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  1. references/Town05/subset_2/reference/cameras/1961.json +96 -0
  2. references/Town05/subset_2/reference/cameras/1962.json +96 -0
  3. references/Town05/subset_2/reference/cameras/1963.json +96 -0
  4. references/Town05/subset_2/reference/cameras/1964.json +96 -0
  5. references/Town05/subset_2/reference/cameras/1965.json +96 -0
  6. references/Town05/subset_2/reference/cameras/1966.json +96 -0
  7. references/Town05/subset_2/reference/cameras/1967.json +96 -0
  8. references/Town05/subset_2/reference/cameras/1970.json +96 -0
  9. references/Town05/subset_2/reference/cameras/1971.json +96 -0
  10. references/Town05/subset_2/reference/cameras/1972.json +96 -0
  11. references/Town05/subset_2/reference/cameras/1973.json +96 -0
  12. references/Town05/subset_2/reference/cameras/1974.json +96 -0
  13. references/Town05/subset_2/reference/cameras/1977.json +96 -0
  14. references/Town05/subset_2/reference/cameras/1980.json +96 -0
  15. references/Town05/subset_2/reference/cameras/1981.json +96 -0
  16. references/Town05/subset_2/reference/cameras/1982.json +96 -0
  17. references/Town05/subset_2/reference/cameras/1983.json +96 -0
  18. references/Town05/subset_2/reference/cameras/1984.json +96 -0
  19. references/Town05/subset_2/reference/cameras/1986.json +96 -0
  20. references/Town05/subset_2/reference/cameras/1987.json +96 -0
  21. references/Town05/subset_2/reference/cameras/1990.json +96 -0
  22. references/Town05/subset_2/reference/cameras/1991.json +96 -0
  23. references/Town05/subset_2/reference/cameras/1992.json +96 -0
  24. references/Town05/subset_2/reference/cameras/1993.json +96 -0
  25. references/Town05/subset_2/reference/cameras/1995.json +96 -0
  26. references/Town05/subset_2/reference/cameras/1996.json +96 -0
  27. references/Town05/subset_2/reference/cameras/1997.json +96 -0
  28. references/Town05/subset_2/reference/cameras/2000.json +96 -0
  29. references/Town05/subset_2/reference/cameras/2001.json +96 -0
  30. references/Town05/subset_2/reference/cameras/2002.json +96 -0
  31. references/Town05/subset_2/reference/cameras/2003.json +96 -0
  32. references/Town05/subset_2/reference/cameras/2004.json +96 -0
  33. references/Town05/subset_2/reference/cameras/2005.json +96 -0
  34. references/Town05/subset_2/reference/cameras/2006.json +96 -0
  35. references/Town05/subset_2/reference/cameras/2007.json +96 -0
  36. references/Town05/subset_2/reference/cameras/2010.json +96 -0
  37. references/Town05/subset_2/reference/cameras/2011.json +96 -0
  38. references/Town05/subset_2/reference/cameras/2012.json +96 -0
  39. references/Town05/subset_2/reference/cameras/2013.json +96 -0
  40. references/Town05/subset_2/reference/cameras/2014.json +96 -0
  41. references/Town05/subset_2/reference/cameras/2016.json +96 -0
  42. references/Town05/subset_2/reference/cameras/2017.json +96 -0
  43. references/Town05/subset_2/reference/cameras/2020.json +96 -0
  44. references/Town05/subset_2/reference/cameras/2021.json +96 -0
  45. references/Town05/subset_2/reference/cameras/2022.json +96 -0
  46. references/Town05/subset_2/reference/cameras/2024.json +96 -0
  47. references/Town05/subset_2/reference/cameras/2026.json +96 -0
  48. references/Town05/subset_2/reference/cameras/2027.json +96 -0
  49. references/Town05/subset_2/reference/cameras/2030.json +96 -0
  50. references/Town05/subset_2/reference/cameras/2031.json +96 -0
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