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  1. references/Town04/subset_0/reference/cameras/1002.json +96 -0
  2. references/Town04/subset_0/reference/cameras/10064.json +96 -0
  3. references/Town04/subset_0/reference/cameras/10072.json +96 -0
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  6. references/Town04/subset_0/reference/cameras/10086.json +96 -0
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  8. references/Town04/subset_0/reference/cameras/10092.json +96 -0
  9. references/Town04/subset_0/reference/cameras/10095.json +96 -0
  10. references/Town04/subset_0/reference/cameras/10096.json +96 -0
  11. references/Town04/subset_0/reference/cameras/10100.json +96 -0
  12. references/Town04/subset_0/reference/cameras/10104.json +96 -0
  13. references/Town04/subset_0/reference/cameras/10105.json +96 -0
  14. references/Town04/subset_0/reference/cameras/10114.json +96 -0
  15. references/Town04/subset_0/reference/cameras/10115.json +96 -0
  16. references/Town04/subset_0/reference/cameras/1012.json +96 -0
  17. references/Town04/subset_0/reference/cameras/10120.json +96 -0
  18. references/Town04/subset_0/reference/cameras/10122.json +96 -0
  19. references/Town04/subset_0/reference/cameras/10125.json +96 -0
  20. references/Town04/subset_0/reference/cameras/10131.json +96 -0
  21. references/Town04/subset_0/reference/cameras/10132.json +96 -0
  22. references/Town04/subset_0/reference/cameras/10133.json +96 -0
  23. references/Town04/subset_0/reference/cameras/10136.json +96 -0
  24. references/Town04/subset_0/reference/cameras/10137.json +96 -0
  25. references/Town04/subset_0/reference/cameras/1014.json +96 -0
  26. references/Town04/subset_0/reference/cameras/10140.json +96 -0
  27. references/Town04/subset_0/reference/cameras/10142.json +96 -0
  28. references/Town04/subset_0/reference/cameras/10145.json +96 -0
  29. references/Town04/subset_0/reference/cameras/1015.json +96 -0
  30. references/Town04/subset_0/reference/cameras/10151.json +96 -0
  31. references/Town04/subset_0/reference/cameras/10152.json +96 -0
  32. references/Town04/subset_0/reference/cameras/10156.json +96 -0
  33. references/Town04/subset_0/reference/cameras/10157.json +96 -0
  34. references/Town04/subset_0/reference/cameras/10162.json +96 -0
  35. references/Town04/subset_0/reference/cameras/10163.json +96 -0
  36. references/Town04/subset_0/reference/cameras/10170.json +96 -0
  37. references/Town04/subset_0/reference/cameras/10171.json +96 -0
  38. references/Town04/subset_0/reference/cameras/10174.json +96 -0
  39. references/Town04/subset_0/reference/cameras/10204.json +96 -0
  40. references/Town04/subset_0/reference/cameras/10205.json +96 -0
  41. references/Town04/subset_0/reference/cameras/10206.json +96 -0
  42. references/Town04/subset_0/reference/cameras/10212.json +96 -0
  43. references/Town04/subset_0/reference/cameras/10222.json +96 -0
  44. references/Town04/subset_0/reference/cameras/10227.json +96 -0
  45. references/Town04/subset_0/reference/cameras/10237.json +96 -0
  46. references/Town04/subset_0/reference/cameras/10240.json +96 -0
  47. references/Town04/subset_0/reference/cameras/10252.json +96 -0
  48. references/Town04/subset_0/reference/cameras/10257.json +96 -0
  49. references/Town04/subset_0/reference/cameras/10262.json +96 -0
  50. references/Town04/subset_0/reference/cameras/10264.json +96 -0
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