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  1. references/Town03/subset_3/reference/cameras/104.json +96 -0
  2. references/Town03/subset_3/reference/cameras/110.json +96 -0
  3. references/Town03/subset_3/reference/cameras/114.json +96 -0
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  7. references/Town03/subset_3/reference/cameras/126.json +96 -0
  8. references/Town03/subset_3/reference/cameras/127.json +96 -0
  9. references/Town03/subset_3/reference/cameras/140.json +96 -0
  10. references/Town03/subset_3/reference/cameras/141.json +96 -0
  11. references/Town03/subset_3/reference/cameras/144.json +96 -0
  12. references/Town03/subset_3/reference/cameras/145.json +96 -0
  13. references/Town03/subset_3/reference/cameras/146.json +96 -0
  14. references/Town03/subset_3/reference/cameras/153.json +96 -0
  15. references/Town03/subset_3/reference/cameras/156.json +96 -0
  16. references/Town03/subset_3/reference/cameras/174.json +96 -0
  17. references/Town03/subset_3/reference/cameras/175.json +96 -0
  18. references/Town03/subset_3/reference/cameras/180.json +96 -0
  19. references/Town03/subset_3/reference/cameras/1846.json +96 -0
  20. references/Town03/subset_3/reference/cameras/1850.json +96 -0
  21. references/Town03/subset_3/reference/cameras/1851.json +96 -0
  22. references/Town03/subset_3/reference/cameras/1853.json +96 -0
  23. references/Town03/subset_3/reference/cameras/1856.json +96 -0
  24. references/Town03/subset_3/reference/cameras/1857.json +96 -0
  25. references/Town03/subset_3/reference/cameras/1861.json +96 -0
  26. references/Town03/subset_3/reference/cameras/1862.json +96 -0
  27. references/Town03/subset_3/reference/cameras/1866.json +96 -0
  28. references/Town03/subset_3/reference/cameras/1867.json +96 -0
  29. references/Town03/subset_3/reference/cameras/1873.json +96 -0
  30. references/Town03/subset_3/reference/cameras/1874.json +96 -0
  31. references/Town03/subset_3/reference/cameras/1877.json +96 -0
  32. references/Town03/subset_3/reference/cameras/1880.json +96 -0
  33. references/Town03/subset_3/reference/cameras/1892.json +96 -0
  34. references/Town03/subset_3/reference/cameras/1894.json +96 -0
  35. references/Town03/subset_3/reference/cameras/1895.json +96 -0
  36. references/Town03/subset_3/reference/cameras/1903.json +96 -0
  37. references/Town03/subset_3/reference/cameras/1904.json +96 -0
  38. references/Town03/subset_3/reference/cameras/1912.json +96 -0
  39. references/Town03/subset_3/reference/cameras/1913.json +96 -0
  40. references/Town03/subset_3/reference/cameras/1915.json +96 -0
  41. references/Town03/subset_3/reference/cameras/192.json +96 -0
  42. references/Town03/subset_3/reference/cameras/1921.json +96 -0
  43. references/Town03/subset_3/reference/cameras/1923.json +96 -0
  44. references/Town03/subset_3/reference/cameras/1924.json +96 -0
  45. references/Town03/subset_3/reference/cameras/1927.json +96 -0
  46. references/Town03/subset_3/reference/cameras/1930.json +96 -0
  47. references/Town03/subset_3/reference/cameras/1936.json +96 -0
  48. references/Town03/subset_3/reference/cameras/194.json +96 -0
  49. references/Town03/subset_3/reference/cameras/1940.json +96 -0
  50. references/Town03/subset_3/reference/cameras/1943.json +96 -0
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