User Manual Colibri
Contents
1. 0 5 Km false 0 5 0 0 0 0 5 0 0 0 0 5 Ra 0 999937 0 00206353 0 0253278 0 000431676 1 00001 0 00788728 0 0152101 0 00240356 0 999714 ba 11 3086 2 92792 12 4657 ka 0 0370632 0 0364312 0 0392018 Ra 1 00003 0 000745247 0 0236862 0 000363571 0 999827 0 0146099 0 01063 0 0191638 0 999708 1579 35 401 724 512 261 ka 0 000780843 0 000825945 0 000800693 Kga 0 310678 0 166208 0 521611 0 375204 0 106193 0 168259 0 132059 0 00434506 0 0216233 Rm 0 999992 0 022689 0 00429718 0 00217661 0 999728 0 00341758 0 00335433 0 00542152 0 999985 bm 71 9716 6 98896 172 453 km 0 0263133 0 0267984 0 0129935 mf 100 mtemp 25 2751 Vtemp 0 0175791 ma 9 68847 1 35711 0 50843 limall 9 79626 DE ON Colibri User Manualsdf df 15 3 6 4 Firmware Upgrade If your sensor is marked as red in the device list the firmware of the sensor must be upgraded f Trivisio Colibr Device Configuration Devices AKBOCDE Save Configuration 0 0 Temperature To upgrade the firmware select the sensor in the list and select Upgrade Firmware from the Device menu You are next asked if you are sure to upgrade your firmware Devices AKBOCDE E Update Firmware Instruction O Are you sure you want to upgrade your Colibri firmware for de2. 42 if sensorCount lt l 43 fprintf stderr No Colibri sensors found n 44 return 0 45 This block prints the available sensors to the console The printing shows e the device sensorList i dev e g COM1 e the id of the sensor sensorList i ID e the firmware version of the sensor sensorList i FWver e and the firmware sub verion number of the sensor sensorList i FWsubver 46 if colibriOpen imu 0 0 lt 0 47 fprintf stderr Error while trying to access Colibri a 48 return 1 A9 Try to open a sensor by calling colibriOpen The parameters are the imu which was created earlier a predefined configuration of the sensor and a device port When successfully opening a communication channel to the sensor the function returns 0 Colibri User Manualsdf df 19 51 colibriGetConfig imu amp conf 52 conf raw 0 53 conf freq 100 54 conf sensor ALL 55 conf ascii 0 56 colibriSetConfig imu amp conf Retrieve the current configuration of the acquired sensor and set raw and ascii mode frequency and sensor configuration to the desired values The configuration is then writ ten back to the sensor using colibriSetConfig to take effect 58 colibriSetKa imu Ka 59 colibriSetKaStatus imu 1 60 colibriSetKg imu Kg 61 colibriSetKgStatus imu 1 62 colibriSetJitterStatus imu 1 Next preprocessing of the accelerometer and gyroscope data is activated as
3. 7 3 2 The GUI This is a snapshot of the GUI application Device Configuration Values AKBOCDE FW 1 500 Sensor config Magnetic div 256 External trigger Frequency 100 Trigger output divisor 4 ASCI mode AutoStart RAW mode Enable boresight Jitter reduction Save Configuration d 18 4 5 Sensor AKBOCDE started Temperature 24 44 Based on this image the functionality will be described briefly below 1 The list of Colibri sensors found connected to the system Detailed information about each sensor can be viewed and changed by expanding the tree view by pressing the plus symbol There might be sensors marked with red These are equipped with an outdated firmware version which must be updated before the sensor can be accessed or used See Section 3 6 4 The sensors are identified by their serial number and firmware version When a sensor is not running it is possible to change its settings The boresighting setting further described in Section 3 4 is an exception to this rule as it can also be changed when the sensor is running By expanding the Sensor Config see figure below it is possible to see what indi vidual sensor elements are enabled in the Colibri The user can enable the individual magnetometers accelerometers and gyroscopes and also the built in temperature sensor The Orientation sensor turns on the Colibri s virtual orientation sensor When using the orientation sensor a
4. The next dialog is the End User License Agreement Please read it carefully If you agree to the terms and conditions please press the I Agree button to continue the installation procedure n n PRI A f LLA SC LEERTE ISA Si visio Prototyping GmbH Colibri GUI 1 1 0 Setup License Agreement TRIYISIO Please review the license terms before installing Trivisio COLEX Motica Tracker Prototyping GmbH Colibri GUI_1 1 0 o bodl e Press Page Down to see the rest of the agreement License Agreement Gu This is a license agreement between you a final user of computer software and the author Trivisio Please read carefully By clicking on Accept key you express your approval of the conditions and terms hereof and you are bound thereby Should you disagree with the conditions and terms hereof promptly terminate the use of this software and destroy any copies thereof or delete the program already downloaded If you accept the terms of the agreement click I Agree to continue You must accept the agreement to install Trivisio Prototyping GmbH Colibri GUI_1 1 0 Nullsoft Install System v2 45 Geles Step 3 Installation path In this dialog the user is able to choose or select the desired installation path 5 Trivisio Prototyping GmbHColibri GUL 1 UL1 1 0 Setup fo O E Choose Install Location Choose the folder in which to install Trivisio Prototyping Setup will install Trivis
5. for data profiling In order to log the output to a file use ColibriTestC exe Windows or ColibriTestC Linux to pipe the data to a file as as follows Windows ColibriTestC exe gt YOUR FILE NAME txt Linux ColibriTestC gt YOUR_FILE NAME txt The file can be imported with a spread sheet application e g Ms Excel or OpenOffice To correctly extract the data use and Tab as delimiters and merge adjacent delimiters Colibri User Manualsdf df 21
6. ised External trigger Alignment Frequency Trigger output divisor ASCI mode AutoStart i RAW mode oO errecduener Acceleration Jitter r 0 0 Temperature 12 Colibri User Manualsdf df 3 5 Jitter Reduction In settings where it is more important to have a smooth orientation estimate than high precision especially when the Colibri is nearly stationary jitter reduction should be turned on This can be done with the checkbox in the expanded tree view of the sensor If you check it jitter reduction is enabled otherwise not Sensor config Magnetic div External trigger Frequency Trigger output divisor ASCI output AutoStart RAW mode Jitter reduction E z o o ISG 5 ll lt Rescan Save Configuration Device Configuration Devices Values DEMOAAS g 2 ees 2 _ _ _ _ _ AAA E E E Acceleration 0 0 E E E Gyroscope E E E Temperature 3 6 Additional functionality 3 6 1 Disable drawing of textures Device Devices Y View Textures Dew Boresight gt SENSUTTUNMY A Magnetic div Frequency ASCI output AutoStart RAW mode Enable boresight Jitter reduction Values Heading Object Alignment Save Configuration Temperature The menu bar contains the Configuration menu entry see image above If th
7. on how to get the most out of the Colibri Tracker Chapter 4 describes two examples of using the SDK s API The code of one of the examples is studied in detail Colibri User Manualsdf df 3 Chapter 2 Installation This chapter provides the installation guides for Microsoft Windows and Linux If you do not have an installer yet please download the installation file from the Trivisio GmbH website http www trivisio com Installers for Window and Linux 32 and 64bit can be freely downloaded from the Support Software section http wiw trivisio com index php support software Download the installer for your system and continue to the section covering the in stallation guidelines for your operating system 2 1 Windows Run the installer the following images will then guide you through the installation pro cedure Step 1 Welcome Screen This is the welcome screen of the installer Press next to start the installation or cancel to abort 35 Trivisio Prototyping GmbH Colibri GUIL1 1 0 Setup Welcome to the Trivisio Prototyping GmbH Colibn GUL_1 1 0 Setup This wizard will guide you through the installation of Trivisio Prototyping GmbH Colibri GUI_1 1 0 It is recommended that you close all other applications before starting Setup This will make it possible to update relevant system files without having to reboot your computer Click Next to continue 4 Colibri User Manualsdf df Step 2 EULA
8. you want to install and uncheck the components you don t want to install Click Install to start the installation Select the type of install Full x Or select the optional 8 rita you wish to Z This is the GUI ba install gt SDK i Demo Application E C Headers Libraries C Sources of t Description Space required 17 2MB T Ge Gama The different options are Full Developer GUI and Custom The Full installation comprise the Developer and GUI installations After this dialog the installation is executed and you are able to use the applications and develop your own software based on the SDK 2 2 Linux Simply run the installer accept the EULA and follow the instruction presented 6 Colibri User Manualsdf df Chapter 3 GUI This section provides an overview about the graphical user interface which can be used to view the connected sensors and their values 3 1 Starting the application Using Microsoft Windows You can start the application either by clicking the Trivisio Colibri icon on your desktop or by selecting it from the start menu The default location is Trivisio Colibri X X X see below and execute the Trivisio Colibri L Trivisio Prototyping GmbH Je Colibri GUL11 0 _ FAQ __ README Trivisio Colibri E Uninstall Using Linux Execute the TrivisioGUI executable available in the bin directory of the installation Colibri User Manualsdf df
9. L textures can be enabled or disabled by the menubar item Config uration Graph of the magnetometer measurements Graph of the accelerometer measurements Graph of the gyroscope measurements Colibri User Manualsdf df 3 3 Calibration parameters To view the calibration parameters used to calibrate the IMU use the Calibration Parameters menu item in the Device menu The dialog looks as follows rat ee f Calibration Parameters for DEMO Magnetometer Acceleration Gyroscope 1 000124 0 005624 0 024233 0 011666 10 411111 0 003865 0 000212 0 002761 OMEGacalib omega de 9acalib 0 001896 1 000327 0 020584 0 011803 g 12 453611 0 006244 0 006753 0 002973 cas 0 007978 0 004964 0 999954 0 011561 5 118333 0 019283 0 009514 0 008112 Magnetometer Acceleration Gyroscope 0 999942 0 008210 0 000772 0 038274 0 011287 0 999591 0 023527 0 038250 0 001015 0 027913 0 999734 0 039220 11 391389 Magnetometer Acceleration Gyroscope 0 998399 0 009705 0 020530 0 018610 340 229858 Hab oe 0 051432 0 999763 0 002567 0 017807 j 416 061707 divider Starting to collect data for magnetometer calibration Slowly rotate the sensor in all directions to acquire data 0 023538 0 019513 0 999786 0 009622 23 901003 The Colibri sensors are factory calibrated and tested bef
10. User Manual Colibri Inertial Motion Tracker Subject to technical modifications Copyright 2011 Augmented Vision Group of the German Research Center for Artificial Gg Intelligence GmbH http www dfki de TRIVISSIO http www trivisio com Contents 1 Introduction 2 Installation DA We ce ee eee OR EEK Ee OES ee hae eG Oe JAB N oe eee ee ee eee tht eae ea tee eee ee 3 GUI 3 1 Starting the application kb eH RRA HEE HEE RES da T Ul ck ee Rha REHEARSE HED EEG ESE EES 3 3 Calibration parameters o IEEE A no AE 36 Additional TunciionalliyY gt cs oea c cocidas aaa wo eS 3 6 1 Disable drawing of textures a a a 3 6 2 Additional COM ports to scan ooa 0 0008 3 6 3 Sensor Diagnosis ooo lt lt oea a whi wee ER Ree SE a DS 3604 PFimiware Upgrade sisse be ee ERR OSA eR RE RES OS 4 SDK 4 1 The test c example a a dd ITheorientation CpPP II 4 3 Simple Import mechanism for data profiling Colibri User Manualsdf df 11 12 13 13 13 14 15 16 Chapter 1 Introduction Thank you for purchasing the Trivisio Colibri and using its software development kit SDK This user s manual covers the software available for the Colibri Tracker Chapter 2 is an installation guide for the software The graphical user interface GUI provided with the sensor is described in Chapter 3 It covers the functionality of the GUI and does also gives some hint
11. e Euler orientation can be obtained by calling colibriEulerOri colibriStop imu colibriClose imu The sensor is stopped by calling colibriStop and closed by colibriClose 4 2 The orientation cpp example The orientation program is a short illustration of how to use the Colibri in a graph ical application Since the testc c has already been explained in detail only the new functions will be explained Key shortcuts toggles visualisation of cube 3 toggles jitter reduction n toggles visualisation of Euler angles as numbers q quits the program The function colibriSetJitterStatus imu status where status is either true or false turns jitter reduction on or off Three different types of boresighting are provided see Section 3 4 for details h heading reset assume yaw 0 when h is pressed 6 o object reset align the up axis of the sensor with gravity keeping the yaw as it is a alignment reset current pose is matched with the nominal pose h o a bal E reset alignment undo any previous adjustment that is turn of boresighting Boresighting is activated with colibriSetBoresight imu 1 and deactivated with colibriSetBoresight imu 0 To boresight use colibriBoresight imu type where type should be one of COLIBRI_HEADING_RESET for heading rest COLIBRI_OBJECT_RESET for object reset and COLIBRI_ALIGNMENT_RESET for alignment reset 4 3 Simple Import mechanism
12. e graphics card is not powerful enough to render the textures the textures can be switched off to improve the performance Colibri User Manualsdf df 13 3 6 2 Additional COM ports to scan Trio Colon e x Configuration Start Values we F W 1 500 Magnetometer Additional COM ports to scan 57 6 Resco 23 8 Calibration Parameters Upgrade Firmware 4 a 14 4 Run Diagnosis 28 8 L Quit F Enable boresight v Jitter reduction Y Acceleration Start Rescan Save Configuration 248 Gyroscope E E E No sensor running Temperature The Trivisio GUI does its best to find all available sensors but it sometimes fails due to system specifics One such reason is having a sensor connected via RS232 In this cases it 1s possible to manually specify additional COM ports or devices to be scanned for Colibris To do so select the Additional COM ports to scan from the Device menu It is then possible to enter additional COM ports and devices in the dialog that opens up see below Note In order to scan for the new ports and have the devices in the list you must press the Rescan button Additional COM ports to scan MEA Enter additional sensors by specifying the sensors separated by commas e 9 COM 12 C00M14 COM 16 14 Colibri User Manualsdf df 3 6 3 Sensor Diagnosis The GUI comes with the possibility to derive diagnostic sensor information
13. io Prototyping GmbH Colibri GUI_1 1 0 in the following folder To install in a different folder click Browse and select another folder Click Next to continue Destination Folder rogram Files Trivisio Prototyping GmbH Colibri GUI_1 1 0 Browse Space required 17 2MB Space available 9 7GB Colibri User Manualsdf df Step 4 Start menu folder If you want to have a different name for your start menu folder please modify the path to your personal need 5 Trivisio Prototyping GmbH Colibri GUL1 1 0 Setup roe Choose Start Menu Folder TRIVISIO Choose a Start Menu folder for the Trivisio Prototyping GmbH Colibri GUI_1 1 0 shortcuts COL B Motica Tezko Select the Start Menu folder in which you would like to create the program s shortcuts You can also enter a name to create a new folder Trivisio Prototyping GmbH Colibri GUI_1 1 0 7 Zip Accessories Administrative Tools Boost C Libraries 1 39 CMake 2 6 Extras and Upgrades Games Git Maintenance Microsoft Office Microsoft Office Live Add in Do not create shortcuts Gua Step 5 Component installation The next dialog can be used to select different installation types The default installation type is FULL 5 Trivisio Prototyping GmbH Colibri GUL11 0Setup Choose Components TRIMIS IO Choose which features of Trivisio Prototyping COL B3 Motica Tracke GmbH Colibri GUI_1 1 0 you want to install Check the components
14. ll accelerometers gyroscopes and magnetome ters will automatically be turned on and cannot be deactivated before the orientation is deactivated The Magnetic div determines the sensitivity of the magnetometers A higher value improves the magnetic measurements but does also take more time to measure 8 Colibri User Manualsdf df i 5 Devices Sensor config Magnetometer X Magnetometer Y Magnetometer Z RAW ASCII Enabled displays y v v off off Sensor and graphs Acceleration Z y on off Only graphs Gyroscope X v Gyroscope Y v off on No output Gyroscope Z v Temperature v on on No output Orientation 7 Magnetic div 256 ag Sensors that can be enable Hence if you experience problems with too low update rate try reducing the mag netic divisor A value of 256 is suitable to maintain 100 Hz sampling frequency The frequency at which the Colibri delivers data is determined by the External trigger setting which indicates if the IMU is triggered from an external source or by the Frequency setting Not all Colibri s are delivered with the possibility to be externally triggered please contact info trivisio com for details and availability Some Colibri s also come with the ability to emit a trigger signal again contact info trivisio com for details and availability For these the Trigger output divi sor determines how often a trigger signal should be emitted If set to O no trigger
15. omplete the firmware update Check the sensor entry in the GUI to see that the upgrade was successful Colibri User Manualsdf df 17 COO ON OTR WN FH 12 13 14 15 Chapter 4 SDK Two example programs are provided with the SDK The first one is a console application named ColibriTestC testc c and the second one is a GLUT application The Windows SDK also comes with an example on how to communicate with the sensor using C The two applications can be found in the installation directory in the example di rectory The Windows installation contains Visual Studio project for the two examples and a solution in the installation directory The Linux installation includes the makefile Makefile linux The required header files are in your installation directory in the include folder The libraries are found in the 1ib or bin directory 4 1 The test c example This section describes the test c application The TrivisioColibri h header is needed to use the Colibri API include TrivisioColibri h include lt stdio h gt ifdef WIN32 include lt windows h gt Helse include lt unistd h gt endif define M PI 3 14159265358979323846 This simple example contains just a main function In it the Colibri sensors are scanned and the measurements are printed to the console In addition the methods for getting and setting the configuration will be shown int main struct TrivisioSensor sensorList 10 int sensorCoun
16. ore being shipped However the magnetic calibration is very sensitive to the environment in which the sensor is used This means that to obtain best possible orientation estimates the Colibri should have its magnetometers recalibrated after it has been mounted in the way it is intended to be used Not doing so will result in degraded orientation estimates To recalibrate the magnetometers press the Run Calibration button in the view for the magnetometer calibration parameters Then turn the sensor around all its axis in a smooth motions If the calibration is successful the parameters are downloaded to the IMU and if not the calibration is simply left unchanged Colibri User Manualsdf df 11 3 4 Boresighting Boresighting can enabled and disabled in the tree view of the sensor see 1 in the image below When turned on this way the Colibri will be boresighted according to the pa rameters saved in the sensor The menu items in the Configuration gt Boresight menu allows the user to update these parameters see 2 in the figure below Three different types of boresighting are possible e Heading reset global frame is aligned with the current sensor x axis set yaw 0 The vertical direction remains unchanged e Object reset which changes the sensor coordinate system to align its z axis with eravity The heading is unchanged e Alignment reset which combines heading and object reset Magne tometer Boresight Magnetic div
17. signal is output and otherwise the output frequency is the sensor frequency divided by the divisor In addition the option ASCII turns on output suitable for terminal debugging can be activated the AutoStart determines if the sensor starts automatically to output measurements when plugged in and the RAW mode can be used to get raw uncalibrated data from the IMU Turning on Jitter reduction gives a more stable orientation estimate as explained in Section 3 5 Note the available graphical output depends on the settings of ASCII and RAW The modes and the according enabled widgets are shown in the following table 2 Start stop button The currently selected Colibri can be started and stopped using this button 3 Rescan button Use the rescan button to search the system for connected sensors 4 Save configuration button Normally the selected sensor configuration is downloaded but not saved to the Colibri as it is started and will be reset once the power is lost Use this button to save the configuration to the Colibri s permanent memory Colibri User Manualsdf df 9 10 Euler angle orientation This describes the rotation of the Colibri as a sequence of three rotations yaw around the sensors positive z axis pitch around the sensors negative y axis and finally roll around the positive x axis Note that boresighting changes the sensors axis OpenGL representation of the sensor orientation The OpenG
18. t colibriGetDeviceList sensorList 10 The available devices can be detected by calling the colibriGetDeviceList function The function returns the number of available sensors and it takes two parameters an array of sensors to be populated and the size of this array 18 Colibri User Manualsdf df 17 void imu colibriCreate 100 This function creates the Colibri devices whereas the parameter is the length of the buffer internal buffer 18 struct ColibriConfig conf 19 char ID 8 20 21 Diagonal matrices with diagonal element 68 yields approx 20Hz 22 bandwidth O 100Hz x 23 float Ka 9 0 68f 0 00f 0 00f 24 0 00f 0 68f 0 00f 25 0 00f 0 00f 0 68f 26 float Kg 9 0 68f 0 00f 0 00f 27 0 00f 0 68f 0 00f 28 0 00f 0 00f 0 68f 29 30 struct TrivisiolMUData data 31 unsigned oldt 0 32 int i In this block custom pre filtering parameters are generated and will later on be trans mitted to the sensor Using diagonal matrices with 0 68 as diagonal element yields inde pendent filtering of each data channel with a bandwidth of approximately 20 Hz Some variable needed later are also declared 34 printf Number of Colibris found d n sensorCount 35 if sensorCount lt 0 36 sensorCount 10 37 for i 0 i lt sensorCount i 38 printf s t s FW d d n sensorList i dev sensorList i ID 39 sensorList i FWver sensorList i FWsubver 40 printf n n Al
19. to simplify fault analysis The diagnostic information contains information about all settings stored in the Colibri as well as the result from a few seconds of collected data This provides valuable information about the IMU such as bias and noise levels in the current setting Please always provide this information with support requests To obtain the diagnostic information select Run Diagnosis from the Device menu and keep the sensor as stationary as possible The best information is obtained if the sensor is diagnosed in the same environment as it is used Configuration Start Additional COM ports to scan Rescan Calibration Parameters Upgrade Firmware Run Diagnosis Enable boresight Jitter reduction Save Configuration No sensor running Temperature The result dialog can be seen below It is possible to save the output to a text file which can easily be attach to support requests r E Diagnosis Dialog L x Device usb4vid_ffff amp pid_00054akbocde 4d36e978 e325 11ce bfc1 08002be 10318 Date Fri Sep 03 10 03 14 2010 Firmware 1 500 Sensor config Ox7ff Magnetic div 1024 Frequency 86 Trigger div 254 ASCII output false autoStart false RAW mode false Jitter reduction true Bore sighting true 1 0 0 0 0 999617 0 00702146 0 0267562 0 000188042 E Ka false 0 5 0 0 0 0 5 0 0 0 0 5 Kg false 0 5 0 0 0 0 5 0 0 0
20. vice AKBOCDE By pressing OK a new dialog will open with instructions on how to upgrade the firmware Please follow the instructions Device Configuration Devices AKBOCDE 4 Update Firmware Instruction 16 UPGRADING FIRMWARE of Colibri AKBOCDE Within the next 10 seconds after continuing a new USB storage device na FIRMWARE should become available on your computer Once the unit appears 1 Copy the firmware file e g colibril409 fmw to this drive 2 If on receiving the firmware file the device does not saf med If on ving not safely removes itself do so 3 Unplug and then replug the sensor to complete the firmware update Colibri User Manualsdf df Within 10seconds after initiating the firmware upgrade procedure a new USB mass storage device named FIRMWARE should become available on your computer Once the unit appears 1 Copy the firmware file e g colibril500 fmw to this drive The installer comes with a firmware version that should be compatible with the SDK version It can be found in the firmware folder of the installed program The latest firmware can also be acquired from info trivisio com 2 When receiving a new firmware file the USB mass storage should safely remove itself If this does not happen for example due to aggressive caching safely remove it manually to speed up the procedure 3 Unplug and then replug the sensor to c
21. well as jitter reduction 64 printf Colibri IMU n 65 colibriGetID imu ID 66 printf Device ID s n ID 67 printf Sensor config d n conf sensor 68 printf Magnetic div din unsigned conf magDiv 69 printf Frequency d n conf freq 70 printf ASCII output d n conf ascii 71 printf autoStart d n conf autoStart 12 printf RAW mode din conf raw 73 printf Jitter reduction d n colibriGetJitterStatus imu And the sensor settings are printed 76 colibriStart imu Start the colibri by calling the function colibriStart TT for 78 colibriGetData imu amp data 79 if data t gt oldt 4 80 float eul 3 81 printf Time 6 2f t data txle 4 82 printf Temp 6 2f t data temp 83 printf Acc 6 2f 6 2f 6 2f t data acc_x data acc_y data acc_z 84 printf Gyr 6 2f 6 2f 6 2f t data gyr_x data gyr_y data gyr_z 85 printf Mag 6 2f 6 2f 6 2f t data mag_x data mag y data mag z 86 printi Quat 16 21 AS 2ty 7621 VOD0 21 8 a 87 data q_w data q_x data q_y data q_z 88 colibriEulerOri amp data eul 89 printf Euler 10 4f 10 4f 10 4f n 90 180 M_Plxeul 0 180 M Plxeul 1 180 M Plxeul 2 91 oldt data t 92 93 ifdef WIN32 94 Sleep 2 95 else 96 usleep 2000 97 endif 98 20 Colibri User Manualsdf df 100 101 The data will be read out of the sensor by the function colibriGetData Th
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