diff --git a/AUTHORS b/AUTHORS
index 1b923b209f..76dd357f29 100644
--- a/AUTHORS
+++ b/AUTHORS
@@ -104,6 +104,8 @@ the University of Malaga.
   - Several improvements and bug fixes in the mrpt-reactivenav library.
   - Developemnt in octomap classes.
   - Some improvements and bug fixes in the mrpt-opengl library.
+  - Visual Odometry based on depth images (mrpt::vision::CDifodo) and 2 applications to use it: DifOdometry-Camera and DifOdometry-Datasets
+  - Examples to manage an RGB-D camera with openNI2
 
 * Robert Schattschneider, University of Canterbury (2012)
   - Patches for bug fixes, serialization of templates.
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9a5a414531..18219afb44 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -180,6 +180,7 @@ include(cmakemodules/script_ftdi.cmake REQUIRED)        # Check for the FTDI hea
 include(cmakemodules/script_inotify.cmake REQUIRED)     # Check for the sys/inotify headers (Linux only, in win32 we use the equivalent API for file system monitoring):
 include(cmakemodules/script_gl_glut.cmake REQUIRED)     # Check for the GL,GLUT libraries 
 include(cmakemodules/script_opencv.cmake REQUIRED)      # Check for the OpenCV libraries (via pkg-config, CMake, with different options)
+include(cmakemodules/script_openni2.cmake REQUIRED)     # Check for the OpenNI2 library
 include(cmakemodules/script_ffmpeg.cmake REQUIRED)      # Check for ffmpeg C libraries: libavcodec, libavutil, libavformat, libswscale
 include(cmakemodules/script_wxwidgets.cmake REQUIRED)   # Check for wxWidgets + GL
 include(cmakemodules/script_libdc1394.cmake REQUIRED)   # Check for libdc1394-2
diff --git a/apps/DifOdometry-Camera/CMakeLists.txt b/apps/DifOdometry-Camera/CMakeLists.txt
new file mode 100644
index 0000000000..791560a614
--- /dev/null
+++ b/apps/DifOdometry-Camera/CMakeLists.txt
@@ -0,0 +1,40 @@
+INCLUDE(../../cmakemodules/AssureCMakeRootFile.cmake) # Avoid user mistake in CMake source directory
+
+if (CMAKE_MRPT_HAS_OPENNI2) # This project can't be built without OpenNI2
+
+#-----------------------------------------------------------------
+# CMake file for the MRPT application:  ReactiveNav3D-Demo
+#
+#  Run with "cmake ." at the root directory
+#
+#  January 2014, Mariano Jaimez Tarifa <marianojt@uma.es>
+#-----------------------------------------------------------------
+PROJECT(DifOdometry-Camera)
+
+#MESSAGE(STATUS "Makefile for application: /apps/ReactiveNav3D-Demo ")
+
+# ---------------------------------------------
+# TARGET:
+# ---------------------------------------------
+# Define the executable target:
+ADD_EXECUTABLE(DifOdometry-Camera
+               DifOdometry_Camera_main.cpp
+			   DifOdometry_Camera.cpp
+			   DifOdometry_Camera.h)
+
+SET(TMP_TARGET_NAME "DifOdometry-Camera")
+
+
+
+# Add the required libraries for linking:
+TARGET_LINK_LIBRARIES(${TMP_TARGET_NAME} ${MRPT_LINKER_LIBS} ${OPENNI2_LIBRARIES})
+
+# Dependencies on MRPT libraries:
+#  Just mention the top-level dependency, the rest will be detected automatically, 
+#  and all the needed #include<> dirs added (see the script DeclareAppDependencies.cmake for further details)
+DeclareAppDependencies(${TMP_TARGET_NAME} mrpt-gui mrpt-opengl mrpt-vision)
+
+DeclareAppForInstall(${TMP_TARGET_NAME})
+
+endif (CMAKE_MRPT_HAS_OPENNI2) # This project can't be built without OpenNI2
+
diff --git a/apps/DifOdometry-Camera/DifOdometry_Camera.cpp b/apps/DifOdometry-Camera/DifOdometry_Camera.cpp
new file mode 100644
index 0000000000..9507b59d75
--- /dev/null
+++ b/apps/DifOdometry-Camera/DifOdometry_Camera.cpp
@@ -0,0 +1,489 @@
+/* +---------------------------------------------------------------------------+
+   |                     Mobile Robot Programming Toolkit (MRPT)               |
+   |                          http://www.mrpt.org/                             |
+   |                                                                           |
+   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
+   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
+   | Released under BSD License. See details in http://www.mrpt.org/License    |
+   +---------------------------------------------------------------------------+ */
+
+#include "DifOdometry_Camera.h"
+#include <mrpt/opengl.h>
+#include <mrpt/gui.h>
+
+using namespace mrpt;
+using namespace mrpt::opengl;
+using namespace mrpt::gui;
+using namespace mrpt::slam;
+
+
+void CDifodoCamera::loadConfiguration(const utils::CConfigFileBase &ini )
+{
+	cam_mode = ini.read_int("DIFODO_CONFIG", "cam_mode", 2, true);
+	downsample = ini.read_int("DIFODO_CONFIG", "downsample", 2, true);
+	rows = ini.read_int("DIFODO_CONFIG", "rows", 50, true);
+	cols = ini.read_int("DIFODO_CONFIG", "cols", 60, true);
+	fps = ini.read_int("DIFODO_CONFIG", "fps", 30, false);
+
+
+	//			Resize Matrices and adjust parameters
+	//=========================================================
+	const unsigned int resh = 640/(cam_mode*downsample);
+	const unsigned int resv = 480/(cam_mode*downsample);
+
+	depth.setSize(rows,cols);
+	depth_old.setSize(rows,cols);
+	depth_inter.setSize(rows,cols);
+	depth_ft.setSize(resv,resh);
+	depth_wf.setSize(resv,resh);
+
+	du.setSize(rows,cols);
+	dv.setSize(rows,cols);
+	dt.setSize(rows,cols);
+	xx.setSize(rows,cols);
+	xx_inter.setSize(rows,cols);
+	xx_old.setSize(rows,cols);
+	yy.setSize(rows,cols);
+	yy_inter.setSize(rows,cols);
+	yy_old.setSize(rows,cols);
+
+	border.setSize(rows,cols);
+	border.assign(0);
+	null.setSize(rows,cols);
+	null.assign(0);
+	est_cov.assign(0);
+
+	x_incr = 2.0*f_dist*(floor(float(resh)/float(cols))*cols/float(resh))*tan(0.5*fovh)/(cols-1);	//In meters
+	y_incr = 2.0*f_dist*(floor(float(resv)/float(rows))*rows/float(resv))*tan(0.5*fovv)/(rows-1);	//In meters																				//In Hz
+
+	//Depth thresholds
+	const int dz = floor(float(resv)/float(rows));
+	const int dy = floor(float(resh)/float(cols));
+
+	duv_threshold = 0.001*(dz + dy)*(cam_mode*downsample);	
+	dt_threshold = 0.2*fps;
+	dif_threshold = 0.001*(dz + dy)*(cam_mode*downsample);
+	difuv_surroundings = 0.0022*(dz + dy)*(cam_mode*downsample);
+	dift_surroundings = 0.01*fps*(dz + dy)*(cam_mode*downsample);
+}
+
+
+bool CDifodoCamera::openCamera()
+{
+	const char* deviceURI = openni::ANY_DEVICE;
+
+	rc = openni::OpenNI::initialize();
+
+	printf("Initialization:\n %s\n", openni::OpenNI::getExtendedError());
+	rc = device.open(deviceURI);
+	if (rc != openni::STATUS_OK)
+	{
+		printf("SimpleViewer: Device open failed:\n%s\n", openni::OpenNI::getExtendedError());
+		openni::OpenNI::shutdown();
+		return 1;
+	}
+
+	//								Create Depth channel
+	//========================================================================================
+
+	rc = depth_ch.create(device, openni::SENSOR_DEPTH);
+	if (rc == openni::STATUS_OK)
+	{
+		rc = depth_ch.start();
+		if (rc != openni::STATUS_OK)
+		{
+			printf("SimpleViewer: Couldn't start depth stream:\n%s\n", openni::OpenNI::getExtendedError());
+			depth_ch.destroy();
+		}
+	}
+	else
+		printf("SimpleViewer: Couldn't find depth stream:\n%s\n", openni::OpenNI::getExtendedError());
+
+	if (!depth_ch.isValid())
+	{
+		printf("Camera: No valid streams. Exiting\n");
+		openni::OpenNI::shutdown();
+		return 1;
+	}
+
+	//						Configure some properties (resolution)
+	//========================================================================================
+
+	//Display video modes
+	openni::VideoMode vm;
+	printf("Camera depth modes are listed:\n");
+	for(int i=0; i<depth_ch.getSensorInfo().getSupportedVideoModes().getSize(); i++)
+	{
+		vm = depth_ch.getSensorInfo().getSupportedVideoModes()[i];
+		cout << "depth mode :" << vm.getResolutionX() << "x" << vm.getResolutionY() << "@" << vm.getFps() << "Hz using format " << vm.getPixelFormat() << endl;
+	}
+
+	//Set video mode
+	const unsigned int resh = 640/cam_mode;
+	const unsigned int resv = 480/cam_mode;
+	video_options = depth_ch.getVideoMode();
+	video_options.setResolution(resh,resv);
+	video_options.setFps(fps);
+	rc = depth_ch.setVideoMode(video_options);
+	rc = depth_ch.setMirroringEnabled(false);
+
+	video_options = depth_ch.getVideoMode();
+	printf("\nResolution (%d, %d) \n", video_options.getResolutionX(), video_options.getResolutionY());
+
+	return 0;
+}
+
+
+void CDifodoCamera::loadFrame()
+{
+	openni::VideoFrameRef framed;
+	depth_ch.readFrame(&framed);
+
+	const int height = framed.getHeight();
+	const int width = framed.getWidth();
+	const unsigned int index_incr = downsample;
+
+	//Read one frame
+	const openni::DepthPixel* pDepthRow = (const openni::DepthPixel*)framed.getData();
+	int rowSize = framed.getStrideInBytes() / sizeof(openni::DepthPixel);
+
+	for (int yc = height-1; yc >= 0; --yc)
+	{
+		const openni::DepthPixel* pDepth = pDepthRow;
+		for (int xc = width-1; xc >= 0; --xc, ++pDepth)
+			if ((yc%downsample == 0)&&(xc%downsample == 0))
+				depth_wf(yc/downsample,xc/downsample) = 0.001*(*pDepth);
+
+		pDepthRow += rowSize;
+	}
+}
+
+void CDifodoCamera::CreateResultsFile()
+{
+	try
+	{
+		// Open file, find the first free file-name.
+		char	aux[100];
+		int     nFile = 0;
+		bool    free_name = false;
+
+		system::createDirectory("./difodo.results");
+
+		while (!free_name)
+		{
+			nFile++;
+			sprintf(aux, "./difodo.results/experiment_%03u.txt", nFile );
+			free_name = !system::fileExists(aux);
+		}
+
+		// Open log file:
+		f_res.open(aux);
+
+		clock.Tic();
+
+		printf(" Saving results to file: %s \n", aux);
+	}
+	catch (...)
+	{
+		printf("Exception found trying to create the 'results file' !!\n");
+	}
+}
+
+
+void CDifodoCamera::initializeScene()
+{
+	global_settings::OCTREE_RENDER_MAX_POINTS_PER_NODE = 1000000;
+	window.resize(1000,900);
+	window.setPos(900,0);
+	window.setCameraZoom(16);
+	window.setCameraAzimuthDeg(0);
+	window.setCameraElevationDeg(90);
+	window.setCameraPointingToPoint(0,0,0);
+	window.setCameraPointingToPoint(0,0,1);
+
+	scene = window.get3DSceneAndLock();
+
+	// Lights:
+	scene->getViewport()->setNumberOfLights(1);
+	CLight & light0 = scene->getViewport()->getLight(0);
+	light0.light_ID = 0;
+	light0.setPosition(0,0,1,1);
+
+	//Grid (ground)
+	CGridPlaneXYPtr ground = CGridPlaneXY::Create();
+	scene->insert( ground );
+
+	//Reference
+	CSetOfObjectsPtr reference = stock_objects::CornerXYZ();
+	scene->insert( reference );
+
+	//					Cameras and points
+	//------------------------------------------------------
+
+	//DifOdo camera
+	CBoxPtr camera_odo = CBox::Create(math::TPoint3D(-0.02,-0.1,-0.01),math::TPoint3D(0.02,0.1,0.01));
+	camera_odo->setPose(cam_pose);
+	camera_odo->setColor(0,1,0);
+	scene->insert( camera_odo );
+
+	//Frustum
+	opengl::CFrustumPtr FOV = opengl::CFrustum::Create(0.3, 5, 57.3*fovh, 57.3*fovv, 1.5f, true, false);
+	FOV->setPose(cam_pose);
+	scene->insert( FOV );
+
+	//Reference cam
+	CSetOfObjectsPtr reference_gt = stock_objects::CornerXYZ();
+	reference_gt->setScale(0.2);
+	reference_gt->setPose(cam_pose);
+	scene->insert( reference_gt );
+
+	//Camera points
+	CPointCloudPtr cam_points = CPointCloud::Create();
+	cam_points->setColor(1,0,0);
+	cam_points->setPointSize(2);
+	cam_points->enablePointSmooth(1);
+	cam_points->setPose(cam_pose);
+	scene->insert( cam_points );
+
+	//Border points
+	CPointCloudPtr border_points = CPointCloud::Create();
+	border_points->setColor(0,0,1);
+	border_points->setPointSize(3);
+	border_points->enablePointSmooth(1);
+	border_points->setPose(cam_pose);
+	scene->insert( border_points );
+
+	//					Trajectories and covarianze
+	//-------------------------------------------------------------
+
+	//Dif Odometry
+	CSetOfLinesPtr traj_lines_odo = CSetOfLines::Create();
+	traj_lines_odo->setLocation(0,0,0);
+	traj_lines_odo->setColor(0,0,0);
+	traj_lines_odo->setLineWidth(3);
+	scene->insert( traj_lines_odo );
+	CPointCloudPtr traj_points_odo = CPointCloud::Create();
+	traj_points_odo->setColor(0,0.5,0);
+	traj_points_odo->setPointSize(4);
+	traj_points_odo->enablePointSmooth(1);
+	scene->insert( traj_points_odo );
+
+	//Ellipsoid showing covariance
+	math::CMatrixFloat33 cov3d(est_cov.topLeftCorner(3,3));
+	CEllipsoidPtr ellip = CEllipsoid::Create();
+	ellip->setCovMatrix(cov3d);
+	ellip->setQuantiles(2.0);
+	ellip->setColor(1.0, 1.0, 1.0, 0.5);
+	ellip->enableDrawSolid3D(true);
+	ellip->setPose(cam_pose);
+	scene->insert( ellip );
+
+	//User-interface information
+	utils::CImage img_legend;
+	img_legend.loadFromXPM(legend_xpm);
+	COpenGLViewportPtr legend = scene->createViewport("legend");
+	legend->setViewportPosition(20, 20, 348, 200);
+	legend->setImageView(img_legend);
+
+	window.unlockAccess3DScene();
+	window.repaint();
+}
+
+
+void CDifodoCamera::updateScene()
+{
+	scene = window.get3DSceneAndLock();
+
+	//Reference gt
+	CSetOfObjectsPtr reference_gt = scene->getByClass<CSetOfObjects>(1);
+	reference_gt->setPose(cam_pose);
+
+	//Camera points
+	CPointCloudPtr cam_points = scene->getByClass<CPointCloud>(0);
+	cam_points->clear();
+	cam_points->setPose(cam_pose);
+	for (unsigned int y=0; y<cols; y++)
+		for (unsigned int z=0; z<rows; z++)
+		{
+			cam_points->insertPoint(depth_inter(z,y), xx_inter(z,y), yy_inter(z,y));
+		}
+
+	//Border points
+	CPointCloudPtr border_points = scene->getByClass<CPointCloud>(1);
+	border_points->clear();
+	border_points->setPose(cam_pose);
+	for (unsigned int y=0; y<cols; y++)
+		for (unsigned int z=0; z<rows; z++)
+			if (border(z,y) == 1)
+				border_points->insertPoint(depth_inter(z,y), xx_inter(z,y), yy_inter(z,y));
+
+	//DifOdo camera
+	CBoxPtr camera_odo = scene->getByClass<CBox>(0);
+	camera_odo->setPose(cam_pose);
+
+	//Frustum
+	CFrustumPtr FOV = scene->getByClass<CFrustum>(0);
+	FOV->setPose(cam_pose);
+
+	//Difodo traj lines
+	CSetOfLinesPtr traj_lines_odo = scene->getByClass<CSetOfLines>(0);
+	traj_lines_odo->appendLine(cam_oldpose.x(), cam_oldpose.y(), cam_oldpose.z(), cam_pose.x(), cam_pose.y(), cam_pose.z());
+
+	//Difodo traj points
+	CPointCloudPtr traj_points_odo = scene->getByClass<CPointCloud>(2);
+	traj_points_odo->insertPoint(cam_pose.x(), cam_pose.y(), cam_pose.z());
+
+	//Ellipsoid showing covariance
+	math::CMatrixFloat33 cov3d(est_cov.topLeftCorner(3,3));
+	CEllipsoidPtr ellip = scene->getByClass<CEllipsoid>(0);
+	ellip->setCovMatrix(cov3d);
+	ellip->setPose(cam_pose);
+
+	window.unlockAccess3DScene();
+	window.repaint();
+}
+
+
+void CDifodoCamera::closeCamera()
+{
+	depth_ch.destroy();
+	openni::OpenNI::shutdown();
+}
+
+
+void CDifodoCamera::reset()
+{
+	//Reset Difodo
+	loadFrame();
+	filterAndDownsample();
+	calculateCoord();
+	calculateDepthDerivatives();
+	findNullPoints();
+	findBorders();
+	findValidPoints();
+
+	cam_pose.setFromValues(0,0,1.5,0,0,0);
+	cam_oldpose = cam_pose;
+
+	//Reset scene
+	scene = window.get3DSceneAndLock();
+	CSetOfLinesPtr traj_lines_odo = scene->getByClass<CSetOfLines>(0);
+	traj_lines_odo->clear();
+	CPointCloudPtr traj_points_odo = scene->getByClass<CPointCloud>(2);
+	traj_points_odo->clear();
+	window.unlockAccess3DScene();
+
+	updateScene();
+}
+
+
+void CDifodoCamera::filterSpeedAndPoseUpdate()
+{
+	//-------------------------------------------------------------------------
+	//								Filter speed
+	//-------------------------------------------------------------------------
+
+	utils::CTicTac clock;
+	clock.Tic();
+
+	//		Calculate Eigenvalues and Eigenvectors
+	//----------------------------------------------------------
+	Eigen::SelfAdjointEigenSolver<MatrixXf> eigensolver(est_cov);
+	if (eigensolver.info() != Eigen::Success)
+	{
+		printf("Eigensolver couldn't find a solution. Pose is not updated");
+		return;
+	}
+
+	//First, we have to describe both the new linear and angular speeds in the "eigenvector" basis
+	//-------------------------------------------------------------------------------------------------
+	MatrixXf Bii, kai_b;
+	Bii.setSize(6,6); kai_b.setSize(6,1);
+	Bii = eigensolver.eigenvectors();
+
+	kai_b = Bii.colPivHouseholderQr().solve(kai_solver);
+
+	//Second, we have to describe both the old linear and angular speeds in the "eigenvector" basis too
+	//-------------------------------------------------------------------------------------------------
+	math::CMatrixDouble33 inv_trans;
+	math::CMatrixFloat31 v_loc_old, w_loc_old;
+
+	//Express them in the local reference frame first
+	cam_pose.getRotationMatrix(inv_trans);
+	v_loc_old = inv_trans.inverse().cast<float>()*kai_abs.topRows(3);
+	w_loc_old = inv_trans.inverse().cast<float>()*kai_abs.bottomRows(3);
+
+	//Then transform that local representation to the "eigenvector" basis
+	MatrixXf kai_b_old;
+	kai_b_old.setSize(6,1);
+	math::CMatrixFloat61 kai_loc_old;
+	kai_loc_old.topRows<3>() = v_loc_old;
+	kai_loc_old.bottomRows<3>() = w_loc_old;
+
+	kai_b_old = Bii.colPivHouseholderQr().solve(kai_loc_old);
+
+	//Filter speed
+	const float c = 400.0;
+	MatrixXf kai_b_fil;
+	kai_b_fil.setSize(6,1);
+	for (unsigned int i=0; i<6; i++)
+	{
+		kai_b_fil(i,0) = (kai_b(i,0) + (c*eigensolver.eigenvalues()(i,0) + 0.2)*kai_b_old(i,0))/(1.0 + c*eigensolver.eigenvalues()(i,0) + 0.2);
+		//kai_b_fil_d(i,0) = (kai_b_d(i,0) + 0.2*kai_b_old_d(i,0))/(1.0 + 0.2);
+	}
+
+	//Transform filtered speed to local and then absolute reference systems
+	MatrixXf kai_loc_fil;
+	math::CMatrixFloat31 v_abs_fil, w_abs_fil;
+	kai_loc_fil.setSize(6,1);
+	kai_loc_fil = Bii.inverse().colPivHouseholderQr().solve(kai_b_fil);
+
+	cam_pose.getRotationMatrix(inv_trans);
+	v_abs_fil = inv_trans.cast<float>()*kai_loc_fil.topRows(3);
+	w_abs_fil = inv_trans.cast<float>()*kai_loc_fil.bottomRows(3);
+
+	kai_abs.topRows<3>() = v_abs_fil;
+	kai_abs.bottomRows<3>() = w_abs_fil;
+
+
+	//-------------------------------------------------------------------------
+	//							Update pose (DIFODO)
+	//-------------------------------------------------------------------------
+
+	cam_oldpose = cam_pose;
+
+	//Rotations and translations (could be better, and I tried it but there isn't any significant difference...)
+	double yaw,pitch,roll;
+	math::CMatrixDouble31 w_euler_d;
+
+	cam_pose.getYawPitchRoll(yaw,pitch,roll);
+	w_euler_d(0,0) = kai_loc_fil(4,0)*sin(roll)/cos(pitch) + kai_loc_fil(5,0)*cos(roll)/cos(pitch);
+	w_euler_d(1,0) = kai_loc_fil(4,0)*cos(roll) - kai_loc_fil(5,0)*sin(roll);
+	w_euler_d(2,0) = kai_loc_fil(3,0) + kai_loc_fil(4,0)*sin(roll)*tan(pitch) + kai_loc_fil(5,0)*cos(roll)*tan(pitch);
+
+	//Update pose
+	cam_pose.x_incr(v_abs_fil(0,0)/fps);
+	cam_pose.y_incr(v_abs_fil(1,0)/fps);
+	cam_pose.z_incr(v_abs_fil(2,0)/fps);
+	cam_pose.setYawPitchRoll(yaw + w_euler_d(0,0)/fps, pitch + w_euler_d(1,0)/fps, roll + w_euler_d(2,0)/fps);
+
+	execution_time += 1000*clock.Tac();
+
+	if (save_results == 1)
+		writeToLogFile();
+
+}
+
+
+void CDifodoCamera::writeToLogFile()
+{
+	f_res << clock.Tac() << " ";
+	f_res << cam_pose[0] << " ";
+	f_res << cam_pose[1] << " ";
+	f_res << cam_pose[2] << " ";
+	f_res << cam_pose[3] << " ";
+	f_res << cam_pose[4] << " ";
+	f_res << cam_pose[5] << " ";
+	f_res << "\n";
+}
+
diff --git a/apps/DifOdometry-Camera/DifOdometry_Camera.h b/apps/DifOdometry-Camera/DifOdometry_Camera.h
new file mode 100644
index 0000000000..a7eac05902
--- /dev/null
+++ b/apps/DifOdometry-Camera/DifOdometry_Camera.h
@@ -0,0 +1,86 @@
+/* +---------------------------------------------------------------------------+
+   |                     Mobile Robot Programming Toolkit (MRPT)               |
+   |                          http://www.mrpt.org/                             |
+   |                                                                           |
+   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
+   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
+   | Released under BSD License. See details in http://www.mrpt.org/License    |
+   +---------------------------------------------------------------------------+ */
+
+
+#include <mrpt/vision.h>
+#include <mrpt/utils/CConfigFileBase.h>
+#include <mrpt/utils/CImage.h>
+#include <mrpt/opengl.h>
+#include <mrpt/gui/CDisplayWindow3D.h>
+#include <iostream>
+
+#if defined(MRPT_OS_LINUX) && !defined(linux)
+#   define linux 1   // Seems to be required by OpenNI.h
+#endif
+#include <OpenNI.h>
+
+#include "legend.xpm"
+
+
+
+class CDifodoCamera : public mrpt::vision::CDifodo {
+public:
+
+	mrpt::gui::CDisplayWindow3D	window;
+	std::ofstream		f_res;
+
+	bool save_results;
+
+	/** Constructor. */
+	CDifodoCamera() : mrpt::vision::CDifodo()
+	{
+		save_results = 0;
+	}
+
+	/** Initializes the visual odometry method and loads the rawlog file */
+	void loadConfiguration( const mrpt::utils::CConfigFileBase &ini );
+
+	/** Open camera */
+	bool openCamera();
+
+	/** Close camera */
+	void closeCamera();
+
+	/** Capture a new depth frame */
+	void loadFrame();
+
+	/** Creates a file to save some results */
+	void CreateResultsFile();
+
+	/** Initializes opengl scene */
+	void initializeScene();
+
+	/** Updates the opengl scene */
+	void updateScene();
+
+	/** Obtains the filtered speed, updates the pose and saves some statistics */
+	void filterSpeedAndPoseUpdate();
+
+	/** A pre-step that should be performed before starting to estimate the camera speed,
+	  * and can also be called to reset the estimated trajectory and pose */
+	void reset();
+
+private:
+
+	mrpt::opengl::COpenGLScenePtr	scene;	//!< Opengl scene
+
+	// OpenNI variables to manage the camera
+	openni::Status		rc;
+	openni::Device		device;
+	openni::VideoMode	video_options;
+	openni::VideoStream depth_ch;
+
+	/** Clock used to save the timestamp */
+	mrpt::utils::CTicTac clock;
+
+	/** Saves the following data for each observation (distance in meters and angles in radians):
+	  * timestamp(s) - x - y - z - yaw - pitch - roll */
+	void writeToLogFile();
+
+};
diff --git a/apps/DifOdometry-Camera/DifOdometry_Camera_main.cpp b/apps/DifOdometry-Camera/DifOdometry_Camera_main.cpp
new file mode 100644
index 0000000000..a9dc98e593
--- /dev/null
+++ b/apps/DifOdometry-Camera/DifOdometry_Camera_main.cpp
@@ -0,0 +1,193 @@
+/* +---------------------------------------------------------------------------+
+   |                     Mobile Robot Programming Toolkit (MRPT)               |
+   |                          http://www.mrpt.org/                             |
+   |                                                                           |
+   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
+   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
+   | Released under BSD License. See details in http://www.mrpt.org/License    |
+   +---------------------------------------------------------------------------+ */
+
+#include "DifOdometry_Camera.h"
+
+using namespace std;
+using namespace mrpt;
+
+const char *default_cfg_txt =
+	"; ---------------------------------------------------------------\n"
+	"; FILE: Difodo Parameters.txt\n"
+	";\n"
+	";  MJT @ JANUARY-2014\n"
+	"; ---------------------------------------------------------------\n\n"
+
+	"[DIFODO_CONFIG]\n\n"
+
+	";cam_mode: 1 - 640x480, 2 - 320x240, 4 - 160x120 \n"
+	"cam_mode = 2 \n\n"
+
+	";downsample: 1 - same resolution, 2 - rx/2, ry/2, 4 - rx/4, ry/4 \n"
+	"downsample = 2 \n\n"
+
+	"Set the frame rate (fps) to 30 or 60 Hz \n"
+	"fps = 60 \n\n"
+
+	";Indicate the number of rows and columns. They must be equal or inferior to what is indicated with the 'downsample' variable). \n"
+	"rows = 60 \n"
+	"cols = 80 \n\n";
+
+
+// ------------------------------------------------------
+//						MAIN
+// ------------------------------------------------------
+
+
+int main(int num_arg, char *argv[])
+{
+	try
+	{
+		//						Read function arguments
+		//----------------------------------------------------------------------
+		bool use_config_file = 0;
+		string filename;
+		CDifodoCamera odo;
+
+		if (num_arg < 2);
+		else if ( string(argv[1]) == "--help")
+		{
+			printf("\n\t       Arguments of the function 'main' \n");
+			printf("==============================================================\n\n");
+			printf(" --help: Shows this menu... \n\n");
+			printf(" --config FICH.txt: Load FICH.txt as config file \n\n");
+			printf(" --create-config FICH.txt: Save the default config parameters \n\n");
+			printf(" \t\t\t   in FICH.txt and close the program \n\n");
+			printf(" --save-logfile: Enable saving a file with results of the pose estimate \n\n");
+			system::os::getch();
+			return 1;
+		}
+		else if ( string(argv[1]) == "--create-config")
+		{
+			filename = argv[2];
+			cout << endl << "Config_file name: " << filename;
+			ofstream new_file(filename.c_str());
+			new_file << string(default_cfg_txt);
+			new_file.close();
+			cout << endl << "File saved" << endl;
+			system::os::getch();
+			return 1;
+		}
+		else
+		{
+			for (int i=1; i<num_arg; i++)
+			{
+				if ( string(argv[i]) == "--save-logfile")
+				{
+					odo.save_results = 1;
+					odo.CreateResultsFile();
+				}
+
+				if ( string(argv[i]) == "--config")
+				{
+					use_config_file = 1;
+					filename = argv[i+1];
+				}
+			}
+		}
+
+		//Initial steps. Load configuration from file or default, initialize scene and initialize camera
+		//----------------------------------------------------------------------------------------------
+
+		if (use_config_file == 0)
+		{
+			utils::CConfigFileMemory configDifodo(default_cfg_txt);
+			odo.loadConfiguration( configDifodo );
+		}
+		else
+		{
+			utils::CConfigFile configDifodo(filename);
+			odo.loadConfiguration( configDifodo );
+		}
+
+		odo.initializeScene();
+		odo.openCamera();
+
+		//==============================================================================
+		//									Main operation
+		//==============================================================================
+
+		int pushed_key = 0;
+		bool working = 0, stop = 0;
+		utils::CTicTac	main_clock;
+		main_clock.Tic();
+
+		odo.reset();
+
+		while (!stop)
+		{	
+
+			if (odo.window.keyHit())
+				pushed_key = odo.window.getPushedKey();
+			else
+				pushed_key = 0;
+
+			switch (pushed_key) {
+			
+			//Capture 1 new frame and calculate odometry
+			case  'n':
+				odo.loadFrame();
+				odo.OdometryCalculation();
+				odo.filterSpeedAndPoseUpdate();
+				cout << endl << "Difodo execution time(ms): " << odo.execution_time;
+				odo.updateScene();
+				break;
+
+			//Start and stop continous odometry
+			case 's':
+				working = !working;
+				break;
+			
+			//Close the program
+			case 'e':
+				stop = 1;
+				if (odo.f_res.is_open())
+					odo.f_res.close();
+				break;
+
+			//Reset estimation
+			case 'r':
+				odo.reset();
+				break;
+
+			}
+	
+			if (working == 1)
+			{
+				while(main_clock.Tac() < 1.0/odo.fps);
+				if (main_clock.Tac() > 1.1/odo.fps)
+					cout << endl << "Not enough time to compute everything!!!";
+
+				main_clock.Tic();
+
+				odo.loadFrame();
+				odo.OdometryCalculation();
+				odo.filterSpeedAndPoseUpdate();
+				cout << endl << "Difodo execution time(ms): " << odo.execution_time;
+				odo.updateScene();
+			}
+		}
+
+		odo.closeCamera();
+
+		return 0;
+
+	}
+	catch (std::exception &e)
+	{
+		std::cout << "MRPT exception caught: " << e.what() << std::endl;
+		return -1;
+	}
+	catch (...)
+	{
+		printf("Untyped exception!!");
+		return -1;
+	}
+}
+
diff --git a/apps/DifOdometry-Camera/legend.xpm b/apps/DifOdometry-Camera/legend.xpm
new file mode 100644
index 0000000000..c43d4db317
--- /dev/null
+++ b/apps/DifOdometry-Camera/legend.xpm
@@ -0,0 +1,1840 @@
+/* XPM */
+static const char * legend_xpm[] = {
+"348 200 1637 2",
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+"= 	c #0E0E0E",
+"- 	c #0C0C0C",
+"; 	c #0B0B0B",
+"> 	c #050505",
+", 	c #040404",
+"' 	c #0F0F0F",
+") 	c #020202",
+"! 	c #191919",
+"~ 	c #3F3F3F",
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+"  . + @ # $ % & * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * = = * - ; $ > %   , ",
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+". + . ! ~ { ] ^ / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / ( ( ( / _ _ : < * # ",
+"+ + [ ^ } | 1 2 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 3 3 1 4 5 6 7 8 - ' ",
+", + 9 0 a b c d e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e f e e e e f g h e ] > # ",
+"+ + 9 0 i j k l m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m n m o p q r s - t ",
+"    u s o v w x y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y z z z z y l l A B & ' ",
+") , - C q D E F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F D H I F G w F F F G G G E E z F F J E F G y E E I I I I E E F z l G F J I F G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F F E E E G G F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F F F F F G G G G F E H w G I D F G G G G G G G G I E E G G E E I G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F F D l G F G w z F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G z F I J F E y G F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F G G F F E J K L = * ",
+"* ; ' M p D E F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G y F F G E I w J F F G G G E E E G F E z J G F F F G G G G G G F N F F E I F F I G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F E E E G G F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F F F F F G G G y F F F G F w D G G G G G G G G E E G G G G E E G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F D I F I J F F F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F J N v F F I G F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F G G F F E J K L = * ",
+"O * = P q y G F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G w G F G G I I F F F F F G G G G F F F F G z z E F F F F F F F F v z J G G E G E G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G E E E G G F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F F F F F F F F E y Q z G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F I D z G F E E G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G R N w F G E E F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F G G F F E J K L = * ",
+"' $ * P p z G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F J v y F F F F F F F F F F F F F E E F F w w F F F F G G F F F F J l J G I G F G G G G G G G G G G G G G G G G G G G G G G G G G G G E E E E I E E E G G F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F G G G G G E G G G F F F F F G H D F E F G S G G G G G G G G F F G G G G F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F G G G G G E D F F E F E w I E G G G G G F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F G x R G F E G G G G G F F G G G G G G G G G G G G G G G G G G G G G G G G F F G G F F E J K L = * ",
+"' - = C p y E E G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G E J E F F J v R E E E E I I I I J y l w F G E F E E I I I I E E I E E F z R D G G G G G G G G G G G G G G G G G G G G G G G G G G G G E I I J J E E E G G F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F G G E E E I E E E G F F F F l J F z z F I G G G G G G G G F F E E E E F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F G G E E E F G J y l Q N F E E E G G F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G y R H D J F F K E E E G G F F F G G G G G G G G G G G G G G G G G G G G G G G G F F G G F F E J K L = * ",
+"& - = P q y G F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G D G F F y w F F F F F F F F F G F F E z I F G J J J w w w w J J Q D y I F F F y G G G G G G G G G G G G G G G G G G G G G G G G G G E E I J w w E E E G G F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F F G E I I w w J I I E G G I J E F F l l F G G G G G G G G F G I J J I G F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F F G E I I F y E F E G F v I I E G F F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G N E F F F l v F I I E G F F F F G G G G G G G G G G G G G G G G G G G G G G G G F F G G F F E J K L = * ",
+"' ; * T q y G F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G E F I R v F I o w z z z y y D D n E F I y G F F w w z z z z w w E F F J S U N F G G G G G G G G G G G G G G G G G G G G G G G G F G E I J w z z E E E G G F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F F G E I J D y z w J I I E m F D p E E H F G G G G G G G G G I w z z w I G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F F G E I J F A V W X Y z Z J I E G F F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G w F o | `  ...+.J I E G F F F F G G G G G G G G G G G G G G G G G G G G G G G G F F G G F F E J K L = * ",
+"& - = C p z E E G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G I G z v F E d @.#.#.#.$.$.%.%.&.*.=.F F I F F w w w z z z z w w G l F v V -.;.G G G G G G G G G G G G G G G G G G G G G G G G G F G E I J w z y E E E G G F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F F G E J J l l D y z J J I F z >.,.'.v E J G G G G G G G G E J z y y z J E G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F F G E J J U E Z ).!.~.F z J J E G F F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G R F w H {.X #.{.J J E G F F F F G G G G G G G G G G G G G G G G G G G G G G G G F F G G F F E J K L = * ",
+"= ' * -.m z w F G G F F F G E I F D G v I F z F D E z I F G D F z w F G E G J G F E J I w E k h ].# +.r m ^./.s (.R J D F I F w D Q G F w E n F E F I E _.9 ~.E E G J w F F N E G k F F E I I F E J F J w l E F y F R E G n I G :.J G :.F l I G F F E I F F E I w G J I F I F D F <.G F N F I w G G G F Q F F J J x G G G z R F G G F E F l E G <.F D S F w J J F F ).# [.k z w z F v J G J F F G F Q J F v w E F v v F G J G y F z F J l F G F y E E F J F F z H F F F E F }.F G F G G y F F G w I w |.1.~.I w D I v G I F S F F x F G E F H G F N F G z I I D F w y z G F S F v F G J J G z F x G l I F q G E F I Z G j 2.3.4.J J I E E G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G F F F G E I E F F Q z w F J I E S G F E l E F E J y z G E I J w I E J F w j X 6.}.G E F F 7.8.9.F F F w F F y F :.z G 0.,.a.I D U G J o F F :.E F F G F x G G F <.K F w N l F I Q k G F I l G z x U 9.G F b./ +.l F F F v z I E G w G E z F E G G F z N I G w I F F F G F l k F N U F J K F J w F U z E F E F E F N Z v {.$.'.:.E R w J F H c.F G D H I F G y E y E F F F N G k E z B d.e.E E F F Q R F S G N E F F G w E F F G k F F v I F F F y y E y F I v G G y F x l p w I w |.1.~.I J y G y F F F H F w I F D w F F G E E l I F E F F Z F F E y x F E F z k I E J F l G F N F F G N k l F x <.R (.f.b J J I E E G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G F F F G E I E F v J F F F z F l G F F G w F E F F J I F F z G G F F y J w q s g.h.Q y :.z Q N F F k J S F J N F G D x i.j.<.Z l G G F G F :.I F F c.F F J F J F E G v G F F S F F E E G S F F D E F D k 9.8 $.k S Q D z E F E J F l E F x E G D v E J E y D F <.F J E q H F F F I c.F F F F Q F G N F I D G v J F F E F /.' k.z F D G J F I G H S J D F J l I v F F R J G F F U G :.$.X Z G H F E H F F x G F E z E F Z F y m F y D G F F F F v v F w F G J l F I x J S I I z I J l.< m.I I D F F I w F E w D F w G F v G F E F I D H H y F F I G F v G E l G E F F w J F E G F I H <.E F G F Q F w o n.o.=.J J I E E G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G F F F G E I w y p.| q.m r.5 5 s.F v H G F G U D E F I w F G F E F G l y v t.] 9 k F F S d Q z R F F G u.p.p.v.w.F x.y.9 #.'.z.h o e A.p.<.E F a.1 4 y :.| 4 k.f F w B.d {.C.F D 9.F D r.c 3 2 h.o q F p D.; f.v.6 4.F w F E.F.A.3 d m F S J F I F v f l.1 E F | 7 B.D F J F l z F e.v.7 G.Z G F C.a 5 4 +.l I 4./.z.e.7 8 H.I.B.s.a.F l z G D b 1 c f l J j z.} 9.q b 3 | t.:.G U l.J.K.[.4 e D N F H w.r 6 u.^.F I G 3 6 q.v S i } 4.G.L.7 3 E.F S h.c /.e G n =.1 q.M.h E D I J l.< m.I E E F y J F p N.w.{.4 |.Q F g } z.Q O.a h.N.Q F K y x F q 1 h.v.A F F F p F F h.4 B.6 q J F F S n J P.} f 1 Q._ k.J J I E E G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G F F F G E I I e 5.R.].S.P.T.^ i.b x H F F x F F J F G l I F J y w E w F w ^.X < +.9.S 4 U.p J k E i ~.].V.b.~ W.c X.Y.@ Z.`.P ;. +M.i.+ ~.F S 7.$.J.P.'..+-.++@+5 I..+#+$ $+<.F F I %+&+Y.Q.,.W.*+r.G ;.n.J.> 2.n.0.d Z 9.*.=+s -+;+(.>+F F y S N =.,+_ W.@.'+2.C %.(.O.G t.F 4.Y.;+C Q.=+*.F l y.)+) $.5 q e.!+~+-+X.P.{+]+^+P @+} R D J F <.%+W [ l.E n P./+f.(+_+Y.^ ^+Y.c.l :+<+@ 1.[+}+0.F.E 9.,+Q.~.=+<+m.U v e.*+|+1+v.@+2+$ ;+~.3+4+~ k.n b *++ i.P.e *+5+L T 6+^+f l J I D.< 7+I G G J v F x 8.8+@+9+8 ++X.a.0+2+t L.'+2.L 1.b.U I y E k.$+a+b+] 3.L.D F Q R Y c+(.@+s d+{.F N E m e+^ ..8+: ; 3.f+J J I E E G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
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+"= ' * -.m z w F G G F F F G E I I F C.$.^ +.J z v < d.l F Q G J z F F l v F F F l w F F w G z t.#.- e+l.:+k+V.+.K F S `.+ |.F S Z e n l I !+^+z w J J E L.> ` k E w y.[ 7+y F :.q+- e+k v E L.g.r+E J x B.r.G :.J #+|+L.K :.F &.1.j D E :.N.o.-.Z F J 7 1+M R H :.v G J x g+4+s+<.F E m.p+s.w R {.- U.E K D 6 /+h+l F q t+n+0.t.9+c+g F F F r+~+L.y F x R I F F w J Y % 7.G w Z U.~+X.D E R @.^+l.t.J G K.j.n z w c.h & `.F F F a./ s C.I l W ~+` S y A.N.F d R.b+C.q S _+( o S N./.U E I z.@ ( H w E D.f._.E F G G F k u+& 7+G F F b F.v I P % }.G F R y.o.#+R N /.j.>.:.D F 7+% S.G.q *+3. +F y l U.!+v.E e ++{ F F Z :.c+1+4.J J I E E G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G F F F G E I R J x j.v+>+w F o & |+:.z H G x Q F t.w+i.i.V.<+E.k I F y E E m W ]+m F q 5 @+c.G D J z.@ 1..+G.Q F D F m ++] c.w E l F B., V D J G 2 < r+:.E w D.o.0.S G <.5 O $+F k E x I H F v >.x+X.F F R !+{+9.E D I q++ m+I D v }.0 i.c.z G F D D F ` p+L.H I <.s+x+'+x F <+! B.v G F p.f.{ H F D H [+o.W.[+=.F m F D 2.3.6 v F E F y x v w F '.x+m.F J G r+; L.F K F '+- '.w F S )+d.Z G F w ,+H.:+y v R f d.#.K v c.0.~ 1 F N E F l c.Q.j.h F l y+I.H J F y S F y A /+n+R w E L.f._.E F I F D F f+x+|+^ | D I E z m : 4++.G 9.E r./+_ k F 3+n+a F E Q | % n.F x.W.W G.k F y @.g.P.9.r+|+_.F p E R b+y+z.J J I E E G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F G E F F G J K E ^.d.{+^.F Q 9.R.j.l E :.D I R F c.j.+ . + V.=.R G E E I v :.( 6.j z G z E.F H F w Q j 9 # l+[+j+F R ^./ v+Z F G <.F 5 , y.D F S [.p+z+Q F U Y ! m+R E Z 6 t 8.K G z F z %.o.R.g.$ V F G Z 2+v+c.H l R *+Z.]+++R.1.R.H.3.w.F E F F K F A+$ w.z E Q u+|+s.Z l T - l+u /+* i.  6.z ^.G v n <+@ {.H k G l c.V !.i+S w w F R R G J H X.x+B+m F H t+~+a v E p 8.6.X.F y y 6.1+R H Q l #++ 6+; &.9 # l+R.j+F e.c+^+| N H G G F H V ++_.F V )+F k F l G @.6.++R.* 3+l F H i+< z+w I F D I E R m i.  o.3+=.G l v v+K.t.l F D d {+#.Q k 0 > % 3+6.t < ) _ n 4.0 H.R.++|+~+< g.q+o 5+- l.K F Q x (.W.F.E G E E E F F G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F G G F F G J F N n : 0 p Q F :.!.!.S l F I <.I J E N F F m F w F F F E F D t.W [ q N J H F :.G z Q E o w j+!+  -+Z y ^.2+v+c.U D y E [.. q+H v D 5 O C+k z E p.l+;.Z z F h ) [+E F R D++ }.O.R 8.u y.x G z /+3+:.F D D ).* h.l K <.F l x F v w I G Q F ` O 2 v w F 0+H.S.D F 8+t r E H k S w k l E F Z s+&.$ l+^.E o E F (+t w.F F x E E F I G J [.; S.G G I S.$ 2 D F z %+- '.N J F ^+y+N Q G F 7+Z.v.D w F I F =.J G J 9+y+f+F F w x K H f 1.#+E.b+;.J w Q E+J.F+9.G r O d+N I F 4 = w+G F E D F G :.F }.F $.; v+c w F v++ m S l F N.^+{+o y Q.W 9.Z t.J E H I E k.W.-+q G F R N r.S I A+t S.N D R n b+/+q.D D D z E F F I F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F G G F F E w F x <.( ~ c.n G <.x+R.F <.I G z D y n Z F E z y G D I F R l E Z V.@ c.z E k F B.a+h I D S F Z e ] $.q.G E i._ m F H F F V x+` F :.F c Z.r+F H F z.x+r+U n y G.= s+^.Q c+|+5 F I F 7+g./.v F y 6.~ p G n G i++ %+w F F F x :.F E z z F J G m.4+/.F D F ,+l+X.F y >.]+A.v l F l F F J K R 1 M e.2 $ T m k F J ` x+A.k J E F S Q E H D B.. ` F o F u+& 2 D S x V ; E+:.F F %.1+m F Q Z y.* t+F E D q D F y :.m 2.d. +I R <.v v F q B j.u+d+q l J e W.T F E D U J.: D H D i+4+A+G S F F N l h J F k S [+4+|.R G L + r.E D F s.n+F+K v B u g F w F x F F K =.V.-+}.Z I y G F F Q ;.' C+w w F H b+d.q.F F I J E F F E F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F G G F F E z E F ^.$.#.E.F G E.++++<.I w D F F F D F F U H F F D F F Q I F C. .g.j+F F x C.).D++.R + i U F q -.0 g F R ].W.h G O.Q U 7.u a+y F R m+l+` E F y :+)+q+S F v 5 4+T.F F P ~+Q j F A.8+p+y.v F Z ( f.B.F C.C.}./ %.U I N p A E.D S S Q F F S (+o.X.G I <.A+!.'+R E r X n.b I D z F.C.F F N.5.S.x E.:++ 5+=.K F y.! h+z R e.S G G U J H E+& $+z J F Y.p+'.E F U >.t E+D F :.X u 6 F r.<.<.{+$.h E l E t.i G J U b+u d y F I F G F c.L.O 1.m.H w v z.1+5+9.J k S.> #.H F H *.o.` R F :.F F k #+r+K Z l B+i.2 k Q P ~+P.F F r...K.Y I F v.%..+^.F N I s.F.F x m.3.'.F I I t.i ^.F >+: 1+ +F z d &./+r y I F F G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F G F F I y v R y.p+W./.Z r.q+9 - B+w F l F v J S F J I I v F F F l x F K %+< ++(+y.M.y.g+3.-.G :.++Z.s+%+8.0 7.x v <.y.o.k+y.S.G.i+T @ ( u.F c 8+[ V.5 D >+B 4+s z.I e.F++ Q.q.O.E+6.w+M.[.E+*+x+C e G D V 6.-.[.s+e Q z.M 5.7.w.Y z+M.>+I z l G Z a W & b+f n q.T ; -.3 F G 7.y+T.A.E+7 C+w.C.y.`.W.k.z H '+* x+k+e l p.V.$.I.M./.E.F E v v F.C H.L a z c ] O <+h w d C $ n.=.y v z+$.;+P.z+e w [.0 c+D.z+_+z+P.k N E+0 < G+g F F Q U J y e.( )+d <.F R }.{+P '+/.m.` / 1.L.c.F.2.# d+w.E H R F H ,.u ;.1 5+P (.x.F x 0 @ %.m+y.A+B [+m F J j+r+~ 5+y.,+v.C+B.E z >+@+] 7+/.L.0+[.| S D r+)+a+m+P.'+] & (.r.m y G I J E F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F F F F J y H n %+9+0.m+r.G.` Y.a+;.Z G F G G F x l v D G z y E G H k I E.s+a+5+$+&+` r+[+9+z.=.R m+7+(+0.9+A.z G Q F z _.w+;.7 t.b _.9+` 4 v h u+@.@.l.<.r 8.a+).w.:.4._...(+X.F w ,+7+I.I.a 1 $+C+f v I v o+h+` M.y D Q 4 (+h+U.m.k.m F E J y G Z 4._.P ` h.p N.A+U.t+p.J N l f+;.0.C ~.f U F 7+0.m./.v C.~.~.U.w+q.l :.p.@.$+q+a.I U l F Z e _.-+G+6 <.} e+@+@.z.m k.h+Y..+ +k F Q V Y.A+6 Z F l f h+g+7+h+q.p F K t+&+).q+u.k D k x G F o a :+p D F <.F j+'+5+~.w.C.I.$+S.>+g u+F+(+L.<.F N H F s.9+C+9+m+y.}.S F l D+% (.~.9+~.4 Z F n F m z o+_.G+h+7+U D N :.D n 7+r+G+8.m+j+l J F }./._.7+C+a 4.2.7+A K w F I z I F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F F F G J D F F k E G S F F l F E n v F F l K G F E F y F F z F F F J J y n F F l U N Q I F :.F F H E.G y J p F I y J N ^.F k R F G Q F l k E I H l :.Z F Q D J Q w F l N F H F R l F E.F 9.y F I H z R x G w H G I F o v F x F v D G l D N S x J F G y H F l F N <.y l z F v x k p I F N J D z F z I F K F v E z I k F I z E G I F F F w k F I E I l J F N w F R G F R y F Q F v R F D S F Q F <.G F m x F S F E E E R l F v E F F F F w S y F R l y E Q E q G F K E F j+E o F E H G F D F <.G J I N w F E :.o J R D F 8 p+m z F y z l v F F n F E N l J S K F F E Q F K I G w R E E N I F J k E H J E :.F D J F F E I E G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F F F G w D Q k J G E w N G D E l J x G E F F w E F D G G F F J R l I y w F Q R F F F K F H J F N G <.E E N F y y N F l F S F <.H F l S N F l y F J w F z E v F E F Q w F Z l F x o F D Q F I :.Q F F z z I E Z F D j F E U <.F v l I l J E F D N Q N F E S F l z F G Q G N E G G F k :.F l <.G K I y R F k F I v E J J U F F w w E R D F Q G v y I F w p F y F v F l D F K F H F E E F F D E y E F S G F <.F v F <.w F :.E y F F l Q I J F F n y F m F F :.F l Q F U F F R E l y w F G E D F y N U G D R F z F N G z F ].' t.z F l F J v F y G E.w z z J E F :.Z y F k F ^.l F G J F I l F F D y F I v F Q G I w w E F F I F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F F F F F F z z z z z z z z w w J I E G F F F F F F F F F F G G G G G G G G I I I I I I I I D D D D D D D D I I I I I I I I I I I I I I I I w w w w w w w w G J y z J I w D I I J z y D l v J J w w w w w w E E E E E E E E D D D D D D D D F F E I w z D D z z z z z z z z I I I I I I I I z z z z z z z z I I I I I I I I w w w w w w w w I I I I I I I I w w w w w w w w I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I z z z z z z z z I I I I I I I I w w w w w w w w m G R R F +.=+. b x F H S F I E.w w w w w w w w z z z z z z z z F E z l l z E F I I I I I I I I G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F F F F F F I I I I I I I I w J I E G G F F F F F F F F F F G G G G G G G G I I I I I I I I w w w w w w w w I I I I I I I I I I I I I I I I E E E E E E E E F E J J E G I w J w w w w z z z J J J J J J J J E E E E E E E E E E E E E E E E F F G E I J w z I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I E E E E E E E E I I I I I I I I E E E E E E E E I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I J J J J J J J J F F v N h T + ~+9 B+v F k S G I E E E E E E E E I I I I I I I I F G J z z J G F I I I I I I I I G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F F F F F F F F F F F F F F J I I E G F F F F F F F F F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F F F F F F F F G G F F G E w w J J J I I I J J I E E G G G E E E E E E E E F F F F F F F F F F F F G E E I F F F F F F F F G G G G G G G G F F F F F F F F G G G G G G G G F F F F F F F F G G G G G G G G F F F F F F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F F F F F F G G G G G G G G E E E E E E E E Z I F E F H m G F F E w D I F F F F F F F F F F F F F F F F F F F F E E E E F F G G G G G G G G G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F F F F F F F F F F F F F F I I E G G F F F F F F F F F F F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I I I I E E E E J I E G F F F F G G G G G G G G G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F E I k S F F l x x l F F E E H F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F F F F F F F F F F F F F F E E G G F F F F F F F F F F F F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F F G E E G F F G G E I J J I I E G F F F F G G G G G G G G G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G v F F D v G w J G F E N l F G F F F F F F F F F F F F F F F F G F F F F F F G F F F F F F F F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F F F F F F F F F F F F F F G G F F F F F F F F F F F F F F G G G G G G G G F F F F F F F F G G G G G G G G F F F F F F F F F F F F F F F F G G G G G G G G E F F F E I I G F F F E I J w w I E E G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G F F F F F F F F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F D w F F D w F F J y F F E E D G G G G G G G G F F F F F F F F G F F F F F F G F F F F F F F F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G F F F F F F F F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F E G F F E I E G E E E I I J J J E E E E E E G G F F F F F F F F F F F F F F F F F F F F F G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F l E w H I F J N N E F E y D E G F F F F F F F F F F F F F F F F F F G G G G F F F F F F F F F F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G G G G G G G G G F F F F F F F F G G G G G G G G G G G G G G G G F F F F F F F F E G F F E E G F w J J J I I E E E E E E I I I I F F F F F F F F F F F F F F F F F F F F G G G E F F F F F F F F G G G G G G G G F F F F F F F F G G G G G G G G F F F F F F F F G G G G G G G G F F F F F F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F F F F F F G G G G G G G G F F F F F F F F F F E I E G F E I F G E F F F w F F F F F F F F F F F F F F F F F F G E E G F F G G G G G G G G G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F G G F F E J F H F F w F F N R E G m F G I F F F F F F F F F G G G E E I I I l E U F w F q G F y v F Q G F D z G D G F l G w G G E G w F E G G R F w x E F E v F F w F F l F w F z y <+G+n G F w w w G F Q F F k E F v J F G D F G F J l F F F G D J G G F G I F I I J G F v F k F F R I E H F y N F F y F E F I G F E E F I J F E w z F F Q I E J K F E Q I w F I y F F J z J F F E G I E y J I l F J F G H F Q F F R <.F F F l F E F N J G w y F y F F k I G F J I z z F G G R z G F D N G J F F D G F z F D I F D G G I F w I v G F I F y I w F F R J I J R F y z F F G F F z G F G F F l F F w z F F E G F F y F N y N E F U F G J F R F l G F I F G y y F z w F G F E H F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F G G F F E J w J J w z F F D F F F Z F E G I F F F F F F F F G G G E E I I I F p N O ~+> &.[ P.Z F w w F D F J w z I l F F F I G y k y w H G v F F N E F m H F G x R F G S E F G F q.3+,+:.D <.z F y F E w D H D F F I z H Q w x E F z w G R z G F F I l N R J v E F G Q Q J Q w E I k I F F G J z G w v w v D F z R F E H F z G G G z z F G I E F F J F R y J D H F k e...8 G.D G E H E J K F F z y y I G G F y y N F F z J F F z :.z F E <.I E F J l w E J y k H G F F I H E F F D D w G I G I I w J J D z J F :.y F R G R F F F G D N D z F J U S F G Z F z F >+C 8 z.v R y R y z v v D F l J F F F J l l D l v F l F I N E I <.Q R F F N E G z S R N w F l D J E w R R E F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F G G F F E J <.E I v y w J F w w F J F F F I F F F F F F F F G G G E E I I I Z B+# q R F '.. .+:.S F k m F <.I y F F E.w x E N E F Q N S U F z w H <.J D z F 9.F y z G J Q F F E E e+u f H N G F v w y S w F E I t.p z J N F F F Q k z F k y H l E z l w I F F R R z F F w F N G I l F G J x y N z J l z G F G y y N k D F I F I z E E l N z Z U G z k F E S w E F F j t.5.X  +D R G S w F F Q v J w F F y I z F F k w G U F x z z J F I z F F E R E G I G }.G R F F v z z J v E Q S N I F S F H l E w J G w l l x G F z F y I H w N H J y F R E G F Q Z K I z k x c+/ F.E F D J F G F G H J G I J z v y E F y G F I n F F p Z F R F F F n J w H N D G F E v F F J D F w S G F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F G G F F E J F E F w G z D v z I I G w w F J F F F F F F F F G G G E E I I I t.].9+E.I y 9.[+P f D F 2.d+}.l G k x F K F x G y y H H z J l F F l y F F G 9.].*+9.F E w E E F D F A -.;+Q I y F G Z F F H D I F N.`.r+c.y o D w v v S w I F v F z F v v E H D F F I S Q D D J E J w G E z Q z F N F F y z D G F G F F I I J v z z F F G v Q F F H G D E G w.s D.q z y y E K F v F Q F F x H G y D F I z w R F y G y :.H w Q F D F G J G R H F E F x R I I F H E D G N R F I z G D S G F I N x F D z F z y F y w Z G z <.F w E F H w H l F y I w F z L.D+P.G F G Z F H r.F z J x F E H z I D l G D D l N G F l G N J F U R G D F v l J n c D+q+v N F F v z G v D G G Q v F E G F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F G G F F E J F U J F S y E x x F z I v l F E F F F F F F F F G G G E E I I I V R.q+w F I :.5 V E I D D+!.q F I I K F I D y J E F <.l F l G J l F J Z }.E Q !+-.j+w x E F F R l F M.j.D.w F E D F y x I F F y J /.6.h+D F n F R Q F F p J F I G w E v v E J F U G F F G k k F F R F G p Q F G z K G E w F y y F I Z x F E Q J E w F N y F y G <.l J l G F z+K.V l R z J Q x F z F F n F S F v F y J E H y N F D I y F E N F w J G I v G E z k v E E n N E :.F x F I x z F E J z v F G R N <.F N F G F l S I S z D R F J I F E.w G F z Q z E F K F E 6 $.r+E m y F z F G E K I <.I D F E Z I F F F F y N F F Q I Q J F I w F y H K z F N G.3.q+k S J F :.y F w F k z F l G F x F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F G G F F E J y S D +._+y.'.%+X.N D F I J F F F F F F F F F F G G G E E I I I 6 K.D+p y D G F <.F B._.|+o.'+` *.S y Z G._+s+'+%+e.E F U /.,+E+n j B.l.{.6 9+4+V.o+,+v.v G E R G R -+X 9.N I I D N.2 %+0+7.2 D 7 Y.  ,.>.7.s.F z F e.` Y *.t+j N F U f /.s+h n s+%+P.k.w F y F G v F w H F l 7 y.z+V u+'.D F I z [.S.'.t+v.E F F a.} e+|.t.p.:+X.d w J C.s.=+= -.y.B+4.<.S.o+2 a.Z Z y.>.|.o  +m+[.l.n F y  +m+,++.J F i >.[.b l U F F }.7 X.o+>.A.E F I p :+'+s.F y +.w.` w.E v G Q 5 %+|.M.0+u.J w y y S G H R j r+|.L.*.l R H F c.b Y y.*.u+z.l E+v+> ,.S.,+| Z D.G+l.j F D 2 ,+M.m }.[.V S.<.:.F.|.:+'.x.F F F E E.F.V I.r+B.R E Q l.M H.( M.[.k.Q F E r V |.'+k.I F R v y F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F G G F F E J E F {.b.C F+B j.W m N G G G E I F F F F F F F F G G G E E I I I p ] J.8 s+w Z G z F 1 r+# l+~.t+u+}.r.5+h+).@.n.)+*+<.E r.I.!+&.4 [+# + ..} ..f.!.@.).m+Z z F G F d ( (.S y D v 5 M @+u+@+3.d.k [.0.H.s (.h+7 w R 5 *+s ;.h+6+9+u.G U p.;+[ F+s+A+Y.%.~ D.z I H I F D F F o y.T.&+w+g+J./ j+l e P.T $+;.: 8 D.j+R b e+W.j.7.B+0.)+|+Y F p o+Q.$ Q.0+` 2 h t+D+j.>+N m '+J.K._.u+0.b+{+/.G R p.s ++z+R o 5 -.l+_.E S G  +.+;+U.[+M v+z+m E 9.[+H.k+o n g (.. L Q z K u+-+.+w+a+Z._.H y R E H F D A.~.-+b.M d+z+F F l z+.+).Y.*+O W j /.k+u L (+t+*.h X.i.v+a J l q+$.u _.o+G+`.O q+E+s+_.b+D+&+H p I i ).C+7+).5.3+m+k :.l.=+u B h+_.l.Z D } ).9+&+B ] z+x G R F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F G G F F E J z H 2.p+A.F }.P.-.G y R y F F E F F F F F F F F G G G E E I I I k j L * ].b.e.R F k D N n+!+A F E E k.[ ;.z w f D+d.F.N J D v+n+..%+_+2+b+G A 6+T.E F Q E z F y z _+%.w.Q F R <.M ].{.F E.w+L v w } 1.8.^.F J D p f.M 9.J k r+~+,.}.F w (+l+$+2 Q y z+W.`.t.F y D F l D E >.{+Y.Z F }.{ ,.:.9.w+& Y k y >+s 1+c v G q ^ x+e+r G {.# P N F S /.f.;.R S F I n M y+h H G l ^+3+A+c F B.J.#+p G F :+l+m.F v F /.+ u+Q F m b.++V F <.a v+%.4 N F F.R.s U Q F u.[ 5.I J c 6+).p k H -+`.y F N F x y k %.y+:.F i $+[ | z a.5.`.d F F *+ .F F E+f.t+F E F w K -+j.{.F G v Y.[ <+k.R r.n+J.@.e N h ^ 8 r.G E S.)+%+F J 7 R.;+y G l L.6.(.x S F G 3 X }+^.I }.v+W.3 G Z J F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G F F F G E I F G %.)+i+S I R j+J F H F I Z F F K I E Q G F D F F F F F G E I v D Z 2 J.J.g.X.z Q k G 0 o.j F k F m f+F w Q K -+/+z.D J H }+J.~.D l f r.F a.3+C U E F F x z F r.c+`.C.F y l Z _ p+a y E ^.e.J I f+9 ).F D x G @.R.y.U F E o -.9 | F v :+!.z+F v G e =+,.{.G y F F D v E...6+h v N w r.h y 4./+5.o F S v l.1+U.R H F v+3+i 9.F w /+R.v z N '.9 %+H J w v Q M D+i z I J d.y+z.F G U y+2+J F R [.4+r+F E <.D.! u+x F D.W.,.y H E y 7.o.[+k R j W.<+<.w F f = P J J D.&.,.j Q E A <.z E D G F K B.- h+G k E a R.[+D >+!+i.r J w 9.>+Z Z v.p+q+F v w z o 5+].4.R J <.G+& *.F z D ].+ +.F y H 2.|+G.G Z w p.k F n }.$.1+D y R w.1.u+J q F G Y @ A.w z F >.> r+x J I I E G F F E J w U 5.* = ",
+"= ' * -.m z w F G G F F F G E I <.z a l+' n.q m v F E z J w w F b.n+J.p+{ 2 z w G G F F G E I J F l S I n G+# ' w.w F K J.y+N k E H F :.v F F S 5+f./.F F j @+X 1 I z I G H f %.C <.y E J F F E i+/ ` S J I R Z ;.++++F+q E N F F h.p+7+K z F G T |+b F }.q E g+; %+F S z+~+l.N w F K -+y+l.I F R F I F u.%.8 q F F I z w x ,+p+5+G G n S c D+b.c.F E X 2+t.I w o i.6.I F y *./+'.E G E Q K b._ c l w F { D+e l D <.y+|+Q z F {.n+t+n l F c t $+F F ;.x+;.F D l k 3 )+<+S G S i.,.o v E  +Z.Q.I F }.`.9 t |.F H :.Q l D R z p #+$.B.E w F X.4+`.y n I.[ ]+G+k E J F I D.' I.H E F G K `.6+F.J S F h+/+s.l N D b+W.>+y N K ).!+h o G p F I m G ^.y+/+l G G 2 o.` I E <.a.;+!+D.E G q V ! #+F K k I E G F F E J w U 5.* = ",
+"= ' * -.m z w F G G F F F G E I F F N 2 R.$ + $+9.F I F l v F J #.l++ + !+o+l l E E G G E I J w D G q K F F v.6+B r.E F o._ J S K F n F E.{+  % [ @ l.E z v C+[ a F w F w z j 1+k+H o E R v z n @.^+A.F H F D v G 0+4+) @ ` H E S w.W.S.t.y G t.W.6.k.H F F z G+# A+I U r+! e F J R U #+j.3 E I l F N F s./+`.9.Q J v k F H u+p+,+n E F Q d 0 y+e.F D { {+c.F :.K 2+& <.l H ;.[ y.:.z F H p #+$.h.F w z #.6++.l R l d.u F y :.s+!.B+w v H } l+e+H Q .++ S.N w F Z a.d.Q.n y >+g.Q.:.z E A R.;+E p F k 7+* + * 2 S F E I S F G V.) p+  ) ++Z.) !.I z m %+< > J.:+x F F D.~+l.R F <.v J Y./+h w H G `.R.i+I J R 8+J.r I E E...o.p.F R R J i+!.. . # * y G z y.R.~.e.E F G &.~+*   l++ - + n+U k v I E G F F E J w U 5.* = ",
+"= ' * -.m z w F G G F F F G E I H k J F F k._ , A+Q w F J R F N G F F k k F E G I I E E I J w z k E.F F v l  +8 : i Q F 6+3+q o G F e.|+&.d F z 9+p+i+F H p *+n+b F l N x F <.)+T.Q R F J w E E./ C >+F S E F w C.F F 1 ++$ ,+z F k.p+q+t.F F z ( D+| R y H k q+) B+F w '+[ '.9.J E Z ;+K.5 S N F G H I i+&.`.Z D F y x y :.;.= h+<.K G l h %.n.k G Q ].3+>+J F J 6.= E J F /.6+m+:.E E G o b.0 4.F E E 0 1.j+F F J !+, I G E A.p+7.G S Q a < ` E I [.< P.F w x :.1 ^+B q z ^.1+P Z I D O.p+V.z G J N F I (+O ; w.J z w R E F W )+O.F z E Q w F I I G F U Y 3++ Y N N B.! M.:.Z F z l $+1+4.E F G `.!.{.F D y T.l+x.E E Z a+o.d v J b !.T }.v w v+& y H F u.1+A+E v Z n ( X A y N F z F x J F I I E G F F E J w U 5.* = ",
+"= ' * -.m z w F G G F F F G E I F J e.E U t.A n+#.K w N F l w y x :.G F v l w F I I E E I J w z t+<+^.w v F c.b.W k E :.)+1+<.F N l b+4+:.N H U u+|+6 l x U B ].x.y l F G z C.!+5.x G Z z k F '.f.Y S E w z F m A E E n G.p+s o x 5 [ 5+S F p J $+, $+v v F Q ~ p+h.D D A+!.'+G :.E +.0 { e.G E F z F F d { ~ p k I E E N F r 1+|+v G x F /.H.$+C.x J  .n+C.m k E ++!.F Z m m+! >.F J E.F ^.8+( u.l Q N }+^+F.l R x D+Z.R S <.L.g.A+E F U /.! e+F Q 2 ++i.:.F F F u+!.G+Q G <.o.=+q F v {.O d+F F j+e.F z D a = @+S J F F I v h+t s+z F E w l H l ^.i G p v q.g.C Q R z.< _.E F Q D t.*+n+4.z o F (.p+5 D p J F+p+>+R <.x 5+)+q.J K /+!+K F F C.V.# F x o v.!.(+k R N F ` ~+k.F Q G E R F n J k I E G F F E J w U 5.* = ",
+"= ' * -.m z w F G G F F F G E I F e.J.4.G F h $.-.R G <.F J w G G F v z F v Q J E E G G E I J w (+++w.E w y 2 W.e+H F Q Q.!.Y n o |.n.# f I K  +X - L.l F z P J.Y q I I v G r.( ~ c l {.S F D *+&.t.E E F D y F.^ D.N l g u n.G l g j.<+=.=.c x  +o.D+4 v F 6 [ ).y H H (+9 @+^.S k S.{+C+^.Z S E N F F n (+1.w+D x Q F.1 k r.-.)+u+:.F x.b. .5 R F H ( i.a.y z E.R.x+q w F 6 R.P <.E.N.I a.<+3+{.F F j+V.)+5 F F +.( )+c.F D 3 n+-+}.z  +@.) _.<.F n B $ m+^.E q.T ^ z.F I A #.D+{.:.9.'.= ] N S B.T p w G m+]+8.F F y E w E +.!+F+A J l U e }.F 6 / c F F y.> -+G y a K.v+i :.A.z A g+j.v.F z :.U.[ [.E F R C ' N.F F t.8+++A.^.l 1.1+v m 9.*.2+O :.F l f+1+T.^.z c q b d.c+j+w E J 7 p E N I I E G F F E J w U 5.* = ",
+"= ' * -.m z w F G G F F F G E I I Z /+p+r+$+`._ i+H F N y E I G l I H y F I G F G G F F G E I J c W.1+G+S.2.c+_.a.N E z l.2+d+8.z+j A+6.$+8.t+Y.5+J.<+F.j r+6.o.$+F.F :.m F Z u+|+<+B+u+>+N d ].C+S F I G J y x.# d.8.t+c+=+h.F J =.<+i.9+$+L.o U m+L V.[+#+D+<+u.F w F '+@ i...r+(+: b.r F F E G y N E F r Y.^ r+(.u+P./.k J e.g+9 b.V M  .L.z w U t+= H.@.C.Z h+J.$ 8.E.F i U.R.7+A+,+q.P.~ 9 $+G.t.P.J.* $+e.E.A+O + h+9.N 9.b.3.-+e+>.m.. $.o+Q F {.;+( 2.&+*+M s.k F F K |.f.8+[+t+G+H.< u+j+s+H.n.;._.( C+x.F D U :.S G G [.^ ] 0.z+I.C+7+^.q.f.^+w+B+C ..p.F w F.`.{+h+I.S.>+t+n+$ <+a.G m+!+& b+b m V 6++ 0.f p S.y+! *+^.y B+1.*+B+e+X.d+! .+i J U `.^+C 8.%+A G D. .Y.8.h+` h+p.D v D I E G F F E J w U 5.* = ",
+"= ' * -.m z w F G G F F F G E I I y o+o+r+2 z+C.F K F F R G G J z w F F z w w w F F F F F G E I o a t+%+E+0+5 y J G F S F 1 7.m+p.J w g 8.M.L.C.+.M.'+o y w.7.B+z+c E F I E v k i+'+*.g F F 8.f.h.:.F l R F F m D.:+P.;.l.}.w G J F t.[.*.m+E.F F Q a X.*.:+,+G F J :.S >.J.[+0+:+,+/.H I Z F D I F N E F J Q M.:+:+X.h S E F I Z l.'.8.E+g I F I v [.m+[.M.K t./.L.B+o+x F D E.B.y.*.x E B.z+,+:+o y v.r+,+z.>+Z i+M.B+E+:.v F o ,+'.o+{.v I.[.5 E l F S A+'.,+E+u.F y l F I k L.*.,+h N s+I.} :.E.} z+I.l.M.c.G l F F I I E v G p.V '.u+'+o F G m [.*.z+X.P.^.G y F F E.'.m+y.c.F [.M.,+*.t.Q h _.[.V e F i+0+:+s+x.F p.:+_+X.E.Z J L.'.o+M.H k.m+z+Q E D >+2 |.m+N N F S 4 ,+y.Y S.y F D G z I E G F F E J w U 5.* = ",
+"= ' * -.m z w F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G H y I F N v %.T y y z J E G F F F F F F F F F F F F F F F F F F F F F F F F F F F D F D 7.9 | q F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G F G l F J L.1.P.y z w J E G F F F F F F F F F F F F F F F F F F F F F F F F F F E :.Q k t+p+B.F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G F S N F F d+1+R z z w I E G F F F F F F F F F F F F F F F F F F F F F F F F F F y I F c.-+x+$+U F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G F F F F F F F F F F F F F F F F G G G G G G G G F F F S r.n+,.U w w J I E G F F F F F F F F F F F F F F F F F F F F F F F F F F F G +.8.4+H.^+A+F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G F F F F F F F F F F F F F F F F G G G G G G G G R F J v z x J F J I I E G G F F F F F F F F F F F F F F F F F F F F F F F F F F Q F J J S F q :.F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G E E E E E E E E F F F F F F F F F F F F F F F F G G G G G G G G F w G F H F F ^.I E E G G F F F F F F F F F F F F F F F F F F F F F F F F F F F G E Q E F F Q G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I I I I I I I I E E E E E E E E F F F F F F F F F F F F F F F F G G G G G G G G I o l F F R z F E E G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F Q D y F l m x F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I I I I I I I I E E E E E E E E F F F F F F F F F F F F F F F F G G G G G G G G E F F U G F D y G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F D J F F F S F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G G G G G G G G I I F F z y E G E I w w I F F F F F F F F F F F F F F F E J w R F K F G v I y v Z F F z F F H y l z F F F E G E E E E E I I E I E F F J D w F E F G H F G q y I J y l D J F F F F F E z D w F G F F G J J E G F G J z J F F G G v I F I z F E y E F F z D J F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G G G G G G G F F w D w F F F l y I F F F I J F F F F F F F F F F F G E I J w l F I l w x U F F G l N F J l F F F F I l H y F G G G G F F F F G E E F F E E G J F G I F E F z z J E G G F G E G E G F F G I J J I G F F F I z J G F F F F J l F F E J E G F F F E I E F F F G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G G G G G G G N E F I E F F w F F F E I E F F F F F F F F F F F G E I J J J J F j+E F E I w U j F F l F w N F k l G F J z I F z w E F F F E J F G I E F F J D F D Q F Z a.l K z w I I I I J z F G I J G F F I E J w J G F G J J J w y z E F F w F F E F F y v J J I E E E J w F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G G G G G G G y G F F F G E F F F F E w w I E G G G G G G G G F G I w w w J I E+ .9 + , @ 6., *+6 l F l w F N G F F F F G J D J w F F G F F E G F F F F F F F F G v F G F F F F F F E I G F F w F G y v w F F F F J y z G F F F G E I J E F F F F E J I F F G F F G F F F F G G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G G G G G G G F l x D F F J J R y E F F F I v G G G G G G G G G E J w w J I E F p.]+W.I F j Y /+%.B.F S H F Q F E y v y G F F F E w l Q N E F E F F E w w I E S F G x F o 6 R l z E F F F F E y F F F G F F I I F F F G J z D l z G F F G J J I w D v y E F F F F I y l y I F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G G G G G G G I I I G F G F F F F F z y G F J E E E E E E E E G E I I I I E E E E.& 4+l S F F ... `.F I Z F w D E F F F G G G H E E E F F J F F E I E F F F I F l l J F U.3.S F G I y l l D D F D S H z J y v I J w J F F F F F J z J w l z F F G F F F F I l N D J G F G E E E E E E E E E E F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G G G G G G G y F E Q v F J :.c.l F y Q y G E E E E E E E E E E E G G G G G G G a W.&.H v F q D.! ^ S F x I I F y Q R w F I l R F H m E N p I R D G F w l D I F l Q F K j.g.p R l J E G F G E F z J F G Q H F F z R N I E H m G y z F G N R y F q Z J x H F w G G E D Q R z F E E E E E E E E F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G G G G G G G F +.P.a+V t.G.S.A+z.x F G F F I E E E E E E E E I E F F F F G G F F.o.& R l c.F s+3+V.j+G y G R {.>..+_.1 Z G w v R Y 2.7+m.e+{.S G F 9.l.(+&+m.c F <.3 $+l+!.T.@.y.f+x F I K j+*+q+3 x.w.C+[+'+I y w F F c.2 7+9+A+v.o F G D z t.t+(.A+9+,+K E w N a.*.[+G+w.p E E E E E E E E F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G F F F G E I F K /.W. .m+,.t + F+F H v G n J E l J F y v w E J J I E E G F F F =.R.|+E y F y 5+l+B+N E z ^._+P '+S.9+^+M.v H j w+V._+S.~.+ G+y I q b+9+B+Y v+/ f K F.6 !.) V 7.i+j+H E J S p (.f.] P.m+0+0.% %+y l l c.-+d.'._+` R.G+:.R F p.;+@.,+>.8 6+O.F Q f ,.0.m+;.%.e+j F E I Z F N F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
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+"= ' * -.m z w F G G F F F G E I x F D B 6+*.9.F C.r.F H l y z H n F I <.Q N N F I I I E E G G G y q 4+l+$.x+f.8+q.n :.l F o ).6+{.x E G [.u *.w v.t ..<.F Z k 9.F j+%.T k x j+t.#+1+g F N _ 6+<.I y N H l J G G | j.5+m J E l C+|+l.v 1 6+P Q n F z c /+0.U S P Z.'+q l n F :.G k.H.7+G x F A.)+@.J I z D z E F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G F F F G E I E k t.T $.N.E z G F I I G v m 9+# 9 + ++*.J F J E E E E E E E E F h.= 4+S :.,+@ ..q F x k E.^ d.O.y I F y.O &+q ^.0 ]+  _.F F E k 0+9 ` S F F H U.3+z.D v )+g.9.y J E G E w v S 3 /+$+v S :.J 0+# 8.F %+p+(+p E J k E.^+8 +.I p.+ K.#.q.F p q F #.^+7 F I K d )+^+F F y R z F J F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G F F F G E I w Q k c+#.q.F D R w R I F l l t+f.p+% 3+'.J F D E E E E E E E E G  +3.Z.w G m 8+, t+k o F F 3+$ t )+! 6.& ! G+I H F (.^+9 > P.x J [.!.%.- $ o.* J.y+o+p F 3+3.p F E E F E N l F h R.@+R l v F I.* C+F s+4+[+m F G m i ~ &.O.F y ^. .O   L 4.v F ^ ' [ p+o.J.o.Z.=+y w F E G w D F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G F F F G E I y J J #+y+p.F F G z I E I Z E J y F F y N N y E G G G E E I I I <.f+!./+:.S n p.++v++.F z 6 1+;+j I Z E I F q I E H o :.C+2+J.4.F L.p+w+p F F F U F G z F n+2+A y H v I J l y F h.< Y.y z v F z+J.7.m s.g.b+F 9.Q y e 8 : }.F :.F F b T.u ] E D 8+!.p.F F F k F a.G k v G I H F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G F F F G E I z w Z T n+d I J R y G F E x F G J N l I G F F F F G G E E I I J F ^.j.+ J w F | B ~+#+a.F j t+_ 4 F z l G ^.K F O.j J F o %+6.`.m w.].Y.n v q I F y I <.c.$.|+r.F w D G F J Q :.g !.,.C.F F m L l+B.Q  +~ 3.a.F F E X.o.c+^.F w.<.:.y A T 0 {.D %+!.B.z r.D F w F F R N z I R F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G F F F G E I R z n W %.q.y z N F I p J F E I E F F G E J J F F F G E E I J J K i % o.K w k F v.J.2+r I }.1 3+).Q z N E [.r K h+b+i m l {.H.2 F U *+3+[.F G Z +.Y E.E E -+* 7 K +. +o E F F F 4.! / g l Q a !.T.j+F t.@.x+8+F D +.F+1+d F j+1.u+z D O.] v+^.F S K./ 9.E J F o+1 x F E H G l E F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F E G F F F I w y F =.h+W.# -.k.E y z w J E G F F F F F F F F F F F F G E I J w w q.c+$ ' *+e.F F R a+; D+*+J K %+,.T <+c+(.M. +R z+6.n+..c+D+P.>+<.J G.0.{ }+g+c+2.3 >+R F 3 v+)+<+r+d U w G E z h.p+O X ..-+j.m.r F F l q h+3.Q.`.C ^ 1 S l E.1+J.M 5+C T.B.k F J 3 M D+-+F+2.>.r.U z F E w J F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F E G F F F I w y y Q =.A.D.b 9.k w w J I E G F F F F F F F F F F F F G G E I J w q c Y |.h K v R G G.A.g p.I F k k.3 1 3 c r.R F }.w.{.d u.4 K F D F v  +6 4 {.z.a.z S R F k u.b 3 O.S E E J z l b 3+-+s.B.3 1 n y F D E F j+i+u.1 f G.E I l F 6 i+3 w.B.g v F R F <.a w.c p.p.^.x y F F J w I F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G F F F E J w y G F I G F w <.I I E G G F F F F F F F F F F F F F F G E I I J D G F F y H v z v z G J <.J E l F w N H y G F G v S w S Z S F y z w F F J R Q D l F H H G F v I N E F G w J E I i Z.b.U :.E F v E w <.Q G F v z Z w F F R k I N F y N y F F E y N F E D E H x F F F F E w J G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G F F F F E I J G G z v y G G w G G G F F F F F F F F F F F F F F F F G G E I I J I w D v D E F z G F H F F G H F J y z G F w H E v z F F E E D I D y G G y z F l y z G E F z N w J z v D E F G d [ 5+F I k D G y J G G v J G I F w J l I F H J S l G F l <.S w H G J y F F D z G E J w J G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G F F F F G E E I E I J J I E I F F F F F F F F F F F F F F F F F F F F G G E E F J v D G F F w I I E H F D G F w w w I F F G J G v l F E F F E F G J w w J I E F G G F z G F E G G I w I I v Z 0+o.-+ +R x Z G Q F F G G F J F I w F G F G S G I E E I E F F G F F w D G F F J J w w J G F F I F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
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+"= ' * -.m z w F F F F F F F F F F F E I E E G F F F F F F G G G F F F F F F F F F F F F F F F F I G F I y y E F J F G I I E F z G F G E I E E I F F E F J F I F I E E G G E E G J J G F F G G F J E G G G I N Z U F G U N w Z J F G E F F F E E G F l z F F F z J E E w y y w J y w F F I y w E F F F F G F G E F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F F F F F F F F F G G G F F G F F F F F F G G G E F F F F F F F F F F F F F F F F F F F G G E J w F F I F z l I F F G I E F F G J J I v E F E N I G E G F E J J E G F E I F I w G G F F E E F F E F F R H F F Q G y G E F J y l F v F E G I y G l J I G F F F F F F w z E F F F E J E G E I E F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F I F E I F J z G z J F F z w F F F F F F F F F F E F F w F F F G J F F I l F E w F F F F F F F F F F F F F F F F F F G E I J w w l l D y w J J I G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F R E F F F E I F G z N y E E J E F F F F F F F F w w y z I v S F F N F F F l v F F F F F F F F F F F F F F F F F F F G G E I J w D y z w J I I E G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G G G G G G G F F F F F F F F G G F F F F F F F F F F F F F F l F F l J F E y G z w F F F J N F F F F F F F F G F G F E G J E F v G D E w R F F F F F F F F F F F F F F F F F F F F G E I I J w w J I E E G G G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G G G G G G G G G G G G G G G E E G G F F F F F F F F F F F F F F w R z F I E I E F w S z F z E E E E E E E E I z w F N E F o G I F j G z F J G G G G G G G G F F F F F F F F F F F G G E I I I I E G G F F F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G G G G G G G I I I I I I I I I I E G G F F F F F F F F F F F J N l G G Z ^.S w l S R N Z <.I w w w w w w w w F F F I G Q S F v E Q k F y E N G G G G G G G G F F F F F F F F F F F F G G E E G G F F F F F F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G G G G G G G J J J J J J J J J I I E G F F F F F F F F F F F F G E Q e C+)++ u /+p+++6.O =+t.w w w w w w w w H E v R Z #+p+I.l N v F F R G N E E E E E E E E F F F F F F F F F F F F F F G G F F F F F F F F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G G G G G G G J J J J J J J J w J I E G G F F F F F F F F F F S z F I E +.*+J./.k F F K G+b+O.I I I I I I I I t.F F E E X.-+a G N E j+X.N z F E E E E E E E E F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
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+"= ' * -.m z w F G G F F F G E I G m J I G.z.O.q U U F z ^.K F G G G G G G G G G l l w F E q  +r m a.}.b c.i  +F m F.r.e.D w R G.r.N.m F r.d x.a.j z Z G U C.a.+.N E F w N l I F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G F F F G E I Z G E G F G F m J q K F F G G G G G G G G G G G E F J y l R S v U k G l J F F l l I F R <.:.F y w w R H l F G E E F F G U Q o F F E D R H z F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G F F F G E I F G D U H J y z :.G G <.n J F I G G G G G G G G I F E D z F F F E G F l G :.z w F x :.^.F F F <.F F v N F S U I v K l D F I N H z D v D I F E w F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
+"= ' * -.m z w F G G F F F G E I F x R F G <.N G F F N H J F w F G G G G G G G G F F F J y y l S J S :.w G D w w Z F F z w k S F S R y w G z I F F J F Q H G y l J J E F F G w y F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I y U 5.* = ",
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+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M.>._ % ]+",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M.>._ % ]+",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M.>._ % ]+",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M.>._ % ]+",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F F F F F F G G G G G G G G F F F F F F F F G G G G G G G G G G G G G G G G G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M.>._ % ]+",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F F F F F F G G G G G G G G F F F F F F F F G G G G G G G G G G G G G G G G G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M.>._ % ]+",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F F F F F F G G G G G G G G F F F F F F F F G G G G G G G G G G G G G G G G G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+I+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+H+F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M.>._ % ]+",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F G G G G G G G G F F F F F F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M.>._ % ]+",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F G G G G G G G G F F F F F F F F G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+K+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M.>._ % ]+",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F G G G G G G G G F F F F F F F F E E E E E E E E E E E E E E E E G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G E E E E E E E E G G G G G G G G E E E E E E E E G G G G G G G G G G G G G G G G G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+E E E E E E E E F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M.>._ % ]+",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F G G G G G G G G F F F F F F F F E E E E E E E E E E E E E E E E G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G E E E E E E E E G G G G G G G G E E E E E E E E G G G G G G G G G G G G G G G G G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+E E E E E E E E F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M.>._ % ]+",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F G G G G G G G G F F F F F F F F E E E E E E E E E E E E E E E E G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G G E E E E E E E E G G G G G G G G E E E E E E E E G G G G G G G G G G G G G G G G G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G G G L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+M+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+L+E E E E E E E E F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M.>._ % ]+",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F F F F F N+O+P+Q+R+S+T+R+U+U+U+V+W+X+X+Y+X+Z+`+ @.@.@+@`+@@#@@@$@W+%@W+&@W+*@=@-@;@>@X+,@%@*@W+W+'@)@!@~@!@;@'@{@!@!@]@;@^@'@/@'@(@_@:@W+;@-@W+=@W+*@%@X+W++@<@[@W+W+-@}@=@W+X+%@%@W+}@;@,@|@>@-@1@2@3@O+4@3@5@F F 6@7@8@9@7@0@a@G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G O+O+b@N+c@d@e@f@g@f@h@H+H+i@j@k@i@J+J+l@H+m@m@H+l@J+J+h@k@i@l@H+h@H+H+h@n@H+m@H+m@H+o@p@p@I+L+o@I+p@q@I+r@I+I+s@I+s@t@L+I+I+I+L+L+q@u@q@t@I+L+t@L+o@H+H+H+m@J+h@n@J+H+H+h@m@l@k@H+H+J+H+i@l@l@H+H+H+h@n@J+H+h@H+H+J+v@P+v@w@P+h@h@i@m@H+x@y@H+H+z@A@G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F N+N+N+N+O+G J+h@o@L+u@u@u@u@L+o@B@C@D@E@D@F@'@F@G@H@H@I@W+J@J@J@;@K@L@M@!@/@L@;@N@N@;@{@;@{@L@O@P@Q@f@e@R@S@f@R@R@f@B@f@T@S@S@B@U@;@U@N@V@W@/@!@;@K@/@L@L@X+X@Y@N@K@/@/@L@L@;@L@;@K@Z@K@]@'@'@L@Q+w@`@N+E F H N I  #7@a@0@7@0@.#G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G O+O+b@N++#c@@#B@g@B@`@##$#$#N+%#&#$#$#*#N+O+O+N+*#$#&#*#N+N+##4@4@$#*###*#%###4@4@3@H+H+H+J+=#=#J+H+j@J+m@h@l@l@h@j@H+J+m@k@i@j@h@J+J+H+j@i@l@H+H+-#;#4@*#b@N+%#$#N+`@*#*#N+N+N+*#;#$#b@%#O+N+b@*#>#N+3@N+%#4@$#$#$#4@O+O+##,#'#w@h@H+H+l@k@A@)#)#H+G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F N+N+N+N+O+G J+h@o@!#~#I+I+{#]#^#.#9@F /#F (#_#(#N+:#<#:#[#N+[#[#N+%#N+;#%###O+O+N+N+%#3@O+##N+N+}#|#}#a@1#2#a@3#4#4#3#3#3#3#a@a@5#[#N+N+N+(#6#F F F F [#N+N+N+N+z w I F F G I F F F E F H E G E y@H+7#H+8#H+A@7@7@9#0#a#7@8@0@.#G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G O+O+3@O+f@+#@#f@@#f@B@f@g@b#f@f@R@R@e@B@S@T@T@S@B@e@e@e@f@f@B@R@f@@#f@R@f@@#f@b#f@f@c@2@d@f@f@f@f@c@c@c#f@2@c@f@d@c@d@+#c@c@2@c@+#f@c#d@f@f@+#d@f@f@f@f@e@e@f@B@@#B@B@f@f@R@f@B@f@e@f@f@B@f@B@f@@#b#e@b#e@f@f@f@B@R@f@+#c@d@+#2@%#%#O+%#F w E z J+H+G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F B@B@N+N+O+G h@y@d#e#f#f#g#h#i#i#j#k#l#m#j#n#o#p#q#r#s#t#u#u#v#t#w#x#y#z#A#B#C#z#A#y#z#C#C#y#C#A#m#D#E#F#l#3#D#G#F#F#j#l#j#l#j#j#H#I#J#p#K#|#L#M#N#O#K#L#O#v#s#u#P#A#Q#R#S#T#B#P#z#B#C#P#U#C#A#T#V#^#^#V#W#X#Y#Z#`#Z#0#9#a# $7@7@G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G O+O+O+3@f@+#b#f@f@@#B@D@.$B@+$@$#$D@$$%$&$*$*$&$%$$$C@B@E@=$B@-$C@B@B@-$C@;$*$>$,$'$D@-$-$)$#$B@)$)$B@!$*$;$#$B@>$#$)$*$*$B@-$C@~${$'$!$B@#$B@]$'$D@%$B@*$%$^$@$%$B@*$B@/$D@($D@_$#$,$:$#$$$,$<$#$*$B@#$[$_$,$*$B@,$!@W@}$'@B@B@T@P@P@%#N+O+N+O+F J G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F B@B@B@O+O+G y@y@f#f#|$1$2$3$4$5$6$7$8$9$0$l#M#M#a$b$c$d$e$q#s#f$g$h$i$j$e$e$K#k$O#l$m$n$n$K#n$o$p$q$r$q$q$s$t$u$v$w$w$x$y$z$A$B$O#o$K#m$C$n$i$e$D$o$K#a$O#E$O#F$a$a$G$o$H$K#C$m$e$I$J$m$n$j$K$o$L$M$N$O$P${#Q$R$S$Z#T$7#y@=#F F G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G O+O+N+*#+#c@g@@#@#U$V$W$X$'@Y$Z$Y$`$ %Z$.%W$W$.%Z$ %+% %!@Y$'@@%`$#%`$ %!@Y$`$`$`$W$$%%%F@&%*%%%=%$%'@-%'@&%F@;%'@;@%%F@>%,%=%'@F@%%F@'%$%>%F@F@;@'@#%)%#%'@!@Y$'@!%+%~%{%'@Y$'@]%`$^%~%'@/%Z$+%)% %(%'@+%W$!@)%)%(%!@W+I@!@_%!@:%<%[%B@@#}%B@[#N+<#G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F *$*$B@+#O+G y@`#|%1%2%3%4%5%6%7%8%9%0%a%b%c%d%e%f%g%h%i%j%k%l%m%n%o%p%q%e%r%s%t%u%v%w%H$H$x%y%z%A%B%C%D%E%F%G%a%H%I%c%J%K%0%L%M%N%O%P%Q%t%R%S%T%M#U%f%V%W%X%O%Y%Z%`%h% &.&+&P%@&#&$&X%%&&&*&=&-&;&>&,&'&)&!&~&{&]&X#^&/&H+n@J+j@G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G O+O+N+$#+#c@(&P@_&:&<&<&[&}&|&1&2&3&4&5&6&7&7&6&5&4&8&9&|&0&}&a&<&b&c&d&e&f&g&h&<&i&j&k&l&m&n&o&p&q&l&r&s&t&u&v&w&x&y&z&A&B&C&D&E&F&G&H&I&J&K&x&L&M&N&b&h&O&P&Q&R&S&8&T&U&V&f&0&W&N&X&Y&Z&R&0&`& *.*T&f&J@|&+*@*b&N&#*$*%*&***=*-*;*F@#$>*,*'*)*f@e@G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F *$*$*$+#O+G y@!*~*{*]*^*/*(*_*:*9$<*[*}*|*1*2*a$3*4*5*6*7*8*9*0*a*b*c*d*e*e*f*g*h*i*f*j*j*k*l*m*n*o*e*p*q*n*r*s*t*p*u*v*w*x*y*z*A*B*A*C*a*D*m*v*E*F*G*c*H*I*J*J*K*L*M*N*O*K*E*P*Q*R*S*T*U*e*2*J$V*W*X*Y*Z*`* =.=+=@=#=/&I+i@J+$=G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G O+O+O+&#c@c@g@R@%=&=*===-=;=>=,='=)=!=~={=`+`+{=~=!=]=^=`+,=/=*=]=(=_=>=+@;=:=)=<=[=}=W+|=1=2=3=4=;=,=;=5=6=3=2=/=W+>=7=8=3=9=0=a=,=b=c=2=d=e=`+$@|=f=g=h=i=;=W+j=~=h=]=k=l=|=+@m=n===o=$@>=|=p=-=h=f=q=W+/=i=!=!=r=s=t=$@u=v=w=x=y=F@;@z=A='$)$e@e@G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F !@*$*$+#O+G `#!*B=C=D=E=F=G=:*H=I=J=K=L=M=N=O=N=P=Q=R=S=T=U=V=W=X=Y=Z=`= -.-+-@-Y=#-$-%-&-B*#-*-D*=-p*d*1*S*--;->-Q*k*k*,-g*'-)-!-!-~-{-4*]-l*Q*2*^-/-(-@-_-:-<-_*[-}-|-]-1-2-A*:-4*3-Z=4-:-5-<-6-7-8-9-0-a-b-c-d- =e-f-!#s@I+,#G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G G G G G G O+O+%#`@c@+#R@f@(&g-h-i-j-k-l-m-n-o-p-h-q-r-r-q-h-p-o-s-t-m-k-u-p-v-w-x-y-z-A-B-C-D-q=l=E-F-G-H-I-J-K-L-k===M-N-O-j=l=P-Q-G-M-R-E-j=S-]=T-U-V-O-E-W-X-Y-Y-Z-`- ;t-.;X-h-+;@;r-#;$;X-v-%;&;r-@;*;=;-;i-r-l-;;>;u-o--;,;';);!;~;{;w=];^;'@/;(;%$B@D@D@G G G G G G G G F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F !@*$*$c@3@J Y#_;:;<;[;};|;1;2;H$3;4;5;6;7;8;9;0;a;b;c;d;e;f;g;h;i;j;k;l;m;n;o;p;q;r;o;s;t;u;v;w;x;y;z;A;B;C;D;D;E;F;G;F;H;I;J;K;L;5$L;M;N;O;P;Q;R;z;S;T;U;V;W;s;X;Y;Z;`; >.>+>@>#>$>`;%>&>*>=>->;>>>,>'>)>!>~>{>]>^>/>(>_>s@I+Q+F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G F F F F N+N+$#O+f@2@B@e@:><>[>}>|>1>`+2>3>4>5>6>7>2>2>7>6>5>8>9>t-W+0>+;a>b>c>d>e>f>g>a>h>i>q=/=R-j>k>T-l>{=$@m>_=k>f=n>o>>=L-p>q>)=[=r>;=s>p>t>M-u>v>/=;=w>h>$;}>x>m-#;y>g>.;z>A>`-&;B>|>b>a>i>C>D>E>A>F>b>G>H>D> ;Z-I>J>K>L>M>N>O>P>Q>R>S>T>'@U>V>+$B@&$*$F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F *$*$*$c@3@J W>_;|$X>Y>Z>`>j% ,:*->.,+,@,#,$,%,&,*,=,-,=,;,>,,,',),!,~,{,],^,/,~,!,(,_,:,<,[,~,},|,[,1,2,/,~,!,_,|,3,4,5,6,(,7,8,9,h#0,a,},b,c,d,e,3,{,),f,g,h,i,j,k,(,f,l,m,&,<,m,a,b,n,o,5,p,q,r,s,t,u,v,w,x,y,z,A,f#B,C,m@J+,#F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G F F F F N+N+*#N++#1@R@R@}%D,E,F,G,H,I,J,K,L,M,N,O,P,P,O,N,M,Q,K,R,S,T,G,U,V,W,X,I,Y,Z,`,M, '.'|&V&6&c&+'@'#'}&P&$'+*%'&'*'}&.'='-'%';'>'#'f&,''')'!'~'{'1&*']'^'G,/'S,W+('_'^':'<'['7&}'|'Z,1'Q,X,S,2'3'L,4'_'X,;@I,5'G,6' '7'8'9'0'a'b'c'd'e'$%f'g'h'B@'*B@F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F *$*$B@c@%#I 8#T$i'j'k'l'm'n'o'R;p'q'r's't'u'v'w'x'y'z'A'B'C'C'D'E'F'G'H'I'J'K'G'L'L'M'i#B=N'O'E'P'Q'R'S'R'T'U'V'W'1$X'Y'T'Z'T'`'j' ).)+)O'E'k'@)#)$)%)1%&)O'.)*)=)-)L';)>),)')')-)))F'))N'=)J'!)~){)])^)/)()_):)<)i'[)})7#J+H+i@F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G F F F F N+N+3@N++#1@Q@Q@|)1)2)3)3)4)5)6)7)8)9)0)4)6)6)4)0)9)8)a)b)6)c)d)9)a)e)b)f)g)h)i)d)e)j)k)l)m)n)o)p)q)r)k)s)n)t)u)j)k)r)v)w)x)y)q)k)j)s)z)o)A)B)C)l)q)D)E)F)G)c)g)H)D)E)I)i)J)K)L)d)F)0)8)7)f)g)8)i)D)d)M)g)N)2)E)i)D)O)P)Q)R)S)T)U)V)W))$;$X)Y)e@Z)B@F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F e@B@B@O+%#E y@8#]#`)-)W' !.!+!@>@!j'#!$!W#i'%!&!*!=!-!;!})})B,C,>!,!'!)!!!)!~!{!]!^!/!T$Z#(!_!:!=!*!e#{#^&*!<![!&!}!e#|!-!1!2!2!3!]#4!5!6!2!7!8!{#9!|!0!a!5!9!^#Z#b!,!>!c!~!d!T$e!^!f!^!~!!!(!d!g!h!i!_)v'j!i#|%%!Y#(!7#x@H+F E F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G F F F F N+N+3@O++#2@Q@Q@g@k!l!l!m!n!o!p!q!m!r!s!t!,$,$t!s!r!u!v!w!e@x!y!z!z!A!A!A!B!C!D!E!E!#$F!G!m!s!s!l!H!o!o!I!J!K!L!p!D@p!M!L!N!O!q!%$%$P!Q!Q!L!t!R!p!S!O!Q!H!G!p!p!G!I!O!s!I!,$B@R!l!O!O!Q!q!,$D@T!U!r!I!G!p!p!G!m!U!N!V!W!W!X!_%Y!Z!`!'@k!R@B@R@5#[#[#F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F B@B@[#O+O+G h@y@ ~#=9!.~g#:;:;h#`#!!+~~!b!Y#H+H+)#7#@~k@m@l@j@i@#~$~x@y@H+A@8#)##~%~W>x@W>A@)##~8#y@H+H+x@&~z@)#W>8#8#W>)#x@)#W>n@J+l@7#*~&~$~A@)#8#x@$~*~j@j@@~)#%~$~$~7#)#W>x@y@7#=~=~$~)#W>x@8!`).~f#]#]#`#T$d!Y#-~-~-~a#0#0#F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G F F F F N+N+*#%#+#+#@#R@b#R@;~>~,~'~N+:#)~!~~~{~]~'~'~]~{~~~[#:#:#[#^~/~)~'~{~{~{~]~)~/~)~)~:#'~(~_~:~<~[~[#}~'~~~(~}~[~~~'~}~(~|~_~(~[#[#[~1~(~}~}~(~1~1~1~^~'~:#N+N+:#^~)~{~^~~~N+N+:#~~:#~~^~'~[#[#^~)~)~^~~~N+N+[#'~]~/~N@K@<%<%2~2~Q@Q@B@3~%#N+4@&#F E F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F [#[#[#N+N+G J+J+u@f-f-f-/&[)#=^&7@0#a#a#a#0#0#E F G y F 3@N+3@O+I z D D w J J z I F F J J F F I y I F E y v z F v D J E I z z I b@G F G z w F F G F F E E F I 4@4~-~0#7@7@7@0#-~7@-~4~-~7@7@-~5~H+x@z@$~W>H+W> $6~-~7@7@a#.#.#0@F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G F F F F N+N+*#3@+#f@B@@#e@B@7@0@.#8@a@a@0@.#7@7@0@8@8@0@7@7@.#0@a@a@.#7~0@7@8@0@a@a@0@0@a@7@8~_#6#6#(#_#6#F _#6#F 6#(#F F 6#6#6#6#_#(#F F (#F F _#_#(#6#6#(#0@7~9~9~7~.#.#0~0~0~9~9@a~0~8@a@7@7@a@a@a@0@0@0@0~7~.#0~9@9~.#a@+#+#+#+#c@c@N+N+N+;#F G D z H+H+F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F N+N+N+N+N+F J+J+o@o@L+L+o@I+I+I+8@0@7@7@7@(#b~c~b~b~d~6#e~N+f~N+F 6#(#6#6#6#6#(#g~b~6#F 6#_#8~g~*#O+N+N+N+O+N+N+N+%#O+N+N+b@*#3@N+3@N+F y z E z F F J v v b@N+N+(#(#_#8~8~/#6#F g~c~b~(#F F (#/#w@w@N+O+E G G G I -~a@7@a@8@8@0@F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G F F F F N+N+%#3@c@c@B@e@B@f@7@7@w#h~i~h~P#0#j~k~P#0#0#P#k~j~l~m~w#7@7@w#n~m~0#7@7@0#P#h~i~h~h~w#7@7@P#n~k~m~w#P#h~i~h~P#P#P#w#0#0#P#h~i~P#w#i~i~i~h~w#7@7@7@7@w#P#P#w#0#0#0#i~w#7@0#0#7@0#P#o~n~P#w#P#h~p~q~7@7@0#P#h~h~w#7@N+N+O+3@v@,#,#j@H+l@H+h@8#y@H+H+F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F F F F F N+N+P+P+V+r~R+U+S+S+R+s~7@a@0@0@6#6#6#6#6#F g~F t~f~u~[#8~_#F F 6#_#/#/#6#_#_#(#_#8~/#6#N+[#:#f~:#N+:#v~N+5#w~<#N+[#[#N+[#w~f~F /#F F x~6@/#F 6#6#N+[#<#9~8@7@7@a@8@7~9~a@7@7@0@0~0~.#a@2@c@O+O+N+N+%#b~6#b~0~7~0@a@a@a@F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G F F F F N+N+N+%#2@2@e@B@f@f@y~4$z~z~!*A~!*z~z~z~!*_;_;!*z~z~a@B~t#C~f$s#B~s#f$f$t#s#a@a@a@B~D~`#4,4,4,`#D~D~Z#`#`#D~D~`#4,4,Y#T$D~Z#D~4,`#D~4,D~Z#D~4,Y#(!(!A~!*z~E~A~_;_;4$E~z~4$F~F~4$E~A~E~z~E~_;_;!*z~E~_;G~G~4$E~z~z~!*,#H~H~v@P+H+J+h@h@J+H+W>H+H+8#8#F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F F J I G G F E v F G R F F H F F N E H E E y F F l G D F D E J D I l G E F G N F D F F z D I F E F y w F G z w F G G G G G G G G F F F F F F F F F F F G G E E E G E F F I I E J G G G G G G G G F F F F F G G E F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F J F F E I F F J G E G F E z w F F z D G F I w G F J G I E v w F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F J I E G F F F F z w G G J E G z G G G G G G G G F E I G I F I J E F F G G F G I F F F F F F F F F F F F F F F F E G F F F F G G l E Q F F R F E F F F F F F F G F F F F F F F F E E E G G F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F F G E w l z G G N G D E G y F v w F E J F R F E F J z G F Z G F G F F l y F F I J E D z F G Q k J F F F F F F J G G G G G G G G F F F F F F F F F F F G G E E E I F z D G G w F G G G G G G G G G E E G F F F G F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I J I F F F w I G G G F F F R w F F G E G F I z E E F F E l F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G G G F z z G I E F F G G G G G G G G F F I F F E G E Q H y E F G G F F F F F F F F F F F F F F F F F E G F F F F G E w F E F z J F H F F F F F F G G F F F F F F F F E E E G G F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F v w F F E z l H E F z J J y F F R G H F E J J N E l F K F F w S G J y I F E w Q E F F G y z I F F F Q :.x D F G G G G G G G G G F F F F F F F F F F F G G E E E I J E G J I E J G G G G G G G G J w w I G F F E F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F J w E F G E F G F G I I I J y F F G D x <.R y J I F G I E F w F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G E J J w w w E N y F F E J l G G G G G G G G R I E F J K l G F I w E E z w G F F F F F F F F F F F F F F F F E G F F F G G E I D v E H I E v F F F F F G G G F F F F F F F F E E E G G F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F G J y y J F F G K z F G E F w k F F w J F F F z I l v F <.k H F w y D G I y F G F D z G I F l q x F F G F E I J G G G G G G G G F F F F F F F F F F F G G E E E F y G F D z F z G G G G G G G G I w z w E G E J F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I w I F F w D w F J y E F w w E E D N z F F F F F I G E w J F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I I I I I I I I F E F F w E F y G G G G G G G G F w Z H F G F G D Q R I F G z z F F F F F F F F F F F F F F F F G G F F F G E I F I E F G F F J F F F F G G E E G G G G G G G G E E E G G F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F G G I I E J l Q F G I <.Z z E F K R G E D l F G E F N F p E G x w J z z x K J F z w E F z I E G R F I v w G F F G G G G G G G G F F F F F F F F F F F G G E E E I l k <.v I E G G G G G G G G G G J w w I E w y F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I E F F I D y E H Q R D J J J I N R v I F E D R N H w F F J J E F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F F F F F F G w y I w N E F I G G G G G G G G y G I G F w <.Z F I y y J G F G F F F F F F F F F F F F F F F F G F F F F G I I R G I H F G l I F F G G G E E E I I I I I I I I E E E G G F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F y F F G z D J F F H G F F F R J E v F F y F J H R l J U F z w E N I Q w F F E ^.E E G F x G F :.F I G E Q Z R D G G G G G G G G F F F F F F F F F F F G G E E E x G F E F D S y G G G G G G G G F E J J I I w D F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G F G z y I F F <.F F y l F G k F G E y S k y F G F F F I E J I F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G I y v R F :.<.F F I D k G G G G G G G G D F F l R G I F E.D F y S y F F F F F F F F F F F F F F F F F F F F F F G E I J I F F <.I F J F G G G G E E I I J J J J J J J J E E E G G F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F E I D v w w v H F K H R z F Q G F p w N H F E H F S v F C.W., `.e.y R F y p F E F R R F J F e B ! &.Y I F J F F G G G G G G G G F F F F F F F F F F F G G E E E w F K q F F R F G G G G G G G G G I J I E E I w F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F I F G v z F z m z E E l S Q z F D G G y J F I <.9.I F D N F F J F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F F G G G I z N S <.k+6./ 2 y F F F G G G G G G G G F w Z R F q w+# )+e+c.F F F E S F F F F F F F F F F F F F F F F F F F F G E J w F O.Q F J F G H G G G G E I I I J J J J J J J J E E E G G F F F F F F F F F F F G F F J F X.L.M._+d.$ * ",
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+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F G F F F E I E F F S I G F y k I l F N I F F I K K z N k H m F I G N l F F J H F Z S F F z D n F G v w z w I w F E v C+)+1 v v F F F v <.E l F R y K D G F z k F Z F F v E E N I J D S F E Q v l R z F F J G N F F n F z D J G F F R z E J F I G F F F F F F F F F F F F F F F F w G F E E F G z D F w R F G D I F I G E F y U F z v F I N ^.F I F J I :.H D F H H F Z I F Q l F p F I p v 9.F v E F w F l Q F z G Z x F l w :.:.k F E w F D j <.k F F <.G E o J q G H Q F J D G I v N F G w y I ^.)+ .x.H F N F F E F E G I z F Q S F z F x E F F k y y U R F F F S D <.R F I E n k F I J l :.E I F Q D F F R I G G G G G G G G G F F J F X.L.M.>._ % ]+",
+"= - - %.%+M.|.M.z I F F G G F F F F F F F F F F F F F F F F F F G F F F E I E F I F :.F K I F J F l G G D l q F F I F v F G G N v w F J k F I N G F x G Q F F D N F F v D F w v G H ).& u.J H S x y J Z G D l F G I k F y S F J F D v z F G H F z E F R <.F z H F <.F l N F J G I I w F H F Q n G k J F H D F F F F F F F F F F F F F F F F F F G F G y N D J J I F F v F F F z F k F N l I F Z I J Q I E F H E I G I F G N w I R F F E v J G y F F Z E w G F F l k F z K F G v v J F l y F D F F y v F v G S F R G w E H Z I l F F w Q E y U E w F E J N w G y v 3.d.w H N F m J N I G R I I U F U F j J F Z F w F G J E F G w l w J J w N F :.G F F y E G I w D U F Z E y z x G G G G G G G G G F F J F X.L.M.>._ % ]+",
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+"+ + $ ~ I.B.Y w.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.D.|.|.|.'.'./././.>.j.@ ; ",
+") + $ _ P.L.o+'.Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y *.*.*.o+o+V V V r+D+Z.# ",
+"    ' 3.Q.P V.-.T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T ;+;+Q.Q.-.-.-.W ,.1.& # ",
+"+ + % & ' H.H.t = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = * * - - - # > ) ]+",
+") + ) ) + + ]+[ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ' = = = * * - - 9 ~+& & ",
+"  +     + ) ) + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ' ' ' ' = = * * ]+' # [ "};
diff --git a/apps/DifOdometry-Datasets/CMakeLists.txt b/apps/DifOdometry-Datasets/CMakeLists.txt
new file mode 100644
index 0000000000..cd19c0c852
--- /dev/null
+++ b/apps/DifOdometry-Datasets/CMakeLists.txt
@@ -0,0 +1,37 @@
+INCLUDE(../../cmakemodules/AssureCMakeRootFile.cmake) # Avoid user mistake in CMake source directory
+
+#-----------------------------------------------------------------
+# CMake file for the MRPT application:  ReactiveNav3D-Demo
+#
+#  Run with "cmake ." at the root directory
+#
+#  January 2014, Mariano Jaimez Tarifa <marianojt@uma.es>
+#-----------------------------------------------------------------
+PROJECT(DifOdometry-Datasets)
+
+#MESSAGE(STATUS "Makefile for application: /apps/ReactiveNav3D-Demo ")
+
+# ---------------------------------------------
+# TARGET:
+# ---------------------------------------------
+# Define the executable target:
+ADD_EXECUTABLE(DifOdometry-Datasets
+               DifOdometry_Datasets_main.cpp
+			   DifOdometry_Datasets.cpp
+			   DifOdometry_Datasets.h)
+
+SET(TMP_TARGET_NAME "DifOdometry-Datasets")
+
+
+
+# Add the required libraries for linking:
+TARGET_LINK_LIBRARIES(${TMP_TARGET_NAME} ${MRPT_LINKER_LIBS})
+
+# Dependencies on MRPT libraries:
+#  Just mention the top-level dependency, the rest will be detected automatically, 
+#  and all the needed #include<> dirs added (see the script DeclareAppDependencies.cmake for further details)
+DeclareAppDependencies(${TMP_TARGET_NAME} mrpt-gui mrpt-opengl mrpt-vision)
+
+DeclareAppForInstall(${TMP_TARGET_NAME})
+
+
diff --git a/apps/DifOdometry-Datasets/DifOdometry_Datasets.cpp b/apps/DifOdometry-Datasets/DifOdometry_Datasets.cpp
new file mode 100644
index 0000000000..9703398962
--- /dev/null
+++ b/apps/DifOdometry-Datasets/DifOdometry_Datasets.cpp
@@ -0,0 +1,651 @@
+/* +---------------------------------------------------------------------------+
+   |                     Mobile Robot Programming Toolkit (MRPT)               |
+   |                          http://www.mrpt.org/                             |
+   |                                                                           |
+   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
+   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
+   | Released under BSD License. See details in http://www.mrpt.org/License    |
+   +---------------------------------------------------------------------------+ */
+
+#include "DifOdometry_Datasets.h"
+
+using namespace mrpt;
+using namespace mrpt::opengl;
+using namespace mrpt::gui;
+using namespace mrpt::slam;
+
+
+void CDifodoDatasets::loadConfiguration(const utils::CConfigFileBase &ini )
+{
+	downsample = ini.read_int("DIFODO_CONFIG", "downsample", 4, true);
+	rows = ini.read_int("DIFODO_CONFIG", "rows", 50, true);
+	cols = ini.read_int("DIFODO_CONFIG", "cols", 60, true);
+
+	string filename = ini.read_string("DIFODO_CONFIG", "filename", "no file", true);
+
+
+	//						Open Rawlog File
+	//==================================================================
+
+	if (!dataset.loadFromRawLogFile(filename))
+		throw std::runtime_error("\nCouldn't open rawlog dataset file for input...");
+
+	rawlog_count = 0;
+
+	//filename.replace(filename.find(".rawlog"),7,"_Images\\");
+	const string imgsPath = CRawlog::detectImagesDirectory(filename);
+
+	// Set external images directory:
+	CImage::IMAGES_PATH_BASE = imgsPath;
+
+	//					Load ground_truth
+	//=========================================================
+
+	filename = system::extractFileDirectory(filename);
+	filename.append("\\groundtruth.txt");
+	f_gt.open(filename);
+
+	if (f_gt.fail())
+		throw std::runtime_error("\nError finding the groundtruth file: it should be contained in the same folder than the rawlog file");
+
+	char aux[100];
+	f_gt.getline(aux, 100);
+	f_gt.getline(aux, 100);
+	f_gt.getline(aux, 100);
+	f_gt >> last_groundtruth;
+	f_gt >> last_gt_data[0]; f_gt >> last_gt_data[1]; f_gt >> last_gt_data[2];
+	f_gt >> last_gt_data[3]; f_gt >> last_gt_data[4]; f_gt >> last_gt_data[5]; f_gt >> last_gt_data[6];
+	last_groundtruth_ok = 1;
+
+	//			Resize Matrices and adjust parameters
+	//=========================================================
+	const unsigned int resh = 640/(cam_mode*downsample);
+	const unsigned int resv = 480/(cam_mode*downsample);
+
+	depth.setSize(rows,cols);
+	depth_old.setSize(rows,cols);
+	depth_inter.setSize(rows,cols);
+	depth_ft.setSize(resv,resh);
+	depth_wf.setSize(resv,resh);
+
+	du.setSize(rows,cols);
+	dv.setSize(rows,cols);
+	dt.setSize(rows,cols);
+	xx.setSize(rows,cols);
+	xx_inter.setSize(rows,cols);
+	xx_old.setSize(rows,cols);
+	yy.setSize(rows,cols);
+	yy_inter.setSize(rows,cols);
+	yy_old.setSize(rows,cols);
+
+	border.setSize(rows,cols);
+	border.assign(0);
+	null.setSize(rows,cols);
+	null.assign(0);
+	est_cov.assign(0);
+
+	x_incr = 2.0*f_dist*(floor(float(resh)/float(cols))*cols/float(resh))*tan(0.5*fovh)/(cols-1);	//In meters
+	y_incr = 2.0*f_dist*(floor(float(resv)/float(rows))*rows/float(resv))*tan(0.5*fovv)/(rows-1);	//In meters																				//In Hz
+
+	//Depth thresholds
+	const int dz = floor(float(resv)/float(rows));
+	const int dy = floor(float(resh)/float(cols));
+
+	duv_threshold = 0.001*(dz + dy)*(cam_mode*downsample);	
+	dt_threshold = 0.2*fps;
+	dif_threshold = 0.001*(dz + dy)*(cam_mode*downsample);
+	difuv_surroundings = 0.005*(dz + dy)*(cam_mode*downsample);
+	dift_surroundings = 0.01*fps*(dz + dy)*(cam_mode*downsample);
+
+}
+
+void CDifodoDatasets::CreateResultsFile()
+{
+	try
+	{
+		// Open file, find the first free file-name.
+		char	aux[100];
+		int     nFile = 0;
+		bool    free_name = false;
+
+		system::createDirectory("./difodo.results");
+
+		while (!free_name)
+		{
+			nFile++;
+			sprintf(aux, "./difodo.results/experiment_%03u.txt", nFile );
+			free_name = !system::fileExists(aux);
+		}
+
+		// Open log file:
+		f_res.open(aux);
+
+		printf(" Saving results to file: %s \n", aux);
+
+	}
+	catch (...)
+	{
+		printf("Exception found trying to create the 'results file' !!\n");
+	}
+}
+
+void CDifodoDatasets::initializeScene()
+{
+	global_settings::OCTREE_RENDER_MAX_POINTS_PER_NODE = 1000000;
+	window.resize(1000,900);
+	window.setPos(900,0);
+	window.setCameraZoom(16);
+	window.setCameraAzimuthDeg(0);
+	window.setCameraElevationDeg(90);
+	window.setCameraPointingToPoint(0,0,0);
+	window.setCameraPointingToPoint(0,0,1);
+
+	scene = window.get3DSceneAndLock();
+
+	// Lights:
+	scene->getViewport()->setNumberOfLights(1);
+	CLight & light0 = scene->getViewport()->getLight(0);
+	light0.light_ID = 0;
+	light0.setPosition(0,0,1,1);
+
+	//Grid (ground)
+	CGridPlaneXYPtr ground = CGridPlaneXY::Create();
+	scene->insert( ground );
+
+	//Reference
+	CSetOfObjectsPtr reference = stock_objects::CornerXYZ();
+	scene->insert( reference );
+
+	//					Cameras and points
+	//------------------------------------------------------
+
+	//DifOdo camera
+	CBoxPtr camera_odo = CBox::Create(math::TPoint3D(-0.02,-0.1,-0.01),math::TPoint3D(0.02,0.1,0.01));
+	camera_odo->setPose(cam_pose);
+	camera_odo->setColor(0,1,0);
+	scene->insert( camera_odo );
+
+	//Groundtruth camera
+	CBoxPtr camera_gt = CBox::Create(math::TPoint3D(-0.02,-0.1,-0.01),math::TPoint3D(0.02,0.1,0.01));
+	camera_gt->setPose(gt_pose);
+	camera_gt->setColor(1,0,0);
+	scene->insert( camera_gt );
+
+	//Frustum
+	opengl::CFrustumPtr FOV = opengl::CFrustum::Create(0.3, 5, 57.3*fovh, 57.3*fovv, 1.5f, true, false);
+	FOV->setPose(gt_pose);
+	scene->insert( FOV );
+
+	//Reference gt
+	CSetOfObjectsPtr reference_gt = stock_objects::CornerXYZ();
+	reference_gt->setScale(0.2);
+	reference_gt->setPose(gt_pose);
+	scene->insert( reference_gt );
+
+	//Camera points
+	CPointCloudPtr cam_points = CPointCloud::Create();
+	cam_points->setColor(1,0,0);
+	cam_points->setPointSize(2);
+	cam_points->enablePointSmooth(1);
+	cam_points->setPose(cam_pose);
+	scene->insert( cam_points );
+
+	//Border points
+	CPointCloudPtr border_points = CPointCloud::Create();
+	border_points->setColor(0,0,1);
+	border_points->setPointSize(3);
+	border_points->enablePointSmooth(1);
+	border_points->setPose(cam_pose);
+	scene->insert( border_points );
+
+	//					Trajectories and covarianze
+	//-------------------------------------------------------------
+
+	//Dif Odometry
+	CSetOfLinesPtr traj_lines_odo = CSetOfLines::Create();
+	traj_lines_odo->setLocation(0,0,0);
+	traj_lines_odo->setColor(0,0,0);
+	traj_lines_odo->setLineWidth(3);
+	scene->insert( traj_lines_odo );
+	CPointCloudPtr traj_points_odo = CPointCloud::Create();
+	traj_points_odo->setColor(0,0.5,0);
+	traj_points_odo->setPointSize(4);
+	traj_points_odo->enablePointSmooth(1);
+	scene->insert( traj_points_odo );
+
+	//Groundtruth
+	CSetOfLinesPtr traj_lines_gt = CSetOfLines::Create();
+	traj_lines_gt->setLocation(0,0,0);
+	traj_lines_gt->setColor(0,0,0);
+	traj_lines_gt->setLineWidth(3);
+	scene->insert( traj_lines_gt );
+	CPointCloudPtr traj_points_gt = CPointCloud::Create();
+	traj_points_gt->setColor(0.5,0,0);
+	traj_points_gt->setPointSize(4);
+	traj_points_gt->enablePointSmooth(1);
+	scene->insert( traj_points_gt );
+
+	//Ellipsoid showing covariance
+	math::CMatrixFloat33 cov3d(est_cov.topLeftCorner(3,3));
+	CEllipsoidPtr ellip = CEllipsoid::Create();
+	ellip->setCovMatrix(cov3d);
+	ellip->setQuantiles(2.0);
+	ellip->setColor(1.0, 1.0, 1.0, 0.5);
+	ellip->enableDrawSolid3D(true);
+	ellip->setPose(cam_pose);
+	scene->insert( ellip );
+
+	//User-interface information
+	utils::CImage img_legend;
+	img_legend.loadFromXPM(legend_xpm);
+	COpenGLViewportPtr legend = scene->createViewport("legend");
+	legend->setViewportPosition(20, 20, 348, 200);
+	legend->setImageView(img_legend);
+
+	window.unlockAccess3DScene();
+	window.repaint();
+}
+
+void CDifodoDatasets::updateScene()
+{
+	scene = window.get3DSceneAndLock();
+
+	//Reference gt
+	CSetOfObjectsPtr reference_gt = scene->getByClass<CSetOfObjects>(1);
+	reference_gt->setPose(gt_pose);
+
+	//Camera points
+	CPointCloudPtr cam_points = scene->getByClass<CPointCloud>(0);
+	cam_points->clear();
+	cam_points->setPose(gt_pose);
+	for (unsigned int y=0; y<cols; y++)
+		for (unsigned int z=0; z<rows; z++)
+		{
+			cam_points->insertPoint(depth_inter(z,y), xx_inter(z,y), yy_inter(z,y));
+		}
+
+	//Border points
+	CPointCloudPtr border_points = scene->getByClass<CPointCloud>(1);
+	border_points->clear();
+	border_points->setPose(gt_pose);
+	for (unsigned int y=0; y<cols; y++)
+		for (unsigned int z=0; z<rows; z++)
+			if (border(z,y) == 1)
+				border_points->insertPoint(depth_inter(z,y), xx_inter(z,y), yy_inter(z,y));
+
+	//DifOdo camera
+	CBoxPtr camera_odo = scene->getByClass<CBox>(0);
+	camera_odo->setPose(cam_pose);
+
+	//Groundtruth camera
+	CBoxPtr camera_gt = scene->getByClass<CBox>(1);
+	camera_gt->setPose(gt_pose);
+
+	//Frustum
+	CFrustumPtr FOV = scene->getByClass<CFrustum>(0);
+	FOV->setPose(gt_pose);
+
+	if (rawlog_count > 1)
+	{
+		//Difodo traj lines
+		CSetOfLinesPtr traj_lines_odo = scene->getByClass<CSetOfLines>(0);
+		traj_lines_odo->appendLine(cam_oldpose.x(), cam_oldpose.y(), cam_oldpose.z(), cam_pose.x(), cam_pose.y(), cam_pose.z());
+
+		//Difodo traj points
+		CPointCloudPtr traj_points_odo = scene->getByClass<CPointCloud>(2);
+		traj_points_odo->insertPoint(cam_pose.x(), cam_pose.y(), cam_pose.z());
+
+		//Groundtruth traj lines
+		CSetOfLinesPtr traj_lines_gt = scene->getByClass<CSetOfLines>(1);
+		traj_lines_gt->appendLine(gt_oldpose.x(), gt_oldpose.y(), gt_oldpose.z(), gt_pose.x(), gt_pose.y(), gt_pose.z());
+
+		//Groundtruth traj points
+		CPointCloudPtr traj_points_gt = scene->getByClass<CPointCloud>(3);
+		traj_points_gt->insertPoint(gt_pose.x(), gt_pose.y(), gt_pose.z());
+	}
+
+	//Ellipsoid showing covariance
+	math::CMatrixFloat33 cov3d(est_cov.topLeftCorner(3,3));
+	CEllipsoidPtr ellip = scene->getByClass<CEllipsoid>(0);
+	ellip->setCovMatrix(cov3d);
+	ellip->setPose(cam_pose);
+
+	window.unlockAccess3DScene();
+	window.repaint();
+}
+
+void CDifodoDatasets::loadFrame()
+{
+	CObservationPtr alfa = dataset.getAsObservation(rawlog_count);
+
+	while (!IS_CLASS(alfa, CObservation3DRangeScan))
+	{
+		rawlog_count++;
+		if (dataset.size() <= rawlog_count)
+			return;
+		alfa = dataset.getAsObservation(rawlog_count);
+	}
+
+	CObservation3DRangeScanPtr obs3D = CObservation3DRangeScanPtr(alfa);
+	obs3D->load();
+
+	const unsigned int height = obs3D->rangeImage.getRowCount();
+	const unsigned int width = obs3D->rangeImage.getColCount();
+	const unsigned int index_incr = downsample;
+
+	//Load depth image
+	for (unsigned int i=0; i<height; i+=index_incr)
+		for (unsigned int j=0; j<width; j+=index_incr)
+			depth_wf(i/index_incr,j/index_incr) = obs3D->rangeImage(height-i-1, width-j-1);
+
+
+	double timestamp_gt;
+	double timestamp_obs = timestampTotime_t(obs3D->timestamp);
+
+	//Exit if there is no ground truth at this time
+	if (last_groundtruth > timestamp_obs)
+	{
+		groundtruth_ok = 0;
+		obs3D->unload();
+		rawlog_count++;
+		return;
+	}
+
+	//Search the corresponding groundtruth data and interpolate
+	bool new_data = 0;
+	last_groundtruth_ok = groundtruth_ok;
+	while (last_groundtruth < timestamp_obs - 0.01)
+	{
+		f_gt.ignore(100,'\n');
+		f_gt >> timestamp_gt;
+		last_groundtruth = timestamp_gt;
+		new_data = 1;
+	}
+
+	//Read the inmediatly previous groundtruth
+	double x0,y0,z0,qx0,qy0,qz0,w0,t0;
+	if (new_data == 1)
+	{
+		f_gt >> x0; f_gt >> y0; f_gt >> z0;
+		f_gt >> qx0; f_gt >> qy0; f_gt >> qz0; f_gt >> w0;
+	}
+	else
+	{
+		x0 = last_gt_data[0]; y0 = last_gt_data[1]; z0 = last_gt_data[2];
+		qx0 = last_gt_data[3]; qy0 = last_gt_data[4]; qz0 = last_gt_data[5]; w0 = last_gt_data[6];
+	}
+
+	t0 = last_groundtruth;
+
+	//Read the inmediatly posterior groundtruth
+	f_gt.ignore(10,'\n');
+	f_gt >> timestamp_gt;
+	last_groundtruth = timestamp_gt;
+
+	//last_gt_data = [x y z qx qy qz w]
+	f_gt >> last_gt_data[0]; f_gt >> last_gt_data[1]; f_gt >> last_gt_data[2];
+	f_gt >> last_gt_data[3]; f_gt >> last_gt_data[4]; f_gt >> last_gt_data[5]; f_gt >> last_gt_data[6];
+
+	if (last_groundtruth - timestamp_obs > 0.01)
+	{
+		groundtruth_ok = 0;
+	}
+	else
+	{
+		gt_oldpose = gt_pose;
+
+		//Update pose
+		const float incr_t0 = timestamp_obs - t0;
+		const float incr_t1 = last_groundtruth - timestamp_obs;
+		const float incr_t = incr_t0 + incr_t1;
+
+		//Sometimes the quaternion sign changes in the groundtruth
+		if (abs(qx0 + last_gt_data[3]) + abs(qy0 + last_gt_data[4]) + abs(qz0 + last_gt_data[5]) + abs(w0 + last_gt_data[6]) < 0.05)
+		{
+			qx0 = -qx0; qy0 = -qy0; qz0 = -qz0; w0 = -w0;
+		}
+
+		double x,y,z,qx,qy,qz,w;
+		x = (incr_t0*last_gt_data[0] + incr_t1*x0)/(incr_t);
+		y = (incr_t0*last_gt_data[1] + incr_t1*y0)/(incr_t);
+		z = (incr_t0*last_gt_data[2] + incr_t1*z0)/(incr_t);
+		qx = (incr_t0*last_gt_data[3] + incr_t1*qx0)/(incr_t);
+		qy = (incr_t0*last_gt_data[4] + incr_t1*qy0)/(incr_t);
+		qz = (incr_t0*last_gt_data[5] + incr_t1*qz0)/(incr_t);
+		w = (incr_t0*last_gt_data[6] + incr_t1*w0)/(incr_t);
+
+
+		CMatrixDouble33 mat;
+		mat(0,0) = 1- 2*qy*qy - 2*qz*qz;
+		mat(0,1) = 2*(qx*qy - w*qz);
+		mat(0,2) = 2*(qx*qz + w*qy);
+		mat(1,0) = 2*(qx*qy + w*qz);
+		mat(1,1) = 1 - 2*qx*qx - 2*qz*qz;
+		mat(1,2) = 2*(qy*qz - w*qx);
+		mat(2,0) = 2*(qx*qz - w*qy);
+		mat(2,1) = 2*(qy*qz + w*qx);
+		mat(2,2) = 1 - 2*qx*qx - 2*qy*qy;
+
+		CPose3D gt, transf;
+
+		//Alternative - directly quaternions
+		//vector<float> quat;
+		//quat[0] = x, quat[1] = y; quat[2] = z;
+		//quat[3] = w, quat[4] = qx; quat[5] = qy; quat[6] = qz;
+		//gt.setFromXYZQ(quat);
+
+		gt.setFromValues(x,y,z,0,0,0);
+		gt.setRotationMatrix(mat);
+		transf.setFromValues(0,0,0,0.5*M_PI, -0.5*M_PI, 0);
+
+		//Set the initial pose (if appropiate)
+		if (rawlog_count == 0)
+			cam_pose = gt + transf;
+
+		gt_pose = gt + transf;
+		groundtruth_ok = 1;
+
+	//printf("\n (q0,q0,q0,t0) = (%f, %f, %f, %.04f)", qx0, qy0, qz0, t0);
+	//printf("\n (q1,q1,q1,t1) = (%f, %f, %f, %.04f)", qx1, qy1, qz1, t1);
+	//printf("\n (x,y,z,t) = (%f, %f, %f, %.04f) \n", x, y, z, timestampTotime_t(obs3D->timestamp));
+
+	}
+
+	obs3D->unload();
+	rawlog_count++;
+}
+
+
+void CDifodoDatasets::reset()
+{
+	loadFrame();
+	filterAndDownsample();
+	calculateCoord();
+	calculateDepthDerivatives();
+	findNullPoints();
+	findBorders();
+	findValidPoints();
+
+	cam_oldpose = cam_pose;
+	gt_oldpose = gt_pose;
+}
+
+
+void CDifodoDatasets::filterSpeedAndPoseUpdate()
+{
+	//-------------------------------------------------------------------------
+	//								Filter speed
+	//-------------------------------------------------------------------------
+
+	utils::CTicTac clock;
+	clock.Tic();
+
+	//		Calculate Eigenvalues and Eigenvectors
+	//----------------------------------------------------------
+	Eigen::SelfAdjointEigenSolver<MatrixXf> eigensolver(est_cov);
+	if (eigensolver.info() != Eigen::Success)
+	{
+		printf("Eigensolver couldn't find a solution. Pose is not updated");
+		return;
+	}
+
+	//First, we have to describe both the new linear and angular speeds in the "eigenvector" basis
+	//-------------------------------------------------------------------------------------------------
+	MatrixXf Bii, kai_b;
+	Bii.setSize(6,6); kai_b.setSize(6,1);
+	Bii = eigensolver.eigenvectors();
+
+	kai_b = Bii.colPivHouseholderQr().solve(kai_solver);
+
+	//Second, we have to describe both the old linear and angular speeds in the "eigenvector" basis too
+	//-------------------------------------------------------------------------------------------------
+	math::CMatrixDouble33 inv_trans;
+	math::CMatrixFloat31 v_loc_old, w_loc_old;
+
+	//Express them in the local reference frame first
+	cam_pose.getRotationMatrix(inv_trans);
+	v_loc_old = inv_trans.inverse().cast<float>()*kai_abs.topRows(3);
+	w_loc_old = inv_trans.inverse().cast<float>()*kai_abs.bottomRows(3);
+
+	//Then transform that local representation to the "eigenvector" basis
+	MatrixXf kai_b_old;
+	kai_b_old.setSize(6,1);
+	math::CMatrixFloat61 kai_loc_old;
+	kai_loc_old.topRows<3>() = v_loc_old;
+	kai_loc_old.bottomRows<3>() = w_loc_old;
+
+	kai_b_old = Bii.colPivHouseholderQr().solve(kai_loc_old);
+
+	//Filter speed
+	const float c = 400.0;
+	MatrixXf kai_b_fil;
+	kai_b_fil.setSize(6,1);
+	for (unsigned int i=0; i<6; i++)
+	{
+		kai_b_fil(i,0) = (kai_b(i,0) + (c*eigensolver.eigenvalues()(i,0) + 0.2)*kai_b_old(i,0))/(1.0 + c*eigensolver.eigenvalues()(i,0) + 0.2);
+		//kai_b_fil_d(i,0) = (kai_b_d(i,0) + 0.2*kai_b_old_d(i,0))/(1.0 + 0.2);
+	}
+
+	//Transform filtered speed to local and then absolute reference systems
+	MatrixXf kai_loc_fil;
+	math::CMatrixFloat31 v_abs_fil, w_abs_fil;
+	kai_loc_fil.setSize(6,1);
+	kai_loc_fil = Bii.inverse().colPivHouseholderQr().solve(kai_b_fil);
+
+	cam_pose.getRotationMatrix(inv_trans);
+	v_abs_fil = inv_trans.cast<float>()*kai_loc_fil.topRows(3);
+	w_abs_fil = inv_trans.cast<float>()*kai_loc_fil.bottomRows(3);
+
+	kai_abs.topRows<3>() = v_abs_fil;
+	kai_abs.bottomRows<3>() = w_abs_fil;
+
+
+	//-------------------------------------------------------------------------
+	//							Update pose (DIFODO)
+	//-------------------------------------------------------------------------
+
+	cam_oldpose = cam_pose;
+
+	//Rotations and translations (could be better, and I tried it but there isn't any significant difference...)
+	double yaw,pitch,roll;
+	math::CMatrixDouble31 w_euler_d;
+
+	cam_pose.getYawPitchRoll(yaw,pitch,roll);
+	w_euler_d(0,0) = kai_loc_fil(4,0)*sin(roll)/cos(pitch) + kai_loc_fil(5,0)*cos(roll)/cos(pitch);
+	w_euler_d(1,0) = kai_loc_fil(4,0)*cos(roll) - kai_loc_fil(5,0)*sin(roll);
+	w_euler_d(2,0) = kai_loc_fil(3,0) + kai_loc_fil(4,0)*sin(roll)*tan(pitch) + kai_loc_fil(5,0)*cos(roll)*tan(pitch);
+
+	//Update pose
+	cam_pose.x_incr(v_abs_fil(0,0)/fps);
+	cam_pose.y_incr(v_abs_fil(1,0)/fps);
+	cam_pose.z_incr(v_abs_fil(2,0)/fps);
+	cam_pose.setYawPitchRoll(yaw + w_euler_d(0,0)/fps, pitch + w_euler_d(1,0)/fps, roll + w_euler_d(2,0)/fps);
+
+	execution_time += 1000*clock.Tac();
+
+	//==================================================================================
+	//									Statistics
+	//==================================================================================
+
+	if ((groundtruth_ok)&&(last_groundtruth_ok))
+	{
+		CPose3D gt_pose_incr = gt_pose - gt_oldpose;
+		CPose3D cam_pose_incr = cam_pose - cam_oldpose;
+		CPose3D abs_pose_error = gt_pose - cam_pose;
+
+		//cout << endl << "GT: " << gt_pose_incr;
+		//cout << endl << "OD: " << cam_pose_incr;
+		//cout << endl << "AE: " << abs_pose_error;
+
+		//-------------------------------------------------------------------------
+		//									DIF ODO
+		//-------------------------------------------------------------------------
+
+		//Relative errors in displacement
+		for (unsigned int i=0; i<6; i++)
+			rel_error[i] = cam_pose_incr[i] - gt_pose_incr[i];
+
+		//Absolute error
+		abs_error_tras = sqrt(abs_pose_error[0]*abs_pose_error[0] + abs_pose_error[1]*abs_pose_error[1] + abs_pose_error[2]*abs_pose_error[2]);
+		abs_error_rot = sqrt(abs_pose_error[3]*abs_pose_error[3] + abs_pose_error[4]*abs_pose_error[4] + abs_pose_error[5]*abs_pose_error[5]);
+
+		acu_rel_error_tras += sqrt(rel_error[0]*rel_error[0] + rel_error[1]*rel_error[1] + rel_error[2]*rel_error[2]);
+		acu_rel_error_rot += sqrt(rel_error[3]*rel_error[3] + rel_error[4]*rel_error[4] + rel_error[5]*rel_error[5]);
+
+		////Relative errors in velocity (m/s)^2
+		//se_vel_dif = square(kai_loc_fil_d(0,0)-des_rel_true(0,0)*m_process.t_incr_inv)
+		//			+ square(kai_loc_fil_d(1,0)-des_rel_true(1,0)*m_process.t_incr_inv)
+		//			+ square(kai_loc_fil_d(2,0)-des_rel_true(2,0)*m_process.t_incr_inv);
+
+
+		sum_exec_time += execution_time;
+
+		//Don't take into account those iterations with the same depth images
+		if (dt.sumAll() == 0)
+			dtzero_before = 1;
+
+		else if (dtzero_before == 1)
+			dtzero_before = 0;
+
+		else if (save_results == 1)
+			writeToLogFile();
+
+	}
+
+	num_iter++;
+}
+
+
+void CDifodoDatasets::writeToLogFile()
+{
+	char aux[24];
+	sprintf(aux,"%.04f", last_groundtruth);
+	f_res << aux << " ";
+
+	f_res << rel_error[0] << " ";
+	f_res << rel_error[1] << " ";
+	f_res << rel_error[2] << " ";
+	f_res << rel_error[3] << " ";
+	f_res << rel_error[4] << " ";
+	f_res << rel_error[5] << " ";
+
+	f_res << abs_error_tras << " ";
+	f_res << abs_error_rot << " ";
+	f_res << execution_time << " ";
+	f_res << num_valid_points << " ";
+	f_res << "\n";
+}
+
+
+void CDifodoDatasets::showStatistics()
+{
+	printf("\n==============================================================================");
+	printf("\n Average execution time (ms): %f", sum_exec_time/num_iter);
+	printf("\n Average frame to frame traslational error (m): %f", acu_rel_error_tras/num_iter);
+	printf("\n Average frame to frame rotational error (deg): %f", 57.3*acu_rel_error_rot/num_iter);
+	printf("\n Absolute traslational error (m): %f", abs_error_tras);
+	printf("\n Absolute rotational error (deg): %f", 57.3*abs_error_rot);
+	printf("\n==============================================================================\n");
+}
+
+
diff --git a/apps/DifOdometry-Datasets/DifOdometry_Datasets.h b/apps/DifOdometry-Datasets/DifOdometry_Datasets.h
new file mode 100644
index 0000000000..0763ca2b82
--- /dev/null
+++ b/apps/DifOdometry-Datasets/DifOdometry_Datasets.h
@@ -0,0 +1,103 @@
+/* +---------------------------------------------------------------------------+
+   |                     Mobile Robot Programming Toolkit (MRPT)               |
+   |                          http://www.mrpt.org/                             |
+   |                                                                           |
+   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
+   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
+   | Released under BSD License. See details in http://www.mrpt.org/License    |
+   +---------------------------------------------------------------------------+ */
+
+
+#include <mrpt/vision.h>
+#include <mrpt/utils/CConfigFileBase.h>
+#include <mrpt/utils/CImage.h>
+#include <mrpt/slam/CRawlog.h>
+#include <mrpt/slam/CObservation3DRangeScan.h>
+#include <mrpt/opengl.h>
+#include <mrpt/gui.h>
+#include <iostream>
+#include "legend.xpm"
+
+
+class CDifodoDatasets : public mrpt::vision::CDifodo {
+public:
+	
+	mrpt::poses::CPose3D gt_pose;		//!< Groundtruth camera pose
+	mrpt::poses::CPose3D gt_oldpose;	//!< Groundtruth camera previous pose
+
+	mrpt::gui::CDisplayWindow3D	window;	
+	mrpt::slam::CRawlog	dataset;		
+	std::ifstream		f_gt;
+	std::ofstream		f_res;
+
+	unsigned int rawlog_count;
+	bool save_results;
+
+	/** Constructor. */
+	CDifodoDatasets() : mrpt::vision::CDifodo() 
+	{ 
+		save_results = 0;
+		sum_exec_time = 0;
+		acu_rel_error_tras = 0;
+		acu_rel_error_rot = 0;
+		num_iter = 0;
+	}
+
+	/** Initializes the visual odometry method and loads the rawlog file */
+	void loadConfiguration( const mrpt::utils::CConfigFileBase &ini );
+
+	/** Loads the depth image and the corresponding groundtruth pose */
+	void loadFrame();
+
+	/** Creates a file to save some results */
+	void CreateResultsFile();
+
+	/** Initializes opengl scene */
+	void initializeScene();
+
+	/** Updates the opengl scene */
+	void updateScene();
+
+	/** Obtains the filtered speed, updates the pose and saves some statistics */
+	void filterSpeedAndPoseUpdate();
+
+	/** A pre-step that should be performed before starting to estimate the camera speed
+	  * As a couple of frames are necessary to estimate the camera motion, this methods loads the first frame
+	  * before any motion can be estimated.*/
+	void reset();
+
+	/** Shows the average frame to frame error made by Difodo, as well as its absolute pose error
+	  * and its average execution time. */
+	void showStatistics();
+
+private:
+
+	// Used to ignore consecutive frames with exactly the same depth image (it happens...)
+	bool dtzero_before;
+
+	// Used to advoid saving results when the groundtruth is missing
+	bool groundtruth_ok;
+	bool last_groundtruth_ok;
+
+	float rel_error[6];			//!< Relative frame to frame error in (vx, vy, vz, rel_yaw, rel_pitch, rel_roll)
+	float abs_error_tras;		//!< Absolute pose error in traslation (m)
+	float acu_rel_error_tras;	//!< Cumulative relative frame to frame error in traslation (m), used in "showStatistics()"
+	float abs_error_rot;		//!< Absolute pose error in rotation (rad)
+	float acu_rel_error_rot;	//!< Cumulative relative frame to frame error in rotation (rad), used in "showStatistics()"
+	float sum_exec_time;		//!< Cumulative execution time, used in "showStatistics()"
+
+	mrpt::opengl::COpenGLScenePtr	scene;	//!< Opengl scene
+
+	unsigned int num_iter;		//!< Iteration count		
+	double last_groundtruth;	//!< Timestamp of the last groundtruth read
+	double last_gt_data[7];		//!< Last ground truth read (x y z qx qy qz w)
+
+	/** Saves the following data for each observation (distance in meters and angles in radians):
+	  * timestamp of the groundtruth(s) - relative error (vx vy vz local_yaw local_pitch local_roll) - ...
+	  * ... - abs_error_traslation - abs_error_rotation - execution_time - num_valid_points 
+	  
+	  * Clarification: the timestamp belongs to the last groundtruth read, but the groundtruth pose is
+	  * calculated interpolating between this and the previous one*/
+	void writeToLogFile();
+
+};
diff --git a/apps/DifOdometry-Datasets/DifOdometry_Datasets_main.cpp b/apps/DifOdometry-Datasets/DifOdometry_Datasets_main.cpp
new file mode 100644
index 0000000000..14614d90f8
--- /dev/null
+++ b/apps/DifOdometry-Datasets/DifOdometry_Datasets_main.cpp
@@ -0,0 +1,197 @@
+/* +---------------------------------------------------------------------------+
+   |                     Mobile Robot Programming Toolkit (MRPT)               |
+   |                          http://www.mrpt.org/                             |
+   |                                                                           |
+   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
+   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
+   | Released under BSD License. See details in http://www.mrpt.org/License    |
+   +---------------------------------------------------------------------------+ */
+
+#include "DifOdometry_Datasets.h"
+
+using namespace std;
+using namespace mrpt;
+
+const char *default_cfg_txt =
+	"; ---------------------------------------------------------------\n"
+	"; FILE: Difodo Parameters.txt\n"
+	";\n"
+	";  MJT @ JANUARY-2014\n"
+	"; ---------------------------------------------------------------\n\n"
+
+	"[DIFODO_CONFIG]\n\n"
+
+	";downsample: 1 - 640x480, 2 - 320x240, 4 - 160x120 \n"
+	"downsample = 4 \n\n"
+
+	";Indicate the number of rows and columns. They must be equal or inferior to what is indicated with the 'downsample' variable). \n"
+	"rows = 60 \n"
+	"cols = 80 \n\n"
+
+	";Absolute path of the rawlog file \n"
+	"filename = C:/.../file.rawlog \n";
+
+
+// ------------------------------------------------------
+//						MAIN
+// ------------------------------------------------------
+
+
+int main(int num_arg, char *argv[])
+{
+	try
+	{
+		//						Read function arguments
+		//----------------------------------------------------------------------
+		bool use_config_file = false;
+		string filename;
+		CDifodoDatasets odo;
+
+		if (num_arg < 2 || string(argv[1]) == "--help")
+		{
+			printf("\n\t       Arguments of the function 'main' \n");
+			printf("==============================================================\n\n");
+			printf(" --help: Shows this menu... \n\n");
+			printf(" --config FICH.txt: Load FICH.txt as config file \n\n");
+			printf(" --create-config FICH.txt: Save the default config parameters \n\n");
+			printf(" \t\t\t   in FICH.txt and close the program \n\n");
+			printf(" --save-logfile: Enable saving a file with results of the pose estimate \n\n");
+			system::os::getch();
+			return 1;
+		}
+		else if ( string(argv[1]) == "--create-config")
+		{
+			filename = argv[2];
+			cout << endl << "Config_file name: " << filename;
+			ofstream new_file(filename.c_str());
+			new_file << string(default_cfg_txt);
+			new_file.close();
+			cout << endl << "File saved" << endl;
+			system::os::getch();
+			return 1;
+		}
+		else
+		{
+			for (int i=1; i<num_arg; i++)
+			{
+				if ( string(argv[i]) == "--save-logfile")
+				{
+					odo.save_results = true;
+					odo.CreateResultsFile();
+				}
+
+				if ( string(argv[i]) == "--config")
+				{
+					use_config_file = true;
+					filename = argv[i+1];
+				}
+			}
+		}
+
+		//Initial steps. Load configuration from file or default
+		//------------------------------------------------------
+
+		if (!use_config_file)
+		{
+			utils::CConfigFileMemory configDifodo(default_cfg_txt);
+			odo.loadConfiguration( configDifodo );
+		}
+		else
+		{
+			utils::CConfigFile configDifodo(filename);
+			odo.loadConfiguration( configDifodo );
+		}
+
+		odo.initializeScene();
+
+		//==============================================================================
+		//									Main operation
+		//==============================================================================
+
+		int pushed_key = 0;
+		bool working = 0, stop = 0;
+
+		odo.reset();
+
+		while (!stop)
+		{
+
+			if (odo.window.keyHit())
+				pushed_key = odo.window.getPushedKey();
+			else
+				pushed_key = 0;
+
+			switch (pushed_key) {
+
+			//Capture 1 new frame and calculate odometry
+			case  'n':
+				if (odo.dataset.size() <= odo.rawlog_count)
+				{
+					working = 0;
+					cout << endl << "End of dataset.";
+				}
+				else
+				{
+					odo.loadFrame();
+					odo.OdometryCalculation();
+					odo.filterSpeedAndPoseUpdate();
+					cout << endl << "Difodo execution time(ms): " << odo.execution_time;
+					odo.updateScene();
+				}
+
+				break;
+
+			//Start and stop continous odometry
+			case 's':
+				working = !working;
+				break;
+
+			//Close the program
+			case 'e':
+				stop = 1;
+				if (odo.f_res.is_open())
+					odo.f_res.close();
+				break;
+
+			//Show statistics
+			case 't':
+				odo.showStatistics();
+				break;
+
+			}
+
+			if (working == 1)
+			{
+				if (odo.dataset.size() <= odo.rawlog_count)
+				{
+					working = 0;
+					cout << endl << "End of dataset.";
+					if (odo.f_res.is_open())
+						odo.f_res.close();
+				}
+				else
+				{
+					odo.loadFrame();
+					odo.OdometryCalculation();
+					odo.filterSpeedAndPoseUpdate();
+					cout << endl << "Difodo execution time(ms): " << odo.execution_time;
+					odo.updateScene();
+				}
+			}
+		}
+
+		return 0;
+
+	}
+	catch (std::exception &e)
+	{
+		std::cout << "MRPT exception caught: " << e.what() << std::endl;
+		return -1;
+	}
+	catch (...)
+	{
+		printf("Untyped exception!!");
+		return -1;
+	}
+}
+
diff --git a/apps/DifOdometry-Datasets/legend.xpm b/apps/DifOdometry-Datasets/legend.xpm
new file mode 100644
index 0000000000..26fc0ae750
--- /dev/null
+++ b/apps/DifOdometry-Datasets/legend.xpm
@@ -0,0 +1,1271 @@
+/* XPM */
+static const char * legend_xpm[] = {
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+"| 	c #595959",
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+"@ - + / 0 a 1 1 b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b b 8 8 c 8 1 1 1 d 9   & e ",
+"@ ;   f g h i j k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k k j j k i i i l i m ~ - n ",
+"$ ; ~ o p q r s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s q q t u q u v w x ! # y ",
+"z ' ! A r s t B C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C t B q B B D q C q B t C q D C t u D B t q t D t C C q B C B q D D r D B u D B B C C C C C C C C C C C C C C C C C C C C C C C C C D B C C t t B C C C C t t C B C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C D t B t B q D C q B t q C q B q D B t C C C C C C C B C C C C B C t t C C C t C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C q D B t D D t C t C t B B B D t C C C C C t t t C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C C B B C C C C C C C C B t D t q t B C C C C C C B C C C C C C C C C C C C C C C C C C C C C C C C C C B B C t q q E . = F ",
+"G H + o s q B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D C C u B D D D D D D D C B D D C C t D D q D D q D D s D D t q D B D D t C C D D D D D D D D D D D D D D D D D D D D D D D D B D D C D B B D B B D D D D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B D D B D C B D D t D B D D B D C D q D D q D D D D D D D D D D C D D D C B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B D B C D D B D D t D C D t t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B B B B D D D D D t D D t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D C t q f   I J ",
+"K H   L u t B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D C D D D B D B D B D D D C D D t q D D C t D C B D t D D C D D D D D q B D D D D D D D D D D D D D D D D D D D D D D D D D D D B B D C D D D D D D B B D D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B B D C D C D D D D D C C D C B D u D D C D D C D D D D D D D D C D B D B D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B B D D B D D D D B D D B D B B B B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B B D D D D D D D B C D D C t D D D D D D B B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C t q M   I F ",
+"G ;   L q t B C B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B t B q B C D t t C D t B B D B D D B B D s D C B D B t D C B D B s D D s u B u B B B B B B B B B B B B B B B B B B B B B B B B C D B C D B C B D D B C B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B C D B D B D B B D D D C C B D C t D t q D B D B B B B B B B B D D q D C D B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B D D B D D B C D D s D t D t C B B D D B B C B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B D D u D D D D D B B B B B B C C B B B B B B B B B B B B B B B B B B B B B B B C B B D D B C t q f   = N ",
+"K -   L q u C C B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B C D D r B C B t D D C D C B t C s D D t D D B D D O D q p D t u D B O C D t D D B B B B B B B B B B B B B B B B B B B B B B B B B D B B t C q C t C B D D D D D B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B D D D D t D B q P u C D D B B B C D t D D q B q B B B D D D D D B B u t q D B D B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B D D C t C D C D D D C O D C D D D D D D D D B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B C C t q t C D u P C C B C C B B B D D D B B B B B B B B B B B B B B B B B B D D B B B B D D D D D B t t f   = N ",
+"@ =   L q u B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B q C D C s q B q r D t s O C D q D D q D B D u r p B s s t C Q P D D q D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D C t q q B O u C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B D s C u P u q s q C t t s v t B r C D q q B B B D D D D D u q q r O r t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D C u q B C B u C D D D P p q t B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B t q q P s D q D D s t u q t C B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B t q u f   - y ",
+"% #   R t u D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D t D D s S O D D D D D D B t t D D B s D B D C D r D T D C P u D s t w O D B C D D D D D D D D D D D D D D D D D D D D D D D D D D B D O B r C B r u C D D D B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D C D D s q q v C B u q t q B q t s D D O t D q B B B B D D D D u r u p r P C B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B u t C O t 7 U V W X C s r u t B B B B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C t q P D 1 W n _ 3 u u q t C B D D D D D D D D D D D D D D D D D D D D D D D D D B B D D D B C t u s f   - y ",
+"@ &   R t u D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D C r q D Y Z `  ...` +.@.#.+.$.D D q D D B C B C D C S D r O D D C v %.y &.B D D D D D D D D D D D D D D D D D D D D D D D D D q D Q D p D C B B C B D D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D t D D C t D P *.v O t t s C C D d =.M *.D p u B B D D D D D D B r u w t u D C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B D D D q C q -.r ;.>.' V ,.C D u t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B D D D D B C t D D X '.).  !.C B B D D D D D B D D D D D D D D D D D D D D D D D D D D D D D B D D D D B C t q M   - y ",
+"$ =   o t u D D B D D D D D D C D B B D D D C D D D D D D C C D C D B B D t D D D t D D r p u ~.{.{.].^.h h /.$ (.B B D B B D B B *.D t D _.*.C B q D -.:.<.4 D D C t D q D D C D D B B D B C D D u D D B D D B t D D u D P C j *.v q D B D D C D B q D D C D q D D B D B B D t D D t D D t D B D D D B t D D D D D C D D t D B D D D D s q s _.q D w w q r D q B 0 #.[.l D -.s D C B D D B D B B D s B }.w D P C D C B D D B B D s D D C D B D D B D C B D C B D D q D D B D D B D D B s O q B D C l [ |.;.D D s B D D B D C D C D D B C B D q D B C D D D u D D D t D D B D C D C D B D D B D B D D C B r P D D _.v q 1.+ 2.D C D u B B D B C D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D B B D D D B B D C D D D t t D u D B B D u D q B D D D q q D D D B D D q ,.3.@.q D C C D 4.5.D t D D u B B C D B q 6.J o q t D Q r D p D D D D t D D t D D C C D D D D D D D D C D C D q D C D C 7.-.B 8. .9.u D B t D D D t D D D D D s D D B D q D q D D C D D D C D D D D t B C D D B D B t D D D D C D B D t D D s %.F i v D u D q B C B r t B D D D D u D D C C D C D C B D 0.<.a.t D D C D D t B D D D D C D B B D D D u D D C C D D t D D q t B B D D B C p v D X s t C k ..=.h D B D t D q D D B t D u D u D C u D D q C C t D D B t D B D B B D C D D C D B t D t D q D D B s r v t B D D b.  c.D w t C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D B B D D D B D t B D B D t D C C t D D C D C D D s D D D D D u C C O B q ;.d.3.Q q C t B X q C D C u D D C D C u D e.' f.D t D C D B B B D r D B C B D q B D D B C B C D C s D D D D C D D D D B D D D g.# h.B u D t D D q D D D u t D D C D q D D C D t C B t D D C D q D B D D C C s D t D B C C D t B D D q D D r C i.=.D D C t B B t s v D B C q B D C D s D D D D B q B O D j.- 1 B D B B D D B D u D u D D O D D D D D D D q D D D q D C C D D D t D C B D D B C C D O O k.l.m.h D s D q D B u C D D B D u D B D t D D B D D C D q C D D D C D D q D D t B D B D C D D q D C B q t D t B B u h.  n.D D D u C B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D B D D D D D D B s o.p.q.6 D r.s.t.u.D D p D t q D s D D D u D C D q C D O u B v.[ [ P D q w.8 t q D B D w x.y.z.A.5 p !.B.! C.D.(./.-.E.F.G.;.t D A.H.2.D X z.(.$._.D S I.(.J.s D D D C q 8 K.K.H.L.D r X A.M.+ N.O.s.P.D q t j p.y.(.e.D t u B D D r j H.Q.R.C 6.y.H.S.t B q B D C c x.x.t.i D D j 5.0.q.t.j D 5 T.U.V.V.W.  X.Y.s.0.T B D q D 7.U.5.4 p D ^.Z.F.g.C 7 h.T.3 D D h t.e + %.s.x.a D D q u.`.(.U.g B t D n.H.T. +t '..+r.c.F.q..+/.D v ++t.A.H.D B o.I.(.@+#+D r D D 8...$+k D P t D B D D '.y.z.D.a. +t 4 A.q.T v H.s.E.}.D u D r D C .+1.x.g.D C u D C q g x.O.@+w.t C C s q C n.(.(.Z.%+&+*+D r B C D D B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D B B D D D D t r p 0 V   F =+-+E - ;+>+O D B B O t r D D t t u q t u B B D B B l ,+<.D q D W./ u B B t 3 m m.%.9 . ..;.Y.< ~ +.o E '+O )+I + 4 P S 4.G * p.!+o ~+  x.A.{+o C.  ]+p C C ^+/+/ E (+_+. F.r P :+<+> [+R (+}+r _.|+1+2+R U X.*+D q p r q v }.9 &+# x.%+x 3+> 4+P r t X H.[._ f 5+m.2 t k.:..   < 6.s D.&+> @+H.x _+{.R 1+6+}.D C X D 1 / ! { ;.s  +m.  ..O.7+A > 3.S.C 8+9+ .~ 0+o 7+T.t w .+n :.E e =.a+t D D.,+  E.F..   X.1.[   {.b+r S O.) ~ | 4+c+( A L ;+~ H.t q D v.U =.k D D D C q r a.e / 7+=.  o D d+;+> f.:+-+9 ; e+8.u P D 2 f+C.R / {.g+D u q B h+: |.L i+{ n.B w C ;.Y.# j+M :   G *+u r B t D D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D u p D t l 5+3.)+g B 0.' W.t r C C w B u S B q B C s D Q D B D B C 7.<.= 2+x 7+;+)+p C q p ~+_+q C D g+J k D k+> Y.B D D T D %+- ~.v s D c+H 2+>.D q C.G < G.C T @.,+].C C O.  T.D C g.& |.p O D l++ t.D B D D w., m.u B -...d.b q C C ;.D B s ] $ M.k+D ^+K : T q D h+  m+B B w.& N.h t r A . Z.C D *+n &.D t s <.V D D u D C D r q D _.=.l.v.D D 8.#.G 6+].t d+~ %.D r D `.! l+q B D D 0.. /+t C 8.> V i C C U.= j.2+K.:.$ 8+b % n+t r t B [.| D A.. @+D D 0 % X.*._.t }...V k C D D D D w.&+E D B P 9 o D D U.  ^ ++q D Q.  %+p r t n+G j D q L   !.q D u.@ C.D t _.e [ 2 D C o+  @+D t *.N > P.D D D r t B D B C D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D t s B C c @ n+t B O 7.' m D s D q D B -.s C B D D B t p D D t B D l } $ Q.!.h.d.{+p D D ^.5+<.'.q D u u.q C 2 ~ p+B Q t B *.q+_+R.D s C '+) !.D u D 1+  4 D r B !+' 2 B w v.4+C t D *.e , ;.C D 4+~ f+D r C B /+* d+D P B F.&+x.D q D q q D *.r++.l D w t U 3.D D Q / ;+c D r t s+' |+D t g t+K Y 6 #.>.D D r p _+).r q C r D t B C B v.y l.g C q l = F Q D t ;.z | C D t f.H h+D s O S 7+% d D s t W K 4+D D F.* (+e.D v.r.g D [+-  +D D 7 U r.s T L.S C D _.n+> u+r t u+..V g C C D r D 2.H |.v B C j u.t B x.  n.D s C >+X.F  +t 4 ; f.B t D k+$ A l u f.&+~.B Q D Z.+ /.C l l.,+S q D u =+- 2.D v t C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D B D D D B O D e.$ 9 r r D 8.G C.Q D t w p O B 7.<+ .i+X.v+k D s t B C B l +.,+t C D j.W P C q u (.+ } w+l D C t D V.+ q+B s t B Q :+% 7 D D s s+} g.t C q 9++ 7 D D O %+; l+B r B D ;.D t B : & u+s C h+  b+D D u g F ` 6.D t t V.. v+D _.r D t q Q $+i.*.s D O n 3. +C ^+$ N.X B D B /+  E.D D B w.e K V d+D O q C 8+3+: S D B s D O D s D j V [+u+D C u+z ).P B P s I U B O D b+  g.t D B '._+j+_.t B D /+> x.D D $.% @+D D D D D B =+$ (.B D }+N.i B B D p q t D x+> 6.B q h i+$+*.D D D C C p 9   r+5.*.D D u D y+  2.D q -.-.9 H k+D L @ #+D D B ,.z+<+O i +.U u.u D D $.! f+D V.H R g B C D g+  G.B C D t D B B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D B D D B D D C u X q ]., : u s B 8.> x+C q t s q O D u.@ !   ! B.l D C D B t B h +.#.O r D X _.D D r t C #+~ % & c+w B C L.% p+B B D O q W.K 7 D B C s+@ h+D u C A - 0 q D q v+H 7 C C C P 7 i.3+3+= @ ;.t D n.+ s.u s v g N > <.,+d.z+{ - [.C C q B Q v w [+#.;.u B s #.X.r B 3 3+- @.<.;+<.{.) w+B q u B S.  m.C t u B r j 5+~+O t t D D Q D v D h i+n i u D u+,+t+P C v i [ C.C t C m++ P.p D D l+% ; ,+[ z+d.{.) m+D P A.% D.q Q D s P D u+K e+D k...y.C D C w 6 X.<.,+= &+h D s h e =.h D B B B B D Q W.* z G 2.t C q b.) r.u t D T ^ + 3 D A+. z B+d.3.#.= #.^.h j+&+,+[ <.d._+# A B A.  b+D u _.D m++ P.D u P v B B D t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D B D D D B C C D t ].@ ] u v D g ) N.q D u s B D D r O s r p t C s D B D r D i @.3.P -.B r t _.l B B r r t q.3.> w+q D J.  W.D s u u Q A & |+C X C m+I ++t D D C+H *+w B B W ! 6 D u >+; N.8._.r _ . k.D B 2.  }+t t C S e l.,.Q v S X v D s t D t B C p n 5+h D q D J ;+*.C c = L Q s 8+q P *.B O s D g / $++ 7+s s C D P d.$+t B w r B D s D B ;.N n _.D t v.d.0+;.C D _.; F D s D W.  b u w B 1 , :._.q s O q T S B C d+H /.P D Q s r T q 9 G ,.A.t+i D S k.; V u+O r 9 $ u+T D u+r+C._.q D D D r D p u u q+$ K ++D D }+  !.D P C p M z g.t 6+@ 8 r i g r Q q D ,._+m.;.B P O O X T D 0.  )+k D C C Y.  P.q D q q D D B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D B B D D C C B t D d } _ S D C k.= t+D B q D q u B S C D D B t C t C u u D B i <.} C B p u C W.9 T w  +D X D }.` F T D &.! !+D D C D t '+= ~.D u D b+$ g.D O t {+' a D w u W > 5 t u K C.P C C C D+;+S C D L.. m+t D P s R z a+D t p D D B C D O s D D 7.e+ .l D s u n , D D j N V v.D C P D D P D D -.=.y+D R   O.D C D S _+).w q B D B B C r D v.n i+,.B C }.E+2+v D B ].d.V t D t }+' !.C D D w.$+D+i B r D q D D D q 5.% E.B r B w s D s c.&+)+A+Y.D u D J ` B q q C [.~ ^.D D }.r+V i C D t t r h l q O C L.. :+t q @+  L.D q D >+B+..u+D F.; T.t D s D u q C ;.(+3.k.C C D P D u D g.' ] _.D D D :+  P.D q s C t D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D B B D D B t q s D k.- x+t D D 7.; =.D O D B B D C D D C B D D D t B D p q D -.B+` t t D t *.[+^ s &.$ 0 D B ;.E+] T B k+. n+p C Y i t C+# |+C r t c+I ~.t D D %+& u.t D D o++ a D j =  .C D C 5.` # w C D #+> ( u D r.-.r.# C+B D D C ~.a C u v D u D D i+e g s D D J K B t C Y.+ s.t D D q $.v.D r o+1+B P g 0+& 5.u C X ..K d B e. +u B q T t g F X.u C D -.,+e+r B B g ;+..D u D s.  '+D O ~.v 1.+ ]+D C D -.5.u+q D q.# @+C D C D C t u w.X.+ :.-.C P w 3.+.D D D >.@.) S t t k 5+[+;.D B s D s s+y Q D D r.  j.B D g+~ o t D D D.  j.D B ].i.V ;.C D t ~.4 s C P.! !+D D C u |+5 u v :.  3 u C d U   h+t s u B C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D B D D B D D q p t ^.M &+; @+p >+Z &+  g+D C C D D t B D t C D q D B D p v C 6.R .   9.q+4.o+[++ 9.t o.  & f.q+0+$+4+D B v W   ] o+{+^.@+'   ~+0 s T.z + : 7 D t.I ! _ d X p.G + :.u.C b., v+9.s+j.N   f  +D -.F+  9 C+I.u+D H._+B.o+f+9+W T.q t s P P T 4.  ! 4.S j )+  + R _.D -.9.G (+W.W.W )+ +2 Z   x+].O ~.=..   g+v.S T.> { f+9+'.r C P C 7.9+>   o j -.<   &+b+P i R     K.w B  +0+~ 7+C+h.D l W {.%+q+W.C+9.d D V.3..  .]+p C -.P B p B g+  '+u D t t '+K E {+!+I.: . ] w.7.A++ &+4.j D X B D D.+ [+f.p+ .L e.D u 9+&   1+f.%+ .A v.s D t h+....4.y+q+-+z.X D p h.} B.f.f+s+C+T.u D l+5+_+9.W.Y.< . C.~.-.P s C C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D B D D C B D u Q u }.=+I.g+Z.Q '.g+@+j.y.s D B t C D D t D D B D B B D s p P w.}+h.`.W :+{+s+b+I.7 p q ]+j.p+y+b+o.D O q C k U.o+6+g t E.1.h.c+6 B F.1.K.w+l+u a.g+g+b+0 X 0.K.s.c+1 u B A.o+p+s.Q ^+K.:+,.u t k F.s+o+S C q q R.s+9.o+O.v D P u r O u X D.1.`.`.,.}.`.y.y.f.*.s O q 0.'+!+p+z.B D 4+4.s.b.^.w ~.c+O.1.y.v.C O q.Y.f+^+D q O D C u+x.h.j.:+*.l c+h.h.p. +*.1.h.O.K.s s t }./+'+1.C q D D A.4.4.f+E.D C t 2.Y.p.}+U.p D P g v u u a+H. +O q _.t s 2.{+y+x.O 3 Z.b+ +}.g+K.g+p.u+P P C s 8.`.}+4.W.b.r D _.D `.  w+c+f.W.Q.D t B t -.D >+w+9+q+4.6.D u D O D S.f+f.p+/+q q p q D 1 g+9.4.3 ].`.:+g.X P r B t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D B D D u v D D D D D D r D B D D D t D B D D O D t D B C B D D q C r s C D D D D D C B D t D D Q D t C D B B q B P O D B D D *.D B B B D C q D D u D D u B C C D t D D s D D D B q D C D D D t C D -.Q D r B t D w B P P D D q D D s p D u D -.C t u D t D q D D D t D C p s u D u t D B v P D t D D C u D D D C D D T D q D D s P C D C q D C B B D B D C D t D r r D C t D q D C t D D C t P C D q q D t t B D C D D D D t D O t t r p t C D C P r D D D B D q D p r D C C D B D t B D r w D O B D D D t D r T u D h.  J.B D t C r u C s Q C q q D D D D q t B q t D D C C D r q C u B D D D D r B D D B B D D D D D B C D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D B B D D B u O D w u B r u D C t D u w p D D C t D D D D B D D D t D O t s u t p D t D D B P u D Q D s O C s O C p t q C q B D T O B B p T q u t C r q s t D C q B C D t v q q s u 8.t X C D B s P D v u q r D D q Q t t u O v r u D Q D D P t P s C p t q t r D u t D u O g D q s s O Q C t s t B w t t q T q C B r C q q q D t t q t C w v D C O s C q B s B D s q D D v D D q r C t D D v C q D t q D D p t D C s q t q C s C s q O q C s u D Q t D C B Q g D O p D q u C B r r B B D t q B D *.P D r r u O O C u D q f.+ L.B u D B q t D t D r q q S P D w C u X q B C _.r D s D C u t D D C p q u D C r v C t D C D C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D D B q D u S X t q _.u u q t B D D D D D D D D D D D B B D B q s u t t q t t s u C C t s C s r s w p t t t t q q q u q q q q q q q q O t q t s p q q t q u u t q p _.B t u t t P S D t s P D q p P C q t t C C C C t q s *.s v D v Q D t u B t X X D O P P r q t u O q u s q B D B t O t O D w u v s s u q t C C B B r u u u q C B C B q r r u t C C -.t D r p q C s D r r s r t D u P u t t s r q B p q B B q r s C t t q t t t t q C q t r O t u t D B s u P u r u q r C s s C r q D q w s q u q S q D v w t )+  y.s q u q -.B _.-.q s O s t C u P B r t r t w s C C C Q u w D q D B t u q C B t u t t C B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D D B D s O u t q t B q q q t B B D D D D D D D D D D D D D D C t t C q u q q u u t q q C r s s P u O t t t C C C C C t t t t t t t t u C t C t u B B C B C B D D t s s D r C t P u C B D t C s q C B C C C C C B B B C B s D u D u q C C D C P u D s B t q q t t t t C C C C B B C C t q C u t u C C u q q t C C C B C B B C B D D B B C t q q t C C q C B C q u t B D u q C q B D t u t B C t q C D D C r O t D B C t t t t t C t t D s t B B q r B O O B t D s r w B q D t t D q B v D t q s -.P t p s D B b+_+{.d.'+D C O D B D t B C t C D D C t t r q s B s B D t u q r t q C C C t q q C B C t t C B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D D D D t C D D D D D B B B B D D D D D D D D D D D D D D B D D D D B D B D D D D D B D D C B B t D D C C B B B D D D B B B B B B B B B D C D D B D D B D D D D D D D q B D B u C t D r D C B q D D C D D B B B B D D D D D D D B D D C D D t C D D B D D D B C C D D D D D D B B B B D t D s D t D D C C B B B B B B D D D D B D D B B D D D B C B D D B C D D t t D D t B D C D D C B B D D D D D D D D t q D D D D B B B B B B B B B C D D D D C C D D B D B D D D D C D B B D C D D D C D D C D D D t D t t D C B D t D D q B u D D D D D D D D D D q C q D C D D C q D q D u D B B C C B B D D B C B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D D D C D D B B D D C D D D D D D D D D D D D D D D D D D B D D D D D D B D D D D D B D C D D D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D B B B D D D q D D s B u D O q u D D D D C D D D D D D D D D B D B D B D B D D C B D B q D B D D D D B D D B D D D D B D D D B D B D D D C D D D D D D D D B B B B B B D B C D D D D B D D D B B B B D D D D C D D B D D B D D D D D D D D t D D D D B B D D D D D D D D D D D D B B D D B B D t D t D B D D B D B B D B D D B B D B B D B t B D D D q D D D B C B B D D D B D D D B B D D D D D C D D D C D D D D D B D D D D D D D D D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D D D D C B D D D D D D D D D D D D D D D D D D D D D D D D D D D D B D B B D C C D B B t D D D D t D D D D D B B B B D D D D D D D D D D D D B B B D D D D D B B B B D D t D u s D q B C s D B C B D D D D D D D D D D D B D D D B B D C D D t B D t C B D D D D B B B B D D D D D D D D B D B D C C D D D D B B B B B B B D D D D D B D D D D D D D t D D B B D D B B B D D B B D D D D D D D D D D D D B C D D D D D D D D D D D D D B C D D C B D C t D C D C D C D B D B B D B D t D D B D C t D D B C D t D D C B D D B D D t C D D D D D D D D D D D B D D D B D D B D C D B D B D D D B C B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D D D D B C D D D D D D D D D D D D D D D D D D D D D B D D B B D D B D D D D B D D D D D B D D B D D B B B B B B B B D D D D D D D D B B D D B D B D D B B D D B B B C D B C r D D s C B q D B D D D B D D D D D D B C D D D C D B D B D D D B D D B D D D D D D B B D D B D D B B B D D D B D B D D D D D D D B B B D D D D D D D D D D B B B B B B B D D D D D D D D D D D B B D D D D D D D B D D D D C C D D B D B D D D D B D D D D C D D C D D D D D C B B D D D D D D D D D D D D D D D D D C q D D C B B D B C D B C D C D D D D D D D D D D B D D D D D D D D B D B D B D B B B D D B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D D D D D D B B D D B D D D D D D D D D D D D D D D D B D D B B D D B D B D D B B D C B D t D B t D B B B D D D D D D D D D D D D D D D B D D B D B D B B B D D B B D B t D u r D t q u C u D D D D B D D D D D D D D C D D D C B B D B D C B D B q D D D D D B D D D D D D D D D B B D D D B D B D D D D D D D D D D D D D D D B B D D D D D D D B C D D D D D B B D B D D D D D B D D D D D D D D D C D D D D B C D D D D D D D D D C D D B B D D C C D C D t D t B D D D D D D D D D q D D q C D B D q D t D q D D B B D D C D D t D D D D B D D D D D D D D B B D D D D D D D D D D D D D D D D D D D D B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D D D D B B D D B B D B D D D D B D D D D D D D D D D D D D B D D D D D B D D D D D C D C D B B D C D D D D D D D D D D D D D D D D D D B D D B D C D D D D D D B B D D D r B B B D t D B s D B B D D D D D D D D D D D D D B D D D B D C D D C B D C B D D D D D D D B D D D D D D D B D C D C D C B B B D D D D D D D D B D D D D D B B D D D D D B B D D C C D D B B D D D D D B B B B B B D D D D D D D C B B B D B B D B B B B D D D t D D t D D D B D B D C D D B D B B B B D B D D D C D D C D D t B D D D D C D B B D B D q D B D D D D B D D D B B D D D B D D D C D t D B D D D D D B B B B D D B B B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D D D D B D t C B D D C D t C D D C D D D D D D D D D B D D B D D B D D C D B t C D B B D q C D D q D D C D B B D D B D D D B D q B D D B D D B B D D D D u D B C D B B C s 7.#.t.s B p r B B D C D B D D B D D q D B C t D t B D D D D B C D B D B D B C D D B B D t D D C D u D q D B B D B D D D D B D t D D B D B q D C D D D D B D C D D B D B B D C D B B B D B C D D B B D D D D C D D t D D C D B C D C D B B B D D D D B D C D D D C D D C D D D t B D D B D D t D C B D t D D B B B B D B D D D D s D B C D D C D D B C D B D t C D B D B D B D D C D B B D D D D D D D q D D D C D D B D D B D D C D D B D B D D D C D D t B D D D B D C D D C D D D B D C D D D D B C q u M   - y ",
+"$ =   o t u D D B D D D D D q r u u O D C D B t D B t s q D D D D D D D D D D D D B t t D D C C D s 5.3.#.d._+% P.D D C C D D p q D P D r v D B q D s t P j D C p u D s D O s q q D D P D D q D u D D U.& b r D D t D t D s -.D v P D w D D C D D D s D ;.u s t t D D O r D C t q s q B D u B q w D t D O t D q B C v D D r q -.D q r q O D t D D q D C u q P C C D B Q D w q D D q w u C (.= =+D P q q r B v t t q Q D C r r D D s D B u B D w t B r r D q P t C v B C r C q B t h D P q D B B C D t D r u t C B q B t D t r B B q -.D C t q t D r u q D r v D q q D B t Q D v u p F+% >.t D q v D s v D r p C s D u D C C C t u P B C q O D q B t v D D B D D P O r B C w D r t C D s O D u t D D D D B C q u M   - y ",
+"$ =   o t u D D B D D B D D C r X p D p u q O D v D D B B t D B D D D D D D D D D B t C D C q C u %.U k s B y+* b.r S D ].}.D u O u B u X t q C D r D k -.D t u D D w C u q r e.S *.D B p D r D D q O j+~+S ;.Q D D t q u t s t t s c w s v _.D r u O q q D s w r B v r B C w u P D s s C p u q q t t B v D u O P Q D D -.s D D q s s D D v r D t u C P u D q t Q -.C s t t _.2 v D B _.D q...E.r D O D u B B P q O D u t D D -.D r w w B ;.u C B O D u p D u C P D t B r D *.p r D O u B q P t C r O Q D D q O D O C q v r D Q u r D s u D t D r D ;.q w r D p D q r ^.^.B P D Q O =+F R.D D p u u u B C v s P C w D v t C s v D D q P t D X P B D D -.s k.u+r s D B g C C O B t q C -.D s s D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D C B D C r C D P D t O D O C B s B B B D D D D D D D D D D D D D D C r r B 7 G b.t q Q D V v+k D ,.+.| D u C C u C v D r O r s C s C O D s D r P C q C 5 ! '+D s P D B q t q D 5 ; Z.u D D t D X B u t s D D p.' k+p D u C p D X -.t v B C C u D v r Q D D B r C q -.u D t D O t D t q w D D D D p D D t q p D B u P D C t D D C D v t v r p B P B C X %+l.w C u q s D D u u r P q s w t t p B P t q p O B s u q r P D -.D -.s s D D v D D t s -.P D O D D s D u P C D q p B p D C u v B D q C t t s p D C P u D Q D t O q t p D t O u O B t D l J j+p u u v q D C O P t q q B P t Q D r D D C X u D B D C t C s C j B q r O D v s v.{.o D C q s D t u C t q C t D s B D r D D D D B C q u M   - y ",
+"$ =   o t u D D C D D D D D u w q r C s B D C D B C O C u D B D D D D D D D D D B D D B q P O C I.% ++D q B C t.!.D t ;.& 7+D D D p u C t t D D t D s w D u u D u B D D D B c.- 2.C D C D D B t D D 9+<._.P p O D C u D B D C t D 4.~ }.t t D P P p D D s D t r s P q D D D -.t D C D s C r p t s q B B s u B B C B B D D D s D D D C D C D D s u C D D B q C D D t q O D D F n q u D t D D D D w u t D D D B C D D D s D p D C D v s C C D B Q D B Q u B D D C D P t u B D r D w t s D D C s C u D q B u D D t B q C P p r s s g D B D D B v q D D O D C D t B D C i ; %+t D D D D C D B w C D D B q C D C B B r C D t t D s D D p t B C D B C P O q D }.I F+B B t D s r C t D D C u s q C q C D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D q O D -.D c !+-+F+:+H.D s B B B D B D D D D D D D D D B C C C u s t >.  ( C B P u D D t K.]   #.!+7+I.T p D r.L L {+]+D C B a+6+c+d+D k.c+b.L.c+..! e+W {+p.C D C D B v.@.E C D u q r a.6+A+4.=+ +^+9+<.  A R {+g.t D C $.-+v+F+2.D B s ;.p+4.Z.D h+A+F+Y.D B X D D D t s w B D D h.F+E f+:+k+q q D i q+A+o w+P D Q q q.W s+>+D 7+v+m+6.D p d+L   K {+6+W.6.t.C+m+6 i s a.6+s+d D {+L j.h s B }.p+m+0.Q C e.p+:+.+Q u u D q 2 !+(+F+y.D C q Q b.p+p.X u *.b.f.p.k v v D u+{+C+v+f.q.w B D ;.u q X t D b.(+F+y.w B p s t ;.F+%.A :+p.Q z.:.~ [ F+-+/+^.h.9.I.c p D I.:+Y.X r W 6+/+h D v W v+D.v.u X q D D 8 %.7+W y.*.C B I.).. l.F+-+`.u t t S q+-+F+*+D v D t r q D D D D B C q u M   - y ",
+"$ =   o t u D D D D B B D B B B r u P...Z Y.%.  D+s p q D t D D D D D D D D D D D D B C B C q C k U + x 1 D D O t X $.{+&+N g+1.@+O |+f 0+j.m+..  I.t u 8+A   f+G.[ +   :+t.^ * _ y.Y.2.D q B q D p.{.g.C r t _.g+#.q+g+j+  :+7.y.i+' 9+Y.1.7 D T y+B+9.j.1+> I.*.D Q p.' & W.4.g+E   m B C D t C D s r C e.( [+c+K.,   .+D r t.D+N.j./+  B.0 r P L.N + W.^ s.%.  j+e.B 4 '+3.+.9.I.h.8+~.Z   g+D s J.$+  9+m x.{+  M h D i y+  N S D ,.s+  J 8.C P u @+_+R I.!+  f+'.q w q.&+  6.C j s.* H w.u t t.~+9 j.F+! 5+T Q D C B v q 2 (+).j.W $ f k t D r.j+B.j.}+  _+k /.!+* =.Y.g+E.k F.r+&+G.B D ++i+  '+E I.|   %.m+C+}+%.! R Q C r 3 %.n+c+`.[+  w+-.w .+!+> r+`.Y.>.T t r.).E Y.F+[ y+D u g D D D D D D B C q u M   - y ",
+"$ =   o t u D D D B D D D C q t s ;...[ w u D b.: s u q r D C C D D D D D D D D C D D C q u u C s ].<+  #.R v.D q C B e.&+%.D B B D D.  Y D C l+G N p C C v.z+t+-+.+5.> `.D d+  d+C C B p D u u C ^ ` _.D s D P.+ o+B B i :.b+B D W ; c D B B D g+  Q.D D P | + (.t D D r+, p.h D O E   q.B D C D u C D ;.m $ 1 D q V.. /.t &., y _.C D G+. 9 C O D 5.+ :.q.D D A+&+V.D D B =.n t D D C t J.I 1.D O D U.> j+G.t B f &+r.t D D B+n s t D X [ m.i B D 0.  y+D t B q+. y+t B B m , ^.C D B _ E+^.C w [+3.Q D D t.e+Q t u O B B t ( I u+D D H.  '+O s m , k q D E.D+8+D k > A t D D C D b.) #+D q D D.) ( 4+D q E . o 3 D D j+K 0 C B c.  E.D q ^.@. .g q D u.. f+B D B r }.{.C.w D B ^ $ c.t s t t D D D D B C q u M   - y ",
+"$ =   o t u D D D D B D D D D B B i d.d.1 B t w }.t B C t D C q D s t D D C D D t B D D t t C D Q q _.$.!   z+g.D D D 0 @ (+q B C w ;.}.B t D _.i+& _.u D e.{ % l+C D c j D $.  z.D D D r s D t l+= >.C C B u d+  m u t t Q T D D v++ 2 q ;.D w.` [ h D B p e.% j+T D r U 5+O B r t 2.I 6+w B D B D s v 3 ' %.B p q s o.i u v+@ /.D h s q |., 1 D r 0.  =+D D C G+  p.t B r l.5+r u B D C G.' y.B B D H.+ y.C q D F.  a.C B ;.5+n P B D g 5+m.u D _.0+= a+C w D ^.#.U >+D D :.} 7.r D C Z _+k.D X X.,+4 D D s h q r t C q D u., f D q D S ..e+T s ~+# #+B D u l q p }.&+x+q B D D q Y.I n.D B D y.I ]+D r D C+  G.D B D O.+ L.B C O o.C q D -.0+# w.B D 6 &+F+C B D B $.~ /.B D B c., W.D q q C D D D D B C q u M   - y ",
+"$ =   o t u D D D D B B B C t u w S q.> H | ^.u D D p B B q u D 2+{.; - i+^+u q B B C B D D B C C D t D S m+  H u.B D 8 + %.B B D P D D u -.g i n+;+h C D ^+y ).;.D D C D s A.&+@+C B p t B q D o+K ^+D D u -.S M > I x.u u D C C F+& 4 C D q 4+! %+X q -.D 6. .3+1 D *.[+i.i B C t 3 } ^ C D C u u D D b.! g+D D u p D B v $+_+&.D D D u h.z g+B D U.. /.P s D D.. 5.D P X y r+u B P Q D >.I p.C r D A.  >.s C t 0.  A.D B v [ F _.D C h ` C.v q &.; _ ;.D B q _.t+z a D t m # e.D t -.j+3.u+B q 0.= ' / h B P C P w t C D :+; x.S ;.Q c B+ .'.C *+; > N.>+t v D r 8 &+-+D D w p C s+@ V.C -.D Q.K q.B B s I.  *+t B q =+* c.D s w D D g k X / + '.D q 3 . 9+D D q ;.j+% $.Q g Q 2.~ f B D Q Q D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D B t u r D s C 3 #.$ . -+-.C s B s D q t ] i.;+z+Z d D s C t q t C t s O u D r O s B j.) q+w D d > o t O t D P  +c.i.+.` > z 6.D D '.X.j+*.C v t D D $.. Q.B X B t D D }.l.j+j D ;.D u D D '+d.; z 5.r D D 9+* &.s t B q.! | v B q u l r+{ '.q D l.i+t r p D a z 2+r r D q D D D j+@ ~.q s P r O _.w U d.a+t C B O b+& U.q D 5.+ .+B t D A.  y.B D ;.5+y r s D r B 4 & b+D u D `.~ a.P q D .+! ]+C -._.i+e+Q O u ;.l.0+Q D 8 = [.l C D ;.p L G l+D D t+G i B O t m G 8+D D D b [ G + x X X C D t t t j.! 3++.[ ;+[ F ,+ +D s d e+&   M.k q D o.; (+u r D O C U.  >.D s D y.I ++D q D c+# T.D t t m+. c.C -.D 6.V.X.+.i.# = ^.t D 5 * !+r p u r ~+K  .` #.d.{ ` N.p v *.C D D D D B C q u M   - y ",
+"$ =   o t u D D B B D D D B q s r D D s D S.C.+ 4.O D u X s t r B D D D t C D B B D D D B q q q a+,.v q D t l X.t+Q D o.> o B t C r J.. _ s D D Z E+i O t 6.i.] S D C t u D 5.  5.t B t p p C Q.! E.D B C t B q D B t I.3+E+h+D D F+. 0 P B t ~.H ^ _._.D D a+[+} '.C p ..3.v.B u q k+3.] v D C D C B q A @ !.D _.C X u B h t+} k+D O B D f+- U.D t ]+  D.D B t 2.  Q.C B t i.r+q u s B u *+- z.B D D U.! y.D B D 5.  U.C D Q ` J C q D ,...m.w C e., e+k D q q _.( 3+P.t D ^ _+k.r D v B.z o.C u D _.D b C.* 9.O t r t r D p+# 6 q C D D t D D C D C D k+: &+o g q 8+&+M.D q t D q g+& Y q q t g+; G.r C D b.  h+u O t '+% >.B B 4 = V D D D W   0 D u l+~ %+D D S u n+B+-.B B D D C B D s B s D D D D B C q u M   - y ",
+"$ =   o t u D D B B D D D D t u D ^.5 D q D _.z+r+D t O D B D X D O v C q D C D r u C t s r u C B./ t r w D  +[ %+w u 8 ! 7+q u B v } <+D C D C N ) O P P }.+.~+S q t D t t >.  ]+D C D u q D : +.,.D u P D C b l D B C #+  b.D D %+  6 B r D 6.r+I 1 q u D d   | *.D -.X.U 8.D Q D >.~ y+D p q D s s D .+  b+B D q C t s O :++ :+q D O C U {. +p D 0.I x.u P D .+! Q.r C S X.n p B D D D L.= /+D r D Q.  (.D B D F.+ E.t u *.#.$+t Q D h d.V u r *.( . 4 B q _.w ; J T t q ^ ;+>+w D S 2+@.o.D *.P.B D B X X.@.X q t u q B 6 ~ {+D D p s t D D S #+D -.D r i+d.k D a++ / B s D D u y.H /.D r D F.I /.D q D g+~ !.q B D }+  *+q v { +.O q D q ( + ].D q 8 I | D q D q I.= J.D P C u B D w r p B D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D B t q t J.{.|+B t ^+G | p s p r t B B t B B B O B t u C B B B C B B D 7+3.V.B D D s+! ~.D D e.@ +.h t G+u.* #.D D P O.+.= S D D l ;+0+;.D B -.C D ++& ( D B p.w D >+@.{+w D C q q D (+|.T u D F.  $.D D y+  x.D T T.D /+  ] D q D x+= 2 B v D { - !.q C v i+=  +D w B C r t D k l.= d D u D m+d B h+E+ .o.u D >.  }+C r B 0.  F.D P B F.! E.D D Q ).> Y D r.J.D d+# 1.D u D p.! $.C D B E.  .+t u v t+&+1 C u+m+E+X.D D B L.> m.O D B q+  J.D r D -+  0.D X @+3.&+-.B 0 * L.D B u+& 1+p q t q w Q _.Z ;+u.t t D k+`.S ,.{.0.B D j z+D+X O }.3.B+8+D a.c D :+I J.D p D h.# T.q q B K.  J.D r u `.&+4+t t e G B D D x.[ % ].t C u.K l.i D !.8+d 3.<+O q D D H.L.r P D u D D D D B C q u M   - y ",
+"$ =   o t u D D D D B D D D B t D '.+   B.m 3.9 >+u D u P D r r O D q u B t D q B C C t t t t t c.  . B.M n+[.Z.p t _.O z.  5+m W.7.@+z )./ x D.).! <+o.k.n + &+=. +t q D B k %++ C.< K.t B g+, r.D O D D s B w+!  ./ 0+} h.g D P 8.n   0+x+G.s v (.  m.:.N 3.J.D t q C [+; ) j+B.e [.*+D _.D B D O r O D k+=.K < ] M.o+o.D D 6 l., x Z > s.Q u D d+_+. 3+K.u d+z   E+!.t s k+K E+: {+&.D.{ + , h.D .+% . K q.v a.E++ G T.D u 5 , _+B.-+U.G . :.w.B p 5.# e B.).K #+t q D q ^.{ % m M.E.[+> V 5 v.  . :.M X.| 8 D r v r P X D e.B.# | Z ^ %+D.T _.!   :.9 e <+&.O D q F.  i.B.s+^.p+$ ! [ 2.D t.%   z+>.q E.$ ! i.!.P `.E+  } 6 X S.G $+( M E.x   l.a+O T g+! l./ }+v.C V.r+i+B.( B.:+V.B s w q D D D D B C q u M   - y ",
+"$ =   o t u D D D B B D D D D D B v r.c..+F.++k D D C t D B B C D D C D q D C D C D D D C t B D u 4+G.t.0.5.o.D C D q D D S.0.E.S B B 2 A.U.Y D ^.G+G+g S $.G.c./.k D B C D D g h+5.A.C t S V t+;.B t q D D B u+P.q.Q.Q.r.t D B q u 8.++q.V.D C C D 7 A.5.0.'.D B O r t C.d.d+5.Q.5.k.t D O C D t D D s D D l /..+q.!.t D u D D u+a.5.A.*+B C B D c a.L./.a t u.>.P.d+c D D D 8 >.U.].t 6 ++L./.S.D 0 2.c.++0 r 0 /.L.a.1 u D D u.a.U.k+s 5 G.>.g D D C ^+0.F..+^+u D B D B D e./.F.J.p w.c.5.u+w l+!..+F.a.*.B D D t P D D C D T ++Q.A.E. +B D u 6 G+A.5.T.k.C D t B q 4 5.F.;.D V.G.L.a.d D 8 2.L.q.1 D a 2.G.q.a+t k+$.L./.^.P D k+5.Q.2.B v.n.q.v.u B s *+T.F._.C D B k.T.F.0.t.C D q t r D D D D D B C q u M   - y ",
+"$ =   o t u D D D B B B B B D D D B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B D D B B D D B B B D D D D B B D D D D D D D D D D D D D D D D D D D D D B B C C C D t D ~.I @+D t t u D D D t D D D D D D D D B B B D D D D D D D D D D D D D D C r X =.i.D B D D D D D D D D D D D D D B B D D D D D D D D D D D D D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D D D D D D D D B B D D D D D D D D D D D D D D D D D D D D D D D D B D D D D D D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B B B D D r D u F+` >+C u q s B D D D B D D D D D D D B B D D D D D D D D D D D D D D v P D X V ` w C D D D B D D D D D B B D D D D D B B B D D D D D B B B B B B B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D D B D D D D D B B D D D D D D D D D D D D D D D D D D D D D D D D B D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B B B q D D B 6.{.(+B r s C B D D D t B D D D D D D D D D D D D D D D D D D D D D D D D X Q 0 ! @ l+S B B B B B B D D D B B D D D D D C B B D D D D D B B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D D D B B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B B B D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B B t D t O 4 i+T.B C q q s C C D D D D D D D D B B D D D D D D D D D D D D D D D D B D '.t+F e $+2 D B B D D B D D D D D D D D D D B D D D D D B B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B B D D D D D D D D D D D B C B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B B D C D r B D B B s s C C D D D t D D B D D D D B D D D D D D D D D D D D D D D D D s D D B C D B D D D D D B D D D D D D B B D D D D D D D D D B B D D D D B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D B B B B D D D D D D D B D D D D D D D D D D D D D D D D D D D D D D D D t B D D D D D D B B D D D D B B D D D D D D D D D D D D D D D D D D D D D D B B q D B C B D O u D C t s C C D D D D C B D D D D B B B D D D D D D D D D D D D D D P t t s C D q D B D D D C B D B D D D B D D D B D D C C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D B D D D D C t q t B D B C C D D D D D D D D D D D D D D D D D D D D D B B C C t r t B t t D D B C C B B B B C C D D D D D D D D D D D D D D D D D D D D D D D B t q t C D t D B D B D B D C B t D D C t t C B D C C B B B D D D D D D D D D D D t D u s u Q D B C t C B B t C D B D D D D D B q C B C q q B D D D B C C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D C B D D D C u s O q B C q q B D D D D D D D D D D D D D D D D D D D D B C t q q O t C s r q q r B C C t t C C B D D D D D D D D D D D D D D D D D D D D D D D B D D D D t D D D B B D B D C D D D D C q s s q C t C C B B D D D D D D D D D D D D t D O D D P q t q q C t q t D D D D D D D q P C B t s s t B C B q r s C D D C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D B B O D w q q r D D D C D D B B D B D D D D D D D D D D C D t O C -.q s B q D D B C B -.t u C D D t D D D B D B D D D q D D C C D D D C D D t D D D D q D D D B B D D D B B D D D C B D B D s q D v q C t C D D C D C D D q C D t D D v v s B u t s D t O s t D B D B D D D D D B t s O O D t B D u s D u D C D C B C D D D t D D C C D D C C D D B D D D D D D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D B B C q r P D q D r B D D C D D D B C D D D D D D D D D D D D C D v _.D t C p q t t B u r q D p s u D p t P s D C D D B D D C D q D C D D q D D s D D C B C t D C C D C D B D u B D D B q D D D B g D D s D r O D D D q D D D t q D D C D D C D u D s O C q u C D C s p t C D D u C B B s C B C B S D C T D C q D r D C C D D C t B D D B D D C q D C D t D D D D D D D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D B B B D D D t s s D q p -.q D D C B D D D D C D D D D D D D D D D D B t q s u v O v.,.}.7.i P *.b e # 2+T D D C D C D D D B u D D D D D D D C D q D D s D B D D D D t B D D C C D D D D D D D D D D C D O O D u p t D t D D D C C D D D D D D t D v s P t w C D q j j t D q D D D D D D D D t P w u C p C B u j i D D q D D D q t D D t D t B D B D D D D D D u D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D B q r D u Q D D O D s D D B D C B D D D D D D D D D D t D B v D P D v S.@.` { {.  }+D q l {. .s D X P B D D C C D t B D D u D s D t D D D D D C D q B D D B D B D B D D s D t B D s D D u D C p D P u C r q D D B t D D q D B B D C D C C D C B B u D 2 H N i t t P D D t t D B D s B D p w B B v -.m.) l+q q t C D D D B C B D D D D D D D D B q D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D B B B t s u C q 4 1 D D D B C D D q D D q B B D D D D D D D B B D q v C '+- }.D D ~.} [.u+D X U J w D q u C D t D D C D D q D B D D t D r D D C D q B D D C D D D C B D q D D D D D D D D D D D t r u D S ~.}.C D B t D C D C D D B D B u D Q h+i s q r u >+9 o+w u D B D C D B C D u D v ~.d B B C r *.p+| '.D D D D D C D D D D t D D t C D q D t D B t B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D C D D B D D B t s D k.{.7+D u D B s B D D B D B C C B D D D D D D t q s s D k+z+C+q C B B W e+8.B T ..N P D O D C D D t t B u t D s D q D C t D D r D C t D u q D P D t B D q B O C D D D C C q O D t D D s C R.  O.D t C C u D t D P s D C D D D Q.+ c.D q T D u D B u Q B t C C B p D Q D D w.3.A D C r D Q D D u B q O D C D C C D D C D D D D B D q C B B D C B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D C C t r v u C 6.' 9+D D C u q s u t u t D q t C B D D D D D D D D q q r.; 9.w D B r u.++S s C ,+D+D q D B B C q q u O u D B D D D B q S B t D B B t D u D D B t w D t D D D q C w p D q t D D D B B D D 0.  ++t D B P t q D C D D B s r D D p+~ 6.q D D t D C D C u B w D D D B D C u D 5 ! I.D D D r D C t D t s r q B t B B D q D r q D D u D t C u P C t C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D B D D D D D C O p b+` * { |.0+b+u+t D P C D r p q q C B D D D D D B B u D D 3 E+d.8.D s p D C D C T [ <+B A.2+m p.v C t C D D 2.n+0+N.y+B D p /.m F+< 6+*.u D s.x  +D T 2.] M.( 7 D -.p C B B 2.N.0+t+x q._.L 3++ l._ t+c+D D D j.2+t+< @+C D a 1+3.&+N 2+< >.6 j+E I.Q B s D a+:.|.( x+/+P {+ .$ #.2+B.C+a+}+9 :+8.D O u D B W 0+: ( | g.B D e.( m |.9 }+_.u O t C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D B D D t t C 4 s.* |.G+n.3 S s D C q D D O C u q B D D B D t D D q s B p !+  5+*+B B q O -.B r m.z 2+b.G+N > V.p r D -.p+3.h.2.p.! m ].D 8.!+   .S.O q s N   $.P s 6.<   W ^.r r T t v m+..h.G+w+. x+X ~.R + 9+L.q.a -.F.y A+G+$.} $ T.B l 4+^ > `.c.>.o.k j.~ [+g D v .+#.W.G.]+' n 7.l+m+* M a.>.l+;.V. .# R.q C B v.U n c.G+n ! ]+D *+i.A *+d+K - T D P P t D D B D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D B D C u s p D &.  q+t t D D D t C D t C D q D B C D B D D D B B r D s D X y++ % C.R.D u s q h F $ d+P B c } 9 *.B D x.~ j.B D B w+  W.r D k.;+N p C D h+[+  s+q D q '+r+v B v D C s a+& <+r D D /+L D C H.  >.D D r S (+5+l D D q.I )+C B t }+~ 4 D t u D i r+U h q ;.F D+;.u D Z.E s D 6 * b.D D q s B %.K l+D r v D+i.j D B 3 & Z.q <+$ u+C q J.1+a+s C O C D D B D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D B D D D D C s r q P c K %+D D u s s q C B T }.T _.i v D C B D D B q B D C t v q t o.N ! * f+P D C p @.:.h r D }.B+y r D h n X. +B D u j {.i.].B t 1+&+l+D B W.v+n+ .*.w _.x+g+D P D O q D }._+<.2 v O u p v D a.  T.P u C B g S D s B >+  ~+B D B 9+! 5 t D D s i F 2+*.D k i.! 0.s t u _.B B h+  y+O s D t q )+I g.D B R.= M q t s u X q S Z ) a.O B P X u O u O t D D B D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D C D B D D D t q u D *+  C+u D C D D C D D K.    ~   h.D D D D B B D D r k p B t C D C |+<.  (.q q T U e r D u P U j+}.D o.G C.,.D r C *.f+$ 0 B B A.* o+s 6._ J.b+&+6 D ~.=.>+u s C t O S B j.#   j+8 O D D D z.  U.D D i P B D h o.b Y 3.Z C u D s+. 7 *.r C q v.U F S r B n.E+  N k+S B t D |+! c+C B D C X v+} 8 B O 1.& `.D D s B s q D Y ;+  F c *.D D O C P u B B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D B D B B D D C B r B '.~ F+D D D D D D B C $.$+] =.~+#+D D D C D B C t u D C D C C B q D c , V i D -.5+n Q q B k 5+=.u D c . _ w B t D S t+I *+D D }.<.#.C 0.|.O 3 @ v+s 9+M.D t D u q D t t D Y |.# + o+T q D U.  Q.D O O D ;.*+9.5+i+J   F D B D f.  g.s D p D ,.y y i u O C 6.|.3+~ 2+l B D S.+ 9+D _.D D Q W.# S.D B F+> G+u r t O D v u B _.^ { . =.l s t t P u B B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D B B D D C C s C 4 ~ W.D p C s P t B D D D C D D D q B D t D D D C C u B o.S.P q t t v : 3.w.C w F n P D D S #.).T C 8.d...o.D r u w |.G 2 C u D 4.& 4+p+b+D t n+r+}.V a B P O D w u r C C B D G.n++ c+D D E.! E.B t u S L E+A.D C C I t+B t C p+~ b D u s r ^.{ n+,.D D B C D k+m ~ A+B D |++ Y.C D u B r C+I k+B q p+' d+q r r C q D s D C B 8+(+) ^ w w B s t D D D D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D B D B t t O D a   A+B B B u D C P P u D D D u t D C u D D B D C t r B j._+,.C D s X C.$+k D p z+D+B P q ;.i+n+*.D h N.+ G.D t t }.% t+S D D w &.> [+C+'.B C B.,+y+).v B t C s s D D S.V.D D D ].# M B C E.  0.s -.D G.  =+C q D  +' j+D s B 9.  3 Q q D r h [+y -.C ,.d+D q D T i...Q D J.. 6+D r B D -.6+;+l+B D *+* M C D B O D t w U.t q D D V 5+8+D t u C D D D D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D t t r P >+i.5+u+D z.'.-.D u t D B D D B D D D D D B D D C ;.D D O.+ `.D D B K.  t.B D O ` N k D B 8+[ m.D q D $.* r+_.D D L   r.D B B w B ..  E r r B a.~ B+T.B C t D u C q q q.I 7 D C g.; y+u D c.> |.B B I.L.  o D D ^.M., n+q t D @++ L D p s.D ,.{ n X D g.  /.D D o.; !+P t 3 3.[ h D (.8+D E 3.6 D q _.N.$ ~.B C D W /.j   O.D t ,.` ~+v p p s t B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D C q B O q 5.  d.m.F.h O S T B D B D D D D D D D D D D C C r D t w.G ! l.=.y N >.;.D 8+[++   9 i v ]   + Z i D C |+z+d.C. ._+3 C D B P D -.q+' /+D q B 8+= z w D u t D B D B B |++ ; V y K b.k u C Q 9+  r+$+Y T :+H J U -++++.&+M *.s T ^   J B.|+k+y .   $+7.k.+ + m.C.;+q+ +O T P (.; 3.e+]+7.%++   [ V.t D ]._ H C.y ^ D. +j ~ . N N ;+_ 1 t r C C D D B B D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D C t u B Q r 6.g.|+B r B q O B D B B D D D D D D D D C D C u T C D  +4+5 g.r.a t D C v k+1 ^+d _.v c u.'.l+p P u D 6.5 ~.&.8.D r D P O D u T 0 ;.Q B r r 6.6.q t D D t D D P O s u.0 l+7 a _.C C O u X c 7 6 Q D q 1 4 5 k.C ,.2 d C B C ;.0 7 ^+D _.k+d c ^+P T 6.c 2 5 V.w q D P u w 1 5 k+P D 3 2 c a T D B D i b ^+c.6 D B C ^.u.l+3 ^+}.r C D D s C D B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D B t D q O u C u D s q p q s u D D D D D D D D D D D C D D B q B s D D C D B C D r v t D D s r C t D r O D B O D v t D D s q q B D O D v O r C D C u q D D t s D u C r u u D t p D t D q D D r D P D D B D B t C D t t C B B D D t p C s B r t D q r D B D D C s C u T u D C C r D w u D B O r t D B u D -.g C P u D C D u u D X D v D C B D r v D q r t D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D B C O u D q D B s u D s C C t D D B D D D D D D D D D t t p D D D t O D D s D r X D Q q t t t D B C D t p u q C D B j r D q r D t B t D D C u D q B P t u t D C C C D D s C C t C t D _.q C Q q D q s C D P D C -.D D B D D P C B O D O D D t B B t D D r B t B X B C D p D u u w C w D q u D D t B p s B D D q t p s q D u D C B u t D t B D B t q t B D D D D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D B B B D D D C B D C D D C D D B D B D D D D D D D D D D D D C B D B D q D D t D D C B D B C D B D D D t D t D D u C D r D C D D C C B D D D D D u D D s D D B t D B D C D D C D D t B D B D D t B B D t D D B B D C D D D u C D D C D D q C D C B D q D D C D D B q D t D u D D D C D C D D D t C D C D D t B D u D D B t D B C B D D D B B D B B D D D D D D D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D D D D t t D D D D D q D q D D C D D D D D D D D D D B t B D C D C D B D D D D D B D C D D B B C D B B D D C D B D D D D B C B B D D D s D t D B D t C D D B D D t D D u B D D C B D D t C D C D D B D D B B D D t D C D D D D D C D u D D B D D B D D t D D D u D D D q D D D C D D B D D C C D D D D D B D C D B D D D D D q D D s q B t D D D C B D D B B D D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D D D D D D C B D C D D D D D D B B B D D D D D D D D D D D t D D B D D C C B B C D q D r B D D C D C D C t B D C D C D B t D u C D q B D t D B D u D B D q B D D D C D D D u D D D B t D D B D D q D s D q D t u D C D B q D C B D D D D D C B D C B D D s D B C D C D B q C D B C D C D B D D C B B D D B D B B D t C t D D D D D D B D D D D D u D D B B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D B D D D D D s D D t D D D t D D t D D D D D D D D D D D B D t D D C D D C D D q D C D D B B D D B D C D D D D B D D q D C D D C D D s D D D B D C B D B D q D C D B C D D C D B B D D D D B B D C D D D D D B t D B B D B D D t D B D C D D C D t D B D D B D B C D D B D D D C D B D C D D B B D D C D D D D C D t D D D B D D D C D B D C C D t D D D B B D D D B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D D D D C D B D C D D B D B C D D C D D D D D D D D D D B D t t C D C B B D B t D C D D t D D D B D C B D D B D D q D B D B D D C D B D D D D D D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D D B D D D C D D D D D B B B C B D D D D D D D D D D B D t D D D t C D D D t D D D C D B D C D B D D D D D B D D D u B D D t D D D D B D D D B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D B B D C t D D B C D D C D D t B D B D D D D D D D D B D C B D s D D D D q D B D t D C B D B D D B t D D u D D u D D D D u D C B B B D B q C D D D t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D B C B D C D C D t t C t B D B D D C D D D D D D D D D B D q t D t t u D D B D B w D D D C O q s q B s B t D t D D t s P B S D u D B q B D D t u C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D B C O B t u P C s w u t u u D D B D D D D D D D D D D q s *.P 5 k+>+4 S.~.r.J.k+g w s C B q B r O r D C B O _.o.'.O v B t -.C D p q D t u q C B C C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D B C t B B B D B q s q t D q r B D B D D D D D D D D D D B D O }.9     l.N D+C.i++ {+T B C t r u r t B P C B D }.<.. u.B q s D B P q p u t B C u r t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D B C t C P r C C w p B C D B q t B D D D D D D D D D D D D C P D D ~+~ k.C D D D ] A O t q B C D t B q q D D s Q O.s+^.t r S 4 /.v D q D q s q C C C B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D B t q t t D u t s D D O r C B u B D C D D D D D D D D B D C B O t N.  6.D p t D c J.O D q C t C t D q D p q D t t D C P D q D+J P s s D q u q C C B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D B D D D B D D P B t Q q C D D D D q C t D D t D D C D D t D B D B D u u D v m ; 2 B s t B D t t B D D t D B B D D B D C q D D Q P D X 3+2+D t D B C s D C r D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D B D D D D v D B u u V.=.e U Z.C q D q D D B u D D C D D D B D D D t u s ( > 6.C D &.9._.D D G.~+D+N F+S ;.f N U U.,.V F M.8+D b.X.~ I e ..9 c C D P C B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D B D D D C p t C g s+#.2.a+A.E+-+r t t u t u D u D D B D s D C D q C B P ~+> 7 C r h.D+X C u T g+. {.7 O B p.~ Y.*.P V.J E+6.C 7.6 @. .>+d 6.-.D t t D B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D B D D D C r D u 4+  }+D B P x _+R.u D P C D r D D D D D D P q D D D q r ^   r+,+3.# V *.D r s D %.* 1.D s m I.u D C r m } o.D D T d.n+B t D D D D D B C D q D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D B D D B B D C B t X )+G 2 D D B G+= x.D X D Q t q a+6.d >+}.v B O B P s D _.[.. &.D D c+r+S t t C B -.f &+!.%+E P D Q r v 9 3+e.C D T B+[+B C C u D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D B D D B D B t D u i d. .O.++>.c.F+  | D B C D C u ;+      = k+B q t D u q s _   &.C q 4 }+D -.O t D u *.~++ 7+t q C D D 7.x+E+a+D D h #.$+t D D D D q t D D t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D B D D B D D u D P ;.#.& ] Z [.m t+-+O.P u B B u t y+o A R c+k.C u t t u D O [.! o.D C D B q D w r X D s @+  _ -.D q P t v 9 3.a+C D _.@.=.D B t C C D D B D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D D r C P j U C.B D D B D D D D q q u B q B D t D D B t O D s B C O (   w.O r C B a+!.g u _.s I.~+w+  L Q D p D P B.E+a+D D i X.[+C D D D C B D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D B B D D t t D C O 9.I 4 D B u t D q C C s D s C C C C C C C C t C B D u q ^   w.O D O q y.d. +D D F.i.o.C 4.~ }+t D D *.: ,+e.D D j z [+D u D D D B D D B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D B B D D C q q w D  +3.n T D D D < 2.D C u u D B B B B B B B B D t q q C B e++ l B C B }.J 5+u+D $.@.h+D B w r+' 0.D B *.~+} 2 B C w _ - J.D x.L.D v.C D P D C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D B B D D B q O B q r c <+_+[ ,+i.n.h C D D D B D D D D D D D D s D D D  +< * + 3.` `  .@.  (+p :+I   n+i D W.) H # C+6.( > + d.4 D C e.l.@ { m+*.T r t w C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D B B D D t O C D O D *.k.l k i D q D r C C D D D D D D D D D D C C Q O u+v.g l h l  +i Q S D ^.*.v.T v P *.i ;.j P s v.i h i u t D q -.i o.Q p r C -.D r D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D B D D B D D B q s -.D D r q D g t ;.q B D B D C D D D D D D D D C D D C v t C s D O D t C C D P D q t t O u D q D u O v s C D B u v q q p t O C D C D s q u t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D B D D D D D D C D s C t Q P q D B D P O u D D D D D D D D D D D D D B s D D B D s D t u D v r t v B u *.C t O O r D S r D r u w r C O q D D T X r P v t D C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D D D D B C t D C s p s u *.D O D D p B D t q D D D D D D D D t D s p u q r B P t t s p q s S C t P O t u r u -.p D X p t C s r q C ;.u r p q O B D p O t D C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   o t u D D D D B D D C q u B r D u Q O D t C q s O C D B D D D D D D D D D D B B s B t P t u C C s P -.s s C D D k C D s O D w r D r s s p s s q D s D r -.s D B q D D t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - y ",
+"$ =   L t s B D D D D D D D B B D D D D D D D D D D D D D D D D D D D D D D D D D D B C C B D D t t t t t t t t D D D D D D B B B C C B B B B B B B B B B B B B B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - F ",
+"@ -   o t u B D D D D D D D B B D D D D D D D D D D D D D D D D D D D D D D D D D D B B B B D D D D D D D D D D D D D D D D B B B B B B B D D D D D D D D D D D B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q u M   - F ",
+"@ -   o t u B D D D D D D D D B D D D D D D D D D D D D D D D D D D D D D D D D B B D D D D B B D D D D D D D D D D D D D D D B D D D D D D D D D D D D D D D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B D D D B t q u M   - F ",
+"$ =   L t u D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B D D D D D D B B B D D D D B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B D D D B t q s 1+  - F ",
+"$ =   L t u D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B t u s 1++ = y ",
+"$ -   o t u D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B t q u M + = y ",
+"% - + A B q B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B D D D D D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B D D D D C t q f + - J ",
+"& I + A+D q B C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B B D D D B C t f   ) r+",
+"@ $   M 7.d >+1 b 1 k+1 c b ^+^+8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 u.u.&.2 1 b &.u.u+< > * i+",
+"G E++ |.c.p.H..+.+E.E.E.F.T.0.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.F.A.A.A.A.A.A.A.F..+F.F.A.0.Q.d+|.> $ N ",
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+"$ - . |.T.q.q.T.u t B D D D D D D D D D D D D D D D D D D D D D D D D u -.s D t q 4 R [ U ..; + 7+u B C D t B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C D D T %.~ r.B u B D B u B u s u B D D B D D D D D D D D D B D D D D D D D C D s q D t 6 + %+D B r q C D C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D C D D D u r q D p )+& + z J U X.&+F.8.D q r -.D x   U.D D B O t+A+D 6 < o.q C r q D D B D D D B v D C D C *.$+<.l t r s D C t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D r 0./.5.Q.e+> ) n ",
+"$ - . |.T.q.q.T.u t B D D D D D D D D D D D D D D D D D D D D D t D C D B q t t D.K ( v D D 5 ; @.X D D B D D B D D C D D C D D C B D C D B C D C D t B D B D D C D D D D B D B C D D D D D t D D D B t D B b+. J.D q C b *+r u P s B D C D D t D D B C D C D B B D D D D t D p #+&.s t B w 0 H A D D t D u B D C D D D t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D t s s D B w+. !.D D B q+G <.c D s u t 0.E r.B q t >.I U.D t B C u u D r C D D t D B D r B p B D _.m. .*.D u s s q B D C D D D D C t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D r 0./.5.Q.e+> ) n ",
+"$ - . |.T.q.q.T.u t B D D D D D D D D D D D D D D D D D D D D D D B t D u u D 8 @ C.D D C D u q+C.j C D C t v B s D B D s D P s D D C D q D D r D D s D O D u B D u D u D D s t D C q D t t D u t B P D t O %+' k+u D O 0+#._.D -.q u D D D q D D q t D q C C D C q D B t D D 0 & 4.B q C D u.  F+B q D q D D u D D B B u B B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C C C B '+  >.D D D D 4+  l.v.D w S B u D t q D v+H 5 P B t s B D u P D p D C B D s B B w t B P m. ._.t u D q P D C D D u t D t D q D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D r 0./.5.Q.e+> ) n ",
+"$ - . |.T.q.q.T.u t B D D D D D D D D D D D D D D D D D D D D D D D D B s D s 9+  T.t B D r u g a.v B q C D C P D q D D r v P D C D D B D s w B B C D q q B D C u D O D D B D s q D D v t u s C t B D q D D f.. R.C t D G V D D u r D s D r D D B D C q D D O u D D t D D P D P.  y.D D q D u.; A+C D B D C t B B C q C u D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B D '++ 0.B C D C _.n+. `.u r D D D D t C D /+> 2 D D u O C q D D C B w O r P D D C D t D u e+@.k D t C q t D D C D q q r s D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D r 0./.5.Q.e+> ) n ",
+"$ - . |.T.q.q.T.u t B D D D D D D D D D D D D D D D D D D D D D C D D t r D k.,+K ].q t q C C D B D u 8 [+).j.r 3 m t+G.D B D t.$+ .).C+s D C s 7+e+:.7.r i 1+).C+a+B g.n |.=+D j.U e+y.D D u D D j A [+N ~+=.G 2.D Y. .; ) y J E >+%+0+x+,.O 9+0+:+o.x n+v+r D a+M.n+y+D T (+<.> d.D+$+v+B ~.> W r q+r+j+!.t D C t t D t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B B B D D D D '+. 5.D B D D D p.+ :.O s R e+x+P.C i -+3.H #.y w+t D D x.F J D+s+t B D t s P l =.~+J B.{ ` g D s v D Y C.r+n+R Q D t D t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D r 0./.5.Q.e+> ) n ",
+"$ - . |.T.q.q.T.u t B D D D D D D D D D D D D D D D D D D D D D B B D D q t a z r+D q q u p v C B u D T p.. W @+}   . g+B v.E d.0.7 (.> 0+}.q O b } E+o.r g l+z+$ 6.D S K.' U j+Y.7 n+, Q.D r D 2 D+i.4+7 ]++ $ R.D ^.4 K e 4 g.g.w '.F & d+_   . n 8.#+  [ X t Q 5.G n ;.p 8 h.  -+3 ~.'.C u.E+` e+a.a _+;+5 t C C C D t B B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B B B B B D :++ 5.D B t B s |+  < T u a+o   F.q Q 1 |.  @+5  +D k :.d.2.l+q.. N.u+D q D a.` t+g.6 < ~ ~+8.D D v W.;+K.6 >.+ J 8 C p B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D r 0./.5.Q.e+> ) n ",
+"$ - . |.T.q.q.T.u t B D D D D D D D D D D D D D D D D D D D D D D D D B t D |+{.=.g q O q D C B t D D D u+y } b+c >+E+O.u x.> Z.t D D z.+ (+D C D )., l B t D N.} ^.C C k.d._+V.P D ^+> y+q D ;.V = k+C D g ).z+a B t g #.V D B C D B '+z -+x.j / C.8+D ).y p s D ;. .X.g D B r.' Y.C D C D a+! [+>+D u Q.~ f.D C t q C s C B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B D D D D D D B D B :+  Q.B t p D D 4++ r+k.q t Y.& /.D p D -+  2 D D C 1.+ !.C D u '+. A t B d E+U q C B '.#.n j w u /.* W.C D D h+~ =.D D t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D r 0./.5.Q.e+> ) n ",
+"$ - . |.T.q.q.T.u t B D D D D D D D D D D D D D D D D D D D D D C B B s s D J.# ~+w D C w P e. +i >+w D >+F [ 3 B C t q ,.i.5+v.q D q }.X.J ^.t C ] _+g q _.D ~+[ }.q D ]., j+p B j h K V D D a z+V Q D s D 9.  V.D D -.3+<+s u C v D =+&+h.D s u u s u B+` D t D -.J n+P q B c.  j.D w u B '.&+L B C t 8 , A+t t u s C u B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B D D D D D D B D B b+  5.C C w C D n.* r+o.D C (.' Z.D s B !+! 6 B D ^.@.l.i t Q D 6._+Z u+B .+% o+q t C S n i.8.D ;.[.#.b D r D T e+@.5 B D C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D r 0./.5.Q.e+> ) n ",
+"$ - . |.T.q.q.T.u t B D D D D D D D D D D D D D D D D D D D D D D C D D t D ~.z l.r O q D 4 ..    2+_.B w.3+).g t B P u 8 - : j q v B -.:.) R.B B [.3+ +C D S : } 0 D D w.{.( s D D g $ n+D D @+. /+O C B u f+' 3 t O Q E+=.D *.r B C y+K 5.B q C T s s i.J X D C v { U Q D D >.  Y.C D B D 5 &+F+D t D '.&+v+D B t u D C D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B B B B C D t w+  T.B D P B D ++  Z *.t t H.z H.s C D E . 4+u D 4+! M }.D D B g $+# l+B o &+h+D u p C |._+h B v...{ 7.B r B O W > q.B q D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D r 0./.5.Q.e+> ) n ",
+"$ - . |.T.q.q.T.u t B D D D D D D D D D D D D D D D D D D D D D C B D C s D ^.@.= i D r D D 0 d.G O D C ^.F [.v.C s D B 2 ; |.Q D i D l Z } &.C D :., p _.t D Z _+l D C 8+, ^ X q D v.! _ C D p.  I.-.D C q )+# g.D t k 5+r+r D p D t }+@ h+D u D B O g n [+P D D i e n+X B B n.+ 1.D P t B 1   %+D D t 8 * 9+D s u t s u B D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B D D t D s C D q w+  q.D t C s B H.! 4.D v C x.I /.D C D M.~ J.D D r.) ^ X u C D i [.E+8 D / ) l+C B D p n  .8+D  +% e+*.B k C T A+& L.t D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D r 0./.5.Q.e+> ) n ",
+"$ - . |.T.q.q.T.u t B D D D D D D D D D D D D D D D D D D D D D D t B t q B _.y - l+u u -.D 8+z+[+w O D ].X.).j q t r D a+} F k.D D B h C.B+0 t r : 3+i D s -.m K ^.B D }.$ : p D q e.;+e+D t D.  :+p v C D 4.! S.D D *.#.n B O r t q g+{.*+r s O D v q l.i+Q t C s  .J S q D +++ h.s O D C 1 ~ !+u u r a+' {+D q r P s D D t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B B D D D q u s u C w++ T.D r C D ;.( > #+C v D H.- 5.D t B A+. g.q t 4 , n k.D C t }.m.` u.D 9 + #+q P D ;.V i+X u ;.J 3.8 B t C P | K 4 D D t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D r 0./.5.Q.e+> ) n ",
+"$ - . |.T.q.q.T.u t B D D D D D D D D D D D D D D D D D D D D D D B B B D r B U.  f D D u B l #.#.p O D ^.J j+-.t u D u v / > L.t t v ].  _ P D r |.{.d D r ^.F B+}.B D ^+@.<+_.t q T & D+u D k+% ).T r u S A+I l+q r ;.z e+v s D C D b.{.n.s t D B D w ,+,+v C D  +d.$+-.r t c.> p+s t B B a+H A+r D C 7 & :+D u s C D q D D t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D C C D q D D D t o+. 0.B v r q L.  N.*.B D v z.# 5.B P D R . S.u D ;.(   ^+u w D c   x P C ]+~ b+B C q v.5+d.l q O o+! ]+C D X p I U X D u D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D r 0./.5.Q.e+> ) n ",
+"$ - . |.T.q.q.T.u t B D D D D D D D D D D D D D D D D D D D D D C D D t q v p v B.. f+q D C W   V h B D  +} [+g D q s X D T.{. .,.D D ^ , S.D q B }+  g+D 7.c+3+# v.D C h & 0+B D C w.) ).D s v E ~ P.D D $.;+  h+D u S e+# *+t 2.r.D v+# #+C w _.t D Q :.z 0.D ,.)+_+5+D w D 6 {.r+O B '+t 1 ~ 1+D S r o.+ 9 D ;.r r O t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D C B D D D s s v D u W.+ G+D B D f.I =.k.C X ;.D (.! H.D C B q++ /.D C D q.. y P C s e+_+8 t q w #.d.>+q D w+, B+w D r k+{.z+>+C D !+! $.D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D r 0./.5.Q.e+> ) n ",
+"$ - . |.T.q.q.T.u t B D D D D D D D D D D D D D D D D D D D D D D C D q v C p D i :+   ... .o+f+2+h C 8+i+    B+>+D D B q u 5 ` } #.{ #.1 C B -.u }.j+~ 5+: Y t+! ,+R.v.+.~ &+/ u+a C.+ + o X C ;.).=  .y Y.:++ {.D.D B u._+z 5+f.*.F+}   {.@+s C C D B 1 i.&+5+7+V.l.  N ].B P s.) <.{ 6 n.}   H F+w &.#.  . 6+C P O D s C C q D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C B B D C D i o+$ ! _+l.#.#.} 2.h B q s P f.% . $ y.D y+> . <.$.C B t a _+3.l.z+r+6.D -.t s 0 , <.e N.d+V   i.|+D t ].D+% i.l.d.J.D u u D C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D r 0./.5.Q.e+> ) n ",
+"$ - . |.T.q.q.T.u t B D D D D D D D D D D D D D D D D D D D D D D t D B q D C q D s k.0  +6 -.v o.O u -.d d 8+8.q w C q P B B 7.d 6.6.g D t P q r u Q 0 e.,.Q g ^.d _.C 1 k.}.].u v k+l ^.'.q D B g ^.c 8+-._.'.e.g w s C l u+c Q q ,.8.i w.l D w B -.-.D T 8.c u+D j 6.w.u s t r k.e.6.k P u.v.v.l P v 8.8+^.o.O t P u t D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D C D D C B Q w C k k.^.,. +6.6.d B D P p r D k 6.8+6.i s w.8.8+,.u+C _.r D *.e.d '.i D u r _.q q j k.d >+v S 8.8.p k D D T 8+6.a+v.D D w D u D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D r 0./.5.Q.e+> ) n ",
+"$ - . |.T.q.q.T.u t B D D D D D D D D D D D D D D D D D D D D D B D D B D P s O t r D t C C D D v D B q D B P B g u O _.D C -.C D D k.D q P s q D u C D p S q C B D B w D D v D p D q D O B s u q s D C O B D B D B D r D D s D D v C D q C u B C D D q B s D D D r D q D q D r q v B B C D D q C D q q D C D C O q u q Q C B t D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B B C C t B D D D D B B D q s D p P D D p C D C u u O D B D D u r s r k C O D u C q X D B ;.p D u O D C t D D t D t p q D t j q B P B O D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D r 0./.5.Q.e+> ) n ",
+"$ - . |.T.q.q.T.u t B D D D D D D D D D D D D D D D D D D D D D D B B B B B B w C s C D B D C C D B u t t D s t D q t B P v D C r C D s q s u C C s B t B u D C C q q D s s D D p u B q D B C t t D k B B t t D r u B D D r B C q D B B q D q P D u B D P D t s t q q D B B s D -.r s C C Q t D u u D D D D O O t q v t u D C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B D D B D O C q s D C D u q t D B p D D s v D B B O D C D O q D X D t r D B D u B D r C D C *.u D -.C D _.O D C D D C u D u v D C u t C v D D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D r 0./.5.Q.e+> ) n ",
+"$ - . |.T.q.q.0.u t B B B B D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D C s 5.!.5.Q.e+> ' n ",
+"$ - . |.0.T.q.T.q C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D q D D O 0.a.Q.T.e+> ) n ",
+"$ - . |.0.T.q.T.s t B B B B D B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C q .+d+5.F.e+~ ' n ",
+"$ - . |.T.q.$.T.u t B B D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D B C B u Q./.0.5.=.~ ' n ",
+", - + <+T.$.$.0.u t B D D D D D B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B B D D D w >.$.Q.5.e+> ) D+",
+"$ - + |.T.$.$.T.q C D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D C D q 5.>.T.Q.=.~ ' n ",
+"@ - ! |.0.T.$.q.p O s s r s s r s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s r O r w 5.>.5.5.V ! ' n ",
+"% - ~ [.0.0.$.$.5.T.$.$.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.$.$..+q./.5.$.V ~ ; m.",
+"% ; ! <+Q.0.d+/.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.a.a.a.a.a.a.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.q.q.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.q.$.$.$.$.q.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$./.0.a.a.q.a.$.a.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.a.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.0.T.$.q.$.$..+Q.n . H N ",
+"z # + n+$.E.0.T.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.q.$.$.$.$.$.q.q.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.a.a.q.q.q.q.$.a.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.q.$.$.$.$.$.$.$.a.a.q.q.q.q.$.a.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.q.$.$.$.$.a.a.>.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.q.a.q.$.a.0.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.T.q.q.q.q.q.$.$.a.$.q.q.q.q.a.a.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.$.T.T.5.q.a.T.$.[+~ = ..",
+"! ~   [.#+0.>.d+q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.0.T.q.$.a.a.$.$.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.$.$.$.$.0.T.q.$.a.a.$.$.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.$.$.$.q.T.T.T.T.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.0.$.$.0.$.a.0.$.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.$.$.$.$.q.q.q.q.$.$.a.a.$.q.T.0.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.q.T.q.q.q.q.T.T.T.q.T.T.0.q.$.Q.5.V + @ n ",
+"  + ~ ( P.*+V.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.n.n.n.n.n.n.n.n.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.V.V.V.L.n.P.G.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.V.V.V.L.n.P.G.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.n.L.L.L.L.V.V.V.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.n.P.n.L.n.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.n.n.n.G.P.n.L.V.V.V.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.L.n.n.P.G.P.P.L.n.c.G.[.! > l.",
+"+     {.V V F J y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y N N y F y N n D+y y y y y y y y y y y y y y y y y y y y y y y y N y y y y y y y N N y F y N n D+y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y N y y y F F J J y y y y y y y y y y y y y y y y D+J F n y F N J y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y F F y y N N N y D+n N y F y N N y y y y y y y y y y y y y y y y y y y y y y y F F J F U F y y m._+) {.[+",
+"  + . ! + !   > * * * * * * * * * * * * * * * * * * * * * * * * * * * H H H H H * * * * * * * * * * * * * * * * * * * * * * * * > &+* H H * * &+* * * * * * * * * * * * * * * * * * * * * * * * * * * * * H H ' > &+* H H * * &+* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * H H H H * * * * * * * * * * * * * * * * &+~ ~ H H * ' &+* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * &+> &+* * H H * &+> * * * * * * * * * * * * * * * * * * * * * * &+&+* &+* > ~ !   > - ' ~ & ",
+".         ~ +   + + + + + + + + + + + + + + + + + + + + + + + + ; ; I I I I I I = = = = = = = = = = = = = = = = = = = = = = = = - = # # I H !   + + + + + + + + + + + + + + + + + + + + + + + + +       + . ! ! - = # # I H !   + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +     + ~ * ) I - = = = = = = = = = = = = = = = = ; , - ) - I I I = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = - - I I ; ) ' *   ! H I # # = - = = = = = = = = = = = = = = = = = = = = = = - - ; ; - I ) >   ! + +   ~ ",
+"      +     + +                                                         + + + +                                                                                                                               +                                                                                                                                                                                                                                 +       + + + +                                 ' _+I   ! +   .                                                                                                       + + +                                                                             +     + +       "};
diff --git a/apps/ReactiveNav3D-Demo/ReactiveNav3D_demo_main.cpp b/apps/ReactiveNav3D-Demo/ReactiveNav3D_demo_main.cpp
index 4c5a6902be..9d371e24ef 100644
--- a/apps/ReactiveNav3D-Demo/ReactiveNav3D_demo_main.cpp
+++ b/apps/ReactiveNav3D-Demo/ReactiveNav3D_demo_main.cpp
@@ -259,7 +259,7 @@ int main(int num_arg, char *argv[])
 		else if ( string(argv[1]) == "--create-config")
 		{
 			filename = argv[2];
-			cout << endl << "Nombre del archivo: " << filename;
+			cout << endl << "Config_file name: " << filename;
 			ofstream new_file(filename.c_str());
 			new_file << string(default_cfg_txt);
 			new_file.close();
diff --git a/cmakemodules/DefineExamples.cmake b/cmakemodules/DefineExamples.cmake
index d4d8119e22..a1cd035a52 100644
--- a/cmakemodules/DefineExamples.cmake
+++ b/cmakemodules/DefineExamples.cmake
@@ -295,7 +295,18 @@ IF(BUILD_EXAMPLES)
 
 
 	ENDIF(BUILD_HWDRIVERS)
-
+	
+	# === OPENNI2 examples ===
+	IF (MRPT_HAS_OPENNI2)
+		SET(LIST_EXAMPLES_IN_THIS_DIR
+			openNI2_RGBD_demo
+			openNI2_proximity_demo)
+			
+		SET(CMAKE_EXAMPLE_DEPS mrpt-base mrpt-gui mrpt-opengl mrpt-maps)
+		SET(CMAKE_EXAMPLE_LINK_LIBS ${MRPT_LINKER_LIBS} ${OPENNI2_LIBRARIES})
+		GENERATE_CMAKE_FILES_SAMPLES_DIRECTORY()
+	ENDIF(MRPT_HAS_OPENNI2)
+	
 	# === SRBA examples ===
 	ADD_SAMPLES_DIRECTORY(srba-examples)
 
diff --git a/cmakemodules/script_openni2.cmake b/cmakemodules/script_openni2.cmake
new file mode 100644
index 0000000000..ed2b8208f0
--- /dev/null
+++ b/cmakemodules/script_openni2.cmake
@@ -0,0 +1,74 @@
+# Check for the OpenNI2 library:
+#  pkg-config if available (Linux), otherwise via 
+# Originally based on: https://github.com/rgbdemo/nestk/blob/master/cmake/FindOpenNI2.cmake
+# =========================================================
+SET(CMAKE_MRPT_HAS_OPENNI2 0)
+
+OPTION(DISABLE_OPENNI2 "Disable the OpenNI2 library, even if automatically found" "OFF")
+MARK_AS_ADVANCED(DISABLE_OPENNI2)
+
+IF (NOT DISABLE_OPENNI2) # Allow the user to force not using this lib
+
+IF (PKG_CONFIG_FOUND)
+	if(${CMAKE_VERSION} VERSION_LESS 2.8.2)
+		pkg_check_modules(PC_OPENNI libopenni2)
+	else(${CMAKE_VERSION} VERSION_LESS 2.8.2)
+		pkg_check_modules(PC_OPENNI QUIET libopenni2)
+	endif(${CMAKE_VERSION} VERSION_LESS 2.8.2)
+ENDIF (PKG_CONFIG_FOUND)
+
+# Build the expected names of the environment variables (Windows only) where OpenNI2 can be found:
+IF (CMAKE_MRPT_WORD_SIZE EQUAL 64)
+	SET(ENV_OPNI2_INCLUDE "OPENNI2_INCLUDE64")
+	SET(ENV_OPNI2_LIB     "OPENNI2_LIB64")
+	SET(ENV_OPNI2_REDIST  "OPENNI2_REDIST64")
+ELSE (CMAKE_MRPT_WORD_SIZE EQUAL 64)
+	SET(ENV_OPNI2_INCLUDE "OPENNI2_INCLUDE")
+	SET(ENV_OPNI2_LIB     "OPENNI2_LIB")
+	SET(ENV_OPNI2_REDIST  "OPENNI2_REDIST")
+ENDIF (CMAKE_MRPT_WORD_SIZE EQUAL 64)
+
+# Create option for OpenNI2 and guess its default value: 
+SET(DEFAULT_MRPT_HAS_OPENNI2 0)
+IF(PC_OPENNI_FOUND OR NOT "$ENV{${ENV_OPNI2_INCLUDE}}" STREQUAL "")
+	SET(DEFAULT_MRPT_HAS_OPENNI2 1)
+ENDIF(PC_OPENNI_FOUND OR NOT "$ENV{${ENV_OPNI2_INCLUDE}}" STREQUAL "")
+
+OPTION(MRPT_HAS_OPENNI2 "Support for the OpenNI2 library" ${DEFAULT_MRPT_HAS_OPENNI2})
+
+IF(MRPT_HAS_OPENNI2)
+	#set(OPENNI2_DEFINITIONS ${PC_OPENNI_CFLAGS_OTHER}) #JL: Remove?
+
+	#add a hint so that it can find it without the pkg-config
+	find_path(OPENNI2_INCLUDE_DIR OpenNI.h
+			  HINTS ${PC_OPENNI_INCLUDEDIR} ${PC_OPENNI_INCLUDE_DIRS} /usr/include/openni2 /usr/include/ni2
+			  PATHS "$ENV{PROGRAMFILES}/OpenNI2/Include" "$ENV{PROGRAMW6432}/OpenNI2/Include" "$ENV{${ENV_OPNI2_INCLUDE}}"
+			  PATH_SUFFIXES openni ni
+			  DOC "Path to the include directory containing OpenNI.h,etc.")
+	#add a hint so that it can find it without the pkg-config
+	find_library(OPENNI2_LIBRARY
+				 NAMES OpenNI2
+				 HINTS ${PC_OPENNI_LIBDIR} ${PC_OPENNI_LIBRARY_DIRS} /usr/lib
+				 PATHS "$ENV{PROGRAMFILES}/OpenNI2/Redist" "$ENV{PROGRAMW6432}/OpenNI2/Redist" "$ENV{PROGRAMW6432}/OpenNI2" "$ENV{${ENV_OPNI2_LIB}}"
+				 PATH_SUFFIXES lib lib64
+				 DOC "The OpenNI2.lib file path")
+
+	set(OPENNI2_INCLUDE_DIRS ${OPENNI2_INCLUDE_DIR})
+	set(OPENNI2_LIBRARIES ${OPENNI2_LIBRARY})
+
+	IF (OPENNI2_INCLUDE_DIRS AND OPENNI2_LIBRARIES)
+		SET(CMAKE_MRPT_HAS_OPENNI2  1)
+		SET(CMAKE_MRPT_HAS_OPENNI2_SYSTEM  1)
+		include_directories(${OPENNI2_INCLUDE_DIRS})
+		APPEND_MRPT_LIBS(${OPENNI2_LIBRARIES})
+
+		# Add include directories as "-isystem" to avoid warnings :
+		ADD_DIRECTORIES_AS_ISYSTEM(OPENNI2_INCLUDE_DIRS)
+		
+		message(STATUS "OpenNI2 found (include: ${OPENNI2_INCLUDE_DIR}, lib: ${OPENNI2_LIBRARY})")
+	ELSE (OPENNI2_INCLUDE_DIRS AND OPENNI2_LIBRARIES)
+		message(FATAL_ERROR "OpenNI2 not found: Either correctly set OPENNI2_INCLUDE_DIR and OPENNI2_LIBRARY or uncheck MRPT_HAS_OPENNI2")
+	ENDIF (OPENNI2_INCLUDE_DIRS AND OPENNI2_LIBRARIES)
+ENDIF(MRPT_HAS_OPENNI2)
+
+ENDIF (NOT DISABLE_OPENNI2)
diff --git a/cmakemodules/script_show_final_summary.cmake b/cmakemodules/script_show_final_summary.cmake
index 7f92a3f375..6daf587278 100644
--- a/cmakemodules/script_show_final_summary.cmake
+++ b/cmakemodules/script_show_final_summary.cmake
@@ -124,6 +124,7 @@ SHOW_CONFIG_LINE_SYSTEM("Has OpenCV (Image manipulation)         " CMAKE_MRPT_HA
 SHOW_CONFIG_LINE_SYSTEM("Has OpenGL                              " CMAKE_MRPT_HAS_OPENGL_GLUT)
 SHOW_CONFIG_LINE_SYSTEM("Has GLUT                                " CMAKE_MRPT_HAS_GLUT)
 SHOW_CONFIG_LINE_SYSTEM("Has OpenKinect libfreenect              " CMAKE_MRPT_HAS_FREENECT)
+SHOW_CONFIG_LINE_SYSTEM("Has OpenNI2                             " CMAKE_MRPT_HAS_OPENNI2)
 SHOW_CONFIG_LINE_SYSTEM("Has PCL (Pointscloud library)           " CMAKE_MRPT_HAS_PCL  "[Version: ${PCL_VERSION}]")
 IF(NOT UNIX)	# In fact, it's not "support for Bumblebee" but for it thru PGR vendor libraries.
 SHOW_CONFIG_LINE("Has PGR Digiclops/Triclops              " CMAKE_MRPT_HAS_BUMBLEBEE)
diff --git a/doc/doxygen-pages/changeLog_doc.h b/doc/doxygen-pages/changeLog_doc.h
index b38addc868..98ebee777c 100644
--- a/doc/doxygen-pages/changeLog_doc.h
+++ b/doc/doxygen-pages/changeLog_doc.h
@@ -34,6 +34,8 @@
 			- mrpt::reactivenav::CAbstractPTGBasedReactive, as part of a large code refactoring of these classes: [(commit)](https://github.com/jlblancoc/mrpt/pull/4)
 				- mrpt::reactivenav::CReactiveNavigationSystem
 				- mrpt::reactivenav::CReactiveNavigationSystem3D
+		- [mrpt-vision]
+			- mrpt::vision::CDifodo, a class which implements visual odometry based on depth images and the "range flow constraint equation". (by Mariano Jaimez Tarifa) - [(commit)]()
 	- Changes in classes:
 		- Clean up and slight optimization of metric map matching API: - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3446)
 			- <b>Methods marked as deprecated: </b>
@@ -52,9 +54,14 @@
 	- Deleted classes:
 		- mrpt::utils::CEvent, which was actually unimplemented (!)
 		- mrpt::hwdrivers::CInterfaceNI845x has been deleted. It didn't offer features enough to justify a class.
+	- New apps:
+		- <a href="http://www.mrpt.org/application-difodometry-camera/" > DifOdometry-Camera</a> (By Mariano Jaimez Tarifa)
+		- <a href="http://www.mrpt.org/application-difodometry-datasets/" >DifOdometry-Datasets</a> (By Mariano Jaimez Tarifa)
 	- New examples:
 		- [MRPT]/samples/threadsPipe
 		- [MRPT]/samples/NIDAQ_test
+		- [MRPT]/openNI2_RGBD_demo (by Mariano Jaimez Tarifa)
+		- [MRPT]/openNI2_proximity_demo (by Mariano Jaimez Tarifa)
 	- Build system:
 		- Fixed compilation with clang.
 		- Fixed building against OpenCV 3.0.0 (GIT head)
diff --git a/doc/doxygen-pages/lib_mrpt_vision.h b/doc/doxygen-pages/lib_mrpt_vision.h
index 5d4f02f9f4..997e66e868 100644
--- a/doc/doxygen-pages/lib_mrpt_vision.h
+++ b/doc/doxygen-pages/lib_mrpt_vision.h
@@ -69,6 +69,8 @@ patch, with or without a set of descriptors.
 - Notice that sets of parameters for monocular and stereo cameras are defined in [mrpt-base] for convenience, in the classes:
 	- mrpt::utils::TCamera
 	- mrpt::utils::TStereoCamera
+	
+- mrpt::vision::CDifodo: A class which implements a Visual Odometry algorithm based on depth images and the "range flow constraint equation".
 
 See all the classes in mrpt::vision
 
diff --git a/libs/vision/include/mrpt/vision.h b/libs/vision/include/mrpt/vision.h
index 95161d0f54..d3f530013b 100644
--- a/libs/vision/include/mrpt/vision.h
+++ b/libs/vision/include/mrpt/vision.h
@@ -34,6 +34,7 @@
 #include <mrpt/vision/CStereoRectifyMap.h>
 #include <mrpt/vision/CImagePyramid.h>
 #include <mrpt/vision/robust_kernels.h>
+#include <mrpt/vision/CDifodo.h>
 
 // Maps:
 #include <mrpt/slam/CLandmark.h>
diff --git a/libs/vision/include/mrpt/vision/CDifodo.h b/libs/vision/include/mrpt/vision/CDifodo.h
new file mode 100644
index 0000000000..90579e5389
--- /dev/null
+++ b/libs/vision/include/mrpt/vision/CDifodo.h
@@ -0,0 +1,236 @@
+/* +---------------------------------------------------------------------------+
+   |                     Mobile Robot Programming Toolkit (MRPT)               |
+   |                          http://www.mrpt.org/                             |
+   |                                                                           |
+   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
+   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
+   | Released under BSD License. See details in http://www.mrpt.org/License    |
+   +---------------------------------------------------------------------------+ */
+
+#ifndef CDifodo_H
+#define CDifodo_H
+
+#include <mrpt/base.h>
+#include <Eigen/Dense>
+#include <Eigen/Sparse>
+#include <mrpt/vision/link_pragmas.h>
+
+
+//class CDeflodo Acronim for "Depth Flow odometry" -> otra opción de nombre...
+namespace mrpt
+{
+	namespace vision
+	{
+		using mrpt::poses::CPose3D;
+		using Eigen::MatrixXf;
+		using Eigen::MatrixXi;
+
+		/** This abstract class implements a method called "Difodo" to perform Visual odometry with range cameras.
+		*	It is based on the range flow equation and assumes that the scene is rigid.
+		*	It can work with different image resolutions (640 x 480, 320 x 240 or 160 x 120).
+		*	Independently of the initial resolution chosen, the method normally makes use of a smaller amount of points
+		*	which can be adjusted with the member variables (rows,cols).
+		*
+		*   How to use:
+		*		- A derived class must be created which defines the method "loadFrame(...)" according to the user application.
+		*		  This method has to load the depth image into the variable "depth_wf".
+		*		- Call loadFrame();
+		*		- Call OdometryCalculation();
+		*		- Call filterSpeedAndPoseUpdate();
+		*
+		*	For further information have a look at the apps:
+		*    - [Difodometry-Camera](http://www.mrpt.org/list-of-mrpt-apps/application-difodometry-camera/)
+		*    - [Difodometry-Datasets](http://www.mrpt.org/list-of-mrpt-apps/application-difodometry-datasets/)
+		*
+		*	Please refer to the respective publication when using this method: *************************
+		*
+		* - JUN/2013: First design.
+		* - JAN/2014: Integrated into MRPT library.
+		*
+		*  \sa *********************
+		*  \ingroup mrpt_vision_grp
+		*/
+
+		class VISION_IMPEXP CDifodo {
+
+		protected:
+
+			/** Matrices that store the original and filtered depth frames with the image resolution */
+			MatrixXf depth_ft;
+			MatrixXf depth_wf;
+
+			/** Matrices that store the point coordinates after downsampling. */
+			MatrixXf depth;
+			MatrixXf depth_old;
+			MatrixXf depth_inter;
+			MatrixXf xx;
+			MatrixXf xx_inter;
+			MatrixXf xx_old;
+			MatrixXf yy;
+			MatrixXf yy_inter;
+			MatrixXf yy_old;
+
+			/** Matrices that store the depth derivatives */
+			MatrixXf du;
+			MatrixXf dv;
+			MatrixXf dt;
+
+			/** Matrix which indicates wheter the depth of a pixel is zero (null = 1) or not (null = 00). and border and noisy points */
+			MatrixXi null;
+
+			/** Matrix which indicates wheter a point is in a border or has an inaccurate depth (border =1, border = 0 otherwise) */
+			MatrixXi border;
+
+			/** Least squares covariance matrix */
+			math::CMatrixFloat66 est_cov;
+
+			/** Camera properties: */
+			float f_dist;		//!<Focal lenght (meters)
+			float x_incr;		//!<Separation between pixels (cols) in the sensor array (meters)
+			float y_incr;		//!<Separation between pixels (rows) in the sensor array (meters)
+			float fovh;			//!<Horizontal field of view (rad)
+			float fovv;			//!<Vertical field of view (rad)
+
+			/** Number of rows and cols of the depth image that will be considered by the visual odometry method.
+			  * As a rule, the more rows and cols the slower and more accurate the method becomes.
+			  * They always have to be less or equal to the size of the original depth image. */
+			unsigned int rows;
+			unsigned int cols;
+
+			/** Size (rows) of the gaussian kernel used to filter the depth image */
+			unsigned int gaussian_mask_size;
+
+			/** Speed filter parameters:
+			  * Previous_speed_const_weight directly ponders the previous speed in order to calculate the filtered speed. Recommended range - (0, 0.5)
+			  * Previous_speed_eig_weight ponders the product of the corresponding eigenvalue and the previous speed in order to calculate the filtered speed*/
+			float previous_speed_const_weight;	//!<Default 0.2
+			float previous_speed_eig_weight;	//!<Default 400
+
+			/** Solution from the solver: kai before applying the filter in local coordinates */
+			math::CMatrixFloat61 kai_solver;
+
+			/** Last filtered speed in absolute coordinates */
+			math::CMatrixFloat61 kai_abs;
+
+			/** It filters the depth image with a gaussian kernel and downsample this filtered image according to the values of "rows" and "cols" */
+			void filterAndDownsample();
+
+			/** It calculates the "average" coordinates of the points observed by the camera between two consecutive frames */
+			void calculateCoord();
+
+			/** It calculates the depth derivatives respect to u,v (rows and cols) and t (time) */
+			void calculateDepthDerivatives();
+
+			/** This method finds pixels whose depth is zero to subsequently discard them */
+			void findNullPoints();
+
+			/** This method finds pixels which are not in planar or smooth surfaces, and also inaccurate (noisy) pixels */
+			void findBorders();
+
+			/** This method discards the pixels found by 'findNullPoints()' and 'findBorders()' */
+			void findValidPoints();
+
+			/** The Solver. It buils the overdetermined system and gets the least-square solution.
+			  * It also calculates the least-square covariance matrix */
+			void solveDepthSystem();
+
+			/**  Virtual method to filter the speed and update the camera pose. */
+			virtual void filterSpeedAndPoseUpdate();
+
+		public:
+
+			/** Camera properties */
+			float lens_disp;	//Lateral displacement of the lens with respect to the center of the camera (meters)
+
+			/** Frames per second (Hz) */
+			float fps;
+
+			/** Resolution of the images taken by the range camera */
+			unsigned int cam_mode;	// (1 - 640 x 480, 2 - 320 x 240, 4 - 160 x 120)
+
+			/** Downsample the image taken by the range camera. Useful to reduce the computational burden,
+			  * as this downsampling is applied before the gaussian filter */
+			unsigned int downsample; // (1 - original size, 2 - res/2, 4 - res/4)
+
+			/** Num of valid points after removing null pixels and borders */
+			unsigned int num_valid_points;
+
+			/** Thresholds used to remove borders and noisy points */
+			float	duv_threshold;		//!< Threshold to du*du + dv*dv
+			float	dt_threshold;		//!< Threshold to dt
+			float	dif_threshold;		//!< Threshold to [abs(final_dx-ini_dx) + abs(final_dy-ini_dy)]
+			float	difuv_surroundings;	//!< Threshold to the difference of (du,dv) at a pixel and the values of (du,dv) at its surroundings
+			float	dift_surroundings;	//!< Threshold to the difference of dt at a pixel and the value of dt at its surroundings
+
+			/** Execution time (ms) */
+			float execution_time;
+
+			/** Camera poses */
+			CPose3D cam_pose;		//!< Last camera pose
+			CPose3D cam_oldpose;	//!< Previous camera pose
+
+			/** This method performs the necessary steps to estimate the camera speed in local coordinates once the depth image has been loaded */
+			void OdometryCalculation();
+
+			/** It sets the camera focal lenght */
+			inline void setCameraFocalLenght(float new_f);
+
+			/** It gets the camera focal lenght */
+			inline float getCameraFocalLenght() const {return f_dist;}
+
+			/** It sets the rows and cols of the depth image that will be considered by the visual odometry method. */
+			inline void setRowsAndCols(unsigned int num_rows, unsigned int num_cols);
+
+			/** It gets the rows and cols of the depth image that are considered by the visual odometry method. */
+			inline void getRowsAndCols(unsigned int &num_rows, unsigned int &num_cols) const {num_rows = rows; num_cols = cols;}
+
+			/** It sets the horizontal and vertical field of vision (in degrees) */
+			inline void setFOV(float new_fovh, float new_fovv);
+
+			/** It gets the horizontal and vertical field of vision (in degrees) */
+			inline void getFOV(float &cur_fovh, float &cur_fovv) const {cur_fovh = 57.296*fovh; cur_fovv = 57.296*fovv;}
+
+			/** It gets the weight that ponders the previous speed in order to calculate the filtered speed. */
+			inline float getSpeedFilterConstWeight() const {return previous_speed_const_weight;}
+
+			/** It gets the weight that ponders the product of the corresponding eigenvalue and the previous speed in order to calculate the filtered speed */
+			inline float getSpeedFilterEigWeight() const {return previous_speed_eig_weight;}
+
+			/** It sets the weight that ponders the previous speed in order to calculate the filtered speed. */
+			inline void setSpeedFilterConstWeight(float new_cweight) { previous_speed_const_weight = new_cweight;}
+
+			/** It sets the weight that ponders the product of the corresponding eigenvalue and the previous speed in order to calculate the filtered speed */
+			inline void setSpeedFilterEigWeight(float new_eweight) { previous_speed_eig_weight = new_eweight;}
+
+			/** This method gets the coordinates of the points regarded by the visual odometry method */
+			inline void getPointsCoord(MatrixXf &x, MatrixXf &y, MatrixXf &z);
+
+			/** This method gets the depth derivatives respect to u,v and t respectively */
+			inline void getDepthDerivatives(MatrixXf &cur_du, MatrixXf &cur_dv, MatrixXf &cur_dt);
+
+			/** It gets the camera speed (vx, vy, vz, wx, wy, wz) expressed in local reference frame estimated by the solver (before filtering) */
+			inline mrpt::math::CMatrixFloat61 getSolverSolution() const {return kai_solver;}
+
+			/** It gets the last camera speed (vx, vy, vz, wx, wy, wz) expressed in the world reference frame, obtained after filtering */
+			inline mrpt::math::CMatrixFloat61 getLastSpeedAbs() const {return kai_abs;}
+
+			/** It gets the least-square covariance matrix */
+			inline mrpt::math::CMatrixFloat66 getCovariance() const {return est_cov;}
+
+			/** It resets the border thresholds to their default values */
+			void bordersThresholdToDefault();
+
+			/** Virtual method to be implemented in derived classes.
+			  * It should be used to load the last depth image into the variable depth_wf */
+			virtual void loadFrame() = 0;
+
+			//Constructor. Initialize variables and matrix sizes
+			CDifodo();
+
+		};
+	}
+}
+
+
+
+#endif
diff --git a/libs/vision/src/CDifodo.cpp b/libs/vision/src/CDifodo.cpp
new file mode 100644
index 0000000000..a50682cc0a
--- /dev/null
+++ b/libs/vision/src/CDifodo.cpp
@@ -0,0 +1,606 @@
+/* +---------------------------------------------------------------------------+
+   |                     Mobile Robot Programming Toolkit (MRPT)               |
+   |                          http://www.mrpt.org/                             |
+   |                                                                           |
+   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
+   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
+   | Released under BSD License. See details in http://www.mrpt.org/License    |
+   +---------------------------------------------------------------------------+ */
+
+#include <mrpt/vision.h>		 // Precompiled headers
+#include <mrpt/vision/CDifodo.h>
+
+using namespace mrpt;
+using namespace mrpt::vision;
+using namespace std;
+using namespace Eigen;
+
+CDifodo::CDifodo()
+{
+	rows = 60;
+	cols = 80;
+	fovh = M_PI*57.5/180.0;
+	fovv = M_PI*45.0/180.0;
+	lens_disp = 0.022;
+	cam_mode = 1;			// (1 - 640 x 480, 2 - 320 x 240, 4 - 160 x 120)
+	downsample = 4;
+	gaussian_mask_size = 7;
+	const unsigned int resh = 640/(cam_mode*downsample);
+	const unsigned int resv = 480/(cam_mode*downsample);
+
+	depth.setSize(rows,cols);
+	depth_old.setSize(rows,cols);
+	depth_inter.setSize(rows,cols);
+	depth_ft.setSize(resv,resh);
+	depth_wf.setSize(resv,resh);
+
+	du.setSize(rows,cols);
+	dv.setSize(rows,cols);
+	dt.setSize(rows,cols);
+	xx.setSize(rows,cols);
+	xx_inter.setSize(rows,cols);
+	xx_old.setSize(rows,cols);
+	yy.setSize(rows,cols);
+	yy_inter.setSize(rows,cols);
+	yy_old.setSize(rows,cols);
+
+	border.setSize(rows,cols);
+	border.assign(0);
+	null.setSize(rows,cols);
+	null.assign(0);
+	est_cov.assign(0);
+
+	f_dist = 1.0/525.0;																				//In meters
+	x_incr = 2.0*f_dist*(floor(float(resh)/float(cols))*cols/float(resh))*tan(0.5*fovh)/(cols-1);	//In meters
+	y_incr = 2.0*f_dist*(floor(float(resv)/float(rows))*rows/float(resv))*tan(0.5*fovv)/(rows-1);	//In meters
+	fps = 30.0;																						//In Hz
+
+	//Depth thresholds
+	const int dy = floor(float(resv)/float(rows));
+	const int dx = floor(float(resh)/float(cols));
+
+	duv_threshold = 0.001*(dx + dy)*(cam_mode*downsample);
+	dt_threshold = 0.2*fps;
+	dif_threshold = 0.001*(dx + dy)*(cam_mode*downsample);
+	difuv_surroundings = 0.005*(dx + dy)*(cam_mode*downsample);
+	dift_surroundings = 0.01*fps*(dx + dy)*(cam_mode*downsample);
+
+	previous_speed_const_weight = 0.2;
+	previous_speed_eig_weight = 400.0;
+
+	num_valid_points = 0;
+}
+
+void CDifodo::calculateCoord()
+{
+	for (unsigned int x = 0; x < cols; x++)
+		for (unsigned int y = 0; y < rows; y++)
+		{
+			if ((depth(y,x)) == 0 || (depth_old(y,x) == 0))
+			{
+				depth_inter(y,x) = 0;
+				xx_inter(y,x) = 0;
+				yy_inter(y,x) = 0;
+			}
+			else
+			{
+				depth_inter(y,x) = 0.5*(depth(y,x) + depth_old(y,x));
+				xx_inter(y,x) = 0.5*(xx(y,x) + xx_old(y,x));
+				yy_inter(y,x) = 0.5*(yy(y,x) + yy_old(y,x));
+			}
+		}
+}
+
+
+void CDifodo::calculateDepthDerivatives()
+{
+	for (unsigned int x = 1; x < cols-1; x++)
+		for (unsigned int y = 1; y < rows-1; y++)
+		{
+			du(y,x) = 0.5*(depth_inter(y,x+1) - depth_inter(y,x-1));
+			dv(y,x) = 0.5*(depth_inter(y+1,x) - depth_inter(y-1,x));
+			dt(y,x) = fps*(depth(y,x) - depth_old(y,x));
+		}
+}
+
+
+void CDifodo::filterAndDownsample()
+{
+	//CTicTac clock;
+	//clock.Tic();
+
+	//Push the frames back
+	depth_old = depth;
+	xx_old = xx;
+	yy_old = yy;
+
+	//					Create the kernel
+	//==========================================================
+	Eigen::MatrixXf kernel(gaussian_mask_size,1);
+
+    const float sigma = 0.2f*gaussian_mask_size;
+    float r, s = 2.0f * sigma * sigma;
+    float ksum = 0.0f;
+
+    // Generate kernel
+	if ((gaussian_mask_size%2 == 0)||(gaussian_mask_size<3))
+	{
+		cout << endl << "Mask size must be odd and bigger than 2";
+		depth_ft = depth_wf;
+		return;
+	}
+
+	const int lim_mask = (gaussian_mask_size-1)/2;
+	for (int x = -lim_mask; x <= lim_mask; x++)
+	{
+		r = math::sqrt(float(x*x));
+		kernel(x + lim_mask, 0) = (exp(-(r*r)/s))/(M_PI * s);
+		ksum += kernel(x + lim_mask, 0);
+	}
+
+	// normalize the Kernel
+	for (int x = -lim_mask; x <= lim_mask; x++)
+	{
+			kernel(x + lim_mask, 0)/=ksum;
+			//cout << kernel(x + lim_mask, 1) << "  ";
+	}
+
+	const int width = depth_wf.getColCount();
+	const int height = depth_wf.getRowCount();
+	MatrixXf depth_if;
+	depth_if.setSize(height, width);
+
+	//Apply gaussian filter (separately)
+	//rows
+	for ( int i=0; i<height; i++)
+		for ( int j=0; j<width; j++)
+		{
+			if ((j>=lim_mask)&&(j<width-lim_mask))
+			{
+				float sum = 0.0f;
+				float ponder = 1.0f;
+				for (int k=-lim_mask; k<=lim_mask; k++)
+				{
+
+					if (depth_wf(i,j+k) == 0)
+						ponder -= kernel(k+lim_mask,0);
+					else
+						sum += kernel(k+lim_mask,0)*depth_wf(i,j+k);
+				}
+				if (ponder == 1.0f)
+					depth_if(i,j) = sum;
+				else if (ponder > 0.0001f)
+					depth_if(i,j) = sum/ponder;
+				else
+					depth_if(i,j) = 0;
+			}
+			else
+				depth_if(i,j) = depth_wf(i,j);
+
+		}
+
+	//cols
+	for ( int i=0; i<height; i++)
+		for ( int j=0; j<width; j++)
+		{
+			if ((i>=lim_mask)&&(i<height-lim_mask))
+			{
+				float sum = 0.0f;
+				float ponder = 1.0f;
+
+				for (int k=-lim_mask; k<=lim_mask; k++)
+				{
+
+					if (depth_if(i+k,j) == 0)
+						ponder -= kernel(k+lim_mask,0);
+					else
+						sum += kernel(k+lim_mask,0)*depth_if(i+k,j);
+				}
+
+				if (ponder == 1.0f)
+					depth_wf(i,j) = sum;
+				else if (ponder > 0.0001f)
+					depth_wf(i,j) = sum/ponder;
+				else
+					depth_wf(i,j) = 0;
+			}
+			else
+				depth_wf(i,j) = depth_if(i,j);
+
+		}
+
+	//Downsample the pointcloud
+	const float inv_f = float(640/width)/525.0f;
+	const float disp_x = 0.5*(width-1);
+	const float disp_y = 0.5*(height-1);
+
+	const int dy = floor(float(height)/float(rows));
+	const int dx = floor(float(width)/float(cols));
+	const unsigned int iniy = (height-dy*rows)/2;
+	const unsigned int inix = (width-dx*cols)/2;
+
+	for (unsigned int y = 0; y < rows; y++)
+		for (unsigned int x = 0; x < cols; x++)
+		{
+			depth(y,x) = depth_wf(iniy+y*dy,inix+x*dx);
+			xx(y,x) = (inix+x*dx - disp_x)*depth_wf(iniy+y*dy,inix+x*dx)*inv_f + lens_disp;
+			yy(y,x) = (iniy+y*dy - disp_y)*depth_wf(iniy+y*dy,inix+x*dx)*inv_f;
+		}
+
+	//cout << endl << "Execution time - filter + downsample (ms): " << 1000*clock.Tac();
+}
+
+void CDifodo::findBorders()
+{
+	border.assign(0);
+
+	//Detect borders
+	for (unsigned int x = 1; x < cols-1; x++)
+		for (unsigned int y = 1; y < rows-1; y++)
+		{
+			if (null(y,x) == 0)
+			{
+				const float aver_duv = du(y,x)*du(y,x) + dv(y,x)*dv(y,x);
+				const float ini_dx = 0.5*(depth_old(y,x+1) - depth_old(y,x-1));
+				const float ini_dy = 0.5*(depth_old(y+1,x) - depth_old(y-1,x));
+				const float final_dx = 0.5*(depth(y,x+1) - depth(y,x-1));
+				const float final_dy = 0.5*(depth(y+1,x) - depth(y-1,x));
+
+
+				//Derivative too high (the average derivative)
+				if (aver_duv > duv_threshold)
+					border(y,x) = 1;
+
+				else if (abs(dt(y,x)) > dt_threshold)
+					border(y,x) = 1;
+
+				//Big difference between initial and final derivatives
+				else if (abs(final_dx-ini_dx) + abs(final_dy-ini_dy) > dif_threshold)
+					border(y,x) = 1;
+
+				//Difference between derivatives in the surroundings
+				else
+				{
+					float sum_duv = 0;
+					float sum_dift = 0;
+					float sum_difdepth = 0;
+					for (int k = -1; k<2; k++)
+						for (int l = -1; l<2; l++)
+						{
+							sum_duv += abs(du(y,x)-du(y+k,x+l)) + abs(dv(y,x)-dv(y+k,x+l));
+							sum_dift += abs(dt(y,x) - dt(y+k,x+l));
+							sum_difdepth += abs(depth_inter(y,x) - depth_inter(y+k,x+l));
+						}
+
+					if (sum_dift > depth_inter(y,x)*dift_surroundings)
+						border(y,x) = 1;
+
+					else if (sum_duv > (4.0*sum_difdepth + depth_inter(y,x))*difuv_surroundings)
+						border(y,x) = 1;
+
+				}
+			}
+		}
+
+	//Delete sparse points
+	for (unsigned int x = 1; x < cols-1; x++)
+		for (unsigned int y = 1; y < rows-1; y++)
+		{
+			if ((null(y,x) == 0)&&(border(y,x) == 0))
+			{
+				float sum_alone = 0;
+				for (int k = -1; k<2; k++)
+					for (int l = -1; l<2; l++)
+					{
+						sum_alone += (border(y+k,x+l)||null(y+k,x+l));
+					}
+
+				if (sum_alone > 6)
+					border(y,x) = 1;
+
+			}
+		}
+}
+
+
+void CDifodo::findNullPoints()
+{
+	null.assign(0);
+	for (unsigned int x = 0; x < cols; x++)
+		for (unsigned int y = 0; y < rows; y++)
+			if (depth_inter(y,x) == 0)
+				null(y,x) = 1;
+
+}
+
+
+void CDifodo::findValidPoints()
+{
+	num_valid_points = 0;
+
+	for (unsigned int y = 1; y < rows-1; y++)
+		for (unsigned int x = 1; x < cols-1; x++)
+			if ((border(y,x) == 0)&&(null(y,x) == 0))
+				num_valid_points++;
+}
+
+
+void CDifodo::solveDepthSystem()
+{
+	utils::CTicTac	clock;
+	unsigned int cont = 0;
+	vector <Triplet<float>> coord;
+	SparseMatrix<float> A;
+	MatrixXf Var;
+	MatrixXf B;
+	A.resize(num_valid_points,6);
+	B.setSize(num_valid_points,1);
+	Var.setSize(6,1);
+
+	//clock.Tic();
+
+	//Fill the matrix A and the vector B
+	//The order of the variables will be (vx, vy, vz, wx, wy, wz)
+	//The points order will be (1,1), (1,2)...(1,cols-1), (2,1), (2,2)...(row-1,cols-1). Points at the borders are not included
+
+	const float f_inv_x = f_dist/x_incr;
+	const float f_inv_y = f_dist/y_incr;
+
+	for (unsigned int y = 1; y < rows-1; y++)
+		for (unsigned int x = 1; x < cols-1; x++)
+			if ((border(y,x) == 0)&&(null(y,x) == 0))
+			{
+				const float inv_d = 1.0f/depth_inter(y,x);
+				const float dxcomp = du(y,x)*f_inv_x*inv_d;
+				const float dycomp = dv(y,x)*f_inv_y*inv_d;
+
+				coord.push_back(Triplet<float>(cont, 0, inv_d*(1.0f + dxcomp*xx_inter(y,x)*inv_d + dycomp*yy_inter(y,x)*inv_d)));
+				coord.push_back(Triplet<float>(cont, 1, inv_d*(-dxcomp)));
+				coord.push_back(Triplet<float>(cont, 2, inv_d*(-dycomp)));
+				coord.push_back(Triplet<float>(cont, 3, inv_d*(dxcomp*yy_inter(y,x) - dycomp*xx_inter(y,x))));
+				coord.push_back(Triplet<float>(cont, 4, inv_d*(yy_inter(y,x) + dxcomp*inv_d*yy_inter(y,x)*xx_inter(y,x) + dycomp*(yy_inter(y,x)*yy_inter(y,x)*inv_d + depth_inter(y,x)))));
+				coord.push_back(Triplet<float>(cont, 5, inv_d*(-xx_inter(y,x) - dxcomp*(xx_inter(y,x)*xx_inter(y,x)*inv_d + depth_inter(y,x)) - dycomp*inv_d*yy_inter(y,x)*xx_inter(y,x))));
+
+				B(cont,0) = inv_d*(-dt(y,x));
+
+				cont++;
+			}
+
+
+	A.setFromTriplets(coord.begin(), coord.end());
+
+	//Solve the linear system of equations using a minimum least squares method
+	const SparseMatrix<float> atrans = A.transpose();
+	const SparseMatrix<float> aux = atrans*A;
+	SimplicialLDLT<SparseMatrix<float>>	SparseCholesky;
+	SparseCholesky.compute(aux);
+
+	if(SparseCholesky.info()!= Eigen::Success ) {	cout << endl << "Cholesky decomposition failed "; }
+
+	Var = SparseCholesky.solve(atrans*B);
+	kai_solver = Var;
+
+	if(SparseCholesky.info()!= Eigen::Success )	{ 	cout << endl << "Cholesty solver failed"; }
+
+
+	//Covariance matrix calculation
+	MatrixXf aux_normal;
+	MatrixXf residuals(num_valid_points,1);
+	aux_normal = aux.toDense();
+	residuals = A*Var - B;
+	est_cov = (1.0f/float(num_valid_points-6))*aux_normal.inverse()*residuals.squaredNorm();
+	//cout << endl << "Covariance matrix: " << endl << 50*est_cov;
+
+}
+
+
+void CDifodo::OdometryCalculation()
+{
+	utils::CTicTac clock;
+	clock.Tic();
+	filterAndDownsample();
+	calculateCoord();
+	calculateDepthDerivatives();
+	findNullPoints();
+	findBorders();
+	findValidPoints();
+
+	if (num_valid_points > 6)	{solveDepthSystem();}
+	else						{kai_solver.assign(0);}
+
+	execution_time = 1000*clock.Tac();
+}
+
+
+void CDifodo::filterSpeedAndPoseUpdate()
+{
+	//-------------------------------------------------------------------------
+	//								Filter speed
+	//-------------------------------------------------------------------------
+
+	utils::CTicTac clock;
+	clock.Tic();
+
+	//				Calculate Eigenvalues and Eigenvectors
+	//----------------------------------------------------------------------------
+	SelfAdjointEigenSolver<MatrixXf> eigensolver(est_cov);
+	if (eigensolver.info() != Success)
+	{
+		printf("Eigensolver couldn't find a solution. Pose is not updated");
+		return;
+	}
+
+	//First, we have to describe both the new linear and angular speeds in the "eigenvector" basis
+	//-------------------------------------------------------------------------------------------------
+	MatrixXf Bii, kai_b;
+	Bii.setSize(6,6); kai_b.setSize(6,1);
+	Bii = eigensolver.eigenvectors();
+
+	kai_b = Bii.colPivHouseholderQr().solve(kai_solver);
+
+	//Second, we have to describe both the old linear and angular speeds in the "eigenvector" basis too
+	//-------------------------------------------------------------------------------------------------
+	math::CMatrixDouble33 inv_trans;
+	math::CMatrixFloat31 v_loc_old, w_loc_old;
+
+	//Express them in the local reference frame first
+	cam_pose.getRotationMatrix(inv_trans);
+	v_loc_old = inv_trans.inverse().cast<float>()*kai_abs.topRows(3);
+	w_loc_old = inv_trans.inverse().cast<float>()*kai_abs.bottomRows(3);
+
+	//Then transform that local representation to the "eigenvector" basis
+	MatrixXf kai_b_old;
+	kai_b_old.setSize(6,1);
+	math::CMatrixFloat61 kai_loc_old;
+	kai_loc_old.topRows<3>() = v_loc_old;
+	kai_loc_old.bottomRows<3>() = w_loc_old;
+
+	kai_b_old = Bii.colPivHouseholderQr().solve(kai_loc_old);
+
+	//Filter speed
+	MatrixXf kai_b_fil;
+	kai_b_fil.setSize(6,1);
+	for (unsigned int i=0; i<6; i++)
+	{
+		kai_b_fil(i,0) = (kai_b(i,0) + (previous_speed_eig_weight*eigensolver.eigenvalues()(i,0) + previous_speed_const_weight)*kai_b_old(i,0))/(1.0 + previous_speed_eig_weight*eigensolver.eigenvalues()(i,0) + previous_speed_const_weight);
+	}
+
+	//Transform filtered speed to local and then absolute reference systems
+	MatrixXf kai_loc_fil;
+	math::CMatrixFloat31 v_abs_fil, w_abs_fil;
+	kai_loc_fil.setSize(6,1);
+	kai_loc_fil = Bii.inverse().colPivHouseholderQr().solve(kai_b_fil);
+
+	cam_pose.getRotationMatrix(inv_trans);
+	v_abs_fil = inv_trans.cast<float>()*kai_loc_fil.topRows(3);
+	w_abs_fil = inv_trans.cast<float>()*kai_loc_fil.bottomRows(3);
+
+	kai_abs.topRows<3>() = v_abs_fil;
+	kai_abs.bottomRows<3>() = w_abs_fil;
+
+
+	//-------------------------------------------------------------------------
+	//							Update pose (DIFODO)
+	//-------------------------------------------------------------------------
+
+	cam_oldpose = cam_pose;
+
+	double yaw,pitch,roll;
+	math::CMatrixDouble31 w_euler_d;
+
+	cam_pose.getYawPitchRoll(yaw,pitch,roll);
+	w_euler_d(0,0) = kai_loc_fil(4,0)*sin(roll)/cos(pitch) + kai_loc_fil(5,0)*cos(roll)/cos(pitch);
+	w_euler_d(1,0) = kai_loc_fil(4,0)*cos(roll) - kai_loc_fil(5,0)*sin(roll);
+	w_euler_d(2,0) = kai_loc_fil(3,0) + kai_loc_fil(4,0)*sin(roll)*tan(pitch) + kai_loc_fil(5,0)*cos(roll)*tan(pitch);
+
+	//Update pose
+	cam_pose.x_incr(v_abs_fil(0,0)/fps);
+	cam_pose.y_incr(v_abs_fil(1,0)/fps);
+	cam_pose.y_incr(v_abs_fil(2,0)/fps);
+	cam_pose.setYawPitchRoll(yaw + w_euler_d(0,0)/fps, pitch + w_euler_d(1,0)/fps, roll + w_euler_d(2,0)/fps);
+
+	execution_time += 1000*clock.Tac();
+}
+
+
+void CDifodo::setCameraFocalLenght(float new_f)
+{
+	const unsigned int resh = 640/(cam_mode*downsample);
+	const unsigned int resv = 480/(cam_mode*downsample);
+
+	f_dist = new_f;
+	x_incr = 2.0*f_dist*(floor(float(resh)/float(cols))*cols/float(resh))*tan(0.5*fovh)/(cols-1);
+	y_incr = 2.0*f_dist*(floor(float(resv)/float(rows))*rows/float(resv))*tan(0.5*fovv)/(rows-1);
+}
+
+
+void CDifodo::setRowsAndCols(unsigned int num_rows, unsigned int num_cols)
+{
+	rows = num_rows;
+	cols = num_cols;
+
+	const unsigned int resh = 640/(cam_mode*downsample);
+	const unsigned int resv = 480/(cam_mode*downsample);
+
+	depth.setSize(rows,cols);
+	depth_old.setSize(rows,cols);
+	depth_inter.setSize(rows,cols);
+
+	du.setSize(rows,cols);
+	dv.setSize(rows,cols);
+	dt.setSize(rows,cols);
+	xx.setSize(rows,cols);
+	xx_inter.setSize(rows,cols);
+	xx_old.setSize(rows,cols);
+	yy.setSize(rows,cols);
+	yy_inter.setSize(rows,cols);
+	yy_old.setSize(rows,cols);
+
+	border.setSize(rows,cols);
+	border.assign(0);
+	null.setSize(rows,cols);
+	null.assign(0);
+
+	x_incr = 2.0*f_dist*(floor(float(resh)/float(cols))*cols/float(resh))*tan(0.5*fovh)/(cols-1);	//In meters
+	y_incr = 2.0*f_dist*(floor(float(resv)/float(rows))*rows/float(resv))*tan(0.5*fovv)/(rows-1);	//In meters																				//In Hz
+
+	//Depth thresholds
+	const int dy = floor(float(resv)/float(rows));
+	const int dx = floor(float(resh)/float(cols));
+
+	duv_threshold = 0.001*(dx + dy)*(cam_mode*downsample);
+	dt_threshold = 0.2*fps;
+	dif_threshold = 0.001*(dx + dy)*(cam_mode*downsample);
+	difuv_surroundings = 0.005*(dx + dy)*(cam_mode*downsample);
+	dift_surroundings = 0.01*fps*(dx + dy)*(cam_mode*downsample);
+}
+
+
+void CDifodo::setFOV(float new_fovh, float new_fovv)
+{
+	fovh = M_PI*new_fovh/180.0;
+	fovv = M_PI*new_fovv/180.0;
+	const unsigned int resh = 640/(cam_mode*downsample);
+	const unsigned int resv = 480/(cam_mode*downsample);
+
+	x_incr = 2.0*f_dist*(floor(float(resh)/float(cols))*cols/float(resh))*tan(0.5*fovh)/(cols-1);	//In meters
+	y_incr = 2.0*f_dist*(floor(float(resv)/float(rows))*rows/float(resv))*tan(0.5*fovv)/(rows-1);	//In meters
+}
+
+
+void CDifodo::getPointsCoord(MatrixXf &x, MatrixXf &y, MatrixXf &z)
+{
+	x.resize(rows,cols);
+	y.resize(rows,cols);
+	z.resize(rows,cols);
+
+	z = depth_inter;
+	x = xx_inter;
+	y = yy_inter;
+}
+
+
+void CDifodo::getDepthDerivatives(MatrixXf &cur_du, MatrixXf &cur_dv, MatrixXf &cur_dt)
+{
+	cur_du.resize(rows,cols);
+	cur_dv.resize(rows,cols);
+	cur_dt.resize(rows,cols);
+
+	cur_du = du;
+	cur_dv = dv;
+	cur_dt = dt;
+}
+
+
+void CDifodo::bordersThresholdToDefault()
+{
+	const int dy = floor(float(480/(cam_mode*downsample))/float(rows));
+	const int dx = floor(float(640/(cam_mode*downsample))/float(cols));
+
+	duv_threshold = 0.001*(dx + dy)*(cam_mode*downsample);
+	dt_threshold = 0.2*fps;
+	dif_threshold = 0.001*(dx + dy)*(cam_mode*downsample);
+	difuv_surroundings = 0.005*(dx + dy)*(cam_mode*downsample);
+	dift_surroundings = 0.01*fps*(dx + dy)*(cam_mode*downsample);
+}
+
diff --git a/parse-files/config.h.in b/parse-files/config.h.in
index 8b8e64e55d..a9785f24e6 100644
--- a/parse-files/config.h.in
+++ b/parse-files/config.h.in
@@ -104,6 +104,9 @@ ${CMAKE_MRPT_BUILD_SHARED_LIB}
 #define MRPT_HAS_KINECT_FREENECT         ${CMAKE_MRPT_HAS_FREENECT}
 #define MRPT_HAS_KINECT_FREENECT_SYSTEM  ${CMAKE_MRPT_HAS_FREENECT_SYSTEM}
 
+/* OpenNI2 lib: */
+#define MRPT_HAS_KINECT_CL_NUI           ${CMAKE_MRPT_HAS_CL_NUI}
+#define MRPT_HAS_OPENNI2                 ${CMAKE_MRPT_HAS_OPENNI2}
 
 /* PCL (The pointclouds library): */
 #define MRPT_HAS_PCL           ${CMAKE_MRPT_HAS_PCL}
diff --git a/samples/CMakeLists.txt b/samples/CMakeLists.txt
index bf85f38973..ed0c83e6bd 100644
--- a/samples/CMakeLists.txt
+++ b/samples/CMakeLists.txt
@@ -122,5 +122,9 @@ add_subdirectory(MOXmodel-rawlog)
 add_subdirectory(captureVideoAndBuildPyr)
 add_subdirectory(stereoRectify)
 add_subdirectory(face_detection)
+add_subdirectory(openNI2_RGBD_demo)
+add_subdirectory(openNI2_proximity_demo)
 add_subdirectory(srba-examples)
+add_subdirectory(pbmap_example)
+add_subdirectory(pbmap_visualizer)
 
diff --git a/samples/openNI2_RGBD_demo/CMakeLists.txt b/samples/openNI2_RGBD_demo/CMakeLists.txt
new file mode 100644
index 0000000000..617f49855e
--- /dev/null
+++ b/samples/openNI2_RGBD_demo/CMakeLists.txt
@@ -0,0 +1,73 @@
+#-----------------------------------------------------------------------------------------------
+# CMake file for the MRPT example:  /openNI2_RGBD_demo
+#
+#  Run with "ccmake ." at the root directory, or use it as a template for 
+#   starting your own programs
+#-----------------------------------------------------------------------------------------------
+SET(sampleName openNI2_RGBD_demo)
+SET(PRJ_NAME "EXAMPLE_${sampleName}")
+
+# ---------------------------------------
+# Declare a new CMake Project:
+# ---------------------------------------
+PROJECT(${PRJ_NAME})
+
+# These commands are needed by modern versions of CMake:
+CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
+if(COMMAND cmake_policy)
+      cmake_policy(SET CMP0003 NEW)  # Required by CMake 2.7+
+endif(COMMAND cmake_policy)
+
+# ---------------------------------------------------------------------------
+# Set the output directory of each example to its corresponding subdirectory
+#  in the binary tree:
+# ---------------------------------------------------------------------------
+SET(EXECUTABLE_OUTPUT_PATH ".")
+
+# --------------------------------------------------------------------------
+#   The list of "libs" which can be included can be found in:
+#     http://www.mrpt.org/Libraries
+#
+#   The dependencies of a library are automatically added, so you only 
+#    need to specify the top-most libraries your code depend on.
+# --------------------------------------------------------------------------
+FIND_PACKAGE(MRPT REQUIRED base;gui;opengl;maps)
+
+# ---------------------------------------------
+# TARGET:
+# ---------------------------------------------
+# Define the executable target:
+ADD_EXECUTABLE(${sampleName} test.cpp  ) 
+
+SET_TARGET_PROPERTIES(
+	${sampleName} 
+	PROPERTIES 
+	PROJECT_LABEL "(EXAMPLE) ${sampleName}")
+
+# Add special defines needed by this example, if any:
+SET(MY_DEFS )
+IF(MY_DEFS) # If not empty
+	ADD_DEFINITIONS("-D${MY_DEFS}")
+ENDIF(MY_DEFS)
+
+# Add the required libraries for linking:
+TARGET_LINK_LIBRARIES(${sampleName} 
+	${MRPT_LIBS}  # This is filled by FIND_PACKAGE(MRPT ...)
+	"C:/Users/Mariano/Programas/OpenNI2_32/Lib/OpenNI2.lib"  # Optional extra libs...
+	)
+
+# Set optimized building:
+IF(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_BUILD_TYPE MATCHES "Debug")
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -mtune=native")
+ENDIF(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_BUILD_TYPE MATCHES "Debug")
+
+
+# -------------------------------------------------------------------------
+# This part can be removed if you are compiling this program outside of 
+#  the MRPT tree:
+# -------------------------------------------------------------------------
+IF("${CMAKE_PROJECT_NAME}" STREQUAL "MRPT") # Fails if build outside of MRPT project.
+	DeclareAppDependencies(${sampleName} mrpt-base;mrpt-gui;mrpt-opengl;mrpt-maps) # Dependencies
+ENDIF("${CMAKE_PROJECT_NAME}" STREQUAL "MRPT")
+# -------------------------------------------------------------------------
+
diff --git a/samples/openNI2_RGBD_demo/test.cpp b/samples/openNI2_RGBD_demo/test.cpp
new file mode 100644
index 0000000000..cf68d3af0b
--- /dev/null
+++ b/samples/openNI2_RGBD_demo/test.cpp
@@ -0,0 +1,211 @@
+/* +---------------------------------------------------------------------------+
+   |                     Mobile Robot Programming Toolkit (MRPT)               |
+   |                          http://www.mrpt.org/                             |
+   |                                                                           |
+   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
+   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
+   | Released under BSD License. See details in http://www.mrpt.org/License    |
+   +---------------------------------------------------------------------------+ */
+
+#include <OpenNI.h>
+#include <PS1080.h>
+
+#include <mrpt/base.h>
+#include <mrpt/gui.h>
+#include <mrpt/opengl.h>
+#include <mrpt/maps.h>
+
+using namespace mrpt;
+using namespace std;
+
+
+int main ( int argc, char** argv )
+{
+	openni::Status rc = openni::STATUS_OK;
+
+	openni::Device		device;
+	openni::VideoMode	options;
+	openni::VideoStream depth, rgb;
+	
+	//									Device is openned
+	//=======================================================================================
+	const char* deviceURI = openni::ANY_DEVICE;
+	if (argc > 1)
+		deviceURI = argv[1];
+
+	rc = openni::OpenNI::initialize();
+
+	if (rc != openni::STATUS_OK) { printf("After initialization:\n %s\n", openni::OpenNI::getExtendedError()); }
+
+	rc = device.open(deviceURI);
+	
+	//cout << endl << "Do we have IR sensor? " << device.hasSensor(openni::SENSOR_IR);
+	//cout << endl << "Do we have RGB sensor? " << device.hasSensor(openni::SENSOR_COLOR);
+	//cout << endl << "Do we have Depth sensor? " << device.hasSensor(openni::SENSOR_DEPTH);
+
+	if (rc != openni::STATUS_OK)
+	{
+		printf("SimpleViewer: Device open failed:\n%s\n", openni::OpenNI::getExtendedError());
+		openni::OpenNI::shutdown();
+		return 1;
+	}
+
+	//								Create RGB and Depth channels
+	//========================================================================================
+	rc = depth.create(device, openni::SENSOR_DEPTH);
+	if (rc == openni::STATUS_OK)
+	{
+		rc = depth.start();
+		if (rc != openni::STATUS_OK)
+		{
+			printf("SimpleViewer: Couldn't start depth stream:\n%s\n", openni::OpenNI::getExtendedError());
+			depth.destroy();
+		}
+	}
+	else
+	{
+		printf("SimpleViewer: Couldn't find depth stream:\n%s\n", openni::OpenNI::getExtendedError());
+	}
+
+
+	rc = rgb.create(device, openni::SENSOR_COLOR);
+	if (rc == openni::STATUS_OK)
+	{
+		rc = rgb.start();
+		if (rc != openni::STATUS_OK)
+		{
+			printf("SimpleViewer: Couldn't start infrared stream:\n%s\n", openni::OpenNI::getExtendedError());
+			rgb.destroy();
+		}
+	}
+	else
+	{
+		printf("SimpleViewer: Couldn't find infrared stream:\n%s\n", openni::OpenNI::getExtendedError());
+	}
+
+	if (!depth.isValid() || !rgb.isValid())
+	{
+		printf("SimpleViewer: No valid streams. Exiting\n");
+		openni::OpenNI::shutdown();
+		return 2;
+	}
+
+	if (rc != openni::STATUS_OK)
+	{
+		openni::OpenNI::shutdown();
+		return 3;
+	}
+
+	//						Configure some properties (resolution)
+	//========================================================================================
+
+	unsigned width = 320, height = 240;
+
+	rc = device.setImageRegistrationMode(openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR);
+	//rc = device.setImageRegistrationMode(openni::IMAGE_REGISTRATION_OFF);
+
+	options = rgb.getVideoMode();
+	printf("\nInitial resolution RGB (%d, %d)", options.getResolutionX(), options.getResolutionY());
+	options.setResolution(width,height);
+	rc = rgb.setVideoMode(options);
+	rc = rgb.setMirroringEnabled(false);
+
+	options = depth.getVideoMode();
+	printf("\nInitial resolution Depth(%d, %d)", options.getResolutionX(), options.getResolutionY());
+	options.setResolution(width,height);
+	rc = depth.setVideoMode(options);
+	rc = depth.setMirroringEnabled(false);
+
+	options = depth.getVideoMode();
+	printf("\nNew resolution (%d, %d) \n", options.getResolutionX(), options.getResolutionY());
+
+    //Allow detection of closer points (although they will flicker)
+	//bool CloseRange;
+	//depth.setProperty(XN_STREAM_PROPERTY_CLOSE_RANGE, 1);
+	//depth.getProperty(XN_STREAM_PROPERTY_CLOSE_RANGE, &CloseRange);
+	//printf("\nClose range: %s", CloseRange?"On":"Off");	
+	
+
+	//										Create scene
+	//========================================================================================
+
+	gui::CDisplayWindow3D window;
+	opengl::COpenGLScenePtr	scene;
+	gui::global_settings::OCTREE_RENDER_MAX_POINTS_PER_NODE = 1000000;
+	window.setWindowTitle("Kinect frame");
+	window.resize(800,600);
+	window.setPos(500,50);
+	window.setCameraZoom(5);
+	window.setCameraAzimuthDeg(180);
+	window.setCameraElevationDeg(5);
+	scene = window.get3DSceneAndLock();
+
+	opengl::CPointCloudColouredPtr kinectp = opengl::CPointCloudColoured::Create();
+	kinectp->enablePointSmooth(true);
+	kinectp->setPointSize(2);
+	scene->insert( kinectp );
+
+	opengl::CSetOfObjectsPtr reference = opengl::stock_objects::CornerXYZ();
+	reference->setScale(0.4);
+	scene->insert( reference );
+
+	window.unlockAccess3DScene();
+	window.addTextMessage(5,5, format("Push any key to exit"));
+	window.repaint();
+
+	//							Grab frames continuously and show
+	//========================================================================================
+
+	slam::CColouredPointsMap points;
+	openni::VideoFrameRef framed, framergb;
+	
+	while (!window.keyHit())	//Push any key to exit
+	{
+		points.clear();
+		depth.readFrame(&framed);
+		rgb.readFrame(&framergb);
+
+		if ((framed.getWidth() != framergb.getWidth()) || (framed.getHeight() != framergb.getHeight()))
+		{
+			cout << endl << "Both frames don't have the same size.";
+		}
+		else
+		{
+			//Read one frame
+			const openni::DepthPixel* pDepthRow = (const openni::DepthPixel*)framed.getData();
+			const openni::RGB888Pixel* pRgbRow = (const openni::RGB888Pixel*)framergb.getData();
+			int rowSize = framed.getStrideInBytes() / sizeof(openni::DepthPixel);
+
+			float x, y, z, inv_f = float(640/width)/525.0f;
+
+			for (int yc = 0; yc < framed.getHeight(); ++yc)
+			{
+				const openni::DepthPixel* pDepth = pDepthRow;
+				const openni::RGB888Pixel* pRgb = pRgbRow;
+				for (int xc = 0; xc < framed.getWidth(); ++xc, ++pDepth, ++pRgb)
+				{
+					z = 0.001*(*pDepth);
+					x = -(xc - 0.5*(width-1))*z*inv_f;
+					y = -(yc - 0.5*(height-1))*z*inv_f;
+					points.insertPoint(z, x, y, 0.0039*pRgb->r, 0.0039*pRgb->g, 0.0039*pRgb->b);
+				}
+				pDepthRow += rowSize;
+				pRgbRow += rowSize;
+			}
+		}
+
+		scene = window.get3DSceneAndLock();
+		kinectp->loadFromPointsMap<slam::CColouredPointsMap> (&points); 
+		system::sleep(10);
+		window.unlockAccess3DScene();
+		window.repaint();
+	}
+
+	depth.destroy();
+	rgb.destroy();
+	openni::OpenNI::shutdown();
+
+	return 0;
+}
+
+
diff --git a/samples/openNI2_proximity_demo/CMakeLists.txt b/samples/openNI2_proximity_demo/CMakeLists.txt
new file mode 100644
index 0000000000..ea16fafe5f
--- /dev/null
+++ b/samples/openNI2_proximity_demo/CMakeLists.txt
@@ -0,0 +1,73 @@
+#-----------------------------------------------------------------------------------------------
+# CMake file for the MRPT example:  /openNI2_proximity_demo
+#
+#  Run with "ccmake ." at the root directory, or use it as a template for 
+#   starting your own programs
+#-----------------------------------------------------------------------------------------------
+SET(sampleName openNI2_proximity_demo)
+SET(PRJ_NAME "EXAMPLE_${sampleName}")
+
+# ---------------------------------------
+# Declare a new CMake Project:
+# ---------------------------------------
+PROJECT(${PRJ_NAME})
+
+# These commands are needed by modern versions of CMake:
+CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
+if(COMMAND cmake_policy)
+      cmake_policy(SET CMP0003 NEW)  # Required by CMake 2.7+
+endif(COMMAND cmake_policy)
+
+# ---------------------------------------------------------------------------
+# Set the output directory of each example to its corresponding subdirectory
+#  in the binary tree:
+# ---------------------------------------------------------------------------
+SET(EXECUTABLE_OUTPUT_PATH ".")
+
+# --------------------------------------------------------------------------
+#   The list of "libs" which can be included can be found in:
+#     http://www.mrpt.org/Libraries
+#
+#   The dependencies of a library are automatically added, so you only 
+#    need to specify the top-most libraries your code depend on.
+# --------------------------------------------------------------------------
+FIND_PACKAGE(MRPT REQUIRED base;gui;opengl;maps)
+
+# ---------------------------------------------
+# TARGET:
+# ---------------------------------------------
+# Define the executable target:
+ADD_EXECUTABLE(${sampleName} test.cpp  ) 
+
+SET_TARGET_PROPERTIES(
+	${sampleName} 
+	PROPERTIES 
+	PROJECT_LABEL "(EXAMPLE) ${sampleName}")
+
+# Add special defines needed by this example, if any:
+SET(MY_DEFS )
+IF(MY_DEFS) # If not empty
+	ADD_DEFINITIONS("-D${MY_DEFS}")
+ENDIF(MY_DEFS)
+
+# Add the required libraries for linking:
+TARGET_LINK_LIBRARIES(${sampleName} 
+	${MRPT_LIBS}  # This is filled by FIND_PACKAGE(MRPT ...)
+	"C:/Users/Mariano/Programas/OpenNI2_32/Lib/OpenNI2.lib"  # Optional extra libs...
+	)
+
+# Set optimized building:
+IF(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_BUILD_TYPE MATCHES "Debug")
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -mtune=native")
+ENDIF(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_BUILD_TYPE MATCHES "Debug")
+
+
+# -------------------------------------------------------------------------
+# This part can be removed if you are compiling this program outside of 
+#  the MRPT tree:
+# -------------------------------------------------------------------------
+IF("${CMAKE_PROJECT_NAME}" STREQUAL "MRPT") # Fails if build outside of MRPT project.
+	DeclareAppDependencies(${sampleName} mrpt-base;mrpt-gui;mrpt-opengl;mrpt-maps) # Dependencies
+ENDIF("${CMAKE_PROJECT_NAME}" STREQUAL "MRPT")
+# -------------------------------------------------------------------------
+
diff --git a/samples/openNI2_proximity_demo/test.cpp b/samples/openNI2_proximity_demo/test.cpp
new file mode 100644
index 0000000000..f0905e865b
--- /dev/null
+++ b/samples/openNI2_proximity_demo/test.cpp
@@ -0,0 +1,211 @@
+/* +---------------------------------------------------------------------------+
+   |                     Mobile Robot Programming Toolkit (MRPT)               |
+   |                          http://www.mrpt.org/                             |
+   |                                                                           |
+   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
+   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
+   | Released under BSD License. See details in http://www.mrpt.org/License    |
+   +---------------------------------------------------------------------------+ */
+
+#include <OpenNI.h>
+#include <mrpt/base.h>
+#include <mrpt/gui.h>
+#include <mrpt/opengl.h>
+#include <mrpt/maps.h>
+
+using namespace mrpt;
+using namespace std;
+
+//=================================================================================================
+//
+// This example illustrates how points closer than a RGBD camera threshold (0.3 - 0.5 m typically)
+// can be detected with these cameras. This method finds pixels with a very high value in the
+// infrared image and, therefore, it will fail if an external source of infrared light (sun) affects
+// the camera...
+//
+// =================================================================================================
+
+
+int main ( int argc, char** argv )
+{
+	openni::Status rc = openni::STATUS_OK;
+
+	openni::Device		device;
+	openni::VideoMode	options;
+	openni::VideoStream depth, infrared;
+	
+	//									Device is openned
+	//=======================================================================================
+	const char* deviceURI = openni::ANY_DEVICE;
+	if (argc > 1)
+		deviceURI = argv[1];
+
+	rc = openni::OpenNI::initialize();
+
+	if (rc != openni::STATUS_OK) { printf("After initialization:\n %s\n", openni::OpenNI::getExtendedError()); }
+
+	rc = device.open(deviceURI);
+
+	if (rc != openni::STATUS_OK)
+	{
+		printf("SimpleViewer: Device open failed:\n%s\n", openni::OpenNI::getExtendedError());
+		openni::OpenNI::shutdown();
+		return 1;
+	}
+
+	//								Create IR and Depth channels
+	//========================================================================================
+
+	rc = depth.create(device, openni::SENSOR_DEPTH);
+	if (rc == openni::STATUS_OK)
+	{
+		rc = depth.start();
+		if (rc != openni::STATUS_OK)
+		{
+			printf("SimpleViewer: Couldn't start depth stream:\n%s\n", openni::OpenNI::getExtendedError());
+			depth.destroy();
+		}
+	}
+	else
+	{
+		printf("SimpleViewer: Couldn't find depth stream:\n%s\n", openni::OpenNI::getExtendedError());
+	}
+
+
+	rc = infrared.create(device, openni::SENSOR_IR);
+	if (rc == openni::STATUS_OK)
+	{
+		rc = infrared.start();
+		if (rc != openni::STATUS_OK)
+		{
+			printf("SimpleViewer: Couldn't start infrared stream:\n%s\n", openni::OpenNI::getExtendedError());
+			infrared.destroy();
+		}
+	}
+	else
+	{
+		printf("SimpleViewer: Couldn't find infrared stream:\n%s\n", openni::OpenNI::getExtendedError());
+	}
+
+	if (!depth.isValid() || !infrared.isValid())
+	{
+		printf("SimpleViewer: No valid streams. Exiting\n");
+		openni::OpenNI::shutdown();
+		return 2;
+	}
+
+	if (rc != openni::STATUS_OK)
+	{
+		openni::OpenNI::shutdown();
+		return 3;
+	}
+
+
+	//									Read resolution
+	//========================================================================================
+
+	options = infrared.getVideoMode();
+	printf("\nInitial resolution IR (%d, %d)", options.getResolutionX(), options.getResolutionY());
+
+	options = depth.getVideoMode();
+	printf("\nInitial resolution Depth (%d, %d) \n", options.getResolutionX(), options.getResolutionY());
+
+
+	//										Create scene
+	//========================================================================================
+
+	gui::CDisplayWindow3D window;
+	opengl::COpenGLScenePtr	scene;
+	gui::global_settings::OCTREE_RENDER_MAX_POINTS_PER_NODE = 1000000;
+	window.setWindowTitle("Kinect frame");
+	window.resize(800,600);
+	window.setPos(500,50);
+	window.setCameraZoom(5);
+	window.setCameraAzimuthDeg(-90);
+	window.setCameraElevationDeg(90);
+	scene = window.get3DSceneAndLock();
+
+	opengl::CSetOfLinesPtr lines = opengl::CSetOfLines::Create();
+	lines->setLocation(0,0,0);
+	lines->setColor(0,0,1);
+	lines->setLineWidth(10);
+	lines->appendLine(-1,1,0,1,1,0);
+	lines->appendLine(1,1,0,1,-1,0);
+	lines->appendLine(1,-1,0,-1,-1,0);
+	lines->appendLine(-1,-1,0,-1,1,0);
+	scene->insert( lines );
+
+	opengl::CPointCloudPtr too_close = opengl::CPointCloud::Create();
+	too_close->setPointSize(5);
+	too_close->enablePointSmooth(true);
+	too_close->setColor(1,0,0);
+	scene->insert( too_close );
+
+	opengl::CGridPlaneXYPtr grid = opengl::CGridPlaneXY::Create(-4,4,-4,4,0);
+	scene->insert( grid );
+
+	window.unlockAccess3DScene();
+	window.addTextMessage(5,5, format("Push any key to exit"));
+	window.repaint();
+
+
+	//					Grab frames continuously and show saturated pixels
+	//========================================================================================
+
+	openni::VideoFrameRef framed, frameir;
+	const int ir_threshold = 500;
+	float x,y;
+
+	while (!window.keyHit())	//Push any key to exit
+	{
+		infrared.readFrame(&frameir);
+		depth.readFrame(&framed);
+
+		scene = window.get3DSceneAndLock();	
+		too_close->clear();
+
+		//Read one frame
+		if ((framed.getWidth() != frameir.getWidth()) || (framed.getHeight() != frameir.getHeight()))
+		{
+			cout << endl << "Both frames don't have the same size.";
+		}
+		else
+		{
+			const openni::DepthPixel* pDepthRow = (const openni::DepthPixel*)framed.getData();
+			const openni::Grayscale16Pixel* pInfraredRow = (const openni::Grayscale16Pixel*)frameir.getData();
+			int rowSize = frameir.getStrideInBytes() / sizeof(openni::Grayscale16Pixel);
+
+			for (int yc = 0; yc < frameir.getHeight(); ++yc)
+			{
+				const openni::DepthPixel* pDepth = pDepthRow;
+				const openni::Grayscale16Pixel* pInfrared = pInfraredRow;
+				for (int xc = 0; xc < frameir.getWidth(); ++xc, ++pInfrared, ++pDepth)
+				{
+					
+					if ((*pInfrared > ir_threshold)&&(*pDepth == 0))
+					{
+						x = -1.0f + float(2*xc)/float(frameir.getWidth());
+						y = -1.0f + float(2*yc)/float(frameir.getHeight());
+						too_close->insertPoint( x, -y, 0);
+					}
+				}
+				
+				pDepthRow += rowSize;
+				pInfraredRow += rowSize;
+			}
+		}
+
+		system::sleep(10);
+		window.unlockAccess3DScene();
+		window.repaint();
+
+	}
+
+	infrared.destroy();
+	depth.destroy();
+	openni::OpenNI::shutdown();
+
+	return 0;
+}
+
+