From 3a7050eb5324b2f3124018e03bf2fcb744f05e64 Mon Sep 17 00:00:00 2001 From: Unknown Date: Fri, 3 Aug 2018 12:32:42 +0200 Subject: [PATCH] =?UTF-8?q?Resoluation=20du=20probl=C3=A8me=20de=20r=C3=A9?= =?UTF-8?q?f=C3=A9rence?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../demo_ASIFT_src/results/matching.txt | 56 +- .../demo_ASIFT_src/results/references2.txt | 19475 ------ ASIFT_tests/demo_ASIFT_src/results/res.png | Bin 194536 -> 199191 bytes asift_match/CMakeLists.txt | 7 +- asift_match/CMakeLists.txt~ | 6 +- asift_match/launch/asift_match.launch | 12 + asift_match/launch/asift_match.launch~ | 12 + asift_match/package.xml | 2 +- asift_match/package.xml~ | 18 +- asift_match/reference_data/references.txt | 57556 ++++++++++++++++ .../train_image_000.png | Bin .../train_image_001.png | Bin .../train_image_005.yml~ | 0 .../train_image_006.yml~ | 0 .../train_image_007.yml~ | 0 asift_match/setup.py | 17 + asift_match/setup.py~ | 17 + asift_match/src/ROS_matcher.cpp | 47 +- .../src/book_training/train_image_002.png | Bin 495776 -> 0 bytes .../src/book_training/train_image_003.png | Bin 469122 -> 0 bytes 20 files changed, 57683 insertions(+), 19542 deletions(-) delete mode 100644 ASIFT_tests/demo_ASIFT_src/results/references2.txt create mode 100644 asift_match/launch/asift_match.launch create mode 100644 asift_match/launch/asift_match.launch~ create mode 100644 asift_match/reference_data/references.txt rename asift_match/{src/book_training => reference_data}/train_image_000.png (100%) rename asift_match/{src/book_training => reference_data}/train_image_001.png (100%) rename asift_match/{src/book_training => reference_data}/train_image_005.yml~ (100%) rename asift_match/{src/book_training => reference_data}/train_image_006.yml~ (100%) rename asift_match/{src/book_training => reference_data}/train_image_007.yml~ (100%) create mode 100644 asift_match/setup.py create mode 100644 asift_match/setup.py~ delete mode 100644 asift_match/src/book_training/train_image_002.png delete mode 100644 asift_match/src/book_training/train_image_003.png diff --git a/ASIFT_tests/demo_ASIFT_src/results/matching.txt b/ASIFT_tests/demo_ASIFT_src/results/matching.txt index 7600b51..370d764 100644 --- a/ASIFT_tests/demo_ASIFT_src/results/matching.txt +++ b/ASIFT_tests/demo_ASIFT_src/results/matching.txt @@ -1,36 +1,24 @@ -33 2 +21 2 0 -133.472 77.1922 348.289 309.874 -202.823 132.712 160.121 83.1512 -175.339 82.9587 -3.74428 -4.10178 -129.237 138.035 1.70623e-38 5.60948e-39 -207.079 55.0473 0 0 -101.407 146.016 0 0 -71.1489 165.504 1.63422e-35 2.50249e-36 -208.451 55.0875 0 0 -112.768 136.519 1.29621e-35 3.96182e-36 -146.747 114.172 0 0 -134.927 116.608 1.29591e-34 6.45121e-35 -165.643 122.045 0 0 -204.456 133.983 5.02353e-36 2.5039e-36 -198.185 99.5892 0 0 -173.849 83.076 9.02463e-35 9.65457e-35 -185.841 120.421 0 0 -92.4551 132.039 0 0 -137.484 85.9481 0 0 -193.252 108.485 0 0 -200.814 86.5181 3305.1 4582.94 -209.967 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index dc0566d..5939e28 100644 --- a/asift_match/CMakeLists.txt +++ b/asift_match/CMakeLists.txt @@ -29,8 +29,11 @@ find_package(catkin REQUIRED COMPONENTS pcl_ros sensor_msgs ) -#find_package(Eigen3 REQUIRED) -#find_package(cmake_modules REQUIRED) + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +catkin_python_setup() ## Compile as C++11, supported in ROS Kinetic and newer #add_compile_options(-std=c++11) diff --git a/asift_match/CMakeLists.txt~ b/asift_match/CMakeLists.txt~ index c8f4de2..dc0566d 100644 --- a/asift_match/CMakeLists.txt~ +++ b/asift_match/CMakeLists.txt~ @@ -132,9 +132,9 @@ target_link_libraries(ASIFT_matcher X11 ) -add_custom_command(TARGET ASIFT_matcher PRE_BUILD - COMMAND ${CMAKE_COMMAND} -E copy_directory - ${CMAKE_SOURCE_DIR}/book_training $) +#add_custom_command(TARGET ASIFT_matcher PRE_BUILD +# COMMAND ${CMAKE_COMMAND} -E copy_directory +# ${CMAKE_SOURCE_DIR}/book_training $) ## Add cmake target dependencies of the executable ## same as for the library above diff --git a/asift_match/launch/asift_match.launch b/asift_match/launch/asift_match.launch new file mode 100644 index 0000000..110b174 --- /dev/null +++ b/asift_match/launch/asift_match.launch @@ -0,0 +1,12 @@ + + + + + + + + + + diff --git a/asift_match/launch/asift_match.launch~ b/asift_match/launch/asift_match.launch~ new file mode 100644 index 0000000..870dba3 --- /dev/null +++ b/asift_match/launch/asift_match.launch~ @@ -0,0 +1,12 @@ + + + [ + "$(find asift_matching)/reference_data/train_image_000.png", + "$(find asift_matching)/reference_data/train_image_001.png"] + + + + + + + diff --git a/asift_match/package.xml b/asift_match/package.xml index f20a9f2..eededdd 100644 --- a/asift_match/package.xml +++ b/asift_match/package.xml @@ -7,7 +7,7 @@ - blue + Antoine Harle diff --git a/asift_match/package.xml~ b/asift_match/package.xml~ index 33cbac9..f20a9f2 100644 --- a/asift_match/package.xml~ +++ b/asift_match/package.xml~ @@ -56,19 +56,13 @@ pcl_conversions pcl_ros sensor_msgs - - pcl_conversions - pcl_ros - roscpp - sensor_msgs - - pcl_conversions - pcl_ros - roscpp - sensor_msgs - libpcl-all-dev - libpcl-all + + libpcl-all + pcl_conversions + pcl_ros + roscpp + sensor_msgs roscpp tf diff --git a/asift_match/reference_data/references.txt b/asift_match/reference_data/references.txt new file mode 100644 index 0000000..532f875 --- /dev/null +++ b/asift_match/reference_data/references.txt @@ -0,0 +1,57556 @@ +2 +30016 128 800 600 +561.609 32.3877 1.66396 -1.54859 102 0 0 0 0 0 8 47 183 0 0 0 0 0 0 29 70 0 0 0 0 2 1 9 0 0 0 0 2 7 1 0 172 0 0 0 0 0 0 21 183 3 0 0 0 0 0 20 90 0 0 0 0 3 5 16 0 0 0 0 2 9 6 0 183 14 0 0 0 0 0 3 183 31 0 0 0 0 0 2 78 3 0 0 0 2 5 8 0 0 0 0 0 10 6 0 154 19 0 0 0 0 0 0 183 34 0 0 0 0 0 1 46 3 0 0 0 2 2 4 0 0 0 0 0 4 1 0 +490.736 32.6803 1.63896 -1.62143 57 16 0 0 0 0 0 0 197 34 0 0 0 0 0 0 134 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 97 7 0 0 0 0 0 4 197 32 0 0 0 0 0 0 147 9 0 0 0 0 0 0 0 0 0 0 0 1 0 0 107 1 0 0 0 0 0 5 197 8 0 0 0 0 0 6 141 2 0 0 0 0 0 1 0 0 0 0 1 0 0 0 87 2 0 0 0 0 0 6 197 16 0 0 0 0 0 1 107 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +543.401 33.1325 1.64938 -1.77931 26 1 0 11 45 60 36 40 174 45 0 0 0 1 7 78 49 28 1 6 0 0 0 5 0 0 0 7 1 3 4 0 74 6 0 16 114 85 13 22 174 20 0 0 3 1 2 68 108 3 1 4 0 1 0 10 0 0 1 13 3 2 0 0 129 9 0 0 5 60 24 15 174 44 0 0 0 0 0 2 104 6 0 0 1 2 2 4 0 0 0 1 2 5 2 0 169 26 0 0 0 0 5 32 174 90 0 0 0 0 0 0 43 10 0 0 0 0 3 2 0 0 0 0 2 7 3 0 +528.131 33.6821 1.63834 -1.25688 144 24 17 0 0 0 0 49 163 2 0 0 0 0 0 159 56 4 3 0 0 0 1 24 0 2 4 0 3 5 0 0 79 55 52 6 0 0 0 3 163 66 0 0 0 0 0 48 131 3 0 0 0 3 5 28 0 0 0 0 4 23 4 0 35 92 75 9 0 0 0 0 163 98 3 0 0 0 0 43 107 2 0 0 0 2 7 54 0 0 1 1 3 15 5 1 8 26 58 19 5 2 0 2 136 9 2 2 2 4 9 82 112 2 1 0 0 0 1 75 2 1 8 4 0 0 0 4 +567.827 33.4719 1.65663 -1.47492 73 0 0 0 0 0 0 23 180 0 0 0 0 0 0 44 123 0 0 0 0 1 3 26 0 0 0 0 0 7 6 1 96 4 0 0 0 0 0 5 180 1 0 0 0 0 0 16 175 0 0 0 0 1 2 13 1 0 0 0 0 8 3 1 80 14 1 0 0 0 0 2 180 38 0 0 0 0 0 20 160 13 0 0 0 0 1 11 1 0 0 0 0 3 1 1 59 43 6 1 4 1 0 0 180 151 0 0 0 0 0 1 59 28 0 0 0 0 0 2 1 0 0 0 0 0 1 0 +537.868 34.745 1.64737 -1.86108 2 4 33 63 19 7 1 0 69 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27 97 12 0 4 0 0 0 33 144 12 0 0 59 21 0 0 0 0 0 0 144 46 0 0 0 0 0 22 61 26 7 27 71 4 1 15 0 0 1 30 144 9 0 0 45 19 10 6 2 0 0 9 144 43 0 0 0 0 0 64 46 20 2 6 58 54 5 21 0 0 0 8 144 52 0 0 +523.747 153.056 1.58786 1.29334 85 2 1 18 12 0 0 18 68 31 10 63 7 0 0 11 125 124 5 4 0 0 0 32 68 12 3 14 64 19 10 52 91 5 5 35 9 0 0 24 125 26 5 20 8 3 1 40 125 71 6 10 21 2 1 28 44 18 2 6 43 31 35 21 63 5 4 32 11 0 0 23 125 104 22 10 3 0 0 26 125 70 38 21 27 2 1 41 88 59 2 22 63 9 5 13 56 21 4 18 6 1 0 18 125 104 18 13 6 1 0 7 75 20 15 32 73 31 13 18 123 59 0 4 19 14 14 18 +515.218 157.257 1.62292 1.2939 45 1 0 18 13 0 0 13 60 32 10 28 3 0 0 13 52 125 31 67 30 0 0 0 9 25 17 125 125 0 0 0 50 4 3 40 8 0 0 10 125 28 3 12 1 0 0 46 125 88 13 37 46 2 1 49 16 54 30 125 125 2 0 4 75 5 5 34 6 0 0 15 117 97 8 27 3 0 0 10 125 60 3 3 20 10 7 61 41 54 13 28 90 20 7 14 57 4 2 12 3 0 0 23 125 36 4 5 3 1 0 18 62 15 3 8 38 12 12 17 86 45 0 0 20 20 13 5 +73.2985 192.893 1.62142 -1.6965 17 2 0 0 18 4 0 0 127 63 8 9 0 0 0 0 35 28 15 127 59 0 0 0 44 1 0 54 27 0 3 24 42 5 0 0 15 4 0 0 127 79 0 1 1 1 0 11 53 28 2 115 68 8 1 4 2 0 0 127 105 2 5 9 41 0 0 0 10 3 0 7 127 6 0 0 0 1 2 127 53 11 2 23 16 6 3 86 1 2 1 127 127 0 0 0 9 0 0 0 5 1 0 5 57 0 0 0 0 0 0 113 127 2 1 5 2 0 0 127 12 1 1 88 45 0 0 8 +100.62 181.218 1.64632 -1.85392 4 1 0 0 55 39 0 0 125 74 0 0 1 1 0 0 79 64 12 81 66 0 0 0 0 0 0 63 100 1 0 0 22 3 0 0 29 22 0 1 125 89 0 0 0 0 0 11 82 48 1 40 93 4 0 4 0 0 0 110 125 1 0 0 26 0 0 0 10 8 0 3 125 3 0 0 0 0 0 95 89 4 1 39 20 1 1 71 0 1 2 125 125 0 0 0 15 0 0 0 2 1 0 1 125 0 0 0 0 0 0 49 125 11 1 2 1 1 1 68 11 8 4 53 112 9 1 3 +548.499 261.161 2.06178 1.13202 21 10 5 5 55 59 0 0 131 30 4 1 0 1 0 0 64 25 10 5 0 0 0 0 60 22 6 2 0 0 0 2 22 24 42 71 27 8 0 0 131 42 7 10 2 0 0 4 78 31 15 12 1 1 2 6 77 101 9 1 0 0 0 1 70 16 8 86 81 0 0 3 114 11 2 19 18 0 4 43 114 80 1 1 0 5 19 46 87 131 39 15 21 6 0 2 71 0 0 19 84 17 6 19 48 22 0 7 33 4 0 12 131 131 0 0 0 0 1 10 94 131 21 56 98 2 0 0 +590.707 248.11 2.17376 -2.21549 3 43 9 15 135 29 0 0 42 4 0 5 148 36 0 1 148 21 0 0 2 0 0 4 50 6 0 0 0 0 1 12 3 12 0 0 107 148 3 0 77 2 0 0 95 123 3 11 148 12 0 0 0 0 0 16 41 4 0 0 1 4 3 18 0 0 0 0 41 148 1 0 110 5 0 0 9 46 2 5 148 8 0 0 0 0 0 15 21 0 0 0 0 7 9 28 0 0 0 0 14 59 0 0 106 3 0 0 1 4 0 3 148 4 0 0 0 0 1 13 8 0 0 0 1 27 10 12 +275.291 272.274 2.03651 1.0254 15 1 0 0 61 139 1 1 139 17 1 8 10 19 1 3 127 22 4 40 35 0 0 0 74 8 0 11 49 2 0 8 29 25 0 0 27 76 0 0 139 40 0 3 7 2 0 5 139 10 1 21 68 15 2 13 81 3 0 22 69 2 1 14 32 56 0 0 3 6 0 0 139 33 0 0 2 10 23 55 139 1 0 1 22 61 50 62 94 3 0 15 105 12 10 19 14 45 3 0 0 0 0 0 30 14 0 0 0 1 15 26 139 5 0 0 0 5 22 39 79 5 0 1 98 22 5 24 +94.101 268.411 2.11533 -2.32575 0 14 10 0 0 30 0 0 52 46 10 2 0 0 0 1 124 83 0 1 2 1 0 3 22 10 1 6 124 29 0 0 1 118 44 19 21 1 0 0 70 21 23 27 49 6 1 26 124 28 0 1 12 13 3 58 14 3 0 3 124 93 3 5 10 87 18 11 112 15 0 0 73 32 2 7 124 19 1 11 124 46 0 1 15 32 7 19 9 10 2 5 124 90 3 1 16 7 0 1 124 34 0 0 67 5 0 0 78 31 4 26 75 10 0 0 1 83 37 41 3 75 1 0 10 89 5 0 +80.3057 269.561 2.1092 0.963324 9 1 2 6 34 93 0 1 129 16 1 2 3 12 1 12 76 9 0 28 109 2 0 4 0 0 0 39 118 3 0 0 9 14 20 28 40 19 0 0 129 10 1 6 13 1 0 9 104 2 0 6 129 25 1 7 0 0 0 9 129 23 0 0 8 28 17 70 94 4 0 0 129 18 1 13 20 2 0 8 83 3 0 8 109 48 1 6 0 1 0 8 129 39 0 0 5 5 1 27 129 16 0 1 129 1 0 6 20 15 8 29 35 0 0 0 32 129 13 14 3 15 0 0 29 59 0 0 +174.328 229.366 2.03 -2.19597 0 1 7 13 47 126 0 0 80 0 0 6 4 20 1 9 126 0 0 0 44 13 1 26 54 1 0 1 76 22 2 18 24 33 39 67 71 21 0 0 87 4 5 29 56 1 0 9 126 2 0 0 71 18 1 23 42 0 0 0 103 46 6 46 85 20 7 36 126 0 0 0 46 43 71 41 79 0 0 1 126 14 11 8 85 21 1 20 38 0 0 0 126 43 15 26 70 9 1 11 94 5 0 4 47 30 18 26 85 13 1 9 57 1 2 9 93 55 9 33 16 27 0 0 69 74 47 13 +80.7299 212.732 2.11786 0.881349 2 25 25 38 53 8 0 0 129 36 1 9 21 2 0 0 106 13 0 1 83 23 0 2 0 0 0 2 129 31 0 0 5 22 9 43 129 25 0 0 129 26 1 11 30 10 2 6 90 8 0 2 79 119 6 5 0 2 0 1 128 85 0 0 8 3 1 52 129 19 0 1 129 6 1 12 23 32 28 41 26 1 0 0 15 129 30 16 5 48 0 0 13 63 0 0 0 1 0 27 129 44 0 0 4 0 0 5 36 37 28 13 2 29 0 0 2 44 15 2 21 129 0 0 0 2 0 0 +67.143 208.676 2.1036 -2.13117 0 0 0 0 59 139 0 0 48 42 0 0 9 30 0 0 95 139 4 6 15 0 0 2 6 22 5 31 139 1 0 1 2 0 0 0 33 78 0 0 139 16 0 0 1 3 0 14 139 31 0 4 25 0 0 27 8 3 0 12 139 6 0 2 4 2 0 0 7 14 0 0 137 14 0 0 0 0 0 14 139 27 0 5 28 0 0 31 8 2 0 29 139 1 0 2 4 1 0 0 1 1 0 0 56 0 0 0 0 2 3 38 139 0 0 0 15 5 0 86 12 2 0 10 139 31 0 5 diff --git a/asift_match/src/book_training/train_image_000.png b/asift_match/reference_data/train_image_000.png similarity index 100% rename from asift_match/src/book_training/train_image_000.png rename to asift_match/reference_data/train_image_000.png diff --git a/asift_match/src/book_training/train_image_001.png b/asift_match/reference_data/train_image_001.png similarity index 100% rename from asift_match/src/book_training/train_image_001.png rename to asift_match/reference_data/train_image_001.png diff --git a/asift_match/src/book_training/train_image_005.yml~ b/asift_match/reference_data/train_image_005.yml~ similarity index 100% rename from asift_match/src/book_training/train_image_005.yml~ rename to asift_match/reference_data/train_image_005.yml~ diff --git a/asift_match/src/book_training/train_image_006.yml~ b/asift_match/reference_data/train_image_006.yml~ similarity index 100% rename from asift_match/src/book_training/train_image_006.yml~ rename to asift_match/reference_data/train_image_006.yml~ diff --git a/asift_match/src/book_training/train_image_007.yml~ b/asift_match/reference_data/train_image_007.yml~ similarity index 100% rename from asift_match/src/book_training/train_image_007.yml~ rename to asift_match/reference_data/train_image_007.yml~ diff --git a/asift_match/setup.py b/asift_match/setup.py new file mode 100644 index 0000000..85be25c --- /dev/null +++ b/asift_match/setup.py @@ -0,0 +1,17 @@ +#!/usr/bin/python +# -*- coding: utf-8 -*- + +## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +# fetch values from package.xml +setup_args = generate_distutils_setup( + packages=['asift_matching'], + package_dir={'': 'src'}, + ) + +setup(**setup_args) + + diff --git a/asift_match/setup.py~ b/asift_match/setup.py~ new file mode 100644 index 0000000..da838aa --- /dev/null +++ b/asift_match/setup.py~ @@ -0,0 +1,17 @@ +#!/usr/bin/python +# -*- coding: utf-8 -*- + +## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +# fetch values from package.xml +setup_args = generate_distutils_setup( + packages=['babbling_modules_emulator'], + package_dir={'': 'src'}, + ) + +setup(**setup_args) + + diff --git a/asift_match/src/ROS_matcher.cpp b/asift_match/src/ROS_matcher.cpp index f324898..ffda8fe 100644 --- a/asift_match/src/ROS_matcher.cpp +++ b/asift_match/src/ROS_matcher.cpp @@ -1,26 +1,43 @@ #include "ROS_matcher.hpp" -ROS_matcher::ROS_matcher(): _num_tilt(8), _status(MATCHER_STATUS_IDLE) +ROS_matcher::ROS_matcher(): _num_tilt(8), _status(MATCHER_STATUS_WAITING_INIT) { - // _center_pub = _nh.advertise("/ROS_matcher/center", 10); - _center_pub = _nh.advertise("/object_center", 1); + std::string center_topic, image_topic, pointcloud_topic, reference_txt_path; + std::vector reference_data_paths; - info_sub = new message_filters::Subscriber(_nh, "/camera/rgb/camera_info", 1); - image_sub = new message_filters::Subscriber(_nh, "/camera/rgb/image_raw", 1); - pointcloud_sub= new message_filters::Subscriber(_nh, "/camera/depth_registered/points", 1); + _nh.param("object_center_topic", center_topic,"/ASIFT_matcher/object_center"); + _nh.param("image_topic", image_topic,"/camera/rgb/image_raw"); + _nh.param("pointcloud_topic", pointcloud_topic,"/camera/depth_registered/points"); + + _center_pub = _nh.advertise(center_topic, 1); + + info_sub = new message_filters::Subscriber(_nh, "camera/rgb/camera_info", 1); + image_sub = new message_filters::Subscriber(_nh, image_topic, 1); + pointcloud_sub= new message_filters::Subscriber(_nh, pointcloud_topic, 1); + Timesync = new message_filters::Synchronizer(MySyncPolicy(10),*info_sub, *image_sub, *pointcloud_sub); Timesync-> registerCallback(boost::bind(&ROS_matcher::cameraCallback, this, _1, _2, _3)); - // unsigned int nb_ref =2; - // std::string refData[] = { - // "train_image_000.png", - // "train_image_001.png"}; + if(_nh.getParam("reference_txt_path", reference_txt_path)) + { + if(matcher.loadReferences(reference_txt_path.c_str())) + _status = MATCHER_STATUS_IDLE; + } + else if(_nh.getParam("reference_data", reference_data_paths)) + { + for(unsigned int i=0; i0) + _status = MATCHER_STATUS_IDLE; + } + else + { + ROS_WARN("No reference data to initialize matcher."); + } - // for(unsigned int i=0; iEd}QiMbIC|{QIDMPB6jIC0 zcU1#h)*i~x=Q^w67@hkk9dgKWN%~?vv$1p2qu`?w`CCLI`8O-djQa$3mqSyC`?uLS zo23hT9-Kctz5_7U!lU2PY$zgP`O(Sxft%Xk+Z;U#2h;r*WO~qSzNO6gNhs;*#^U1I zKU)-(gEfxn6;F;oo}6SkeQ{(Ua45t+I(b_?Egd3<7Ls%SL<*;2^R&JMsQV zUYd?=)xYAR$XU9QGu~)QH>I;P;ECmR$fYAGlgIErKN#AG1A7SXODUK@OBDy~w%@j| zp0gs8T>NR@0i^*)#e*BsPWWSsnnMihIw_ljBy_I-g&#)>Io91s#Li^nJv>qKmu2x; zzwo{D^<>4M)p6oUP<77YmqNmGiUpw zD)<#(;3&vcMN9--$L`n&!-{$&uG4S^$=#06@5=T2LBm(h1Y;Dv0-7p}$Bck@wxTB9 z&J=csjVYbu84o%9w_uv2Um`^kWi*T)>Ms4HAWe4axrQadtIhGfmb3J_#@zM7T9srb z_gl&mm~P5ksE?WXxCK(+1v_@7VLl9Y!$M-X*AgNk~ny 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