From 918256997f8efc94a275b086da46ef660ae2936a Mon Sep 17 00:00:00 2001 From: zhonghong Date: Tue, 30 Jan 2024 16:27:04 +0800 Subject: [PATCH 1/5] add Overviewer Document --- doc/tutorial/English/OverviewDocument.md | 46 ++++++++++++------------ 1 file changed, 23 insertions(+), 23 deletions(-) diff --git a/doc/tutorial/English/OverviewDocument.md b/doc/tutorial/English/OverviewDocument.md index 117d1ce9..9934659b 100644 --- a/doc/tutorial/English/OverviewDocument.md +++ b/doc/tutorial/English/OverviewDocument.md @@ -1,26 +1,26 @@ # Overview -Welcome to the Orbbec SDK (hereinafter referred to as "SDK") tutorial! The SDK not only provides a concise high-level API, but also a flexible and comprehensive low-level API to help you use and quickly understand Orbbec 3D cameras in detail. +Welcome to the Orbbec SDK (hereinafter referred to as "SDK") tutorial! The SDK not only provides a concise high-level API, but also a flexible and comprehensive low-level API to help you use and quickly understand Orbbec 3D cameras in detail. # Features Orbbec SDK is a cross-platform (Windows, Android, Linux) software development kit that provides device parameter configuration, data stream reading and stream processing for 3D sensing cameras such as Orbbec structured light, binocular, and iToF. **Core functions:** -- Depth camera access and related parameter settings -- RGB camera access and related parameter settings (eg exposure and white balance) -- Sensor access and related parameter settings (eg gyroscope and accelerometer) -- Frame synchronization and alignment control -- Point cloud data -- Algorithmic capabilities such as filtering -- Multi-OS and Wrapper support. +- Depth camera access and related parameter settings +- RGB camera access and related parameter settings (eg exposure and white balance) +- Sensor access and related parameter settings (eg gyroscope and accelerometer) +- Frame synchronization and alignment control +- Point cloud data +- Algorithmic capabilities such as filtering +- Multi-OS and Wrapper support. **Highlights:** -SDK design goals: thin + flexible + high scalability. +SDK design goals: thin + flexible + high scalability. -- "Thin": Provides the ability to obtain device data at the minimum level and high performance -- "Flexible": Modular sensor function, flexible combination of different devices -- "Highly Scalable": Supports increasingly diversified devices and systems, and plug-in algorithms for different scenarios +- "Thin": Provides the ability to obtain device data at the minimum level and high performance +- "Flexible": Modular sensor function, flexible combination of different devices +- "Highly Scalable": Supports increasingly diversified devices and systems, and plug-in algorithms for different scenarios What's included in the SDK: @@ -51,50 +51,50 @@ The realization of the core business logic framework. **Platform abstraction layer** -Cross-platform components shield the implementation of different operating systems and provide a unified access method. +Cross-platform components shield the implementation of different operating systems and provide a unified access method. **Platform implementation layer** The driver implementation of each platform. -# SDK Frame Acquisition Sequence Diagram +# SDK Frame Acquisition Sequence Diagram ![OrbbecSDK Get Frame Sequence Diagram](Image/OrbbecSDK-Get-Frame-Sequence-Diagram.png) Note: The interfaces labeled with numbers are external interfaces, while the ones without numbers are internal interfaces. -# SDK Concepts +# SDK Concepts -**Context** +**Context** Context which provides a set of settings includes settings such as device state change callbacks, log levels, and more. The Context can access multiple devices. -**Device** +**Device** One actual hardware device corresponds to one Device object, which is used to obtain relevant information of the device and control its attributes. -**Sensor** +**Sensor** A Sensor can be understood as a sub-device of the actual device, corresponding to Color Sensor, IR Sensor, Depth Sensor, IMU Sensor, etc. One Device can contain multiple Sensors. -**Stream** +**Stream** Stream represents a data flow. Generally, a Sensor can output one or more types of data flows, which are composed of a series of time-sequenced Frames. For Stream, StreamProfile is used to describe the configuration of an individual stream. -**Frame** +**Frame** Represents a frame of data in the Stream, and also contains relevant information about that frame of data, such as timestamp, type, etc. -**FrameSet** +**FrameSet** Represents a combination of different types of Frames with the same timestamp, such as a combination of Color Frame and Depth Frame. -**Pipeline** +**Pipeline** The HighLevel corresponding object encapsulates the interface for quick access to the SDK. It has simple functions that allow users to quickly get started and use the SDK. -**Filter** +**Filter** It mainly refers to some algorithmic processing modules for the composite stream FrameSet, such as point cloud algorithm processing. From efb2c1a786049f79ce4e46509b15f21072ca02c9 Mon Sep 17 00:00:00 2001 From: zhonghong Date: Wed, 31 Jan 2024 15:46:26 +0800 Subject: [PATCH 2/5] update readme --- README.md | 4 +++- README_CN.md | 3 ++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 031d9086..d501a785 100644 --- a/README.md +++ b/README.md @@ -6,6 +6,9 @@ The Orbbec 3D camera product software development kit fully supports UVC, enabli Additionally, this SDK is compatible with Orbbec's original OpenNI protocol devices through built-in code, enabling developers to migrate to Orbbec SDK to support both new and old products with one set of code. + +If you are a user in China, it is recommended to use Gitee([gitee Repo](https://gitee.com/orbbecdeveloper/OrbbecSDK)). + ## What is included in the repository * **library** : Orbbec SDK core library files and C/C++ header files. @@ -161,4 +164,3 @@ target_link_libraries(${PROJECT_NAME} OrbbecSDK::OrbbecSDK) * [Orbbec SDK Repo](https://github.com/orbbec/OrbbecSDK) * [Orbbec Main Page](https://www.orbbec.com/) * [Orbbec 3D Club](https://3dclub.orbbec3d.com) -* [gitee Repo](https://gitee.com/orbbecdeveloper/OrbbecSDK) diff --git a/README_CN.md b/README_CN.md index d0eed728..0bfdadf1 100644 --- a/README_CN.md +++ b/README_CN.md @@ -6,6 +6,8 @@ Orbbec 3D 相机产品软件开发套件,全面支持 UVC,实现免驱动即 此外,该 SDK 通过内置代码兼容 Orbbec 原有的 OpenNI 协议设备,开发者可以完全迁移到 OrbbecSDK,一套代码即可支持 Orbbec 的新一代产品和老产品。 +如果你是中国的用户,建议使用 Gitee([gitee Repo](https://gitee.com/orbbecdeveloper/OrbbecSDK))。 + ## 本仓库包含内容 * **library** : OrbbecSDK 核心库文件和 C/C++ 头文件。 @@ -147,4 +149,3 @@ target_link_libraries(${PROJECT_NAME} OrbbecSDK::OrbbecSDK) * [奥比中光主页](https://www.orbbec.com.cn/) * [3D 视觉开发者社区](https://developer.orbbec.com.cn/) -* [gitee 仓库](https://gitee.com/orbbecdeveloper/OrbbecSDK) From f3445b924dce6c374e51115782edc5620fa896ec Mon Sep 17 00:00:00 2001 From: Joe Dong Date: Fri, 2 Feb 2024 09:06:02 +0800 Subject: [PATCH 3/5] Fixed install OrbbecSDK.pc.in --- CMakeLists.txt | 14 +++++++++++++- OrbbecSDK.pc.in | 4 ++-- 2 files changed, 15 insertions(+), 3 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index ec426a6d..0986683c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.1.15) -project(OrbbecSDK VERSION 1.9.3 LANGUAGES C CXX) +project(OrbbecSDK VERSION 1.9.4 LANGUAGES C CXX) # Determine host platform include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/DetermineHostPlatform.cmake) @@ -94,6 +94,18 @@ if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_CURRENT_SOURCE_DIR}) # project is used "${CMAKE_CURRENT_BINARY_DIR}/OrbbecSDKConfigVersion.cmake" DESTINATION lib/ ) + # OrbbecSDK.pc.in + if((UNIX)) + configure_file( + "${CMAKE_CURRENT_SOURCE_DIR}/OrbbecSDK.pc.in" + "${CMAKE_CURRENT_BINARY_DIR}/OrbbecSDK.pc" + @ONLY + ) + install(FILES + "${CMAKE_CURRENT_BINARY_DIR}/OrbbecSDK.pc" + DESTINATION lib/pkgconfig/ + ) + endif() # Uninstall target include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/UninstallTarget.cmake) diff --git a/OrbbecSDK.pc.in b/OrbbecSDK.pc.in index 0de9aee2..8e6cb235 100644 --- a/OrbbecSDK.pc.in +++ b/OrbbecSDK.pc.in @@ -5,6 +5,6 @@ includedir=${prefix}/include Name: OrbbecSDK Description: OrbbecSDK is a comprehensive library that provides developers with intuitive interfaces to control and manipulate Orbbec cameras seamlessly. -Version: 1.9.4 +Version: @PROJECT_VERSION@ Libs: -L${libdir} -lOrbbecSDK -Cflags: -I${includedir} \ No newline at end of file +Cflags: -I${includedir} From 3c799ca9b36d59ffff8e7b7444abbd5c800023fe Mon Sep 17 00:00:00 2001 From: zhonghong Date: Sun, 4 Feb 2024 09:26:11 +0800 Subject: [PATCH 4/5] add windows driver ev signature --- misc/driver/SensorDriver_V4.3.0.22.exe | Bin 4427598 -> 4438960 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/misc/driver/SensorDriver_V4.3.0.22.exe b/misc/driver/SensorDriver_V4.3.0.22.exe index ef796081857463cbc7a626c04495d6027d3d14dc..10a7436fa1e0665455f0e99abbb3865667a6c898 100644 GIT binary patch delta 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zcmWl|HxhzS06;-Lm~+lKXHm=qa6*Rl1vGi!Yf`SUbnOBISFNv0qRnJn}@H=eI2`kNXe)&t&}o From 3fc4774c75834fa91190c52d0ef432d85ecfd2a7 Mon Sep 17 00:00:00 2001 From: daiwei Date: Mon, 26 Feb 2024 11:18:54 +0800 Subject: [PATCH 5/5] [1.9.x][doc][fix]:Update the path description in doc/tutorial --- .../Chinese/Environment_Configuration.md | 59 +++++++-------- .../Chinese/Image/orbbec_driver_000.png | Bin 8283 -> 6225 bytes .../Chinese/Image/orbbec_metadata.png | Bin 13582 -> 12688 bytes .../Chinese/Image/orbbec_sample_005.png | Bin 16899 -> 12423 bytes .../Chinese/Image/orbbec_sample_007.png | Bin 47543 -> 20376 bytes .../Chinese/Image/orbbec_sample_008.png | Bin 45327 -> 21081 bytes .../Chinese/Image/orbbec_sample_009.png | Bin 23423 -> 38679 bytes .../Chinese/Image/orbbec_sample_013.png | Bin 59108 -> 38573 bytes .../Chinese/Image/orbbec_sample_linux_001.png | Bin 10296 -> 12024 bytes .../Chinese/Image/orbbec_sample_linux_003.png | Bin 19869 -> 7128 bytes .../English/Environment_Configuration.md | 68 +++++++++--------- .../English/Image/orbbec_driver_000.png | Bin 8283 -> 6225 bytes .../English/Image/orbbec_metadata.png | Bin 13582 -> 12688 bytes .../English/Image/orbbec_sample_005.png | Bin 16899 -> 12423 bytes .../English/Image/orbbec_sample_007.png | Bin 47543 -> 20376 bytes .../English/Image/orbbec_sample_008.png | Bin 45327 -> 21081 bytes .../English/Image/orbbec_sample_009.png | Bin 23423 -> 38679 bytes .../English/Image/orbbec_sample_013.png | Bin 59108 -> 38573 bytes .../English/Image/orbbec_sample_linux_001.png | Bin 10296 -> 12024 bytes .../English/Image/orbbec_sample_linux_003.png | Bin 19869 -> 7128 bytes 20 files changed, 59 insertions(+), 68 deletions(-) diff --git a/doc/tutorial/Chinese/Environment_Configuration.md b/doc/tutorial/Chinese/Environment_Configuration.md index 08b2357c..a84af50e 100644 --- a/doc/tutorial/Chinese/Environment_Configuration.md +++ b/doc/tutorial/Chinese/Environment_Configuration.md @@ -7,6 +7,7 @@ Orbbec SDK 兼容标准 UVC 协议,支持的硬件设备符合标准 UVC 规格,Gemini2、Femto 、Femto W、Femto Mega、Astra+、Astra2、Gemini2 L 这些模组使用的标准的 UVC 协议,因此不需要安装额外的驱动程序。 # windows 环境配置 + ## 1. 安装私有驱动 openni 私有驱动的目录如下:双击以下. exe 图片目录,安装驱动程序。Dabai、Dabai DCW、Dabai DW、Astra mini Pro、Astra Pro Plus、A1 Pro、Gemini E、Gemini E Lite、Gemini 这些是使用的 openni 的私有协议,需要安装私有的驱动。 @@ -27,15 +28,15 @@ openni 私有驱动的目录如下:双击以下. exe 图片目录,安装驱 ![image3](Image/orbbec_opencv_003.png) ## 3. metadata 时间戳注册 + 现在因为Windows 系统机制,对于 UVC 协议设备,如果需要拿到时间戳等 metadata 信息,需要先往注册表完成注册。可依据 obsensor_metadata_win10.md 文档指引执行 obsensor_metadata_win10.ps1 脚本自动完成。 ![image4](Image/orbbec_metadata.png) - ## 4. windows 编译说明 + 软件依赖:VisualStudio2019、cmake 3.10 及以上版本 * 下载 / 获取我们的 SDK 软件包,以 1.5.7 版本为例介绍 windows 如何编译。 - * 打开 Cmake,将 “Examples” 文件夹设置为代码路径,“Examples”下的 “build” 文件夹设置为生成二进制文件的路径,如下图所示。如 Examples 下无 build,需要新建该文件夹。 ![image5](Image/orbbec_sample_005.png) @@ -49,7 +50,7 @@ openni 私有驱动的目录如下:双击以下. exe 图片目录,安装驱 ![image7](Image/orbbec_sample_007.png) * 可以通过以下两种方式打开 Sample 工程 -方法一:通过 cmake,点击 “Open Project” 按钮,打开 Visual Studio 工程 + 方法一:通过 cmake,点击 “Open Project” 按钮,打开 Visual Studio 工程 ![image8](Image/orbbec_sample_008.png) @@ -58,16 +59,12 @@ openni 私有驱动的目录如下:双击以下. exe 图片目录,安装驱 ![image9](Image/orbbec_sample_009.png) * 打开 Examples 工程界面如下所示: -![image10](Image/orbbec_sample_010.png) - + ![image10](Image/orbbec_sample_010.png) * 选择你想要运行的工程,右键点击并将其“设置为启动项目”, 在运行选项处选择 release 和 64 位版本。 - * 将设备连接到主机。 - * 将 bin 目录下的 dll 文件和配置文件拷贝到编译生成的 bin 路径下 -![image13](Image/orbbec_sample_013.png) - -* 运行 HelloOrbbec 工程,结果如下所示,至此第一个 Example 就运行成功了。 + ![image13](Image/orbbec_sample_013.png) +* 运行 OBHelloOrbbec 工程,结果如下所示,至此第一个 Example 就运行成功了。 ![image14](Image/orbbec_sample_014.png) @@ -79,25 +76,25 @@ openni 私有驱动的目录如下:双击以下. exe 图片目录,安装驱 * 安装 libudev 库: -``` bash +```bash sudo apt install libudev-dev ``` * 安装 libusb 库: -``` bash +```bash sudo apt install libusb-dev ``` ## 2、USB 访问权限配置 -Linux 系统默认对 USB 设备的直接访问需要 root 权限,可以通过 rules 配置文件解决。在 OrbbecSDK 发布的文件解压后,在 Script 目录下会有一个 “99-obsensor-libusb.rules” 配置文件和 “install.sh” 安装脚本,通过 sudo 命令执行 “install.sh” 脚本,即可完成 rules 配置文件的安装。 +Linux 系统默认对 USB 设备的直接访问需要 root 权限,可以通过 rules 配置文件解决。在 OrbbecSDK 发布的文件解压后,在 Script 目录下会有一个 “99-obsensor-libusb.rules” 配置文件和 “install_udev_rules.sh” 安装脚本,通过 sudo 命令执行 “install_udev_rules.sh” 脚本,即可完成 rules 配置文件的安装。 ![image15](Image/orbbec_sample_linux_001.png) -方法如下: 首先修改 “install.sh” 安装脚本的执行权限。 +方法如下: 首先修改 “install_udev_rules.sh” 安装脚本的执行权限。 -``` bash -sudo chmod +x ./install.sh -sudo ./install.sh +```bash +sudo chmod +x ./install_udev_rules.sh +sudo ./install_udev_rules.sh ``` 成功执行安装脚本后,再接入设备时生效(已接入的设备需要重新拔插)。 @@ -124,44 +121,41 @@ sudo sh -c 'echo 128> /sys/module/usbcore/parameters/usbfs_memory_mb' 对于 GRUB2(最常见): - 1. 打开 `/etc/default/grub`, 将:`GRUB_CMDLINE_LINUX_DEFAULT="quiet splash"`(或引号内的其他内容,取决于您的系统)替换为:`GRUB_CMDLINE_LINUX_DEFAULT="quiet splash usbcore.usbfs_memory_mb=128"` +1. 打开 `/etc/default/grub`, 将:`GRUB_CMDLINE_LINUX_DEFAULT="quiet splash"`(或引号内的其他内容,取决于您的系统)替换为:`GRUB_CMDLINE_LINUX_DEFAULT="quiet splash usbcore.usbfs_memory_mb=128"` +2. 更新 grub - 2. 更新 grub - - ```bash - sudo update-grub - ``` - - 3. 重启你的系统 + ```bash + sudo update-grub + ``` +3. 重启你的系统 其他引导加载程序:配置其他引导加载程序的附加内核参数,请参阅您的引导加载程序手册。 ## 4. 验证设备状态 * 环境准备:ubuntu18.04 x64 desktop - * 以 Astra + 为例,使用 USB 3.0 Type-C 数据线,用于与 PC 机连接。 - * 使用 lsusb 命令,查看是否 PC 系统有正确识别到相机。 ![image16](Image/orbbec_sample_linux_002.png) * 通过 PID&VID 来判断相机是否正常被识别 -VID:2bc5 PID:0536(彩色相机) -VID:2bc5 PID:0636(深度相机) + VID:2bc5 PID:0536(彩色相机) + VID:2bc5 PID:0636(深度相机) ## 5. 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zMs4j0taLLQU8ebx$^NGpUJGTSaQd5_F(tZw$Xd4XVr%vZ9}EBi zT7|Gt(c(acDv{liae8dsuohZbj9jzOX*$6r^-XMzm#db1$_%-$I?xP|0+^>hGB%k6v#U778F2;%ymJK|PmbQwPJV=X$ + # introduction This document introduces the installation of OrbbecSDK dependencies and the compilation instructions of OrbbecSDK Sample. @@ -41,10 +42,8 @@ Now due to the Windows system mechanism, for UVC protocol devices, if you need t Software dependency: VisualStudio2019, cmake 3.10 and above. * Download OrbbecSDK software package. Take version 1.5.7 as an example to explain how Windows compiles. - * Open Cmake and set the "Examples" folder as the code path, and the "build" folder under "Examples" as the path to generate the binary file, as shown in the figure below. If there is no build under Examples, you need to create a new folder. - ![6](Image/orbbec_sample_005.png) * Click "Configure" and select the corresponding Visual Studio version and platform version, then click "Finish", as shown below: @@ -70,14 +69,10 @@ Method 2: In the folder, directly start the Visual Studio project in Examples/bu ![11](Image/orbbec_sample_010.png) * Select the project you want to run, right click and "set as startup project", select release and 64-bit version at the run option. - - * Connect the device to the host - * Copy the dll files from the bin directory of the Examples folder to the build folder where the generated executables located at. -![13](Image/orbbec_sample_013.png) - -* run the HelloOrbbec project + ![13](Image/orbbec_sample_013.png) +* run the OBHelloOrbbec project ![14](Image/orbbec_sample_014.png) @@ -87,27 +82,26 @@ Method 2: In the folder, directly start the Visual Studio project in Examples/bu * Install libudev library: - ``` bash - sudo apt install libudev-dev - ``` - + ```bash + sudo apt install libudev-dev + ``` * Install libusb library: - ``` bash - sudo apt install libusb-dev - ``` + ```bash + sudo apt install libusb-dev + ``` ## 2. USB access rights configuration -By default, direct access to USB devices in Linux systems requires root privileges, which can be resolved through the rules configuration file. After the files released by OrbbecSDK are decompressed, there will be a "99-obsensor-libusb.rules" configuration file and "install.sh" installation script in the Script directory. +By default, direct access to USB devices in Linux systems requires root privileges, which can be resolved through the rules configuration file. After the files released by OrbbecSDK are decompressed, there will be a "99-obsensor-libusb.rules" configuration file and "install_udev_rules.sh" installation script in the Script directory. ![20](Image/orbbec_sample_linux_001.png) -Run the "install.sh" script through the sudo command to complete the rules Installation of configuration files. +Run the "install_udev_rules.sh" script through the sudo command to complete the rules Installation of configuration files. -``` bash -sudo chmod +x ./install.sh -sudo ./install.sh - ``` +```bash +sudo chmod +x ./install_udev_rules.sh +sudo ./install_udev_rules.sh +``` ## 3. Increasing the USBFS buffer size (Optional) @@ -121,7 +115,7 @@ cat /sys/module/usbcore/parameters/usbfs_memory_mb ### Increase the USBFS buffer size until the next reboot (here: example value 128) -``` bash +```bash sudo sh -c 'echo 128 > /sys/module/usbcore/parameters/usbfs_memory_mb' ``` @@ -131,24 +125,20 @@ To increase the buffer size permanently, add the kernel parameter usbcore.usbfs_ For GRUB2 (most common): - 1. Open /etc/default/grub. Replace: `GRUB_CMDLINE_LINUX_DEFAULT="quiet splash"` (or other contents within the quotation marks depending on your system) with: `GRUB_CMDLINE_LINUX_DEFAULT="quiet splash usbcore.usbfs_memory_mb=128"` - - 2. Update grub - - ``` bash - sudo update-grub - ``` +1. Open /etc/default/grub. Replace: `GRUB_CMDLINE_LINUX_DEFAULT="quiet splash"` (or other contents within the quotation marks depending on your system) with: `GRUB_CMDLINE_LINUX_DEFAULT="quiet splash usbcore.usbfs_memory_mb=128"` +2. Update grub - 3. reboot your system + ```bash + sudo update-grub + ``` +3. reboot your system Other bootloaders: configure additional kernel parameters of other bootloaders, please see the manual of your bootloader. ## 4. Verify device status * Environment preparation: ubuntu18.04 x64 desktop - * Take Astra+ as an example, use USB 3.0 Type-C data cable to connect with PC. - * Use the lsusb command to check if the PC system correctly recognizes the camera. ![21](Image/orbbec_sample_linux_002.png) @@ -162,23 +152,28 @@ VID: 2bc5 PID: 0636 (depth camera) ## 5. Linux Sample compile -Create a build directory in the Examples directory, as follows: +Create a build directory in the OrbbecSDK directory, as follows: ![image17](Image/orbbec_sample_linux_003.png) -``` bash +```bash +cd OrbbecSDK +mkdir build cd build cmake .. make ``` + # MacOS ### Install Xcode and Homebrew + 1. **Install Xcode**: + - Xcode is the official development tool provided by Apple, which includes the C++ compiler. - You can download it for free from the Mac App Store. - Installing Xcode will also install the Command Line Tools, which include the GCC compiler and other development tools. - 2. **Install Homebrew**: + - Homebrew is a package manager for macOS, useful for installing various development tools and libraries. - To install Homebrew, execute the following command in the terminal: ```bash @@ -189,10 +184,13 @@ make These steps will set up the fundamental tools needed for C++ development on macOS. ### Install Dependency + ```bash brew install cmake opencv ``` + ### 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