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  1. references/Town04/subset_0/reference/cameras/1000.json +96 -0
  2. references/Town04/subset_0/reference/cameras/1003.json +96 -0
  3. references/Town04/subset_0/reference/cameras/1004.json +96 -0
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  7. references/Town04/subset_0/reference/cameras/10066.json +96 -0
  8. references/Town04/subset_0/reference/cameras/10067.json +96 -0
  9. references/Town04/subset_0/reference/cameras/1007.json +96 -0
  10. references/Town04/subset_0/reference/cameras/10070.json +96 -0
  11. references/Town04/subset_0/reference/cameras/10071.json +96 -0
  12. references/Town04/subset_0/reference/cameras/10073.json +96 -0
  13. references/Town04/subset_0/reference/cameras/10075.json +96 -0
  14. references/Town04/subset_0/reference/cameras/10076.json +96 -0
  15. references/Town04/subset_0/reference/cameras/10081.json +96 -0
  16. references/Town04/subset_0/reference/cameras/10084.json +96 -0
  17. references/Town04/subset_0/reference/cameras/10085.json +96 -0
  18. references/Town04/subset_0/reference/cameras/10091.json +96 -0
  19. references/Town04/subset_0/reference/cameras/10094.json +96 -0
  20. references/Town04/subset_0/reference/cameras/1010.json +96 -0
  21. references/Town04/subset_0/reference/cameras/10101.json +96 -0
  22. references/Town04/subset_0/reference/cameras/10102.json +96 -0
  23. references/Town04/subset_0/reference/cameras/10107.json +96 -0
  24. references/Town04/subset_0/reference/cameras/1011.json +96 -0
  25. references/Town04/subset_0/reference/cameras/10111.json +96 -0
  26. references/Town04/subset_0/reference/cameras/10112.json +96 -0
  27. references/Town04/subset_0/reference/cameras/10113.json +96 -0
  28. references/Town04/subset_0/reference/cameras/10116.json +96 -0
  29. references/Town04/subset_0/reference/cameras/10117.json +96 -0
  30. references/Town04/subset_0/reference/cameras/10121.json +96 -0
  31. references/Town04/subset_0/reference/cameras/10126.json +96 -0
  32. references/Town04/subset_0/reference/cameras/1013.json +96 -0
  33. references/Town04/subset_0/reference/cameras/10130.json +96 -0
  34. references/Town04/subset_0/reference/cameras/10134.json +96 -0
  35. references/Town04/subset_0/reference/cameras/10141.json +96 -0
  36. references/Town04/subset_0/reference/cameras/10147.json +96 -0
  37. references/Town04/subset_0/reference/cameras/10150.json +96 -0
  38. references/Town04/subset_0/reference/cameras/10153.json +96 -0
  39. references/Town04/subset_0/reference/cameras/10154.json +96 -0
  40. references/Town04/subset_0/reference/cameras/10155.json +96 -0
  41. references/Town04/subset_0/reference/cameras/1016.json +96 -0
  42. references/Town04/subset_0/reference/cameras/10160.json +96 -0
  43. references/Town04/subset_0/reference/cameras/10161.json +96 -0
  44. references/Town04/subset_0/reference/cameras/10166.json +96 -0
  45. references/Town04/subset_0/reference/cameras/10167.json +96 -0
  46. references/Town04/subset_0/reference/cameras/10173.json +96 -0
  47. references/Town04/subset_0/reference/cameras/10175.json +96 -0
  48. references/Town04/subset_0/reference/cameras/10176.json +96 -0
  49. references/Town04/subset_0/reference/cameras/10192.json +96 -0
  50. references/Town04/subset_0/reference/cameras/10194.json +96 -0
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