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  1. references/Town05/subset_2/reference/cameras/1960.json +96 -0
  2. references/Town05/subset_2/reference/cameras/1975.json +96 -0
  3. references/Town05/subset_2/reference/cameras/1976.json +96 -0
  4. references/Town05/subset_2/reference/cameras/1994.json +96 -0
  5. references/Town05/subset_2/reference/cameras/2025.json +96 -0
  6. references/Town05/subset_2/reference/cameras/2040.json +96 -0
  7. references/Town05/subset_2/reference/cameras/2050.json +96 -0
  8. references/Town05/subset_2/reference/cameras/2052.json +96 -0
  9. references/Town05/subset_2/reference/cameras/2082.json +96 -0
  10. references/Town05/subset_2/reference/cameras/2087.json +96 -0
  11. references/Town05/subset_2/reference/cameras/2100.json +96 -0
  12. references/Town05/subset_2/reference/cameras/2104.json +96 -0
  13. references/Town05/subset_2/reference/cameras/2107.json +96 -0
  14. references/Town05/subset_2/reference/cameras/2110.json +96 -0
  15. references/Town05/subset_2/reference/cameras/2132.json +96 -0
  16. references/Town05/subset_2/reference/cameras/2135.json +96 -0
  17. references/Town05/subset_2/reference/cameras/2157.json +96 -0
  18. references/Town05/subset_2/reference/cameras/2176.json +96 -0
  19. references/Town05/subset_2/reference/cameras/2230.json +96 -0
  20. references/Town05/subset_2/reference/cameras/2232.json +96 -0
  21. references/Town05/subset_2/reference/cameras/2247.json +96 -0
  22. references/Town05/subset_2/reference/cameras/2251.json +96 -0
  23. references/Town05/subset_2/reference/cameras/2320.json +96 -0
  24. references/Town05/subset_2/reference/cameras/2324.json +96 -0
  25. references/Town05/subset_2/reference/cameras/2326.json +96 -0
  26. references/Town05/subset_2/reference/cameras/2333.json +96 -0
  27. references/Town05/subset_2/reference/cameras/2345.json +96 -0
  28. references/Town05/subset_2/reference/cameras/2374.json +96 -0
  29. references/Town05/subset_2/reference/cameras/2375.json +96 -0
  30. references/Town05/subset_2/reference/cameras/2380.json +96 -0
  31. references/Town05/subset_2/reference/cameras/2381.json +96 -0
  32. references/Town05/subset_2/reference/cameras/2382.json +96 -0
  33. references/Town05/subset_2/reference/cameras/2451.json +96 -0
  34. references/Town05/subset_2/reference/cameras/2454.json +96 -0
  35. references/Town05/subset_2/reference/cameras/2460.json +96 -0
  36. references/Town05/subset_2/reference/cameras/2463.json +96 -0
  37. references/Town05/subset_2/reference/cameras/2464.json +96 -0
  38. references/Town05/subset_2/reference/cameras/2592.json +96 -0
  39. references/Town05/subset_2/reference/cameras/2596.json +96 -0
  40. references/Town05/subset_2/reference/cameras/2606.json +96 -0
  41. references/Town05/subset_2/reference/cameras/333.json +96 -0
  42. references/Town05/subset_2/reference/cameras/336.json +96 -0
  43. references/Town05/subset_2/reference/cameras/351.json +96 -0
  44. references/Town05/subset_2/reference/cameras/3605.json +96 -0
  45. references/Town05/subset_2/reference/cameras/3612.json +96 -0
  46. references/Town05/subset_2/reference/cameras/367.json +96 -0
  47. references/Town05/subset_2/reference/cameras/404.json +96 -0
  48. references/Town05/subset_2/reference/cameras/4085.json +96 -0
  49. references/Town05/subset_2/reference/cameras/413.json +96 -0
  50. references/Town05/subset_2/reference/cameras/4361.json +96 -0
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