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  1. references/Town06/subset_0/reference/cameras/1011.json +96 -0
  2. references/Town06/subset_0/reference/cameras/1013.json +96 -0
  3. references/Town06/subset_0/reference/cameras/1016.json +96 -0
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  6. references/Town06/subset_0/reference/cameras/1034.json +96 -0
  7. references/Town06/subset_0/reference/cameras/1163.json +96 -0
  8. references/Town06/subset_0/reference/cameras/1184.json +96 -0
  9. references/Town06/subset_0/reference/cameras/1187.json +96 -0
  10. references/Town06/subset_0/reference/cameras/1190.json +96 -0
  11. references/Town06/subset_0/reference/cameras/1202.json +96 -0
  12. references/Town06/subset_0/reference/cameras/1214.json +96 -0
  13. references/Town06/subset_0/reference/cameras/1224.json +96 -0
  14. references/Town06/subset_0/reference/cameras/1227.json +96 -0
  15. references/Town06/subset_0/reference/cameras/1236.json +96 -0
  16. references/Town06/subset_0/reference/cameras/1241.json +96 -0
  17. references/Town06/subset_0/reference/cameras/1244.json +96 -0
  18. references/Town06/subset_0/reference/cameras/1251.json +96 -0
  19. references/Town06/subset_0/reference/cameras/1260.json +96 -0
  20. references/Town06/subset_0/reference/cameras/1264.json +96 -0
  21. references/Town06/subset_0/reference/cameras/1267.json +96 -0
  22. references/Town06/subset_0/reference/cameras/1272.json +96 -0
  23. references/Town06/subset_0/reference/cameras/1273.json +96 -0
  24. references/Town06/subset_0/reference/cameras/1274.json +96 -0
  25. references/Town06/subset_0/reference/cameras/1282.json +96 -0
  26. references/Town06/subset_0/reference/cameras/1307.json +96 -0
  27. references/Town06/subset_0/reference/cameras/1310.json +96 -0
  28. references/Town06/subset_0/reference/cameras/1312.json +96 -0
  29. references/Town06/subset_0/reference/cameras/1532.json +96 -0
  30. references/Town06/subset_0/reference/cameras/1545.json +96 -0
  31. references/Town06/subset_0/reference/cameras/1556.json +96 -0
  32. references/Town06/subset_0/reference/cameras/1560.json +96 -0
  33. references/Town06/subset_0/reference/cameras/1563.json +96 -0
  34. references/Town06/subset_0/reference/cameras/1575.json +96 -0
  35. references/Town06/subset_0/reference/cameras/1587.json +96 -0
  36. references/Town06/subset_0/reference/cameras/1595.json +96 -0
  37. references/Town06/subset_0/reference/cameras/1601.json +96 -0
  38. references/Town06/subset_0/reference/cameras/1602.json +96 -0
  39. references/Town06/subset_0/reference/cameras/1603.json +96 -0
  40. references/Town06/subset_0/reference/cameras/1604.json +96 -0
  41. references/Town06/subset_0/reference/cameras/1607.json +96 -0
  42. references/Town06/subset_0/reference/cameras/1652.json +96 -0
  43. references/Town06/subset_0/reference/cameras/1655.json +96 -0
  44. references/Town06/subset_0/reference/cameras/1657.json +96 -0
  45. references/Town06/subset_0/reference/cameras/1667.json +96 -0
  46. references/Town06/subset_0/reference/cameras/1672.json +96 -0
  47. references/Town06/subset_0/reference/cameras/1675.json +96 -0
  48. references/Town06/subset_0/reference/cameras/1722.json +96 -0
  49. references/Town06/subset_0/reference/cameras/1725.json +96 -0
  50. references/Town06/subset_0/reference/cameras/1732.json +96 -0
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