diff --git a/include/helper.h b/include/helper.h
index 7db684c265f4a449893fb2068e3eece57b34bb2c..0f7af860565920051cc9b3dd03142ab6af0e21a5 100644
--- a/include/helper.h
+++ b/include/helper.h
@@ -285,4 +285,23 @@ inline clock_t getElapsedTime()
return diffTime;
}
+/**
+ * Computes the median of the values in a given vector.
+ * @tparam T any sortable type
+ * @param data vector for which the median should be computed
+ * @return median of all values in data
+ */
+template <typename T>
+T computeMedian(std::vector<T> data)
+{
+ if((data.size() % 2) != 0U)
+ {
+ std::nth_element(data.begin(), data.begin() + data.size() / 2, data.end());
+ return data[data.size() / 2];
+ }
+
+ std::nth_element(data.begin(), data.begin() + data.size() / 2, data.end());
+ std::nth_element(data.begin(), data.begin() + (data.size() - 1) / 2, data.end());
+ return 0.5 * (data[data.size() / 2] + data[(data.size() - 1) / 2]);
+}
#endif
diff --git a/include/trackerReal.h b/include/trackerReal.h
index ced95fa683f43eb895d72d4253f285de12cf5710..5a0121470e1e9e954d6f273a0a6316b7a0accfe1 100644
--- a/include/trackerReal.h
+++ b/include/trackerReal.h
@@ -30,6 +30,12 @@
class PersonStorage;
+struct MissingFrame
+{
+ size_t mNumber; //< frame number, where mCount of frames are missing
+ int mCount; //< count of frames missing between frame mNumber and mNumber+1
+};
+
// point in x/y in cm
class TrackPointReal : public Vec3F
{
@@ -139,6 +145,7 @@ public:
// mControlWidget->getColorPlot()
// petrack...mImageItem
int calculate(
+ Petrack *petrack,
Tracker *tracker,
ImageItem *imageItem,
ColorPlot *colorPlot,
@@ -171,8 +178,22 @@ public:
bool exportAngleOfView,
bool exportUseM,
bool exportMarkerID);
- void exportDat(QTextStream &out, bool alternateHeight, bool useTrackpoints); // fuer gnuplot
- void exportXml(QTextStream &outXml, bool alternateHeight, bool useTrackpoints);
+ void exportDat(QTextStream &out, bool alternateHeight, bool useTrackpoints); // fuer gnuplot
+ void exportXml(QTextStream &outXml, bool alternateHeight, bool useTrackpoints);
+ std::vector<MissingFrame> computeDroppedFrames(Petrack *petrack);
};
+namespace utils
+{
+std::vector<MissingFrame>
+detectMissingFrames(const std::vector<std::unordered_map<int, double>> &displacementsPerFrame);
+
+std::vector<std::unordered_map<int, double>> computeDisplacement(
+ int minFrameNum,
+ int maxFrameNum,
+ Petrack *petrack,
+ const std::vector<std::vector<cv::Point2f>> &personsInFrame,
+ const std::vector<std::vector<int>> &idsInFrame);
+} // namespace utils
+
#endif
diff --git a/src/petrack.cpp b/src/petrack.cpp
index 78896d93979f8df10e5359cc9f27c5b15359ec50..ec46a460b1b5861c82a81f22e7c3c254f3308f31 100644
--- a/src/petrack.cpp
+++ b/src/petrack.cpp
@@ -2919,6 +2919,7 @@ int Petrack::calculateRealTracker()
mMultiColorMarkerWidget->autoCorrect->isChecked() &&
mMultiColorMarkerWidget->autoCorrectOnlyExport->isChecked();
int anz = mTrackerReal->calculate(
+ this,
mTracker,
mImageItem,
mControlWidget->getColorPlot(),
@@ -3101,6 +3102,7 @@ void Petrack::exportTracker(QString dest) // default = ""
tstart = clock();
#endif
mTrackerReal->calculate(
+ this,
mTracker,
mImageItem,
mControlWidget->getColorPlot(),
@@ -3221,6 +3223,7 @@ void Petrack::exportTracker(QString dest) // default = ""
mPersonStorage.recalcHeight(mControlWidget->coordAltitude->value());
}
mTrackerReal->calculate(
+ this,
mTracker,
mImageItem,
mControlWidget->getColorPlot(),
@@ -3279,6 +3282,7 @@ void Petrack::exportTracker(QString dest) // default = ""
}
mTrackerReal->calculate(
+ this,
mTracker,
mImageItem,
mControlWidget->getColorPlot(),
diff --git a/src/trackerReal.cpp b/src/trackerReal.cpp
index d2cd5486e7650a465142ba224749cd10946e256a..ef2df201bdfe9a22acbfbb7d85fc28b37695bb8b 100644
--- a/src/trackerReal.cpp
+++ b/src/trackerReal.cpp
@@ -20,11 +20,18 @@
#include "trackerReal.h"
+#include "animation.h"
+#include "calibFilter.h"
+#include "control.h"
#include "helper.h"
#include "personStorage.h"
#include "petrack.h"
+#include "player.h"
#include "recognition.h"
+#include <fstream>
+#include <opencv2/highgui.hpp>
+
TrackPointReal::TrackPointReal(const Vec3F &p, int frameNum) : Vec3F(p), mFrameNum(frameNum)
{
mAngleOfView = -1;
@@ -118,6 +125,7 @@ TrackerReal::TrackerReal(QWidget *wParent, PersonStorage &storage) :
// default: int imageBorderSize = 0, bool missingFramesInserted = true, bool useTrackpoints = false
int TrackerReal::calculate(
+ Petrack *petrack,
Tracker *tracker,
ImageItem *imageItem,
ColorPlot *colorPlot,
@@ -147,57 +155,17 @@ int TrackerReal::calculate(
QList<int> missingListAnz; // anzahl ausgelassener frames
if(missingFramesInserted)
{
- // finden von nicht aufgenommenen frames
- int largestLastFrame = mPersonStorage.largestLastFrame();
- QMap<int, double> distanceMap; // map der distanzen zu frame
- QMap<int, double> lastDistanceMap; // map der distanzen zu frame
- QMap<int, double>::const_iterator iter;
- int anz, skipAnz;
- double dist, sum, lastSum = 0.;
- // (median neben durchschnittswert als bewertungszahl hinzugenommen,
- // da sonst bei wenigen personen und langsamen bewegungen nur ein kleiner ausreisser
- // einen frame hinzufuegt (insb linienexperiment mit vielen personen))
- for(f = mPersonStorage.smallestFirstFrame(); f <= largestLastFrame; ++f)
- {
- distanceMap.clear();
- skipAnz = anz = 0;
- sum = 0.;
- // erzeugen distanz-map im aktuellen frame
- for(size_t i = 0; i < mPersonStorage.nbPersons(); ++i)
- {
- if((dist = mPersonStorage.at(i).distanceToNextFrame(f)) > -1)
- {
- distanceMap[static_cast<int>(i)] = dist;
- }
- }
- // distanzliste mit vorherigem frame vergleichen
- iter = distanceMap.constBegin();
- while(iter != distanceMap.constEnd())
- {
- if(lastDistanceMap.contains(iter.key()) &&
- lastDistanceMap[iter.key()] > 1.) // damit bei ganz kleinen bewegungen nicht angeschlagen wird
- {
- ++anz;
- if(distanceMap[iter.key()] > 1.5 * lastDistanceMap[iter.key()])
- {
- ++skipAnz;
- }
- }
- sum += distanceMap[iter.key()];
- ++iter;
- }
- sum /= distanceMap.size();
- // bei sprung in mehreren trackingpfaden als sprung markieren
- if((anz > 1) && (skipAnz / (double) anz > .5) && myRound(sum / lastSum - 1.) > 0) // 50% (war (anz > 2))
- {
- missingList.append(f);
- missingListAnz.append(myRound(sum / lastSum - 1.));
- debout << "Warning: potentially missing " << myRound(sum / lastSum - 1.) << " frame(s) between "
- << f << " and " << f + 1 << " will be inserted." << std::endl;
- }
- lastDistanceMap = distanceMap;
- lastSum = sum;
- }
+ auto missingFrames = computeDroppedFrames(petrack);
+ std::transform(
+ missingFrames.begin(),
+ missingFrames.end(),
+ std::back_inserter(missingList),
+ [](auto const &missingFrame) { return missingFrame.mNumber; });
+ std::transform(
+ missingFrames.begin(),
+ missingFrames.end(),
+ std::back_inserter(missingListAnz),
+ [](auto const &missingFrame) { return missingFrame.mCount; });
}
// fps ist nicht aussagekraeftig, da sie mgl von ausgelassenen herruehren - besser immer 25,01 fps annehmen
@@ -254,8 +222,8 @@ int TrackerReal::calculate(
// ausreisser ausfindig machen (dies geschieht, bevor -1 elemente herausgenommen werden, um die
// glaettung beim eliminieren der -1 elemente hier nicht einfluss nehmen zu lassen):
if(exportSmooth && (useTrackpoints || alternateHeight) &&
- (tsize > 1)) // wenn direkt pointgrey hoehe oder eigene hoehenberechnung aber variierend ueber trj
- // genommen werden soll
+ (tsize > 1)) // wenn direkt pointgrey hoehe oder eigene hoehenberechnung aber variierend ueber
+ // trj genommen werden soll
{
// changes Trajectories!
mPersonStorage.smoothHeight(i, j);
@@ -279,8 +247,8 @@ int TrackerReal::calculate(
}
else
{
- if(alternateHeight) // personenhoehe variiert ueber trajektorie (unebene versuche); berechnung durch
- // mich und nicht pointgrey nutzen, Kamera altitude nutzen
+ if(alternateHeight) // personenhoehe variiert ueber trajektorie (unebene versuche); berechnung
+ // durch mich und nicht pointgrey nutzen, Kamera altitude nutzen
{
extrapolated = 0; // 0 == false
double bestZ =
@@ -293,8 +261,8 @@ int TrackerReal::calculate(
debout << "Warning: no calculated height for trackpoint " << j << " (frame "
<< person.firstFrame() + j << ") of person " << i + 1
<< ", person is not exported!" << std::endl;
- break; // TrackPerson ist angelegt, erhaelt aber keine Points und wird deshalb am ende
- // nicht eingefuegt
+ break; // TrackPerson ist angelegt, erhaelt aber keine Points und wird deshalb am
+ // ende nicht eingefuegt
}
else
{
@@ -362,8 +330,8 @@ int TrackerReal::calculate(
pos = imageItem->getPosReal((person[j] + moveDir + br).toQPointF(), height);
// die frame nummer der animation wird TrackPoint der PersonReal mitgegeben,
// da Index groesser sein kann, da vorher frames hinzugefuegt wurden duch
- // trackPersonReal.init(firstFrame+addFrames, height) oder aber innerhalb des trackink path mit
- // for schleife ueber f
+ // trackPersonReal.init(firstFrame+addFrames, height) oder aber innerhalb des trackink path
+ // mit for schleife ueber f
if((exportViewingDirection) &&
(person[j].color().isValid())) // wenn blickrichtung mit ausgegeben werden soll
{
@@ -764,8 +732,8 @@ void TrackerReal::exportXml(QTextStream &outXml, bool alternateHeight, bool useT
outXml << " <shape>" << Qt::endl;
for(j = 0; j < size(); ++j)
{
- if(alternateHeight) // bei variierender groesse wird einfach durchschnittsgroesse genommen, da an treppen gar
- // keine vernuempftige Groesse vorliegt
+ if(alternateHeight) // bei variierender groesse wird einfach durchschnittsgroesse genommen, da an treppen
+ // gar keine vernuempftige Groesse vorliegt
{
outXml << " <agentInfo ID=\"" << j + 1 << "\" color=\"100\" height=\"" << defaultPersonHeight
<< "\"/>" << Qt::endl;
@@ -790,9 +758,8 @@ void TrackerReal::exportXml(QTextStream &outXml, bool alternateHeight, bool useT
{
if(at(j).trackPointExist(i))
{
- // z-wert ist hier ausnahmsweise nicht der kopf, sondern der boden, die prsonengroesse wird dem obigem
- // person-datenentnommen
- // personID, Frame ID(?) , X , Y , Z
+ // z-wert ist hier ausnahmsweise nicht der kopf, sondern der boden, die prsonengroesse wird dem
+ // obigem person-datenentnommen personID, Frame ID(?) , X , Y , Z
if(useTrackpoints)
{
z = at(j).trackPointAt(i).z() + defaultPersonHeight;
@@ -818,3 +785,242 @@ void TrackerReal::exportXml(QTextStream &outXml, bool alternateHeight, bool useT
outXml << " </frame>" << Qt::endl;
}
}
+
+/**
+ * @brief Compute the dropped frames
+ *
+ * @note This function needs to "play" the video again to track each pedestrian, hence it is quite expensive!
+ *
+ * @param petrack handler for managing the player and getting the frame
+ * @return vector of all missing frame (frame number and number of frames missing)
+ */
+std::vector<MissingFrame> TrackerReal::computeDroppedFrames(Petrack *petrack)
+{
+ // Save current state
+ auto recognitionState = petrack->getControlWidget()->performRecognition->checkState();
+ petrack->getControlWidget()->performRecognition->setCheckState(Qt::Unchecked);
+
+ auto trackingState = petrack->getControlWidget()->trackOnlineCalc->checkState();
+ petrack->getControlWidget()->trackOnlineCalc->setCheckState(Qt::Unchecked);
+
+ int currentFrameNum = petrack->getPlayer()->getPos();
+
+ auto minFrame = std::max(0, petrack->getPlayer()->getFrameInNum());
+ auto maxFrame = std::min(petrack->getAnimation()->getNumFrames(), petrack->getPlayer()->getFrameOutNum());
+
+
+ std::vector<std::vector<cv::Point2f>> personsInFrame(maxFrame + 1);
+ std::vector<std::vector<int>> idsInFrame(maxFrame + 1);
+ auto persons = mPersonStorage.getPersons();
+
+ for(size_t i = 0; i < persons.size(); ++i)
+ {
+ auto const &person = persons[i];
+ for(int frame = person.firstFrame(); frame <= std::min(person.lastFrame(), maxFrame); ++frame)
+ {
+ personsInFrame[frame].push_back(person.trackPointAt(frame).toPoint2f());
+ idsInFrame[frame].push_back(i);
+ }
+ }
+
+ auto displacementsPerFrame = utils::computeDisplacement(minFrame, maxFrame, petrack, personsInFrame, idsInFrame);
+
+ // Detect missing frames
+ std::vector<MissingFrame> missingFrames = utils::detectMissingFrames(displacementsPerFrame);
+
+
+ petrack->getPlayer()->skipToFrame(currentFrameNum);
+ petrack->getControlWidget()->performRecognition->setCheckState(recognitionState);
+ petrack->getControlWidget()->trackOnlineCalc->setCheckState(trackingState);
+
+ return missingFrames;
+}
+
+/**
+ * @brief Computes the displacement for each detected pedestrian in each frame
+ *
+ * @param minFrameNum frame to start the computation
+ * @param maxFrameNum frame to end the computation
+ * @param petrack handler for managing the player and getting the frame
+ * @param personsInFrame pixel coordinates where each pedestrian is located in a frame (same order as idsInFrame)
+ * @param idsInFrame ids of pedestrians in a frame (same order as personsInFrame)
+ * @return displacement for each pedestrian in each frame
+ */
+std::vector<std::unordered_map<int, double>> utils::computeDisplacement(
+ int minFrameNum,
+ int maxFrameNum,
+ Petrack *petrack,
+ const std::vector<std::vector<cv::Point2f>> &personsInFrame,
+ const std::vector<std::vector<int>> &idsInFrame)
+{
+ auto fps = petrack->getAnimation()->getFPS();
+
+ petrack->getPlayer()->skipToFrame(minFrameNum);
+
+ cv::Mat currentFrame;
+ cv::Mat prevFrame;
+
+ cv::Mat prevFrameColor = petrack->getImageFiltered();
+ cv::cvtColor(prevFrameColor, prevFrame, cv::COLOR_BGR2GRAY);
+
+ std::vector<std::unordered_map<int, double>> displacementsPerFrame(maxFrameNum + 1);
+
+ // compute window size
+ auto cmPerPixelXYMiddle = petrack->getImageItem()->getCmPerPixel(
+ static_cast<float>(prevFrame.cols / 2),
+ static_cast<float>(prevFrame.rows / 2),
+ static_cast<float>(petrack->getControlWidget()->mapDefaultHeight->value()));
+ auto cmPerPixelMiddle = (cmPerPixelXYMiddle.x() + cmPerPixelXYMiddle.y()) / 2.;
+ constexpr double headFactor = 1.25; //< factor around head size to ensure complete head is in window
+ int winsize = static_cast<int>(headFactor * HEAD_SIZE / cmPerPixelMiddle);
+ cv::Size window{winsize, winsize};
+
+ for(int frame = minFrameNum + 1; frame <= maxFrameNum; frame++)
+ {
+ // get the current frame and convert to gray scale image
+ petrack->getPlayer()->frameForward();
+ cv::Mat currentFrameColor = petrack->getImageFiltered();
+ cv::cvtColor(currentFrameColor, currentFrame, cv::COLOR_BGR2GRAY);
+
+ // track the current points in the image
+ std::vector<cv::Point2f> prevFeaturePoint{personsInFrame[frame - 1]};
+ if(prevFeaturePoint.empty())
+ {
+ cv::swap(prevFrame, currentFrame);
+ continue;
+ }
+
+ std::vector<cv::Point2f> nextFeaturePoint{};
+ std::vector<uchar> localStatus;
+ std::vector<float> localTrackError;
+
+ int maxLevel = petrack->getControlWidget()->trackRegionLevels->value();
+
+ cv::calcOpticalFlowPyrLK(
+ prevFrame,
+ currentFrame,
+ prevFeaturePoint,
+ nextFeaturePoint,
+ localStatus,
+ localTrackError,
+ window,
+ maxLevel);
+
+ // compute the displacement for each pedestrian
+ std::unordered_map<int, double> displacementsInFrame(prevFeaturePoint.size());
+ for(size_t i = 0; i < prevFeaturePoint.size(); ++i)
+ {
+ auto displacement = prevFeaturePoint[i] - nextFeaturePoint[i];
+ if(!idsInFrame[frame].empty() && localStatus[i] == 1)
+ {
+ auto id = idsInFrame[frame - 1][i];
+
+ auto cmPerPixelXY = petrack->getImageItem()->getCmPerPixel(
+ nextFeaturePoint[i].x,
+ nextFeaturePoint[i].y,
+ petrack->getControlWidget()->mapDefaultHeight->value());
+
+ auto mPerPixel = (cmPerPixelXY.x() + cmPerPixelXY.y()) / 2. / 100.;
+
+ auto movement = cv::norm(displacement);
+
+ auto speed = movement * mPerPixel * fps;
+
+ constexpr auto minSpeed = 0.25;
+
+ // if small movement, assume the same movement as before
+ if(speed < minSpeed)
+ {
+ if(displacementsPerFrame[frame - 1].find(id) != displacementsPerFrame[frame - 1].end())
+ {
+ movement = displacementsPerFrame[frame - 1][id];
+ }
+ else
+ {
+ continue;
+ }
+ }
+ displacementsInFrame.emplace(id, movement);
+ }
+ }
+
+ cv::swap(prevFrame, currentFrame);
+ displacementsPerFrame[frame] = displacementsInFrame;
+ }
+
+ return displacementsPerFrame;
+}
+
+/**
+ * @brief Detects the missing frames based on the displacements
+ *
+ * Main idea: The displacement between a small range of frames should be roughly the same. Meaning no large jumps
+ * between two frames.
+ *
+ * @param displacementsPerFrame displacement for each pedestrian per frame
+ * @return vector of all missing frame (frame number and number of frames missing)
+ */
+std::vector<MissingFrame>
+utils::detectMissingFrames(const std::vector<std::unordered_map<int, double>> &displacementsPerFrame)
+{
+ std::vector<MissingFrame> missingFrames;
+
+ constexpr long averageWindow = 3;
+
+ for(size_t frame = 2; frame < displacementsPerFrame.size(); ++frame)
+ {
+ auto begin = displacementsPerFrame.begin() + std::max(static_cast<long>(frame) - averageWindow, 0l);
+ auto end = displacementsPerFrame.begin() + frame;
+
+ auto referenceDisplacement = std::vector<std::unordered_map<int, double>>(begin, end);
+
+ const auto &displacement = displacementsPerFrame[frame];
+ if(referenceDisplacement.empty() || displacement.empty())
+ {
+ continue;
+ }
+
+ std::vector<double> relationToPrevFrames;
+ for(auto const &[id, norm] : displacement)
+ {
+ std::vector<double> norms;
+ for(auto const &disp : referenceDisplacement)
+ {
+ if(disp.find(id) != disp.end())
+ {
+ norms.push_back(disp.at(id));
+ }
+ }
+ if(norms.empty())
+ {
+ continue;
+ }
+
+ double averageNorm = std::accumulate(norms.begin(), norms.end(), 0.0) / norms.size();
+
+ double relation = norm / averageNorm;
+
+ relationToPrevFrames.push_back(relation);
+ }
+
+ if(relationToPrevFrames.empty())
+ {
+ continue;
+ }
+ double median = computeMedian(relationToPrevFrames);
+
+ auto medianRounded = std::round(median);
+
+ if(medianRounded > 1.)
+ {
+ int numMissingFrames = static_cast<int>(medianRounded) - 1;
+
+ debout << "Warning: potentially missing " << numMissingFrames << " frame(s) between " << frame - 1
+ << " and " << frame << " will be inserted." << std::endl;
+
+ missingFrames.push_back({frame - 1, numMissingFrames});
+ }
+ }
+
+ return missingFrames;
+}
\ No newline at end of file
diff --git a/tests/regression_test/data/markerCasern_truth.txt b/tests/regression_test/data/markerCasern_truth.txt
index 44c37945ab39e2ae8e9bf1a2763973958d886997..f11ca86c0a80fa57832ee64975d427d58424fe6b 100644
--- a/tests/regression_test/data/markerCasern_truth.txt
+++ b/tests/regression_test/data/markerCasern_truth.txt
@@ -22072,21 +22072,20 @@
153 1025 58.1624 29.8121 195.5
153 1026 57.0071 31.9882 195.5
153 1027 55.7158 34.2551 195.5
-153 1028 54.4782 36.597 195.5
-153 1029 53.2406 38.9389 195.5
-153 1030 52.0823 41.2701 195.5
-153 1031 50.8876 43.5178 195.5
-153 1032 49.6486 45.5974 195.5
-153 1033 48.3769 47.6483 195.5
-153 1034 47.1518 49.7428 195.5
-153 1035 46.0397 51.9495 195.5
-153 1036 45.1608 54.0977 195.5
-153 1037 44.4662 56.2361 195.5
-153 1038 43.9558 58.4359 195.5
-153 1039 44.1677 55.9978 195.5
-153 1040 44.1174 58.1247 195.5
-153 1041 44.1998 60.2015 195.5
-153 1042 44.2178 58.0404 195.5
+153 1028 53.2406 38.9389 195.5
+153 1029 52.0823 41.2701 195.5
+153 1030 50.8876 43.5178 195.5
+153 1031 49.6486 45.5974 195.5
+153 1032 48.3769 47.6483 195.5
+153 1033 47.1518 49.7428 195.5
+153 1034 46.0397 51.9495 195.5
+153 1035 45.1608 54.0977 195.5
+153 1036 44.4662 56.2361 195.5
+153 1037 43.9558 58.4359 195.5
+153 1038 44.1677 55.9978 195.5
+153 1039 44.1174 58.1247 195.5
+153 1040 44.1998 60.2015 195.5
+153 1041 44.2178 58.0404 195.5
154 854 -150.86 -204.002 185.5
154 855 -150.536 -202.827 185.5
154 856 -150.113 -201.707 185.5
@@ -22261,26 +22260,25 @@
154 1025 -85.9675 24.5624 185.5
154 1026 -86.5531 26.5712 185.5
154 1027 -86.993 28.5836 185.5
-154 1028 -87.253 30.5863 185.5
-154 1029 -87.513 32.589 185.5
-154 1030 -87.5403 34.6307 185.5
-154 1031 -87.3702 36.7438 185.5
-154 1032 -87.0569 38.7973 185.5
-154 1033 -86.5478 40.898 185.5
-154 1034 -85.8817 43.0575 185.5
-154 1035 -85.0598 45.2182 185.5
-154 1036 -84.1357 47.4006 185.5
-154 1037 -83.1825 49.5459 185.5
-154 1038 -82.2438 51.6726 185.5
-154 1039 -81.399 53.812 185.5
-154 1040 -80.7626 56.0841 185.5
-154 1041 -80.3235 58.4788 185.5
-154 1042 -79.8844 60.8736 185.5
-154 1043 -79.7674 60.9067 185.5
-154 1044 -78.953 61.0929 185.5
-154 1045 -78.6957 60.672 185.5
-154 1046 -78.4383 60.251 185.5
-154 1047 -78.181 59.8301 185.5
+154 1028 -87.513 32.589 185.5
+154 1029 -87.5403 34.6307 185.5
+154 1030 -87.3702 36.7438 185.5
+154 1031 -87.0569 38.7973 185.5
+154 1032 -86.5478 40.898 185.5
+154 1033 -85.8817 43.0575 185.5
+154 1034 -85.0598 45.2182 185.5
+154 1035 -84.1357 47.4006 185.5
+154 1036 -83.1825 49.5459 185.5
+154 1037 -82.2438 51.6726 185.5
+154 1038 -81.399 53.812 185.5
+154 1039 -80.7626 56.0841 185.5
+154 1040 -80.3235 58.4788 185.5
+154 1041 -79.8844 60.8736 185.5
+154 1042 -79.7674 60.9067 185.5
+154 1043 -78.953 61.0929 185.5
+154 1044 -78.6957 60.672 185.5
+154 1045 -78.4383 60.251 185.5
+154 1046 -78.181 59.8301 185.5
155 859 184.805 -178.492 190.5
155 860 183.557 -178.04 190.5
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@@ -22450,22 +22448,21 @@
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