Method and apparatus for controlling tracking-type scanning system, electronic device, and storage medium

Abstract

A method for controlling a tracking-type scanning system, comprising: acquiring device information of a hardware device in a tracking-type scanning system, the hardware device comprising any one of or any combination of a tracker, a scanner, and an optical pen, and the tracker being provided with a display screen (20) (S101); and sending the device information to the display screen (20) provided on the tracker, so that the display screen (20) displays in different display regions device information of different hardware devices in the tracking-type scanning system (S102). The present invention further relates to an apparatus for controlling a tracking-type scanning system, an electronic device, and a storage medium.

Description

Control methods, devices, electronic equipment, and storage media for tracking scanning systems

[0001] This application claims priority to Chinese Patent Application No. 202410678457.1, filed on May 29, 2024, entitled "Control Method, Apparatus, Electronic Device and Storage Medium for Tracking Scanning System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of 3D scanning technology, and more specifically, to a control method and apparatus for a tracking scanning system, an electronic device, and a computer-readable storage medium. Background Technology

[0003] Tracking scanning systems are a novel 3D scanning technology that utilizes scanners, trackers, and other devices to achieve 3D measurement of objects. They are widely used in 3D modeling, virtual reality, augmented reality, animation production, reverse engineering, and other fields. However, in these systems, all information from the various hardware devices is centrally displayed on a computer. For medium- to long-distance scanning, users need to constantly switch between the computer and the scanner, making the scanning operation complex, resulting in a poor user experience and low scanning efficiency.

[0004] Therefore, how to improve the scanning efficiency of tracking scanning systems is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a control method and apparatus for a tracking scanning system, as well as an electronic device and a computer-readable storage medium, which improves the scanning efficiency of the tracking scanning system.

[0006] To achieve the above objectives, this application provides a control method for a tracking scanning system, comprising:

[0007] Acquire device information of hardware devices in a tracking scanning system; wherein the hardware devices include any one or a combination of any of a tracker, a scanner, and a light pen, and the tracker is equipped with a display screen;

[0008] The device information is sent to the display screen on the tracker so that the display screen displays the device information of different hardware devices in the tracking scanning system in different display areas.

[0009] Specifically, the device information is sent to a display screen on the tracker, so that the display screen shows the device information of different hardware devices in the tracking scanning system in different display areas, including:

[0010] Determine whether the tracking scanning system is in scanning mode;

[0011] If not, the device information is sent to the display screen on the tracker so that the display screen displays the device information of different hardware devices in the tracking scanning system in different display areas;

[0012] If so, the current scanned image and its corresponding image quality are obtained, and the device information, the current scanned image, and its image quality are displayed on different display areas of the display screen.

[0013] The device information includes any one or a combination of any of the following: connection status, IP address, serial number, temperature information, and battery information.

[0014] Wherein, the display screen is a touch screen, and the control method of the tracking scanning system further includes:

[0015] The system receives touch control commands for control operations via the display screen and executes the control operations based on the touch control commands.

[0016] The control method of the tracking scanning system further includes:

[0017] The system receives voice control commands for control operations via the display screen and executes the control operations based on the voice control commands.

[0018] The control operations include reconnecting to the hardware device, setting the IP address of the hardware device, and setting the serial number, or any combination of these.

[0019] The tracking scanning system is connected to a computer device, and the display screen is configured to display not only the device information of the hardware device in the tracking scanning system, but also the device information of other hardware devices in the tracking scanning system connected to the computer device.

[0020] To achieve the above objectives, this application provides a control device for a tracking scanning system, comprising:

[0021] The acquisition module is used to acquire device information of hardware devices in the tracking scanning system; wherein, the hardware devices include any one or a combination of any of the following: tracker, scanner, and light pen, and the tracker is equipped with a display screen;

[0022] The sending module is used to send the device information to the display screen set on the tracker, so that the display screen displays the device information of different hardware devices in the tracking scanning system in different display areas.

[0023] To achieve the above objectives, this application provides an electronic device, comprising:

[0024] Memory, used to store computer programs;

[0025] A processor is used to implement the steps of the control method for the tracking scanning system described above when executing the computer program.

[0026] To achieve the above objectives, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the control method for the tracking scanning system described above.

[0027] As can be seen from the above scheme, the control method of the tracking scanning system provided in this application includes: acquiring device information of hardware devices in the tracking scanning system; wherein, the hardware devices include any one or a combination of any of a tracker, a scanner, and a light pen, and the tracker is provided with a display screen; sending the device information to the display screen provided on the tracker, so that the display screen displays the device information of different hardware devices in the tracking scanning system in different display areas.

[0028] The control method for the tracking scanning system provided in this application includes a display screen on the tracker, configured to display device information of each hardware device in the tracking scanning system. This centralized and independent display of information needed during the scanning process reduces the display load on the computer. For medium- to long-distance scanning, there is no need to frequently check the device information on the computer; the device information can be viewed in real time on the tracker's display screen, resulting in a better user experience, simplified scanning operation, and improved scanning efficiency. This application also discloses a control device for the tracking scanning system, an electronic device, and a computer-readable storage medium, which achieve the same technical effects.

[0029] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. The drawings are used to provide a further understanding of this disclosure and constitute a part of the specification. They are used together with the following detailed description to explain this disclosure, but do not constitute a limitation of this disclosure. In the drawings:

[0031] Figure 1 is a flowchart illustrating a control method for a tracking scanning system according to an exemplary embodiment;

[0032] Figure 2 is a structural diagram of a tracker according to an exemplary embodiment;

[0033] Figure 3 is a flowchart illustrating another control method for a tracking scanning system according to an exemplary embodiment;

[0034] Figure 4 is a schematic diagram illustrating the content displayed on a display screen in an unscanned state according to an exemplary embodiment;

[0035] Figure 5 is a schematic diagram illustrating the content displayed on a display screen in a scanning state according to an exemplary embodiment;

[0036] Figure 6 is a structural diagram of a control device for a tracking scanning system according to an exemplary embodiment;

[0037] Figure 7 is a structural diagram of an electronic device according to an exemplary embodiment. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Furthermore, in the embodiments of this application, "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0039] This application discloses a control method for a tracking scanning system, which improves the scanning efficiency of the tracking scanning system.

[0040] Referring to Figure 1, a flowchart of a control method for a tracking scanning system according to an exemplary embodiment is shown in Figure 1, including:

[0041] S101: Obtain device information of hardware devices in the tracking scanning system; wherein, the hardware devices include any one or a combination of any of the following: tracker, scanner, and light pen, and the tracker is equipped with a display screen;

[0042] The executing entity in this embodiment can be a tracking scanning system or a computer device connected to the tracking scanning system, which is configured to control the scanning process of the tracking scanning system. The purpose of this embodiment is to display the device information of the hardware devices in the tracking scanning system.

[0043] It is understood that the hardware devices in a tracking scanning system may include a tracker, a scanner, a light pen, etc. The tracker is equipped with a display screen. This embodiment does not limit the position of the display screen on the tracker. For example, as shown in Figure 2, the display screen 20 is disposed on the tracker body 10. The tracker is configured to use optical, electromagnetic, or other sensing technologies to track and measure the position, orientation, and attitude of a target object in real time. The scanner is configured to capture the surface geometry information of the object and generate three-dimensional point cloud data or a surface model. In this embodiment, the scanner may include a laser scanner, a structured light scanner, etc. The light pen is typically configured as a marking or positioning tool in the tracking scanning system. It can be recognized by the tracker and its position and orientation can be measured. The scanner and light pen are both connected to the tracker, and the scanner, light pen, and tracker are all connected to a computer device. This embodiment does not limit the specific connection method; wired or wireless connections can be used.

[0044] In practical implementation, acquiring device information for each hardware device in the tracking scanning system can include connection status, IP address, serial number, temperature information, and power information. Connection status includes whether the hardware device is connected to the computer device (i.e., whether it is online) and whether the scanner is within the field of view of the tracker.

[0045] S102: Send the device information to the display screen on the tracker so that the display screen displays the device information of different hardware devices in the tracking scanning system in different display areas.

[0046] In this step, the device information of each hardware device in the tracking scanning system is sent to the display screen on the tracker, so that the device information of each hardware device can be displayed on the screen. In specific implementations, different display areas can be divided on the display screen for different hardware devices, and each display area is configured to display the device information of the corresponding hardware device.

[0047] In a preferred embodiment, the tracking scanning system is connected to a computer device, and the display screen is configured to display not only the device information of the hardware devices in the tracking scanning system, but also the device information of other hardware devices in the tracking scanning system connected to the computer device.

[0048] In practice, different display areas can be allocated on the screen for different tracking scanning systems. These tracking scanning systems are all connected to the same computer device, and each display area is configured to display the device information of the hardware device in the corresponding tracking scanning system. The display areas corresponding to each tracking scanning system can be further divided into different sub-display areas, each configured to display the device information of different hardware devices within the tracking scanning system.

[0049] Through the above implementation method, the device information of hardware devices in multiple tracking scanning systems connected to the same computer device can be centrally displayed. Users can intuitively view the device information of hardware devices in multiple tracking scanning systems through the display screen on a single tracker, without having to switch trackers to view the device information of hardware devices in other tracking scanning systems, further improving the user experience.

[0050] Furthermore, the display screen in this embodiment can also provide interactive control operation functions, that is, provide hardware device connection, debugging, and configuration functions. As a feasible implementation, the display screen is a touch screen, and the method further includes: receiving touch control commands for control operations through the display screen, and executing the control operations based on the touch control commands. In specific implementations, users can perform touch operations on the display screen, such as clicking, panning, rotating, and zooming. The display screen converts the user's touch operations into touch control commands and responds to the touch control commands to execute the corresponding control operations. Control operations may include reconnecting to hardware devices, setting the hardware device's IP (Internet Protocol) address, serial number (SN code), etc. For scanners, control operations may also include starting scanning, stopping scanning, etc. For example, a user can click on the display box corresponding to a hardware device to reconnect the hardware device; double-click on the display box corresponding to a hardware device to view all device information of the hardware device; long-press on the display box corresponding to a hardware device to reset the hardware device's IP address or serial number; and move the display box corresponding to a hardware device to change the display position of the hardware device's device information.

[0051] As another feasible implementation, the method further includes: receiving voice control commands for control operations via the display screen, and executing the control operations based on the voice control commands. In a specific implementation, the display screen includes a voice input interface, allowing users to perform corresponding control operations via voice control. These control operations may include reconnecting to the hardware device, setting the hardware device's IP address and serial number, etc. For scanners, control operations may also include starting and stopping scanning. Therefore, by providing connection, debugging, and configuration functions for the hardware device via the display screen, control of the hardware device is not required through a computer, thus improving the control efficiency of the hardware device.

[0052] The control method for the tracking scanning system provided in this application embodiment includes a display screen on the tracker, configured to display device information of each hardware device in the tracking scanning system. This centralized and independent display of information needed during the scanning process reduces the display load on the computer. For medium- to long-distance scanning, there is no need to frequently check the device information on the computer; the device information can be viewed in real time on the tracker's display screen, resulting in a better user experience, simplified scanning operation, and improved scanning efficiency.

[0053] This application discloses a control method for a tracking scanning system. Compared to the previous embodiment, this embodiment further explains and optimizes the technical solution. Specifically:

[0054] Referring to Figure 3, a flowchart of another control method for a tracking scanning system according to an exemplary embodiment is shown in Figure 3, including:

[0055] S201: Obtain device information of hardware devices in the tracking scanning system; wherein, the hardware devices include any one or a combination of any of the following: tracker, scanner, and light pen, and the tracker is equipped with a display screen;

[0056] S202: Determine whether the tracking scanning system is in scanning mode; if not, proceed to S203; if yes, proceed to S204.

[0057] In this embodiment, the content displayed on the screen varies slightly depending on the state of the tracking scanning system.

[0058] S203: Send the device information to the display screen on the tracker so that the display screen displays the device information of different hardware devices in the tracking scanning system in different display areas;

[0059] In practical implementation, when the tracking scanning system is in a non-scanning state, the display screen is configured to show device information of different hardware devices in the tracking scanning system. For example, as shown in Figure 4, tracker 1, scanner 1, and light pen 1 are hardware devices in tracking scanning system A (the tracking scanning system to which the display screen belongs); tracker 2 and scanner 2 are hardware devices in tracking scanning system B; tracker 3, scanner 3, and light pen 3 are hardware devices in tracking scanning system B. The displayed device information includes temperature, IP address, serial number (SN) code, and battery level information.

[0060] S204: Obtain the current scanned image and its corresponding image quality, and display the device information, the current scanned image, and its image quality on different display areas of the display screen.

[0061] In practical implementation, when the tracking scanning system is in scanning mode, the display screen shows not only the device information of different hardware devices in the tracking scanning system, but also the current scanned image and its corresponding image quality. For example, as shown in Figure 5, the device information of the hardware devices is displayed on the left side of the display screen, and the current scanned image and its corresponding image quality are displayed on the right side of the display screen.

[0062] Therefore, the control method of the tracking scanning system provided in this application embodiment allows users to directly view the current scanning image and its corresponding image quality on the display screen of the tracker when the tracking scanning system is in scanning mode, without having to go to a computer to view it, thus further improving the user experience.

[0063] The following describes a control device for a tracking scanning system provided in an embodiment of this application. The control device for a tracking scanning system described below and the control method for a tracking scanning system described above can be referred to each other.

[0064] Referring to FIG6, a structural diagram of a control device for a tracking scanning system according to an exemplary embodiment is shown in FIG6, comprising:

[0065] The acquisition module 601 is used to acquire device information of hardware devices in the tracking scanning system; wherein, the hardware devices include any one or a combination of any of the following: tracker, scanner, and light pen, and the tracker is equipped with a display screen;

[0066] The sending module 602 is used to send the device information to the display screen set on the tracker, so that the display screen displays the device information of different hardware devices in the tracking scanning system in different display areas.

[0067] The control device for the tracking scanning system provided in this application embodiment has a display screen on the tracker, configured to display device information of each hardware device in the tracking scanning system. This centralized and independent display of information needed during the scanning process reduces the display load on the computer. For medium- to long-distance scanning, there is no need to frequently check the device information of each hardware device on the computer; the device information can be viewed in real time on the display screen on the tracker, resulting in a better user experience, simplifying the scanning operation process of the tracking scanning system, and improving scanning efficiency.

[0068] Based on the above embodiments, as a preferred implementation, the sending module 602 is specifically used to: determine whether the tracking scanning system is in a scanning state; if not, send the device information to the display screen set on the tracker so that the display screen displays the device information of different hardware devices in the tracking scanning system in different display areas; if yes, obtain the current scanning image and the corresponding image quality, and display the device information, the current scanning image and the image quality of the current scanning image so that the display screen displays the device information of different hardware devices in the tracking scanning system, the current scanning image and the corresponding image quality in different display areas.

[0069] Based on the above embodiments, as a preferred implementation, the device information includes any one or a combination of any of the following: connection status, IP address, serial number, temperature information, and power information.

[0070] Based on the above embodiments, as a preferred embodiment, the display screen is a touch screen, and the control device of the tracking scanning system further includes:

[0071] The first receiving module is used to receive touch control commands for control operations through the display screen, and to execute the control operations based on the touch control commands.

[0072] Based on the above embodiments, as a preferred embodiment, the control device of the tracking scanning system further includes:

[0073] The second receiving module is used to receive voice control commands for control operations through the display screen, and to execute the control operations based on the voice control commands.

[0074] Based on the above embodiments, as a preferred implementation, the control operation includes reconnecting to the hardware device, setting the IP address of the hardware device, and any one or a combination of several of these.

[0075] Based on the above embodiments, as a preferred embodiment, the tracking scanning system is connected to a computer device, and the display screen is configured to display not only the device information of the hardware devices in the tracking scanning system, but also the device information of other hardware devices in the tracking scanning system connected to the computer device.

[0076] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0077] Based on the hardware implementation of the above program modules, and in order to implement the method of the embodiments of this application, the embodiments of this application also provide an electronic device. FIG7 is a structural diagram of an electronic device according to an exemplary embodiment. As shown in FIG7, the electronic device includes:

[0078] Communication interface 1 enables information exchange with other devices, such as network devices;

[0079] Processor 2 is connected to communication interface 1 to enable information interaction with other devices. When running a computer program, it executes the control method of the tracking scanning system provided by one or more of the above-mentioned technical solutions. The computer program is stored in memory 3.

[0080] Of course, in practical applications, the various components in the electronic device are coupled together through bus system 4. It can be understood that bus system 4 is used to achieve communication between these components. In addition to the data bus, bus system 4 also includes a power bus, a control bus, and a status signal bus. However, for clarity, all buses are labeled as bus system 4 in Figure 7.

[0081] The memory 3 in this embodiment is used to store various types of data to support the operation of the electronic device. Examples of such data include any computer program used to operate on the electronic device.

[0082] It is understood that memory 3 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memory 3 described in the embodiments of this application is intended to include, but is not limited to, these and any other suitable types of memory.

[0083] The methods disclosed in the embodiments of this application can be applied to processor 2, or implemented by processor 2. Processor 2 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in processor 2 or by instructions in the form of software. The processor 2 may be a general-purpose processor, DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Processor 2 can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly manifested as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, which is located in memory 3. Processor 2 reads the program in memory 3 and completes the steps of the aforementioned method in combination with its hardware.

[0084] When processor 2 executes the program, it implements the corresponding processes in the various methods of the embodiments of this application. For the sake of brevity, these will not be described in detail here.

[0085] In an exemplary embodiment, this application also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, such as a memory 3 that stores a computer program, which can be executed by a processor 2 to complete the steps described in the aforementioned method. The computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM.

[0086] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

[0087] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device (which may be a personal computer, server, network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

[0088] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Industrial applicability

[0089] The technical solution provided in this application can be applied to the field of 3D scanning technology. The control method for a tracking scanning system provided in this application acquires device information of the hardware devices in the tracking scanning system, sets up a display screen on the tracker, and sends the device information to the display screen on the tracker, so that the display screen shows the device information of different hardware devices in the tracking scanning system in different display areas. This simplifies the scanning operation process of the tracking scanning system, improves scanning efficiency, and has strong industrial applicability.

Claims

1. A control method of a tracking scanning system, characterized by, The method comprises: acquiring device information of hardware devices in a tracking scanning system, wherein the hardware devices comprise any one or combination of a tracker, a scanner, and a light pen, and the tracker is provided with a display screen; sending the device information to the display screen provided on the tracker, so that the display screen displays the device information of different hardware devices in the tracking scanning system in different display areas.

2. The control method of the tracking scanning system according to claim 1, characterized by, The method of sending the device information to the display screen provided on the tracker, so that the display screen displays the device information of different hardware devices in the tracking scanning system in different display areas, comprises: determining whether the tracking scanning system is in a scanning state; if not, sending the device information to the display screen provided on the tracker, so that the display screen displays the device information of different hardware devices in the tracking scanning system in different display areas; if yes, acquiring a current scanning screen and corresponding screen quality, and sending the device information, the current scanning screen, and the screen quality of the current scanning screen, so that the display screen displays the device information of different hardware devices in the tracking scanning system, the current scanning screen, and the corresponding screen quality in different display areas.

3. The control method of the tracking scanning system according to claim 1, characterized by, The device information comprises any one or combination of a connection state, an IP address, a serial number, temperature information, and power information.

4. The control method of the tracking scanning system according to claim 1, characterized by, The display screen is a touch screen, and the control method of the tracking scanning system further comprises: receiving a touch control instruction of a control operation through the display screen, and executing the control operation based on the touch control instruction.

5. The control method of the tracking scanning system according to claim 1, characterized by, The control method of the tracking scanning system further comprises: receiving a voice control instruction of a control operation through the display screen, and executing the control operation based on the voice control instruction.

6. The control method of the tracking scanning system according to claim 4 or 5, characterized in that, The control operation comprises any one or combination of reconnecting a hardware device, setting an IP address of a hardware device, and setting a serial number of a hardware device.

7. The control method of the tracking scanning system according to claim 1, wherein The tracking scanning system is connected with a computer device, and the display screen is configured to display device information of hardware devices in other tracking scanning systems connected with the computer device in addition to device information of hardware devices in the tracking scanning system.

8. A control device for a tracking scanning system, characterized in that The method comprises: an acquiring module configured to acquire device information of hardware devices in a tracking scanning system, wherein the hardware devices comprise any one or combination of a tracker, a scanner, and a light pen, and the tracker is provided with a display screen; a sending module configured to send the device information to the display screen provided on the tracker, so that the display screen displays the device information of different hardware devices in the tracking scanning system in different display areas.

9. An electronic device, comprising: The method comprises: a memory configured to store a computer program; a processor configured to execute the computer program to implement the steps of the control method of the tracking scanning system according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer program is stored on the computer readable storage medium and is executed to implement the steps of the control method of the tracking scanning system according to any one of claims 1 to 7.

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