KR101949780B1 - 2d transformer system of point cloud data for detail drawing road map - Google Patents

Abstract

The present invention relates to a 2D image conversion system of point cloud data for detailed drawing of a road map, which is capable of converting location aware system (LAS) data collected through mobile mapping system (MMS) into a 2D image according to a designated standard, and generating the 2D image as a drawing image. The present invention comprises: an LAS storage module for converting a location value and a mode value, which are collected by the LIDAR survey of an MMS, into point cloud type LAS data, and storing the data; a LAS loading module for retrieving the LAS data from the LAS storage module and processing an input/output layer for inputting the mode value; a mode setting module for controlling an LAS execution tool to load the LAS data depending on the mode value input to the LAS loading module; and a 2D conversion module for analyzing a position value of the LAS data loaded by the LAS execution tool to derive a 2D plane image, and converting the plane image into a TIFF file format plane image.

Description

BACKGROUND OF THE INVENTION Field of the Invention [0001] The present invention relates to a 2D image conversion system for point-

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a 2D image conversion system of point cloud data for detailing a road map capable of converting LAS data collected through MMS into a 2D image in accordance with a designated reference and generating an image as an image.

As is well known, drawing is performed based on the aerial photographing image data or the LAS (Location Aware System) data of a mobile mapping system (MMS). LAS data collection for MMS is a must-be process, because it is necessary to utilize LAS data in order to detail the sections that need to be guaranteed accuracy, such as maps for roads.

The LAS data is obtained by point-by-point positioning based on the MMS using ladder. Since the LAS data includes the position value, the LAS data can be processed according to the needs of the operator through the processing of the LAS execution tool 300 (see FIG. 4), which is a LAS exclusive solution such as 'GLOBAL MAPPER' The 3D image of each position can be changed and output in various angles.

In addition, the LAS data can output a 3D image in a monochrome mode as shown in FIG. 2 (a) of FIG. 2 (an image showing a 3D image output in each mode in LAS data loading) And also can output the 3D image of the color mode as shown in FIG. 2 (b).

Conventional painting operation based on LAS data is performed by adjusting and outputting LAS data as a 2D plane image in a TIFF (Tagged Image File Format) format as shown in Fig. 3 (image showing a planar image extracted and outputted from LAS data) Based on that image, I was drawn directly. However, in this type of drawing, the operator has to manually draw the image in accordance with the plane image of the LAS data, so that the operator is required to have precise and detailed drawing ability. In particular, in order to produce a road map (hereinafter referred to as a "road map"), the operator must detail the roads and lanes so that the operator can visually align the roads and lanes within the plane image. Therefore, In order to extract roads and lanes, it is required to extract the roads and lanes so that the workers are required to work hard and hassle.

Furthermore, since the above-described planar image extraction and detailing manually performed must be repeated several times to several hundred times in accordance with the number of LAS data, conventional detailing operations based on LAS data have been disadvantageous in terms of time and physically.

Prior Art Document 1. Patent Publication No. 10-2013-0004746 (published on Jan. 17, 2013)

Therefore, the present invention was invented to solve the above problem, and it is possible to collect and process 2D image plane images from LAS data in a lump, so that roads and lanes in LAS data can be rapidly And to provide a 2D image conversion system of point cloud data for detailing of a road map which can accurately display detailed images.

According to an aspect of the present invention,

A LAS storage module for converting location values and mode values of points collected by the LIDAR survey of an MMS (Mobile Mapping System) into point cloud type LAS (Location Aware System) data and storing the same;

A LAS loading module for retrieving LAS data from the LAS storage module and processing an input / output layer for inputting the mode value;

A mode setting module for controlling the LAS execution tool to load LAS data according to a mode value input to the LAS loading module; And

A 2D conversion module for analyzing a position value of LAS data loaded by the LAS execution tool to derive a 2D plane image and converting the plane image into a TIFF file format plane image;

And a 2D image conversion system of point cloud data for detailing the road map.

Since the present invention can collectively extract and planarize a 2D image plane from LAS data, it is possible to rapidly and precisely detail roads and lanes in LAS data even with a minimum of manpower and time have.

1 is a 3D image of multiple angles output through LAS data loading,
FIG. 2 is an image showing a 3D image output according to modes in LAS data loading,
3 is an image showing a plan image extracted from LAS data and output,
FIG. 4 is a block diagram showing an embodiment of the components of the conversion system according to the present invention,
5 is a diagram showing a point group of a 2D plane image extracted from LAS data by the conversion system according to the present invention through an LAS execution tool,
6 is a flowchart sequentially showing a conversion method using the conversion system,
7 is a view schematically showing a processing algorithm of the conversion system,
8 is a diagram showing a 2D plane image derived by connecting points having intervals within a reference value to each other according to the present invention,
9 is an image showing a state in which an LAS execution tool generates and displays a drawing line,
10 is a block diagram showing another embodiment of the constituent elements of the conversion system according to the present invention,
11 is a flowchart sequentially showing another embodiment of the conversion method using the conversion system,
FIG. 12 is a diagram showing a previous version drawing image and a latest version drawing image generated by the conversion system according to the present invention,
13 is a diagram showing an overlapping view of the drawing lines in the drawing image according to the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, There will be. The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It is to be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but on the contrary, is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 4 is a block diagram illustrating an embodiment of the conversion system according to the present invention. FIG. 5 is a block diagram of a conversion system according to an embodiment of the present invention. Fig.

The conversion system of the present embodiment includes an LAS storage module 210 for converting a location value and a mode value collected by the ladder survey of an MMS (Mobile Mapping System) 100 into point cloud type LAS (Location Aware System) data and storing the data; A LAS loading module 220 for retrieving LAS data from the LAS storage module 210 and processing the input / output layer for selecting the mode value; A mode setting module 230 for controlling the LAS execution tool 300 to load LAS data according to a mode value input to the LAS loading module 220; And a 2D conversion module 240 for analyzing the position value of the LAS data loaded by the LAS execution tool 300 to derive a 2D plane image by position and converting the plane image into a TIFF format plane image, Equipment (200).

The MMS 100 is composed of an information collecting apparatus 110 and a vehicle 120 on which the information collecting apparatus 110 is mounted. The information collecting apparatus 110 constitutes a LIDAR (LIDAR), and may constitute a camera for photographing the periphery of the vehicle 120 as an auxiliary. Since Lada is a known device for measuring the distance, a detailed description of Lada is omitted.

The LAS storage module 210 of the conversion device 200 converts the information collected by the MMS 100 into LAS data and stores the LAS data. The lidar of the information collecting apparatus 110 measures the reflectivity of the MMS 100 with respect to the surrounding space. At this time, since the laser light of the laser is oscillated in point units, the measurement is performed on a point-by-point basis. Accordingly, a large number of laser light irradiation points are generated based on the current position of the MMS 100, and distance values are collected for each point according to the reflectance of the laser light at the irradiation point. At this time, the LAS storage module 210 classifies the distance value based on the location of the MMS 100, and a number of distance values are collected for each location of the MMS 100. The distance values thus collected are grouped into a point group format and managed as LAS data. Lida can classify the characteristics such as the color and material of the irradiation point according to the reflectivity of the laser light. Therefore, the image is classified into modes according to the characteristics, and is defined as a mode value and configured in the LAS data. In addition, since the point measured by Lada has a specific angle and distance based on the MMS 100, the specific angle and the distance are calculated to calculate the position value in point units and configured in the LAS data.

The LAS loading module 220 inputs and processes a search condition for searching LAS data in the LAS storage module 210. The search condition may be a mode that is an output format of the LAS data, and the operator processes the input / output layer so that the operator can input or select the designated mode value of the corresponding mode. In addition, the search condition of the LAS data may be a position value, and the input / output layer may be processed for position value input.

The mode setting module 230 controls the LAS execution tool 300 to load the LAS data according to the mode value input to the LAS loading module 220. As described above, the LAS execution tool 300 is a LAS exclusive solution such as 'GLOBAL MAPPER', and executes the LAS data so that the LAS data is displayed in point units as shown in FIGS. Through this, the operator can view the 3D image of the point cloud group such as a photograph and can view the LAS data collected by the MMS 100. However, as shown in FIG. 2, a 3D image of the LAS data can be converted into a mode such as color or black and white. That is, the mode setting module 230 can convert a 3D image according to an operator's mode value input to the LAS loading module 220, and output a 3D image in a desired manner. Although color and black and white are shown as an example of the above mode, it may be varied depending on the material and other characteristics of the ground. The mode setting module 230 is compatible with the mode selection menu and the mode value input of the LAS execution tool 300. The LAS execution tool 300 determines whether or not the corresponding LAS data is executed and outputted as a 3D image as shown in Figs. Of course, the operator can perform subsequent work while viewing the 3D image output by the LAS execution tool 300.

The 2D conversion module 240 analyzes the position value of the LAS data loaded by the LAS execution tool 300 to derive a 2D plane image, and converts the plane image into a TIFF file format plane image. The LAS execution tool 300 can adjust the output form of the 3D image at a desired viewing angle (visual angle) as shown in FIG. Therefore, conventionally, an operator has to control the LAS execution tool 300 to convert a 3D image into a plane image as shown in FIG. 3, and then perform a drawing operation directly on the basis of the plane image. However, the 2D conversion module 240 of the present embodiment confirms the position value of the points for generating the plane image, extracts the points of the corresponding position value, and outputs the 2D plane image as the point group I draw together.

Subsequently, the conversion system of this embodiment further includes a drawing module 250 for extracting an outline in the 2D plane image derived by the 2D conversion module 240, and displaying the picture line along the outline.

More specifically, as shown in FIG. 5, in the 2D plane image derived by the 2D conversion module 240, a large number of points are arranged with an interval, so that a special outline is displayed in the 2D plane image. Accordingly, the drawing module 250 identifies the intervals between the points formed in the 2D plane image, classifies only the points within the range of the reference value, connects the corresponding points to the drawing line, Points can be deleted. For reference, the reference value for identifying the deletion target points may be different from the reference value for connection to the drawing line.

According to this process, a picture image based on the 2D plane image is generated.

Meanwhile, since it is preferable that the angle of the drawing line connecting the points in the drawing process has a certain regularity, the operator can directly check the drawing image generated by the drawing module 250 to correct the drawing direction of the drawing line.

When the picture image is completed by the above process, the picture module 250 generates a picture in a TIFF format and stores the picture in a separate storage unit.

FIG. 6 is a flowchart sequentially showing a conversion method using the conversion system. FIG. 7 is a view schematically showing a processing algorithm of the conversion system, and FIG. 8 is a flowchart illustrating a conversion method according to an embodiment of the present invention, FIG. 9 is a view showing a 2D plane image obtained by connecting points to each other, and FIG. 9 is an image showing a state in which an LAS execution tool generates and draws a drawing line.

S10; Lada measurement stage

As the MMS 100 moves through the information collecting section, the information collecting apparatus 110 collects data using the Lada. At this time, the data is the reflectivity of the laser light oscillated by the laser, the oscillation angle, and the current position of the MMS 100.

The collected data is transmitted to the converting apparatus 200 via an online or offline system.

S20; LAS data generation step

The LAS storage module 210 of the conversion apparatus 200 converts the position value and the mode value collected by the ladder survey of the MMS 100 into LAS data of the point cloud type and outputs the LAS data of the TRACE_A_1.las to the TRACK_A_n.las, . Here, the position value includes the position of the MMS 100 where the laser light is oscillated, the distance between the laser light spot and the laser, and the oscillation angle of the laser light.

In more detail, the LAS storage module 210 classifies the distance value, which is the distance between the point where the laser beam is irradiated and the lasers, on the basis of the position of the MMS 100, Generate and manage data. Also, since the characteristics of the irradiation point can be classified according to the reflectivity of the laser beam, the image is classified into modes according to the characteristics, and is defined as a mode value and configured in the LAS data. Also, since the point measured by Lydia has a certain angle and distance based on the MMS 100, the specific angle and distance are defined as point-by-point position values and are configured in the LAS data.

As a result, the LAS storage module 210 rearranges the information collected by the MMS 100 and generates and stores LAS data.

S30; LAS data loading stage

The LAS loading module 220 outputs an input / output layer for inputting a mode value to retrieve LAS data required by an operator. When the operator inputs a mode value, which is a search condition of LAS data, to the input / output layer, the mode setting module 230 transmits search information corresponding to the corresponding mode value to the LAS execution tool 300, ) So that the operator can visually confirm the information.

Since the input / output layer output and the LAS data search are not intended to output a 3D image but directly output a 2D plane image, the conversion system of this embodiment directly outputs the LAS data as a 3D image by inputting an operator's search condition It is not.

Accordingly, the mode setting module 230 transmits the mode value and the position value input to the LAS loading module 220 to the LAS execution tool 300, and the LAS execution tool 300 searches the 3D point cloud data which is the corresponding LAS data Prepare.

S40; TIFF mode setting step

The input / output layer output from the LAS loading module 220 has a menu for inputting a mode value and transmits the mode value input by the operator to the LAS execution tool 300.

The mode value of this embodiment may be 'palette type', 'TIFF type', 'coordinate system type', 'image compression rate', 'TIFF spatial resolution', 'scale / legend display' Value is transmitted to the LAS execution tool 300 by the mode setting module 230. [

The process control of the LAS execution tool 300 is performed by the mode setting module 230, and the LAS data of the condition desired by the operator is retrieved and executed according to the control.

Then, the LAS execution tool 300 searches the LAS storage module 210 for LAS data corresponding to the mode value and the position value input from the mode setting module 230, and confirms the point cloud forming the 3D image. Since the characteristics of the 3D image formed by the point cloud have been described above, the description thereof is omitted here.

When the LAS data corresponding to the mode value and the position value input by the operator is retrieved, the 2D conversion module 240 analyzes the positional value of the searched LAS data to retrieve the point cloud data constituting the 2D plane image. Subsequently, the 2D conversion module 240 combines the points of the point cloud data to derive a 2D plane image shown in FIG.

As described above, the point cloud within the plane image derived by the 2D conversion module 240 is composed of only data for forming a 2D plane image unlike the point cloud of the 3D image. The 2D cloud transformation module 240 controls the LAS execution tool 300) outputs a 2D plane image and generates the corresponding image as a TIFF format file such as 'TRACK_A_1.tiff' to 'TRACK_A_n.tiff'.

When the operator inputs the mode value and the position value to the input / output layer output by the LAS loading module 220, the LAS execution tool 300 controls the mode value and the position value according to the control of the mode setting module 230 And analyzes the position value of the LAS data to derive LAS data of only the points corresponding to the 2D plane image. The resulting combination of points forms a corresponding 2D 2D image.

S50, S60; Planar image inspection step

The LAS execution tool 300 outputs a 2D planar image so that the operator can visually confirm whether or not the operator is a planar image presented by his condition and whether there is an error in the combination of points constituting the 2D planar image .

If the 2D image of the 2D image obtained as a result of the inspection and the converted 2D image is not a plane image presented by the operator as a condition or an error is detected in the combination of the points forming the 2D plane image, the LAS loading module 220, Output layer, and the operator can re-input the mode value and the position value.

S70; Painting step

As shown in FIG. 8, in the 2D plane image derived by the 2D conversion module 240, a large number of points are arranged with an interval, so that a special contour is displayed in the 2D plane image. Accordingly, the rendering module 250 identifies the intervals between the points formed in the 2D plane image, classifies only the points within the range of the reference value, and connects corresponding points to the illustrated line as shown in FIG.

According to this process, a picture image based on the 2D plane image is finally generated.

Meanwhile, since it is preferable that the angle of the drawing line connecting the points in the drawing process has a certain regularity, the operator can directly check the drawing image generated by the drawing module 250 to correct the drawing direction of the drawing line.

When the picture image is completed by the process, the picture module 250 generates a picture in a TIFF format and stores the picture in the picture storage module 260 (see FIG. 10).

By way of reference, the picture image is divided into units Z1 to Z4, Z1 'to Z4' (see FIG. 12); The picture image data is constituted by system information of a picture line and part information in units of P1 to P14, P2 ', P5', P7 ', P9', P11 'and P12' divided by a picture line.

FIG. 10 is a block diagram showing another embodiment of the constituent elements of the conversion system according to the present invention, FIG. 11 is a flowchart sequentially showing another embodiment of the conversion method using the conversion system, FIG. FIG. 13 is a view showing an overlapped view of a drawing line in a drawing image according to the present invention. FIG. 13 is a diagram showing a drawing image of a previous version and a drawing image of a latest version generated by the converting system according to the present invention.

The conversion system according to the present embodiment includes an illustrated image storage module 260, an error checking module 270 for checking whether there is a difference between a previous version of the displayed image and the latest version of the displayed image, To the latest version.

Each component will be described in more detail.

The drawing image storage module 260 stores the drawing image data in which the drawing module 250 generates a drawing image and converts the drawing image into a TIFF format file. The drawing image is divided into zones Z1 to Z4, Z1 'to Z4' Divided into units; The picture image data includes system information including the position and length of the picture line and the area of the units P1 to P14, P2 ', P5', P7 ', P9', P11 'and P12' In part information.

The error check module 270 searches the figure-of-view image storage module 260 for the drawn image data of the previous version and the latest version of the same code; Comparing the previous version of the part information with the latest version of the part information; Judge whether the parts are the same, similar or inconsistent according to the reference range; The part information comparison is performed by calculating the area ratio through the latest version of the part information with respect to the previous version part information. Since the figure image data includes coordinate values of the vertexes in the drawing line as system information, the respective areas are calculated based on the system information. A more specific process for this is described below again.

The error correction module 280 maintains the previous version of the displayed image data when the area ratio of each part is determined as a result of the comparison by the error check module 270; If the area ratio is determined to be similar, the system information of the latest version drawing line is edited with the system information of the previous version drawing line; If it is determined that the area ratio is inconsistent, the part of the previous version that is the same as or similar to the latest version of the part in the figure image is maintained, and the part of the previous version inconsistent with the latest version of the part is replaced with the system information of the latest version Update; And the figure image data for which maintenance, editing, and updating are completed is stored in the figure image storage module. For reference, the reference range for uniformity and discrepancy can be set to a numerical interval for numerical comparison of area ratios. A more specific process for this is described below again.

The interlocking process between the modules 260, 270, and 280 will be described with reference to a flowchart.

S80 to S100; Part area verification step

P12 ', P5', P7 ', P9', P11 'and P12' in the picture image as shown in FIG. 12 since the picture image generated by the picture module 250 includes the system information and the part information, ) Are compared with each other to check whether or not there is a difference between the previous version drawing image and the latest version drawing image.

To be more specific, first of all, part information, which is the area of each part existing in each of the previous version of the drawing image and the latest version of the drawing image, is checked, and whether or not the parts are identical, similar or inconsistent is determined. At this time, the part information comparison is calculated as the area ratio of the latest version of the part information to the previous version of the part information.

P1, P2, P3, P4, P5, P6, P7, P8, P9, and P9 in the first zone Z1 of the previous version, P10 are compared with the part information P1, P2 ', P3, P4, P5', P6, P7 ', P8, P9', P10 in the first zone Z1 'of the latest version.

As a result of the area ratio calculation, if the previous version part information and the latest version part information are the same, the error check module 270 regards the previous version part and the latest version part as the same, and the second area Z2 and If all the part information in the zone, such as zone 4 (Z4), is the same between the previous version and the latest version, then the zone is deemed to have no update.

On the other hand, if the area ratio of the latest version of the part information to the previous version of the part information is within the similar reference range, the position of the part is regarded as being within the error range within the corresponding area. Here, the 'similarity' is a difference between the position and the occupation area of the part existing in the latest version of the zone, which is substantially the same as the corresponding part existing in the zone of the previous version, .

Subsequently, within the first and third zones Z1 and Z3, the parts P2, P5, P7, P9, P11, P12, P13, P14, P2 ', P5', P7 ', P9', P11 ', P12' P5, P7, and P9 in the previous version drawing image and the latest version drawing image, if the area difference between the previous version and the latest version is out of the reference range, , P11, P12, P13, P14, P2 ', P5', P7 ', P9', P11 ', P12', P13 'and P14' are considered to be inconsistent. For example, when a part (road section) located in the same zone Z1 or Z3 is changed due to demolition, enlargement, or expansion or the like, a change occurs in the part of the zone, Occurs.

As shown in FIG. 13 (a), corresponding parts P2, P5, P7 and P9 which are the road sections of the previous version have an area (area) P2 ', P5', P7 ', P9' A change occurs, and the error check module 270 confirms the change through area ratio detection and notifies the change.

S110; Part editing step

If it is determined that the area ratio of the error checking module 270 is the same, the error correcting module 280 determines that the corresponding part is the same and maintains the previous version drawing image.

If the area ratio is determined to be similar, the error correction module 280 edits the system information of the latest version drawing line into the system information of the previous version drawing line. As described above, the similarity of the area ratios means that there is an error in the system information such as the position value and the length of the drawing line of the corresponding part, and it means that the ground information is maintained without new construction, To the system information of the previous version.

If it is determined that the area ratios are inconsistent, the error correction module 280 maintains the previous version parts that are the same as or similar to the latest version parts in the section of the corresponding figure image, Updates the system information with the system information of the latest version. That is, the latest version of the part and system information that is maintained without demolition, extension, and expansion is edited first according to the part and system information of the previous version, and the latest version part and system information identified as inconsistent is the part of the previous version And system information, and updates the drawing image data.

For example, in FIG. 13 (a), the first zone Z1 of the previous version includes P2 and P5, and P7 and P9, and the latest zone Z1 ' P2 'and P5' and P7 'and P9' at the positions where P5, P7 and P9 are located. However, the latest versions of P2 'and P5' and P7 'and P9' are different from previous versions of P2, P5, P7 and P9 and the part information about the area. Therefore, the error correction module 280 calibrates the other sections in accordance with the parts of the previous version, except for the error section, which is the section in which the difference between the latest version of the part is not present in the previous version of the part or only the part of the previous version. Subsequently, the error correction module 280 updates or deletes the error section in accordance with the previously arranged part of the previous version.

S120; FIG.

When both the system information and the part information are maintained, edited, and updated in accordance with the above-described procedure, the error correction module 280 finally updates the display image data including the system information and the part information, and stores it in the display image storage module 260 .

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (3)

A LAS storage module for converting location values and mode values of points collected by the LIDAR survey of an MMS (Mobile Mapping System) into point cloud type LAS (Location Aware System) data and storing the same; A LAS loading module for retrieving LAS data from the LAS storage module and processing an input / output layer for inputting the mode value; A mode setting module for controlling the LAS execution tool to load LAS data according to a mode value input to the LAS loading module; And a 2D conversion module for analyzing a position value of the LAS data loaded by the LAS execution tool to derive a 2D plane image and converting the plane image into a plane image of a TIFF file format, In a 2D image conversion system of point cloud data,
A drawing module for extracting an outline in a 2D plane image derived by the 2D conversion module and displaying a drawing line along the outline;
Wherein the drawing module generates a drawing image and stores a drawing image data converted into a TIFF format file, the drawing image is divided into sections, and the drawing image data includes a system having a position and a length of the drawing line A picture image storage module configured by information and part information that is an area of each part divided by the picture line;
The previous version of the same code and the latest version of the figure image data are searched in the figure image storage module and the previous version of the part information is compared with the latest version of the part information to determine whether the parts are the same, An error check module that processes the part information by calculating an area ratio of the latest version of the part information with respect to the previous version of the part information; And
If it is determined that the area ratio of each part is the same as the result of the comparison by the error check module, the previous version of the picture data is maintained. If the area ratio of each part is determined to be similar, Information, and if the area ratio per part is judged to be inconsistent, in the section of the corresponding drawing image, the part of the previous version which is the same as or similar to the latest version part is maintained, and the part of the previous version which is incompatible with the latest version part, An error correction module for updating the stored image data with the latest version of the system information and storing the edited image data in the stored image storage module;
And converting the 2D image data of the point cloud data to detail of the road map. delete delete

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