# 视觉惯性里程计 (VIO)

VIO 示例是一种使用扩展卡尔曼滤波器 (EKF) 融合摄像头和 IMU 数据的 SLAM 算法。通过融合摄像头、加速度计和陀螺仪来跟踪 6DOF 姿态，并持续估算重力方向和姿态。

图中显示了 VIO 的 pipeline。在经过 EKF 处理后，IMU 和图像信息被紧密结合，最终输出姿态。

![../../_images/vio-pipeline.png](data:image/png;base64,UklGRqaLAABXRUJQVlA4WAoAAAAQAAAATwoAVwMAQUxQSMJEAAABTyMmTfqHHibwj4jsIyLBttW6dQxdFi/hMP8BR8Jguf92rYj+T8Dx0BBrsCRpZdz4ubIjwQUZtoAm912oPhdcCJ3zyqtI6JxoGrZLFEUUwSz8EizoGptEFTRdTuC+DaXjPI4DEMpERPxWejtg3CAW8TDaJzM+T4+Mlw4W4sWwS9AdFyxTnAgeRrotY++3HYgwtaJPVendQtskA287RAB3hx8RVSPibUf39w4QdydDE9SwDfTYqpKooO/9THRYxDUnVlEVm7BRo7oLZYgI4Hh6sIwCZu7PQ8fpM6oo8yeaSucO2uX7QA3sYtECIl54DyneR8+Hat1DWz5/hREF2GMhzVHH61VwhK6IEmef2Ea1JBYaNQe6iUCT3Kx/h7n7BtMiklGVvBvbeI0sm9zd4Vm4WRK67Cs90Dlfl15Lix4aqHFdRZSAL80iVvBtoTYiBaysR6TBvABWh0iJ5H0leU+JZXdxiYpIfHe5xEoKvudy/Qcp+d8I0hI/RvwQ8UeS/A4r5EiSJDlupKjI/78ahQLAnvUWERPAtr4oVUWAktar8WFVTrEHsr/CSbYkYFcreBlo6hikzdC1a32aU1QxCDgF4TPcVZsMIfwiJ8f45dxGwSS1BUkHkD2g9dk0bZNJ1SCJ/UCzcedwl8RtXc2hmnVZl19t2qqK6wXgiu3AeU7JEF/SDTMERgBOAgdkC/j2UcIGyBbVnB44QJUJaVmzSuvt6rWqqyrX+jhQW9dGrf/XgM/v+LBWFRjUT/fqA8Yv2kGde7W+ObAt27bb1tFc+xyQkrPdOYf//zLbna8CCZy9HgTiSiAO2pab1RExAUCB+PuPIiL5bdv2to0k776fNwAMkstVk7//B9vdX+ypKtsSA4A3PPcfdtfUBAnFIo2KiAnwdtu23Da2bfU+ZgIQlGQ5Ilay98n+/+/aeRJhWxITYM4x+gd7nSyiwBM+jjgRMQH83//+++8/a/yGFu4MfYz2Gv9j3l/aUgAzIyTEDpUBIcmoUOw2IdTAadtgkPeWAEDwa0PvDm0ZiDFQMkL7AxCEVMwUve81guEQTmfaNmaXkyBoZsbeum8TIC0YLESgy5idGkglUiJgat0joD3F8HUkbq21Ge8zAqTRLJpR8BiDcXOAhRiCMRia24mxd4iQIiKnhFK0ra27Y09bHHLMhnFqbWqZaZudbjCYRYvRAjEkC/CuzQAEQ4qJvfXWvUNT2jZ7xMgYAclypiVjbFvn/qHIEHNQd7namCCEjPaaKEqAECwEIORMcDMAGMfDmNr1fJmuc0dsaXaqnW5tbE1mVp8eH5fCt5/v2j+C0ng4xOl0uU5TmSjDcCgRJdAuE+Tu3kttzWJMPRx++jhGtCZtACAtD4FqbSm1LVVgGoPA+8ICO7O15gKRptM0TVmtAQC5WwjSYjIgaJlKKbUbLQTvLgNJcu+9VUcw43j88WCtLN0dAL/3Z/njsf766fNkeciBeMeay4LcvfWm+vDTn5MpXPsFsDQej/3T55fJQ4ghBLHzjd/s3TsJX6ZqY5bXhu/7ExaHIV2/fDnVFI0kod2ylCSh3tbGMj8kRAQE7hKCjCnltLy+vE4hmRm5+5YTAHtd5rmHpx/CvFwLCH7Hz4Y0+OefC0KOJN7ZgphzyT6dMqMLOzU97Vhef1lgDJFYpxIcMeYwXxtMTfqOXxwGq////1+GHEi8uwkiPNLjU2FvsU8s5X1u159/XnYpGNcKQBBeS+VwSPO1u/idvhBj7Jdz8WB4rwvgbLBSC1rsD4vjcz59OU8dMWDtCu4h58yuCLi+0zcGLZ9eUza+20DQ3u754d2Tro27I+bDD/z3//dlzkPg6gFBgyz98DyoF/8OHy3F0M9TVSDe91p7Kg8P2NxjV5BhOPByuiwesJbljPufDjGodug7exTyGDX9chki33tAbO10Lhm3tisQh/1h+l9/0zjYagKMKXF4it2rf2cPDMPgl0tpRrz/tfZaS/a3bUcQYdxpPn2+JsOqFhHzLphah76vF+JuuPz7dQhYA4D6yhp399gNiPnpcPpfn2xMXFcgQy3peXD1/h09ylJWm197INah1rtVefQO7gTmHHj62zQY1hbAeRmek/elgt/NA+wwnP5WdoGEVgEjSFbem/aCDcP5l8VSJLS+3Ck3vy76jl6Ig7383AeCWI3q+ZzWJkE7gBazXn5uOwOxvim12QeWJoHfyQtDqsu8IABaDxF1KaQ37MFwHJfz+cIEaIUB8MYQh1FN+F7eIV1fGok1yYgy1VNeb9IOiM/j+fPUjVjpdEnDT09tcX/z+BX1Ld26+AUCAvRQi0iH/OVXH7E2zcq5XK9B9y0m8/MJA9a8NPywh3rRWweL40C1pXYHddMiQEulzrlOS+mPtSzu7eVXxLXB8PxcLzd398IY63S+prDm6D0exiGXq791FvJuNF/m0ly4eTPNy9OPy+WXz694qG3JWl1a4OroLe4yvKt7UbPDesPXvUPxeVyunW9aHFNQo7xXh3DjFpTh7tMvf/EFRQICH2aFUS8nG7E+JAshhdq/tZx8FfG13yY97b0015tFcXwabfl0uc5VAG9gEaXUg3oY97E23O1yYGmvpL19+hIGaG18rTCmGqhrtJtXrY6v/l40DoZe3y7EnKLP83RZSscNXCAJgs6QQ3cJvM8BSGo0UZCwV5Wf7dNnS1ijqnzKRfS9nPo9ogW/+uCCjbs2+9u1P/J6+nQJ3R3gTeyl8TQ1Cyn1KtzdEqSZkUJoKBkpeOjzPRJHvl4srJLeuB/evpkt1B0D0DsP+zZXvkUUFYahnc5TDxD5Dd220JzbsnTEMfUmv7uBpWnOiVBzaSDRslmobWt37FGpd4+2SuiMqNm5PM/GRAzBwuNRU3+TAIaAfn1puwAKt3Z5Vw7GXnVfQ1rOOVGSIgQNI8KYQMKjddfukHxpDIGrBKDJpY5RlvKSYWPAKw4H693eqJzqdLkiEMSNXWCvHmIKdXHe1aTzuej+er21UDKCw0iIEPN0ejwV3T5te6MUv5SQsFqC4VDVL1imT9aFMSgOeRg9vUUCDuP0aw0AcZMXgWTL7LirzU+L9bdPb/ctmDKJcSx3Z56Xp4c53V7X3XHw8xITVioZoh2HnpWidbYeHAMA0/H4NgG2Gy6fWqZwo1fzZPNyV5NPU2xvly6akRjMCoQCYafzaWpJe0OlwqB1gpCTHSodn2e/LlUaBQT3h2ZvES2ql8IA6FbnsH5nU9/Vtw8fX3WqaUABUN/uN58ef3wP6+CuqGwN69VyZAn1i9PJX04zMQrQfNx3vEnJyuRmxA1fvSxN9zOWaolPL42ZGNOC3Ft3Oz/XORG7UugiVwsNPqV7RSGZ31LBMGT3mPxtCqxVxG3fW3fcz5aT9euHSy0cVV9Uv97K4+PDkmJPuDloYb14708jqE+AuW/djcMAENER+faAbI3xtkdBuJelWBe8vm5hxMgWtK6Rl+fn4uB+yBRotlogxsMg3CkS6ptjHFCwiBjtDYJ3t3DbA4T7Wdp8bv/2UjLGFiD4/bK8/9Ms7Ek7YFwtxvz8668KvTZL1m8eI4HjGIbhLWruCvHWd0/LlEv7cJ0MGlwUbvf88EPBnrQBEOvFhh9/9UW/SEJNGgcA8y4d9/Htkbpkj7OY61T89SpifFNukyHctRswRHC1ACHX6dmdIpPltglDsWv/hPPy5kASYI+zUkncrg1jTCCMve8KYs0SsbSpXyLCMRTVtXvStbxBAIjHWaR664FBLrkitCOAuGZAAN0CodEA95DZ/O15sE3Iu4PgIOs9AgNdX/WaBOQaC5JohB7dUeohYpArIiCOszedIEIxFuACiUf3BKAgxnlIxGGGwGCUA7DHeBjmDIjgQQZIAseCBPLxHSWIowwAJRxkFITBKAiwx3eARIxyQiKOMlAYDqKIR3gjnTjOCQgaDYATfHQHfkFjTYcYiC9rKIh6gPedTREbk6mtSX/533//iSTMDN0FbURCCCmh1O7YjBRjNPTW3AVtQkrGdMhtnuaGTcgh0G1M6LV1l6DNR2CrddHueMjW69Kw/dh7nc798Hw8BvXz3LRtR3j7IO+1y8xSHj6U0nzTjkUPCfWyVOXd4QOWea7g4ypazIkdfMxhZ6psnnfBArx3l3GMYfzgdeHDKovD8aDF8ZDT5NR02LxWnRYJoLelxjzufxhPPxsfVuXdhw/WvIsgH21gbGLz5BCNENCbx53ycf8p4GF12j3948cBXhoecUoKWm6dBULd8c2we/rwFEpprkdVjDHAIAmqHSK/pyGoxyHYPoN3B2kWw+G4s7lequNhNfu0FHv68Zh8Xqrwnc1Qrdo+AySHxTyOilg+9Vo6HiHrGgSgXaZm+4/7aN7hCoAkB5q2RH++Eipl+2gUBFqMKXi9ns/VjQ+RfA0ABHnv3oThw9MYMqIFhO9nij5aiiQ0n+f5ep7FGPn4SCBpfSIgV5+nouHjh30uiO4BcpgJSdsgOKA/YbkPFlNUV728lmtxhGh4hBzHzz5Rrk3wPl8mGVp3dzDkacpsPTDKpePnn8RGLNel9D9h4Q5Y3gWvy1xaJ0uHCQ+Roxy/+YIpVwZ4mb5cEAH0epmr1cfHR7uvoWFWvvzjL2ri67N++uXzaf4zVgdp+RDqfJmmFlNw3EETIC2Zuzs0OKRSSiFI8DeHUofSRqNVCeq99RABofdWPc/nB7usjmFev/nrr2My108/fvzwN9wlusPlIiDcS9NoMUev3TvGpijLcp7CmQD91kicz+cxxdpgeYgB35R3pHnBdY2B9uUfvmmn1LWJYH76kO8Tepmu1dIuGu+hCAshBjRR3l2AhgbSaZ5Ti9NjhQjwtwS5TdPUWq4KYIjjQAkEjUbCUr91jPPy6c8/G5/N1TPkDx924U6hLotH4l7awm6fY5umqTkJimMD15yo6a//7UERLui3BGO3cWxoRUJI4z63WQBCzoOZr5ebSxxljuF+aM26NoXdk3Cv2KvEcCdFhJQC0VsrpdFoIIamcTKA81//yrcGKsTfEIPsaUx5VRbzEFvzaIEkpO16XQEMM5DYxPgsuOs+wd1B3kulfMzTl9dTj4EM0YwYnLbCu0fh21v56R22jt9SC2MwqxYBgnnMyafrdbqvbQtisPv6KBfuFoU7aYqwEGPi5fU0KQUzM5IcHRneW2ttXfn+f7y7vlwk/nbIzGtFAgAihJSC+nS9Lmt3kRxsW0jie7DDMWv5/KUyRCP+OJUkhFjOT7zdLzXht9bgFX0dhiGZt+k8dzKAgjDQvRGEvgfD/VMup799Vo7GP1I+JwABOtXrUqDfmPXLxjGxTZdTYQhG4g85Uki5lP765kjEmBWZPwxl71N/2wxhzK0s01yaKPxxR+bKuP1ynzNHDcgQuf8RU5PeMkhBy/V8XhBIbHi0ado+XmhGDFwq/sMYTdXfMrm3stTWHNsejaf57R9uDwljB+m4jM+2tLcMaNO1AYaNjznTby+eCI0cwEIdj6H3DvDNUi+LY/Mja7m9tpxADF7S0y4HtPqGbYKkUsm3Tz5hBLul4WhT1aYPGKd0e4kKaPyw+/M/5cvVseWTlg3rRYYhXP3pn9Nlcm36mHLfuhNDmPI0qnT3TQB6M60Vq2m7e8IoEh1k74+29C2SjEqtIb8GJa91tUDqLZVRBNEsWymPtEiA3yIBZahDNa9IQa0svlbkrStPwwgW0i7M8yMt0OxbpVqLLfxxAATJu1ZK91AqgwggLWYs9ZEWLaXEb5FEGRinRB8nAkzRW18p7oGUxpGR8NYfaDHlmsq3RzJl8DSNE+IVRVrKcK2UCMFsIBnh3R9owcpc3uzY47f0rgAdj+O/Hpt5ZYY8pCCuEoQToWEESQD5QCtN8zz5vR96AL96Z0p1GD88W6/GGHMCAa4QBcbyV4YH2kx1mePWDj0L4R0Sxa014tWArryjaZVAgwkQwAdaEJZz3PqhF3YZXe8KWSXaKSW9ScxGgOD6+L1X1/zA5q7DjhwOY6v9XYFU4/Scg3gDd1cwI9aHfu+FwXnJprUfdiGPT0O5+vuiRHh8dBVvKK8thGQr5OjmFzTK+A3d2wA5TwvuK3jEEciHwz5O7wzVcBsnBH41Qb3FYYwg/lRNfJEaZN+m7msA9ZieausehxzT/uO+TXN1vh9E1DKdG+KNu4dxn+xPVt/JXe/1h9li20Adb3H48FP88qUCb4sQ4NdCZYinJ1feWi5L4xjB3/hR0nskgohxRkK6v2HfkKfzBEUL6UATisPxw07l5doNb2wEtv1KqrX48YPizYBWtH/OAPE7R8F+fwQzeIwyGiTo7gbA/Zp+ep4sbs2PNFSH40//gJ9/nTr5pggNldZaolcwkp1T8uaCfKlhCA4A/OYSy6rHoWDQuyJaytgwzij4PQ63O85zyomIkHSICUkMaRzKr69deGNV7+98Oo+N13VOT+NdfTsAXuel9a+I3zPuvrg/lDbhd0al4jrMLJi6/B5H3q73ND8+Tabm0gEmlyJGlOvrZXHyTREaKs6WafwKenFqh1iF2rKUJvzuMRwPhZza+6JUFmWAGmIhUt7vcsDtsrKczjXLJRzhIpRTXU6vk4i3hRju67//PtZaxevaaYdWAXjr3X8n4+d/uQ6H0ka/K8rzWQUQxlg27911fwNAEb13TzkZ7QgzuLUspVYRb6xU7vWvf7Qaei2M0VrkXfjd8/mfLepQp/dFYF4wpU6NL8pCZq0S7nLJ6Nu1IeVk4AGGnZnULvDNQWTLFqKDLd2cNu+Jo2nK59PNMcDNUuqXYrzPASBF94CROsCEkwgBEt5en6YY6GQbz89je0/EUH2YGb1pdFGIKaBdC+93EEj8mG7T6Wwtai8yWzbeFUF5mk5luwcHF4Bx75fZgTued7POJKITApt3RoDq07JeHMM77Pbl1zkaHt8bWzOa8wUt0P8Y75PlnGqCd3FgUZYHL9dz3xN6eAcIvwAJm6UkJPzJ3dem/PSIW4fGFcyOw/WXU4mJeIQvM6soQxlPuYAhqvU/u6n3zvNDMbg8BA0nkhZzUju/LIYH+6rHT4bHf7clw6ip6k9uQGxu0w9/nt1vmwsDKg27Y3z5+TRbfLxX74enhwW2NGhpzt+F39I3YfKO/PQ8ER4ICRpHBEma0fz8UkQ83COqcvQlwQzdqd9F3/pWXG3rKst5mUqSi+NIpKkv8+nTaws54fG+JJwsJQDhN/Mr4mtCX9AX9G0X2na7p/OyzMUkDGXSe7lePp84Gh/wgTDLCeG3C7QYE5oToiXKWwsI33zLt9bcCNKGkqCvYSkbHvNbvCUBmJnFpNoJIWeibx4BAPq2i+Hr5eohmXEkwR2wkHI0Puh7Y4U0jKnNrffuLjFnE5Ml9NYD33hL0XuEg8RQlmBmxPcKw7jbx+UylebenUyZTLUU9q13feP1OUMhDGd+/bjPsj5C4LcI5n1Um5bmcgZKZIRAplRqgbfm33wBwoB67G8SxSIB4DfAePiQr1/+/TNyjCkFkmprQCHW56cS61v/Buz3pp1tbMNxiXpDCgAIGwZTmaelpTEaAYDIyajuwTrXapIB/ENB2c4fpk+GRcvMnRFATMfD/P99muzp43EM3mrtDlseHx9ONaltK+bTqVj8wSC382m8iyVeF4skYDFFu36awrDfBcq7uwDO81xzomLrNk2zIUhw5xGANqOQnhxaAneRolkK1y8Ljv/81M+n01xDytHkbb1dVmedT5PuTZGKxe4TtqXa1jKJFBiD9dNL3z993E3n07UgpBQMra3Xy+o2Lw9ze7k7pmX/kTTKHdAWFPOR5u+G/TCdpjb+GF9fq8c07nKE3DVNSe7dMc0WvmleshE7f9jvRv9y6tiwSqVDPL/0cHzu/98nT3k87CLVeufD02Rq29qmZar+5tNSCmPnjcf9rn8+Vwe3q0SaL8vuB1zOc095v2fvpTYH85RYpuydLFOsEqyoi3uOIQdXBNSKa6OKZVtK4Q//WP7vVxvGwy6163WpzS0wMS/vz329r3nJ8tuVFR27DmZtscPBvNbm2qYSdna6MKdQLy0P+1ynUlw0AlSoPlTv25Yq2S8Xmyhi15Nt8RhjSoEKALg9JR34+SUf6qVZHnd7fvl5cstDJDza/Y65JPPmHVW3G3MuFtpz8F5rRd4djpmpd2FzKkPQZR7GevaUj0Ofr9dm+KbCt4acLHlrm50NKHV5LD1+TQxGeRdJ/j3FAkm6IEmXjJZoiRa0cUpf0gIC/C10Qr3WLlrOKQZaMOhGQVE32cy8VjHHOms4fLBff1UO/NbXUmuWod7zeXp8nMv7P9e7/5pCToZlcVowAkaqQ7lUaikxF7WG5gzogoSWSHM+/evDmJ6RJAQYBA1/nwZC3qp7b632uMu74yF70R9O8jYA32dj8KmGlKzNyDnr5RwCfjP93lIy61s6Le/foT/9Kb31X5PFaKpVFnMEMhD1UDVjylDrjBXDgPCLiNAlEJfFwun53My8QBgEEODfAwm0WpobvNTGGHZjDq2K4B9HBhyg6xIkBw3dYLPQrzXtorUFSVNBSPbbPo/Ita0sp+fz6y/5SW+NvyIAAmE2HnJgXuKyhJiXyERg6t1QJc/ZvmTjC/XuEEIvDGABECD8RoE+n+eCgUD3Usuy1G6JXfgDKZsjxLXLW/E0ilts0a9tGANrYfLTHBL5H1Lz0+L3SPPT/Mu/YelvHb9idRdCJOMYOWPa1MB6ka2l57K1Zl6qHocSZtYkS3xBwyd3g+QX2DazdMH/niSgTNUtEaDXZZ4XxN2opeuPozSKoeDronpbShq4xR4iqqdEbyXscFlo+I9LSlG9te6MqC2NQf+NQk6mpSA//cNTEAacU5p5sVhgAY6hSFy0fUG28Qw5omDWbokBQZJL/IakLoScs0kQACfqUvvWenAc4cP9sRauXerXe8eNNnZFg7cWd5wX8HcACELeauEY55J3Rv33IUm4YGlIZN5pLimkOYUkGSxZWDPG4qLJBWSaC1NrvuCtd/xdb+4c9vtdaA0EQCul8np1YiRFvT/UuDrAt3vrN9kYKRcgZ8jWmut38aXkka01DKG0NJjjvzsBGrFwAZK4KMT8dB5bMiuLy7LNZQMGRGbL5CXlvbv4DakRjEMydgdCzIP19X5rXioGskRr06TrEpjyVKLdZDNScncYY6J399+ln8t4DL01pNA8Rkr/AwC/CaO5pUJcPD8+j2m9QEIXDOALi21zUZDwdyUDYiDdBQt5HLVdfnlraU4jKTQ+PT1PqasiaPO7RzXfYgMBCN8kIeH3lUBQAgGHEW+sc2pptlEwgsFoBi9921ZPhRxJIsdpauKqBVqaKwLfYJMAmgGSu2Dk72JjqpMzGNxBd/CN2VgBccgA/fRy7bBSDUMJMGYDCRA32dVBEAThFTnAf6dYFlmIKEqxFn/PCRZipNfWyuzEFzWYsMBXB1G8yebdSTnMQl/sMLaq34Mx9qqQMqZ+GMu5410fh8h2uU7VhmpfOiRF/E67NyVrTYyxL3waenHqP0KQclkwk2NMZWp8v8k7kqG3WjtJHhjU77X1ZmNcZiElX/i0a6U7/kOGUhlS8Bn7kVqK3nGYL8XBOAyB2KbaWzjEZW6Mgy8acmBt/tsIRkyz5ZjKBcedijve88t1abJoxq0q3u0w1FI9DppKDR+P9dJ/m+UY2mkKOVs99f1QG+1d13sXSWxXVbcxodeaBizXC3760a9NAiAQEGOOaOcpjsmWc9/FpYTxXQdBILasuJxjKiXurM3ntjvsB5VauyjAhtG8LktFGoPqrMGuU0rvOWEDa73q6VDnsEuqpwnDDx+tLEuTAIbdwebruVgcMnrvyDpPKbznNrG2GR+O/do4POF8mj0fxmQuAi6RdSqN4xg5XeyYe5lrtI1DdPvxJ12Rdv8wnF5eLh6ePu6iGSUzQzldKsfDzq6f/Iej2lKcG4fg9uHYZlf+YRf9cpl7GFIMgXB6r/NUQzrsWedr+DDWqTRsHhbZO3zp4fBvH5bT5XydmRJA1jrPzfLusA/Xl5Z2O14ubtuHoF6QUZqHjx+SL9fL5NEEsvXWOe7GFH2ewnGwdl7ADURwt5xyXE41/8s/2VJL8d4FY0jD4Wnw5TKF/dPRzufmm4jYnWE4hul0xo8/JrhDcoEp5nG3D8v1tOw+Hof6ehE2EQGQLMVg8+X1GnbjuH8aA8zh7nWZqkLe73WZpg5iI3Fvbulp6Ke/fbbDuDs+7QLZvdQyvc6I+8POps9XBzcTQRLCMCY1qddaGygupYs5DzmwzfPs2FJMr6WkD8/77Mv1/PoydYkFSPuPH3ZJ8+vLYuCWIqj3JktDDvRelw6IYhrHIaLWZZ47sbnYy9wsj2OOFmgEjLuDlel0WSqIDcZqtYEhphBJAiIt+DRfSxW2GnttvTMRcADey3VuHSK3BXlN6K05SUgC5WWp7iSx2VgAKMmFrwRA2Bws8HpeiuvVnG938daknSKF3Lymq1ZILbndLZCBNyGqS++YEq0XCoWz3egiANDirchrax0k94gpITLdgyhB3uwCLcRhyJHdpVuPhT4vpSyQdojTUWrJKTdPVlRlNnybiyGGPIwpornj1htTv16W6VUR2h/YjeNdLbF5SO10HlPiFjctH5IvpdTmEHXjYUial16nXEuSwH1h8px3n392X7cv4vGfH05ZbnNZ3H0cry+ffjldejDyxgMzk6U8vnt+qtumnQE5tjIMh+iAptOIuLlFERZz8FbmeV6aB5K68ZAW8nh4nk5LcpfEfeE2jVNrbL8oh0MVvrUFwOKwK//fLz3mXTTchskQ03jTNM+1r7EzyGkap5bbB/UYEje4mVLA9eczIr8GoFsP8TVxU6lLvt0C+9Io3foQwY3u3aH8clZIxG2ZCu+edd8itCsAORs9lATeW/ySfs+FMcf5lzkF3pyAdm2GgPfgvjCAe3Cjm7uhnKeOSNyiA1Ktvgb+X2OOMN3t2H68/LrEwNsUtOHxwbcIHScEIQ0kfqb9ARgtZaO8SwOJIRi9NcmFO13KclhePeNWLU/nGYgWBwoBxFAitEeSJUspU60FBrKFZPDapN51pwOaocwINysg1TxNcevHiRmg0DAyGNF3By1PE7y1LgEaSQBJiymGOlf3uxxGU6sdvGH5ineP7ebQQUIzg/s4YjJG+N6wMi0zbteXm9OSjSR5F/LxeAj1usx3OjnWxUXcsjY8nmPtgaMkJYP3GEMUzBTCzrSUp+zb1lt3ISVSo0hwdUdIMcacVCsJ3t8EloqAW7Y2TBVd0FGSS2JffQwBJPuqzH2Rl2WOf/+nK/Op0GjEMBbgLrVSS/znfx19ht/hSL27pduWXGTGcWopmbcYRin3a6+7gizn2m8fPjYjSZAARxGAJPVSC54+Hgdnv8NB9+Yh37QQ6JETj5MeucI1jOZTf1nTrrAyn/q//jtPxTCuvdVL/fAvu0Dc38pdsnjTEkLBAyV6zyVR0hBiqrW/NdsPFPKUsf7rhymTAwsqp8v4j8cY0ME7G8hdFm5aAByw40Q9kHKBxwhiKbF1B/cDwHLyX15YSIxsAa2Uuo+DV93fCABvXIJIHKfu4nTC6kNorttLz4ZdUef1X1/OGWPra51ehvHoi9/fACBuXqB4mAghLo94u4Pjx5b58nObDDvSknF72apBg0tQmXk49Ep8B9jx8E6v98DopfK5vvy7L9wTKau1LYwY4L35OEjQ93/UezkVauujx061r5cbCqD9QMTmZhhi6j2G1nrX93+2NdLynG/30ZOe50//vlk27EnF1jQTGmACGuq0tO8AofWtn3489daHjuWp4OOHqNiXct9YiUHevC21dXwH2K+X6U/vire7Bk59mm4vL9e0O9QdZZh19dpc3wPC/WrLciq9B8ABQ9BSnfT6skax3RHONMwk7y58Hzigjnw+aXVovMDC7omXly+vs5PvCwJSYJglBnQLiGDcVs7vHrW6gwS/PDZ0gUBIeegvr5eTB7w/IIx0W+ZGsDyEaZ5yJgFCGJ4CQLMQcrI+ny5TjwLxzvzsjzoS0bqV02liMggBcHAAgjGGmJLa6dOphmjEO0V/xAFAhLsDVuZikgsD1CyFzDItS+uMxM3fN4YI3S/31fP8eILcQ+NDZjFGnL9cC3MOfwK4PSzvrQcsITwiOD6Q5O7dnSS2ijJ8u967QGp8pNqyzDXvs2HDqKKtW2CAGnBvrTj+8r//rvJb2pBkkGNLMiMld1BbkUJMkaV0x2aklLMtS+v63pWVUqyvPWJEEUwmxTEgh5kxRqo39+9ZPT4/lvXl1oYUmGqS99ARUOfitjvux6B2mau+i0T99zi9f69oPUKfDyay1CJ3EBobwh3otXWmnGKKdr5cq/E7SP9NWSbraS5k771jNOUyZ0Sa6B4aGKILgHqHmg/P+3r9cq7QAyvCSHVRNx7xv4eZb6y1mOQKSUMppWwtcjUJAsghYWxFF+Auby2mYTweD6VBelwV4i7O1y7cdkV9xf9qQKzNI59qyjX1rUXA1477AUltbSlPp1Ox7oERaXJsOnRBANB9mns038GXGY+rUhrjcm2AAOhm8zUBQLEiiVRrLVhLSaccm4dga0eWUuoCYtvWZlbPS02tCwQ5GnCbpugDQAhtvtQ0Hvc7nj89rrKYkrVm0Ut14WZLkDQzYtVxWua1S9FDKdWUa9UWtWocUUpYdKL3Hj08lIw2Vbig4eCconZCACDvtitKKdsjq2iQh4TSWgfJYyYECRZT+C8lTU/LpQd6ayJTneaZTQvXDMRQh6CDAtW3pvC+3juZ63kyeR8PWI5OACAEUq06jQ+TvD6auoMW0hi81xo4ZMM+lWvV+DTCK4LKY1FnggvhbpZSqTq5rxfbLp99XtNo68CI9eVuGe7uITCXeWZ3DYZQLT63XlAMMebE5TzO/jBJ6xNUGow2Po/sSwnpiElP4/XLovGn3X8tsPTWLQNAtBYm1Aezvmqy8flXA8ZbZ1K/vd5yAgD17or89Jy35mNBqsMhH8degCHE9MTz9Dn29ihJINCKBEDuYu+MMaVkpEIjTdugMMb54ikPkauicIPDPpOLBHMNEWvWnhrIYvNFgUxmX4hgKmWesY4GpBrZWg8I0nL0pVN1RqAeJYFArFkEKPVWSuHu+LyfM5oL4Ch7KXRtoGFe0i52iBUT4FQjJHzRspGwaCtG8nT694dz0EFZOj2fqc+AlOfThL5FxGAA00uzEMe0vJx/7ddqMZIPklQP9+OqBHlrnUStVTHmnFMiwjHOVY+DfG3sZakeUpsWrgm0KczgAmlMNfm6NYpcL0huDx8a6gCQpocZDjDlUuea2W7dQ8MBo62jyBCi9S7VWlrvii48QhY4jp9Pybp7Wc4lJEDeSy1CWZ7K1kLDLO6+/jRS+JqI8umLAvzy61XhFaH+cPYZXWDOtU75+vOnC6+09SJp0PgE7gGZS+odTHV5WCq3y+W2gRwPfUzDOOLycrrYGF0iHiQHg6V8wdq9lWmxCBC91to5PTzl+9ZjlCmOX/86Jq6c7fVm1e+3ywa0ItlpOU0MMZdMIO6X22YC1wtSjTbZ2j4RZEaEcsqk+nZbu4yjLuyensMXv5bWBQgPkuXONM/WykT32hyCAECsp2nSfXONMvD42E7WVUlm+VS2F58Mq5Z9nlKuper28vGFp5qyYdUKDHj7IAKipWlO/f56XZVKNox7lRc/XebuEB4nh3uwTHhtCEb1BhAgg9WS0O89MM7Hf397fjRXnuZlyrdXnPh/FwKgpc8Z18vHS0qnCq4bg+gmQaaa5be3qyMZOe68nHtZquPBcvTrPaCVCRbzcVQVwDRkdrXttnlgmDtP/ziMZ+u6lB9O2u4rM+BVQVYnU7/frpulnACDtG76anPuW+ttg+VEDP0+W2tderSEdrm0YOWCpd3TQd3JEIfIul3eXjcmcJTRTv8Mm2vPD7Pftk7i/3IJ02Sx3d5et1oTAYD4o1hIJcV2v61uOXHwtRmQ8GhZkHtobQDMUjBZTrFf5+brurVODjQaW8icw0P4vz7uG5KRQhDDWd43rzUcw18QOh5qU2RMOVn59KWqK0gcsALxK4zLpcNyLtlGVL+/bOcpKXH0Pd6WGMbsc/XWulsIxysFiAD1f9+2hZiIIS1tt6hG/O6uuiw97a+/nBaOKZA8YH7NIZcRg1ryMP4Oj/fmzNnn0mjEjV2QhFEtSPhdXi9lLm55H0ne3P6YomotpTMZSWxCFuSQSGxFJgBhS7Lwl//999//v/zv/wbanMRNSfz65kWCGxpCNOONixYMmxlpMYV067KQIjczIORdvNhNi7A8bGhgzPvhJdy0wJDHbHdC/BsaZJrzT2sgpHGwmxZTjpRLd0GfE8IwJyDc25JpWdrLemSFxOvMSN4JkYA0yggC0r2NeH7or006rmzE6RxG3AuThohRhgBJuLcNe3zSvXscV3HU59c03AuRZnAfZWbmkt/ZUDwvdG8dPKbIEP3lksLdkOWk1kdZSFTv9zYAjJzS2oRjOo64Tk3J7oXMUsW9gRpjOXhvrrubvuZ3desR4OFEYdj75wuS8V6IViesa2CAU8g7K6U77m3pXpackkI4mCnkMYXy+RwC7odZT3bf+ggDLO05L677G9CYn85q4TqWANsdYr9+npLdD4Ws5qy2aYCFHNDnSrvDAWSnSqKDIkjy0OG3SAsxpfllgpH3Q97E+aneriNsGDHPcw+8w6F6iKdz8hBEEMcvSYaQE/uX/3d+DrgjUm8tPS++dWhsESGl8rJYwP0NALmHamUuCQpBhw9pIUbrpSzzhEDobkjA9ROe31W2dXAhxaDzz+WZ0D0OAG/Xe3p+nFP30PFjFoec/OXXl0t4CiTuitc3n87nSVuXoDFFwCzFPp9PigR1p7O93afHU1HvETh+GQLp8/lSgpG4L46+rfjh/cz1bcOgFuJub/3ll5IDCeFOV5C2+9Yk8PiR11qK530g7o+p7S0enpfq99b1mYYSAdDSkHx5/eyRxD2vtrfLvct4BPU2l8WjkdTdkSDvm5Z3DyfrHhHCWDazEFCm11OPRtz5KiIEEgcQJBfumFM5//kv59Svq3t3DSUaadavL1/OMRF3wcT3sIn6/qfHKQUMPprkrcxz6Raj4UG07qNYa62nh+VcFKLGEV2tXE9Tj/tIPoq6mybz6fHhPCEwkkXX10Zs7ySYaskJGkoQLOUhcIvHqBb+8r///vvv/1ZBjgZtPxmKhLANlYOANKptQwHHQIgptqlsQxmDtDgMJWATqjQEBFoI3IaCISCTQGIDqjAKBQCbUP6///3/y//++++///7777///vvvv//++++///7777///vvvv//++/+X/29TmuViiQAIDgwCIJlyYvTum0ZSnZaaIkIYnWTKeZ7o63WTtokwJUsATApXSKMDsJSMhmCMBPhQjIB4BzSf5+S3y8u9dQ8Ig1OQe49Ul8fTPzyhSg/F7oAJKk/V1G/3y9ZCGB9QhG+dZT6dPo6tusTHYCRBkoBuUyTlgIE3DtBORe3ytgmWAiNUkDzcPZCMjIFwPQSzlCzEZFDrNyhayMlnQuo3Dsulcr1cry2llASAY0MEBCnce/foimM2NefDLwJxjGTKAb003Z4spN1OFzP1BpK3C9an+X759Ba5GAAIw1P4oiBENG+d++cMuT/6Ut4PUcvcOuC14/ZMi8MQNAw5oFXhZkmb3uW3D6+XlI2fjVWq1XnWD/+4gy/tsRdl+ZjUps9fzhVy3KJJC+NxOOwye+23i5TN231FxogVIPeOnMl6rY+9kIfo5XXSl9dLE27Wlo+QDbtkXvxWkaf4+LZZtSHzZfc6K/u1SY+7KOwPuHz59ZxK7Y7bNS3MU999eNr3a71J0Go9pdt1XbsGDuK+5WmauHXxe10IKcXl9VJB3Lx99VTPZ249dEBgOj3+8OSXjsEb4Xj6y/R6E77PTVke0U6f6mjgzQvwW6uPhd76EVFrms62OgcPouv8U7re4ztdAndDPU8LQNzE1y3PddK9g8eDpdubUxi/7qmih+v7XAD34/nnusPNXK3Xx3zfcDRSifLLCoKjh+GgJXQHv8dFxWyXz8q3M2xbecqtx9GAnBiTWhDDlwgpL3Vbhe9yZWulNDNANzK6l1OOiDgYmLP6Yj6GGFGfp9stvs+VwnJ1I27nVJTJFP1oQK19fajCAMJn8/v63S6iVkTc1gmFSwcDS+r3ecIo0vxu9/Azfj6QtED3PKK3Zvm2RvUWEo5GhfdcMIYJpaqtac9QNAMIgMNIQNIgOXTHA/fmId7awoXDUa0FYKNIDG8d+9YsJQiCMJBFC0b01nHHq+6ukG5vEHkwoLcgOIpAddd+ISznkqkOR2AgK8xSjubz0h3QnQ7cJQs3NkggjkaFC7BhBIVjxzKflimrbb33kEZSiHkYs66XpXXc70oAb204IuAShjEJuUDuFKapGry3Hi1cGEgAgowh0HtrutcRcHP7sg4HBQCOIgASiZ2q+YfT9vLzz2sUFyGOI7de56n47p9+GjRf/V7na+oWdzxKIEYxAUrUHqGYSp1wfXm9bjSCJAZStlrm0vLH5zGoVel+515YGEm7lbDzT49+/fi6OgBhPEtqtWg47Ee/tu/9cByBO4bl6c/zy88f39xIDGrVSw2756OWyu/8HOIsp2XWx5eGgS1IvfruMLCnDRynh9pvH6/kwPraS4vjbvTNG0JaHnl9WztGt9Sadk9hMHDTBszLQ3x4E4cXoOs8/hjHSGzbtDTP/unKIVZq3A27Xdy6YSX1a8MIg3cyHZ+GrRuJ7JtjjHv3GIewcYNQeGCQq1aVro0bUHTHMG8LpupbN6AYZQJ6V2lbODTIALirbuEQxrkkFzYli7iD0QX/by6PNkjQvYtAQdry/+R6SEuawV3CVmSLIZCit+LbkGKO4Wu/nto2pBBNEEOA3Ht3bT4ie6lNYfzhY6jL64ytuzJoy0TAay3OdHxO8s+XCuOWHSHMthOSe6u9K+2e/rlep9K1VccoIoQ2TXKXy2spzXbHD+Hyep4AbdSxyvH+gDcNbVlmN8J7c/fn7PFQa8EmXRvV46cbR5RlnlskILUy52G/O9r5ZZsOoIiQ2HTBvUuEIDlKcw5pDNymI0S2xraTkQY5vhn3+xwsxI06Qm7jqTm2TAgxp+AOWozZDqnXKc6+TQfRxtPThLcMjHncBTmYhv3IVD+fBG++VcfTOE5su0JIOcosxgBv7su1KARs1bUAvGkQQItxyNZfP5+m63mWYbuu/GLjSdJioLxeT7MHWgqQtur00eKQQnt5mWrIOQLEA2sCBCEBemCDkCLr6XXyFI14cG1xGILma8MD215762CMhgfYtLzLUdO1OEA9qGllXnpPycgHWBZiDLWHqN5aJ/QHnPzTl966eyAeY1s061PbP4VWa3M8pnWHjI+ySKLPSx5TCEbv8vFmdH2CwDsGQcLjbAne5+K2OxzGAK81QscLIOJ7k+qDRpMUEZ0Tgd5K7Z2WU0oxQAiAI00RgK5N6NJ3IwTiR1qV4X4Id40SyrRIaK025eN+l4rJQxpn5VCLwLoiAdQyO/hdCEOU4YA6IXiMpCjD3UDfAPR6XWjwVpszjznPFa1HjDJTj0MElq+IAPo0y/B9iKTcfX6mj5R6bxpJtdaS2Tlv5dpSgCD0ulTlx+e0tu7DzPVuKOLqWc8zI/V9CB2OU8M9oOi+rSNJEZC2+uatKRu+2abF4+Oz3XuLYUaUygagT4tlw41Tc+T3TVD99DMM7gAotW2FxlG28Twi+k7L++yubzCEBPRta4FRLto4pjcAjhBjvHEs5GAQ/onR8MlngemhKKk3ciCdnx/PCrlrIe2fd3XB1yHmlPrtw62B40zj42nKLYghWLbbh4QxGAU/MSJ9ubSOt5Hqt1tgIEsRwvSdlsboXWYxmpZa6+22YaCLdh6d6PqA3l2HBzEeiK91X1Q+4zSLbwKAaBtHEqL3ImhGCSGlGNrp9VrWDiOHGWRLg7dAEo5PI2I0EJBwV4Q+l89XvJEEiYNZBC1YCNZKR2+1uWOw2zY/mpOm0QASkO6JAAh/7iQsDEPC9culICUzcrD9qE58QUOBJOS4MybfEJLHkyyEaN7K0hoCQYx3+Qc2o26BiXCMRSMg6c7oT56SDbHP18nGQJLQeJP5IV0UomdZbSyQRrr7QzkXIJ9rNJLEH/HWD2pwt0q3yFRGA8y8gXibxWON39L9i7fpVPI+RxJ/EpSoFSP0pQ133YKVEqvGQsB85v6Noo61v0vdwcwv8xCNxJ8GCWi9QH0eDx1jzmgcC8bphOMbRAI62khIuIOVehP+VCh8rdUCX8bh0C/RABsKJJaFwxtkJCN0sAW6pPsXAvhzgURIwlolfRlr7ZYEWSk2DiiDWkV6e8hkUI9jLUS4+x2M8GdDBQH39RJYJpWOyUo+lXEAI9UK7O1BYjI/2lKC9+73L38+VCG0ZhJ9Mv0KWp4fhoIZahHeXiKl5O1gywNbfcgFDS6tFQvmme6VIFc5PdRxwBipVvAGSyoF7jrOKOaBS+t6vGVolGPFIDPdKUC+5YclExwElpKplf4WrV7nFAodZoDlUUvRA66ckKNc1DoB4RYd39Z8qsUwCpmsLgh4i7pbyUXdj7MQ4b2JfLyFW4rL1YlVSvXWH07u2LripGsjx4AvZfr1c+NbRNgyI6L1w4xjvn4uIYdHXM0P42ohAC+P5561DdVWNwxBqnRcP131RpVsxbYuggcYFYZ4+bVlwyMu5x8Py6R1AsYcCknH5bCKRNcQYA/Pe294oxX1aYbCcYQzZ9P5tQ+AHm9Jux93ywJpjdDCwBJ0XfJsmV38+hMD7Pk56K3qbfrhnNib+LePJv6WMMS+zAsCHnPng82d6yRklir3TMB6vXmOjgHgGrLCYHizI5W8LNnYAwIB8GD6pkCm/cDy8tmz8UFXSN6jNV8jadRpDtkzAOvrK6dwGwC97Z6t2ZtFMDZ7fp4ymgdxWJOMwz626y9fLPJhlykdw9JXB/V3jLvmLc5LKgX62gvm+Tk351sFMDoLg2UuCR46osiQ85ixXE+XTiMeddP96R/CtXNtAExjP3/V++ndMp+rx1eeQmZ6HlrDG4bo18uWHn9cSmxNcUAhxHG/27VPv3y6jhGPvPjDhz5hfVgytEuN/UtZaclB+5ojnGPCkN35dgHy++os1eTNQ0cUCNLbXJ2B0MMuuD3tlhKotZEHzUvx0D+sr1iyVdPXHB3HQ6tGvPXe1+tlbY6D2luZL9cWx2MkcbfLL+nAo8KACUm+KijmoZ0WGPof95vlYMHXGwHzBbHOwhtPRF+v9+Yh8oiSel2WxSNB4pG30F6mcWidawKwIc2/LjvC3QMQl4tVwb7ePKTrr6/Xpb91n1MeEnBIQXJ3kYRw10sAGmcCyzsDml/7aM0CwfWQIjW99JHQHthe1lLSlAF+nYUQR335ci3O9wAAiQCg4wmQABJ3v2YKjTJJONmdvclLPCZfEdzvymlqCIT3gDex/umvC/mVdvj4fBz70vHnVn11H0xYkscoi4LJ3BuUfK7HJzoJrgIqjsP0pZiB2IMMj5j+8lOCAfzqEjT89GE3sDn/3HJPbDmp+Sgrpbi13QHAi8bEnLASOeY+TxeMgN4FAGLrbK1MZl9fdb/PA6tDeJRvNi229lGWC1pN2KEeZSnGtolfA9ENW1iXYT/21t1j8uaudUXk5+Hy6XSNAQ/zmZeF9w4OMIo56y20QygZlVKE4ivArEW2NDOwH6nuvccYE11aUUR6yj5/+dIzHuhbWh55WzXCAEul+73vEaDfeykl+6bdF0rCabKasSvZS0X88Gy9Nl9PiOMPw+uvn845PtKjzSfr4THCUk5sbZcA9C0s10r0rn2XM5N8WpLZvoBaVzjsUqjNpVVExpRjn0+XRjzUF3JJhb0NMJZqsbbbPgGg7vOyzP3qO47i/HA+19aN4M4A0Dri8aN5nesqQhoO+/q3X07tEB/sBVnPuW3BwUWleVpft7UFd0psUedpMim000iWWkqdzsUFYXeqdedur3meOkCQK4Y0SyHAp5dzM/KxHuA+/7hst4jBBcsP9cM/9IuwX+Vd+f2PZd167DKk+vguChoKQexSL8tSPY25VXdhzVh+PvD65edTjzvDo332Pj0v0d3FgUVYSgkf/xM37Jltjfz8Y+3dAyDI3USAZEql5rVk74B2SivXKeyenvXp1EGS4NogQJCMcUjt+vp5CYEk9EhAh5dBeag8P0brroGVc8XLh55L3zNQRKQyn6ZsiAhhNwuWp1NN/eWX10tQoLBT5S2lZOefl3E/RkrSfxkAbUgpsl9P59lTisSjQY4jvlcApbbyp2drvYvgF4eR5ohUM7dfPthiArRfAG8t6sMyZVM4SBLN7xBdIEBLKdcc66f/uHy8OEDsVcrV3a9Xe37K9NolSULz+4x/jwBklkKK7Mvr61RjMj4aoDCMCYAQwPcHAN+i1PP5VBkSJAxlYyp5ztY+fbp7yti7Cm/dkaepWipTSQiE2KmSoiQzS5m+3W+3e0eWh4QdK8lCr9gNKUJ5v6sREQix40nSgoUQAijVMl2n5jEb8WiQoMhBBIAGOd6n0bdNjz88Lck9NJgCKZdpyrr958dIidS+IdBul0sv9XTK6XSqycDkTpEUUXI2pqzt+vJ62dJcDLuXRFs8DodDwO7pWGtIGO84kgwWQgxmVKvlcj3PyDnwAYEBhnFsCY16n0DRHOm05FB4SCMJSylZbNdVZoY9HO4uhSSUqZaEM8H7hFCJZOpta+4uGIhdLHfmYYzTtZPHQ8gGY+820BhCIOvcWm8NMMNjwkAi2ygSw8BlwXtVfb3c0qlkdY/AQBZESn29fGyPhdxFn2u9X+8NVmtNmc1pe48gIpTY1+vbFlZrMWgfATBDm758uSz69FhFZtrG+4wiaTRam65zrZ1pSHxMQIumMoyAeAyv9n4JXzcBEeFQDCQjhPfmbkbsZ3nrLQQCkS1tW7vEOB0RiggSO1veylyaR8ltai/wThMFOdxd7hIeGqZMzWkYcfgY/934Xvk87tdr64LIgYS9r2tXno176nMi2v1236a0xT5NZ5vGrVkpNe0vAAQAPj09j5OdRux1l3uvpVXlXYrGBwa0YCHu2yAiU+ZS9H4h/qc1jsT/tPbW7hUfqR0GYh0SDxSJGOKygkPIglHV3zF/iFHuMfnbMIreOslNH1gqB7+sGkMx1Jc2RGz6VCmWcO/S+KGQ0/y57GzbB7wz1kRv4wcI4658WhKhTR+AeDrl+20AWRyG8rpEYtOnoFbyxNsaHD3cDeVSRdv4AWCeULg1xegJh93p/6+7wO0ftSpbKujBkWNxSDj92vbE9g81eXr/HmtIAyccR59PJ0/E5k9B8vTDU7SIUSNYzJmX16JAQFs/vg4rtClLoSEDhx/Gdvrbv4cdsRk0vC7F6ALBv6WhoUtSxGG0y8vnSzJsBpV38fTuXLNJEr80Po2Icrg/8PLyyykN2BLqbYvzj0uiBAkCND6EUEQph6G9fH4tQ9gUAsvLTz+l+/3eEZQiMDzJEIdkKPO1LZfr3MFtIWSqU0l5mhejhwc0QNKYrc+n19cvp0IjtoYSzGU6LQ8p3APB0QHoa5faUpqwQZQizVKZUwsQxOiUe5tLQ8gJALeI/E3LFhCo8YHurUqB2DhKMghigApywbh9BCC+qLEhAgIAYiuy8Jf//ffff//9999///333/93qYKgbUlyYQsqgRAD159AjClwAwoQ989DICCuORFwLS+2BYUcxmSEiDVPQD6/kFtQhFq7Y/1Lmk/nugGFsPGQA7X6QNR52YbCkAIJ/QHQW/dNKCCJPwgd2oDyl//9/8v//vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++7+h/AbXAQmSm1+EmBOxDlOkXFtfCEtDtJUwJsmbNrxQZBjG4O5aASLHYUytdHCzC8CQDkdMS3O9/4Aw7p52PtWuDS82jqjzXAVoDQAxmnrtW16eD6f/73XpZuAK4PW6+OEHzGXDC7NNX2aBINbgPJe+O3BuG140zR5ixHrsrbsD2uzCfr1wMK4HutwZKG11gUqxiFXJYRwSSt/u0pyB0JrIY0Cb6mYXuEhiTdJCQG++3WWFGiFIG5JAQNiWLGJrsrg16S//+++///7777///neU2pREUIC2u1CrQwKILa+E1oVqcQt5w4tR0oqgsMwdadjuwiH3pa0IQVJrFje7KOz2/VJ9PQAI1orbZhcwxhC8dK0Fi0m9FGG7q7qOH2xeXOL7T0Q8juW61L7lZenjh9zdBb3/CLOIcnVsdxV8nm08PGVvxApk8OlyLWHY7gJoWdyGY5bEFQDzy1Q8h00v6MvcxBCoNdDdmYbALS8AluvcEAPWoJosROPGF6lLWImC8Jf/79EJQt/Q+48AIWjjC4yAJKxCEpRj0yst5Ky5dmgdxBy9NvfNLhTzbrdrp0vv4gpgiMexz8vSN7sANg7W29IdKzHEGNjmLS9hP57+VsYcuArkde7PH7h0bXdh5vlzG4h1gNaudf8huEObXTTNCikAglaA4K11pTH6Zhe28yXsjFiP7qUO+9B9qwtUKgNWpKAQY+xL2+7i3QKh1QBwGAPqVDe7wAESa5IhEr35dpc1SgDCX/5nV9ya9Jf//ffff//9938zPrUxicJf/l9XEskNLyR8XagVZ8gbXgLl0qqYp8603UWWk9cGrQh4783CZhfYft+u1dcDZTG2WdzuwpgCvLpWQwr0WnzDi0p7+inV0voqoKV9mk9Ld2x39anufxp67y6uAYZs10snNryqFFneRwhaAQh9mYunvOmlldLSfoTANYB+vipk2+4iCF5LJ0PAGpR7R4jkdpdv1lIbYoBWALoYohHbXqUukoZ16BCJ7a8hBIqrgOi9+7YXgjGFAAhaATSDL0uHNryAcTxGd5eo918IIeLyWhwbXplyZK9dAvjuU4SlgN5q3+xChaf98vn1WmAU3v/WEPY/ftS1aqsLYLth/nyZHQauAPRu+eOPNndoswtaq80yIKxDlUYL2bDZlX25eoiG1ahWqw9j0GYXaClMWJGCLMTkpW128VpDILQaAKYc2ae62QVNNGJVxhjYS9/usj5pEXL37UgwAnJsSBaIrcni1iSIW5P+8r///vvvv//++3+7kNqURADbkja/UqujdSHEDS8gtC5UFzGm7S5M0WtfFeiteRg2uyjsdu1StSZEtIKw2QUcBvTWXGuBZvBaxe0usLDb+XVxiO8/EWEcWqkV2u6ijt1TrFWOVWiWWKYOYburT9Pww/MhuUMrwEzz5fXMgZtdBL9Mdnz6MLqwBoP16+k8B9vuAshLXdxCANeAyZ0xYdMrhcvLtSpGrMKuMAy27UVQK62DXAdObIUV/vK///7777//mwoBVlA4IL5GAABwBgSdASpQClgDPwGAvFYrKK2korP46bAgCWdu+8wwBhYfZfCX5PrrgrSFz2J+33Zm5mKXv3kxZ5ezr/t+uj9a73zzj+Z/p8G9T5C98P/xnbTkj5fv/W9kPUd8Cz9+7i3Hz4ln/vtT+D///cxzmX/54EP/8Dx8s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yg5EXi+nKtdUgptrRCeWJApAzQ7rcIqTi7Iip7mswXxibqt73nleV5XleV5XleV5XleTMzZc3MYDxd347ylaFMy0IQTzw72xYveSIGgEqlK0KZDizvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3Fne2PWdux1o6agkRQ7W1+WOH7bl32UoKmohgFMa8A1KOEa1//bHdC7LXOu01+Jt6+x3i0tErHfN1rwFButeAoN1rwFButeAoBJETM60S2lUtayTwPNsbcwGgtk8G50H6tVY+tEt9qx9aJb7Vj60S32rH1VaHIPzyjL21V902d3IkruRJXciSu5EldyJFjHaAFAEoFF2rwAjlRVIesfWiWzqZB2jE3juRF+qlTcLLgrN9oQUUvcVwWE+Zh0FSeeS5/XvZetwVVOGRnDYxw7qqnDIzhsY4d1VThkZw2McO6qpwyM4Y6TOwDj/cK7TDTucmijiJFt7r0Qa2Eirj+ENdhXPtbgZsbhEGXpi4bjwrH7kkaOjcj7xmldx7WUeW20MWjtY+tEt9qx9aJb7Vj60S32rHx4qTGFdrH1olvtWPrOY8jiHFneA+CfQe0AtzTnWqriQXfJ0o3m3qJ3yil7ju/Q13f+iix9V1w7TIqiE1e0IVGvZd6VGTY7Xs2u4ljbOWlFMLNogJSDOqrHjQILL2V9hyucQzxJWZdyfXeW3nokpTM7tWPrRLfasfWiW+1Y+tEt9qvqO0opVxwxF7IP3n1rCs/EOtDwKoWOGB9aJUWFj60ZnTP/rH1ol0jDkUvExBBo44s75gojMArzT30QnliQKMOS/T+oXME5akgeB0W0cEgWwzWTq5Vy945x22CKIoQfwRVR4K9hkqgd9ujUf9QFcukGpaWwcUpLfNGbm9idfw5oddpboAi3ZQ4HZihIuO5gXEwjDdlPl2riGAMUdkWvh9cHqQdGQ/RVQ9YQpvY9dSWyWcRrKdrnhH3pfVH/xjCu1m8iWrfJ36nkBZ3yil7jIHyil7hxBXRXxO5XleV5XleV5XleV5XleV5XleV5XleRMM5+wy0qP3yijMK5LRKZmlmncU4Ah4MVlJEN9qO2HcMiWk2SxSl9oKCWk1l3Bad1pJFvMsL7rzaMIDZRTeTl+33tC07wvHFh7XCLuDUzF/ry3cWTaxu3ywRMD1a6oI0O0PfRmdM/+sfWiXSMORS8TEEM1+bWPrRLo+gjlWeWJApvPOlN5MeFrLvucCtAGKxTXjRJoicjgMtEx/GmY+p8ubzIRGDOrznl63avdwtvBQJTXI3rZmRcngpef7iQmYairqhPy5qsn3ulpdnTmyyxOcriVJiwHiSj3GQ4cvLxMa37Ig1ylOBaeE9i1l6P322hS1FTnKOVvy3Fne7gyQrONQu1j60S2ZQYvZKxWozKVfHMxEXBKr45mIgZHd29SeK30j/gnLN18spqVTyuH62xKJ0n0bkS4nhztKmJs8UA0nMeKFaohDwhX8BSpsTjS4LqX/9rDkPvqkyZobZYV88u57V5tI6+SqzXUlZXxS9xZ3ylkzq5DUl5eVyHFnfKKcKLyJI5EK3sIExRC2qZ4dNBDf5zvEw2ELK+hQ1OpenOjHsrLSjDaaLpTu7ZgsXVl2HTOo5IFstDxlJi6IhjEuWNQmddSVBc3jQ9RlFcHo/JBKbAaBeq57vAAkCTX4mQpe1UXnYSosU71HYL7bHT8h89tPzff1BUw7fasfVNqCQmK4t7bAVccieKSAZNV3agP/ewzODjNEkJ8Xbe43MH7iocKQM5+FStbCzQJvx6ie+DF3b/BzDU2/IwG3r7kiYzagXwVPK5DnPBGo5NuEpAwGiCcA8Pctlne5Hbht2jFn8DJc8qNY+tEuAmzq5DUl5eVyHFnfKKcKLx32ZX5A1gcPe4Pps5MQ5HdVUygluchLdJXbtU2cluchLc5CW5yO4+Bg4KEjcWdulYWI1ITYhEcCaAYXKBxGJvXlYXs3lnfKJ3m+O0e40awpTinz8eFx6S/bdl4wsX5WJmA5Tx66JHNn2eE8uYCMApvF+mmSLOQMvr5WZvVmFYH4GZemyVeWvdBYgOURb5bQrrGfgYpG1TdtVrFksSu5EldyJK7kSV3IkruRJXciSugRB9qGdfCGpHsQ+8QQY+tEt95AWl7hvpn/1j60S32rcfoORKW5SnliL5RS9yJNY+tEt9q9QNEqJml1PRrfDLSb/tObjVwjazIQ/bMkXHXOIzhT0D2ziUzVXlVLwdXsYgiEPKg8vVMAePiNXjeB2CMlOozIAmTgMmygitLC22s5VlUbtX5PdwNlRZKADz9BEK2ttOZJ8VOMzmkaexyvQGAfKVqQU2swpyZVlWdCDYsfWiW+1Y+tEuEBXh/AyXPKjWPrRLgJs6uQ1JeXlchxZ3yinCi8d8pAkJ2sfWiW+1Y+tEt9qx9aJb7IJFlj+SD3xn+KAx5XRF5DHhLV/xjqA36/lzQxXL8vy/b/kOG9++Rpmx7HhL3OCcXrQzRoxVCTkXKb99N6tZNS2k6Z/9Y+tEt9qx9aJb7Vj4u/hNLZ/NxZ3yinCi8d8jIw+FdrH1olvvIDAPrVePrRLfasfWiW+1Y+tEt9qx9Z0hdPBaljUTix9tkH1D+m+RXowz20MkOLNbEEBNudDepk4z1kopsMEJ6JMhcXLRnTvOhUm2nd4zIr8Cqe+yq2i3aloLHJ4hCSFdZ6w4YMCnxnTuosprCYBlPuuVhWHSGGIOq7TjZmPrRLfasfWiW+1Y+s4WupKyvil7izvlLJnVyGpLy8rkOLO+UU4UYfCu1j60S32rH1olvtWPrRLfasfWca37Z4t3gzcxFVWFfNU4+qx9aHln8w59N+UouHxGHfs1VD0BS8w0YsyUJPsxOqbxvp027tPMoGNjUrmO5qYlaO2GNvHAcupcKK4l6WzhFPzR1Q+kadE4vcDAmHITC8bFJR/chFfh9cIr8PrhFfck3pj4u/hNLZ/NxZ3yinCi8d8jIw+Fdq7i/EUUvclzyo1jgrGh3vjch3GV902d3IkruRJXciSu5EldyJK7kSV3IkruPxEsobU5WzNWPrRQHrhFev7Vj6zcIqL0nr4bBiILn/YC0n8jkA4tS88blrq7BIw0kkKWF9zzdU3UHqJ8U89MJeX6jCDACBBuwKCbEDcjFSblbXCOZyxs9Eh6fY0ESV3IkruRJXciSu5EldyJK7kSMr+iO+lDAzY+PYh94ggx9aJb7yAtL3DfTP/q7GyTrygY6N3w/mRVQErhtl/b7hFzFw+pP1nRhyXPKjWOFSZb2d8ope4s75RS9xZ3yhBGuIwaJb7Vj60S32rH1m84rVqa3/I+ZXBJdNX5fl+X7hl+X5fl+4Zfl+X7gprdSKiWeEM2oMv0kTebWPrRKmAAsrWpV1K0oKpHsQ+8QQFAyBlNNBnBrqZO5FLyavm0ZL1rV1/adI36DizWxBBj4m+dxkEtB2ZmVVE8nw/yeZqehjbwzARBKgFvte0YfCsQgY75QvNW0zEmJkt9XhZXKdLU1r6Vt9qx9V1ku1j60S32rH1olvtWX0nJKr45mIi4JVfHMxESJFXiFZtai69qUVCwm/27vaiNmgBvtCYOsuwV6eZXCfHNBi5Gf9pJLbnbsb/E8RRObCypUFnIyugJHFECruGacPS4Iy64kLYn1NE7KuZ27wywvlWnHuPOGYxwb07vjm1CdndbUpm0FXBhXKI5utWuvyYrcxNg6Wu0WHKYEGYoSOyN7C2DezU8HWgYqCNeKzUnI2NoHsVYkyTCcPhchbs9hKaba0QjzkengaWUfW51Z6CbV6DJCkAcGjq+00OUS0h63DeiSvOK0i1ohHvwEhap/I1EcqC8g0PaIYrywh5h43zQRHKdSmsYVmdABNQBIUHzqwS2qUcLBw896IkDalYQs9hMKkFKIH6tJhG/dHp1r8znT/Wi9RdJ2TbFs1PFvX15D0Zgf5DxbkXuYUAOY1k9PQ2ejGbjnC0pCVkQFnfKKXuLO+UUvcWd8ope4s75RS9xZ3yKy1yOe0GRzFgamXwcKjRkDA1odA/yx61MjWeHT2iVPbJ1+ggXFm234OF1hFXHblGIuz6d81o2t7DAB5KF6U1/rI0Aop5CYN24sIXh9izeqem/OMmvjxtZ5b0EzrMT9bGPuBNxlFUBPzbVwacPVrKBe7sfe3F3/hVPuP13GIGp3mbaTsJtp6NOdCSlKhtpjNKJITKqnpxoagFzlzWlpOR8iiFXFfz9lz5z+tEt+Uu/uBriDMjfpQFoldX5Ge+nM44XfE1Y1O8QrixQzimVy43+nU9DcvU03s5V7McNHZ1Q7ilzffhlj86avEayLJ/irnnM7pxlVtZVtsvrEmw/ut7m/dP0P6mMNHEn5zc9KL0JuBc0kT5iPKVlBnaE0HIIUu1j60S32rH1olvtWPrRLfasfWiW+1Y+tEvI5HZ6UnrCcdXC0VwdWqtqfbhSUXHWDoTTOAyviyx+J7QqYX31yYoETXZFnmQWOndCmbFgaUx7SBwQsR29a04QMnqu18q5aPSYYbo10I36eynOXeVqa0Qua5sEV29Z/jfRBo4KYJcVyTMYoCPKHAqMuDzqzpHjskimMxtmlxGbDUTLuMwFjx1HsbsdZPr614oeZi53UuzMSLVhCEEVIfGuWHzpKVsqQovwcxxodhtr3LzqFvalXWWlXXmlvxXPNM2iow/K1cmnkQ4j1JHwJCl5Cl2sfWiW+1Y+tEt9qx9aJb7Vj60S32rH1oltJ8n3esc1ol6QbJkdcxS7euX57CPcwNQdBrwy9imyNKr/vNvaMPhXS53+e+uyFFBpxXeHGGNu4IjOzki3ayzqEgjb+BzN85o1a8fIHEih6wK/R23lTN/g6xp5KRZnJd7MyaIZqNoiPeU9A7LfCvzRAGr/vkL0pCieTqMOqpnE5/GV902d3IkruRJXciSkt0ldyJK7kSV3IkruOo5evlgXXrlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ26pcbLpYO6bO7kSV3IkruRJXciSu5Eldx+Z35BxE8LF4BtaXuLO+Usmdi8V0sXbSUjew80Q2WG/UP0EqSHqUlBl4SYQOijdTakO+8syFxppyHJb7Vj60S32rH1olvtWPrRLfasfWiW+1Y+tEt9qx9aJb7Vj60S32rH1olvtWPrRLfasfWiW+1XwyHN2jU8d8ope5LnlRrG+YQTbB5LdtHztHJeXlchxZ3yil7izvlFL3FnfKKXuLO+RbF6umDH9Tx+jRnFnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3Fexs1T5EUchxZ3ylkzq5DUmEE2sfWiW+1bj9Sx3yil7izvlFL3FnfKKXuLO+UUvcV3m5I4cj2pxwCil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yifKoUVli9ZaWiW+8gMA+s4Ypsil7izvlFOFGHwrtY+tEt9qx9aJb7Vj60S32rH1olKsQjDBfj4yKnzWiW+1Y+qYZ/RdoW7L7w3DcNw3DcNw3DcNw3DcNw3DcEdhTyQAM5Vyd8ope4s75RS9xZ3yil7izaqBkszwDFnfKKYDfqWO9wDa0vcWd8ope/GchyW0jqXSeCCJK7kSV3IkruRJXciSu5EldyJK7kSV3IkruRImC2u65RS8XDF7n/LX07V8eLBcvkAumnVo47u9xYKLptL1XMGhp1v3GRFnsBnzOP+1IzroRzo+/WJilFL2qTZCyRJXciSu5EldyJK7kSV3IkruRIkecMNpICDmZ1NNyil7i0cl5eVw49lQrtY+tEt95AYB9ZzKF8z8BbScysR1rwFButeAoN1rwFBuiztPbLrrsaBDTqO49fu/GXy2/n6ZIzEmj5CfpNMJZwtODYlHC3g2ldqUCA7Omg9QchrY9SKJHcep5nWTj81i8jfVRTrHrsgMXUEU/S6pGUJoIQSSlI6JDiulfFL3FmyxSicUx5ga8BQbrXgKDda8BEfbhB3Ie39B1LI5MIJtY+tEukYggx8XqablFL3FnfKWTP5uK9c0TwodYEFsysRfqnW/Q//dpInBNQ/mKvyRzsJGDW6v9YP8xNYS7SO2aws7slE2UtqumFfmE5VCLDE/ewDo8wjtJjyXvVWu1savnhK7z3LIh4+8P6SZPJ9YNEtrj/ZmPkNjkFD8YYIiXxolx6Y0Z0CDktoV8UvcWbUQpe4rrVQBabNWPrRLcNw52+sfzfjPAMWd8opgN+pY73ANrS9xZ3yil78D+qwj+8Z5nmeZh5WAZid2YeT/P3dKTk5mWDE14Lp+WKPf1S3XXAymQC2Ijyu4/30NZbWQ4qFQ1vOPptZ6W1mgs8sURtXx4YH0ab+c22LWqu4PX2cOU9b7OqGjggIYGjDmcEcSuZFiBF1lcWDXZOYxC2Qx3szjeUCVEGkjx23KppREazmCUJjjsa5NsVZgaDFkx+BvpUPgmiIiTQ2Or1yNG28Zm+sVA+0bEmDCVDJ04wUkgRGTllb7c7QmeY/2BD/4RqV5AeVOvcNWLf/7jm33vzud9236cDE6h9AP/o41KU114gT92G9YkCm9Wsq2fkTNmY+Mm6WnIAj0oOSQyqii9WwOc8znJrES7V20FPG6tN6tdUgptrOx/d0tFnLFjKl4cV5NsgV3Ne2a3/hTLtG+SCOQDbNQ0UiTVldAu9tZ2+1QocOQPMidVohJMy1NxJub8Z4BizvlFMBv1LHe4BtaXuLO+UUvfg579WI1MRqT34kIE17cYXsFv/NSx2XJRdVy2pkiyuT+ZoM9+CkdklMTeerUL6/vhv8znebwt/4KB7dt8mSVOSyEaJCsRagwNZdf57+NfstCwpLJDQ5SmoBw3+bWI28nrpsTDELx8zcNszAo0LLj0j/Ir/wJhMkqHOHQXAZrcPCuFJU18LyIHS06UDj5KQsWi3loaRUleQOETtlwV/xpvy0x9amIu0qiUEl5uTOOE0JLVIVRWoF0egfxXvWWJApvQfcT8gHWiW/LI971GWJaVOXBTG5mAURWkWtEJ5Yjc0D54iCipqtQBVyGtRn1nUx4S8XSD67OwaumHKCxZ3SBBJUMkJsSBTZLByGkHsqFdrH1nXWTRsUonUYkGVXjvlFL3Fnbgbv6VzjJsAdzZf2bZ9e1oi55nHCwVF8ZHpU2CjmvOCH3/N+57CI3SmnBgeJCZkPbNcPg4CXe9ul0T1rpxJ90REZGHQxXyvqx+vvUHTgxGFvtWOOPwlaRXJm8F+NSlkcvahM0dCg4AYhSGBwnLsA0TahCh+mm7z9FP5lsqDgPKr5wYeVNVHZqJH3Ks7+xEdMYPExhZaA1V2061JgmUFsqtNaWHrHx5FXYKeA4IUvr0HT3Zww8cSGJe4tHrSW+1XffCQnDURrH1ols8OBiaGxmHDoxh8o4vqYb7Vj60S3vllN2fse7Mq0/bt93iieNVsZZIkruRJXciSu5EldyJK7kSV3Ikrtc5HchyEw8vAR4TeFdNoVSQewX+XbSWISjnPDC67VVr3EcAG2fGNLb7KvXwgFhpnuFlMjzmvCB4G8FF2sccfhK4BbIEAmbtIo2KZtjnGLLfWbhyMzlizyn2UMmVuu0VNCWXLSV9Oc8MTpSB7XLMgpBwJHEN6YtqwrPPl0sXWz70sMUGXfLPAb5gXRmuBjHrjnMQ7wipK7kSV3IkpLdJXa5yO5EldyJK6UDRhkrvz9CHFne27Edyx6gFFkHm9WuqQU21ohPLEcHH3UYx4ZBJH1olJ7zBBSkCvEagpdH0fR9H0fR9H0fR9Hz9XSUQ0o5T+Pq/47fbR2DRLfasfWiW+1Y+tEt9qvNt0v0ofr/+ElZ09vHO9j0fhfzLWgbpX2i3QnuWz6Rg5rxazk2UWZchLyAIcfj3IoUUvanOA+OtAY5pP5EgSCEFCP6joEn87OLRCZ4k/btwGwNMqGl2pcQuY1ZT9pH+CAC8HUesMiXax9b9Xw1I614Cg3WvAUG6yOSzvlFQ31RZJJVz3z4Uvw5LhPCAc14SDcdN6WtHeasXWrH1olvtWPrRLfasfWiW+1Y+s6ddw7js1SCDkZlldjlyUMkK3NWLr5peZoUaWSJ3ZQYVXvfw4s7Zu+Mzdl94Zfl+X5fl+X5fl+X5fl+X7hl+4PUwAbhYtap2+1Y+tEt9qx9aJb7Vj60S32rH1olvtWPrRYesfWiW+1Y+tEt9qx9aJb7Vj60S32rH1olvtWPrRLfasx8qKj0FFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuRJrH1olvtWPrRLfasfWiW+1Y+tEt9qx9aJb7Vj60S32rH1nXcfQUUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO2Yz14ej6Po+j6Po+j6Po+j6Pn+gf+wQpe4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9w28KahXgzPEZUT7cYSSjjtwQGlO/8FTi/Cl3g8Fg95QhrshwA2RYkEDhwEe3a+KArJV9o9pakuOWMM/w9OE7oOtEt9qx9aJb7Vj60S32rH1olvtWPrRLfasfWiW+1Y+tEt9qx9aJb7Vj60S32rH1olvtWPrRLfasfWiW+1Y+tEt9qx9aJb3/DryFI9MD43MtKzHao/EiJjIX0yPIVuZI4WVpEYtZWk83HoQAsZCUMDrgFK+4p52cMzlOA9axdfeuq4rMlSCnkekYKLtY+tEt9qx9aJb7Vj60S32rH1olvtWPrRLfasfWiW+1Y+tEt9qx9aJb7Vj60S32rH1olvtWPrRLfasfWiW+1Y+tEt9iIRaoc6N7Gc5znOc5znOc6xrGc6xYH6QfPtWPrRLfasfWiW+1Y+tEt9qx9aJb7Vj60S32rH1olvtWPrRLfasfWiW+1Y+tEt9qx9aJb7Vj60S32rH1olvtWPrRLfasfFPI0dprFPMph3FqFxIsaLCjyyZgpi7AlOjRkNekX2OjJhU6AqqdYxrPT9XD6E9YxBQJidoKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUqWuGD5Dcs/82SPq930hQdZZ25Ja7t1nfCg8lnS3CasOzMVli4JsWwkrh+zlYd88mM0U5drPBJtHRRB3n9SS32rH1olvtWPrRLfasfWiW+1Y+tEt9qx9aJb7Vj60S32rH1olvtWPrRLfasfWiW+1Y+tEt9qx9aJb7Vj60S32rH1olvtRyX+OfJ0bN0SywEBEAxiuJBnwgmIjN86pba0t4yOFdrH1olvtWPrRLfasfWiW+1Y+tEt9qx9aJb7Vj60S32rH1olvtWPrRLfasfWiW+1Y+tEt9qx9aJb7Vj60S32rH1olvtWONHIEj/0Krjv/KgkEa2HGeSqv1FK1lRkKcAS4b/xNaJUWFo44s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xXc8nUYehj/pffRcwzc82/YWhxKw0exfP1ov6hNh/3TZ3ciRblu1h4NTIcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s75RS9xZ3yil7izvlFL3FnfKKXuLO+UUvcWd8ope4s8CncMOLO/HFAAD+/2naAAABA21x8OLpGiliFaakxlDt+Wx85zSuZ6zGYzGYzGYzFYKUtzYD6TOmOMd8QO/C25JL+FtySXsauok+2Aobv+tEdZT9F1FSHN5F++ug8tlaPiW5eKLtWy8JVCj1qjQahlB1CXKfW2Y9Uu9GhSIp6NCkRT0aFIino0KRFPRoUiKejQpEU9GhSIp6NCkRT0aFIino0KQUAAAFCu/XVjr0xvLdbWPX0qWMp8OEqBY9j0yax2GsdhrD3dvxpGiHVvnugLkf1r2FeXO0FRsXYWVEfXZZfFkFWlko091qEqWLu0J8MneXzJocpGzl28dAw5AHu7XAuF8DURY5GUfepEd9PrqkAW8zA783agnXp4PslBgAAAqfvA/fu21TpH4/t7LK8kweubb5lRwWp57HU3H9jzXsNZWu9XIp/CcuF9ZHrfU/SAFiAAzF+MpShsg7PNw4H6oN6sXHcYJMzQsDdnbmL2gOrJEXq8ve1LjESH9g949ZDYUrUuvPjKOgVDhG6VINjMmm79YIgyxcao/8xLOXdHtyVEBu9Eh/MHh5ygzyfcXYzCSWm1TFczi7VcgPjabqre2l749BbxcTDdavbkUgb0GBbC3KG9+uVfrNs1N6QqeQRLIV85S3tQ5LmZ8u43vTtEUiBhGYsrCcCduF1ywX9rgLwkAtzSfrpsFAuEGsBOw4IjjZ8lkHTO8ydM1W7oFR7o018zEkrc/ta5BTDP7LaVdz3kvyy3HJQIWkyNZBc27qcXyKaHL/WDc8Tmyxt+UymQm2r/GbCFVVqEGKjD/kYrN0LyqXQBFmXgrUFACD7Hg4X2uSG8ikHQRnc4Yhp7DHo2eBssxQFC3SBPp0EgSg8H9rnYcCeDhqhgT+djxAeMXA/JG+ByPLo6wS3dXPQRZvwSq5iwZ2fhPG9FSwaxhZ1TEBIGt8UzguRyyo8MiXrNpSsSiQAnthTQX0r95NpIatC7zUwAAluBbUmK7I5PaZwwFOZnwLXopOy/n5kNfI1tQZ2oIDW4PTsrEyWA5iMsc9Au0X/Bi4bjC2sxzXr/faHodUI7qeQNiXev04+QYhB5Ds6cncih7Sja72nCF5Mf9ejYossYmjdXVxJE5ZqRRiu5BtByC5JESmdiSuaKtLEuUmzTqS2AZgFbIFbXU60SO5RUaMlP4C10ohqmxEY69Gp8h50u/exzfdqCN3Ex0/pSYEIbonjW4Ln8FAEVYmyDkn/lXAIMjHbF0gypkOBYxdYqgSJpepAzstsqErg526VRT7UzE2qpt3SumsXEZ3/WF625zQAkL1gO/i0PfYP5OIcvXIhwRj9QmuRetMpbgxuwBzhA68LxoyMb/YyourfY/KjvLXMhiTIxdwJpzIj98q5vfENPeYascaUWGfSY6gMmurT1NqK5dHEdXn37L+uyjstGQjRhGYhDFyYlbr/gPON9NMV8lD6TNeSZlg3uB74TQizX5tiK81cGBQTUuXngUgk3mQ3DrNZfVFgdHv6kH8jnkS+wl2v2P3R9dZ42/d+zW3yJMEjRTzmWcukKU/HktxhsYQuxUlzQ2MwrgMrTajY7VGjrqhBQB9mWNk3r2QA0NZkPOXIL5LyC+aEa4VnxzUlzMWBDC7EXg/guOhIMDDLr2P2NEbEOoHv3chTbWIqnEhQrFk+YijKI1xWhDJ9LHorbCjK4XaZByVQPkydpwzSTAboz6TWM9+2BfLCvWzpsV1N/BhroAcBdyClFbIDluiAK86DN+9XCEAWkZQhAFpGUIfXplRGlKEmKPo/wKkcFd2MKea6X4oTiiQ7GeII2jSQWkgMOWfWz9M5DrUyNXmqsNtLO1xND9dbgGAKJ4KlsFEkzoK0Yi4sbqrrV+dH0HhJS9gKvIQRS+BirOFNRfDlBbMIuqpT2/O01gOlV/LKNDBODRHiUG1tyHnzAUdyGtxjK7NRN5YgJ0iWltmtrjXnnvQtWBomt/QrqmoABGEOIknkY1dAikOyG7StIYXeqKIV2Ue+iJpHkh+DK7uAdp+XiqT/9UMmwRg3PpZVLP1VnoAKRubSyVYei88oUVAD8SVLaYNBfVg/nMLg35RN5tTmzoxikFhdQVgTYUfkTmAx7nJM+JqMwpCbklqke2B8HA0nKgKjm43SDRs33+GrBUevnph+qMVm7OvgGOqFPJArkM6U1qDUKxZdmRxgdNvAaXE+vr7AHJbArbOYs4bxDKrRQIi0oCFE9My4QyG+wHrVUOU79zfmvZxXDgCA9CSrUTKrMeN5YvCz0O4jmOySFXQ2tcrxdY4HLwr6fh8uIZfeK6+5rxyxaIxOHSAD0yZT6IjFheY2zYCEUwEnzehf/YXzSczJwhZRD8cviYwCazSw+BdfKAF2cqMIMsoaShsALVjXEmKe8zixbXYHfm+MGINFjcDOw2wLPo+gePKvJNJ0dlAq2eiOxnGV+ZiDXCOD1Ys22MR5pv/dP9UHjoT4MgQ0uiFYy0qQ+RPUg4utgKFYVbw6SSlX1kgiEyfagsdMkajGAJff3Z+peQGuQo6Z8ZDwLcX9OixUb02ERa4DRlUHk9uCMj/5NxsbVlhwL6sVtupjvcKmbTzBIz18qAZUMu0a2AV+oQ9Yl+MPnJsbUdDMYFdoRqP3MogdRgWxCJcGK/wqevYzE0InXKVqIK0FLeD0hw7F86WN+WgOOB1O03F56H7W49kIrrMRo255tGOht5Hk7StUSn3Zj1wueutcbv+tSAIQ7cijcLwWajgLbqNJ6IiNjy8av7/VqdAbPmTaQ+0PB42kXS//u224uE/016RM6+n+qkm+xgqJN0HlV71ov/XmsGH8Gf/C6dJOndMNuEke9QrTEYgD0tKGKNrhn0K+8D1UFZ81Gfa+rdhMrzA7J4yQS12Za4sMOBEOm2ZzW1ijv/wv1YXVwztJPOop4WzZEKCnYC4oqbfkUCGjIACOvwpsxIUGh245XlRufGiFjOYg4sUeYbf+ZE1czLjrJubAqONxrSYQKjxgM1loXQEtxURMitplAy444Vac8X4Bxv1YWwu2omE6BBafMN1niFEuTKdPepPar5pdGUtEqyspdOODUp6S13Ua9kgpSNsAlqf6GRHkfF7zAiOOlNnbLWBx3VmrtTa6a1hNm3Ihl0Ok/j+/Dwwm0mBOGr267VPhOr2iWrSscA/tI3BHBwJXYLcNLSwB/PNpou8nMer6e56X3b7cWm5qSDBu6YzrKfaASM/zoNKvdU+3ykvc9hiI6/k7R/O8/MSrVM8urGhXbRqT/xyQzJ+SBtX/R06Ua2akMeaybSm7PJ8yRP0Rn6mom14WBuiJyu9L/Tldz+uGdmd99hOurNy8bmZN7iPL01tfETDeb9pXYu8ZfWthbU/LqYC4Tfpcla6c81OtX0bCXEyu5Hs+tR65MdheDqoCQMlOMgCJ3EWGpSg+WYzixGWI4LkouRwOdgBLjq7+mF8GIOiKG6Es/xcIb36NGvWY13IqKVPRlczgp6mYoUxnoFO+5dioYHpIWMliRzHXZbJ9qSYDMylgEk7aoYCzUcA/NIcACOruVZGbUvYzm2D/vh7+fDocLkMER9UrPGq6iXrVTNmdBMWFV3rP3+2zi+Wj0RjOsNrShoX4ETRzUxKvSpbIDfmAFUxLYZQqilW5d1pA9OJUwHuAF5uwm1yX07vCQdPmju4EXZEqS7WYUXdP/+50MDpIyP0HzMDkKAQLuHYDtDT8WhVRQDLgBA92H+f7+fyu70/+Pq3u+C8d9zOg1aELfLX/OsFlAt3FEipNsFaajXhdIEvEmMPZ2Axc7Plp3gx+/cY23DHc4W+/VODSPLy6B2739pMsAAKO5LzHf3PxH12yhOE2NXxE+eAmt+cUp9mTcqZN1ZjgTGCocdWD/Z7R+qZIOLxKXmpHZf0Px8bEzQdyRKhX8yDjqNyqy7yRhuuGUPauVLadg0f/2+2hSTkbna74MSbbk2pKUBnaQhx3gAWf0dejzFv8vknGTV9XzosajlOJVkKEkI5TUEaKu4ngy/ma9t+dg5ys/6pAeZS19tF40WwtoEQpepH1NO+rAg1E5jlkLH4JwS7BRfw3k5th6JtxSvQTlU5XMSNnQ4oSwMyrD/Q/7C36BmvhRgIQS4Za8nChlahwF7cAAWGjkw611nNPlKhAhx4NZP+Pc3rfItmemO2nVLF5XDEZKy+YZC0EEMw/To9VtkAtZ5YZb4YIwj57TcRhHF/6TjJxrpDeO6x3g8Vvg6yBBBzr6eNjEPw4FCgF+HWK3+mHcxPMAiDf+YTpd/iyZjHm2Ckgo4RIC8lLQofVOeZLIixKGbXIpdwnmLZ5FEpgRnLjaQ+kcutkklKvYtBwn0Z77FYWCbIJEm2SzY3vAH4KRC2nOWererssi5i4l42h7rWRrq2x83E0+TVYblvpYN4JJo+lfPmWlKU4TWL1LPoIFfHEUJ9wH3Cv9rNpCvE4uKT7AXBCrNSQKZe0S1aVjgqZUPDcCbxpXuo+jtwpGDTsXbqj+HXJdHzmWQUsfmeAMH94357ppD2HpZfAvrCc2reHYXLuNNu5YgEwKDiwWyaTtA5lhPjD3SAAi1I7TvcwYuETOAEQ/4xPiNQi+sDcDIODIgLzt1vJ4aweMUXxoU4JzAf75b2abcGG0lJYJjBFNNIJ3xm/kfrie9eBNdi8yT45YYoA9DlHPMKsCHawl9Rf9CT7DY5lSZ2AQatgCrEglA4fzfmLANRfgNcUr4K5lMV2qCl0bPvJo7iJpR0jKVl4LNRwtqV/1kTCJkvpzee+DtGAB7AUdQIpvfEOuehNlRTJ9IEQhfm0lS+Q5+cGlVPrPpScIpPTh4L2K/6OexybbxvwCK0coiNuRO6aW3vhBrHdYHJmZqzJFZ7qwFJsAF4igqLvzWb0mJiLQikQ3ctmCJIN0AEMEl+sH9+qfrsmoywNgWp3ADJvU6g2w2a49Kg0o+5GYHtTL7x7PNXYFATfX83y0/IHiwafi0KqRm5hi/3Fa/5yboroGSHJkm7ABVmsnw5dMYYWYBW74m93VH/H2C+/wKi3EOvXcISfwLpQV47ifGiQ95FyenD0RSF2Kppsb2Atlvi4m0UnZq8rziNIuXj6bwA/QfUfY+R9Umpp7jXZTdNQy7vOjCbU8b8xteMYEaYvCXAe6kUXXL9lC6aQydsnVbh37wEGUTJvtR6CXMuu/o5Dxfp7Z7zOAR6SyATulObj8GWNygR6Br8bA18AAA3b54F7v+6EFhhh8ZrYM0jaOVZKgvK/zgDVTjznXYZY4ksBUsYtLt5FLDjUN8xavifirTyjXENxqjW9ZD4fqjFYVQ0XJYl1nR95cdPY9LeMRT7UgavE+BkCzwVT/TAekkfi99hGbOqpI+nfYdUObsHZxZ4U1LFHr5icRv8jBT3PcQAwtcWAZCgt+x7/LcvFgsYVhHjqkrUJPNTSwzo5m06Y2zJoCAZD+IFALHC9MZ8uMca9WeX2wr6USXEBd+snOGgIFGLuddn1WOjyrrZdEBRJPWhYrUsNv1O0m1d5F1kwcHl8kJGGfTsfS/VHKd4dT5wNECcdp5o9Wp4iLBtA7hwtEr745lStXn4BaVCvPGes8DCsP1/RopnJ66D0iQkdUC7QrCA97gBopfdk1CIFkuJO3ECU1iimh4N/58jXdZBu38J1cmOuGaivlwwGeeF7hmp4ryW2bqSjS8WWgPc6g4YcDF3uqgtM6ZSDGobvRGoMDb10YVbLPMXGDaUganDVwD2Ir7N9Si/imeUIwOaAwrqKTZzqd6NVm/ApJWi6SvU3pV4DKPm4ns/IV38tbb8ppi5brrvk+zqkOA4pUnRWs9bTPhNVN5cT8I0qWQEYn1sjjrOiHfcrtluXWrtfjbDyFTucnbsQXI4BxSlvvb4AfVdaDvAbK6kp7MwV2Egh6gJQVKnNBxUhE7yQoRzmZzz8Gippyw66AW+aj3JnsTmosvOdlvfkjmuZxfH0SDClqSmY851fVwqt63SavQKCrnpdBE5znKAe4iDltjgCdu3cTeyOEECo5aWAlnR5sJawS85usrSPiVg+qfsWBF6RFeW2u1GfItqWzCmsbeKy5ODmeAEAACQABqhXAZ80nk4bqSFseraNbs/sSY96ZGML4X5R7p9+/Lm3x2bib1NpmmRKTqlg4LU3VKogGKRghcH2eMVAOsU4V0gMAh6JJ14ZYlbTZeWUMBN40foN1xDugOL/XnSqdAEBeSE/VDnV+a8CLi3d2LmbY64w7p7fQbNBb57OL2Y+ifXTZICxbtSA+MikppzCCdhk3Xy4KUudtaF15KCd+yk/Jzj2zrLp6fg99jUMyD0ykw6uU1kU1M2b6IxB3eIoGcwyW0fN+tC+UQyAt/pInvPBpLB31vo5/GAbDQHyPrjjVkX5DDgnCkOO1mGbukfflP0d50drsN6JtGtaSo7QX4rqXSVZ2eV+OimwR+NjwfcxL5MNQ0Mv7XjwH5SE7DkuoZY5a3+JHRzzrSf8lMT+Y2m08ZG+W+J+AYBBAmfDxYsyAqCJi+aSecK2iSPR5eW9lMLlR1J4SOffdlmZxYaTnDKpd5TiMNHrWMjPoi5GwzSmrSfqHRT+zzTgKFF0VZ3uCEFvmLGgwkq5EoBiPt+s/fCsD4ZQqgtLmBaHgOARujypwos/5afnyKxz5QgqCz9XvjEietz9x41dpAPxyQZVkXKFSKzD4hUOKQozndMfZwkCvT4AAF+NJCTcTYlNCACpN9rRTiGZC4UWRLpcpqQzDfKw1n8gTw6vTlYJals0id8jRQnTso5QqHCsEIXLORUWdiQH2AUssvIWdn/BhxwKL8u7kV1uUrZFAa5izL8jPPrnIG3wRvqPDbFILl5VabDg9lbS8QPFd8D3vAEm/MMr/QU4gyr9h/9NdMbjBBxu24a3WPb8deMUECDqvLYKx7n3qeyvHS175MpGA7YhB+M2+1ktrD4rQGs9E3r24VLDjTXGUasvCmdxLQpk06FBgsHIv85Yw7s1HkOGUVdaJCWF4vNTxhZySl6lB1SS27W5vi5kAV4MZdl8dE8HBAICW8vO/mfnuZ14INHV3XVj8aFRl0NfF6jZCYfKuvblTwm588nfr68Cb3iVl9bLqZkHnf/r51o57SfB0hZl6e3Cy50t00sbzAlIkw6JFCN6UGkGpyw7owOpvSOTwAcsLxI6nr4+XfDN/ELrpOOvKlXYaPb4Qp8s1zQ85dsqOEad1P8XU4UtqL+2LOudww4iKCKmYN2R7wcc8D91HWd1OBziiIAAAG919eAEjbNnPLokESsbauBCBOn+zgtl9MmqiwkQj2nxXwhdCUaN+SlUCuXkBAQza5F+fRy6D4BQHd8Ullqzgl1trMV8JWsHtS0cDi40facCVX7GmJsll3G5+o+mEPPRyymxBm7+63maKVwNlfK/bA+KPUM3Fb02Fz+g2Wm0DIsVp2Muf8AU5FV1KYXsHD3kH6K4XHr5b+/vm6PKitA91Ir4Mfbb1WbWgSLBazXZl4nxJlUHo4epdCpNJRhw4QKCeugdJRKN3o1DFDTq7+Q/bMQWQgvEf2nd4bLs5g/hTiqQ72R6lyb3Tv2zCOTnOr8OLy9a7QsIdmZb60KwALq21KMaqSQAADwTcKCi5ZTcg0jOLlCcBvmzonYINLgQ3rAQbWAUubZfo4i/W96l5GViZjhlM14vgVGKAAUS0AAZ1Ztquv2XPGBrgBT61fkILGcIXsmbsS8UNw2aZQsUoAAAGX7/ihwECrWkOABpYJMGUiqRTLWXRjsJUU/EAAAMLG7DgMiBrgB+VDpWNkFpnGtBNGIQC63faRXQwwKt9noL3kUrBs5t3T71rZSxGS3Oo0UQmuIZmSrIgYMvHzPgfKcsPiN03bLlOWHxG6btlynLD4jdN2y5Tlh8Rum6psqbSbUjfzYETpbo/S7XOKAB4NIyFpwcBkQKjFmmedl9hrkV8BHK3HOCP2BTHDZVnMPocgAWVWHnLleJQvT5xAyfZkyDMg2elSnHwBICrEOXbc00Vhlvvjv74j3IXzd3NTTYbp7FgwfUksEFIoEN/ddC6woU/2M+dkEpJMxhTDJq/OD+6htT9KR2UP35mr48UVUrSFenpJMwBLYEUiqiuf92b+GduzcvPmbSKNttv/ASb1tt19VY4OQQ10acQ4DIgbKiLwXAAR30LOaR44bGMke36l/J50a/A24fPW9VGSaRWA8mqHbj9youFjHF541rTCZcI2Mdby2aDnGSRhAyfnyy0cFag1lFeiY1D7y6WlC85eEWnoH0WnvJmr0Fd+sgXjHGKTPUCe8Cwvh9b3LwJ1cXixqOyLaN97KznV1xSjHmeaz6DhV7mhjqtKQQafhLTvGRFBnWPvTcSd94LBu0Y+aKh4GDFZvNY9uIPtEdIRAdTP0ivmiTpEZ6Vca3jAKZuVBSJjYDm7OtlkfvvVXjrUNsE4CKcRXc4cbHc4eTQJLsIebSjjG6CqHvyCOzfy+N/RwzHAZECoxwdxmrJNUbDJwRqpSDd4X/ZNHj7dR07iqWkwZG7uefC9odmTmrf6/Mytilr+RMHRo01np3dwtHxlUosw7dCq6YSs0gWPIcmRHA5KjVZdhH4PE57R8VrVKXF3LyPpc1ncvOxWQcX3m3enaB6V0MSO7CVnpgaxW/ui1Crsg1bgHiJ1EJsj0OShLWb69WVA7yCzvR+tQ6KVpvEhgn5CvJdSJVzQE9L7wIkPVh4pj7WZ6QQ0HcOiFXIDJOAQG7/MqsrezhsACPIecqnCoqJY6eqHNHQDHoFtkboZ8z2Cx+gsQbEId2+aD4UBV2jF9ZAvZg+9EH/qfQLPOpLzEyz4JR2Q5MC0L7z5QZF2C+luKekY1WV8HW+qM/AGsNbArQXBLpLSeGmcqUm8APO+PaPu2jBML1DrNUgZkkY/IessX9flxjRvK5EK8B7uFIHd/lf+5TsP4PKUNdOm7Gabgis+EhsCvBkVaH9StywTmM2vnKq1URhkWEQY6RYnKGehvJQQ4SxL2l4UBc4ZUO70UzFW4O0OAkoYQ7E2/s3nRaAsRII1wkjUiquaHFVks3/eFjI/AUojYvfwJSvZ1O2kVI7HDD21PYkb92MmDgY2C1My3Q7yqJVpUvUPNMc2HkWPgllExR94DIYnvs5gU7pumCI0btKkA7ifEXuEOHFKT86cQ5RZ6I/0kwi983+uOlbZStaAn5MBomYTDzk6t8jSjKQiPJb5XdFbO78j9zP1LFT8ed7lisH+FDNd5NuZozWGr8X8o4ap3/0x1A8zp+zr2S+zzjEUHegDwGKnBQM7hp8apn0j7lNRTaqWrk9RF6qLo8vSp1iRJdQBxS7qViP5nptwPkcw9pq+98SKaf0Y8k3tY+Urqny8aeG9XtFaKG4U0h0RkJkl2denKOHMgswFbJ8GGFlxVjvIoBmIk7rpA8UX96tu9tHjms6+rqnu1bPYaznld/+9O5AKPgj6WKC+U5804nbHJkzRWMsH7ctK0TubvhVUYYGbnYemkL+wpMrQMdGuriwTEtrZwB+BxA3wqua0hNRA/GJ84aDAUAnxQ3esaWf4WuUKAUc4MgtA+U4jHQPH1cnkdmx1qeu7Tz7yh2/WUQeZ2RC/y7QscHXJtyWKU6ceC38EsWYgQFQWcA+4fXgAoBWuU3tPQQBK1UmzoC3hX/VBn4aUM5W5wmVazI9yFAdhvj3OnBzTo/F/xfR39m4m2fG47wwieCxdFCYDrSCjJhr2GhmKRaFn1ZA0nPrMtYye88lGD9sxW7p13aO2vlm8slyNGpMx8QPG9rrwcrR/yz0ozfURrNbHARKQC4uSHoPnB0hbC7ubKHpm6YjQQrhAY1LXlgvSCNQ76gn/ipL4iIqCdyLPABa2oynk7I779itaahOyPoVbZvfC3l90DlGdqFoCSs0UYmKFhAh92sX2aki13NSrbFxXPfVUM/qCdmBXCT/TilT3Y6Cfn0sIK3blA0V8muGB68hVyfCGB2Vac0Qf6p7xKiY+GE1G6TzCbSwWun6UlSsMMKSfejAAszNCrtTrYrGv2xnFjQVJiuZFBH4IeNkkOXJTCqHSC1BE3z4z7JKGT77OEETWbzh/GVL/wuWIu4vLqDT3U3hWgLZWZf2nmbQkAwVryg84kDtHC/6bJifoYT39EFX9ikCMd+JK1VN8iFR01W0QU1oWM8pAA3B49NiMN3dCX/gxjNEIbYpk+RKM+dW73TarmmzaBs26RMwagAAROuFqjv0rbUmVcT4vk/lAzU2fx5TBBE3VMOl2mozPtqZqve4TXp0TiQq9/u+XjyyWI8xzPVGKdnry7FQcV8owKSXCH0AAKO9jcDBXuf4YPZhC58J5LOh4yz8wUoN2It3G4CpLj/ct9BTHlG2Q7/zxw3RdG9bfoxqVG7Z8IiQILWrpN5JuFH9RsRPHzbStshbqGfWMxbhIgFC4Xh+x4WZaTCyNsVSXXj7VW8LsNnYuUeZIU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**图：VIO pipeline**

有关 pipeline 流中使用的 ROS 节点和主题的信息，参见 [VIO 的 pipeline 流](https://docs.qualcomm.com/doc/80-70017-265Y/topic/vio_5_3_6.html#pipeline-vio)。

## 用例

**前提条件：**

- QIRP SDK 和依赖项已安装，请参阅[编译软件](https://docs.qualcomm.com/doc/80-70017-265Y/topic/build-the-software_4_1.html#build-the-software-4-1)和[刷写和安装](https://docs.qualcomm.com/doc/80-70017-265Y/topic/flash-and-install_4_3.html#flash-and-install-4-3)。
- 按照[使用 SSH 登录](https://docs.qualcomm.com/bundle/publicresource/topics/80-70017-254/how_to.html#use-ssh)中提到的步骤在 “Permissive” 模式下启用 `SSH`。
- 摄像头 ROS 节点已启用。
- IMU ROS 节点已启用。
- 摄像头和 IMU 之间的相对位置已配置。例如，使用 E-Calib。

**用例1：运行开箱即用的 VIO**

**步骤：**

1. 启动两个终端，并在每个终端运行以下命令，从而在设备上搭建 QIRP SDK 和 ROS2 环境。

    值范围为 `ROS_DOMAIN_ID`：[0, 232]。

ssh root@[ip-addr]
        (ssh) mount -o remount,rw /usr
        (ssh) export HOME=/home
        (ssh) source /usr/share/qirp-setup.sh
        (ssh) source /usr/bin/ros_setup.bash
        (ssh) export ROS_DOMAIN_ID=xx
        Copy to clipboard
2. 在终端 1，启动 VIO 节点。

(ssh) cd /usr/share/mono-vslam/Configuration
        (ssh) ros2 launch qrb_ros_vio vio.launch.py
        Copy to clipboard

    **结果**

    以下日志显示 VIO 节点初始化完成。

![../../_images/vio-log.png](data:image/png;base64,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)
3. 在终端 2，您可以通过执行此命令观察输出结果。

(ssh) ros2 topic echo /vslam_odom_raw
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    该主题信息在屏幕上不断更新。
4. 要在 Ubuntu PC 上的 Rviz2 中显示结果，执行以下配置。

    1. 根据 [安装 Rviz2](https://docs.qualcomm.com/doc/80-70017-265Y/topic/install-rviz2_5_1_3.html#install-rviz2-5-1-3) 安装 Rviz2。
    2. 按显示类型添加 `TF`，`Grid`。
    3. 按主题添加 `vslam/labeled_img`。

![../../_images/vio-rviz.png](data:image/png;base64,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)
5. 要停止运行 VIO，在终端 1 按 Ctrl + C 以停止进程。然后，在设备上生成 `/usr/share/mono-vslam/Configuration/warmStart.txt` 文件。

> 
> 
> 表：VIO 的默认配置和输出文件及路径
> 
> 
> | 文件 | 默认路径 | 说明 |
> | --- | --- | --- |
> | 配置文件和路径 | <ul class="simple"><br><li><p><code class="docutils literal notranslate"><span class="pre">/usr/share/mono-vslam/Configuration/vislam.cfg</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">/usr/share/mono-vslam/Configuration/Configuration.SF.xml</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">/usr/share/mono-vslam/Configuration/ov9282_Camera.yaml</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">/usr/share/mono-vslam/Configuration/icm42688_IMU.yaml</span></code></p></li><br></ul> | <ul class="simple"><br><li><p><code class="docutils literal notranslate"><span class="pre">.cfg</span></code> 文件配置了 VIO 算法的输入路径。</p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">.xml</span></code> 文件是 VIO 算法的配置文件。</p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">ov9282_Camera.yaml</span></code> 文件配置了 ov9282 摄像头的参数。</p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">icm42688_IMU.yaml</span></code> 文件配置了 ICM42688 的参数。</p></li><br></ul> |
> | 输出文件 | <ul class="simple"><br><li><p><code class="docutils literal notranslate"><span class="pre">/usr/share/mono-vslam/Configuration/warmStart.txt</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">/usr/share/mono-vslam/vwslam/vio_output.csv</span></code></p></li><br></ul> | <ul class="simple"><br><li><p><code class="docutils literal notranslate"><span class="pre">.txt</span></code> 文件指示一些用于快速初始化 VIO 滤波器的状态值。</p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">.csv</span></code> 文件包含基本链接的姿态。</p></li><br></ul> |

**用例 2：编译并运行 VIO**

**步骤：**

1. 在主机上编译由 QIRP SDK 提供的 VIO。

cd <qirp_decompressed_workspace>
        source setup.sh
        
        cd qirp-samples/nodes/navigation/vio
        export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr"
        export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages
        
        colcon build --continue-on-error --cmake-args \
          -DCMAKE_TOOLCHAIN_FILE=${OE_CMAKE_TOOLCHAIN_FILE} \
          -DPYTHON_EXECUTABLE=${OECORE_NATIVE_SYSROOT}/usr/bin/python3 \
          -DPython3_NumPy_INCLUDE_DIR=${OECORE_NATIVE_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include \
          -DSYSROOT_LIBDIR=${OECORE_TARGET_SYSROOT}/usr/lib \
          -DSYSROOT_INCDIR=${OECORE_TARGET_SYSROOT}/usr/include \
          -DCMAKE_MAKE_PROGRAM=/usr/bin/make \
          -DBUILD_TESTING=OFF
        Copy to clipboard
2. 将 VIO 推送至设备。

Note

确保设备上已安装 QIRP SDK。

cd qirp-samples/nodes/navigation/vio/install/qrb_ros_vio
        tar czvf vio.tar.gz include lib share
        scp vio.tar.gz root@[ip-addr]:/opt/
        ssh root@[ip-addr]
        (ssh) mount -o remount,rw /usr
        (ssh) tar -zxf /opt/vio.tar.gz -C /usr/
        Copy to clipboard
3. 参考[用例1：运行开箱即用的 VIO](https://docs.qualcomm.com/doc/80-70017-265Y/topic/vio_5_3_6.html#id-case1-run-vio)，在设备上运行 VIO。

## VIO 的 pipeline 流

表：VIO pipeline 中使用的 ROS 节点

| ROS 节点 | 说明 |
| --- | --- |
| qrb-ros-camera<br>    Copy to clipboard | 发布 `/image` 和 `/camera_info` ROS 主题。 |
| qrb-ros-imu<br>    Copy to clipboard | 发布 `/imu` ROS 主题。 |

表：VIO pipeline 中使用的 ROS 主题

| ROS 主题 | Type | 说明 |
| --- | --- | --- |
| vslam_odom_raw<br>    Copy to clipboard | <nav_msgs::msg::Odometry><br>    Copy to clipboard | 由 `vio` 节点发布。 |
| vslam/labeled_img<br>    Copy to clipboard | <sensor_msgs::msg::Image><br>    Copy to clipboard | 由 `vio` 节点发布。 |
| image<br>    Copy to clipboard | <qrb_ros_type::QrbRosImageTypeAdapter><br>    Copy to clipboard | 由 `qrb-ros-camera` 节点发布，由 `vio` 节点订阅。 |
| camera_info<br>    Copy to clipboard | <sensor_msgs::msg::CameraInfo><br>    Copy to clipboard | 由 `qrb-ros-camera` 节点发布，由 `vio` 节点订阅。 |
| imu<br>    Copy to clipboard | <sensor_msgs::msg::Imu><br>    Copy to clipboard | 由 `qrb-ros-imu` 节点发布，由 `vio` 节点订阅。 |

Last Published: Jan 24, 2025

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