gtsam-develop 4.3a0.dev202508202018__cp311-cp311-macosx_11_0_arm64.whl → 4.3a0.dev202508212343__cp311-cp311-macosx_11_0_arm64.whl

gtsam/__init__.pyi

@@ -2,28 +2,28 @@
 Module definition file for GTSAM
 """
 from __future__ import annotations
-from builtins import dict as MatchIndicesMap
-from builtins import dict as IndexPairSetMap
 from builtins import dict as KeyPairDoubleMap
-from builtins import list as BinaryMeasurementsPoint3
-from builtins import list as Pose3Vector
-from builtins import list as Pose2Pairs
+from builtins import dict as IndexPairSetMap
+from builtins import dict as MatchIndicesMap
 from builtins import list as Point2Pairs
 from builtins import list as BetweenFactorPose2s
-from builtins import list as BetweenFactorPose3s
-from builtins import list as SfmMeasurementVector
-from builtins import list as SfmCameras
-from builtins import list as BinaryMeasurementsRot3
-from builtins import list as SfmTracks
-from builtins import list as SfmTrack2dVector
 from builtins import list as BinaryMeasurementsUnit3
-from builtins import list as Pose3Pairs
+from builtins import list as KeypointsVector
+from builtins import list as BinaryMeasurementsRot3
 from builtins import list as IndexPairVector
-from builtins import list as Point3Pairs
+from builtins import list as Pose3Pairs
 from builtins import list as KeyVector
-from builtins import list as KeypointsVector
+from builtins import list as BinaryMeasurementsPoint3
 from builtins import list as Point2Vector
+from builtins import list as Pose2Pairs
+from builtins import list as SfmTracks
+from builtins import list as SfmMeasurementVector
+from builtins import list as BetweenFactorPose3s
+from builtins import list as Pose3Vector
 from builtins import list as Rot3Vector
+from builtins import list as Point3Pairs
+from builtins import list as SfmTrack2dVector
+from builtins import list as SfmCameras
 from gtsam.gtsam import AHRSFactor
 from gtsam.gtsam import AcceleratingScenario
 from gtsam.gtsam import AlgebraicDecisionTreeKey

gtsam/gtsam/__init__.pyi

@@ -16178,6 +16178,8 @@ class Values:
         ...
     def atFundamentalMatrix(self, j: int) -> FundamentalMatrix:
         ...
+    def atGal3(self, j: int) -> Gal3:
+        ...
     def atMatrix(self, j: int) -> numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]:
         ...
     def atNavState(self, j: int) -> ...:
@@ -16284,34 +16286,37 @@ class Values:
     def insert(self, j: int, point3: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> None:
         ...
     @typing.overload
-    def insert(self, j: int, rot2: Rot2) -> None:
+    def insert(self, j: int, T: Gal3) -> None:
         ...
     @typing.overload
     def insert(self, j: int, pose2: Pose2) -> None:
         ...
     @typing.overload
-    def insert(self, j: int, R: SO3) -> None:
+    def insert(self, j: int, pose3: Pose3) -> None:
         ...
     @typing.overload
-    def insert(self, j: int, Q: SO4) -> None:
+    def insert(self, j: int, rot2: Rot2) -> None:
         ...
     @typing.overload
-    def insert(self, j: int, P: SOn) -> None:
+    def insert(self, j: int, rot3: Rot3) -> None:
         ...
     @typing.overload
-    def insert(self, j: int, H: SL4) -> None:
+    def insert(self, j: int, similarity2: Similarity2) -> None:
         ...
     @typing.overload
-    def insert(self, j: int, rot3: Rot3) -> None:
+    def insert(self, j: int, similarity3: Similarity3) -> None:
         ...
     @typing.overload
-    def insert(self, j: int, pose3: Pose3) -> None:
+    def insert(self, j: int, H: SL4) -> None:
         ...
     @typing.overload
-    def insert(self, j: int, similarity2: Similarity2) -> None:
+    def insert(self, j: int, R: SO3) -> None:
         ...
     @typing.overload
-    def insert(self, j: int, similarity3: Similarity3) -> None:
+    def insert(self, j: int, Q: SO4) -> None:
+        ...
+    @typing.overload
+    def insert(self, j: int, P: SOn) -> None:
         ...
     @typing.overload
     def insert(self, j: int, unit3: Unit3) -> None:
@@ -16391,10 +16396,6 @@ class Values:
     @typing.overload
     def insert(self, j: int, c: float) -> None:
         ...
-    def insertPoint2(self, j: int, val: numpy.ndarray[tuple[typing.Literal[2], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> None:
-        ...
-    def insertPoint3(self, j: int, val: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> None:
-        ...
     @typing.overload
     def insert_or_assign(self, values: Values) -> None:
         """
@@ -16415,34 +16416,37 @@ class Values:
     def insert_or_assign(self, j: int, point3: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> None:
         ...
     @typing.overload
-    def insert_or_assign(self, j: int, rot2: Rot2) -> None:
+    def insert_or_assign(self, j: int, T: Gal3) -> None:
         ...
     @typing.overload
     def insert_or_assign(self, j: int, pose2: Pose2) -> None:
         ...
     @typing.overload
-    def insert_or_assign(self, j: int, R: SO3) -> None:
+    def insert_or_assign(self, j: int, pose3: Pose3) -> None:
         ...
     @typing.overload
-    def insert_or_assign(self, j: int, Q: SO4) -> None:
+    def insert_or_assign(self, j: int, rot2: Rot2) -> None:
         ...
     @typing.overload
-    def insert_or_assign(self, j: int, P: SOn) -> None:
+    def insert_or_assign(self, j: int, rot3: Rot3) -> None:
         ...
     @typing.overload
-    def insert_or_assign(self, j: int, H: SL4) -> None:
+    def insert_or_assign(self, j: int, similarity2: Similarity2) -> None:
         ...
     @typing.overload
-    def insert_or_assign(self, j: int, rot3: Rot3) -> None:
+    def insert_or_assign(self, j: int, similarity3: Similarity3) -> None:
         ...
     @typing.overload
-    def insert_or_assign(self, j: int, pose3: Pose3) -> None:
+    def insert_or_assign(self, j: int, H: SL4) -> None:
         ...
     @typing.overload
-    def insert_or_assign(self, j: int, similarity2: Similarity2) -> None:
+    def insert_or_assign(self, j: int, R: SO3) -> None:
         ...
     @typing.overload
-    def insert_or_assign(self, j: int, similarity3: Similarity3) -> None:
+    def insert_or_assign(self, j: int, Q: SO4) -> None:
+        ...
+    @typing.overload
+    def insert_or_assign(self, j: int, P: SOn) -> None:
         ...
     @typing.overload
     def insert_or_assign(self, j: int, unit3: Unit3) -> None:
@@ -16566,34 +16570,37 @@ class Values:
     def update(self, j: int, point3: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> None:
         ...
     @typing.overload
-    def update(self, j: int, rot2: Rot2) -> None:
+    def update(self, j: int, T: Gal3) -> None:
         ...
     @typing.overload
     def update(self, j: int, pose2: Pose2) -> None:
         ...
     @typing.overload
-    def update(self, j: int, R: SO3) -> None:
+    def update(self, j: int, pose3: Pose3) -> None:
         ...
     @typing.overload
-    def update(self, j: int, Q: SO4) -> None:
+    def update(self, j: int, rot2: Rot2) -> None:
         ...
     @typing.overload
-    def update(self, j: int, P: SOn) -> None:
+    def update(self, j: int, rot3: Rot3) -> None:
         ...
     @typing.overload
-    def update(self, j: int, H: SL4) -> None:
+    def update(self, j: int, similarity2: Similarity2) -> None:
         ...
     @typing.overload
-    def update(self, j: int, rot3: Rot3) -> None:
+    def update(self, j: int, similarity3: Similarity3) -> None:
         ...
     @typing.overload
-    def update(self, j: int, pose3: Pose3) -> None:
+    def update(self, j: int, H: SL4) -> None:
         ...
     @typing.overload
-    def update(self, j: int, similarity2: Similarity2) -> None:
+    def update(self, j: int, R: SO3) -> None:
         ...
     @typing.overload
-    def update(self, j: int, similarity3: Similarity3) -> None:
+    def update(self, j: int, Q: SO4) -> None:
+        ...
+    @typing.overload
+    def update(self, j: int, P: SOn) -> None:
         ...
     @typing.overload
     def update(self, j: int, unit3: Unit3) -> None:

gtsam/gtsam/so3.pyi

@@ -4,7 +4,7 @@ so3 submodule
 from __future__ import annotations
 import numpy
 import typing
-__all__: list[str] = ['DexpFunctor', 'ExpmapFunctor']
+__all__: list[str] = ['DexpFunctor', 'ExpmapFunctor', 'InvJKernel', 'Kernel']
 class DexpFunctor(ExpmapFunctor):
     def C(self) -> float:
         ...
@@ -12,40 +12,24 @@ class DexpFunctor(ExpmapFunctor):
         ...
     def E(self) -> float:
         ...
+    def Gamma(self) -> Kernel:
+        ...
+    def InvJacobian(self) -> InvJKernel:
+        ...
+    def Jacobian(self) -> Kernel:
+        ...
+    def Rodrigues(self) -> Kernel:
+        ...
     @typing.overload
     def __init__(self, omega: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> None:
         ...
     @typing.overload
     def __init__(self, omega: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]], nearZeroThresholdSq: float, nearPiThresholdSq: float) -> None:
         ...
-    def applyLeftJacobian(self, v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
-        """
-        Multiplies with leftJacobian(), with optional derivatives.
-        """
-    def applyLeftJacobianInverse(self, v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
-        """
-        Multiplies withleftJacobianInverse(), with optional derivatives.
-        """
-    def applyRightJacobian(self, v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
-        """
-        Multiplies with rightJacobian(), with optional derivatives.
-        """
-    def applyRightJacobianInverse(self, v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
-        """
-        Multiplies with rightJacobian().inverse(), with optional derivatives.
-        """
     def leftJacobian(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
         ...
-    def leftJacobianInverse(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
-        """
-        For |omega|>pi uses leftJacobian().inverse(), as unstable beyond pi!
-        """
     def rightJacobian(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
         ...
-    def rightJacobianInverse(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
-        """
-        Inverse of right Jacobian For |omega|>pi uses rightJacobian().inverse(), as unstable beyond pi!
-        """
     @property
     def omega(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
@@ -80,3 +64,30 @@ class ExpmapFunctor:
     @property
     def theta2(self) -> float:
         ...
+class InvJKernel:
+    J: Kernel
+    def applyLeft(self, v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+    def applyRight(self, v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+    def left(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
+        ...
+    def right(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
+        ...
+class Kernel:
+    def applyFrechet(self, v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
+        """
+        Apply Fréchet derivative to vector (left specialization)
+        """
+    def applyLeft(self, v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+    def applyRight(self, v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+    def frechet(self, X: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
+        """
+        Fréchet derivative of left-kernel M(ω) in the direction X ∈ so(3) L_M(Ω)[X] = b X + c (Ω X + X Ω) + s (db Ω + dc Ω²), with s = -½ tr(Ω X)
+        """
+    def left(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
+        ...
+    def right(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
+        ...

{gtsam_develop-4.3a0.dev202508202018.dist-info → gtsam_develop-4.3a0.dev202508212343.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: gtsam-develop
-Version: 4.3a0.dev202508202018
+Version: 4.3a0.dev202508212343
 Summary: Georgia Tech Smoothing And Mapping library
 Home-page: https://gtsam.org/
 Author: Frank Dellaert et. al.

{gtsam_develop-4.3a0.dev202508202018.dist-info → gtsam_develop-4.3a0.dev202508212343.dist-info}/RECORD

@@ -1,14 +1,14 @@
 gtsam/symbol_shorthand.py,sha256=HlTV-Z5aB5cXWT5AsbKOeWZIHoXQsH2W1S90ET-tidA,236
-gtsam/__init__.pyi,sha256=LAI8gNXFotKfHkET6UPmnoNpvTk5wy1m7W8RY8oiCmU,44359
+gtsam/__init__.pyi,sha256=bLZG7am5XNwRYkyTYAQZNys2tJHBJi2uuMWKNi-lD-4,44359
 gtsam/gtsfm.py,sha256=Udlkb6o5iUk69uxBkb88-W1GLfu1g8iSuZlLu-RRU0o,202
 gtsam/__init__.py,sha256=6G-WPnb_FMQEJXNDDAmrKrQPau7evtd5svhTmMqhYSI,2011
-gtsam/gtsam.cpython-311-darwin.so,sha256=7SDg2JohJ6uG-L2YKhcyTn1CqQpENE0UPA_gNKXvh5E,18157808
+gtsam/gtsam.cpython-311-darwin.so,sha256=4XHn7LZknLAigFfmGLfKQbMCCl4Ew5usnxVaWHZEzmc,18175248
 gtsam/noiseModel.py,sha256=ybfIHa4sLXe78_k-Dib8nTaw34BRXqEDVtS2B9dzSO0,217
 gtsam/imuBias.py,sha256=tz3bOCFl29iMycbGFoF-ud6kRsJYjA7DJ2RJoKPFRU8,209
 gtsam/gtsam/utilities.pyi,sha256=i05kEneiWpMgXXo64Q0er5Ra-07ZXtSf4HafAq8bvjM,3395
 gtsam/gtsam/gtsfm.pyi,sha256=YqHbjQW2aHsecKdORMcoGqJscEVvor4GH3Ve8ze9e6A,713
-gtsam/gtsam/__init__.pyi,sha256=1_sRg6oTkSE-qKnCHrAsHk6EZpmEp2ys_746r9XjYUs,742999
-gtsam/gtsam/so3.pyi,sha256=CqODjk71jQ7mgd6EtRssWC4jFpFz6TKgEJTolt_INlw,3960
+gtsam/gtsam/__init__.pyi,sha256=ecfT0g98yfhhnlwz1m-Ja42nWLNohOmMzBNO15re61w,743001
+gtsam/gtsam/so3.pyi,sha256=46DCpeWznNY3UMRjbnpSagaPwDer7_ZpUDwDLUS3Ceo,4534
 gtsam/gtsam/imuBias.pyi,sha256=zXpyT6XAIoA6eOMRom7bzPc86BS_3VoO_oujcpsHct4,2808
 gtsam/gtsam/symbol_shorthand.pyi,sha256=JMd25P7XvfC6iJJvLos3WmzmzJDgsCKtbzXBwBmvg34,1002
 gtsam/gtsam/lago.pyi,sha256=XP_iLWJJ8c8jnYidbxmh8iRzo9FiZcEM5TR73JM_bkE,562
@@ -129,13 +129,13 @@ gtsam/utils/test_case.py,sha256=3wIqAW5_smes95XUJgUjD4v3FXACYSVzQ1l6MMdwSkA,1848
 gtsam/utils/logging_optimizer.py,sha256=tRnzQKV4eT5djS0Ojy5J7OGu7oVRjZw7Jhjrx_VQVTU,4417
 gtsam/utils/generate_trajectory.py,sha256=_1TZWhpRKj8ha0FOEmqUpEzAt3KLgwqyZJ4ueFD2jmE,2663
 gtsam/.dylibs/libboost_thread.dylib,sha256=aT1DCt1Kvw1A2w2mRHIJhZRFrYmoDaI5xYM6wEt86L8,137200
-gtsam/.dylibs/libgtsam_unstable.4.3a0.dev202508202018.dylib,sha256=Nn3xomPLKj8A1hVDGkTQyiKp8vHrv58gy3DvSqCL0MU,1623248
+gtsam/.dylibs/libgtsam_unstable.4.3a0.dev202508212343.dylib,sha256=Ko8EUybhzVZrtttGTRFB7KwzF3_fSLuAnnpRlhXQOjU,1623248
 gtsam/.dylibs/libboost_regex.dylib,sha256=XWw3H3ehJjFuFVSSDGo2lyKOIsoTQ-0Aaf1ekhsQJfY,356464
 gtsam/.dylibs/libboost_serialization.dylib,sha256=7OW78djID14u2YB_F_TuXomOIsEpt8I7RnCAGuGmwCc,418288
 gtsam/.dylibs/libboost_timer.dylib,sha256=leVXIyCdydip4vwIm-Ghrt6UGy_Q-yhL2f8ITyfRku0,81520
 gtsam/.dylibs/libboost_filesystem.dylib,sha256=WUuuO1JZADriLciFi63Ky4dmqt1KA7_V6DcNdzCANSo,197328
-gtsam/.dylibs/libgtsam.4.3a0.dev202508202018.dylib,sha256=_-sNreoqbEDi0oRuMQ7lpNP6LZ-ohvvvjdZNxvWY-84,5962080
 gtsam/.dylibs/libcephes-gtsam.1.0.0.dylib,sha256=pNZtgCIaV7_dC0WPXobOc8sNvd_0WQo1AdYxUsqZ1D0,176352
+gtsam/.dylibs/libgtsam.4.3a0.dev202508212343.dylib,sha256=K2qnFvhvTsZuMOYQFuiXR-H80cEPgqF2-ky8EzLkjZ4,5958176
 gtsam/.dylibs/libmetis-gtsam.dylib,sha256=Od5V_NOZKhxu5cEw1wMfGxk3l0_2LEhV-GkEwnqyx4Q,449504
 gtsam/.dylibs/libboost_atomic.dylib,sha256=AbG9FmLd7biQVvDL9F7_sLOEgmhgj5bwxX98c5jnVVc,104160
 gtsam/.dylibs/libboost_date_time.dylib,sha256=zkeDyIl7aGu1K5avCbDjtJURdIPT8llHnNZ-G7N-_Cc,35008
@@ -250,14 +250,14 @@ gtsam/Data/Balbianello/BalbianelloMedium-4.key.gz,sha256=P6tu3JmA0NKlcFYdgYczTOH
 gtsam/Data/Balbianello/BalbianelloMedium-1.key.gz,sha256=RgT7tVXXOwvDug20TW-9xtoeO3dSSPMF1n9DaKxdrIw,332878
 gtsam/Data/Balbianello/BalbianelloMedium-3.key.gz,sha256=yNMcyqwZCOj9FG-6qXQ9xhJjpM135cTBJYlOUBG0rnQ,296236
 gtsam/Data/Balbianello/BalbianelloMedium-5.key.gz,sha256=4veDrxRdLH8k1DIhgj1984MitZ7nAWoXDWTWyXuu7Lg,241361
-gtsam_unstable/gtsam_unstable.cpython-311-darwin.so,sha256=gogZJg8oafoiW9Y1iKsCj4GwLgQ5yuAENXV9IsKGSt0,2033440
+gtsam_develop-4.3a0.dev202508212343.dist-info/RECORD,,
+gtsam_develop-4.3a0.dev202508212343.dist-info/WHEEL,sha256=sunMa2yiYbrNLGeMVDqEA0ayyJbHlex7SCn1TZrEq60,136
+gtsam_develop-4.3a0.dev202508212343.dist-info/top_level.txt,sha256=DOnqfd8DN2HpG5-V5t32TjFOB_vcYuyOWyRsgeoANEo,30
+gtsam_develop-4.3a0.dev202508212343.dist-info/METADATA,sha256=huLNCJ3scOIs_cnqXyM8qYjOO2sIWw_rR-2OJ1POJpw,7789
+gtsam_unstable/gtsam_unstable.cpython-311-darwin.so,sha256=TQ_oRyEeKuyyPv_2VPiZqLnHOPq40SqpJY30M58wgg8,2033440
 gtsam_unstable/__init__.py,sha256=FPc_oO5PFQZbrfpgugzQuI6LJfP1fzq82UQf_nuyGtk,30
 gtsam_unstable/tests/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 gtsam_unstable/tests/test_ProjectionFactorRollingShutter.py,sha256=t2l62uWoXfjrM8oH6ogV7M20WjTYKZ4CSferdurMIY0,2156
 gtsam_unstable/examples/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 gtsam_unstable/examples/LocalizationExample.py,sha256=na47I1PQ_5Tenj8Wg2LBg3GaqP32O4yEb8jtRWKu0P8,2882
 gtsam_unstable/examples/TimeOfArrivalExample.py,sha256=uky5ps4Ng83C0Q_s2EAc64Af6iztQjXXdj3ahifRXoI,3737
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