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  1. references/Town05/subset_3/reference/cameras/0.json +96 -0
  2. references/Town05/subset_3/reference/cameras/10.json +96 -0
  3. references/Town05/subset_3/reference/cameras/100.json +96 -0
  4. references/Town05/subset_3/reference/cameras/101.json +96 -0
  5. references/Town05/subset_3/reference/cameras/103.json +96 -0
  6. references/Town05/subset_3/reference/cameras/104.json +96 -0
  7. references/Town05/subset_3/reference/cameras/105.json +96 -0
  8. references/Town05/subset_3/reference/cameras/106.json +96 -0
  9. references/Town05/subset_3/reference/cameras/107.json +96 -0
  10. references/Town05/subset_3/reference/cameras/11.json +96 -0
  11. references/Town05/subset_3/reference/cameras/12.json +96 -0
  12. references/Town05/subset_3/reference/cameras/1300.json +96 -0
  13. references/Town05/subset_3/reference/cameras/1302.json +96 -0
  14. references/Town05/subset_3/reference/cameras/1303.json +96 -0
  15. references/Town05/subset_3/reference/cameras/1304.json +96 -0
  16. references/Town05/subset_3/reference/cameras/1305.json +96 -0
  17. references/Town05/subset_3/reference/cameras/1310.json +96 -0
  18. references/Town05/subset_3/reference/cameras/1311.json +96 -0
  19. references/Town05/subset_3/reference/cameras/1313.json +96 -0
  20. references/Town05/subset_3/reference/cameras/1314.json +96 -0
  21. references/Town05/subset_3/reference/cameras/1315.json +96 -0
  22. references/Town05/subset_3/reference/cameras/1316.json +96 -0
  23. references/Town05/subset_3/reference/cameras/1317.json +96 -0
  24. references/Town05/subset_3/reference/cameras/1320.json +96 -0
  25. references/Town05/subset_3/reference/cameras/1322.json +96 -0
  26. references/Town05/subset_3/reference/cameras/1325.json +96 -0
  27. references/Town05/subset_3/reference/cameras/1326.json +96 -0
  28. references/Town05/subset_3/reference/cameras/1327.json +96 -0
  29. references/Town05/subset_3/reference/cameras/1330.json +96 -0
  30. references/Town05/subset_3/reference/cameras/1332.json +96 -0
  31. references/Town05/subset_3/reference/cameras/1333.json +96 -0
  32. references/Town05/subset_3/reference/cameras/1334.json +96 -0
  33. references/Town05/subset_3/reference/cameras/1335.json +96 -0
  34. references/Town05/subset_3/reference/cameras/1340.json +96 -0
  35. references/Town05/subset_3/reference/cameras/1341.json +96 -0
  36. references/Town05/subset_3/reference/cameras/1342.json +96 -0
  37. references/Town05/subset_3/reference/cameras/1343.json +96 -0
  38. references/Town05/subset_3/reference/cameras/1344.json +96 -0
  39. references/Town05/subset_3/reference/cameras/1346.json +96 -0
  40. references/Town05/subset_3/reference/cameras/1347.json +96 -0
  41. references/Town05/subset_3/reference/cameras/1350.json +96 -0
  42. references/Town05/subset_3/reference/cameras/1351.json +96 -0
  43. references/Town05/subset_3/reference/cameras/1352.json +96 -0
  44. references/Town05/subset_3/reference/cameras/1353.json +96 -0
  45. references/Town05/subset_3/reference/cameras/1355.json +96 -0
  46. references/Town05/subset_3/reference/cameras/1356.json +96 -0
  47. references/Town05/subset_3/reference/cameras/1357.json +96 -0
  48. references/Town05/subset_3/reference/cameras/1360.json +96 -0
  49. references/Town05/subset_3/reference/cameras/1361.json +96 -0
  50. references/Town05/subset_3/reference/cameras/1363.json +96 -0
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