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<p class="caption" role="heading"><span class="caption-text">Getting Started</span></p>
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<ul class="current">
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<li class="toctree-l1"><a class="reference internal" href="installation.html">Installation</a></li>
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<li class="toctree-l1"><a class="reference internal" href="first_nerf.html">Training your first model</a></li>
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<li class="toctree-l1"><a class="reference internal" href="existing_dataset.html">Using existing data</a></li>
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<li class="toctree-l1"><a class="reference internal" href="custom_dataset.html">Using custom data</a></li>
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<li class="toctree-l1 current current-page"><a class="current reference internal" href="#">Data conventions</a></li>
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</ul>
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<p class="caption" role="heading"><span class="caption-text">Extensions</span></p>
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<ul>
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<li class="toctree-l1"><a class="reference internal" href="../extensions/blender_addon.html">Blender VFX add-on</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../extensions/maya_plugin.html">Autodesk Maya Plug-in</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../extensions/unreal_engine.html">Exporting to Unreal Engine</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../extensions/sdfstudio.html">SDFStudio</a></li>
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</ul>
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<p class="caption" role="heading"><span class="caption-text">NeRFology</span></p>
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<ul>
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<li class="toctree-l1 has-children"><a class="reference internal" href="../nerfology/methods/index.html">Methods</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle child pages in navigation</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/instant_ngp.html"> Instant-NGP</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/splat.html"> Splatfacto</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/splatw.html"> Splatfacto-W</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/in2n.html"> Instruct-NeRF2NeRF</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/igs2gs.html"> Instruct-GS2GS</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/signerf.html"> SIGNeRF</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/kplanes.html"> K-Planes</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/lerf.html"> LERF</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/livescene.html"> LiveScene</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/feature_splatting.html"> Feature-Splatting</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/mipnerf.html"> Mip-NeRF</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/nerf.html"> NeRF</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/nerfacto.html"> Nerfacto</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/nerfbusters.html"> Nerfbusters</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/nerfplayer.html"> NeRFPlayer</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/tetranerf.html"> Tetra-NeRF</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/tensorf.html"> TensoRF</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/generfacto.html"> Generfacto</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/pynerf.html"> PyNeRF</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/seathru_nerf.html"> SeaThru-NeRF</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/zipnerf.html"> Zip-NeRF</a></li>
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||
<li class="toctree-l2"><a class="reference internal" href="../nerfology/methods/bionerf.html"> BioNeRF</a></li>
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<article role="main">
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<section class="tex2jax_ignore mathjax_ignore" id="data-conventions">
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||
<h1>Data conventions<a class="headerlink" href="#data-conventions" title="Permalink to this heading">#</a></h1>
|
||
<section id="coordinate-conventions">
|
||
<h2>Coordinate conventions<a class="headerlink" href="#coordinate-conventions" title="Permalink to this heading">#</a></h2>
|
||
<p>Here we explain the coordinate conventions for using our repo.</p>
|
||
<section id="camera-view-space">
|
||
<h3>Camera/view space<a class="headerlink" href="#camera-view-space" title="Permalink to this heading">#</a></h3>
|
||
<p>We use the OpenGL/Blender (and original NeRF) coordinate convention for cameras. +X is right, +Y is up, and +Z is pointing back and away from the camera. -Z is the look-at direction. Other codebases may use the COLMAP/OpenCV convention, where the Y and Z axes are flipped from ours but the +X axis remains the same.</p>
|
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</section>
|
||
<section id="world-space">
|
||
<h3>World space<a class="headerlink" href="#world-space" title="Permalink to this heading">#</a></h3>
|
||
<p>Our world space is oriented such that the up vector is +Z. The XY plane is parallel to the ground plane. In the viewer, you’ll notice that red, green, and blue vectors correspond to X, Y, and Z respectively.</p>
|
||
</section>
|
||
<section id="pixel-coordinates">
|
||
<h3>Pixel coordinates<a class="headerlink" href="#pixel-coordinates" title="Permalink to this heading">#</a></h3>
|
||
<p>We assume coordinates correspond to the centers of pixels (e.g. generating a ray for pixel (0,0) will shoot the ray through the center of that pixel). This aligns more with graphics conventions, and is distinct from OpenCV where the corners are aligned with the pixel coordinate.</p>
|
||
<hr>
|
||
</section>
|
||
</section>
|
||
<section id="dataset-format">
|
||
<h2>Dataset format<a class="headerlink" href="#dataset-format" title="Permalink to this heading">#</a></h2>
|
||
<p>Our explanation here is for the nerfstudio data format. The <code class="docutils literal notranslate"><span class="pre">transforms.json</span></code> has a similar format to <a class="reference external" href="https://github.com/NVlabs/instant-ngp">Instant NGP</a>.</p>
|
||
<section id="camera-intrinsics">
|
||
<h3>Camera intrinsics<a class="headerlink" href="#camera-intrinsics" title="Permalink to this heading">#</a></h3>
|
||
<p>If all of the images share the same camera intrinsics, the values can be placed at the top of the file.</p>
|
||
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
|
||
<span class="w"> </span><span class="nt">"camera_model"</span><span class="p">:</span><span class="w"> </span><span class="s2">"OPENCV_FISHEYE"</span><span class="p">,</span><span class="w"> </span><span class="c1">// camera model type [OPENCV, OPENCV_FISHEYE]</span>
|
||
<span class="w"> </span><span class="nt">"fl_x"</span><span class="p">:</span><span class="w"> </span><span class="mf">1072.0</span><span class="p">,</span><span class="w"> </span><span class="c1">// focal length x</span>
|
||
<span class="w"> </span><span class="nt">"fl_y"</span><span class="p">:</span><span class="w"> </span><span class="mf">1068.0</span><span class="p">,</span><span class="w"> </span><span class="c1">// focal length y</span>
|
||
<span class="w"> </span><span class="nt">"cx"</span><span class="p">:</span><span class="w"> </span><span class="mf">1504.0</span><span class="p">,</span><span class="w"> </span><span class="c1">// principal point x</span>
|
||
<span class="w"> </span><span class="nt">"cy"</span><span class="p">:</span><span class="w"> </span><span class="mf">1000.0</span><span class="p">,</span><span class="w"> </span><span class="c1">// principal point y</span>
|
||
<span class="w"> </span><span class="nt">"w"</span><span class="p">:</span><span class="w"> </span><span class="mi">3008</span><span class="p">,</span><span class="w"> </span><span class="c1">// image width</span>
|
||
<span class="w"> </span><span class="nt">"h"</span><span class="p">:</span><span class="w"> </span><span class="mi">2000</span><span class="p">,</span><span class="w"> </span><span class="c1">// image height</span>
|
||
<span class="w"> </span><span class="nt">"k1"</span><span class="p">:</span><span class="w"> </span><span class="mf">0.0312</span><span class="p">,</span><span class="w"> </span><span class="c1">// first radial distortion parameter, used by [OPENCV, OPENCV_FISHEYE]</span>
|
||
<span class="w"> </span><span class="nt">"k2"</span><span class="p">:</span><span class="w"> </span><span class="mf">0.0051</span><span class="p">,</span><span class="w"> </span><span class="c1">// second radial distortion parameter, used by [OPENCV, OPENCV_FISHEYE]</span>
|
||
<span class="w"> </span><span class="nt">"k3"</span><span class="p">:</span><span class="w"> </span><span class="mf">0.0006</span><span class="p">,</span><span class="w"> </span><span class="c1">// third radial distortion parameter, used by [OPENCV_FISHEYE]</span>
|
||
<span class="w"> </span><span class="nt">"k4"</span><span class="p">:</span><span class="w"> </span><span class="mf">0.0001</span><span class="p">,</span><span class="w"> </span><span class="c1">// fourth radial distortion parameter, used by [OPENCV_FISHEYE]</span>
|
||
<span class="w"> </span><span class="nt">"p1"</span><span class="p">:</span><span class="w"> </span><span class="mf">-6.47e-5</span><span class="p">,</span><span class="w"> </span><span class="c1">// first tangential distortion parameter, used by [OPENCV]</span>
|
||
<span class="w"> </span><span class="nt">"p2"</span><span class="p">:</span><span class="w"> </span><span class="mf">-1.37e-7</span><span class="p">,</span><span class="w"> </span><span class="c1">// second tangential distortion parameter, used by [OPENCV]</span>
|
||
<span class="w"> </span><span class="nt">"frames"</span><span class="p">:</span><span class="w"> </span><span class="c1">// ... per-frame intrinsics and extrinsics parameters</span>
|
||
<span class="p">}</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>Per-frame intrinsics can also be defined in the <code class="docutils literal notranslate"><span class="pre">frames</span></code> field. If defined for a field (ie. <code class="docutils literal notranslate"><span class="pre">fl_x</span></code>), all images must have per-image intrinsics defined for that field. Per-frame <code class="docutils literal notranslate"><span class="pre">camera_model</span></code> is not supported.</p>
|
||
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
|
||
<span class="w"> </span><span class="c1">// ...</span>
|
||
<span class="w"> </span><span class="nt">"frames"</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
|
||
<span class="w"> </span><span class="p">{</span>
|
||
<span class="w"> </span><span class="nt">"fl_x"</span><span class="p">:</span><span class="w"> </span><span class="mi">1234</span>
|
||
<span class="w"> </span><span class="p">}</span>
|
||
<span class="w"> </span><span class="p">]</span>
|
||
<span class="p">}</span>
|
||
</pre></div>
|
||
</div>
|
||
</section>
|
||
<section id="camera-extrinsics">
|
||
<h3>Camera extrinsics<a class="headerlink" href="#camera-extrinsics" title="Permalink to this heading">#</a></h3>
|
||
<p>For a transform matrix, the first 3 columns are the +X, +Y, and +Z defining the camera orientation, and the X, Y, Z values define the origin. The last row is to be compatible with homogeneous coordinates.</p>
|
||
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
|
||
<span class="w"> </span><span class="c1">// ...</span>
|
||
<span class="w"> </span><span class="nt">"frames"</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
|
||
<span class="w"> </span><span class="p">{</span>
|
||
<span class="w"> </span><span class="nt">"file_path"</span><span class="p">:</span><span class="w"> </span><span class="s2">"images/frame_00001.jpeg"</span><span class="p">,</span>
|
||
<span class="w"> </span><span class="nt">"transform_matrix"</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
|
||
<span class="w"> </span><span class="c1">// [+X0 +Y0 +Z0 X]</span>
|
||
<span class="w"> </span><span class="c1">// [+X1 +Y1 +Z1 Y]</span>
|
||
<span class="w"> </span><span class="c1">// [+X2 +Y2 +Z2 Z]</span>
|
||
<span class="w"> </span><span class="c1">// [0.0 0.0 0.0 1]</span>
|
||
<span class="w"> </span><span class="p">[</span><span class="mf">1.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">],</span>
|
||
<span class="w"> </span><span class="p">[</span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">1.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">],</span>
|
||
<span class="w"> </span><span class="p">[</span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">1.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">],</span>
|
||
<span class="w"> </span><span class="p">[</span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">1.0</span><span class="p">]</span>
|
||
<span class="w"> </span><span class="p">]</span>
|
||
<span class="w"> </span><span class="c1">// Additional per-frame info</span>
|
||
<span class="w"> </span><span class="p">}</span>
|
||
<span class="w"> </span><span class="p">]</span>
|
||
<span class="p">}</span>
|
||
</pre></div>
|
||
</div>
|
||
</section>
|
||
<section id="depth-images">
|
||
<h3>Depth images<a class="headerlink" href="#depth-images" title="Permalink to this heading">#</a></h3>
|
||
<p>To train with depth supervision, you can also provide a <code class="docutils literal notranslate"><span class="pre">depth_file_path</span></code> for each frame in your <code class="docutils literal notranslate"><span class="pre">transforms.json</span></code> and use one of the methods that support additional depth losses (e.g., depth-nerfacto). The depths are assumed to be 16-bit or 32-bit and to be in millimeters to remain consistent with <a class="reference external" href="https://github.com/PolyCam/polyform">Polyform</a>. Zero-value in the depth image is treated as unknown depth. You can adjust this scaling factor using the <code class="docutils literal notranslate"><span class="pre">depth_unit_scale_factor</span></code> parameter in <code class="docutils literal notranslate"><span class="pre">NerfstudioDataParserConfig</span></code>. Note that by default, we resize the depth images to match the shape of the RGB images.</p>
|
||
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
|
||
<span class="w"> </span><span class="nt">"frames"</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
|
||
<span class="w"> </span><span class="p">{</span>
|
||
<span class="w"> </span><span class="c1">// ...</span>
|
||
<span class="w"> </span><span class="nt">"depth_file_path"</span><span class="p">:</span><span class="w"> </span><span class="s2">"depth/0001.png"</span>
|
||
<span class="w"> </span><span class="p">}</span>
|
||
<span class="w"> </span><span class="p">]</span>
|
||
<span class="p">}</span>
|
||
</pre></div>
|
||
</div>
|
||
</section>
|
||
<section id="masks">
|
||
<h3>Masks<a class="headerlink" href="#masks" title="Permalink to this heading">#</a></h3>
|
||
<div class="warning admonition">
|
||
<p class="admonition-title">Warning</p>
|
||
<p>The current implementation of masking is inefficient and will cause large memory allocations.</p>
|
||
</div>
|
||
<p>There may be parts of the training image that should not be used during training (ie. moving objects such as people). These images can be masked out using an additional mask image that is specified in the <code class="docutils literal notranslate"><span class="pre">frame</span></code> data.</p>
|
||
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
|
||
<span class="w"> </span><span class="nt">"frames"</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
|
||
<span class="w"> </span><span class="p">{</span>
|
||
<span class="w"> </span><span class="c1">// ...</span>
|
||
<span class="w"> </span><span class="nt">"mask_path"</span><span class="p">:</span><span class="w"> </span><span class="s2">"masks/mask.jpeg"</span>
|
||
<span class="w"> </span><span class="p">}</span>
|
||
<span class="w"> </span><span class="p">]</span>
|
||
<span class="p">}</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>The following mask requirements must be met:</p>
|
||
<ul class="simple">
|
||
<li><p>Must be 1 channel with only black and white pixels</p></li>
|
||
<li><p>Must be the same resolution as the training image</p></li>
|
||
<li><p>Black corresponds to regions to ignore</p></li>
|
||
<li><p>If used, all images must have a mask</p></li>
|
||
</ul>
|
||
</section>
|
||
</section>
|
||
</section>
|
||
|
||
</article>
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Copyright © 2022, nerfstudio Team
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On this page
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<div class="toc-tree-container">
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<div class="toc-tree">
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<ul>
|
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<li><a class="reference internal" href="#">Data conventions</a><ul>
|
||
<li><a class="reference internal" href="#coordinate-conventions">Coordinate conventions</a><ul>
|
||
<li><a class="reference internal" href="#camera-view-space">Camera/view space</a></li>
|
||
<li><a class="reference internal" href="#world-space">World space</a></li>
|
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<li><a class="reference internal" href="#pixel-coordinates">Pixel coordinates</a></li>
|
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</ul>
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</li>
|
||
<li><a class="reference internal" href="#dataset-format">Dataset format</a><ul>
|
||
<li><a class="reference internal" href="#camera-intrinsics">Camera intrinsics</a></li>
|
||
<li><a class="reference internal" href="#camera-extrinsics">Camera extrinsics</a></li>
|
||
<li><a class="reference internal" href="#depth-images">Depth images</a></li>
|
||
<li><a class="reference internal" href="#masks">Masks</a></li>
|
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</ul>
|
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</li>
|
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</ul>
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</li>
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