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/*------------------------------------------------------------------------------------------*\
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/*------------------------------------------------------------------------------------------*\
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   This file contains material supporting chapter 8 of the cookbook:  
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   This file contains material supporting chapter 8 of the cookbook:  
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   Computer Vision Programming using the OpenCV Library.
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   Computer Vision Programming using the OpenCV Library.
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   by Robert Laganiere, Packt Publishing, 2011.
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   by Robert Laganiere, Packt Publishing, 2011.
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   This program is free software; permission is hereby granted to use, copy, modify,
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   This program is free software; permission is hereby granted to use, copy, modify,
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   and distribute this source code, or portions thereof, for any purpose, without fee,
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   and distribute this source code, or portions thereof, for any purpose, without fee,
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   subject to the restriction that the copyright notice may not be removed
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   subject to the restriction that the copyright notice may not be removed
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   or altered from any source or altered source distribution.
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   or altered from any source or altered source distribution.
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   The software is released on an as-is basis and without any warranties of any kind.
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   The software is released on an as-is basis and without any warranties of any kind.
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   In particular, the software is not guaranteed to be fault-tolerant or free from failure.
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   In particular, the software is not guaranteed to be fault-tolerant or free from failure.
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   The author disclaims all warranties with regard to this software, any use,
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   The author disclaims all warranties with regard to this software, any use,
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   and any consequent failure, is purely the responsibility of the user.
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   and any consequent failure, is purely the responsibility of the user.
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   Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name
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   Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name
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\*------------------------------------------------------------------------------------------*/
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\*------------------------------------------------------------------------------------------*/
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#include <iostream>
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#include <iostream>
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#include <vector>
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#include <vector>
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#include <opencv2/core/core.hpp>
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#include <opencv2/core/core.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/features2d/features2d.hpp>
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#include <opencv2/features2d/features2d.hpp>
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int main()
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int main()
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{
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{
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        // Read input images
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        // Read input images
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        cv::Mat image1= cv::imread("../church01.jpg",0);
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        cv::Mat image1= cv::imread("../church01.jpg",0);
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        cv::Mat image2= cv::imread("../church02.jpg",0);
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        cv::Mat image2= cv::imread("../church02.jpg",0);
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        if (!image1.data || !image2.data)
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        if (!image1.data || !image2.data)
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                return 0;
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                return 0;
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    // Display the images
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    // Display the images
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        cv::namedWindow("Right Image");
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        cv::namedWindow("Right Image");
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        cv::imshow("Right Image",image1);
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        cv::imshow("Right Image",image1);
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        cv::namedWindow("Left Image");
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        cv::namedWindow("Left Image");
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        cv::imshow("Left Image",image2);
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        cv::imshow("Left Image",image2);
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        // vector of keypoints
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        // vector of keypoints
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        std::vector<cv::KeyPoint> keypoints1;
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        std::vector<cv::KeyPoint> keypoints1;
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        std::vector<cv::KeyPoint> keypoints2;
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        std::vector<cv::KeyPoint> keypoints2;
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        // Construction of the SURF feature detector 
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        // Construction of the SURF feature detector 
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        cv::SurfFeatureDetector surf(3000);
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        cv::SurfFeatureDetector surf(3000);
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        // Detection of the SURF features
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        // Detection of the SURF features
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        surf.detect(image1,keypoints1);
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        surf.detect(image1,keypoints1);
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        surf.detect(image2,keypoints2);
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        surf.detect(image2,keypoints2);
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        std::cout << "Number of SURF points (1): " << keypoints1.size() << std::endl;
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        std::cout << "Number of SURF points (1): " << keypoints1.size() << std::endl;
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        std::cout << "Number of SURF points (2): " << keypoints2.size() << std::endl;
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        std::cout << "Number of SURF points (2): " << keypoints2.size() << std::endl;
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        // Draw the kepoints
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        // Draw the kepoints
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        cv::Mat imageKP;
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        cv::Mat imageKP;
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        cv::drawKeypoints(image1,keypoints1,imageKP,cv::Scalar(255,255,255),cv::DrawMatchesFlags::DRAW_RICH_KEYPOINTS);
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        cv::drawKeypoints(image1,keypoints1,imageKP,cv::Scalar(255,255,255),cv::DrawMatchesFlags::DRAW_RICH_KEYPOINTS);
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        cv::namedWindow("Right SURF Features");
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        cv::namedWindow("Right SURF Features");
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        cv::imshow("Right SURF Features",imageKP);
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        cv::imshow("Right SURF Features",imageKP);
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        cv::drawKeypoints(image2,keypoints2,imageKP,cv::Scalar(255,255,255),cv::DrawMatchesFlags::DRAW_RICH_KEYPOINTS);
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        cv::drawKeypoints(image2,keypoints2,imageKP,cv::Scalar(255,255,255),cv::DrawMatchesFlags::DRAW_RICH_KEYPOINTS);
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        cv::namedWindow("Left SURF Features");
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        cv::namedWindow("Left SURF Features");
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        cv::imshow("Left SURF Features",imageKP);
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        cv::imshow("Left SURF Features",imageKP);
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        // Construction of the SURF descriptor extractor 
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        // Construction of the SURF descriptor extractor 
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        cv::SurfDescriptorExtractor surfDesc;
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        cv::SurfDescriptorExtractor surfDesc;
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        // Extraction of the SURF descriptors
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        // Extraction of the SURF descriptors
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        cv::Mat descriptors1, descriptors2;
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        cv::Mat descriptors1, descriptors2;
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        surfDesc.compute(image1,keypoints1,descriptors1);
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        surfDesc.compute(image1,keypoints1,descriptors1);
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        surfDesc.compute(image2,keypoints2,descriptors2);
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        surfDesc.compute(image2,keypoints2,descriptors2);
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        std::cout << "descriptor matrix size: " << descriptors1.rows << " by " << descriptors1.cols << std::endl;
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        std::cout << "descriptor matrix size: " << descriptors1.rows << " by " << descriptors1.cols << std::endl;
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        // Construction of the matcher 
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        // Construction of the matcher 
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        cv::BruteForceMatcher<cv::L2<float>> matcher;
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        cv::BruteForceMatcher<cv::L2<float>> matcher;
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        // Match the two image descriptors
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        // Match the two image descriptors
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        std::vector<cv::DMatch> matches;
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        std::vector<cv::DMatch> matches;
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        matcher.match(descriptors1,descriptors2, matches);
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        matcher.match(descriptors1,descriptors2, matches);
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        std::cout << "Number of matched points: " << matches.size() << std::endl;
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        std::cout << "Number of matched points: " << matches.size() << std::endl;
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        std::nth_element(matches.begin(),    // initial position
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        std::nth_element(matches.begin(),    // initial position
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                             matches.begin()+24, // position of the sorted element
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                             matches.begin()+24, // position of the sorted element
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                                         matches.end());     // end position
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                                         matches.end());     // end position
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        // remove all elements after the 25th
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        // remove all elements after the 25th
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        matches.erase(matches.begin()+25, matches.end());
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        matches.erase(matches.begin()+25, matches.end());
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        cv::Mat imageMatches;
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        cv::Mat imageMatches;
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        cv::drawMatches(image1,keypoints1,  // 1st image and its keypoints
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        cv::drawMatches(image1,keypoints1,  // 1st image and its keypoints
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                            image2,keypoints2,  // 2nd image and its keypoints
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                            image2,keypoints2,  // 2nd image and its keypoints
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                                        matches,                        // the matches
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                                        matches,                        // the matches
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                                        imageMatches,           // the image produced
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                                        imageMatches,           // the image produced
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                                        cv::Scalar(255,255,255)); // color of the lines
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                                        cv::Scalar(255,255,255)); // color of the lines
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        cv::namedWindow("Matches");
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        cv::namedWindow("Matches");
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        cv::imshow("Matches",imageMatches);
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        cv::imshow("Matches",imageMatches);
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        cv::waitKey();
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        cv::waitKey();
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        return 0;
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        return 0;
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        int size=7;
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        int size=7;
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        cv::Mat imaf1;
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        cv::Mat imaf1;
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        image1.convertTo(imaf1,CV_32F);
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        image1.convertTo(imaf1,CV_32F);
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        cv::Mat imaf2;
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        cv::Mat imaf2;
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        image2.convertTo(imaf2,CV_32F);
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        image2.convertTo(imaf2,CV_32F);
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        cv::waitKey();
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        cv::waitKey();
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        return 0;
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        return 0;
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}
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}
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