JP5673489B2 - Point cloud data processing apparatus, processing method, processing program, and recording medium - Google Patents

Description

  The present invention relates to a point cloud data processing apparatus, processing method, processing program, and recording medium, and more particularly, to a point cloud data grouping processing technique by a computer.

  In order to measure and describe the three-dimensional shape of an object as data, a three-dimensional digitizer such as a three-dimensional laser scanner, an X-ray CT apparatus, a surface measurement probe, or the like is used. The three-dimensional digitizer is also called a reverse engineering tool. These apparatuses scan the surface of an object with a predetermined density, generate point data including three-dimensional coordinates of a point on the object surface, and output point cloud data that is a set of these point data.

  If these point group data can be converted into a three-dimensional model representing the three-dimensional shape of the object, the three-dimensional CAD can be handled using three-dimensional CAD. For example, the data conversion apparatus described in Patent Document 1 groups a part of point cloud data by a predetermined algorithm, defines a plane or a cylindrical surface that approximates the grouped point cloud, and three-dimensionally defines these planes. A solid model can be generated.

JP 2006-127544 A

  However, in the above-described data conversion apparatus, it is necessary for the operator to look at the shape of the point cloud, specify an arbitrary reference point from the point cloud data, and further select an appropriate grouping algorithm. Accordingly, the operator is required to have a certain level of skill and a great number of man-hours.

  For example, consider the layout of production facilities in a factory building (confirm that there is no interference between equipment and between the equipment and pillars, ensure that a predetermined clearance is secured, etc.), and remodeling When conducting a construction study (considering the order of equipment unloading, carrying in and moving, and the route at that time), the operator needs to perform the following steps.

  The operator first measures production equipment using a reverse engineering tool such as a three-dimensional laser scanner to obtain point cloud data. Next, the operator groups the point cloud data into a predetermined unit such as each equipment to be measured, every process, or every line. At this time, the operator visually observes the shape of the point cloud on the display screen, identifies the shape, the joint, etc. of the equipment, process, line, etc. while referring to the layout drawing created in advance by two-dimensional CAD. The point cloud must be grouped by work.

  As described above, the conventional technique has a problem in that the point group grouping requires a large amount of manual work.

  The present invention has been made to solve such a problem, and provides a point cloud data processing device, a processing method, a processing program, and a recording medium capable of efficiently performing a point cloud grouping process. Objective.

  The point cloud data processing device according to the present invention is a processing device for grouping point cloud data representing the shape of the outer surface of a plurality of three-dimensional objects for each of the three-dimensional objects, and has three-dimensional coordinates. Storage means for preliminarily storing the point cloud data as a set of data and two-dimensional graphic data representing the contour shape of at least one three-dimensional object as a two-dimensional closed graphic; and the point cloud data from the storage means; Obtaining the two-dimensional graphic data, selecting the point data included in an area generated by extruding the two-dimensional graphic data in a normal direction from the point data included in the point cloud data; And a control means for grouping the obtained point data.

  In the present invention, by grouping point data included in a region generated by extruding a two-dimensional figure in the normal direction, efficient grouping using a layout diagram including the two-dimensional figure is possible. .

  According to another aspect of the present invention, there is provided another point cloud data processing device in which, when there are a plurality of the two-dimensional figures, the point data included in the regions generated from the different two-dimensional figures belong to different groups. The control means for grouping as follows.

  In the present invention, by assigning point data included in regions generated from different two-dimensional figures to different groups, if a plurality of facilities are drawn in different two-dimensional figures in advance in a layout diagram or the like, Data can be efficiently grouped by equipment.

  Further, the other point cloud data processing apparatus according to the present invention calculates a distance between each of the grouped point data and other point data, and the distance is equal to or less than a predetermined threshold. The control means for grouping data as belonging to the same group as the grouped point data.

  In the present invention, even if a plurality of facilities are superimposed on the layout diagram, if these facilities are actually superimposed vertically with a certain clearance, the point data is It is possible to efficiently belong to the correct group.

  Another point cloud data processing apparatus according to the present invention includes the control means for performing the grouping by assigning a group identifier to the point data.

  Furthermore, the point cloud data processing method according to the present invention is point cloud data representing the shape of the outer surface of a plurality of three-dimensional objects, and at least from the point cloud data that is a set of point data having three-dimensional coordinates. The point data included in the region generated by extruding the two-dimensional graphic data representing the outline shape of one of the three-dimensional objects as a two-dimensional closed graphic in the normal direction is selected, and the selected point data is grouped It is to become.

  Furthermore, the point cloud data processing program according to the present invention is a program for causing a computer to execute a predetermined operation, which is point cloud data representing the shape of the outer surface of a plurality of three-dimensional objects, and includes three-dimensional coordinates. Included in the area generated by extruding in the normal direction two-dimensional graphic data representing the contour shape of at least one three-dimensional object as a two-dimensional closed graphic from the point cloud data that is a set of point data having Point data to be selected is selected, and the selected point data is grouped.

  Furthermore, the recording medium storing the point cloud data processing program according to the present invention is a computer-readable recording medium storing a program for causing a computer to execute a predetermined operation, and includes a plurality of three-dimensional objects. Two-dimensional representation of the point cloud data representing the shape of the outer surface, wherein the contour shape of at least one of the three-dimensional objects is represented as a two-dimensional closed figure from the point cloud data which is a set of point data having three-dimensional coordinates. Point data included in an area generated by extruding graphic data in the normal direction is selected, and the selected point data is grouped.

  According to the present invention, it is possible to provide a point cloud data processing device, a processing method, a processing program, and a recording medium that can efficiently execute a point group grouping process.

1 is a diagram illustrating a configuration of a first embodiment. 3 is a flowchart illustrating processing according to the first embodiment. It is a figure which shows the example of the point cloud data concerning Embodiment 1. FIG. It is a figure which shows the example of the two-dimensional figure data concerning Embodiment 1. FIG. FIG. 3 is a schematic diagram showing processing of the first embodiment. FIG. 3 is a schematic diagram showing processing of the first embodiment. 6 is a flowchart showing processing of the second embodiment. FIG. 10 is a schematic diagram showing processing of the second embodiment. FIG. 10 is a schematic diagram showing processing of the second embodiment.

  The inventor has found that, when grouping point cloud data to be measured, the point cloud grouping process can be efficiently executed by using a layout diagram of the measurement target created in advance by two-dimensional CAD or the like. .

  Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings.

<Embodiment 1>
First, the configuration of the apparatus 100 according to the first embodiment of the present invention will be described with reference to FIG.

  The apparatus 100 includes a storage unit 101 and a control unit 102.

  The storage unit 101 stores in advance point cloud data generated by a reverse engineering tool such as a three-dimensional digitizer (not shown). The reverse engineering tool, for example, targets a production line including a plurality of production facilities, scans the surface of the production facility at a predetermined density, generates a large number of point data representing the three-dimensional shape of the production facility, and This is a device for outputting point cloud data that is a set of point data.

  The storage unit 101 stores two-dimensional graphic data in advance. The two-dimensional graphic data is typically a layout diagram of the production facility created in advance by two-dimensional CAD. The layout diagram is a drawing in which a plurality of production facilities are each vertically projected on a reference plane (typically a floor surface). In the layout diagram, each production facility is represented as one closed figure. Normally, this closed figure represents the contour line of the image of the vertical projection described above.

  As described above, the layout diagram includes information for clearly separating each production facility in advance. On the other hand, the point cloud data does not hold such information. Therefore, in the present embodiment, grouping of point cloud data is performed using such information in the layout diagram.

  The storage unit 101 is typically an internal storage device (memory), but may be any device as long as it can temporarily store point cloud data and two-dimensional graphic data before processing. For example, the storage unit 101 may be a temporary storage area connected to an external storage device, a recording medium reading device, a data communication port, or an input device such as a keyboard or a mouse.

  The control unit 102 accesses the storage unit 101 to acquire point cloud data and two-dimensional graphic data, and performs processing for grouping (grouping) the point data according to a predetermined algorithm. Here, the grouping means a process of selecting part or all of the point data included in the point cloud data according to a predetermined standard and classifying the selected point data as having one common attribute. Specifically, grouping can be performed by adding an identifier (group identifier) indicating a group to the selected point data as an attribute.

  The control means 102 is typically a central control device (CPU) that executes various processes in the apparatus based on a control program. The control program is a program for causing the CPU to execute processing related to the present apparatus, and is stored in an internal or external storage device such as a ROM, a RAM, or a hard disk. These programs may be acquired via a communication network from storage means provided remotely.

  In addition, the device 100 may include an input device for an operator to input an instruction for the grouping process, and an output device for showing the process progress of the grouping process to the operator. Typically, the input device may include an instruction device such as a mouse, a character input device such as a keyboard, and the output device may include a display device such as a display.

  Next, processing of the apparatus according to the first embodiment of the present invention will be described using the flowchart of FIG.

  S101: The control means 102 reads point cloud data and two-dimensional graphic data from the storage means 101.

  First, point cloud data will be described. A reverse engineering tool such as a three-dimensional digitizer measures, for example, a production line including a plurality of production facilities, generates a large number of point data representing the three-dimensional shape of the production facility, and a point cloud that is a set of these point data Output data. The storage unit 101 stores in advance point cloud data transferred directly from the reverse engineering tool or the like, or transferred via a transmission path, a recording medium, or the like.

  FIG. 3 shows an example of point cloud data. In the present embodiment, the point cloud data 200 is represented in the form of a table in which each piece of point data 201, 202, 203, etc. is one record and a plurality of these records are collected. Each of these point data can hold at least a three-dimensional coordinate value (x, y, z) and a group identifier as attributes. The coordinate value is a measurement value set by a reverse engineering tool or the like. The group identifier is an attribute for holding a grouping result described later. The group identifier does not hold an attribute value at this stage, and is registered in step S105 described later. The group identifier as an attribute does not necessarily have to be provided at the stage of this step (S101), and may be added to the point data at an arbitrary step after this step.

  Next, two-dimensional graphic data will be described. The two-dimensional graphic data is a layout diagram of a production line including a plurality of production facilities, for example, and is typically created and output by two-dimensional CAD. The storage means 101 stores in advance two-dimensional graphic data transferred directly from the two-dimensional CAD or the like, or transferred via a transmission path, a recording medium, or the like.

  FIG. 4 shows an example of two-dimensional graphic data. In the present embodiment, the layout diagram 300 as the two-dimensional graphic data includes two-dimensional closed graphics 301, 302, and 303 that are vertical projections onto the reference planes of the production facilities 1, 2, and 3. These two-dimensional figures typically hold two-dimensional coordinate values (x, y) of a plurality of vertices as attributes.

  S102: The control means 102 performs an overlapping process of the point cloud data and the two-dimensional graphic data.

  In the superimposing process, an operator designates a reference point using an input device (not shown) while viewing an image of point cloud data and two-dimensional graphic data displayed on an output device (not shown), and the control means 102 uses the reference means. It can be executed by arranging point cloud data and two-dimensional graphic data according to points. Here, as the reference point, it is desirable to specify coordinates such as a column included in the point cloud data and the two-dimensional graphic data.

  Alternatively, the superimposing process can be executed without requiring an operator's operation by the control means 102 automatically recognizing the reference points included in the point cloud data and the two-dimensional graphic data. The automatic recognition of the reference point can be executed, for example, by holding a special attribute in the reference point in advance and selecting a point having the attribute by the control means 102.

  The overlay process will be further described with reference to FIG. In the superimposition process, as shown in FIG. 5, the outline of the two-dimensional graphic data included in the layout diagram matches the vertical projection image on the floor surface of the outline of the production facility represented by the point cloud data. Thus, it is desirable to arrange both.

  S103: The control means 102 performs a process of generating a surrounding surface by extruding a two-dimensional figure in the normal direction.

  The enclosure surface generation process will be described with reference to FIG. As shown in FIG. 6, the control means 102 extrudes the outlines of the two-dimensional figures 301, 302, and 303 in the normal direction of these figures, that is, the z direction, and creates the enclosure surfaces A1, A2, and A3. . This process can be realized by, for example, a standard function provided in a general-purpose three-dimensional CAD or the like.

  Note that, as in the present embodiment, when all the production equipment to be measured are present above the reference plane, that is, the floor surface, the outer shape line may be pushed out only upward, that is, in the positive z direction. However, when the measurement target is also present below the reference plane, the control unit 102 needs to perform processing for pushing the outline line downward, that is, in the negative z direction.

  S104: The control means 102 specifies the point data present at the highest position among all the point data included in the point cloud data, that is, the point data having the maximum z value. Subsequently, the control unit 102 generates a plane T having a height equal to or greater than z of the identified point data. That is, as shown in FIG. 6, processing is performed to generate a plane T having a height z such that all point data is below the plane T.

  Note that, as in the present embodiment, when all the production facilities to be measured exist above the reference plane, that is, the floor plane, the plane to be generated is only T. However, when the measurement target is also present below the reference plane, the control unit 102 needs to also generate a plane U having a height z such that all point data can be stored above the plane U. is there.

  S105: The control means 102 obtains point data included in the areas E1, E2, and E3 surrounded by the surrounding surface A1, A2, or A3 and the plane T and the reference plane (or the plane U when the plane U is generated). , Select each. Subsequently, the control unit 102 groups the point data included in the areas E1, E2, and E3 as belonging to the groups G1, G2, and G3, respectively.

  Typically, grouping can be performed by the control means 102 assigning a group identifier to point data to be grouped. As shown in FIG. 3, in the present embodiment, the control means 102 performs grouping processing by registering a value indicating a group identifier in a record representing point data. For example, when point data with an ID of 1 is classified into a group G1, G1 is registered as a group identifier in the group identifier column of the record of the point data.

  In the present embodiment, the control means 102 groups the point data included in the region generated by extruding the two-dimensional figure in the normal direction, thereby using the layout diagram including the two-dimensional figure. Grouping is possible.

  In the present embodiment, the control means 102 assigns point data included in regions generated from different two-dimensional figures to different groups, so that a plurality of facilities differ in advance in a layout diagram or the like. If it is drawn as a graphic, it is possible to efficiently group point data for each facility.

<Embodiment 2>
The first embodiment described above is based on the premise that the contour lines of each production facility exist independently as one closed figure in the layout diagram, that is, the contour lines do not intersect with each other. However, when the production facilities are vertically crossed, that is, arranged so as to be folded, the contour lines are also crossed, so that the processing shown in Embodiment 1 cannot be simply applied.

  On the other hand, in the layout diagram, when the contour lines intersect, the hidden line processing is generally performed by an operator or by automatic processing by CAD software or the like. In this case, the contour line of the production facility located below is represented as a closed figure partially cut away by the contour line of the production facility located above. If a layout diagram in which such processing is performed in advance is used, each production facility is represented as an independent closed figure although it is incomplete, and therefore, grouping can be performed temporarily by the method of the first embodiment.

  However, in such a case, an appropriate grouping result cannot be obtained if the method shown as Embodiment 1 is applied as it is. Therefore, a method for correcting such an inappropriate grouping result will be described below as a second embodiment of the present invention.

  First, the configuration of the apparatus 100 according to the second embodiment of the present invention will be described.

  Device 100 according to the present embodiment has a configuration equivalent to that of device 100 according to the first embodiment. That is, the apparatus 100 includes an input unit 101 that receives input of two-dimensional graphics and point cloud data, a control unit 102 that performs grouping processing, and an output unit 103 that is an output destination of processing results.

  The present embodiment is characterized in that the control unit 102 can execute a correction process associated with the grouping process in addition to the above-described process. Details of the correction process will be described later.

  Next, processing in the apparatus 100 according to the second embodiment of the present invention will be described with reference to FIG.

  The processing in steps S101 to S105 is equivalent to that in the first embodiment.

  That is, the input unit 101 receives input of point cloud data and two-dimensional graphic data (S101). Next, the control unit 102 reads the point cloud data and the two-dimensional graphic data from the input unit 101, and performs a process of superimposing the point cloud data and the two-dimensional graphic data (S102). Subsequently, the control unit 102 performs processing for generating a surrounding surface by extruding the two-dimensional figure in the normal direction (S103). Furthermore, the control means 102 performs a process of generating a plane T having a height z such that all point data are below the plane T (S104). Then, the control unit 102 groups point data included in a region surrounded by the surrounding surface, the plane T, and the reference surface (or the plane U when the plane U is generated) (S105).

  The present embodiment is characterized in that the control means 102 can perform the following correction processing (S106 to S107) in addition to the above processing.

  S106: The control means 102 calculates the distance between each point data and other point data.

  These processes will be further described with reference to FIG. In the present embodiment, the point data is represented as records stored in a table as shown in FIG. First, the control means 102 specifies one record to be processed. For example, point data whose ID is 1 is first processed.

  Subsequently, the control unit 102 calculates the distance between the point data whose ID is 1 and other point data. Specifically, the distance from the point data with ID 2 and the distance of the point data with ID 3 are sequentially calculated.

  Here, it is desirable that the control means 102 calculates the distance between the point data to be processed and all other point data. However, from the viewpoint of reducing the amount of calculation, other point data may be limited to those already assigned with group identifiers.

  S107: The control means 102 performs a process of grouping the other point data whose distance calculated in step S106 is equal to or less than a predetermined threshold value as belonging to the same group as the point data to be processed.

  These processes will be further described with reference to FIG. The control means 102 updates the group identifier of the other point data whose distance from the point data to be processed is equal to or less than a predetermined threshold with the group identifier of the point data to be processed. For example, if point data with ID 1 is a processing target, if the distance between this point data and point data with ID 2 is less than or equal to a predetermined threshold, point data with ID 2 Is updated with the group identifier G1 of the point data whose ID is 1.

  Here, the predetermined threshold value may be held in advance in a storage unit (not shown), or may be input via the input unit 101 or an input device (not shown). Alternatively, the control program may be held in advance.

  The control means 102 performs the same process for all point data. In other words, when the above processing for the point data whose ID is 1 is completed, the same processing is repeated with the point data whose ID is 2 as the processing target. Such processing is repeatedly executed until all point data is processed once. However, from the viewpoint of reducing the amount of calculation, the point data to be processed may be limited to those already assigned with group identifiers.

  Here, the significance of the processing in steps S106 to S107 will be described with reference to FIGS.

  Production facilities and the like may be arranged in a crossing manner while maintaining a certain clearance so as not to interfere with each other. On the other hand, the layout diagram does not have information regarding such crossing in the vertical direction. Therefore, if grouping is simply performed based on the layout diagram as in step S105, inappropriate grouping may be performed.

  FIG. 8 shows an example of inappropriate grouping. In this example, in an actual production line, a part of the equipment 1 and a part of the equipment 2 are arranged in a state of crossing up and down. On the other hand, in the layout diagram, the projection view of the facility 1 is drawn so as to cover a part of the projection view of the facility 2. In such a case, if the grouping is simply performed using the area obtained by extruding the layout diagram as in step S105, the point data that should originally represent the facility 2 (classified as the group G2) is also converted to the facility 1 Will be recognized as a group G1 representing.

  The inventor paid attention to the following points in order to solve such problems. Usually, production facilities are arranged with a certain clearance or more so as not to interfere with each other. Specifically, a clearance of usually several tens to several hundreds of millimeters is ensured. On the other hand, the pitch of point data is usually several millimeters.

  Therefore, the control means 102 of the present embodiment uses a distance that is smaller than the clearance and sufficiently larger than the pitch of the point data as a threshold value, and regards point data that are within the threshold value as belonging to the same group. Correction processing is performed (see FIG. 9). Thus, for example, even if there is point data representing the equipment 2 and the point data that is inappropriately grouped into the group G1, the distance from the other point data that is appropriately grouped into the group G2 is reduced. If it is less than or equal to the threshold value, it will be subject to correction processing, and appropriate group identifiers will be assigned sequentially.

  In the present embodiment, the control means 102 is a case where a plurality of facilities are drawn in a superimposed manner on the layout diagram, and these facilities are actually crossed up and down with a certain clearance. Even in such a case, the point data can efficiently belong to the correct group.

<Other embodiments>
It should be noted that the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present invention.

  For example, in the above-described embodiment, the case where the production line including the production equipment is the measurement target has been described as an example. However, the measurement target may be anything as long as it can be measured with a reverse engineering tool including a three-dimensional digitizer such as a three-dimensional laser scanner, an X-ray CT apparatus, and a surface measurement probe. For example, terrain and buildings can be measured.

  In the above-described embodiment, the case where point data output by a reverse engineering tool such as a three-dimensional digitizer is the target of grouping processing has been described as an example. However, the grouping processing target may be any data as long as it has at least three-dimensional coordinates. For example, geographic information data including three-dimensional coordinate data such as terrain and buildings, celestial information data including coordinate data such as stars and planets, and the like can be processed. Further, the processing target does not necessarily need to be point data, and may be a two-dimensional figure or three-dimensional solid data including three-dimensional coordinate data.

  In the above-described embodiment, the hardware configuration has been described. However, the present invention is not limited to this, and arbitrary processing may be realized by causing a CPU (Central Processing Unit) to execute a computer program. Is possible. In this case, the computer program can be stored and provided to the computer using various types of non-transitory computer readable media. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (for example, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (for example, magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / W, semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)). The program may also be supplied to the computer by various types of transitory computer readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

DESCRIPTION OF SYMBOLS 100 Point cloud data processing apparatus 101 Storage means 102 Control means 200 Point cloud data 201 Point data 202 Point data 203 Point data 300 Layout diagram 301 Two-dimensional graphic data 302 Two-dimensional graphic data 303 Two-dimensional graphic data

Claims (6)

A processing device for grouping point cloud data representing the shape of the outer surface of a plurality of three-dimensional objects for each of the three-dimensional objects,
Storage means for preliminarily storing the point cloud data, which is a set of point data having three-dimensional coordinates, and two-dimensional graphic data representing the contour shape of at least one three-dimensional object as a two-dimensional closed graphic;
The point cloud data and the two-dimensional graphic data are acquired from the storage means, and the two-dimensional graphic data of the point data included in the point cloud data are included in a region generated by pushing in the normal direction. Selecting the point data, grouping the selected point data ,
For each of the grouped point data, the distance to the other point data is calculated, and the other point data whose distance is equal to or less than a predetermined threshold belongs to the same group as the grouped point data And a point cloud data processing device. When the control means includes a plurality of the two-dimensional figures,
The point cloud data processing device according to claim 1, wherein the point data included in the region generated from the different two-dimensional figures are grouped as belonging to different groups. Wherein said control means includes a processing unit of the point group data according to claim 1 or 2, wherein performing the grouping by applying a group identifier to the point data. Computer
A point cloud data representing the shape of the outer surface of a plurality of three-dimensional objects, and a two-dimensional closed figure representing the contour shape of at least one of the three-dimensional objects from the point cloud data, which is a set of point data having three-dimensional coordinates. Select the point data included in the area generated by extruding the two-dimensional graphic data expressed as
Group the selected point data ;
For each of the grouped point data, the distance to the other point data is calculated, and the other point data whose distance is equal to or less than a predetermined threshold belongs to the same group as the grouped point data Point cloud data processing method grouped as . On the computer,
A point cloud data representing the shape of the outer surface of a plurality of three-dimensional objects, and a two-dimensional closed figure representing the contour shape of at least one of the three-dimensional objects from the point cloud data, which is a set of point data having three-dimensional coordinates. Select the point data included in the area generated by extruding the two-dimensional graphic data expressed as
Group the selected point data ;
For each of the grouped point data, the distance to the other point data is calculated, and the other point data whose distance is equal to or less than a predetermined threshold belongs to the same group as the grouped point data Point cloud data processing program for executing grouping processing as On the computer,
A point cloud data representing the shape of the outer surface of a plurality of three-dimensional objects, and a two-dimensional closed figure representing the contour shape of at least one of the three-dimensional objects from the point cloud data, which is a set of point data having three-dimensional coordinates. Select the point data included in the area generated by extruding the two-dimensional graphic data expressed as
Group the selected point data ;
For each of the grouped point data, the distance to the other point data is calculated, and the other point data whose distance is equal to or less than a predetermined threshold belongs to the same group as the grouped point data As a recording medium, a point cloud data processing program for executing a grouping process is stored.

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