
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_52.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22ef2b1d4548f1683feaa5a239c95947d2ef04a1007f708bdeada07606048cee
+size 514335
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_52_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_52_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..73215c86f3591f92754bbf6c2624ef43133859fa
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_52_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59a7b1f0d11b85446ca0067a5ee7efde4bff26bc924eec2dac0e406aff962496
+size 109657
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_52_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_52_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d222ee126369fecc354f375fa42834d9108c5c60
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_52_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6960d0ed0ae88e6c7330276c5b0ff03907d7f1db946ee8febd1740924d173596
+size 11059
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_53.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_53.png
new file mode 100644
index 0000000000000000000000000000000000000000..aee52285bf62b9b8487aef699e3cd616ba75812a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_53.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eee4847e7d52683da918c5cfa40f65ba1ef6d3dd75511ba6f056cdb534d3a46
+size 495278
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_53_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_53_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c652922a9c555b6acbe65661f67dfa6907259c0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_53_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:465fc8b40bd0a04ee8742d3aebba18d9759ee7f4a0fcff7faf66ee8ceda16f90
+size 108690
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_53_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_53_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e30c8a4f1fab484f36782d664c73a25d647e73b7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_53_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c5dc5d529067d28d4b0d50bf3ac799d75935104d646391c4f7dda39051dbadb
+size 11370
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_54.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_54.png
new file mode 100644
index 0000000000000000000000000000000000000000..3cf054b7d57814a4e1dd245e65ac60471b564c2c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_54.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4bf85ccd59cc5bf15ba857b77c7c240064df6691f7188981cd9eebe92e809e4
+size 521750
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_54_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_54_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..25b65df467bfa22ea085615c052e340b4eefecf8
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_54_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e5961f4c207e31f55db9bd39e684ed69dbbeb484a015d077375533e72b624d0
+size 111006
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_54_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_54_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a696ee1adb0ff04263982f99ed9d9d8a33825908
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_54_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e3a339424857ec2a4567471d6a1a8881dff4fe3dc18f1f1fede7279c16862a0
+size 10998
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_55.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_55.png
new file mode 100644
index 0000000000000000000000000000000000000000..43f9f6afb32efd59272d64983bd106c576846298
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_55.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27e3b2f2f4e47b5864e2c3a4580086fbd1c917033654218dd7db1ad0bf051525
+size 503232
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_55_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_55_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e578acc5a8088c0eb6b9db88ae60e087e2173e3c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_55_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:813b540f2b636a5f41b2f1703f278bf0fa9d84bb99da51f2dc4490c44f526d7b
+size 110324
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_55_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_55_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c37f653fb9a8c68b156ef0d08864ed99356b0b75
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_55_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4524b1543336eed5b246e306c589c192020a6f834a2ebe6ea60e2978e08583eb
+size 11182
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_56.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_56.png
new file mode 100644
index 0000000000000000000000000000000000000000..d54c5ad33ec2d08eee00b8ab42efd242ca5a0ccc
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_56.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:100f4261d25d68af735ee0747b1f4dc045960c9a158ddaf8dbc682e6239429f9
+size 508316
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_56_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_56_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..87f5e7461f6faea6f4bf3d6d7e01f46b0ab8f149
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_56_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc904a48331f02137a2e1393af9a6446d29bd277638eaffe266995e7db85a254
+size 109557
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_56_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_56_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2007d1384831e5f596b50b1c2154a9a619fa7b0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_56_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6f520ac21c7ea4b43340ef4e06dbe938fe09bc387d1c58384ddcb3193a1a940
+size 10206
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_57.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_57.png
new file mode 100644
index 0000000000000000000000000000000000000000..db2d1c7be789acee4cf34cb29400199d4c014290
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_57.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f12739de031f5870899850510eef9dbe7ba06872dc226af4ae58e99b182ebfe
+size 523203
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_57_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_57_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ddc8015aa8e68079b92091d98006fcbe03317f9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_57_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6930a97661cf09b498e36179fc301173db98778b9820b59a762229828b7243c
+size 111792
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_57_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_57_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5416db266c99b9774ec938653b25085db2818235
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_57_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:834adb0b040dd47ca598df0a51f65f52b49fe04ca785cc7498e815964ca24ff9
+size 10531
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_58.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_58.png
new file mode 100644
index 0000000000000000000000000000000000000000..2873a2cc093665cfc7451ff397aabaa5f70ca0fb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_58.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0011326b42c937dc2ed83a01cd00172822d2a026fff6a15785d718d4ee2e719a
+size 516326
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_58_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_58_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..696c5592237fffc41967540e1d9fc87d53442481
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_58_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a025271bce5d63847af041f2283421a24c8cda6bc899ae7ef69abfef7e9535f2
+size 111645
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_58_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_58_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1d47204da850d95b148e3f9aebe8ba8b5cbfb1e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_58_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b1d065f29be3bb05fe3f4fbc4466290ae6ba9e584a5bfc938cd824095fde506
+size 11049
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_59.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_59.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c43743cdd71f6dedd2d46720762a22606798b94
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_59.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f0d58f34c9264202512baf6a64f040773b79639f9ecc932f0ed1f2226932a22
+size 507504
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_59_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_59_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6039f72e95a85c99b17b77e674ef7531a5eea2dd
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_59_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4003cada66deaab1ef24c69a220fc70ecc681d71b5c196cf059f7384d7f05fcf
+size 109423
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_59_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_59_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..589b2fa05ea49d22e8911396c7653a2012756fdf
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_59_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30666b33cf08ce62f7b34bab4ac23729e88a6c5b459de52c171345fb5c43688a
+size 11146
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_5_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_5_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..66181cda2ca392a6d1ae81a001722c4d9fef74f0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_5_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d54bf7921d063738506f986abba48e9ddf5e6b2ba57246563e6034693dcf5aa3
+size 109983
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_5_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_5_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..27a3aabde0d6dcd9e01093e4ea9d50d430dfa6e0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_5_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce3e29d85b3572dfc8ee378d2a7c196f0be99f9cbfbf2b7a5e53b7f3090dd5a0
+size 11544
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_6.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_6.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b04070d620d873111d377dd4d645fcd182b9338
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f74665b71232eae562b3f544c052997fb21c62ccad729fd2c04c08e09247525
+size 528738
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_60.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_60.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa741610b38b04fe4c718fe9fa5841403aa886fa
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_60.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62ce5926412ffa9fdea32b44845a27b74914c6fec87af99e1ead0b32e6112091
+size 513646
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_60_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_60_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ade3144d75dfed64ef95b65cab5d5d1fbd8d47f5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_60_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39c736dffd5e51f322545408283f57d2039072a83699c6cc1b9d0ee034625b74
+size 110921
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_60_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_60_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b761ef63d8fafa01c3d6cfa5fc8dc1454e3c6073
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_60_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b2d2115af4e55d42623bbe5c034cf7e5a6ff7312a640b97c02b101e9d3ac22c
+size 10995
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_61.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_61.png
new file mode 100644
index 0000000000000000000000000000000000000000..d250ccf59b5904c02f836810884e70f36f2982b0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_61.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b865ebf1be6cf25c50840607da65481b5b86df995a4769be75c99ed9b6681a05
+size 552488
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_61_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_61_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c362b362e4893d1778a8cd958e7c73d7ac4784a2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_61_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:279542848d785b34c3fc7cf6a4f56c6df7e18d11f5c33dfcd34f54bead1cef22
+size 111295
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_61_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_61_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..66862ea64627275202c05685bf4bf738bba7421e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_61_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:980a7d76aaf365c30e3680da6ea4b0ed817bbdc8b6abc34a0296f7a7da4c6751
+size 11531
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_62.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_62.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8c2f38a3ba047ec33e31a98ee7c66400c6f77be
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_62.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2749f2d2f155538c5b6bdeead4551e3ceac5f3a7e38b7e66635fbfcb41becf4
+size 531651
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_62_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_62_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce3b29e6edeea52f0250f2d354434edddbb13db5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_62_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:867b6c15f485383ea69f69fd651f36dba065d7dc0ee349d5c2ac88016132f398
+size 110353
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_62_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_62_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..83226e24becad214ee73f5d2cf20e0c81ca2f23e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_62_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bdff897e87ca676db7a87a59172cd574ec77c4dede2516773b29a4d55566bdf
+size 11543
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_63.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_63.png
new file mode 100644
index 0000000000000000000000000000000000000000..c02fbaf01b2a56435616c847a4a08815b7142796
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_63.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fa2816b000b75fb7ab3696e88ea5a2f5cd74a0f621b9580b6e557aa84519b3d
+size 531245
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_63_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_63_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..903968c2abb178bfbe5a1e60fa6e423c2f4b8f53
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_63_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c97b803b01a055648c27ad1513475d85770ed8d11909229c5e6b42dc272ffc77
+size 110223
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_63_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_63_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e4c6881eaa262ee8d9d051ad19625a053064615
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_63_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74cb2932f1d0400ad6bb76e0e0b94f8f2ce52518b6b932669733e5389f459497
+size 11562
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_64.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_64.png
new file mode 100644
index 0000000000000000000000000000000000000000..434632af670e4af950fa8474b0a920c36f7ebd1c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_64.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b97f5b04ea0167643d84c865098e37c5a64f9b6402d0bfd518601920fedf402
+size 540284
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_64_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_64_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..29ce6a543eb73ba5aded1f50f91d963f65caf56a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_64_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fa5df36b4057fe05ddfec3feb9c1ab42e48339c3f0078468ff283bc01c11ada
+size 110592
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_64_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_64_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2125e90d753cd74270bb0e860cf1aae263a7b551
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_64_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fadf92573bb050c495092c96c1a5dda7415dd598160ea37f1155e031a082d678
+size 11374
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_65.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_65.png
new file mode 100644
index 0000000000000000000000000000000000000000..0445de365eb0e2e656fa5e9ac78f27385c2510c3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_65.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09ad328e45ce2d0ba90d330481e27cd06e84fa1c8e5b717b5a137d265ee6b716
+size 505291
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_65_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_65_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..245dd3c2b527787010d65921b495a8dff7db6520
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_65_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f703dc8928631aa76c16a4e628a1acaa10840ffc5f6ab0b2751371e8057cd5c
+size 109865
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_65_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_65_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f8bc529ba6bfac30d8c4399e162aeac8563ae35
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_65_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd07e0a7d5183e4c4a33df0c1788578722560eb7d6db801e0bff7d119fb4deec
+size 11265
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_66.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_66.png
new file mode 100644
index 0000000000000000000000000000000000000000..45dbd019e4cb09a72104f4053406fc5755b9ffe0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_66.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9674c85225a852f59f4760b63e4335335a63e5ab4817770abe6a348c7dbeb0a7
+size 536200
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_66_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_66_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..29e461af8ca8305843c87c0408ee78c56e676388
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_66_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:701fdc67715e909fcb415cd8a45c11219ad80217e541b6bb8eb3bb7c029fdf13
+size 109808
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_66_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_66_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7e2bae5a43b74cfa9ae907f2bfc9e5513e84321
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_66_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9922dd72285ee575e9ea4273cc715b28b12b9fe88919926f21628facf1e1f283
+size 11623
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_67.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_67.png
new file mode 100644
index 0000000000000000000000000000000000000000..0dfa60525fafa37d6c6df24b8e99728b19be7d57
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_67.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa7aca73ce5dc0fdb7a67095e33ada56a694e41b1044d1bb01cb831a5acb9666
+size 515694
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_67_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_67_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..85a6ce10f9748c6b8951b0945ec220812b5f9e20
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_67_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8b013180817d1a3fe06a7810a73ef1a91382ad83e629a4396ab45aadb5af56a
+size 110708
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_67_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_67_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a350523850eb79bd2371ffda0ca3e1a0dbd7aee
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_67_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ce21f2abf1bcf6b8a60444e6fabad27c5374c19832f4d0c7a0f4661477bcc64
+size 10329
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_68.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_68.png
new file mode 100644
index 0000000000000000000000000000000000000000..29eaa74078f8a8e11cbd8b9bb33253e337963fd0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_68.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:665160d2ddec61153978f9dc9949c9547f218f879602cfa31dccf72704442a50
+size 520795
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_68_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_68_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff94070884ce7205c04bc4175e7f2096efa3cf88
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_68_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3770506d290028e56ca8b4e6af4f2bab6380ec2df0bb7514be72bbaacad0de7f
+size 109726
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_68_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_68_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f577a8279f102bff422745c1e611d7e27d6e206
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_68_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04581f262b59d0546915e10680c09a0ce10145c0d4a5c3d6ac1478990e1bf3da
+size 11462
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_69.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_69.png
new file mode 100644
index 0000000000000000000000000000000000000000..27fc129f66cecc864e12bd1af52c815c5a6468a5
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_69.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6089d10b85abd233d8de0c1dad0afeb3cc36ebfd94d0f8b91b11f101d391ea74
+size 514298
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_69_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_69_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6d00903bad7a3e49d2cad9ad7dd9aaa3d1357cd
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_69_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab17f0af0f02dc1fb4fe7687423ec039fc2406dcd6fb6b92c6d17a998f560f9a
+size 111699
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_69_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_69_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..058545b082f8033b7b65fbf66aa032028d2b827e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_69_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c5bd3bc323fd628c24e221ff4017325daf4b0d99bb4a63a5e8971d7270be5fc
+size 10489
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_6_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_6_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..805663071404ace73d48bad28d4c386c6623c131
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_6_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f08eacd2b514aef19897a171c36b14ba59a0f4a6e6b9ec1d557ff1711bd4bb2
+size 111980
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_6_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_6_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ffe9f630031f16eaf7e82a43b54cea22bd93bbe
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_6_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0b504e38b017e7a87ba906baa983da3d031c7ad58f0f30ffe717b38755b2203
+size 10509
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_7.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_7.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fc34cce632da4a379b55928eced00587a8e7deb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4e02ffe1a6ab4a92c1ba50622655eb0895284ac03620ebbca07f526bb69d0af
+size 550544
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_70.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_70.png
new file mode 100644
index 0000000000000000000000000000000000000000..cde3b64c4b66f92cfaf6cc9311d3f03b20f019c0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_70.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd3a65c2e9c2e573d0cc90de941b335bc8f8764fcb99ceccf10dc22b552b8368
+size 534868
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_70_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_70_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2aea22bdfe053a823716e8492940d5b5b5743e1a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_70_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4ee63465f01a75f7c92690c856ad88473ad99e95cbb8eb65f3a3bf4dc006035
+size 110073
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_70_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_70_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6f31869a4730cc2f11c647f489db5b4365fea88
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_70_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22d089e18347e5b865c761517e4e3610d52089bacb80302387d517d76ef9738d
+size 11605
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_71.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_71.png
new file mode 100644
index 0000000000000000000000000000000000000000..cba03c16fc14e76d1a495df75f82ff38dd32b2e1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_71.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c84a0b2aa38f91dc9608e1cda5feeb6ce2f2808976977792c8d28883a09390c7
+size 507849
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_71_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_71_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..91e92c9b3c0df20f94d7d2ec26ec260c4e8e2dd7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_71_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e73cc5142778a14ff363d14a1b5b1326ddcd5ffe610a48c5f87ecd7f97f827c5
+size 109691
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_71_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_71_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f86856e6aeeb2d56bee57a1a0047c14828784436
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_71_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cd7955b29c2e11f6a8c7a9c1860035f5356f2def0315d63b3bc924794b708e3
+size 10989
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_72.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_72.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6291797b2ad6d2c77e25e9436dd81d87a987f33
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_72.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:612fbadc6bf5683bdd6e969440f2c9ab1003242d965b81b88f411e82323eb950
+size 529783
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_72_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_72_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4621fa7ecd1a11ccb092aa5dabf5ec963969329
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_72_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:801327630a448282ed3d48b506c79e0d5636eddd160f808e0636de7653cd3296
+size 112138
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_72_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_72_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f65f3733b43255dc5944db8a4fc8a877c13f9ec0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_72_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b5a1a5f96e1835bdce6744765930809c0e3d4518190c993d8f08279925b4cba
+size 10554
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_73.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_73.png
new file mode 100644
index 0000000000000000000000000000000000000000..7948c4e06a1dc366ae5ecfe7b485df203dd315dd
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_73.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e210ee17550028b49794ad4410ce2c305718af7fa10e7668c6eb3846a4e7b99
+size 519391
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_73_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_73_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dedb8c86b5f13a984e1ff34b201a59cbb7c60ee8
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_73_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fd2185984683d4d2ee16113ed785de720031695e9e3520f6fd611d27340fb0a
+size 112462
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_73_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_73_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9df7be4c7aa0b811fd64e8d23a66620f8dcb81d0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_73_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cd78b63c447d1d0a35ebc85413a861d851a3d7a25bc01c70592406c6610b260
+size 10979
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_74.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_74.png
new file mode 100644
index 0000000000000000000000000000000000000000..40f32fa4e9e03090e26defb9f1b737422d56b221
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_74.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeae8f423cd55434582ba53c7aeec13ab879f1bb26d4ad658831785be4a19470
+size 526103
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_74_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_74_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a027811ff88c1556bb4333162cff6dc825028e3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_74_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a97f376074a3dd10d3690a343a7f1888b132596dd3ba929472f291fde766194
+size 109614
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_74_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_74_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..092c9c85afc124c5c354a835afdd179895c0138e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_74_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d006618211027f12c8c34de96367d6ee9430cf4e7fcf028bd5a786405826488
+size 11583
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_75.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_75.png
new file mode 100644
index 0000000000000000000000000000000000000000..e39e9fedf79a0b6fdb0e1c45569a854ed2b7fdb0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_75.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2faa6a364ceea59b22bd3ca3d6634f819a92ca2d5be402e9def3bced6da7575
+size 532427
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_75_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_75_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..919823044779156eab8487a7fcb366eb276bce1f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_75_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ab860f1b0813422bc4da773f916f986f9cab26d5193cad9f96ee9af1ff5abaf
+size 112297
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_75_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_75_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb4524dec91954c53eba409ce34beae9f9bf2477
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_75_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55c68e99b65ba1bf91aa9b607592aea134a187531ddd3f038fb12a1fd8271814
+size 10860
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_76.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_76.png
new file mode 100644
index 0000000000000000000000000000000000000000..a55f0121661655f339d7524063cbc2f4713181f4
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_76.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0343789a74ac169e047574b2d1dcc5c04d837a27517c366e18107c90d3df6592
+size 527893
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_76_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_76_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d40d1ebcc0cde20915e48c9a035e9c91d9489759
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_76_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:232453ceff59c83da1f840e68cbb67f1fe0362bbaf5fc77939de49740d1f6352
+size 112340
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_76_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_76_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce4944b4ae9cca4527fd3bc5a598c167092d628c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_76_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffc8df87cbe2db7bd8c8d0aaa0cc6f350e3c1965eb5f34463055963907e747f8
+size 10703
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_77.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_77.png
new file mode 100644
index 0000000000000000000000000000000000000000..01c679e7c1768af607c63fdac3c1b3884835e987
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_77.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74d1a4a632664673a46b6f8059b31288a8336d50d01cfe0fef288236fcb1b827
+size 573487
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_77_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_77_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f14b77f84bc1300613b63905bd891cf4724c713a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_77_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ce664b0feead94d203a8540739db19d683e92eefb45def09dfebc621f4ad165
+size 112076
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_77_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_77_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5476cb5687732c1bb1eba2fbcf9a5cbc29f6a329
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_77_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c8c3396a0b24069ebb6333aed10b5b2590fdd247d26f9cf471c881bee49b9ef
+size 11300
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_78.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_78.png
new file mode 100644
index 0000000000000000000000000000000000000000..44ff52de4e65281bcf826070215588e2a7ef3794
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_78.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:711d297460aa9995b522d68818d66e4f70969b938778d45e13496eef343e95fb
+size 493565
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_78_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_78_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4aafad9f68f38b5cf4be9583e9984971b0ce3bfc
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_78_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee3fb5788deafe97c8dc81ab13836ab607c33c5497baee7b2f2eaf0cd6b8a523
+size 109894
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_78_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_78_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d68834ea81cbb166a8c30f37b94adbc5c8566ec9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_78_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97f9b03a6d4fd3496919c15081b4515d13451dd4e7fe4c74c7bf6ecbd7aef95e
+size 11205
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_79.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_79.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ded931b3979e0981fd3b1fb1526b5cb5045fdcf
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_79.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da0d1fa3b8a8aa288beaee23d94dd5db5e769391c2300e94dd60a244b9ad6dcf
+size 514080
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_79_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_79_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdd29629171b3e4f489718dc9611df1b5e51842a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_79_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a88d39e1b8e0b3d907f93e5b3d4532d38b8c589b6162182f423bca0b8cccd27c
+size 108919
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_79_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_79_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f117c73d5fb837fb1f2d255a885e30f4996cc9d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_79_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97843a672b8d97a3c03aa2ef165b665e89210c8ea789b8b9ab9a8954fa75c7fc
+size 11153
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_7_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_7_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f700abf0ff377d5e3f2307d704ca9ff0726f58c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_7_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2f243f01abb4888783298a24a6e0e38ea2f260beb199a041aea19f3bd549577
+size 111147
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_7_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_7_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcfade0296a2333ce8b19eed2c38234ceb516f59
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_7_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fe71673ae57d21e7165c8b4e6c80d124fce56ea3bb1bd83545df509f9e7a8ba
+size 11379
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_8.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_8.png
new file mode 100644
index 0000000000000000000000000000000000000000..c41e63e9ed3ccd2811c749e0232f47d9cb4bf9e9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_8.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7cf14f1221562ea339b9d9f20bb1d860847f0c99d28c3dab4f1d9ae0e9ed97d
+size 548837
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_80.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_80.png
new file mode 100644
index 0000000000000000000000000000000000000000..8668921c6623683799104866593c1ef0b9e687c9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_80.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9e4ad5976f6d3630f231d393ebd405de61264b61b03504fff65308964b4b7fe
+size 510842
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_80_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_80_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb424ade6f7fb4c32e3eb17f5965699e7b341567
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_80_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9f12b160209bcbe68a9fffe6a98ea77cf79d9c12a479f0c7974f1ab6e39d0db
+size 109035
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_80_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_80_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b6775eeade8c0834afa062550069fd6503881b9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_80_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5b7de78ac45b5c129efac33c8accc6f504368ab197a43b99748617411c9c1fc
+size 11388
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_81.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_81.png
new file mode 100644
index 0000000000000000000000000000000000000000..60f823e5b6a951467948bfdb28fa51268dc418aa
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_81.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57e16674e90b6d68e6ceb44eaa8e50adc47b4a98c9f9430b47223ac4a211398c
+size 561681
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_81_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_81_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e51c9ccc4d6b0500dee3c60d2e00bb72dc1e249f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_81_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab90037dee11a11d7110bc8364b79898b7b94d2a9c67fd412ae13c40bc438804
+size 113261
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_81_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_81_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..865153d090113f2473ec5d130f87f0292508fcd3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_81_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:930ecf055b3031e2397f45d5856071ada6e5db5bc8130d8eb5a72c88a74e2ba4
+size 11249
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_82.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_82.png
new file mode 100644
index 0000000000000000000000000000000000000000..488dbed7ca5f13bc402e7a6f212d5a093ba6a935
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_82.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32c31a862dd1475c0d91c6f821ea8606dccf841bb7addd712ca781b4792c6f7a
+size 510701
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_82_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_82_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..17fe70cebcb3334586b0d3286bd50dfb8b353cff
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_82_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d515ccb28872f8ccf78679062de9669f90454a0d9587b212f2cd64be39cda9ae
+size 110440
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_82_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_82_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..31bdedee334cf3058613d5a7010644eaf5eda6b3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_82_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca22a346615360911107e5b0521f17374d0c69da67c0832d213098e1f5a8d2a4
+size 10977
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_83.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_83.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4f82dc4b80b36d5ec0abccc158f709930d2a82f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_83.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bee60cce310b2f98e704715f45cece5b839cfce87b9b1297bbb66ba78bc1b2d
+size 502977
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_83_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_83_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8c6c6aa8080269cf8901c197f09ad036d28672f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_83_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28d5131cf40a9b0e3fc917f8f366ed178088348b12909f5179d8857f265c5f69
+size 108077
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_83_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_83_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..481a26cad61d943d7673ac88b811e52517115901
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_83_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df2614982d924dca6a6d645cc75af646382b28a3069f8541234dd3166072b0a0
+size 11186
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_84.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_84.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ec3d34cddfc741ba92ff5061944cbfa94c079e6
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_84.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de8c073069fc3839840fc8c264c5cc2e6d78d9b815cace64db95f8dc7ab19ccc
+size 503358
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_84_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_84_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef7c1258155bb11d0bcf03e5eac00a1384b6b0aa
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_84_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77cd339a5cbba2383c46637a1f7edc6beb8e18447c40b4e4ed213c351cac5c45
+size 111065
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_84_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_84_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfe5aac8543e6eef73686695a4048055258b962d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_84_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:594a252c1d9cd3b179436bc15cc65831d39d9ec8b583603f9640c6d45f9f84f3
+size 10999
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_85.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_85.png
new file mode 100644
index 0000000000000000000000000000000000000000..e410edc3a448bc69b0e5d60d5f456516625bc3ba
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_85.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16d3f74d2363a68e8251bebd20b251bcd00e5ce48f03f2afdbd3e068fd51dbc0
+size 528123
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_85_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_85_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..02b5aa6f34c19f9680cacf0c5f7dd60eed2221e0
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_85_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:504d85b83a780dac9fc458a7ee5e29bb7a63f35ec292e2b1406ddf3fdeb57eea
+size 109282
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_85_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_85_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..76a6749b4e2f3af8d445115de4186bb3c8f5f0eb
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_85_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa3bb7067a2a9a5671d1b1e0e0586aea88a5d76d627d28bb72e461207068234f
+size 11516
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_86.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_86.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1537b821697244ac407287e718e0ac55ca7471a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_86.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97c77befe649eb08b9873c08f1971470d1f7fad1b8070882c46af949dda370a0
+size 517770
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_86_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_86_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..51ca58c4fd0abd623564d4df26e502df7f1b7cc6
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_86_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3362d652b31d62d80f6eebe9f8a5d86468e1d31be3ebe2e7361df8b74789666c
+size 111851
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_86_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_86_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..05580a94870c5eb0b33e1b1d8eb86a8191b48e27
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_86_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36f2c896faea7adbbf23c002681f8e32dba960575656f7b36e6969388f0619bb
+size 11032
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_87.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_87.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba4e1ff68857f1bccbd554bf6a8474ff6358d38d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_87.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eccbe8ac96524b0d51a98d43f88ce531c1cc3a35b2d39c055af1a5ca6078caef
+size 545792
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_87_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_87_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a272cd6b0af4289d580d9715872f1b4129e86b79
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_87_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ae2115731e28bca0eae8da30e593314296be665bc27479257b1d383cab38187
+size 110467
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_87_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_87_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c56a179d5676ea5ce49871251ecd30563f0d674
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_87_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71982ab71765a667dd32678fda02aed6446068f170c2af9eec76b52976538187
+size 11357
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_88.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_88.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b7ddc9c11f5530f8cafa1daf81f2c43c64b3983
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_88.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3d33971cfae1b69ad6c52d7ffa246d95fbe1803fc7c25087c4087e610752505
+size 527630
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_88_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_88_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..92d6f72858d3a3158ae37f1867f5d3ab8d8ef6b2
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_88_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:158c50c0e1088122326911b863b2ba624a8c3edd181d67d789b4e3e3cd75b0b6
+size 110080
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_88_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_88_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf55b5e1d5a899e6515d1726cd1c68d51b2eadc9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_88_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0362b6c6202b952d4853ccfd844ec80451049d1880330fd15968ecd867fa1411
+size 11081
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_89.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_89.png
new file mode 100644
index 0000000000000000000000000000000000000000..122f18587d0443e745a7cca26163902bc2e28433
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_89.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aa5df30fa00a2917156fafea9721a6b67a420a728820bb8f5cf836c27d58e22
+size 536990
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_89_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_89_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..756718366fda1dba42f61900aa34990d67684818
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_89_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7a130c512e761f9a681763b7612ab3d7fc50631ad77c72b6540c90c97ff1648
+size 111005
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_89_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_89_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..af98e28d38c2dad4dff4711231d3730a5b25fff1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_89_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcac6d57b792b9aa6fc750284d826424ab9b413d76ac3be57c075457cd331330
+size 11640
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_8_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_8_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..97bafba5c11158ac2dfe7cea8f3649bca90e7c55
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_8_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f19ce7893dfc8b7ce4a4223195f1031c382d670bdbf1537395df054f94b1afa
+size 112195
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_8_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_8_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e767cc806783cee8ae620eb0c995550de366ff3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_8_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0784baa4f0061d59cc0f997087e36c923ea6b858604403f9483690c5476284a6
+size 11420
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_9.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_9.png
new file mode 100644
index 0000000000000000000000000000000000000000..fdfcd19ebb26bee8c118fbed069716ceaf9f3487
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_9.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9692f2d602415c898970fd1ca355f9f6aba3d1ea08b390cf27c2723942b3da00
+size 556008
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_90.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_90.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ee2a70d4017297251668394b04ed1341056e1cd
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_90.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cfc7cc8129bd180f2f0829c8f42f319ab4c9255876809e2ac4a80720d46e157
+size 513998
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_90_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_90_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c35f4b41b4ec3e7524ba93f4765913a469536072
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_90_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a462e5a3cf1a98bbd5157acf8f27686b3dad547397ccbb000511450120b08d6d
+size 109212
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_90_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_90_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..76aa998938e083716091bebb4540626c134fdb88
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_90_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9178fa22b7de66e0ec88c7300611593a73a300070405c0c137f86a1bdd501b52
+size 11090
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_91.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_91.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9ae3270d9f5d35573883b6e50910adab98ad853
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_91.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36b6c663b0050117c4436b7afb3b478b118f2194dce8e419ec133833c2eea690
+size 514697
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_91_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_91_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..039f1d392866efdb489842cd6387bbf5878dcf39
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_91_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3325ed7945a72fe78a0966869c8f56cc2091c5c5a85130494f6dccb7abd9f97
+size 109998
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_91_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_91_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2eba44517b99f42e45dd67b6b5d9cc4e85ffd8e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_91_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:817d4504064f5c66710d484d79a81f7b7260936919c500cbc88a1126910c645b
+size 11067
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_92.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_92.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ae15c155a8726d0d3e192371a8f3b1deff3253f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_92.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c89c277a05515fdf68b24a4271458719c3e91cddc3df9d730f7556b014005858
+size 565656
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_92_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_92_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b3d5a29173d6527515616434f992f3f19c6c889
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_92_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b7fd254ab7ed748b2b234f1f52799b3f96195f7643a579511131a1d38154d7e
+size 112109
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_92_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_92_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..79595456f818fbeb6e495a23cf63048fdee855c3
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_92_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:044102f84d4097deee0ee4ae6dad0ab189dc198465e1a1fb621e0dbc9eed91d2
+size 11330
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_93.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_93.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b31f3085433bafc2537ac78f90476c3c171447e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_93.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39a00a9b45427b598e74ef28432bb6940ab62f99d143b31105b64d44e576a5d8
+size 517196
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_93_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_93_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7c0a7327251a1ea39c500081922aa53bad06e4a
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_93_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05009abf6b2c0d1f61f4a1adef5af9ad7d3f15a8e427a23a7b9381a87c4894d5
+size 108315
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_93_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_93_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f50fcb2a10602af5c3273914bebcd063a302d823
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_93_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f37e80750012b2eea178d390687a1f353d6418be51629dd9471a2adbbf8e7f17
+size 11321
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_94.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_94.png
new file mode 100644
index 0000000000000000000000000000000000000000..89afd269b244c43912aadfbacee54290385204e4
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_94.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca2a955ac255af09a88f3185cf1ad84af1597cb46ce0eb1fceed3ca94a29de8b
+size 571927
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_94_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_94_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b6c7def3e17ebb5e4bfb1c819ac9082f45f368f
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_94_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7efd9c0e3c951e5cbbb54f3c12b74fea18a45eb75bbaac29af30ebad49ac38e9
+size 111975
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_94_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_94_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6079736689ca87303cc2202b42b73c9f8bec8711
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_94_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fab8e2f0c4193dcd2293da891ded00a67b4809f4604e6c9391458080a794be35
+size 11172
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_95.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_95.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea4e5b2cca42825f99ca6fed344bc1a1567b7128
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_95.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eb36c937c77a0d095ac8dd851233cc05a1745c017c02d14b9a89a20c0b6c393
+size 525503
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_95_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_95_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..31cb8e5e5eb3d4207d4ad651ca922b12537259a9
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_95_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b53c716aea89ff0fce00c375c655f142a23502e5a23fa994d99fbed732fe36bc
+size 110257
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_95_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_95_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f096d4df4c1697436aac7b244f728928351161fd
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_95_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2664d0d1bf076e7d3ade1fcbbada84257e1586b3fa1995227216c65e2501a348
+size 11448
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_96.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_96.png
new file mode 100644
index 0000000000000000000000000000000000000000..36adc4f757064cb96d9c933f126d82a59f554c64
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_96.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6313d6a72958fbb5ada4509f91df09eb4856429cea9fd680e04bbce7a2851d7f
+size 497552
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_96_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_96_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9dc4cd36fd87946f7d9d0214186c136b98fcc2ca
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_96_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbba4b75eda6c432bca88e0934ce0657a0dc016959fe6b69c48c5ad8a1e3705e
+size 111188
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_96_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_96_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4d190c8f481d0e7bab4bff26ba6c0f86bcd4ef8
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_96_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:626a8190ce970b95b6a18229446b9d43958d6544bd394146fc618042a2decb52
+size 10379
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_97.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_97.png
new file mode 100644
index 0000000000000000000000000000000000000000..6548d56ccff54fbbcb4d1a8e39d18aa4dbbf496c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_97.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99d7242fb7718db3138b81ffee931ebaee344e669952fd2078e1c2518c228a0d
+size 559251
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_97_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_97_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1f50fae58aa635153aab24046382fa776b30b4c
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_97_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ef6028659a257ad608a8aec4756dab8d9c716a9adec2790d9fe42e755e2f67f
+size 111975
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_97_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_97_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..24903b746408834b35bb9f711ced6c9677554e44
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_97_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:818f8e382f49c0504c3b0ce3a8816acf391fc766903b18c344e85dfb457d535f
+size 11264
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_98.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_98.png
new file mode 100644
index 0000000000000000000000000000000000000000..94341d0e318231562f28670a071cea0821e3edb7
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_98.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3e4f9780ca309d672795d50e246261211aee8bc3e4e1f54ad5d39f6101bbcf0
+size 553570
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_98_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_98_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d13992b549864b4e9ebf54f064f38a68bbeed687
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_98_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e3c42e968b2f8fcf166cba8d6840104e55722dcda52015db0cad119527cb7d0
+size 112615
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_98_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_98_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e5c901689410d485429fc7ab6b5415ee7f2522d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_98_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a1d62ba458fa8ded6800c5e1da5f047d744485d7cb27de89f40641420cb95cd
+size 10746
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_99.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_99.png
new file mode 100644
index 0000000000000000000000000000000000000000..d294b7dc28f76bf7f77c7851b92dc9fcab73467e
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_99.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab13fdf9726606f5f733b7ddeb54128de0e4c43869314ab50e5bd5abfde95658
+size 514852
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_99_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_99_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e866f6909cc7eeec563158d2a3fb40afbb86ff6d
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_99_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8e8e7a74b625c8d70416d86a59cb6516e83479045f0800cf9fccf5dd2286227
+size 110145
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_99_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_99_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c972512cc04088c143c3103f55ddb6d7430efe79
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_99_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fef7b24c8b6ededeeb0fc85f686ab5d1a37669f0b2573bc375be656ec67491de
+size 11479
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_9_depth_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_9_depth_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d8ea3dc735af8f0dcb43b48b8be9a7266d33b7b
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_9_depth_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93ba0d2c9f2183d6ad2bbc5f2b4731494298d54ce15d55b85247a368ef823ba1
+size 112051
diff --git a/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_9_mask_0000.png b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_9_mask_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbdd02701ab06c1ab6d928b1b745346ab44022b1
--- /dev/null
+++ b/image_data/textured_sphere_scene/multiple-non-convex/ampoule_sphere/val/r_9_mask_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79836004d86168ccc8f9ccb798a8c4ee766877e25847adc8f155e58bedca348c
+size 11389