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  1. references/Town04/subset_0/reference/cameras/1001.json +96 -0
  2. references/Town04/subset_0/reference/cameras/1005.json +96 -0
  3. references/Town04/subset_0/reference/cameras/1006.json +96 -0
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  8. references/Town04/subset_0/reference/cameras/10083.json +96 -0
  9. references/Town04/subset_0/reference/cameras/10090.json +96 -0
  10. references/Town04/subset_0/reference/cameras/10093.json +96 -0
  11. references/Town04/subset_0/reference/cameras/10097.json +96 -0
  12. references/Town04/subset_0/reference/cameras/10103.json +96 -0
  13. references/Town04/subset_0/reference/cameras/10106.json +96 -0
  14. references/Town04/subset_0/reference/cameras/10110.json +96 -0
  15. references/Town04/subset_0/reference/cameras/10123.json +96 -0
  16. references/Town04/subset_0/reference/cameras/10124.json +96 -0
  17. references/Town04/subset_0/reference/cameras/10127.json +96 -0
  18. references/Town04/subset_0/reference/cameras/10135.json +96 -0
  19. references/Town04/subset_0/reference/cameras/10143.json +96 -0
  20. references/Town04/subset_0/reference/cameras/10144.json +96 -0
  21. references/Town04/subset_0/reference/cameras/10146.json +96 -0
  22. references/Town04/subset_0/reference/cameras/10164.json +96 -0
  23. references/Town04/subset_0/reference/cameras/10165.json +96 -0
  24. references/Town04/subset_0/reference/cameras/1017.json +96 -0
  25. references/Town04/subset_0/reference/cameras/10172.json +96 -0
  26. references/Town04/subset_0/reference/cameras/10177.json +96 -0
  27. references/Town04/subset_0/reference/cameras/10190.json +96 -0
  28. references/Town04/subset_0/reference/cameras/10191.json +96 -0
  29. references/Town04/subset_0/reference/cameras/10193.json +96 -0
  30. references/Town04/subset_0/reference/cameras/10201.json +96 -0
  31. references/Town04/subset_0/reference/cameras/10203.json +96 -0
  32. references/Town04/subset_0/reference/cameras/10214.json +96 -0
  33. references/Town04/subset_0/reference/cameras/10215.json +96 -0
  34. references/Town04/subset_0/reference/cameras/10216.json +96 -0
  35. references/Town04/subset_0/reference/cameras/10217.json +96 -0
  36. references/Town04/subset_0/reference/cameras/1022.json +96 -0
  37. references/Town04/subset_0/reference/cameras/10220.json +96 -0
  38. references/Town04/subset_0/reference/cameras/10221.json +96 -0
  39. references/Town04/subset_0/reference/cameras/10223.json +96 -0
  40. references/Town04/subset_0/reference/cameras/10224.json +96 -0
  41. references/Town04/subset_0/reference/cameras/1023.json +96 -0
  42. references/Town04/subset_0/reference/cameras/10231.json +96 -0
  43. references/Town04/subset_0/reference/cameras/10232.json +96 -0
  44. references/Town04/subset_0/reference/cameras/10234.json +96 -0
  45. references/Town04/subset_0/reference/cameras/10241.json +96 -0
  46. references/Town04/subset_0/reference/cameras/10244.json +96 -0
  47. references/Town04/subset_0/reference/cameras/1025.json +96 -0
  48. references/Town04/subset_0/reference/cameras/10250.json +96 -0
  49. references/Town04/subset_0/reference/cameras/10253.json +96 -0
  50. references/Town04/subset_0/reference/cameras/10255.json +96 -0
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