{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "# Video\n", "\n", "blah ...\n", "\n", "second try" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# Data Formats\n", "\n", "Data was saved to a `dict` with each key being a `list` full of `namedtuples`. The `Data_ts` hold the data plus a time stamp since the start of the data.\n", "\n", "- `imu`: accel, mag, gyros\n", "- `camera`: image bytes\n", "- `lidar`: array of (angle, range,) for each point" ] }, { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [], "source": [ "%matplotlib inline \n", "from matplotlib import pyplot as plt\n", "import numpy as np" ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [], "source": [ "from collections import namedtuple\n", "import time\n", "import pickle\n", "import cv2\n", "\n", "Data_ts = namedtuple('Data_ts', 'data timestamp')" ] }, { "cell_type": "code", "execution_count": 4, "metadata": {}, "outputs": [], "source": [ "data = pickle.load( open( \"data/video-imu-move.pickle\", \"rb\" ) )" ] }, { "cell_type": "code", "execution_count": 10, "metadata": {}, "outputs": [], "source": [ "imgs = [np.frombuffer(x[0], dtype=np.uint8).reshape((480,640)) for x in data['camera']]\n", "itime = [x[1] for x in data['camera']]" ] }, { "cell_type": "code", "execution_count": 15, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Images found: 100\n" ] }, { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "print('Images found: {}'.format(len(imgs)))\n", "plt.imshow(imgs[0], cmap='gray');" ] }, { "cell_type": "code", "execution_count": 30, "metadata": {}, "outputs": [], "source": [ "class VO(object):\n", " def featureDetection(self):\n", " thresh = dict(threshold=25, nonmaxSuppression=True);\n", " fast = cv2.FastFeatureDetector_create(**thresh)\n", " return fast\n", " \n", " def getK(self):\n", " return np.array([[7.188560000000e+02, 0, 6.071928000000e+02],\n", " [0, 7.188560000000e+02, 1.852157000000e+02],\n", " [0, 0, 1]])\n", "\n", " def getAbsoluteScale(self, f0, f1):\n", " x_pre, y_pre, z_pre = f0\n", " x , y , z = f1\n", " scale = np.sqrt((x-x_pre)**2 + (y-y_pre)**2 + (z-z_pre)**2)\n", " return x, y, z, scale\n", "\n", " def featureTracking(self, img_1, img_2, p1):\n", " lk_params = dict(\n", " winSize = (21,21),\n", " maxLevel = 3,\n", " criteria = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 30, 0.01))\n", "\n", " p2, st, err = cv2.calcOpticalFlowPyrLK(img_1, img_2, p1, None, **lk_params)\n", " st = st.reshape(st.shape[0])\n", " ##find good one\n", " p1 = p1[st==1]\n", " p2 = p2[st==1]\n", "\n", " return p1,p2\n", " \n", " def run(self, images):\n", " #initialization\n", " # ground_truth =getTruePose()\n", "\n", " img_1 = images[0]\n", " img_2 = images[0]\n", "\n", " if len(img_1) == 3:\n", " gray_1 = cv2.cvtColor(img_1, cv2.COLOR_BGR2GRAY)\n", " gray_2 = cv2.cvtColor(img_2, cv2.COLOR_BGR2GRAY)\n", " else:\n", " gray_1 = img_1\n", " gray_2 = img_2\n", "\n", " #find the detector\n", " detector = self.featureDetection()\n", " kp1 = detector.detect(img_1)\n", " p1 = np.array([kp.pt for kp in kp1],dtype='float32')\n", " p1, p2 = self.featureTracking(gray_1, gray_2, p1)\n", "\n", " #Camera parameters\n", " fc = 718.8560\n", " pp = (640/2, 480/2)\n", " # K = getK()\n", "\n", " E, mask = cv2.findEssentialMat(p2, p1, fc, pp, cv2.RANSAC,0.999,1.0);\n", " _, R, t, mask = cv2.recoverPose(E, p2, p1,focal=fc, pp = pp);\n", "\n", " #initialize some parameters\n", " MAX_FRAME = 100\n", " MIN_NUM_FEAT = 50\n", "\n", " preFeature = p2\n", " preImage = gray_2\n", "\n", " R_f = R\n", " t_f = t\n", "\n", " maxError = 0\n", " ret_pos = []\n", "\n", " for numFrame in range(2, MAX_FRAME):\n", "\n", " if numFrame % 20 == 0:\n", " print(numFrame)\n", "\n", " if (len(preFeature) < MIN_NUM_FEAT):\n", " feature = detector.detect(preImage)\n", " preFeature = np.array([ele.pt for ele in feature],dtype='float32')\n", " print(\">> features found: \", len(preFeature))\n", " if len(preFeature) < MIN_NUM_FEAT:\n", " continue\n", "\n", " curImage_c = images[numFrame]\n", "\n", " if len(curImage_c) == 3:\n", " curImage = cv2.cvtColor(currImage_c, cv2.COLOR_BGR2GRAY)\n", " else:\n", " curImage = curImage_c\n", "\n", " kp1 = detector.detect(curImage);\n", " preFeature, curFeature = self.featureTracking(\n", " preImage, \n", " curImage, \n", " preFeature)\n", " E, mask = cv2.findEssentialMat(\n", " curFeature, \n", " preFeature, \n", " fc, \n", " pp, \n", " cv2.RANSAC,\n", " 0.999,\n", " 1.0);\n", "\n", " # print(E)\n", "\n", " _, R, t, mask = cv2.recoverPose(\n", " E, \n", " curFeature, \n", " preFeature, \n", " focal=fc, \n", " pp = pp);\n", "\n", " # truth_x, truth_y, truth_z, absolute_scale = getAbsoluteScale(\n", " # ground_truth[numFrame-1], ground_truth[numFrame])\n", "\n", " # if numFrame % 20 == 0:\n", " # print('scale', absolute_scale)\n", "\n", " absolute_scale = 1.0\n", "\n", " if absolute_scale > 0.1:\n", " t_f = t_f + absolute_scale*R_f.dot(t)\n", " R_f = R.dot(R_f)\n", " else:\n", " print(\"crap ... bad scale:\", absolute_scale)\n", "\n", " preImage = curImage\n", " preFeature = curFeature\n", "\n", " # ret_pos.append((t_f[0], t_f[2],))\n", " ret_pos.append(t_f)\n", "\n", " return ret_pos" ] }, { "cell_type": "code", "execution_count": 31, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ ">> features found: 98\n", "20\n", "40\n", ">> features found: 86\n", "60\n", "80\n", "len(pos) = 98\n" ] } ], "source": [ "vo = VO()\n", "pos = vo.run(imgs)\n", "print('len(pos) = {}'.format(len(pos)))" ] }, { "cell_type": "code", "execution_count": 32, "metadata": {}, "outputs": [], "source": [ "x = [float(x[0]) for x in pos]\n", "y = [float(x[1]) for x in pos]\n", "z = [float(x[2]) for x in pos]" ] }, { "cell_type": "code", "execution_count": 33, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "Text(0.5, 1.0, 'Movement')" ] }, "execution_count": 33, "metadata": {}, "output_type": "execute_result" }, { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "plt.figure()\n", "for i in [x,y,z]:\n", " plt.plot(i)\n", "plt.grid(True)\n", "plt.title('Movement')" ] }, { "cell_type": "code", "execution_count": 34, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "Text(0.5, 1.0, 'Path')" ] }, "execution_count": 34, "metadata": {}, "output_type": "execute_result" }, { "data": { "image/png": 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ufKZEuHP7uEAmhklumoHk98xKnvz5OBWNWoJcbU/rp3spIgl7FyI8VXx+xyj+9Ok+bv/8AMsWjzUlHIW6Mi7UlRB9IcnJE9EbjOTVNJNR3mguHrYrt6abde9qZ0WU2Y1jeg52Pbd1PzXSnf/7JYPShtZeRdWcC0EQ8HKw5sZRppoqn+8q4P0tOVzxv+3cOMqfR2eE4a5SXvTnSHRHEARG+Dsxwt+Jp+ZE8c2+Ir7dV8itS0xumts63DR2kpum36hvbueFtems6PhdWspljAxwOsdelwbSVXUKIwOc+eBPI7n7q4Ms/uogS24fdVrVP4XcVA8m3EPFvPiT2zut+/RyU1mBjPJGvthVQLvhpHUf6q4iqrO0QA/W/ZQOYd+SWcXNYwP69NyUFnLuSw7hxlF+vN1R3XDVkVIWTwpm8aRgbCyly6E/8LBX8tiMcO6fEsIvqeV8vquAZ1el8dqGLK5L9OW2pEDJTdPH/JJazrOrjtPQouOhaWH8dKiEEHe7y2a94/I4y/NkSqQ7r18/nEe+O8Ijy4/w3p9GIO/FomNX674TncFIfhfrPqO8Z+s+yNUGH0drfJxMVvrza9IYG+yMj6NNnzf/cO6obnjbuEBe3ZDJ/347wbf7inhsRjjXJ/r16lwvVVra9Vj3U/leK4Wc+Qm+XBNvctN8ubuApXsK+WJ3AVMiTElPE0Nd/1AL3MdKGtiYVsH4EFfGBLsM+rVTpdHy7Mo0NqRVEOvjwNI/j8FKIePtzSdYPCl4UMc2kEjCfgauSfChrmMq9/TKVP49P/aCjmPRS+u+qK6FAwX1rOkIYdQZRKa/YapL42xriY+jNd6OSnwcbfBxMiU/+TpZ4+1ojZONxQX5bINcbfng5pEcKqzj/9Zl8MTPqSzZlc8/r4wiOcLtsvMD/3CwmL/9eMz8d2LGbrwcrfFQWeFhr8Td3vRselhd8Aynq5vmydmdbpoibluyn2A3W25LCuTakUPbTWMwinywNYf//XYCvVHkvS25uKusmBPnxdzh3sT7OQ7oeERR5KfDpby4Np1WnYF/zIrk7olBKOQyPt2RB5jcnJcLQ/fKGQLcOSGIuuZ23t2Sg7OtJaP6MLu/J+seQG8w8sOhEv75cyoLEnwIcbejpL6V0oZWcqub2Z5dQ6vO0G0fG0s53o4msRda20gTc8zWv4+jNR72yrNaUiMDnPnpvnGsP17BfzZkcscXBxgf6sI/r4wixseh7056iHPq/8XBwnoCmtqobNSi1Z1e/0dlpcDDwSTyHiol7h2C3yn87irTzeBsFTxPddN8sauAf61O453fT/DYjAhuHDX0ZlDFdS08+t0RDhbWc/Vwb56eE8XBgnpWHy3lm71FfL6rAH9nG+IcdXhHafq9BWFpQytP/pzKtuxqEgOc+M91cYR0Kaa3OaOKCA8Vfs42/TqOoYQk7Ofg8Znh1LW0896WXBZGWpLcz5+nkMuYn+DD82vSUCkV3D8ltNvroihS36KjtL6V0oYWSupbKWvQUtrQQmlDKwVVerYWZ3U/pkxgmI8DP9837owiIQgCs2O9mB7lwTf7TO3jrn53J/PjfXj8iog+Wcgd6vg4WjMxzJUdJ2rM266O8+bxmeFo2vRUdVTprFBrqdRoqWps66jcqWVffh1VGi06w+lN0p1sLLpZ+ibrX2meCXjYK3G1s2R+gi/zE3w5VFjHK+tNfV2/2lPAU3OimBg2+JEcoiiyIqWUZ1elIQBv3jica+J9EASBOXFezInzQt2qY2NaBWuOlrHuRA1r39xOpKeKq4d7M3e4d5+Kq9Eo8s3+Il75JQMReH7uMG4ZG9DNlaVu1XGgoI67LyM3DPSRsAuCMAt4C5ADn4qi+EpfHHcoIAgCL86LoaGlnWWpFYw6XMKCEb79+plKCznjQ1zZklXNc6LYzSUiCALOHeWBY31Pt6a3bt3KqKQJlKtbzZb+sv1FZFU0IooicHbrz1Ih447xQSwY4csHW3NZsiuftanl/HlCEPclh1zSpQu0OgOppWqcbS1pbGlHL2Kerd05IQh7pQWh7me2Po1GkYZWnVnsqxrbqGg8Wba5SqMls6KRak2bufBbJ4JgWmvx7BD/UHcVGq2ezAoNt3y2H097JW/dFM+oQOdB8cGrW3Q8uTKVdcfKGRXoxBs3xPco0g7WFtyQ6McNiX6s2riFBlUQq4+W8drGLF7bmEWCvyNzh3szJ87roqKxCmqa+ftPx9ifX8eEUFdeXhDb43h2nKhGbxSZdhm5YaAPhF0QBDnwHjADKAEOCIKwWhTF9Is99lBBLhN488Z4Csp+5W8/HsPRxsIcJ95fJEe6szmzitzqZkLdz69Gu62VglB3lVmEVqWUEe1lf14t+xysLXjiykhuHuvPf3/N5oOtuXx3oJiHpoayaEzAgJdcGAjWHy+noUXHN3eNYffBI7x3pA2AF9am42xryTUJZy8UJ5OdvOmeLVPZYBSpbWqjstPi15iEv7JjJlDaoCWlqIHa5nbzPhWNWm78eC8AP903rg/Otvfszq3h8e+PUq1p429XRHDv5JBeuYccrATmjQvktnGBlNS3sOZoOauPlvH8mnReXJtOUogLc4d7M2uYV6+ThgxGkSU78/nvpiws5DJevTaO6xN9z7getDmjCkcbi26d0C4H+sJiHw3kiKKYByAIwnJgHnDJCDuYYmBvjLDk9cN67vv6MKsfmECEZ//5DqdGuvMMsDWr6ryFvStGo0hamZrrRl7YLMPXyYY3b4znzxOC+PcvGTy3Jp23f8+hrrmdGxJ9mRjmxvhQV5xt//gVJ7/ZW0SQqy1JwS7oShS8OC+UZzp63D7+w1EcbfqmUJxcJuDe4Y6J5cxrGO16I9UdPv6M8kaeWnEcgGs/2M0UPwXjJhj79Qbbpjfwxq/ZfLwjjyAXW366bxzDL3BR1NfJhvuSQ7gvOYScKg2rj5Sx+mgZ//gpladXHmdyuDtz472ZHuV+xkXp7EoNf/vxGEeLG5gR7cFL18TgYX9mq99gFNmSVcWUCPcht07R3/SFsPsAxV3+LgHG9MFxBxVRFCmua2VvXi178mrZm1drbq3nprJCe8oCZl/j42hNhIeKNUfLGBvsQpiH3QW10cuvbaa53cCwi1wEjfFx4Ju7xrA1q5o7vjgAwPcHS/j+YAmCADHeDkwMc2VimBsjA5z+cBZ9ZkUjBwvreWp2lNnVcUtSIFWaNt75PQeDUeS+rw/z9V1jBizJxVIhMy2CO1ozwt+JP40JYN2xcu7/9jBbivWEP72ej24Zycxojz6PYMqp0vDQsiOklzeycLQ/z1wV1Wd5DqHuKh6bGcGjM8JJLVWz+kgZa4+V81tGJTaWcmZEezB3uDcTw9ywVMho1xv5YGsu7245gUppwTsLE7iqF03HU4rqaWjRMS3q8nLDAAiiePpiz3kdQBCuA2aJonhXx9+3AGNEUXzglPctBhYDeHh4jFy+fPlpx2pqasLObvBaw9W0GsmoNZBZZySzzkCt1vTdqCwh0llOsK2e4V42eNkKAxIKuCqnnRU5OgBkAnjZCvipZN0ejlbdx3Lqd7inTM9Hx9p4cbw1fqqLF9sWnchjW1vQGkzfi6bDW+BgJaBpFzGKYCWHCGc5MS5yYlzlp31fXcdoFEX+vU9LQ5tIlLOcSGcZUS5ynJUDe2P4Kr2N7SV63ky2QWUpmMcoiiKfp7WzvcTUItHWAp4cbY1PH3yXF0qpxshTu1rNf0c6y1gYaUmA/cXH34uiyOYiPd9ltaOUw52xViS4X5ign8/v2SiKZNcb2Vuu50CFnmad6bt2tZZR2GiKSBrrJWdRlBX2lr377f2Q1c6GAh1vT7XB1qLnfQZbc3pD1zFOmTLlkCiKiefapy9uwaWAX5e/fTu2dUMUxY+BjwESExPF5OTk0w60detWetreX5Q1tLInt9ZslZd0NONwsrFgbKgHSSEuJmvZ3Q5BEAZ8fJMni9xf3UxmRSMZ5Y1kdiQ47S3Xmt/jbGtpbo4d5aWiWZ3N9PETzdmyu9alY6ko5KbZyebm2xfDe1ty0BqyWPPABILdbPlkRx4fbcujRW9kwQhfRgc6k1qqZmdODd9mNgPg5aBkQqgrE8PdmBDqyrEDu83f47bsanIa9jPC35HUmmZ2lJruFIEuNubvPynYBfezTLkvluY2PQ9s2czVw324eqYp2aDr//XESUbu/fowv2VU0qyDd1JFfvrLmEGOFPqd11L0NLToyKwz8tweLdeN8OVvV0Rc8HdVpdHy9x+PsTWrmsnhbrx2fdxFLXCe7+9lKnAvpqS+39Irue+bwzR3CTONDvbHP8qb4b4OvTKsXk7Zzugge+bMGNtnYxwMLmSMfSHsB4AwQRCCMAn6TcCiPjhun1Oh1ppEPLeWvfm1FNa2AOBoY8GYIGf+PCGIpBAXvB2tsbVUnOaXy1MbOLwpm9GBzowJdu4ToTwbgiAQ6m5HqLsdV3Vpyadu0Z0U+47SBd/uLzTHWr+4byPBrrZEedmz+mgZALVN7XjYW13UTKO5Tc+nO/JIjnAzR+Q8Mj2cRaP9efO3bL47UMzGtArunxLK+ocnUq1pY8eJGnbmVLMxrYIfDpncNv4qGbO1mUwMc+Xj7bm4qaxYvjgJhUwgo6LRfLNde6ycZftNXr4QN1uSQlxICnZlTLBzn7YMXH20jKY2PTeP9e/xdYVcxruLErj5030cLKynolHLLZ/t48d7xw3a2oKPSsb39ySx8OO9tLQbmBDmysojpaxLLefeySHcPTH4vDKWf0uv5B8/HaOpTc/zc4dxa1LAoCWo5dc089qvppBdOysFCf6OHCluYMmufJbsyifAxYar47yZG+99xhj54roWsio1PD0naiCHPmS4aGEXRVEvCMIDwEZM4Y5LRFFMu+iR9QFVjVqzf3xvXh35NSYL0l6pYHSQC7cmBZIU7EKkp8rsV82tbiLxxd8AU2ZmqLsdbiorVh4ppaFFB5wAQKVUMCXCnRnRHkyOcBvQMEAHG4vTGnEYjCIFtc38tHkvMic/k8+4oM78+tiXN+NkY0GkZ5ca8572hHnYnVYL50x8s6+Q+hYdD04N67bd3V7JywviuGN8EK+sz+SV9Zks3VPIrUkBxPs5Mi/eG6WFnGMlDew4UcPagzl8sj2PD7bmmo+xdG8hk8JcifayZ5i3A3dNDMbQsfC7J9c0o1pxuJSv9xYBEO5hR1KwC0khLowJcsHpAgVWFEW+3ltIpKeKEWeJnFBayPn0tkSu/3APJ6qayKtu5o7P9/Pt3WMHrf5IuIeKZYvHsvDjvRwraeCTWxP57kAxb2zKZtn+Iv4xK5K5w73PGh7Z0q7npXUZfLuviCgve5bfFD/oVT/35deRV236rTa16bvlFQAU1rbw7pYc3t2SwyPTw3hk+ukN6X/PrAIur2zTrvTJFSmK4i/AL31xrIuhWtPWIeImIei8OFRWCkYHOfOnMf6MDXYhysv+jKvkn+/KB+C2cQHkVTezLrW8x/dptHpWHy0zW8TD/Ry5doQP06M88B6EKbpcZiofPNpTQXJyBHCyxvyCET4M93Uks6KR9HINy/YXma17uUwgqMO6j/RUmZuLeNoru1lsWp2Bj7fnMz7U5YyLh+EeKpbcPordOTW8siGTl9dnAqb1gVB3O+J8HRnu68BNkZZcM30iV7+zk9KGVlRKBS+uNQVRedhbMTHMjYlhrkwIdSXO15E4X0fumRyCzmAktVRttui/P1jCl3sKEQSI9LQ3C/3oIGccrHt3oz1WoiatrJEX5w07p4XqaGPJl3eO5toPdlOu1nK0RM29Xx/i09sSL2hhuy/oKu7/+OkYy+4ey+3jAnlpXQaPfHeEz3cX8MycKBIDT6/vf6ykgUeWHyG/tpl7JgXz2MzwQTuPrtwyNoCFo/xobjPQqNXR1KanqU2PRqtDozX9u0mrR6PVd+tF0JXNmVUEu9oS7Da0/ef9xR8687S2qY29eXVmIc+pagJM07dRgU7cmOhHUogLw7wdehXupG7R8dOhUubFe3PTaH+eWWkKL4v0VPHnCUHkncjC0tWfnOomcquayKlqQt+RaXK02NSu7tmO8DhXOyvunRzM1cO9cVddnAvkQjlepgbgzvFB3UoDGIwihbXNZjdORrlhR8TtAAAgAElEQVSGlKJ61nTcpMDknur03Ud72bM3v5aapjbenZpwzs8dF+rK6gcmUK1p62jjZ+rbuiWzih8PlQDwwp5N5vc/MycaFztLKhq17M6pZVN6pfl9w7ztmRjmxqQwV0YGOplrrNw/JZR2vZGjJQ0miz63lq/3FbJkVz4yAYZ5O3S4blwYFeR8xror3+wrxMZSfs4Y9U68Ha356s7RXPfhHtStOnacMMV4v3VTwqCF1HUV94Wf7GXZ3WNZdf94VqSU8urGTK77cA9z4rx4YlYkfs42GIwiH27L5c1N2biprPjmrjFDrvmKQi7DwUZ2QU0xmtv07M2t5dakvq2O+kfiDyXsbXoDWzKrOiy2OrIqNYCpVsqoQGeuHeFLUogLMd7nl4zTyfIDRbTqDNS36LjyfzuwspDx4jUxLBrtj1wmsLUpl+Tkk9M+g1GkuK6FnKomcqqb+DWtgsNFDQDUNLXx0roMXlqXYX7/ggQfIjxVZr+5r5NNv4pBaqkaC7lwmh9SLhMIdrMj2M2O2bFe5u2NWh1ZXcQ+o7yR7w4Ud6tN89SKVHOrwD+N8cfR5swuEDeVFVNPafpR2tDKso27+SRVZy5n/PefTIW3rC3kxPjYMz/BB7lMQN2qo6i2hU935PHhtlyUFjICXWxPSce3ItxDxcQwVxxtLCmtb2V/QR17c2v5fFc+H2/PQy4TiPU5KfSJgU7YWCpQt+hYfbSM+Qk+qM7DlRbmoWLJ7Yks+mQfbXoja4+V42xryfNzz2319xenivvyxUlcO9KXK2M9+WhbHh9tz2VTWiW3jw/kSFED+wvqmBPnxb+vib3kOgrtzKmh3WBk6hAIc2xu05szjysbtbTpDVyT4NPvM6M/lLB/uiOf1zaaFlUs5AJ3TwxiVowXcb4OF72QqTcYza6D3zIquSbemyfnRJ0WFZBZ0chj3x0l0kvFuBBXxoe6MD3ag+l4cO/kEMAkYGlljXy8Pc/sqgG6leoFU5xycIcfv/MR5q4i2M22TxZm00obifBU9Tqm3L6jg9OoLtN2o1Hk5fUZfLIjnwR/R1ztrDhS3MDaY+Xsy6/jyztG9VrMBEHA18mGkR5yVhXK8HawZvniseTXNnOs5KRlv2x/EW0dHarslQpifR1obTeg0epRyAXqm9vJqmikpqkdw6m5+YCrnSVuKiUj/J0obTCVVjhS3MCR4gazXz/ezxFnW0u0OiN/GnP+lt3IAGfeXTSCe5YexCjCV3sKcbG14uHpYefeuZ8I91Dx7d1jWfTJXm76eA/LFycR5GrLozPCWTjan1c3ZvLx9jzsrBS8ccNw5if4XJIVPH/PqEJlpeh2Hfc1Wp2Bak1bN9Gu7FI+orOWUFOb/rR9wz1U/Z4J+4cS9luSApDLBFYcLiWrUsMXuwsorG1hwQgfpkS6X/BdsEKtZezLm81/f3PXmG5No7vy5qZs8muaKVe3mnuJBruaIjbGh7qSFGxayIvxceDthQm8vTCBlnbTAtCm9EpWppSa3TfteiOZFRoyKzRnHZ/KSkGcnwNONpZYymVYyGVYKAQs5DIs5TLGhrgwpYeMyMK6Zmqb2vnnz6lcn+hLgp/jef+QDaLIL6kVDPdz5Of7xpn3/2JXPs+tSWflkVLmJ5xfVmtKlYGS+jae7EgGCnGzI8TNznwcvcFIdmWTSexLTGLf6fYqbWjFTWXFcF8HYnwczNUrdQajuR5LZWObqWCXRkub3ohM4LTaLEeKG8z/fmNTtrkaY+csoFhtoKpRi4ud1RlnVTOiPfj3/Fie+DkVgDd/y8bZzpJb+rhByvkQ4dmzuHs6KHnjhnjunRyCSqnAy+HSLOpmNIpszqxiUoTbBRlHOoORmi7lHqq6CHdFR/2fSo22I5CiO5ZyGe72pno/UZ72TA4/Oav0UCn5PbOKT3fm4z8AVSb/UMJur7Tg3skh3DMpmPTyRlYcLmXV0TJ+Ta/EwdqCOXFeLEjwYWSAU68ETG8w8tWeQt7YlG3elvnirDNGiZQ2GdmYVslD08J4ZFoYmRUadufWsDu3lpUppXyzrwhBgChPe8aHujAuxJXRQc7YWim4YpgnVwzz5D/XxnGosJ6dOTU0t+nRGYy0641otHqyKjXmdYKuaNr07Mqp7XFMlnIZH23PY9EYf56ZE93ttfcXjeTz3fmsTCll2f4iQt3tuH6kL/NH+PQ6PnlFSimlDa28cMri4i1Jgaw6WsYLa9KZFOaGy3mEH24q1OHjaM3M6J7r7SjkMqK97Yn2tuem0aZtWp2B9PJGjhU3cKxEzbFSNZszq+jMr/NxtCbWx4FYXwdmxXgS6+NgDkXUG4zUNrd3s66qNG3kVTdR29ROhVrLsRJTbZau+XrP7dmMTDC5lDzslbirrDrcQCerNMb4OHD7uEC+2F0AwLOrjuNkY9EtPHWgOZO4A/1eQnewSS1VU9PUxvRT3DBGo0hdi+n/uvPmX9mo5UhmG0sLDpjr9dQ0tXFqzqZcJuBmZ4WHvRX+LjaMDnI2GQJdK3aqlDieoy/CqiNluNpZntdv5UK56MzTCyExMVE8ePDgadsvJBBfbzCyK7eWFYdL2JhWSavOgL+zDdck+DA/wcd8QZ9KSlE9T604Tnp5I042FtS36Hj2qmjunBB0xs9a9PZGjtSI7PrH1NPC63QGI8dK1OzOqWFXbg2HCxtoNxhRyATi/RwZF+LCuFBXEvwdez2zEEWRysY20svVpJWamnKklzea4+/B5Kpo1J6c7t033Iq/3jitm5Wp0epYd6ycHw6VcKiwHrlMYEqEG9cn+jE10v2Mlo3eYGT6G9uwtVKw9sEJp1202ZUa5ry9gzmxXvzvpnMvqgJklDdy5Vs7eOLKSLPr6kLRaHUcL23kWEkDqaVqjpeqKejy3fg4WhPjY0+cryMxPg7dxL4nulprm3cfxD0grMNiOykE1Zq2bsW5esJCLvCX5FD8nW3wdDh5EzgfP/656M1vJatCw6JP9qKQC93EfaAYjOSfNzZl8/bmE8yL90arM5hnb1WaNvNMuSv2luDrYt+tnLJnt/LKVrjYnnnWdj5c894ubCzlfHv3mROmeqLr9ygIwoBlng4qCrmMyeFuTA53o6lNz4bjFaxIKeGd30/w9uYTJPg7siDBh6vivHGytUTdouPVjZl8u78Id5UV7y0awa/pFWzOqOL6xDO7FIrrWthbrufO8UE9xkxbdDTKHRngxIPTwtDqDBwsqGd3bg27cmt5d0sOb/+eg9JCxqhAZ8aFuDIuxIUYnzNH7AiCgKeDEk8HZbdqkhqtjoxyDellatLLG0krMz0APjjaxgdHf2G4nyMxHVZvtJc98+J9uGm0PzlVTfx4qISfDpfwW0YVLraWzE/w4fpEv9OKmq09Vk5BbQsf3jyiR0sk3EPFX5JDeWvzCeYl+PToDjqVL3YVYCmDm0b5nfO950KltDAtiIacjOdXt+pIKzOJfGppI6klDWxMqzS/3in2sT4OZrHvtKAs5DK8HKzxcrCmwUNB8hlcKl2Lc3WKRmWjltqmdq4e7s3rv2bx1uYTp+1nayk3i4Wn2dozPTwdTrqC+qrOTqflvvCTvSz8eC/LFo8dcHEfaDRak4tka1a1WZxD3Fy7NUA5WQPfit07t5OcPLHfx2U0ipyo1HB94sVf973hDy/sXbGzUnDdSF+uG+lLubqVVUfKWHG4lGdWpfHCWpPL4GhJA3XN7dwxLohHZ4TR0m7g4eUp3JoUeFaL6uPteQjAXRN7V7BfaSFnQpgrE8JMvvpGrY59eXXsyqlhT24t/9lgWqhVKRWMDXZhfIgLE8Jcz1rvuxOV0oLRQc6MDjq5ONSuN3KgoI4/fboPOBl+2YlMgGA3O6K9TGL/6nVx1Gja2JxRxZd7Cvh0Zz7DfR24LtGPucO9cbC24MNtufg6WTMz2vOMY/nLlBDWpZbz9IrjbHx00lnbudU1t7PySCnjfBRnjaa5UPQGIwajiK+jDWODXMyJOaeK/fFSdTex93ZQmkU+xtf0fDa6FufqifGhrqdFQ3Tz0TZqOVhYT1VjmzkyqCvOtpZmEfLswYr0sFdi7OVMO8JTxbLLSNyfvSqaf8yK7HXS3UBR2tBKc7uhXyvCduWSEvaueDlYn+aPX5daTqCLLV/cMdoc1/3RtjwMosjt4wLPeKwqjZbvDhYzwUeBp8OF1c6wV1owI9qDGR1+5WpNG3vyatmdY/LRb0o3Cc13i8d2yyjtLZYKGeNDXfn8ChuKlUG8tC4De6WCR2eE42pnRXqHVX+osL5bpI6HvRXDvB3IqWriaImaoyVqXlybzqxhnpTWt6Jp0/Py+gyeuDKqx5mFlULOf66N5boP9/D6xiyemzvsjGPsjHaZEXBmH2Ob3kBjqx51qw51q47GzmetDnWLzrzdvK1Vb35P1wiER6eHmyNUHKwtOmZIJxfEG7U60kobSS1tMIv9r+knxd5ZKZBYdLCb2J9PGQNbK4U5pPRMdHbDOin6WirUpsW5ztrsx0sbqW3uwe8rgMfezabWfCrTrO70mYAVKqXFZSXugiAMOVEHk1sMBm6N45IV9k4EQWCYtwPDvB14+qrui4tanYFv9hUyI8oDf5czr1R/tjMfvcHI7KC+W/RwU1kxt6NdGMA9Sw+yPbvmomqvg+l8b00KZHSQMw8tS+GpFce5a0IQf5sVYfbtN7S0k17W4bPvEPyusertemM38f9kRz47TtTw81/G9Vi6dWSAM7eODeDLPQXMjffuMTVfZzCydE8hjjYWbC3Wcei7Ix3C3P3RU2/RrlhbyHGwtsDB2gJ7awU+jkqivFTmbbtza9mfX8eooLOHk9n34MbpFPvjpWo2p2STU9XUTey9ulj2na4cN9WFXxNdu2GdrTGHzmDsElpnmgXsT83GysmFykYtOdVN7MqpQdNDaF2n+8fDXomPozWppWoWfryX7+9JOus1L9G3dObchHsMTCbsJS/sZ2NlSin1LbqzLpiqW3R8vaeQq+K88bBV98s4cqub2JReyd0Tg/tsxTzS057VD0zg379k8OnOfPbk1fL2wgRC3OxwtDm9kbZWZ+BEZZNpobbMJPgZ5Y00t5sEP7NCQ/SzG9n7z2k9zlr+NiuSX9MreeKnY6x9cOJpfmJTCriO5nYDO0vBWV1nFucgV1uzMJu2dX92sLbAXml6Ppv/ublNz9I9heaIpPOlq9iHGYtITk7uJvadC7Sb+lHse8JCLsPb0bpbqYqA9gKSk+O7ve9s7p+KRi31Le1YymVUNGrZkFbO4kkXt3gt0XuyKzX4OFr36QL62bhshV0URZbsyifay54xQWdOZPhyTwHN7QbuSw6hMutwv4zl3d9zsFLI+7zhrtJCzgvzYpgY5sbffzzKVW/v5F9XR3PjKL/TFkOVFnJifR269VE1GkUK61pIL2vkw225pJaqmffeTj67bVS3EgVgWt946ZoY/vzlQT7clstD07on6jjZWnL42RnIBYGdO7b3S7TEF7sLqG1u568zI/rsmD1Z9hqtjrSyk2KfWtJd7D3tT4p9nJ8Dw30dB6QKZG/dP42teuytL9uf/qCQVaEZMGsdLmNhP17aSHZlE9Mi3dG06XusztjcpmfJrnymR7kT5WVPZVbfjyOvuolVR0q5a2Jwn5ai7cqMaA82PDKJx74/whM/p7L9RDUvz487Zyq5rKNAWJCrLXPivMgob+TPXxzg+g/38PbCBPN6QSfTojy4erg37/6ew+xYz9MWgvszjVrdquOjbblMj3Lv96w+ldKCscGmWvGdnCb2pWo2Z1aafeN+ztbmImhxvo7E+jgMSlVIQRAuuRICQx2dwUhedTOTI3ouWNYfXLbCHuZhxw2JvvxwqISpr2/lb1dEcN1Iv24LhMv2F9HQouMvU0L7bRzvbsnBUiHj7l5G21woHvZKlt45hk925PHaxiyOFG3nzRvjz2uhNsrLnpX3j+furw6yeOlBnpodxZ8nBHWz/v91dTQ7TlTzj59S+eGepLOWjO1LPtmeR6NWz2Mz+s5aPx/OJPappWpTQlVJA0eKGlh3zFQt9NSKl8P9HIn0tP/DtRSUODeFtc20G4xEDGBy2GUr7EoLOa9eN5ybxwbw/Jp0/vFTKkv3FvKvq4cxKtCZNr2BT3bkMTbY+ax1ui+G/JpmVqaUcuf4oD73y/aETCZwz+QQkkJceGhZCgs/2cv9U0J5eFpYr4umudsrWb44ice+P8JL6zLIq2nm+bnDzElOL61Np6FFx6HCehYvPcj7fxrZ72JV09TGkl35XBXnRbT3mRchBxqV8vRonJqmtm51cbpWvLSUy4jyUnWUKnYg3s+RYDe7y64R86VGVoUpm3wgs34vW2HvJM7XkR/vTWL10TJeWZ/J9R/uYe5wb0Ld7ahsbOP164f322e/+3sOFnIZiyf3r7V+KnG+jqx7aCLPrU7jnd9z2JVTw1s3JeDXyxoW1pZy3ls0gtd/zeL9rbkU17Xw7qIR5FRpWHmkjFgfB1JL1fyWUUX40+u5doQvs2M9mRDm2i/umA+25qLVGXpsuDDUcLXrueJlp9AfLWlgRUopS/cWAqaolhgfk0Uf52vy1/s6XZp1Xi5Vsio15hnaQHHZCzuY/I7z4n2YEe3Bh9vy+GhbLquPGonzdWDCGYqBXSyFtc2sPFLK7eMCL6qv5IVia6XgteuHMzHcjad+TmX2Wzt4aX4M8+J7V5dcJhP4+6xIAl1teWpFKtd+sBuNVoebyorv7hlLWYOW6W9sA2BTegU/HS5BZaVgWpQ7foKesTpDn8QbV6i1LN1byIIRvgP6w+krOite+jrZMCfOVELZaBTJq2niiFns1Xyxq8CczORsa4mvtYHDumzi/Uw++/5an5G4eLIrNAS62A5ofL0k7F2wsVTw2Ixwbkj05ZPtecwf4dtvZU3f/T0HhUzgngG21k9l7nBvEvwceeS7Izy8/Ajbsqt5YV7MWTNIu3JDoh9+TjYs/GQvANeO8MXGUkGoux1PzY7i/37J4KX5sdgrFaxPrWBjegUNLTo+S9vE1Eh3Zsd6kRzh1mN8fG945/cTiKLIw9MGr1xuXyOTCYS6qwh1V3HdSFOZi3a9kawKDUdLTBnFvx0v5e0uZQtevCZmUKtKSpyZ7ErNgBdfk4S9B3ydbHh+Xky/Hb+wtpmfU0q5NSlgUKz1U/FztuG7xWN55/cc3vn9BIcK63nrpgTi/Rx7tf+oQCfkMgGDUWTlkVImhbsyL96HO8YHsiKllP9bl85vj00mOcKdlwwxfLxiC6VydzYer2DtsXKUFjKmRJhEfkqke69vKkW1LXx3oJiFo/177Ub6oyII0KozUK5uJb28kfo2U7iNq50lk8LdGBdy/tnKEv2PVmegoLaZq4YPbLVPSdgHgfe25CCXCRdd3RBMPtqMcg0+TtasTy0nr0yPMq8WLwdTtmFvp38KuYxHZ4QzPtSVR5ancN0Hu3lsZjj3Tgo5Z2TLD4dKMBhFXlkQy88ppTy8/AgFNS08NC2UlxfEcs37u3h9YxbPz4vBQi5jmKuc+5NjeWHuMPYX1LE+tYINaRWsP16BlcJU1G12rBdTo9zP2iT8f5uzkcsEHpjaf1FLg0m5upVtWdVsy65m5wlTZqlcJjDS34lrwyy4Y9YYor3sByzySOL8yalqwigyoBExIAn7gFNU28LPh0u5eWwAHvYXb60fKKjnho/2dNv28bG95n8721riaa80Cb2DEi97U10RLwfrjmdlt3jq0UHOrH94Ek+uSOXVDVnsPFHDGzfEn7FGTku7njc2ZTMywIkbR/kxf4QPT/58nDd/y6agtplXro3ltqRAvtxTwPwRvt1mAQq5zBw18tzcYRwqrOeX1HI2HK/g1/RKLOUyJoa5cmWsFzOiPLrFX+dUaViZYor/74vvcSjQpjdVBN2WXc22rGpzGrqnvZI5cV5MDndjXKgrDtYWbN269bQkMYmhR2eNmAjPgV3/kYR9gHlvSw4ymcB9yX2Tzt3cbqoPMincje3Z1d1ec1dZmSsVlqu1pBSbKlueiqmjjhJPB2uz8HdWpVyXWs64Vzbz9Jxobh4bcFro4mc78qnWtPHBn0ylfa0Ucl6/Po5gN1te25hFSX0L/70+nvXHy/nnz6mseWB8j+chlwnmipXPXhVNSnED61PLWX+8gs2ZVShkAuNDXZkd68mMaE/e3HQCawt5n8x6BpPiuha2ZlWxLbua3bm1tLQbsJALjAp05smRkUwOdyfcw+6SbGF3OZBdqcFSburVO5BIwj6AqFt0/HS4hFGBzrj1URSDomMa/tDUUBIDnHhjUzZXxniSVaEhr6aZzZlVDPd1YE6cFzOjPfBztqGyUUu5WkuFuvO51fTcqCWjvPG0LjJGEV5Ym84La9MBU1Nub0drLBUy3tiUja+TNcFudoiiiCAICILA/VNCCXCx4fHvj3LzZ/u4NSmQ1zZm8fmuAs61zCmTCeba9k/NieJYiZpfjpfzS2o5//gplSdXHMdgFHloauiApOr3JVqdgb15tWzNqmZ7djV5Nc0A+DpZs2CED8nh7iSFuAxKVupQpKpRy3tbchjm7cB1I33/cG6nrEoNIe52vc4T6Sukq2cAsVMqmB3rxeqjZdzz9SH+e8Pws/qQe4O8w5LTG0VuHOXH/37LJsDFlg9uHklOVRMb00xujdc2ZvHaxiyCXW2ZMcyDmdGezB3u3eMPpV1vpEpzUvjL1a18f7DE3Lbv1KbcJfWtjHhxE5YKmcny7+L6uTLGk5VHyvhoWy42lnLe2JTNi+N6L8aCIDDcz5Hhfo48MSuStLJG1h8vJ7eqmbv6uLZOfyCKInk1zWzt8JXvy6ulTW/ESiFjbLALtyQFMDncjSBXW8kq74LeYOTLPYW8uSnbXI552YEiXpwX84dyQWVXaLr1TRgoJGEfQOQygbduiifez5F//5LB3Hd28tEtiRdVfL8zK9FgFPGwVxLvJufHQ8U8NiOcUHc7Qt1DuX9KKBVqLZsyKvk1rYLPduTz0bY8XO2smBHtwcxhHowLcTEnD1kqZObY6k4WTwoxRb2klPLfX7MoU2sB04zh3UUJp8wAtBwqqqdCrUVnMJn+Xdv3LU1v59pZ4nkLmSAIxHRUUBzKNLXp2ZNba3axlNS3AhDsZsuiMf4kR7gzJsh5SNYNHwocLKjj6ZXHyazQkBzhxnNXD+NwUb3pN/PuTm4eG8DjMyNwsB66NW/K1a28uDadMrWWON/eRZf1JZKwDzCCIHDnhCBifBy4/9vDXPPeLl65NrbXiUGnopCfFHaAZD8Fbxxq47eMSmbHepnf5+mg5JaxAdwyNgB1q46tWVX8mlbJ6iOmRtd2VgqSI9yYOcyT5Ai3HmcScpnAtSN9mRPnReQzGwDTTOG3jCoemxHerawsdG8gXK7WIgAFtc28tC6D9ccruo3vj4woimRVatiWVc3WrGoOFtahM4jYWMoZF+LKPZNDSA53u+RDMi+WmqY2XlmfyY+HSvB2UPLhzSO5YpgHgiAQ6GrLtCgP3tyUzVd7Clh3rJx/zo7i2hE+Q2qmozMYWbIzn7c2n8BgFHl8Rjg3D0J+gSTsg8ToIGfWPTiB+789zMPLj5BS1MCTs6POu66KTOgu7DGucnwcrVm2v+iMwulgbcG8eB/mxfug1RnYk1vLr+kVbEqvZO2xcizkAkkhrsyM9mBmtAfup0SddK703zI2AKWFjC93F7LmaBl3jA/ivuQQsyUlkwm42lnhamdltrL1BiNLd2Tx3Oo0JoS5XrQrarBoadeb3CsdLpaKRtMMJtJTxZ3jg5gc7sbIQKd+rWh5qWAwiny7v4jXNmTSqjOVyH5wauhpSWsO1hY8N3cY1yf68szK4/z1h6N8d6CIF+bFnLVRyUCxN6+WZ1cdJ7uyielR7vzr6mGDdjOXhH0QcbdX8u3dY3n5l0yW7MrneKma9/404rzC9xQy042gswO7TBC4cZQvb2zKpqi25ZxdcpQWcqZEujMl0p2XrhFJKarn1/RKNqZV8PTK4zy98jgJ/o7MjPZk5jAPgl1teXl9Bs62lvx9VgQqpQW3JgXyxqZsPtqey/IDRTwwJZRbkgJ6FDWFXMbtwyx5ca+W1zdm8UI/JoL1J8+tTuP7g6YyCRPDXZkc7sakcDe8HKQ6LufD0eIGnll1nGMlasaFuPDCvJhzloYY5u3Aj/eO48fDJbyyPpOr3tnJbUmBPDIjbFAMhSqNlpd/yWRFSim+TtZ8emsi008paT3QSDVCBxkLuYxnr47m7YUJpJU1MuftnezLq+31/l197J3ckOiHTIDlB4rOayxymUBioDNPzo5i61+T+fXRSfx1Zjh6g8h/NmQy7b/bmPTaFvbm1fHwtDBzNxg/ZxvevDGeNQ9MINbHgZfWZTDtv9tYdaQUo/H0pstBDnJuTQpk6d5CUorqz2uMQ4UbR/ljaynHzd6K564exo2j/CVRPw8aWtp5ckUq17y/iwq1lrcXJvDNXWN6Xe9HJhO4IdGP3x+fzMLRfny+O59p/93GypRSxF42+r5Y9AYjX+zKZ9rr21h3rJwHp4ay6dHJgy7qIAn7kGHucG9WPTAee6WCRZ/u49Mdeb26QHsSdk8HJVMjPfj+YAk6w9l7iJ4JQRAI91DxwNQw1jw4gd1PTOX5ucPwc7JhbLAzC0f7n7ZPjI8DS/88hqV/Ho290oKHlx9h7ns72Xmi5rT3Pj4zHA+Vkn/+nHrBYxxMRgY48cWdo6lQa7npk71UdbhiJM6O0Sjy/YFipv53G98dKObO8UFsfnwyc4d7X5Cv3NHGkpeuiWXV/ePxdrTmke+OcNPHe8nuSO7qLw4X1TP33V08tyadeH9HNjwykcdnRmBtOTRcb5Kw9wHbs6v5Lb2S46Vq6prbL9hiCPdQseqB8UyPcueldRk8sCyF5h4aFHelU9j1xu7iuGiMHzVNbWzOqOxpt/PG29Ga28YF8u3dY1m+OOmsa2E2KsUAACAASURBVAETw9xY++AE3rxxOPXNOlMc+5L9pJc1mt+jUpr8pZkVGpbszO+TMQ40owKd+bJD3BcOEXEvqGkmtUQ9JG+WaWVqrvtwN3//6Rghbrase2gCz1wV3Sd9QON8HVlx3zheXhBLVqWG2W/t4P/WpZtDJfuK+uZ2nvjpGAve301dczvvLRrBV3eOPms7wsFA8rFfJEeLG7h1yf5u26w647k7Uve9OlL3u6bxO9ta9mihqJQWfHjzSD7clsdrGzPJrtDw4S0jCTnDhdOZoGQ85WYyOdwdLwcl3+4vZlbMwEefyGQC8xN8uTLGi6V7Cnl3Sw5z3tnB/AQfxqtMonPFMA+mR3nw5m/ZzI71+kNGjXSK+21L9rPwk70sWzx2UAq7iaLIZzvzeWV9JnqjiJVCRoyPqVlH58PXyXpQIkgatTre+NUUzeJkY8nr1w/vl2gWmUxg4Wh/rhjmyWsbM/l0Zz6rj5bx9JxororzuqjPMxpFvjtYzH82ZKLR6lk8KZiHpoX1umDdQDM0R/UH4v2tOdgrFSy5fRQ1Te2Uq1upUGsp68jo3J9fR2Wj1ry42UlnMk9XwffuTOt3UHJDoi+xPg48tDyFee/u4vXr43oUaLPFbhBP237jKD/e2nyC4rqWQRNNpYWpSfcNiX68vzWHz3cXsNpoJEvM4P7kUF6YN4zpb2zj2VXHWXL7qCEVutZbRgU688Udo7n98/0s/HjgxV3dquPvPx5lY1olVwzz4Ko4b44WN5BS3MDXewv5rGNG5GpnRbyfSewT/J2I83XoE2v5TIiiKe/hpXUZ1Da3cfOYAP46M6Lfe64621ry8oI4bkj045lVx3lwWQrLDxTx/NxzL8z2xPFSNU+vPM6R4gZGBznz4ryYi8o9GQgkYb8ITlRq2JhWyUPTwkgMPHN2mdEoUtP8/+3dd3zV5d3/8dd1Tk72TsheQIAASZhhOgDRG0RcrWK1Vuyw3mq1tr0d1W61tlpb+7PTOtpqC7WiAgqCCggqGEYgg0ASRjbZe5zknOv3xzmJAcLIPOckn+fjkUeSc873nE+Sk/e5zvW9RjtldV/M5Ow5qzP9hC38Oyxnhz8azBYrd7+2H7DtKRoT5N39omDopY+9y82zY/n9h3msTS/iB//jmL1AuwR4m3j06sl8bUECD/3jY17ceYy16UXcu3g89y1J5Nebj/BeZnn3ZhOuZs5Yx4R7Vkk997y+n9K6Vh5f8cUetCvty8R2WKzkljWSUVTLgaI6Morq+OBwBWBbCjhxjK+tRR9na9VPCvcblOnveaca+VV6G7k1GUyLDeSV1WmkxAzvxLIZcUG8c+8l3UMplz//Md+4ZBz3X3H2UMre1Ld28NyWI/xz90mCfdx57uZp3DDDucbNn4sE+wD8aUcBXiYjdy5IOO/tDAZFmJ8nYX6eTIvt/TZnhn/X+i1l9W2crGnhYFEdAD/bkNPr8Y+sy2T3sWo66s0Uepwgwt+TqEAvZicEs3ZvEQ8sndC9L6kjRQd68a1UDx778nx+tTmXp97LJcLfE4OCn27I5tKJrju2fc7YYF5Zncadr6Zz64t7+Pe35g3ZXrZaa/61p5Cfbsgm2Nudtd+ex6z4sxsXJqOBlJgAUmICuH2+7bL6lg4OFttCPqOojg9zK3jDvu+ql8lISnRAd9BPjw0kMsDzosOsub2T33+Yx0u7juNh1Dx1Qwq3pMU6bI0Xo0Fx+7x4rk6O4OlNufx5RwHrM0r40TVTWJYc0esxWmveOlDCU+/lUtPczu3z4vmek890PZMEez8V1bTwTkYpqxckEDQIC1FdTPi/sbeI//vvIQDuvnw8Ef4eZJU2dG+GvPdkLWV1Hbx7PPusY9OP17BgiLb5648pUf78/etz+CS/il9uOkx5QxuVje08s/kIv7jeNce2A8wdF8Irq9NY/Uq6rc99CMK9xdzJXzPb+aw0k0snhPK7VdMJ6cOicgHeJi6zj7sHW5AV1bRyoKiWA4W2sO+5FV+Yn8dprfrUmMCz+pa11mzOKufnG3Moq29j1exYLvGvZuXcs0dPOUKIrwfP3DSNVWmx/OidbP739f1cNnEMV4effpL5SHkjP3oni8+P1zA9NpBX70xz+iUsejOgYFdKPQOsBMxAAXCn1rpuMApzdn/9+BgGBd+6dPgWorppdixTovy5+7V9vLTrGD9eOZXHrp7Mf/cV8+NrpvD1S8by0bZtJM+eb+vnr7O1/BvbOp1iZl5vFiaGsv7eS9hwqJRn3j/Cm/uL+fl1U13i7e65zB0Xwqt3Dk2451c0cs/r+8k7ZeHBpRO5b0li93mW/lJKERfiTVyId/fSFu2dFg6XNZJRWNvdst+SYxthZVAwIcyPr86L4/b5CZTUtfLjt7P4MLeCKZH+vHDrTGbFB7F9+/aB/riDbnZCMBvuW8hru0/ymy1H+TSvk2K3I6xemMBfdhTwyicn8PV045c3prBqtuPeaQzUQFvsW4FHtdadSqlfAY8CDw+8LOdW0djG2r1FfGlmzDk3oBgqU6MC2HjfpXx37QF+9HYWn+bbxoh3jYoxqC9a/qkxw1pavxkMts3ElyVHUNNsdulQ7zJ3XAiv3JnGna+kc+uLu/nXIIT7OxklPLouEy+TkR/M9uTepUO3z6uHm7G7K6ZLbbOZjOI6Mgrr2Jpzip+sz6aqycyLO4+hNTy+YjKrFyQM+xK1feVmNLB64ViuTo3ku6/s4IVt+fxhez5awy1psTy0LMnlloM+04D+AlrrLVrrroGiuwEXiZKBeXnXCTotVr7toE0eArxNvHRHGg8uncjm7HKAs0bduCIPN+OImr05zx7uxbWt3Pribiob2/t1P+2dFh5/O5MH1mQwNcqfd++/lKmhwz8RJsjHncWTwnjwyoncOjcOq4bnP8xj7thgtn7vMr556TinD/Wewvw8uSvVg7V3zeOGGdGsu2cBT38p1eVDHQZ3gtLXgU2DeH9Oqb6lg9d2n2RFahRjQ4d3V5SeDAbFA0sn8MrqNMb4eRAdOHICcSSZNy6El1d/Ee5VTX0L96KaFr78p894bXch375sHP/61rxhf5fYU4u5k1++d5gfv5PVfdnLq9NOW+LZ1cwdF8JzN09nZlyQo0sZNOpCsySVUh8AvZ0+fkxr/Y79No8Bs4Eb9TnuUCl1F3AXQHh4+Kw1a9acdZumpiZ8fZ1rBldPTU1NfHTKnXV5HfxioRexfs7ROunauQic/3cIo7PGw9UWfruvjVBvxSNpXvh7XLi76UBFJy8esr0QfCvVgxlhX/ScOuJ3eKiyk3/kmKlq1Vwe44bZqtlbbuH/LfHG0+3sn2c0/p2HQs8aFy9evE9rPfuCB2mtB/QBrAY+A7wv9phZs2bp3mzbtq3Xy53F5q0f6Rk/36LvfOVzR5dyTs7+O9R69Nb4aX6VnvT4e/rK57brysa2c97O3GnRT72bo+Mf3qiv+f1OXVjdPCz1nUtFQ5v+zr/26/iHN+olz27Te45Va621/qygSsc/vFFvOFjS63Gj9e882HrWCOzVF5GxA2pyKqWWAQ8B12qtWwZyX65gR3EnNc1m7l3s2hsoC8eYP97WLVNY08JtL+7ptVumvL6NW1/czV8+PsZX58Xxxt3zHTZrWGvbgl1Ln9vB5qxyvrt0Au89cGn3Vm9pCcGE+rqzKavcIfWJcxtoX8ILgB+wVSmVoZT68yDU5JTMnVY2He9g7tjgXieCCHExFowP5eXVaZysaea2F/dQ3SPcd+VVseL3O8kubeD5W6bzxPUpDts+71hlE195cTcPvXmISeF+vPfAJXx36cTT1tg3GhRXTolgW24FbR0Wh9QpejfQUTGJWutYrfV0+8fdg1WYs3nrQDG17Zp7Fic6uhTh4haMD+XlO2zhfuuLe6hsbOf5D/K4/eU9BPu4s/6+hf3eKnGgzJ1Wfv9hHsue30lOaQO/vDGFNXfNIzGs97VRlidH0GK2sLOXpZmF48jM04tgsWr+vOMY8f4GLpvgPLM3hetakGgL96//PZ3Lfr2N1g4LN8yI5skbki9qHZOhsPdEDY+uyySvoolrUiP58copF1zvZv74EAK8TGzKKuNKJ9hgQthIsF+ETVllHK9q5t7pHkM+eUZrTU2zmZM1LRRWt3CiupnC6haKa1uZEO7LymlRzEkIdtkZceILCxJDeemONB5/O4tvXTqOr8yJdcjkrPrWDn61OZd/7SkkOtCLV1ansTgp7KKONRkNLJ0cztaccsyd1j7v2SuGhgT7BWit+cO2AsaP8WFW+OBMArJaNWUNbZysbuZkdQsnq1sorPni656bAygFkf6eRAZ6sW5/Ca/vKSTC35MVqZFcOy2K1JiAETFTc7RamBjKth8scshja63ZlFXOT9ZnU93UzjcvGcuDV07Ep49rjC9PjuDN/cV8dqyay+3rzwjHkmC/gO1HKzlc1sAzX07F0FRw0ce1d1oorm09I7xtLfDimtbuBZYATEZFbJA38SHepCUEExds+zo+xIeYIK/uE2gt5k4+OFzB+oxS/vHZCV7adZz4EG9WpkaxclqU068RLZxHz/Vdpkb58/Id/V9W95IJofi4G9mcVSbB7iQk2C/gj9vyiQ704voZ0Xyy8/Rgb2zr6A7srlb3iSrb96X1rfScquXjbiQuxIdJ4X5cOSWc+GAfEuwLL0UGeF3UQk7e7m5cOy2Ka6dFUd/SwfvZ5Ww4VMoft+fzwrZ8JoX7MdXfzNiUZuJDHDcrVjgvi1Xz909P8OyWI2gNj109mTsXDmx9F0+TkSWTw9mSfYonrtcDXpRMDJwE+3l8fryG9BO1rJody4aDpezIM/N2+YHu/u/qZvNptw/xcScuxJs5Y09vdceHeBNyjq3w+ivA28TNabHcnBZLZWM7m7LKWJ9Ryrq8DtY9s51pMQGsnBbFNalRDp2CLpxHTmkDj6w7xKHiei6fOIYnrk8etDHyy6ZGsOFgKZ8fr2H++JBBuU/RfxLs5/HG3iIA1u4tYu3eIhQQFVhLfIg3V00NJy7Yxx7e3sQFew/pNmPnM8bPg6/NT+Br8xN4c9NHVHnHs+FQKU+8e5gn3zvMnIRgVk6L4uqUyBGxwJHon3te38eJ6hbcjQYCvU18lFvBjLhAkiL8B3zSc9GkMXi4GdicVSbB7gQk2M/jjgUJTIny7255H8tM58olix1d1nmFeBn40uXj+fbl4ymobGLjwTLWHyzh8bez+Mn6bC5JDOXaaVFcNTXcYS9EwjH++rXZbMut4EBhHZ8VVPNORilA98bXM+x7oc6I69uuSQA+Hm5cPnEM72ef4icrp8qoLQeTYD+P5OiA03ZPKXKxJ+v4Mb48sHQC91+RyOGyRtYfLGXDwVK+/8ZB3N8ysGRSGCunRbEkKQwvd8fMcBTDZ2K4HxPDbSfYtdaU1bfZd0yy7Zz0z90n+Zt94+twfw9mxNpCfkZcECnRARd8jixPiWBLzikyiutG1EqJrkiCfRRQSjElyp8pUf48vGwS+wvr2HCwlI2HyticXY6Pu5Erp4SzcloUl04YI2ORRwGlFFGBXkQFenVvIG7utJJb3sCBwjoOFNo2v+5a799oUCRF+NmC3h74Y0N9TmvVL0kKx2RUbM4ql2B3MAn2UUYpxaz4IGbFB/Gja6aw51g16w+WsimrnLczSgn0NrE8OYKVqVHMHRciIxxGEXc3A6kxtj1N77Bv0F7d1M7B4jp72Nfx9oFSXttdCECgt4npsbagnx4XyPSYQBYmhrIpq4xHlyc58CcREuyjmNGgWJAYyoLEUH5+XTI78yrZcLCUdzJK+ffnRYzx82BFSiQrp0UxMy5QJkKNQiG+HixJCmdJkm25AItVU1DZZGvR2ze+/t3Ro91De73djbSYLWSXNjiwaiHBLgBba+2KyeFcMTmcVrOFj3IrWH+whH99Xsirn54gJsiLv90xm6QI59wUWwwPo0F199WvSosDbPM5MovrOVBk68I5XtUs7/QcTIJdnMXL3ciK1EhWpEbS0NbBSzuP8/yHeZysbpFgF2fx8zR1v/Pr6dQRBxUkBnXPUzEC+XuaCPW1jX3vOUJICOG8JNjFBWWW1BPs406UzGAVwiVIsIsLyixpIDlaVpEUwlVIsIvzauuwkHeqkZRo6VsXwlVIsIvzyi1vpNOqSZH+dSFchgS7OK/MknpATpwK4Uok2MV5ZRXXE+RtIjrQy9GlCCEukgS7OK/Mkno5cSqEi5FgF+fU1mHh6KlG6YYRwsVIsItzOiInToVwSRLs4py6TpxKsAvhWiTYxTllldQT4GUiJkhOnArhSiTYxTllldaTIidOhXA5EuyiV+2dFo6Uy4lTIVyRBLvo1dHyJjoscuJUCFckwS56JSdOhXBdEuyiV5n2E6exwXLiVAhXI8EuepVVUk9ytL+cOBXCBUmwi7OYO622E6dR0g0jhCuSYBdnOXqqEbPFKiNiBpHW2tEliFFENrMe5epazFz1249pau/Ey2TE02SkpK4VgF9szGFtehGeJgOe9utstzHgZTLi0f29ES93A55uxu7beZoMeLkb8XQzdn/2dDfgbhxdbYkOi5Xv/ecgE8N8+c4VExxdjhglJNhHuf2FtVQ0tnP99Ch8PNxoNVtYd6AEgAnhvrSYO6lpttLWYaGtw0Jrh4W2DittnRb60whVCkwG8N25FU83A/PGhfDcqumD/FM5D5PRQEenlT/tKGBVWixh/rJvrBh6gxLsSqnvA88CY7TWVYNxn2J4ZJU0oBQ8cUMKvh5u7MqrYt2BEn67aho3zIg553Faa9o7rbR3WO1hb+n+3NZx9gtB13XtHRaOHjvBmIhI3s8uJ6Oobhh/Wsd4ZHkSH+ae4rmtR3n6S6mOLkeMAgMOdqVULHAVUDjwcsRwyyqpZ2yoD74etqfCa7tPEuzjzvLkyPMep5Tq7nYJwNSnx9y+vYxFi5L5KLeCKVEjfy/VhFAfbp+XwKufHmf1wgSSIkb+zywcazA6PH8LPATI2SEXlFVS3z36pay+la2HT3HT7Bg8TcYhfdy6FjMlda1MHSUjb+6/IhFfDzeeei/X0aWIUWBAwa6Uug4o0VofHKR6xDCqbmqntL6te3bpvz8vwqo1t82JH/LHzilrAGDqKGixAwR6u3P/FRP4+GglO45WOrocMcKpCw3DUkp9AET0ctVjwA+Bq7TW9UqpE8Dsc/WxK6XuAu4CCA8Pn7VmzZqzbtPU1ISvr2+ffoDh5Oz1Qd9qzKrq5Nm97Tyc5smEIAM/2NFKnJ+B780e2hN8TU1N7Kr0YM0RM79f7I2/h/NNghqKv3WHVfPDna14GOHnC70wDGDy10h7LjqKq9W4ePHifVrr2Rc8SGvdrw8gBagATtg/OrH1s0dc6NhZs2bp3mzbtq3Xy52Fs9endd9q/MO2PB3/8EZd12LW7x4q1fEPb9Qf5JQPXXF227Zt0w+uOaDnPLl1yB+rv4bqb931e/7XnpMDup+R9lx0FFerEdirLyKf+90Vo7XO1FqHaa0TtNYJQDEwU2td3t/7FMMrq6Se+BBvArxM/POzk0QHerFoUtiwPHZ2acOo6V/vaXlyBLPig/jNlqM0t3c6uhwxQo2u2SLiNFklDSRHBZBf0chnx6q5dW4cRsPQd4uYLZr8yiamRI6O/vWelFI8tmIyVU3t/GVHgaPLESPUoAW7veUuY9hdRH1LB4U1LUyN9ue13YWYjIpVabHD8tglTVYsVj1qTpyeaWZcENekRvLXnccoq291dDliBJIW+yiVXWpbb338GF/e3FfM1SmRhPp6DMtjn2ywAoyKMezn8vCyJKxWePb9o44uRYxAEuyjVJY92Asqm2hs7+Sr84Z+iGOXwgYrfh5uxAZ5D9tjOpvYYG9WL0xg3YFisuybmggxWCTYR6mskgaiA73YeLCMpAg/ZscHDdtjFzZamRzlj2EY+vOd2b2LEwn0MvHUe4dl9UcxqCTYR6mskno6LFZyyhq4bV78sG2oYbFqChuto/LE6ZkCvEw8cMUEPi2o5qPcCkeXI0YQCfZRqLGtg2NVzVQ0tuPjbuSGGdHD9tgnqpsxW0bPjNMLuW1ePONCfXjqvcN0WKyOLkeMEBLso9Dhssbur2+cGdO9ANhwyC7tWkpg9I1h743JaOCR5UkUVDazJr3I0eWIEUKCfRTqebJuOE+agm00jlFBYphzT+MeTldOCWfO2GB+t/UojW0dji5HjAAS7KNQV7DPSQhmUoTfsD52TmkDMX4G3N3kqddFKcXjKyZT3Wzmtd2y+rUYOPnvGoW6hjp+df7wtta11uSUNhDnJ0+7M6XGBJIU4cfuY9WOLkWMAPIfNsq0mi3kVzQR6uvOsqm9Ldo5dE41tFPdbCbOX552vZkZH8T+wlqsVhn6KAZG/sNGmZyyBqwaVqXFDnt3SE6Z7Z1CvAR7r2bFBdHY1kleRZOjSxEuTv7DRhmTUREb7MVtc4e3GwYgu8Q2IiZWumJ6Ncs+SWzfyVoHVyJcnfyHjTKpMYHsfGgJUYFew/q47Z0W1h8sZUKYL15uo3vG6bnEh3gT4uMuwS4GTIJdDIsXPsonr6KJH1492dGlOC2lVHc/uxADIcEuhlxWST1/3F7AjTOjWZw0PBt5uKpZ8UEcr2qmuqnd0aUIFybBLoaUudPK//33EME+7vz4mimOLsfpdS3Gtr+wzsGVCFcmwS6G1J+2F3C4rIEnr08m0Nvd0eU4veToAExGJf3sYkAk2MWQyS1v4IVteVw7LYqrhnnMvKvyNBlJjg5gvwS7GIDhW/1JjCqdFiv/98YhArxM/PTaqY4uZ0C01uwvrGNteiHvZZYzPsyXW9JiWTktakgWUJsVF8Q/d5/E3GmVpRdEv0iwiyHxl4+PkVlSzx9vm0mwj2t2wdQ0m1m3v5i16UXkVTTh7W7kqinh5JQ18Oi6TH6xMYdrUiNZlRbHzLjAQVvTflZ8EH/bdZycsgamxwYOyn2K0UWCXQy6vFONPP9BHlenRHB1SqSjy+kTq1XzSUEVf8xo48DWD+iwaGbEBfKrL6WwItXWQtdak1FUx9r0ItYfLOU/e4uZEObLqrRYbpwZM+AXspk9JipJsIv+kGAXg8pi1fzffw/h42Hk59clO7qci1Za18p/99la5yV1rfiY4PZ5Y1mVFnvWCphKKWbEBTEjLojHr5nCxoOlrEkv4ol3D/PrzUe4cmo4t6TFsnB8aL+2/wv39yQmyIv9J2v5xiVjB+tHFKOIBLsYVC/tOkZGUR3P3zKdUF8PR5dzXh0WKx8ePsWa9CI+PlqJVcMliaE8sjwJz+ojXLnkwsMzfT3cuGVOHLfMiSO3vIG16UW8daCEdw+VERPkxarZsXx5dgyRAX2b6TsrPojdx6rRWg/btoVi5JBgF4PmWGUTv9lylCunhHPttChHl3NOBZVN/Ce9iDf3F1PVZCbc34N7Fydy8+xYYoO9Adi+/Wif7zcpwp+frJzKw8uS2JJzirXphfxm61F++8FRFk0KY1VaLEuSwjAZL3xCdFZ8EO9klFJS10pMkHefaxGjmwS7GBRWq+bhNw/haTLy5PXJTtfKbDVbeC+zjLXpRXx+ogajQXFFUhi3zInlsgljcLuIsL1YniYj106L4tppURRWt/CfvUW8sa+Ib/+zglBfD748K4ZVabGMDfU5533MjPuin12CXfSVBLsYFH//7ATpJ2r5zU3TCPP3HNLHqm/poKi2heLaFoprWymqsX0uqWslLtibr8yJ47KJYzAaFFkl9axJL+SdA6U0tncyNtSHh5cl8aVZ0YT5DW2dAHEh3vzgfybx3aUT2HG0kjXpRby48xh/3lHA3LHB3DInluXJkXiajKcdlxThh7e7kf0na7lu+vBtNi5GBgl2MWAnq5v59eYjLJ40hhtnDjyEmto7Ka5toaim9fTPtbbPjW2dp93ez8ONmGBv2wnHwlq25JwiOtCL5Gh/3s8+BcD4MT68eMNs5o4Ndsi7CTejgSsmh3PF5HAqGtr4r30Y5YNrD/Ljd7K5YUY0q9Jiuzf5djMamBEXyD5ZEEz0gwS7GJCuLhg3g+KpG1MuKjTNFk1+RaMtqO2t7aIere/altM3dPYyGYkN9iImyJs5CUHEBHl3fx8b5I2/l1v345o7rXxw+BT//rywO9QBCiqb+en6bL59+TiuSY26qH7uoRLm78k9ixK5+7Lx7Dlew9r0QtakF/GPz06SEh3AqrRYrp0exay4IP6wvYDm9k58hmAilBi55NkiBuT1zwvZfayGX30ppXvkh7nTSmnd6WHd1douqmmlqqkdtn7cfR/uRgMxQV7EBHuTHB1AbJCt9R1rb4WH+LhfdCvb3c3A1SmRXJ0SycnqZtakF/Ha7pM0tnWSW97Ig2sP8uDagzy6PImvzI3D39M0JL+Xi2EwKOaPD2H++BB+2mLm7QMlrEkv4vG3s3ji3RwmhPlhsWoOFtexYHyow+oUrkeCXfRbcW0LT793GC+Tkd3HavjvvmKKa1spb2hD99i2082giAr0IibIiyuSwuioL+eymVO7w3uMr0e/xntfSHyIrT/9waUT+fDwKV7fU8iu/CoAfrkpl19uymX1ggS+eelYh5+gDPR2Z/XCsdyxIIFDxfWsSS9ifUYJADmlDRLsok8k2EW/fZRbQbPZglKw51g1McHezB8fclqLOzbYm3A/j9NGnWzfXsOiGcN3QtDdzcDylEiWp0RSWN3CmvRC/ri9AIBXPz3Bq5+eYE5CMD+6ZgopMQHDVldvlFJMiw1kWmwgj6+YzI6jlaQlBDu0JuF6JNhFv902N54rJoczxtfDZRarigvx5qFlSTx4pa0V/+yWo+RXNPH5iRpWvrALgL/ePgu3nm85HMTHw83llmQQzkGCXfSb0aCIHua9UweLyWhgWXIky5IjKapp4cWdx/jHZycBuOuf+wC4v/Mo9ywaf9ZQRCGcnWs0s4QYQrHB3vz8umTynlzOC7fOGcpa1wAADFVJREFU6L789x/mkfSjzVz3wi4qG2WrOuE6JNiFsDMZDVyTGsWJp1fwzGVezIyzrax4sLietCc/IOGRd/nUfvJVCGcmXTFC9GKMt4F19yykw2LlLzsKeHaLbe2YW/+2B4C7Lx/PD66aOKhLEQgxWAb8rFRKfUcplauUylZK/XowihLCWZiMBu5bMoETT69g3T0Lui//844CEh/bxJXP7aCopsWBFQpxtgG12JVSi4HrgGla63alVNjglCWE85kZF8SJp1fQ0NbBPa/tZ1d+FXkVTVz6620AXD89iu9cMYGxIT5DMi5fiIs10K6Y/wWe1lq3A2itKwZekhDOzd/TxGvfnIvFqnnlk+M88e5hAN7OKOXtjFJ8PdyYGuVPSnQAKTEBpEQHkCBhL4aR0gMYr6uUygDeAZYBbcAPtNbp57jtXcBdAOHh4bPWrFlz1m2amprw9fXtdz1DzdnrA6lxsPS1xn/ktPNRYSdfm+JOcZOVE/VWChutdFpt13u5QZyfgbEBBhL8jSQEGAjzVhj6uSDZSPwdOoKr1bh48eJ9WuvZFzrmgsGulPoAiOjlqseAJ4FtwP1AGrAWGKcvcKezZ8/We/fuPevy7du3s2jRogvV7DDOXh9IjYOlrzUufW4HkQGe/PMbc7sv67BYyTvVRFZJPZkl9RwqqedwWQNme9r7ebgxNbqrZR9ISnQA8cHeF9WyH4m/Q0dwtRqVUhcV7BfsitFaLz3XdUqp/wXW2YP8c6WUFQgFKi+2aCFcXVl9K/kVTdw8O+a0y01GA2NDfahsaufmtFjgi7DPLKkjs6SezJIG/v7ZScydx4Evwj41JpDk6IA+hb0QXQbax/42sBjYppSaCLgDMtBXjCq78mxP+UsSx5x13WNvZ7JufwnZP/sffDzcMBkNTInyZ0qUP6vSbLfpsFg5eqqxu2WfWVzPq5+e+KJl7+lGcpStvz45OoDU6AAG0oUqRr6BBvvLwMtKqSzADNxxoW4YIUaaXflVhPq6kxThd9rlH+ScYt3+EsaG+px3PXWT0cDUqACmRgWcFfaZxbawzyqp59VPTmC22MLeyw2m5+0m1R72KdEBxId4O92WhMIxBhTsWmsz8NVBqkUIl6O15pP8KhYmhp7WXVLXYubRtzIBWDA+pM/32zPsb7FfZu78omX/fvphqs2dvNIj7JOj/dn4nUsH/DMJ1yczT4UYgNzyRqqazFySePp66T/bkNO9vszCxMFZS93dzUBytK2FHtFyjEWLLukO+79/eoI39hVT2djOGD+PQXk84bpkPrQQA9Ddvz7hi/DemnOKtw6U4OvhhlIwf1zfW+wXqyvsr7evb59b3jBkjyVch7TYhRiAnflVjB/j070tYG2zmR++lcnkSH+83Y20d1oI8nEf8jomR/oDcLisgUsnnH0SV4wu0mIXop/aOix8frz6tCD96YZsapvNPHH9VDKL61k4TFvaBfu4E+7vQW5Z47A8nnBuEuxC9NP+k7W0dVi7+9ffzy7nnYxS7luSSHO7BbPFyoJB6l+/GEkR/uSUSVeMkGAXot925lfhZlDMGx9CTbOZx97KZEqkP/cuTuST/CpMRkVaQtCw1TM50p+Cyqbu8e9i9JJgF6KfduVVMSMuEF8PN36yPpu6lg6evWkaJqOBTwqqmBEXhLf78J3GmhzpR4dFU1DZNGyPKZyTBLsQ/VDbbCartJ5LEsewOauMDQdL+c6SCUyJ8qeuxUx2acNZQyCHWs8TqGJ0k2AXoh8+LahGa5ga5c/jb2cxNcqfexaPB+Az+3ULE4dumGNvxoX64O5mkGAXMtxRiP7YlV+Jn6cbb+4vpr61g9e+OReTfZu8XflV+LgbSY0JHNaa3IwGJob7klsuI2NGO2mxC9FHWmt25lXRadFsyirn/iUTSIrw777+04Jq5o4L6Q764TQ5wl9a7EKCXYi+OlndQnFtK60dFpKj/bl70fju60rrWjle1dyv9WEGQ1KkP1VNZioa2xzy+MI5SLAL0Uc7823LCJiMit/cNP20lvkn9usGa32YvpocaVth8rBMVBrVJNiF6KNdebZ9ZL67dCKTzliq99OCakJ93ZkU7tfboUNusr1LKFe6Y0Y1CXYh+uhQcT2pMQF8+7Jxp12utWZXfhXzx4c6bMejIB93Ivw9pZ99lJNRMUL00W9umkZiuC9uZ5wcza9oorKxnYUO6l/vMjnST7piRjlpsQvRRwsSQwnz8zzrckf3r3fpWlqgvdPi0DqE40iwCzFIPrH3r4Nt5UdHSYr0p9Oqya+QpQVGK+mKEWKQnKxupqrJzKW/3gZAgJeJMD8Pwvw9CPPzZIyfB2F+HvbPnvbLPewbcgxen/yUHiNjpkYFDNr9CtchwS7EIHntG3PJLm2gorGNioZ2KhrbbV83tvP58RoqG9u79yftyctk7A757hcA+4tBzxeGQC/TRZ2UTQjxwcPNICNjRjEJdiEGSZi/J2H+Z/e9d9FaU9/aYQv8BlvoVzZ2vQC0U9HQxuGyBnYcbaepvfOs401GRaiv7QXAYG5jS21m94tBzxeAUF93Job7cVi2yRu1JNiFGCZKKQK93Qn0tgXv+bSYO09v9du/rrR/f7zOysmscmqazb08DhiUIsh76LfkE85Jgl0IJ+Tt7kZCqBsJoT69Xr99+3YWLVqEudNKVdMXLf6u1n9lYxsxQd7DXLVwFhLsQrgwdzcDUYFeRAV6OboU4URkuKMQQowwEuxCCDHCSLALIcQII8EuhBAjjAS7EEKMMBLsQggxwkiwCyHECCPBLoQQI4zSWg//gypVCZzs5apQoGqYy+kLZ68PpMbB4uw1Ont9IDUOlp41xmutx1zoAIcE+7kopfZqrWc7uo5zcfb6QGocLM5eo7PXB1LjYOlPjdIVI4QQI4wEuxBCjDDOFux/dXQBF+Ds9YHUOFicvUZnrw+kxsHS5xqdqo9dCCHEwDlbi10IIcQASbALIcQI45TBrpT6vlJKK6VCHV3LmZRSv1BKHVJKZSiltiilohxd05mUUs8opXLtdb6llAp0dE1nUkrdpJTKVkpZlVJOM9xMKbVMKXVEKZWvlHrE0fWcSSn1slKqQimV5ehazkUpFauU2qaUyrH/jR9wdE1nUkp5KqU+V0odtNf4M0fX1BullFEpdUAptbEvxzldsCulYoGrgEJH13IOz2itU7XW04GNwI8dXVAvtgLJWutU4CjwqIPr6U0WcCPwsaML6aKUMgJ/AJYDU4CvKKWmOLaqs7wKLHN0ERfQCXxfaz0FmAfc64S/x3ZgidZ6GjAdWKaUmufgmnrzAHC4rwc5XbADvwUeApzyrK7WuufW7z44YZ1a6y1a665t7ncDMY6spzda68Na6yOOruMMc4B8rfUxrbUZWANc5+CaTqO1/hiocXQd56O1LtNa77d/3YgtmKIdW9XptE2T/VuT/cOp/peVUjHACuBvfT3WqYJdKXUdUKK1PujoWs5HKfWkUqoIuA3nbLH39HVgk6OLcBHRQFGP74txskByNUqpBGAGsMexlZzN3s2RAVQAW7XWzlbj77A1cq19PXDYN7NWSn0ARPRy1WPAD7F1wzjU+WrUWr+jtX4MeEwp9ShwH/CTYS2QC9dov81j2N4Wvz6ctXW5mBrFyKWU8gXeBL57xjtdp6C1tgDT7eeg3lJKJWutneLchVLqGqBCa71PKbWor8cPe7BrrZf2drlSKgUYCxxUSoGt+2C/UmqO1rp8GEs8Z429eB14DwcE+4VqVEqtBq4BrtAOmqzQh9+jsygBYnt8H2O/TPSRUsqELdRf11qvc3Q956O1rlNKbcN27sIpgh1YCFyrlLoa8AT8lVKvaa2/ejEHO01XjNY6U2sdprVO0FonYHsbPHO4Q/1ClFITenx7HZDrqFrORSm1DNtbuGu11i2OrseFpAMTlFJjlVLuwC3AegfX5HKUrWX2EnBYa/2co+vpjVJqTNdoMaWUF3AlTvS/rLV+VGsdY8/CW4CPLjbUwYmC3YU8rZTKUkodwtZt5HRDuYAXAD9gq31Y5p8dXdCZlFI3KKWKgfnAu0qp9x1dk/2E833A+9hO+P1Ha53t2KpOp5T6N/AZMEkpVayU+oaja+rFQuB2YIn9+Zdhb3k6k0hgm/3/OB1bH3ufhhQ6M1lSQAghRhhpsQshxAgjwS6EECOMBLsQQowwEuxCCDHCSLALIcQII8EuhBAjjAS7EEKMMP8flIwnmhVwz24AAAAASUVORK5CYII=\n", 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