fisheye model in ros2 #547

soeroesg · 2020-06-13T07:35:08Z

implemented the fisheye mono and fisheye stereo calibration based on the code in the melodic branch.
(Please test it because I have no ROS2 to test)

…branch

soeroesg · 2020-07-06T11:38:22Z

@SteveMacenski can you check why all checks have failed? there is actually no problem inside the logs.
I do not have ROS2 so if you can, please test my implementation there.

SteveMacenski · 2020-07-06T18:39:19Z

@soeroesg ignore the ros2.build.com ones, only look at the Circle CI builds. the build farm is failing because of some cv_bridge issues that are killing camera calibration for us.

Run that test locally and see if it passes

JWhitleyWork · 2020-07-06T18:42:56Z

@soeroesg In the camera_calibration folder, add a file called pytest.ini and put the following text in it:

junit_family=xunit1

This should avoid the error that was generated. Don't worry about the build farm failures at this time, just pay attention to the CircleCI test.

Also, you can test the build in docker. Here are some basic instructions:

Install Docker. See https://docs.docker.com/engine/install/ubuntu/ and also run the Post-Installation Steps for Linux and restart.
Create a ROS2 workspace (mkdir -p ~/ros2_ws/src) and clone this branch into the src folder.
cd into your workspace.
docker run -it -v $(pwd):/root/workspace ros:foxy-ros-base
cd /root/workspace
apt-get update && rosdep update
rosdep install --from-paths src --ignore-src -y
colcon build
colcon test
colcon test-result --verbose

SteveMacenski · 2020-07-15T19:26:15Z

I think the remaining issues are from the opencv issue. Though Circle should pass even if the PR builders fail in that case. @soeroesg have you pulled in ros2 master to get the https://github.com/ros-perception/image_pipeline/blob/ros2/tools/ros2_dependencies.repos file so we're building from source?

soeroesg · 2020-07-15T19:50:23Z

hm, I only see that the test of camera_calibration fails, but where can I see the actual error message?

SteveMacenski · 2020-07-15T19:59:11Z

https://github.com/ros-perception/image_pipeline/blob/ros2/.circleci/config.yml#L30 it should be printing test-results but we don't store artifacts. Do you not see this failure locally? Have you pulled in ros2 head? We added the source builds of vision_opencv that should let Circle pass from the PR builder issues recently.

soeroesg · 2020-07-15T20:02:25Z

I pulled in the upstream/ros2 but I don't have access to Docker at the moment so i cannot test it locally... but I will find a way

JWhitleyWork · 2020-07-15T22:00:22Z

I pulled in the upstream/ros2 but I don't have access to Docker at the moment so i cannot test it locally... but I will find a way

Try rebasing again now that #564 is in. It likely won't fix the issue but it's worth a try.

https://github.com/ros-perception/image_pipeline/blob/ros2/.circleci/config.yml#L30 it should be printing test-results but we don't store artifacts. Do you not see this failure locally? Have you pulled in ros2 head? We added the source builds of vision_opencv that should let Circle pass from the PR builder issues recently.

The problem is not that we don't store artifacts, it's that colcon test (the line before the one you mentioned) fails with a non-0 exit code which ends the test before colcon test-result can be run because CircleCI runs the commands with #!/bin/bash -eo pipefail. I'll see if I can get around it later.

I'll test this change locally and see if I get the same results.

soeroesg · 2020-07-16T13:22:30Z

I pulled in the latest upstream and tried the docker container. Colcon test gives a strange error (ModuleNotFoundError) which I don't know how to handle, so I I attach here the full console output, I hope it helps.
(there are some compiler warnings too but they are not related)

root@31e372d636e3:~/workspace# rosdep install --from-paths src --ignore-src -y
#All required rosdeps installed successfully
root@31e372d636e3:~/workspace# colcon build
Starting >>> cv_bridge
Starting >>> image_transport
Starting >>> image_geometry
Starting >>> camera_calibration_parsers
Finished <<< camera_calibration_parsers [0.20s]                                                                                         
Starting >>> camera_info_manager
Finished <<< cv_bridge [0.24s]
Finished <<< image_geometry [0.23s]
Starting >>> camera_calibration
Starting >>> opencv_tests
Starting >>> vision_opencv
Finished <<< image_transport [0.27s]
Starting >>> image_proc
Starting >>> depth_image_proc
Starting >>> image_rotate
Starting >>> image_view
Finished <<< camera_info_manager [0.49s]                                                                                                                              
Starting >>> image_publisher
Starting >>> image_common
Finished <<< vision_opencv [0.49s]
Finished <<< image_rotate [0.56s]                                                                                                                      
Finished <<< image_common [0.15s]
Finished <<< depth_image_proc [0.58s]
Finished <<< camera_calibration [0.71s]                                                                                                                                
Finished <<< opencv_tests [0.71s]
Finished <<< image_publisher [1.47s]                                                                                              
--- stderr: image_proc                                                                          
CMake Deprecation Warning at /opt/ros/foxy/share/ament_cmake_export_interfaces/cmake/ament_export_interfaces.cmake:37 (message):
  ament_export_interfaces() is deprecated, use ament_export_targets() instead
Call Stack (most recent call first):
  CMakeLists.txt:206 (ament_export_interfaces)


In file included from /root/workspace/src/image_pipeline/image_proc/include/image_proc/crop_decimate.hpp:37,
                 from /root/workspace/src/image_pipeline/image_proc/src/crop_decimate.cpp:33:
/opt/ros/foxy/include/image_transport/image_transport.h:41:89: note: #pragma message: Warning: This header is deprecated. Use 'image_transport.hpp' instead
   41 | #pragma message ("Warning: This header is deprecated. Use 'image_transport.hpp' instead")
      |                                                                                         ^
---
Finished <<< image_proc [4.38s]
Starting >>> stereo_image_proc
Starting >>> image_pipeline
Finished <<< image_pipeline [0.13s]                                                                                             
--- stderr: stereo_image_proc                                                                         
CMake Deprecation Warning at /opt/ros/foxy/share/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake:92 (message):
  Package image_proc is exporting the variable image_proc_INTERFACES which is
  deprecated, it should export

              image_proc_TARGETS instead
Call Stack (most recent call first):
  CMakeLists.txt:39 (ament_target_dependencies)


---
Finished <<< stereo_image_proc [2.26s]
--- stderr: image_view                                  
CMake Deprecation Warning at /opt/ros/foxy/share/ament_cmake_export_interfaces/cmake/ament_export_interfaces.cmake:37 (message):
  ament_export_interfaces() is deprecated, use ament_export_targets() instead
Call Stack (most recent call first):
  CMakeLists.txt:80 (ament_export_interfaces)


In file included from /root/workspace/src/image_pipeline/image_view/include/image_view/video_recorder_node.hpp:19,
                 from /root/workspace/src/image_pipeline/image_view/src/video_recorder_node.cpp:15:
/opt/ros/foxy/include/image_transport/image_transport.h:41:89: note: #pragma message: Warning: This header is deprecated. Use 'image_transport.hpp' instead
   41 | #pragma message ("Warning: This header is deprecated. Use 'image_transport.hpp' instead")
      |                                                                                         ^
In file included from /root/workspace/src/image_pipeline/image_view/include/image_view/image_saver_node.hpp:55,
                 from /root/workspace/src/image_pipeline/image_view/src/image_saver_node.cpp:49:
/opt/ros/foxy/include/image_transport/image_transport.h:41:89: note: #pragma message: Warning: This header is deprecated. Use 'image_transport.hpp' instead
   41 | #pragma message ("Warning: This header is deprecated. Use 'image_transport.hpp' instead")
      |                                                                                         ^
In file included from /root/workspace/src/image_pipeline/image_view/src/video_recorder_node.cpp:21:
/opt/ros/foxy/include/camera_calibration_parsers/parse.h:41:79: note: #pragma message: Warning: This header is deprecated. Use 'parse.hpp' instead
   41 | #pragma message ("Warning: This header is deprecated. Use 'parse.hpp' instead")
      |                                                                               ^
In file included from /root/workspace/src/image_pipeline/image_view/include/image_view/stereo_view_node.hpp:55,
                 from /root/workspace/src/image_pipeline/image_view/src/stereo_view_node.cpp:49:
/opt/ros/foxy/include/image_transport/subscriber_filter.h:41:91: note: #pragma message: Warning: This header is deprecated. Use 'subscriber_filter.hpp' instead
   41 | #pragma message ("Warning: This header is deprecated. Use 'subscriber_filter.hpp' instead")
      |                                                                                           ^
/root/workspace/src/image_pipeline/image_view/src/video_recorder_node.cpp: In member function ‘void image_view::VideoRecorderNode::callback(const ConstSharedPtr&)’:
/root/workspace/src/image_pipeline/image_view/src/video_recorder_node.cpp:137:23: warning: catching polymorphic type ‘class cv_bridge::Exception’ by value [-Wcatch-value=]
  137 |   } catch (cv_bridge::Exception) {
      |                       ^~~~~~~~~
In file included from /root/workspace/src/image_pipeline/image_view/src/image_saver_node.cpp:55:
/opt/ros/foxy/include/camera_calibration_parsers/parse.h:41:79: note: #pragma message: Warning: This header is deprecated. Use 'parse.hpp' instead
   41 | #pragma message ("Warning: This header is deprecated. Use 'parse.hpp' instead")
      |                                                                               ^
/root/workspace/src/image_pipeline/image_view/src/image_saver_node.cpp: In member function ‘bool image_view::ImageSaverNode::saveImage(const ConstSharedPtr&, std::string&)’:
/root/workspace/src/image_pipeline/image_view/src/image_saver_node.cpp:112:23: warning: catching polymorphic type ‘class cv_bridge::Exception’ by value [-Wcatch-value=]
  112 |   } catch (cv_bridge::Exception) {
      |                       ^~~~~~~~~
In file included from /root/workspace/src/image_pipeline/image_view/include/image_view/image_view_node.hpp:21,
                 from /root/workspace/src/image_pipeline/image_view/src/image_view_node.cpp:49:
/opt/ros/foxy/include/image_transport/image_transport.h:41:89: note: #pragma message: Warning: This header is deprecated. Use 'image_transport.hpp' instead
   41 | #pragma message ("Warning: This header is deprecated. Use 'image_transport.hpp' instead")
      |                                                                                         ^
In file included from /root/workspace/src/image_pipeline/image_view/src/extract_images_node.cpp:53:
/opt/ros/foxy/include/image_transport/image_transport.h:41:89: note: #pragma message: Warning: This header is deprecated. Use 'image_transport.hpp' instead
   41 | #pragma message ("Warning: This header is deprecated. Use 'image_transport.hpp' instead")
      |                                                                                         ^
/root/workspace/src/image_pipeline/image_view/src/extract_images_node.cpp: In member function ‘void image_view::ExtractImagesNode::image_cb(const ConstSharedPtr&)’:
/root/workspace/src/image_pipeline/image_view/src/extract_images_node.cpp:114:23: warning: catching polymorphic type ‘class cv_bridge::Exception’ by value [-Wcatch-value=]
  114 |   } catch (cv_bridge::Exception) {
      |                       ^~~~~~~~~
In file included from /root/workspace/src/image_pipeline/image_view/include/image_view/video_recorder_node.hpp:19,
                 from /root/workspace/src/image_pipeline/image_view/src/video_recorder.cpp:19:
/opt/ros/foxy/include/image_transport/image_transport.h:41:89: note: #pragma message: Warning: This header is deprecated. Use 'image_transport.hpp' instead
   41 | #pragma message ("Warning: This header is deprecated. Use 'image_transport.hpp' instead")
      |                                                                                         ^
In file included from /root/workspace/src/image_pipeline/image_view/include/image_view/extract_images_node.hpp:53,
                 from /root/workspace/src/image_pipeline/image_view/src/extract_images.cpp:49:
/opt/ros/foxy/include/image_transport/image_transport.h:41:89: note: #pragma message: Warning: This header is deprecated. Use 'image_transport.hpp' instead
   41 | #pragma message ("Warning: This header is deprecated. Use 'image_transport.hpp' instead")
      |                                                                                         ^
In file included from /root/workspace/src/image_pipeline/image_view/include/image_view/image_saver_node.hpp:55,
                 from /root/workspace/src/image_pipeline/image_view/src/image_saver.cpp:53:
/opt/ros/foxy/include/image_transport/image_transport.h:41:89: note: #pragma message: Warning: This header is deprecated. Use 'image_transport.hpp' instead
   41 | #pragma message ("Warning: This header is deprecated. Use 'image_transport.hpp' instead")
      |                                                                                         ^
In file included from /root/workspace/src/image_pipeline/image_view/include/image_view/stereo_view_node.hpp:55,
                 from /root/workspace/src/image_pipeline/image_view/src/stereo_view.cpp:53:
/opt/ros/foxy/include/image_transport/subscriber_filter.h:41:91: note: #pragma message: Warning: This header is deprecated. Use 'subscriber_filter.hpp' instead
   41 | #pragma message ("Warning: This header is deprecated. Use 'subscriber_filter.hpp' instead")
      |                                                                                           ^
In file included from /root/workspace/src/image_pipeline/image_view/include/image_view/image_view_node.hpp:21,
                 from /root/workspace/src/image_pipeline/image_view/src/image_view.cpp:53:
/opt/ros/foxy/include/image_transport/image_transport.h:41:89: note: #pragma message: Warning: This header is deprecated. Use 'image_transport.hpp' instead
   41 | #pragma message ("Warning: This header is deprecated. Use 'image_transport.hpp' instead")
      |                                                                                         ^
---
Finished <<< image_view [14.8s]

Summary: 16 packages finished [15.3s]
  3 packages had stderr output: image_proc image_view stereo_image_proc
root@31e372d636e3:~/workspace# colcon test
Starting >>> cv_bridge
Starting >>> image_transport
Starting >>> image_geometry
Starting >>> camera_calibration_parsers
Finished <<< image_geometry [0.16s]                                                                                                       
Finished <<< image_transport [0.54s]                                                                              
Finished <<< camera_calibration_parsers [1.21s]                                          
Starting >>> camera_info_manager
Finished <<< camera_info_manager [0.98s]                                          
Starting >>> image_common
Finished <<< image_common [1.49s]                                          
Finished <<< cv_bridge [12.7s]             
Starting >>> image_proc
Starting >>> camera_calibration
Starting >>> depth_image_proc
Starting >>> image_rotate
Starting >>> image_publisher
Starting >>> image_view
Starting >>> opencv_tests
Starting >>> vision_opencv
Finished <<< vision_opencv [0.38s]                                                                                                                              
--- stderr: opencv_tests                                                                                                                                        
Traceback (most recent call last):
  File "/usr/lib/python3.8/runpy.py", line 193, in _run_module_as_main
    return _run_code(code, main_globals, None,
  File "/usr/lib/python3.8/runpy.py", line 86, in _run_code
    exec(code, run_globals)
  File "/usr/lib/python3/dist-packages/pytest.py", line 102, in <module>
    raise SystemExit(pytest.main())
  File "/usr/lib/python3/dist-packages/_pytest/config/__init__.py", line 63, in main
    config = _prepareconfig(args, plugins)
  File "/usr/lib/python3/dist-packages/_pytest/config/__init__.py", line 206, in _prepareconfig
    return pluginmanager.hook.pytest_cmdline_parse(
  File "/usr/lib/python3/dist-packages/pluggy/hooks.py", line 286, in __call__
    return self._hookexec(self, self.get_hookimpls(), kwargs)
  File "/usr/lib/python3/dist-packages/pluggy/manager.py", line 92, in _hookexec
    return self._inner_hookexec(hook, methods, kwargs)
  File "/usr/lib/python3/dist-packages/pluggy/manager.py", line 83, in <lambda>
    self._inner_hookexec = lambda hook, methods, kwargs: hook.multicall(
  File "/usr/lib/python3/dist-packages/pluggy/callers.py", line 203, in _multicall
    gen.send(outcome)
  File "/usr/lib/python3/dist-packages/_pytest/helpconfig.py", line 94, in pytest_cmdline_parse
    config = outcome.get_result()
  File "/usr/lib/python3/dist-packages/pluggy/callers.py", line 80, in get_result
    raise ex[1].with_traceback(ex[2])
  File "/usr/lib/python3/dist-packages/pluggy/callers.py", line 187, in _multicall
    res = hook_impl.function(*args)
  File "/usr/lib/python3/dist-packages/_pytest/config/__init__.py", line 739, in pytest_cmdline_parse
    self.parse(args)
  File "/usr/lib/python3/dist-packages/_pytest/config/__init__.py", line 947, in parse
    self._preparse(args, addopts=addopts)
  File "/usr/lib/python3/dist-packages/_pytest/config/__init__.py", line 893, in _preparse
    self.pluginmanager.load_setuptools_entrypoints("pytest11")
  File "/usr/lib/python3/dist-packages/pluggy/manager.py", line 297, in load_setuptools_entrypoints
    plugin = ep.load()
  File "/usr/lib/python3.8/importlib/metadata.py", line 77, in load
    module = import_module(match.group('module'))
  File "/usr/lib/python3.8/importlib/__init__.py", line 127, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
  File "<frozen importlib._bootstrap>", line 1014, in _gcd_import
  File "<frozen importlib._bootstrap>", line 991, in _find_and_load
  File "<frozen importlib._bootstrap>", line 961, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
  File "<frozen importlib._bootstrap>", line 1014, in _gcd_import
  File "<frozen importlib._bootstrap>", line 991, in _find_and_load
  File "<frozen importlib._bootstrap>", line 961, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
  File "<frozen importlib._bootstrap>", line 1014, in _gcd_import
  File "<frozen importlib._bootstrap>", line 991, in _find_and_load
  File "<frozen importlib._bootstrap>", line 975, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 671, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 783, in exec_module
  File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_testing_ros/__init__.py", line 19, in <module>
    from .test_runner import LaunchTestRunner
  File "/usr/lib/python3/dist-packages/_pytest/assertion/rewrite.py", line 304, in load_module
    exec(co, mod.__dict__)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_testing_ros/test_runner.py", line 17, in <module>
    import launch_testing.test_runner
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_testing/__init__.py", line 15, in <module>
    from . import tools
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_testing/tools/__init__.py", line 18, in <module>
    from .process import launch_process
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_testing/tools/process.py", line 18, in <module>
    import launch.actions
ModuleNotFoundError: No module named 'launch.actions'
---
Finished <<< opencv_tests [0.57s]	[ with test failures ]
Failed   <<< camera_calibration [1.29s, exited with code 2]                                                                                                     
Finished <<< image_publisher [2.53s]                                                                                                                           
Finished <<< image_rotate [2.56s]
Finished <<< depth_image_proc [3.15s]                                                                            
Finished <<< image_view [3.28s]                                                        
Finished <<< image_proc [3.53s]                        
Starting >>> stereo_image_proc
Starting >>> image_pipeline
Finished <<< image_pipeline [0.03s]
Finished <<< stereo_image_proc [5.13s]                        

Summary: 15 packages finished [21.7s]
  1 package failed: camera_calibration
  1 package had stderr output: opencv_tests
  1 package had test failures: opencv_tests
root@31e372d636e3:~/workspace#

JWhitleyWork · 2020-07-16T16:41:09Z

The error you're seeing is because opencv_tests missed a <test_depend> in the package.xml file. Should be solvable by installing ros-foxy-launch.

JWhitleyWork · 2020-07-29T00:33:50Z

@soeroesg We have switched this repository to use Github Actions instead of CircleCI. Would you mind rebasing your branch on the ros2 branch? Github Actions should run then.

DavidTorresOcana · 2020-08-02T15:40:57Z

Please beware of #580 and #592

soeroesg · 2020-08-19T07:07:16Z

I rebased again on the latest ros2 and I still get an error, but a new one (see below, Enum seems to be missing). I don't know why it worked before then... The line from enum import Enum is just above the erroneous line.
@JWhitleyWork any idea?

/usr/local/lib/python3.8/dist-packages/_pytest/assertion/rewrite.py:170: in exec_module
exec(co, module.dict)
test/test_directed.py:45: in
from camera_calibration.calibrator import MonoCalibrator, StereoCalibrator,
src/camera_calibration/calibrator.py:49: in
class CAMERA_MODEL(Enum):
E NameError: name 'Enum' is not defined

generated xml file: /__w/image_pipeline/image_pipeline/ros_ws/build/camera_calibration/pytest.xml -

----------- coverage: platform linux, python 3.8.2-final-0 -----------
Coverage XML written to file coverage.xml

=========================== short test summary info ============================
ERROR - NameError: name 'Enum' is not defined
!!!!!!!!!!!!!!!!!!!! Interrupted: 1 error during collection !!!!!!!!!!!!!!!!!!!!
=============================== 1 error in 0.90s ===============================

soeroesg · 2020-08-19T07:34:52Z

I am just blind and I was inspecting the melodic branch :S
So I added now the two missing import lines and github actions run through successfully.
Can I ignore CircleCI from now on?

JWhitleyWork · 2020-08-19T14:23:26Z

Can I ignore CircleCI from now on?

Yes. I wish I could disable the check but someone with higher access than me has to disable it on the repo.

JWhitleyWork · 2020-08-19T14:36:11Z

@soeroesg This is still awaiting testing, correct?

soeroesg · 2020-08-20T18:37:13Z

yes, this still needs to be tested by a volunteer, I do not have ROS2 on my computer at the moment

pmusau17 · 2021-06-22T20:40:46Z

Tested this on ros2 foxy, it passes all tests. Issued one warning.

Warning: the matrix subclass is not the recommended way to represent matrices or deal with linear algebra (see https://docs.scipy.org/doc/numpy/user/numpy-for-matlab-users.html). Please adjust your code to use regular ndarray.
-- Docs: https://docs.pytest.org/en/latest/warnings.html

JWhitleyWork · 2021-06-23T11:01:11Z

@pmusau17 Thanks for testing this. Unfortunately, this PR is very old and needs a manual rebase before it can be merged. @soeroesg Are you still around to be able to do this?

soeroesg · 2021-06-30T14:44:38Z

@JWhitleyWork @pmusau17 I merged the upstream changes

JWhitleyWork · 2022-12-04T22:16:33Z

@soeroesg This needs a serious rebase but could probably still be merged (sorry for the huge delay). Please let me know if you are still able to work on it.

mikeferguson · 2024-02-07T03:51:27Z

This was actually rebased and merged in #677

soeroesg added 2 commits June 12, 2020 11:51

trimmed whitespace at line endings

328c9ef

implemented fisheye mono and stereo calibration based on the melodic …

1703292

…branch

soeroesg added 2 commits July 15, 2020 16:04

added camera_calibration/pytest.ini

22f33fa

update pytest.ini

4507b86

Merge remote-tracking branch 'upstream/ros2' into ros2

2804a3c

Merge remote-tracking branch 'upstream/ros2' into ros2

c30f4d7

Merge remote-tracking branch 'upstream/ros2' into ros2

82242b9

soeroesg added 2 commits August 19, 2020 09:12

Merge remote-tracking branch 'upstream/ros2' into ros2

5d04241

added missing imports

97bc2cf

JWhitleyWork added the needs testing Currently awaiting testing on physical hardware label Aug 19, 2020

pmusau17 mentioned this pull request Jun 29, 2021

Mono fish eye calibration #677

Merged

Merge branch 'ros-perception:ros2' into ros2

2290f49

clalancette changed the base branch from ros2 to rolling July 15, 2022 14:52

mikeferguson added the ros2 label Jan 19, 2024

mikeferguson closed this Feb 7, 2024

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fisheye model in ros2 #547

fisheye model in ros2 #547

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fisheye model in ros2 #547

fisheye model in ros2 #547

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soeroesg commented Jun 13, 2020

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