  Mouse left/middle/right to orbit/zoom/pan<br>
          Press + or - to increase or decrease the point size<br>
          Press [ or ] to increase or decrease the frustum size<br>
          Press i and o to initialize and step through the optimization<br>
          Press p to play or clear the animation<br>
          Press r to start or stop the auto rotation<br>
          Press h to hide this help
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