diff --git a/control/precision_landing.py b/control/precision_landing.py new file mode 100644 index 0000000..9bded13 --- /dev/null +++ b/control/precision_landing.py @@ -0,0 +1,37 @@ +import rospy +from geometry_msgs.msg import Twist, PoseStamped, TransformStamped +from tf2_ros import TransformListener, Buffer +import sys + +def local_pose_callback(data): + global local_pose + local_pose = data + +if __name__ == '__main__': + vehicle_type = sys.argv[1] + vehicle_id = sys.argv[2] + rospy.init_node(vehicle_type+'_'+vehicle_id+'_precision_landing') + tfBuffer = Buffer() + tflistener = TransformListener(tfBuffer) + cmd_vel_enu = Twist() + local_pose = PoseStamped() + Kp = 1.0 + land_vel = 0.5 + rospy.Subscriber(vehicle_type+'_'+vehicle_id+"/mavros/local_position/pose", PoseStamped, local_pose_callback) + cmd_vel_pub = rospy.Publisher('/xtdrone/'+vehicle_type+'_'+vehicle_id+'/cmd_vel_enu', Twist, queue_size=2) + rate = rospy.Rate(50) + while not rospy.is_shutdown(): + try: + tfstamped = tfBuffer.lookup_transform('tag_'+vehicle_id, 'map', rospy.Time(0)) + except: + cmd_vel_enu.linear.z = 0.0 + continue + # print('tf:',tfstamped.transform.translation.x) + # print(local_pose.pose.position.x) + cmd_vel_enu.linear.x = Kp * (tfstamped.transform.translation.x - local_pose.pose.position.x) + cmd_vel_enu.linear.y = Kp * (tfstamped.transform.translation.y - local_pose.pose.position.y) + cmd_vel_enu.linear.z = - land_vel + # print(cmd_vel_enu) + cmd_vel_pub.publish(cmd_vel_enu) + rate.sleep() + diff --git a/control/yolo_human_tracking.py b/control/yolo_human_tracking.py index 91fba66..d513cf3 100644 --- a/control/yolo_human_tracking.py +++ b/control/yolo_human_tracking.py @@ -65,12 +65,12 @@ if __name__ == "__main__": rospy.Subscriber("/uav_"+vehicle_id+"/darknet_ros/bounding_boxes", BoundingBoxes, darknet_callback) rospy.Subscriber(vehicle_type+'_'+vehicle_id+"/mavros/local_position/pose", PoseStamped, local_pose_callback) rospy.Subscriber('/xtdrone/'+vehicle_type+'_'+vehicle_id+'/cam_pose', PoseStamped, cam_pose_callback) - vel_pub = rospy.Publisher('/xtdrone/'+vehicle_type+'_'+vehicle_id+'/cmd_vel_flu', Twist, queue_size=2) + cmd_vel_pub = rospy.Publisher('/xtdrone/'+vehicle_type+'_'+vehicle_id+'/cmd_vel_flu', Twist, queue_size=2) cmd_pub = rospy.Publisher('/xtdrone/'+vehicle_type+'_'+vehicle_id+'/cmd', String, queue_size=2) rate = rospy.Rate(60) - while(True): + while not rospy.is_shutdown(): rate.sleep() - vel_pub.publish(twist) + cmd_vel_pub.publish(twist) cmd_pub.publish(cmd) if find_cnt - find_cnt_last == 0: if not get_time: diff --git a/sensing/object_detection_and_tracking/apriltag/config/rviz.rviz b/sensing/object_detection_and_tracking/apriltag/config/rviz.rviz new file mode 100644 index 0000000..aebb8d8 --- /dev/null +++ b/sensing/object_detection_and_tracking/apriltag/config/rviz.rviz @@ -0,0 +1,207 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 355 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Image +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + base_link_frd: + Value: true + camera_link: + Value: true + map: + Value: true + map_ned: + Value: true + my_bundle: + Value: true + odom: + Value: true + odom_ned: + Value: true + tag_0: + Value: true + tag_1: + Value: true + tag_2: + Value: true + ugv_0/back_left_wheel_link: + Value: true + ugv_0/back_right_wheel_link: + Value: true + ugv_0/base_link: + Value: true + ugv_0/camera_left_link: + Value: true + ugv_0/camera_right_link: + Value: true + ugv_0/front_laser_link: + Value: true + ugv_0/front_left_steering_link: + Value: true + ugv_0/front_left_wheel_link: + Value: true + ugv_0/front_right_steering_link: + Value: true + ugv_0/front_right_wheel_link: + Value: true + ugv_0/main_mass: + Value: true + ugv_0/odom: + Value: true + ugv_0/slamodom: + Value: true + ugv_0/triclops_link: + Value: true + ugv_0/velodyne_link: + Value: true + world: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + map: + base_link: + base_link_frd: + {} + map_ned: + {} + Update Interval: 0 + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /tag_detections_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 13.4510498046875 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.785398006439209 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.785398006439209 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 437 + Y: 160 diff --git a/sensing/object_detection_and_tracking/apriltag/image/apriltag0-2.png b/sensing/object_detection_and_tracking/apriltag/image/apriltag0-2.png new file mode 100644 index 0000000..5342608 Binary files /dev/null and b/sensing/object_detection_and_tracking/apriltag/image/apriltag0-2.png differ diff --git a/sensing/object_detection_and_tracking/apriltag/image/target.pdf b/sensing/object_detection_and_tracking/apriltag/image/target.pdf new file mode 100644 index 0000000..918ccad Binary files /dev/null and b/sensing/object_detection_and_tracking/apriltag/image/target.pdf differ diff --git a/sensing/object_detection_and_tracking/apriltag/model/marker0/materials/textures/Marker0.png b/sensing/object_detection_and_tracking/apriltag/model/marker0/materials/textures/Marker0.png new file mode 100755 index 0000000..686090d Binary files /dev/null and b/sensing/object_detection_and_tracking/apriltag/model/marker0/materials/textures/Marker0.png differ diff --git a/sensing/object_detection_and_tracking/apriltag/model/marker0/meshes/Marker0.dae b/sensing/object_detection_and_tracking/apriltag/model/marker0/meshes/Marker0.dae new file mode 100644 index 0000000..9d7ea43 --- /dev/null +++ b/sensing/object_detection_and_tracking/apriltag/model/marker0/meshes/Marker0.dae @@ -0,0 +1,126 @@ + + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker0.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + diff --git a/sensing/object_detection_and_tracking/apriltag/model/marker0/model-1_4.sdf b/sensing/object_detection_and_tracking/apriltag/model/marker0/model-1_4.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/sensing/object_detection_and_tracking/apriltag/model/marker0/model-1_4.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/sensing/object_detection_and_tracking/apriltag/model/marker0/model-1_5.sdf b/sensing/object_detection_and_tracking/apriltag/model/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/sensing/object_detection_and_tracking/apriltag/model/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/sensing/object_detection_and_tracking/apriltag/model/marker0/model.config b/sensing/object_detection_and_tracking/apriltag/model/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/sensing/object_detection_and_tracking/apriltag/model/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/sensing/object_detection_and_tracking/apriltag/model/marker0/model.sdf b/sensing/object_detection_and_tracking/apriltag/model/marker0/model.sdf new file mode 100755 index 0000000..6566090 --- /dev/null +++ b/sensing/object_detection_and_tracking/apriltag/model/marker0/model.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/sensing/object_detection_and_tracking/apriltag/script/make_gazebo_model.py b/sensing/object_detection_and_tracking/apriltag/script/make_gazebo_model.py new file mode 100755 index 0000000..b0339f8 --- /dev/null +++ b/sensing/object_detection_and_tracking/apriltag/script/make_gazebo_model.py @@ -0,0 +1,227 @@ +#! /usr/bin/env python +# Thanks for https://github.com/mikaelarguedas/gazebo_models +from __future__ import print_function + +import argparse +from xml.dom.minidom import parse +import os +import sys + +parser = argparse.ArgumentParser( + usage='generate gazebo models for AR tags', + formatter_class=argparse.ArgumentDefaultsHelpFormatter +) +parser.add_argument( + '-i', '--images-dir', + default="$HOME/gazebo_models/ar_tags/images", + help='directory where the marker images are located') +parser.add_argument( + '-g', '--gazebodir', + default="$HOME/.gazebo/models", + help='Gazebo models directory') +parser.add_argument( + '-s', '--size', + default=500, type=int, + help='marker size in mm') +parser.add_argument( + '-v', '--verbose', + dest='verbose', action='store_true', + help='verbose mode') + +parser.add_argument( + '-w', '--white-contour-size-mm', + default=0, type=int, + help='Add white contour around images, default to no contour') +parser.set_defaults(verbose=False) + +args = parser.parse_args() + +args.gazebodir = os.path.expandvars(args.gazebodir) +args.images_dir = os.path.expandvars(args.images_dir) +script_path = os.path.dirname(os.path.realpath(__file__)) +model_dir = os.path.join(os.path.dirname(script_path), 'model') +ORIGINAL_MARKER_SIZE_MM = 500 +ORIGINAL_IMAGE_SIZE_PX = 170 +white_contour_px = \ + args.white_contour_size_mm * ORIGINAL_IMAGE_SIZE_PX / args.size + +if not os.path.isdir(args.images_dir): + print("provided image directory '%s' is not a directory" % args.images_dir) + sys.exit() + +# Open every collada file +if args.verbose: + print(args.images_dir) + +# Copy marker0 directory into gazebo model directory +cp_marker0_cmd = "cp -r " + os.path.join(model_dir, 'marker0') + \ + " " + os.path.join(args.gazebodir, "marker0") +if args.verbose: + print(cp_marker0_cmd) +os.system(cp_marker0_cmd) + +file_list = sorted(os.listdir(args.images_dir)) +for image_file in file_list: + if not image_file.endswith('.png'): + continue + image_file_path = os.path.join(args.images_dir, image_file) + filename_without_ext = image_file[0:image_file.rfind('.')] + # ignore marker0 as it has already been copied above + if not filename_without_ext.lower() == 'marker0': + cmd = "cp -r " + os.path.join(args.gazebodir, "marker0") + \ + " " + os.path.join(args.gazebodir, filename_without_ext.lower()) + if args.verbose: + print(cmd) + os.system(cmd) + + cmd = "rm " + os.path.join( + args.gazebodir, filename_without_ext.lower(), + "materials", "textures", "Marker0.png") + if args.verbose: + print(cmd) + os.system(cmd) + image_dest_path = os.path.join( + args.gazebodir, + filename_without_ext.lower(), + "materials", "textures", image_file) + cmd = "cp " + image_file_path + " " + \ + image_dest_path + if args.verbose: + print(cmd) + os.system(cmd) + + # add white contour if applicable: + if white_contour_px > 0: + convert_cmd = "convert %s -bordercolor white -border %dx%d %s" % ( + image_dest_path, white_contour_px, + white_contour_px, image_dest_path) + if args.verbose: + print(convert_cmd) + os.system(convert_cmd) + + model_config_path = os.path.join( + args.gazebodir, filename_without_ext.lower(), "model.config") + if args.verbose: + print(model_config_path) + dom = parse(model_config_path) + # modify model.config + for node in dom.getElementsByTagName('name'): + node.firstChild.nodeValue = filename_without_ext + if args.verbose: + print(node.firstChild.nodeValue) + break + f = open(os.path.join( + args.gazebodir, filename_without_ext.lower(), "model.config"), 'w+') + # Write the modified xml file + f.write(dom.toxml()) + f.close() + + # modify model.sdf + model_noversion_sdf_path = os.path.join( + args.gazebodir, filename_without_ext.lower(), "model.sdf") + if args.verbose: + print("open model.sdf") + print(model_noversion_sdf_path) + dom = parse(model_noversion_sdf_path) + for node in dom.getElementsByTagName('model'): + node.attributes["name"].value = filename_without_ext + if args.verbose: + print("model tag found") + break + + scaleModified = False + scale = (args.size + 2 * args.white_contour_size_mm) / \ + float(ORIGINAL_MARKER_SIZE_MM) + for node in dom.getElementsByTagName('mesh'): + for child in node.childNodes: + if child.nodeName == "scale": + child.firstChild.nodeValue = \ + "{} {} {}".format(scale, scale, scale) + scaleModified = True + if child.nodeName == "uri": + child.firstChild.nodeValue = "model://" + os.path.join( + filename_without_ext.lower(), "meshes", + filename_without_ext + ".dae") + if args.verbose: + print("uri tag found") + print(node.firstChild.nodeValue) + if not scaleModified: + if args.verbose: + print("creating scale tag") + x = dom.createElement("scale") + y = dom.createTextNode("{} {} {}".format(scale, scale, scale)) + x.appendChild(y) + node.appendChild(x) + + f = open(model_noversion_sdf_path, 'w+') + # Write the modified xml file + f.write(dom.toxml()) + f.close() + + # modify model-1_4.sdf + model_sdf_path = os.path.join( + args.gazebodir, filename_without_ext.lower(), "model-1_4.sdf") + cmd = "cp " + model_noversion_sdf_path + " " + model_sdf_path + if args.verbose: + print(cmd) + os.system(cmd) + + if args.verbose: + print("open model-1_4.sdf") + print(model_sdf_path) + dom = parse(model_sdf_path) + for node in dom.getElementsByTagName('sdf'): + node.attributes["version"].value = "1.4" + break + f = open(model_sdf_path, 'w+') + # Write the modified xml file + f.write(dom.toxml()) + f.close() + + # modify model-1_5.sdf + model_sdf_path = os.path.join( + args.gazebodir, filename_without_ext.lower(), "model-1_5.sdf") + cmd = "cp " + model_noversion_sdf_path + \ + " " + model_sdf_path + if args.verbose: + print(cmd) + os.system(cmd) + + if args.verbose: + print("open model-1_5.sdf") + print(model_sdf_path) + dom = parse(model_sdf_path) + for node in dom.getElementsByTagName('sdf'): + node.attributes["version"].value = "1.5" + break + f = open(model_sdf_path, 'w+') + # Write the modified xml file + f.write(dom.toxml()) + f.close() + + meshes_dir = os.path.join( + args.gazebodir, filename_without_ext.lower(), "meshes") + if args.verbose: + print(os.path.join(meshes_dir, "Marker0.dae") + + " newname " + os.path.join( + meshes_dir, filename_without_ext + ".dae")) + os.rename( + os.path.join(meshes_dir, "Marker0.dae"), + os.path.join(meshes_dir, filename_without_ext + ".dae")) + + # modify ModelX.dae + if args.verbose: + print("open ModelX.dae") + print(os.path.join(meshes_dir, filename_without_ext + ".dae")) + dom = parse(os.path.join(meshes_dir, filename_without_ext + ".dae")) + for node in dom.getElementsByTagName('init_from'): + node.firstChild.nodeValue = image_file + if args.verbose: + print("init_from tag found") + break + + f = open(os.path.join( + meshes_dir, filename_without_ext + ".dae"), 'w+') + # Write the modified xml file + f.write(dom.toxml()) + f.close() \ No newline at end of file diff --git a/sensing/object_detection_and_tracking/apriltag/script/make_tag.py b/sensing/object_detection_and_tracking/apriltag/script/make_tag.py new file mode 100644 index 0000000..9eee595 --- /dev/null +++ b/sensing/object_detection_and_tracking/apriltag/script/make_tag.py @@ -0,0 +1,186 @@ +#!/usr/bin/python +# Thomas Schneider, Sept 2013 +# Codes from AprilTags C++ Library (http://people.csail.mit.edu/kaess/apriltags/) + +from pyx import * +import argparse +import sys +import importlib + +import math +import numpy as np + +class AprilTagCodes: + t16h5=[0x231b, 0x2ea5, 0x346a, 0x45b9, 0x79a6, 0x7f6b, 0xb358, 0xe745, 0xfe59, 0x156d, 0x380b, 0xf0ab, 0x0d84, 0x4736, 0x8c72, 0xaf10, 0x093c, 0x93b4, 0xa503, 0x468f, 0xe137, 0x5795, 0xdf42, 0x1c1d, 0xe9dc, 0x73ad, 0xad5f, 0xd530, 0x07ca, 0xaf2e] + t25h7=[0x4b770d, 0x11693e6, 0x1a599ab, 0xc3a535, 0x152aafa, 0xaccd98, 0x1cad922, 0x2c2fad, 0xbb3572, 0x14a3b37, 0x186524b, 0xc99d4c, 0x23bfea, 0x141cb74, 0x1d0d139, 0x1670aeb, 0x851675, 0x150334e, 0x6e3ed8, 0xfd449d, 0xaa55ec, 0x1c86176, 0x15e9b28, 0x7ca6b2, 0x147c38b, 0x1d6c950, 0x8b0e8c, 0x11a1451, 0x1562b65, 0x13f53c8, 0xd58d7a, 0x829ec9, 0xfaccf1, 0x136e405, 0x7a2f06, 0x10934cb, 0x16a8b56, 0x1a6a26a, 0xf85545, 0x195c2e4, 0x24c8a9, 0x12bfc96, 0x16813aa, 0x1a42abe, 0x1573424, 0x1044573, 0xb156c2, 0x5e6811, 0x1659bfe, 0x1d55a63, 0x5bf065, 0xe28667, 0x1e9ba54, 0x17d7c5a, 0x1f5aa82, 0x1a2bbd1, 0x1ae9f9, 0x1259e51, 0x134062b, 0xe1177a, 0xed07a8, 0x162be24, 0x59128b, 0x1663e8f, 0x1a83cb, 0x45bb59, 0x189065a, 0x4bb370, 0x16fb711, 0x122c077, 0xeca17a, 0xdbc1f4, 0x88d343, 0x58ac5d, 0xba02e8, 0x1a1d9d, 0x1c72eec, 0x924bc5, 0xdccab3, 0x886d15, 0x178c965, 0x5bc69a, 0x1716261, 0x174e2cc, 0x1ed10f4, 0x156aa8, 0x3e2a8a, 0x2752ed, 0x153c651, 0x1741670, 0x765b05, 0x119c0bb, 0x172a783, 0x4faca1, 0xf31257, 0x12441fc, 0x0d3748, 0xc21f15, 0xac5037, 0x180e592, 0x7d3210, 0xa27187, 0x2beeaf, 0x26ff57, 0x690e82, 0x77765c, 0x1a9e1d7, 0x140be1a, 0x1aa1e3a, 0x1944f5c, 0x19b5032, 0x169897, 0x1068eb9, 0xf30dbc, 0x106a151, 0x1d53e95, 0x1348cee, 0xcf4fca, 0x1728bb5, 0xdc1eec, 0x69e8db, 0x16e1523, 0x105fa25, 0x18abb0c, 0xc4275d, 0x6d8e76, 0xe8d6db, 0xe16fd7, 0x1ac2682, 0x77435b, 0xa359dd, 0x3a9c4e, 0x123919a, 0x1e25817, 0x02a836, 0x1545a4, 0x1209c8d, 0xbb5f69, 0x1dc1f02, 0x5d5f7e, 0x12d0581, 0x13786c2, 0xe15409, 0x1aa3599, 0x139aad8, 0xb09d2a, 0x54488f, 0x13c351c, 0x976079, 0xb25b12, 0x1addb34, 0x1cb23ae, 0x1175738, 0x1303bb8, 0xd47716, 0x188ceea, 0xbaf967, 0x1226d39, 0x135e99b, 0x34adc5, 0x2e384d, 0x90d3fa, 0x232713, 0x17d49b1, 0xaa84d6, 0xc2ddf8, 0x1665646, 0x4f345f, 0x2276b1, 0x1255dd7, 0x16f4ccc, 0x4aaffc, 0xc46da6, 0x85c7b3, 0x1311fcb, 0x9c6c4f, 0x187d947, 0x8578e4, 0xe2bf0b, 0xa01b4c, 0xa1493b, 0x7ad766, 0xccfe82, 0x1981b5b, 0x1cacc85, 0x562cdb, 0x15b0e78, 0x8f66c5, 0x3332bf, 0x12ce754, 0x096a76, 0x1d5e3ba, 0x27ea41, 0x14412df, 0x67b9b4, 0xdaa51a, 0x1dcb17, 0x4d4afd, 0x6335d5, 0xee2334, 0x17d4e55, 0x1b8b0f0, 0x14999e3, 0x1513dfa, 0x765cf2, 0x56af90, 0x12e16ac, 0x1d3d86c, 0xff279b, 0x18822dd, 0x99d478, 0x8dc0d2, 0x34b666, 0xcf9526, 0x186443d, 0x7a8e29, 0x19c6aa5, 0x1f2a27d, 0x12b2136, 0xd0cd0d, 0x12cb320, 0x17ddb0b, 0x05353b, 0x15b2caf, 0x1e5a507, 0x120f1e5, 0x114605a, 0x14efe4c, 0x568134, 0x11b9f92, 0x174d2a7, 0x692b1d, 0x39e4fe, 0xaaff3d, 0x96224c, 0x13c9f77, 0x110ee8f, 0xf17bea, 0x99fb5d, 0x337141, 0x02b54d, 0x1233a70] + t25h9=[0x155cbf1, 0x1e4d1b6, 0x17b0b68, 0x1eac9cd, 0x12e14ce, 0x3548bb, 0x7757e6, 0x1065dab, 0x1baa2e7, 0xdea688, 0x81d927, 0x51b241, 0xdbc8ae, 0x1e50e19, 0x15819d2, 0x16d8282, 0x163e035, 0x9d9b81, 0x173eec4, 0xae3a09, 0x5f7c51, 0x1a137fc, 0xdc9562, 0x1802e45, 0x1c3542c, 0x870fa4, 0x914709, 0x16684f0, 0xc8f2a5, 0x833ebb, 0x59717f, 0x13cd050, 0xfa0ad1, 0x1b763b0, 0xb991ce] + t36h11=[0xd5d628584, 0xd97f18b49, 0xdd280910e, 0xe479e9c98, 0xebcbca822, 0xf31dab3ac, 0x056a5d085, 0x10652e1d4, 0x22b1dfead, 0x265ad0472, 0x34fe91b86, 0x3ff962cd5, 0x43a25329a, 0x474b4385f, 0x4e9d243e9, 0x5246149ae, 0x5997f5538, 0x683bb6c4c, 0x6be4a7211, 0x7e3158eea, 0x81da494af, 0x858339a74, 0x8cd51a5fe, 0x9f21cc2d7, 0xa2cabc89c, 0xadc58d9eb, 0xb16e7dfb0, 0xb8c05eb3a, 0xd25ef139d, 0xd607e1962, 0xe4aba3076, 0x2dde6a3da, 0x43d40c678, 0x5620be351, 0x64c47fa65, 0x686d7002a, 0x6c16605ef, 0x6fbf50bb4, 0x8d06d39dc, 0x9f53856b5, 0xadf746dc9, 0xbc9b084dd, 0xd290aa77b, 0xd9e28b305, 0xe4dd5c454, 0xfad2fe6f2, 0x181a8151a, 0x26be42c2e, 0x2e10237b8, 0x405cd5491, 0x7742eab1c, 0x85e6ac230, 0x8d388cdba, 0x9f853ea93, 0xc41ea2445, 0xcf1973594, 0x14a34a333, 0x31eacd15b, 0x6c79d2dab, 0x73cbb3935, 0x89c155bd3, 0x8d6a46198, 0x91133675d, 0xa708d89fb, 0xae5ab9585, 0xb9558a6d4, 0xb98743ab2, 0xd6cec68da, 0x1506bcaef, 0x4becd217a, 0x4f95c273f, 0x658b649dd, 0xa76c4b1b7, 0xecf621f56, 0x1c8a56a57, 0x3628e92ba, 0x53706c0e2, 0x5e6b3d231, 0x7809cfa94, 0xe97eead6f, 0x5af40604a, 0x7492988ad, 0xed5994712, 0x5eceaf9ed, 0x7c1632815, 0xc1a0095b4, 0xe9e25d52b, 0x3a6705419, 0xa8333012f, 0x4ce5704d0, 0x508e60a95, 0x877476120, 0xa864e950d, 0xea45cfce7, 0x19da047e8, 0x24d4d5937, 0x6e079cc9b, 0x99f2e11d7, 0x33aa50429, 0x499ff26c7, 0x50f1d3251, 0x66e7754ef, 0x96ad633ce, 0x9a5653993, 0xaca30566c, 0xc298a790a, 0x8be44b65d, 0xdc68f354b, 0x16f7f919b, 0x4dde0e826, 0xd548cbd9f, 0xe0439ceee, 0xfd8b1fd16, 0x76521bb7b, 0xd92375742, 0xcab16d40c, 0x730c9dd72, 0xad9ba39c2, 0xb14493f87, 0x52b15651f, 0x185409cad, 0x77ae2c68d, 0x94f5af4b5, 0x0a13bad55, 0x61ea437cd, 0xa022399e2, 0x203b163d1, 0x7bba8f40e, 0x95bc9442d, 0x41c0b5358, 0x8e9c6cc81, 0x0eb549670, 0x9da3a0b51, 0xd832a67a1, 0xdcd4350bc, 0x4aa05fdd2, 0x60c7bb44e, 0x4b358b96c, 0x067299b45, 0xb9c89b5fa, 0x6975acaea, 0x62b8f7afa, 0x33567c3d7, 0xbac139950, 0xa5927c62a, 0x5c916e6a4, 0x260ecb7d5, 0x29b7bbd9a, 0x903205f26, 0xae72270a4, 0x3d2ec51a7, 0x82ea55324, 0x11a6f3427, 0x1ca1c4576, 0xa40c81aef, 0xbddccd730, 0x0e617561e, 0x969317b0f, 0x67f781364, 0x610912f96, 0xb2549fdfc, 0x06e5aaa6b, 0xb6c475339, 0xc56836a4d, 0x844e351eb, 0x4647f83b4, 0x0908a04f5, 0x7f51034c9, 0xaee537fca, 0x5e92494ba, 0xd445808f4, 0x28d68b563, 0x04d25374b, 0x2bc065f65, 0x96dc3ea0c, 0x4b2ade817, 0x07c3fd502, 0xe768b5caf, 0x17605cf6c, 0x182741ee4, 0x62846097c, 0x72b5ebf80, 0x263da6e13, 0xfa841bcb5, 0x7e45e8c69, 0x653c81fa0, 0x7443b5e70, 0x0a5234afd, 0x74756f24e, 0x157ebf02a, 0x82ef46939, 0x80d420264, 0x2aeed3e98, 0xb0a1dd4f8, 0xb5436be13, 0x7b7b4b13b, 0x1ce80d6d3, 0x16c08427d, 0xee54462dd, 0x1f7644cce, 0x9c7b5cc92, 0xe369138f8, 0x5d5a66e91, 0x485d62f49, 0xe6e819e94, 0xb1f340eb5, 0x09d198ce2, 0xd60717437, 0x0196b856c, 0xf0a6173a5, 0x12c0e1ec6, 0x62b82d5cf, 0xad154c067, 0xce3778832, 0x6b0a7b864, 0x4c7686694, 0x5058ff3ec, 0xd5e21ea23, 0x9ff4a76ee, 0x9dd981019, 0x1bad4d30a, 0xc601896d1, 0x973439b48, 0x1ce7431a8, 0x57a8021d6, 0xf9dba96e6, 0x83a2e4e7c, 0x8ea585380, 0xaf6c0e744, 0x875b73bab, 0xda34ca901, 0x2ab9727ef, 0xd39f21b9a, 0x8a10b742f, 0x5f8952dba, 0xf8da71ab0, 0xc25f9df96, 0x06f8a5d94, 0xe42e63e1a, 0xb78409d1b, 0x792229add, 0x5acf8c455, 0x2fc29a9b0, 0xea486237b, 0xb0c9685a0, 0x1ad748a47, 0x03b4712d5, 0xf29216d30, 0x8dad65e49, 0x0a2cf09dd, 0x0b5f174c6, 0xe54f57743, 0xb9cf54d78, 0x4a312a88a, 0x27babc962, 0xb86897111, 0xf2ff6c116, 0x82274bd8a, 0x97023505e, 0x52d46edd1, 0x585c1f538, 0xbddd00e43, 0x5590b74df, 0x729404a1f, 0x65320855e, 0xd3d4b6956, 0x7ae374f14, 0x2d7a60e06, 0x315cd9b5e, 0xfd36b4eac, 0xf1df7642b, 0x55db27726, 0x8f15ebc19, 0x992f8c531, 0x62dea2a40, 0x928275cab, 0x69c263cb9, 0xa774cca9e, 0x266b2110e, 0x1b14acbb8, 0x624b8a71b, 0x1c539406b, 0x3086d529b, 0x0111dd66e, 0x98cd630bf, 0x8b9d1ffdc, 0x72b2f61e7, 0x9ed9d672b, 0x96cdd15f3, 0x6366c2504, 0x6ca9df73a, 0xa066d60f0, 0xe7a4b8add, 0x8264647ef, 0xaa195bf81, 0x9a3db8244, 0x014d2df6a, 0x0b63265b7, 0x2f010de73, 0x97e774986, 0x248affc29, 0xfb57dcd11, 0x0b1a7e4d9, 0x4bfa2d07d, 0x54e5cdf96, 0x4c15c1c86, 0xcd9c61166, 0x499380b2a, 0x540308d09, 0x8b63fe66f, 0xc81aeb35e, 0x86fe0bd5c, 0xce2480c2a, 0x1ab29ee60, 0x8048daa15, 0xdbfeb2d39, 0x567c9858c, 0x2b6edc5bc, 0x2078fca82, 0xadacc22aa, 0xb92486f49, 0x51fac5964, 0x691ee6420, 0xf63b3e129, 0x39be7e572, 0xda2ce6c74, 0x20cf17a5c, 0xee55f9b6e, 0xfb8572726, 0xb2c2de548, 0xcaa9bce92, 0xae9182db3, 0x74b6e5bd1, 0x137b252af, 0x51f686881, 0xd672f6c02, 0x654146ce4, 0xf944bc825, 0xe8327f809, 0x76a73fd59, 0xf79da4cb4, 0x956f8099b, 0x7b5f2655c, 0xd06b114a6, 0xd0697ca50, 0x27c390797, 0xbc61ed9b2, 0xcc12dd19b, 0xeb7818d2c, 0x092fcecda, 0x89ded4ea1, 0x256a0ba34, 0xb6948e627, 0x1ef6b1054, 0x8639294a2, 0xeda3780a4, 0x39ee2af1d, 0xcd257edc5, 0x2d9d6bc22, 0x121d3b47d, 0x37e23f8ad, 0x119f31cf6, 0x2c97f4f09, 0xd502abfe0, 0x10bc3ca77, 0x53d7190ef, 0x90c3e62a6, 0x7e9ebf675, 0x979ce23d1, 0x27f0c98e9, 0xeafb4ae59, 0x7ca7fe2bd, 0x1490ca8f6, 0x9123387ba, 0xb3bc73888, 0x3ea87e325, 0x4888964aa, 0xa0188a6b9, 0xcd383c666, 0x40029a3fd, 0xe1c00ac5c, 0x39e6f2b6e, 0xde664f622, 0xe979a75e8, 0x7c6b4c86c, 0xfd492e071, 0x8fbb35118, 0x40b4a09b7, 0xaf80bd6da, 0x70e0b2521, 0x2f5c54d93, 0x3f4a118d5, 0x09c1897b9, 0x079776eac, 0x084b00b17, 0x3a95ad90e, 0x28c544095, 0x39d457c05, 0x7a3791a78, 0xbb770e22e, 0x9a822bd6c, 0x68a4b1fed, 0xa5fd27b3b, 0x0c3995b79, 0xd1519dff1, 0x8e7eee359, 0xcd3ca50b1, 0xb73b8b793, 0x57aca1c43, 0xec2655277, 0x785a2c1b3, 0x75a07985a, 0xa4b01eb69, 0xa18a11347, 0xdb1f28ca3, 0x877ec3e25, 0x31f6341b8, 0x1363a3a4c, 0x075d8b9ba, 0x7ae0792a9, 0xa83a21651, 0x7f08f9fb5, 0x0d0cf73a9, 0xb04dcc98e, 0xf65c7b0f8, 0x65ddaf69a, 0x2cf9b86b3, 0x14cb51e25, 0xf48027b5b, 0x0ec26ea8b, 0x44bafd45c, 0xb12c7c0c4, 0x959fd9d82, 0xc77c9725a, 0x48a22d462, 0x8398e8072, 0xec89b05ce, 0xbb682d4c9, 0xe5a86d2ff, 0x358f01134, 0x8556ddcf6, 0x67584b6e2, 0x11609439f, 0x08488816e, 0xaaf1a2c46, 0xf879898cf, 0x8bbe5e2f7, 0x101eee363, 0x690f69377, 0xf5bd93cd9, 0xcea4c2bf6, 0x9550be706, 0x2c5b38a60, 0xe72033547, 0x4458b0629, 0xee8d9ed41, 0xd2f918d72, 0x78dc39fd3, 0x8212636f6, 0x7450a72a7, 0xc4f0cf4c6, 0x367bcddcd, 0xc1caf8cc6, 0xa7f5b853d, 0x9d536818b, 0x535e021b0, 0xa7eb8729e, 0x422a67b49, 0x929e928a6, 0x48e8aefcc, 0xa9897393c, 0x5eb81d37e, 0x1e80287b7, 0x34770d903, 0x2eef86728, 0x59266ccb6, 0x0110bba61, 0x1dfd284ef, 0x447439d1b, 0xfece0e599, 0x9309f3703, 0x80764d1dd, 0x353f1e6a0, 0x2c1c12dcc, 0xc1d21b9d7, 0x457ee453e, 0xd66faf540, 0x44831e652, 0xcfd49a848, 0x9312d4133, 0x3f097d3ee, 0x8c9ebef7a, 0xa99e29e88, 0x0e9fab22c, 0x4e748f4fb, 0xecdee4288, 0xabce5f1d0, 0xc42f6876c, 0x7ed402ea0, 0xe5c4242c3, 0xd5b2c31ae, 0x286863be6, 0x160444d94, 0x5f0f5808e, 0xae3d44b2a, 0x9f5c5d109, 0x8ad9316d7, 0x3422ba064, 0x2fed11d56, 0xbea6e3e04, 0x04b029eec, 0x6deed7435, 0x3718ce17c, 0x55857f5e2, 0x2edac7b62, 0x085d6c512, 0xd6ca88e0f, 0x2b7e1fc69, 0xa699d5c1b, 0xf05ad74de, 0x4cf5fb56d, 0x5725e07e1, 0x72f18a2de, 0x1cec52609, 0x48534243c, 0x2523a4d69, 0x35c1b80d1, 0xa4d7338a7, 0x0db1af012, 0xe61a9475d, 0x05df03f91, 0x97ae260bb, 0x32d627fef, 0xb640f73c2, 0x45a1ac9c6, 0x6a2202de1, 0x57d3e25f2, 0x5aa9f986e, 0x0cc859d8a, 0xe3ec6cca8, 0x54e95e1ae, 0x446887b06, 0x7516732be, 0x3817ac8f5, 0x3e26d938c, 0xaa81bc235, 0xdf387ca1b, 0x0f3a3b3f2, 0xb4bf69677, 0xae21868ed, 0x81e1d2d9d, 0xa0a9ea14c, 0x8eee297a9, 0x4740c0559, 0xe8b141837, 0xac69e0a3d, 0x9ed83a1e1, 0x5edb55ecb, 0x07340fe81, 0x50dfbc6bf, 0x4f583508a, 0xcb1fb78bc, 0x4025ced2f, 0x39791ebec, 0x53ee388f1, 0x7d6c0bd23, 0x93a995fbe, 0x8a41728de, 0x2fe70e053, 0xab3db443a, 0x1364edb05, 0x47b6eeed6, 0x12e71af01, 0x52ff83587, 0x3a1575dd8, 0x3feaa3564, 0xeacf78ba7, 0x0872b94f8, 0xda8ddf9a2, 0x9aa920d2b, 0x1f350ed36, 0x18a5e861f, 0x2c35b89c3, 0x3347ac48a, 0x7f23e022e, 0x2459068fb, 0xe83be4b73] + # t36h9=[0x131b29eda, 0x16c41a49f, 0x1a6d0aa64, 0x1e15fb029, 0x21beeb5ee, 0x2567dbbb3, 0x2910cc178, 0x340b9d2c7, 0x37b48d88c, 0x42af5e9db, 0x4a013f565, 0x54fc106b4, 0x58a500c79, 0x6748c238d, 0x6e9aa2f17, 0x75ec83aa1, 0x799574066, 0x7d3e6462b, 0x80e754bf0, 0x88393577a, 0x8be225d3f, 0x9a85e7453, 0x9e2ed7a18, 0xa580b85a2, 0xa929a8b67, 0xacd29912c, 0xb07b896f1, 0xb42479cb6, 0xbb765a840, 0xbf1f4ae05, 0xc6712b98f, 0xca1a1bf54, 0xd514ed0a3, 0xd8bddd668, 0xf60560490, 0xf9ae50a55, 0x085212169, 0x0bfb0272e, 0x1e47b4407, 0x294285556, 0x2ceb75b1b, 0x37e646c6a, 0x4a32f8943, 0x552dc9a92, 0x58d6ba057, 0x677a7b76b, 0x6b236bd30, 0x72754c8ba, 0x81190dfce, 0x84c1fe593, 0x886aeeb58, 0x8c13df11d, 0x970eb026c, 0xad045250a, 0xb45633094, 0xc6a2e4d6d, 0xca4bd5332, 0xd19db5ebc, 0xd546a6481, 0xdc988700b, 0xe3ea67b95, 0xe7935815a, 0xeee538ce4, 0x0131ea9bd, 0x0c2cbbb0c, 0x0fd5ac0d1, 0x137e9c696, 0x17278cc5b, 0x22225ddaa, 0x2d1d2eef9, 0x346f0fa83, 0x3f69e0bd2, 0x4312d1197, 0x4e0da22e6, 0x51b6928ab, 0x590873435, 0x5cb1639fa, 0x605a53fbf, 0x67ac34b49, 0x6b552510e, 0x6efe156d3, 0x764ff625d, 0x889ca7f36, 0x8c45984fb, 0x939779085, 0x97406964a, 0xa5e42ad5e, 0xc6d49e14b, 0xce267ecd5, 0xd9214fe24, 0xdcca403e9, 0xe7c511538, 0xf668d2c4c, 0x13b055a74, 0x29a5f7d12, 0x2d4ee82d7, 0x3849b9426, 0x3bf2a99eb, 0x43448a575, 0x46ed7ab3a, 0x51e84bc89, 0x6b86de4ec, 0x6f2fceab1, 0x72d8bf076, 0x7681af63b, 0x852570d4f, 0x8c77518d9, 0x93c932463, 0x9ec4035b2, 0xad67c4cc6, 0xb110b528b, 0xb4b9a5850, 0xcaaf47aee, 0xce58380b3, 0xd5aa18c3d, 0xe0a4e9d8c, 0xe44dda351, 0xe7f6ca916, 0xef48ab4a0, 0xf2f19ba65, 0xf69a8c02a, 0x10391e88d, 0x1b33ef9dc, 0x262ec0b2b, 0x29d7b10f0, 0x2d80a16b5, 0x312991c7a, 0x3c2462dc9, 0x437643953, 0x521a05067, 0x55c2f562c, 0x6466b6d40, 0x730a78454, 0x76b368a19, 0x7a5c58fde, 0x7e05495a3, 0x85572a12d, 0x9051fb27c, 0x97a3dbe06, 0x9ef5bc990, 0xa29eacf55, 0xa6479d51a, 0xb1426e669, 0xb4eb5ec2e, 0xb8944f1f3, 0xce89f1491, 0xd5dbd201b, 0xd984c25e0, 0xe0d6a316a, 0xf32354e43, 0xfa75359cd, 0x0918f70e1, 0x106ad7c6b, 0x17bcb87f5, 0x22b789944, 0x38ad2bbe2, 0x4750ed2f6, 0x4af9dd8bb, 0x6f934126d, 0x8931d3ad0, 0x8cdac4095, 0x9083b465a, 0x9b7e857a9, 0xa2d066333, 0xa679568f8, 0xadcb37482, 0xb8c6085d1, 0xc017e915b, 0xc769c9ce5, 0xe85a3d0d2, 0xec032d697, 0xefac1dc5c, 0xf3550e221, 0xfaa6eedab, 0x01f8cf935, 0x22e942d22, 0x4782a66d4, 0x4b2b96c99, 0x4ed48725e, 0x5d7848972, 0x64ca294fc, 0x687319ac1, 0x6fc4fa64b, 0x736deac10, 0x7abfcb79a, 0x85ba9c8e9, 0x89638ceae, 0xa6ab0fcd6, 0xaa540029b, 0xb1a5e0e25, 0xbca0b1f74, 0xc049a2539, 0xcb4473688, 0xceed63c4d, 0xd29654212, 0xdd9125361, 0xe13a15926, 0xe88bf64b0, 0xec34e6a75, 0xfad8a8189, 0xfe819874e, 0x097c6989d, 0x26c3ec6c5, 0x2a6cdcc8a, 0x2e15cd24f, 0x31bebd814, 0x4b5d50077, 0x5a011178b, 0x5daa01d50, 0x6c4dc3464, 0x6ff6b3a29, 0x7748945b3, 0x89954628c, 0x90e726e16, 0xa333d8aef, 0xa6dcc90b4, 0xc07b5b917, 0xc4244bedc, 0xcb762ca66, 0xd670fdbb5, 0xe16bced04, 0xf76170fa2, 0x14a8f3dca, 0x1bfad4954, 0x2a9e96068, 0x2e478662d, 0x31f076bf2, 0x39425777c, 0x52e0e9fdf, 0x5689da5a4, 0x5ddbbb12e, 0x68d68c27d, 0x94c1d07b9, 0x986ac0d7e, 0x9fbca1908, 0xa36591ecd, 0xaab772a57, 0xc0ad14cf5, 0xcba7e5e44, 0xd2f9c69ce, 0xd6a2b6f93, 0xda4ba7558, 0xddf497b1d, 0xec9859231, 0xfee50af0a, 0x0636eba94, 0x14daad1a8, 0x397410b5a, 0x40c5f16e4, 0x4817d226e, 0x655f55096, 0x69084565b, 0x94f389b97, 0x989c7a15c, 0x9fee5ace6, 0xaae92be35, 0xb98ced549, 0xcbd99f222, 0xd32b7fdac, 0xecca1260f, 0xf07302bd4, 0x02bfb48ad, 0x0a1195437, 0x0dba859fc, 0x18b556b4b, 0x2eaaf8de9, 0x35fcd9973, 0x3d4eba4fd, 0x4bf27bc11, 0x56ed4cd60, 0x61e81deaf, 0x6939fea39, 0x82d89129c, 0x917c529b0, 0x952542f75, 0xa3c904689, 0xa771f4c4e, 0xb26cc5d9d, 0xc4b977a76, 0xcfb448bc5, 0xdaaf19d14, 0xe952db428, 0xf44dac577, 0x153e1f964, 0x278ad163d, 0x3285a278c, 0x39d783316, 0x487b44a2a, 0x5e70e6cc8, 0x6219d728d, 0x696bb7e17, 0x746688f66, 0x830a4a67a, 0x91ae0bd8e, 0xa051cd4a2, 0xab4c9e5f1, 0xb6476f740, 0xbd99502ca, 0xc89421419, 0xcc3d119de, 0xd737e2b2d, 0xe5dba4241, 0xf82855f1a, 0x156fd8d42, 0x1cc1b98cc, 0x2b657afe0, 0x32b75bb6a, 0x36604c12f, 0x53a7cef57, 0x5ea2a00a6, 0x86e4f401d, 0x9931a5cf6, 0xa42c76e45, 0xaf2747f94, 0xb67928b1e, 0xbdcb096a8, 0xc8c5da7f7, 0xcc6ecadbc, 0xd3c0ab946, 0xdebb7ca95, 0xe2646d05a, 0x11f8a1b5b, 0x244553834, 0x3de3e6097, 0x48deb71e6, 0x53d988335, 0x5782788fa, 0x69cf2a5d3, 0x71210b15d, 0x8716ad3fb, 0x9d0c4f699, 0xb301f1937, 0xc1a5b304b, 0x122a5af39, 0x2bc8ed79c, 0x331ace326, 0x4cb960b89, 0x540b41713, 0x62af02e27, 0x6657f33ec, 0x6da9d3f76, 0xa0e6f903c, 0xabe1ca18b, 0xaf8aba750, 0xc1d76c429, 0xc9294cfb3, 0xf8bd81ab4, 0x0b0a3378d, 0x3e4758853, 0x5f37cbc40, 0x6689ac7ca, 0x6a329cd8f, 0x6ddb8d354, 0xb365640f3, 0xb70e546b8, 0xbe6035242, 0xc5b215dcc, 0xc95b06391, 0xcd03f6956, 0xd0ace6f1b, 0xe6a2891b9, 0xf19d5a308, 0x128dcd6f5, 0x1636bdcba, 0x2c2c5ff58, 0x3727310a7, 0x5bc094a59, 0x5f698501e, 0x6312755e3, 0x87abd8f95, 0x8b54c955a, 0x99f88ac6e, 0xac453c947, 0xc23adebe5, 0xd487908be, 0xea7d32b5c, 0x0072d4dfa, 0x07c4b5984, 0x12bf86ad3, 0x250c387ac, 0x2c5e19336, 0x3b01daa4a, 0x50f77cce8, 0x54a06d2ad, 0x58495d872, 0x71e7f00d5, 0x8434a1dae, 0x87dd92373, 0xa5251519b, 0xb01fe62ea, 0xc61588588, 0xf952ad64e, 0x0f484f8ec, 0x253df1b8a, 0x28e6e214f, 0x4285749b2, 0x462e64f77, 0x54d22668b, 0x5c2407215, 0x6ac7c8929, 0x80bd6abc7, 0x9a5bfd42a, 0xa1adddfb4, 0xa556ce579, 0xb3fa8fc8d, 0xc64741966, 0xcd99224f0, 0xeae0a5318, 0xf5db76467, 0x306a7c0b7, 0x4a090e91a, 0x58acd002e, 0x6ea2722cc, 0xacda684e1, 0xcdcadb8ce, 0xe7696e131, 0xf60d2f845, 0x25a164346, 0x344525a5a, 0x3b97065e4, 0x42e8e716e, 0x4de3b82bd, 0x553598e47, 0x5c87799d1, 0x6b2b3b0e5, 0x8120dd383, 0x84c9cd948, 0xbf58d3598, 0xdca0563c0, 0xeeed08099, 0x1ad84c5d5, 0x46c390b11, 0x606223374, 0x7a00b5bd7, 0xa994ea6d8, 0xb0e6cb262, 0xce2e4e08a, 0x2d56b768c, 0x434c5992a, 0x643cccd17, 0x6f379de66, 0x76897e9f0, 0x88d6306c9, 0xa9c6a3ab6, 0xb86a651ca, 0xd208f7a2d, 0x29df804a5, 0x646e860f5, 0x6f6957244, 0x7a6428393, 0xa9f85ce94, 0xada14d459, 0xe830530a9, 0x2a1139883, 0x4758bc6ab, 0x8939a2e85, 0x8ce29344a, 0x908b83a0f, 0xadd306837, 0xb524e73c1, 0xc3c8a8ad5, 0x353dc3db0, 0x6129082ec, 0x687ae8e76, 0x771eaa58a, 0x94662d3b2, 0x9f60fe501, 0xd29e235c7, 0x147f09da1, 0x2322cb4b5, 0x406a4e2dd, 0x4b651f42c, 0x615ac16ca, 0x68aca2254, 0x9840d6d55, 0xb9314a142, 0xd678ccf6a, 0xddcaadaf4, 0xf76940357, 0x1859b3744, 0x1fab942ce, 0x2aa66541d, 0x4b96d880a, 0x5691a9959, 0x6c874bbf7, 0xae68323d1, 0xc0b4e40aa, 0xcf58a57be, 0xd6aa86348, 0xe54e47a5c, 0x40cdc0a99, 0x5a6c532fc, 0x82aea7273, 0x94fb58f4c, 0xa7480ac25, 0xaaf0fb1ea, 0xb5ebcc339, 0xb994bc8fe, 0xd3334f161, 0xda852fceb, 0xe1d710875, 0x0dc254db1, 0x2760e7614, 0x2b09d7bd9, 0x3604a8d28, 0x61efed264, 0x6598dd829, 0x6941cddee, 0x98d6028ef, 0xa3d0d3a3e, 0xab22b45c8, 0xb27495152, 0x06a22d605, 0x1545eed19, 0x4fd4f4969, 0x746e5831b, 0x7f692946a, 0x955ecb708, 0xa4028ce1c, 0xab546d9a6, 0xb2a64e530, 0xc89bf07ce, 0xe5e3735f6, 0x4162ec633, 0x5006add47, 0x57588e8d1, 0x8a95b3997, 0x959084ae6, 0xa434461fa, 0xba29e8498, 0xbdd2d8a5d, 0x27f6131ae, 0x2b9f03773, 0x32f0e42fd, 0x4194a5a11, 0x48e68659b, 0x787abb09c, 0x7c23ab661, 0x83758c1eb, 0xaf60d0727, 0xd7a32469e, 0xe646e5db2, 0x0ae049764, 0x3e1d6e82a, 0x665fc27a1, 0x6db1a332b, 0x715a938f0, 0x750383eb5, 0x83a7455c9, 0xa0eec83f1, 0xb33b7a0ca, 0xc5882bda3, 0xc9311c368, 0xccda0c92d, 0xe6789f190, 0xedca7fd1a, 0x1263e36cc, 0x19b5c4256, 0x2c0275f2f, 0x4949f8d57, 0x509bd98e1, 0xa4c971d94, 0xd0b4b62d0, 0x079acb95b, 0x12959caaa, 0x21395e1be, 0x33860fe97, 0x5f71543d3, 0x7566f6671, 0x840ab7d85, 0x8f0588ed4, 0xa4fb2b172, 0xb39eec886, 0xbe99bd9d5, 0xc9948eb24, 0xe33321387, 0x1a1936a12, 0x425b8a989, 0x5bfa1d1ec, 0xe70dcad2a, 0xee5fab8b4, 0x4d8814eb6, 0x7973593f2, 0x9311ebc55, 0x21ce89d58, 0x5162be859, 0x58b49f3e3, 0x6eaa41681, 0xbb85f8faa, 0xd5248b80d, 0x4a42970ad, 0x678a19ed5, 0x6b330a49a, 0x762ddb5e9, 0xa5c2100ea, 0xca5b73a9c, 0xeb4be6e89, 0xf29dc7a13, 0xfd9898b62, 0x17372b3c5, 0x25daecad9, 0x556f215da, 0x975007db4, 0xa5f3c94c8, 0xa99cb9a8d, 0x0c6e13654, 0x29b59647c, 0x55a0da9b8, 0x7a3a3e36a, 0x9781c1192, 0x9b2ab1757, 0x9ed3a1d1c, 0xad7763430, 0xcabee6258, 0xef5849c0a, 0x1eec7e70b, 0x4ad7c2c47, 0x731a16bbe, 0x8566c8897, 0xe0e6418d4, 0xf332f35ad, 0x267018673, 0x3513d9d87, 0x3c65ba911, 0x4eb26c5ea, 0x56044d174, 0x64a80e888, 0x7e46a10eb, 0xbc7e97300, 0x4040642b4, 0x43e954879, 0x4b3b35403, 0xaa639ea05, 0x232a9a86a, 0x47c3fe21c, 0x825303e6c, 0xa34377259, 0xc433ea646, 0xddd27cea9, 0xe5245da33, 0x0d66b19aa, 0x5deb59898, 0x653d3a422, 0xa37530637, 0xb5c1e2310, 0xcbb7845ae, 0xd6b2556fd, 0xeca7f799b, 0xfef4a9674, 0x06468a1fe, 0x4f7951562, 0x98ac188c6, 0xff2662a52, 0x0a2133ba1, 0x11731472b, 0x326387b18, 0x3d5e58c67, 0x69499d1a3, 0x77ed5e8b7, 0xb27c64507, 0xc4c9161e0, 0x11a4cdb09, 0x329540ef6, 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0x6858ce202, 0x8949415ef, 0x9b95f32c8, 0xd27c08953, 0xd624f8f18, 0xd9cde94dd, 0x4b43047b8, 0x90ccdb557, 0xbcb81fa93, 0xe4fa73a0a, 0x0993d73bc, 0x39280bebd, 0x89acb3dab, 0x90fe94935, 0xda315bc99, 0xddda4c25e, 0x40aba5e25, 0xb5c9b16c5, 0xb972a1c8a, 0xcbbf53963, 0xda6315077, 0x02a568fee, 0x09f749b78, 0x1fecebe16, 0x2e90ad52a, 0x4bd830352, 0x5a7bf1a66, 0x950af76b6, 0xaea989f19, 0xf08a706f3, 0x201ea51f4, 0x23c7957b9, 0x4c09e9730, 0x5704ba87f, 0x77f52dc6c, 0xa7896276d, 0xb62d23e81, 0x0a5abc334, 0x623144dac, 0x9cc04a9fc, 0x242b07f75, 0x32cec9689, 0xa7ecd4f29, 0xc18b6778c, 0x07153e52b, 0x0e671f0b5, 0x8ad70b4df, 0xbe14305a5, 0xc1bd20b6a, 0xe9ff74ae1, 0x4cd0ce6a8, 0x62c670946, 0x7c65031a9, 0x960395a0c, 0xafa22826f, 0x0eca91871, 0x3363f5223, 0x5ba64919a, 0xd816355c4, 0x164e2b7d9, 0x2148fc928, 0x87c346ab4, 0xd49efe3dd, 0x9a41b1b6b, 0xa193926f5, 0xb03753e09, 0x37a211382, 0x4645d2a96, 0x673645e83, 0xb411fd7ac, 0x4a207c439, 0x96fc33d62, 0x9e4e148ec, 0x3f57646c8, 0x46a945252, 0x81384aea2, 0x972ded140, 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0xf10ca127d, 0x4ea58d6c8, 0xc5d584fac, 0x4168b3771, 0xf7742c3ab, 0x3d9e01ab6, 0x749603675, 0x93d380e27, 0x935fbdf99, 0x8b004f544, 0xf21336ccb, 0x55be0a2d7, 0x31a272812, 0x9356f2104, 0x64cd11059, 0xb306fab7b, 0xc4b4bcecb, 0xa44ee754c, 0x9c5b95d4a, 0xafe82cb14, 0xd2802c70a, 0x9b067ca08, 0xa0d33eadf, 0xf82d374e8, 0x97608d4c1, 0x3c49f7262, 0x1f8b8b4b2, 0xd49171ea7, 0x9abe1e7f5, 0x127c694cc, 0xad02f7180, 0x48dcd2cc8, 0x781de93ca, 0x2593187ee, 0xdc2e3515f, 0x97535dc18, 0x3db5f0785, 0xcb73b619d, 0x76c0cae0f, 0x195f0526d, 0x4b0893b28, 0xca2151e27, 0x0e01526ba, 0x844d01096, 0x96ed3edd6, 0xfe1d07fad, 0x625d110ec, 0xd6e07dc43, 0xa0d531bbf, 0xed6e29fd3, 0x9aa5ff7e9, 0x2bf330b23, 0xaa905fb48, 0x575c3dd88, 0xc12a8ea3e, 0xa60ce7ea7, 0x36e3d46be, 0x84a1acf90, 0x99315f5ef, 0x23c5c149e, 0xe819f9d2a, 0x0327b7f85, 0x60878c9fc, 0xbbe1b425f, 0x5efb57d1a, 0xae81e06a3, 0xc683416e0, 0xa138a207b, 0x531a8805d, 0x3207cd72b, 0x1ffad4bab, 0xa05d08c41, 0xc4ffc6089, 0xf6ebda0bc, 0xf9c6b0a7b, 0x76ac7063f, 0xbd7b1a5b1, 0xf6e306a3f, 0x93f23d425, 0xc9834e422, 0x73088434a, 0xb618f4fe0, 0x7affb1ed0, 0x8de2b690d, 0xe7bbca4f9, 0x0e92d2cd5, 0xb572af3dd, 0xa32f50358, 0x97d0aca69, 0x4e02a1956, 0x489a38814, 0x16cde41bf, 0xf844bb35b, 0xb3cb5e287, 0x798ca35d5, 0xad78e6952, 0x74e3accf5, 0x2c2509397, 0x9ed3b6e0b, 0x382fd5392, 0x46b1753cc, 0x3f1a79503, 0xd511be53c, 0x2c0ad700b, 0x0c83dab06, 0x854c15d1c, 0xa27cbb3d7, 0xf178f1810, 0xaa69504f2, 0x619f3c356, 0x2a31f3e7c, 0xef900e61d, 0xdfe8751a9, 0x651358e73, 0xc825327af, 0xbc151fafa, 0x876051de6, 0x06729eb40, 0x75876a783, 0x8c76d5474, 0x39bd3dd20, 0xbbc32223b, 0xf8ae91f88, 0xe3bbca3d6, 0xa0a3ee436, 0xf993c8887, 0xde8781781, 0xc3d26acc2, 0xce1748eb0, 0x09c49b6ab, 0xe7ea808f1, 0x34d62cf99, 0xf0dcc0da8, 0x49ca61d07, 0x1b930880d, 0xdca578c15, 0xda7a6a1ce, 0x9c3294a82, 0xf0874721e, 0xa5dc060ed, 0x23a8939a5, 0x6f6c16f02, 0x42edd94dc, 0x5a74f1432, 0xe019cb4dd, 0xc2c5b533e, 0xecc894724, 0xa5cff9f11, 0x04a5864ab, 0xbf6b96bc9, 0xd7b3ded99, 0x7a9377d6f, 0x8a7f9cef2, 0xacf09eaad, 0x785f73185, 0x8904b414b, 0xbd5fa7379, 0x43ddabc60, 0x17f40d8fb, 0xcf6903101, 0x4cf434f98, 0xa97973ef7, 0xb3c4ac601, 0xc0aad8a1b, 0x2150bb64d, 0xed72e5ac5, 0x131cef825, 0x8659cecc4, 0xf30a8f072, 0x457c90fda, 0xc9df54666, 0x68743306f, 0x62021b53d, 0xf9d7ea28a, 0x844e5bcd0, 0xfb1a1a1dc, 0x1394fd8d2, 0xf744f941e, 0xc07e65afb, 0x84a9e17d6, 0x9cd3f1176, 0x332e89b30, 0xbb9140f2d, 0x941e8e334, 0x9439f6e24, 0x0b89c5739, 0x077975e23, 0x4317e76cb, 0x53f2c5011, 0x7826317f7, 0xfad95bff5, 0x053de8de6, 0x856bcf7ed, 0x77772201b, 0x1b15d0bb4, 0x42d5df9e2, 0xd9c5aea63, 0xb4980534a, 0x89c348f43, 0x3d7300d9b, 0x49440d5e1, 0xce4694114, 0x9e6c19bd7, 0xfa1294b28, 0xe2b6e790d, 0xe4891435c, 0x706bb090a, 0xc2f74169c, 0x9d669a64d, 0x4118daf4b, 0x5b118d504, 0x3f57b597f, 0x916e47de1, 0xe3b88c4fe, 0x2af4fd773, 0x74664c8df, 0xd66194717, 0x90a0baf41, 0xcf1f647fa, 0xea211f2d8, 0x75a1f220a, 0x9cb63c40d, 0x812805a51, 0xd5d503690, 0x532bc4026, 0x021a8d59f, 0x5150b9dd3, 0x0a2ee41ba, 0x846fade51, 0xc684ba60e, 0x3a8f6efd7, 0x03e17b682, 0x3927db859, 0x87b0b1480, 0x52536e422, 0x946ed17ec, 0xa214c62c5, 0x4342229d4, 0x7cd868ed0, 0xf19ba2ab2, 0xf8c1c41cc, 0x0cc7d69fb, 0x3c3911e61, 0x18fc07576, 0x0846ea988, 0x9f86addc8, 0xcacea817e, 0x975a047cb, 0xcc00a9d6c, 0x35b095cfd, 0x1032b2bd9, 0x839311750, 0xf61bbb4b8, 0xbeddf32a6, 0x5db253de6, 0xad1c79f1a, 0x0943a5b28, 0x8574f9b27, 0x6cb284742, 0x66a469a9a, 0x9c9e646b7, 0x15e3f3da7, 0xa7335e7c1, 0x81d5b8c23, 0xd3ce4adb1, 0xe6c2c0436, 0x0c422445a, 0x69efe9391, 0x6e494fb4b, 0x52938a7d8, 0x1538c045a, 0x86ffd6a31, 0x3a7a1eda4, 0x6a06881db, 0x0ee1f5cfe, 0x7dbd99f14, 0x2222f7d4f, 0xa092a9546, 0x4f6ea12ec, 0x786076e0d, 0x2025a3e06, 0x3f3c67e47, 0xeeb2ddb02, 0xb1997582f, 0x84774c908, 0xa94d9c44e, 0x687970da3, 0x4ac4aaace, 0xaa5b6afcd, 0x797cefd6e, 0x239edc6f7, 0xf6b54c197, 0x71141e85a, 0x22be2c02b, 0xb8343a746, 0xbb01b3487, 0x2fc5f873d, 0x80dbb9d8f, 0x749b8643d, 0x61163a4ef, 0x899b02afc, 0x6d1359b14, 0x0e87bed7e, 0x34e646200, 0xdb37c86d3, 0x4a0cf7e11, 0xe33dd1e6e, 0x3b788a101, 0x06a936d91, 0x1ddc58739, 0xc92051779, 0x838ce51ae, 0xa7a3ef32d, 0x9f7eb103a, 0x36b9802d8, 0x65da1e81c, 0xea1cf562f, 0xa8c63c0ce, 0xf6104a32a, 0x4c4cf0893, 0xd47da0be3, 0x80483d254, 0xdc6de57b1, 0x7fac92c49, 0xda1e5f16e, 0x4026949bf, 0x8e17a9d20, 0x12f3419d6, 0x4e9089cdf, 0xd8f5fc61e, 0xdc8f7325b, 0x61247ef19, 0x0c1d908c9, 0x69bd43b4c, 0x3f7f5c231, 0x91c41e9bd, 0xbf844084d, 0x05827c577, 0xc07d61e65, 0x7615c75b6, 0x62600d7bb, 0x82f62a3fa, 0x95f7fe291, 0x2ea50c1e5, 0xc90ae812c, 0xc85c79bf6, 0x0614cafda, 0x692bc66d5, 0x43cae4bbe, 0xcc4dd9e12, 0x02b1f9181, 0xd19a5261c, 0xd8e402b96, 0x08f730fc6, 0x159e9ba29, 0xb9413ddab, 0xbd296f2fe, 0x53ae2f38d, 0x42e6e15c5, 0x5efba4ecf, 0x764371efe, 0x8b665b2e1, 0x542432a00, 0xddd7e3c19, 0x195083f58, 0x7ed57c706, 0xb50bbbe8e, 0x203d18735, 0x2a4c69b07, 0xd72e90958, 0xcd3c5031b, 0x313e2ee85, 0xa12fd86c6, 0x9009383ea, 0xe550f2a4f, 0x49ae8c013, 0xeba56010a, 0xa7210786c, 0xfda4a611f, 0xcfe525fb0, 0xefcaf6ef6, 0x23c31fd13, 0x3847c5dcd, 0x166fd6693, 0x06f8ec087, 0xa531e0fb4, 0x76f9bc318, 0xe56c0cb7f, 0x51e2d02ba, 0xb3e8d6022, 0x9a20ad5fa, 0x73af547b7, 0x5e6134b2e, 0x8582b0e60, 0xc8ea6019d, 0x281e3763e, 0x647d83e97, 0x293634305, 0x6743c18c0, 0x2a01782f9, 0xbf49e9eb6, 0x05856f3b9, 0x634812ac0, 0x035cbb63e, 0x032540c2a, 0xaf358f5e0, 0x7826f829f, 0xb8c89448b, 0xebbe0239d, 0x905e5aa89, 0x310ddb064, 0xb762f118b, 0xc9b1a8e31, 0xff0661391, 0x8a66f999f, 0xb3593b7ce, 0x9f603a864, 0xa23a960ef, 0xaae9837ac, 0xc755afc59, 0x9c76f21c9, 0x39cd67a7f, 0x29f1dfa26, 0x01a253c9c, 0x1d3a11177, 0x7f60cd2dd, 0x5871af5dd, 0xa7d3d617c, 0xddbb2b303, 0x6c69147ba, 0x843954b47, 0x46cc229a9, 0x4eac19c20, 0xfb7b51ca4, 0x9b7015d5b, 0xf2051a917, 0xe701d5d53, 0x38fd5da8c, 0xd3f2acb84, 0xba7cb1ebe, 0x1f016ea57, 0xd63c1250f, 0x646f446ad, 0xc43b287cd, 0xdf676c468, 0x30f777359, 0xb8f10af87, 0x88c425335, 0x6c9f778ae, 0x50da4eeba, 0x0690f680a, 0xac101a310, 0xe603ce909, 0xef2918ebe, 0x3bb23758a, 0x409e4b934, 0x74f744bfc, 0x64e96d541, 0x271bc72c6, 0xba27f9ede, 0x782a145a1, 0x61f275072, 0x8c15dac40, 0x3431268fe, 0x9853d7243, 0x98ba31d02, 0x6d1b5e69c, 0xe67d3e6a8, 0x3afb9b2d3, 0x8aef7d109, 0x0e0d77de8, 0xdcbaa0356, 0x6bc718df0, 0x77d6f39fa, 0x1207d50be, 0x68758144a, 0x5600bd7f1, 0x99722a481, 0xbf673f8d1, 0x4bf1cce7e, 0xd3ee2609b, 0x31e9e4c73, 0x32a28985b, 0x9314656c1, 0xcf02f5fdc, 0x2748d2cbe, 0xeeaa65fca, 0xc9294684a, 0x706fb6725, 0x32f6c276b, 0xe030afe87, 0x912b88011, 0x2ab7ee1fe, 0xb04877110, 0x474b92b6d, 0xaccab7218, 0x04c6bb58a, 0x0d6777d7c, 0x6f6008813, 0x1d8da74ef, 0xd9d905134, 0x4ff1a2f68, 0x2861d5528, 0x4ed66d24d, 0x7ee0b92f3, 0x0f2979e98, 0x36291e9bb, 0x0635f0e0b, 0x6cf4ea059, 0xa20b467b1, 0x610cc1d4d, 0x2da5cb5fd, 0x07553968c, 0x844a86803, 0xb1d48ccc2, 0xbba3fe918, 0xae0d869f3, 0x7c6a7de9c, 0x91f8382f4, 0x3014094ca, 0x8c3a9a5d5, 0x69c3f2722, 0x8bb38f982, 0xb8efcdcda, 0xda51b2ff0, 0xcf8e8a44a, 0x8158ddc00, 0x643ecd9c0, 0x5e10383a9, 0x24a886e16, 0x4ba9db990, 0xc8b4e335f, 0x8b1c2c0b8, 0xfba632127, 0x77bb6e51e, 0x63142235c, 0x7906aa8d6, 0x0295334c5, 0x30e855681, 0x7cc4fc438, 0x1cba770b2, 0xeb67c65e9, 0xbf495ac78, 0x250ef8472, 0xe918df704, 0x9ae42835c, 0xba887badd, 0x0a9e3a8cd, 0x6b4efbb80, 0x47e50b225, 0x492ddb0bb, 0x58bc2506d, 0x52aedbb0e, 0x51eb43eb4, 0xea2d9d116, 0x278274efc, 0xc013733d6, 0xd371949d4, 0x8d49ee822, 0x30745b332, 0xafc18e441, 0x0cd9fb4d7, 0x582ae0f65, 0xcacbd79cb, 0x1fe675d20, 0xee7117735, 0xa7280378f, 0xbaf1b5a32, 0x0b5d5e9b3, 0x44196d9dd, 0xd8b6fdafc, 0x82450b356, 0x8e0a46aa9, 0x250b0460e, 0x44582149a, 0x18a09bc26, 0xb26286d64, 0xc9e4860ce, 0xadfc81dad, 0x16506214a, 0x038769b15, 0xc01b50928, 0x151ac514f, 0x5492593da, 0x5946d5c27, 0xab9aed4df, 0xc91cd1da7, 0xc3495b589, 0x2e962ae83, 0xeab920345, 0x155b3b617, 0x985edf48f, 0xe758d6ba3, 0x99660780e, 0x7b8a41acf, 0x6c4f8c59f, 0x970c219fa, 0x5fa614ff0, 0xa7b3adda7, 0x809edc138, 0xb4ee65663, 0x6b487e8ba, 0xa530f957e, 0x8a533c79b, 0x00d94ff5c, 0x9b709ef88, 0xd7c38826e, 0x0e7bcd688, 0x23668c8a0, 0x87244e859, 0xb1006de44, 0x15b37df10, 0x801e94f9d, 0xbce729ec0, 0x17ddf288b, 0x4bafecdbd, 0x8536977b1, 0x6f5ddbf9a, 0x23d5da865, 0x68e3a57c7, 0xfbb7bc650, 0xa412fceb2, 0x0cb978a6f, 0x30b6a7328, 0x167252f06, 0xe0df087e5, 0x022465eb6, 0xb580a4f2c, 0x0198d1533, 0x6e118afbe, 0xa3a697b20, 0x481fe6809, 0xc1cae26f0, 0xad006f34b, 0xdef609d40, 0x18a918f11, 0x68a4bf8df, 0x4f8f44a9a, 0x4311a21a3, 0x53d72ea12, 0x51e4bd4d4, 0xf2cda5994, 0xd575a8336, 0x41cf85c53, 0x30eda148a, 0x907fa024d, 0x6e3cf917b, 0x470d9c67d, 0x73dc15f58, 0x708ec5e31, 0x83e1f42e8, 0xb315ee8bb, 0xd6b511041, 0xea2405d10, 0x8f51802b0, 0xb2ab1513b, 0xf31e33ae6, 0x55a48d565, 0x57cd5d243, 0xe705530c5, 0xf0908bfd5, 0x37a4d3e77] + + TagFamilies = { 't16h5': (t16h5,16), + 't25h7': (t25h7,25), + 't25h9': (t25h9,25), + #'t36h9': (t36h9, 36), + 't36h11': (t36h11,36)} + + def __init__(self, chosenTagFamiliy): + try: + self.chosenTagFamiliy = chosenTagFamiliy + self.tagCodes = AprilTagCodes.TagFamilies[chosenTagFamiliy][0] + self.totalBits = AprilTagCodes.TagFamilies[chosenTagFamiliy][1] + except: + print("[ERROR]: Unknown tag familiy.") + sys.exit(0) + +#borderBits must be consitent with the variable "blackBorder" in the detector code in file ethz_apriltag2/src/TagFamily.cc +def generateAprilTag(canvas, position, metricSize, tagSpacing, tagID, tagFamililyData, rotation=2, symmCorners=True, borderBits=2, ccolor=color.rgb.black): + #get the tag code + try: + tagCode=tagFamililyData.tagCodes[tagID] + except: + print("[ERROR]: Requested tag ID of {0} not available in the {1} TagFamiliy".format(tagID, tagFamililyData.chosenTagFamiliy)) + + #calculate the bit size of the tag + sqrtBits = (math.sqrt(tagFamililyData.totalBits)) + bitSquareSize = metricSize / (sqrtBits+borderBits*2) + + #position of tag + xPos = position[0] + yPos = position[1] + + #borders (2x bit size) + borderSize = borderBits*bitSquareSize + + c.fill(path.rect(xPos, yPos, metricSize, borderSize),[ccolor]) #bottom + c.fill(path.rect(xPos, yPos+metricSize-borderSize, metricSize, borderSize),[ccolor]) #top + c.fill(path.rect(xPos+metricSize-borderSize, yPos, borderSize, metricSize),[ccolor]) #left + c.fill(path.rect(xPos, yPos, borderSize, metricSize),[ccolor]) #right + + #create numpy matrix of code + codeMatrix = np.zeros((int(sqrtBits), int(sqrtBits))) + for i in range(0, int(sqrtBits)): + for j in range(0, int(sqrtBits)): + if not tagCode & (1 << int(sqrtBits)*i+j): + codeMatrix[i,j] = 1 + + #rotation + codeMatrix = np.rot90(codeMatrix, rotation) + + #bits + for i in range(0, int(sqrtBits)): + for j in range(0, int(sqrtBits)): + if codeMatrix[i,j]: + c.fill(path.rect(xPos+(j+borderBits)*bitSquareSize, yPos+((borderBits-1)+sqrtBits-i)*bitSquareSize, bitSquareSize, bitSquareSize),[ccolor]) + + #add squares to make corners symmetric (decreases the effect of motion blur in the subpix refinement...) + if symmCorners: + print('drawing corners!') + metricSquareSize = tagSpacing*metricSize + + corners = [ + [xPos-metricSquareSize, yPos-metricSquareSize ], + [xPos+metricSize, yPos-metricSquareSize], + [xPos+metricSize, yPos+metricSize], + [xPos-metricSquareSize, yPos+metricSize] + ] + + for point in corners: + c.fill(path.rect(point[0], point[1], metricSquareSize, metricSquareSize),[ccolor]) + +#tagSpaceing in % of tagSize +def generateAprilBoard(canvas, n_cols, n_rows, margx, margy, tagSize, tagSpacing=0.25, tagFamily="t36h11", + acolor = "Black", startid = 0,borderBits=2, symmCorners=False): + if(tagSpacing<0 or tagSpacing>1.0): + print("[ERROR]: Invalid tagSpacing specified. [0-1.0] of tagSize") + sys.exit(0) + + #convert to cm + tagSize = tagSize*100.0 + + #get the tag familiy data + tagFamilyData = AprilTagCodes(tagFamily) + + #create one tag + numTags = n_cols*n_rows + + # draw margins + xmax = 2 * margx * 100 + n_cols * (1+tagSpacing)*tagSize + tagSpacing * tagSize; + ymax = 2 * margy * 100 + n_rows * (1+tagSpacing)*tagSize + tagSpacing * tagSize; + boundrect = path.rect(0,0, xmax, ymax) + ccolor = getattr(color.cmyk, acolor) + c.stroke(boundrect, [style.linewidth(0.000001*unit.w_cm), ccolor]) + + #draw tags + for y in range(0,n_rows): + for x in range(0,n_cols): + id = startid + n_cols * y + x + pos = ( margx*100 + x*(1+tagSpacing)*tagSize + tagSpacing*tagSize, margy*100 + y*(1+tagSpacing)*tagSize + tagSpacing*tagSize) + generateAprilTag(canvas, pos, tagSize, tagSpacing, id, tagFamilyData, rotation=2, borderBits=borderBits, ccolor=ccolor, symmCorners=symmCorners) + #c.text(pos[0]+0.45*tagSize, pos[1]-0.7*tagSize*tagSpacing, "{0}".format(id)) + + #draw axis + drawLegend = False + if drawLegend: + pos = ( -1.5*tagSpacing*tagSize, -1.5*tagSpacing*tagSize) + c.stroke(path.line(pos[0], pos[1], pos[0]+tagSize*0.3, pos[1]), + [color.rgb.red, + deco.earrow([deco.stroked([color.rgb.red, style.linejoin.round]), + deco.filled([color.rgb.red])], size=tagSize*0.10)]) + c.text(pos[0]+tagSize*0.3, pos[1], "x") + c.stroke(path.line(pos[0], pos[1], pos[0], pos[1]+tagSize*0.3), + [color.rgb.green, + deco.earrow([deco.stroked([color.rgb.green, style.linejoin.round]), + deco.filled([color.rgb.green])], size=tagSize*0.10)]) + c.text(pos[0], pos[1]+tagSize*0.3, "y") + + #text + caption = "{0}x{1} tags, size={2}cm and spacing={3}cm".format(n_cols,n_rows,tagSize,tagSpacing*tagSize) + c.text(pos[0]+0.6*tagSize, pos[0], caption) + + +if __name__ == "__main__": + + # This code was lifted from Kalibr at some point... + + usage=""" + make_tag.py --nx 6 --ny 6 --tsize 0.08 --tspace 0.3 + """ + + #setup the argument list + parser = argparse.ArgumentParser(description='Generate apriltag PDF.', usage=usage) + + outputOptions = parser.add_argument_group('Output options') + outputOptions.add_argument('output', nargs="?", default="target", help='Output filename') + + genericOptions = parser.add_argument_group('Generic grid options') + genericOptions.add_argument('--nx', type=int, default=6, dest='n_cols', help='The number of tags in x direction (default: %(default)s)\n') + genericOptions.add_argument('--ny', type=int, default=7, dest='n_rows', help='The number of tags in y direction (default: %(default)s)') + genericOptions.add_argument('--marginx', type=float, default=0, dest='marginx', help='Margin [m] in x direction (default: %(default)s)') + genericOptions.add_argument('--marginy', type=float, default=0, dest='marginy', help='Margin [m] in y direction (default: %(default)s)') + genericOptions.add_argument('--color', default="Black", dest='color', help='Color in cmyk space (default: %(default)s)') + + aprilOptions = parser.add_argument_group('Apriltag arguments') + aprilOptions.add_argument('--tsize', type=float, default=0.08, dest='tsize', help='The size of one tag [m] (default: %(default)s)') + aprilOptions.add_argument('--tspace', type=float, default=0.3, dest='tagspacing', help='The space between the tags in fraction of the edge size [0..1] (default: %(default)s)') + aprilOptions.add_argument('--tfam', default='t36h11', dest='tagfamiliy', help='Familiy of April tags {0} (default: %(default)s)'.format(AprilTagCodes.TagFamilies.keys())) + aprilOptions.add_argument('--startid', default=0, type=int, dest='startid', help='Start number for apriltag (default: %(default)s)') + aprilOptions.add_argument('--borderbits', default=2, type=int, dest='borderBits', help='number of bits used for black border (default: %(default)s)') + aprilOptions.add_argument('--symm_corners', default=False, dest='symmCorners', action='store_true', help='add black corner squares (default: %(default)s)') + + if len(sys.argv)==1: + parser.print_help() + sys.exit(0) + + #Parser the argument list + try: + parsed = parser.parse_args() + except: + sys.exit(0) + + #open a new canvas + c = canvas.canvas() + + generateAprilBoard(canvas, parsed.n_cols, parsed.n_rows, parsed.marginx, parsed.marginy, parsed.tsize, parsed.tagspacing, parsed.tagfamiliy, parsed.color, parsed.startid, borderBits=parsed.borderBits, symmCorners=parsed.symmCorners) + + #write to file + c.writePDFfile(parsed.output) \ No newline at end of file diff --git a/sitl_config/ugv/catvehicle/urdf/catvehicle1-3.xacro b/sitl_config/ugv/catvehicle/urdf/catvehicle1-3.xacro index bf9daf7..e43c13c 100644 --- a/sitl_config/ugv/catvehicle/urdf/catvehicle1-3.xacro +++ b/sitl_config/ugv/catvehicle/urdf/catvehicle1-3.xacro @@ -676,7 +676,7 @@ http://www.car-engineer.com/vehicle-inertia-calculation-tool/ - +