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- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0002.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0005.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0008.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0011.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0015.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0018.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0020.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0021.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0024.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0025.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0026.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0027.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0032.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0034.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0037.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0039.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0040.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0042.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0043.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0044.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0056.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0057.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0058.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0062.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0064.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0065.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0072.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0083.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0084.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0086.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0088.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0089.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0091.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0092.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0094.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0095.json +96 -0
- Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0096.json +96 -0
- Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0000.json +96 -0
- Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0003.json +96 -0
- Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0006.json +96 -0
- Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0012.json +96 -0
- Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0019.json +96 -0
- Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0022.json +96 -0
- Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0030.json +96 -0
- Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0051.json +96 -0
- Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0067.json +96 -0
- Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0069.json +96 -0
- Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0098.json +96 -0
- Town04/vehicle/vehicle_1_20260123_093416_veh00/metadata.json +45 -0
- Town04/vehicle/vehicle_1_20260123_093416_veh00/target/cameras/0000.json +96 -0
Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0002.json
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0005.json
ADDED
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@@ -0,0 +1,96 @@
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0008.json
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@@ -0,0 +1,96 @@
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0015.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0018.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0020.json
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0021.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0024.json
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0025.json
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0026.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0027.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0032.json
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0034.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0037.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0039.json
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0040.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0042.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0043.json
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0044.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0056.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0058.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0062.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0065.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0072.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0083.json
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0084.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0086.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0088.json
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0089.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0091.json
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0092.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0094.json
ADDED
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@@ -0,0 +1,96 @@
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0095.json
ADDED
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Town04/vehicle/vehicle_1_20260123_052742_veh01/target/cameras/0096.json
ADDED
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Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0000.json
ADDED
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Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0003.json
ADDED
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Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0006.json
ADDED
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Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0012.json
ADDED
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Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0019.json
ADDED
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Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0022.json
ADDED
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Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0030.json
ADDED
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@@ -0,0 +1,96 @@
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Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0051.json
ADDED
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@@ -0,0 +1,96 @@
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Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0067.json
ADDED
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Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0069.json
ADDED
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@@ -0,0 +1,96 @@
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Town04/vehicle/vehicle_1_20260123_072708_veh01/target/cameras/0098.json
ADDED
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|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
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]
|
| 80 |
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]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -12.823095321655273,
|
| 85 |
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|
| 86 |
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"z": 1.1495945453643799
|
| 87 |
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},
|
| 88 |
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"rotation": {
|
| 89 |
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"pitch": 0.00040981132769957185,
|
| 90 |
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"yaw": 89.77381896972656,
|
| 91 |
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|
| 92 |
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|
| 93 |
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},
|
| 94 |
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"frame_id": 98,
|
| 95 |
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"timestamp": 4.9
|
| 96 |
+
}
|
Town04/vehicle/vehicle_1_20260123_093416_veh00/metadata.json
ADDED
|
@@ -0,0 +1,45 @@
|
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|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"sequence_name": "vehicle_1_20260123_093416",
|
| 3 |
+
"depth_format": "npy",
|
| 4 |
+
"target_frames": [],
|
| 5 |
+
"target_to_reference_mapping": {},
|
| 6 |
+
"reference_frames": [],
|
| 7 |
+
"config": {
|
| 8 |
+
"camera": {
|
| 9 |
+
"width": 1280,
|
| 10 |
+
"height": 704,
|
| 11 |
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"fov": 90.0
|
| 12 |
+
},
|
| 13 |
+
"depth": {
|
| 14 |
+
"max_depth": 100.0,
|
| 15 |
+
"format": "npy"
|
| 16 |
+
},
|
| 17 |
+
"traffic": {
|
| 18 |
+
"num_vehicles": 250,
|
| 19 |
+
"num_pedestrians": 250
|
| 20 |
+
},
|
| 21 |
+
"trajectory": {
|
| 22 |
+
"mode": "vehicle",
|
| 23 |
+
"num_targets": 10,
|
| 24 |
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"camera_offset_x": 1.5,
|
| 25 |
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"camera_offset_z": 1.4,
|
| 26 |
+
"free_pattern": "random",
|
| 27 |
+
"free_speed": 5.0,
|
| 28 |
+
"collision_avoidance": true
|
| 29 |
+
},
|
| 30 |
+
"capture": {
|
| 31 |
+
"num_frames": 100,
|
| 32 |
+
"fps": 20,
|
| 33 |
+
"frame_skip": 2,
|
| 34 |
+
"warmup_seconds": 2.0
|
| 35 |
+
},
|
| 36 |
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"server": {
|
| 37 |
+
"host": "localhost",
|
| 38 |
+
"port": 11000,
|
| 39 |
+
"gpu_id": 1
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"map": "Town04",
|
| 43 |
+
"output_dir": "/mnt/data1/minkyung/carla_dataset/stage2/Town04/vehicle",
|
| 44 |
+
"created_at": "2026-01-23T09:43:27.127671"
|
| 45 |
+
}
|
Town04/vehicle/vehicle_1_20260123_093416_veh00/target/cameras/0000.json
ADDED
|
@@ -0,0 +1,96 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
|
| 1 |
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{
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| 2 |
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"intrinsic": {
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| 3 |
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| 4 |
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| 5 |
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| 15 |
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| 21 |
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| 23 |
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| 28 |
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| 31 |
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