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demo.cpp
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demo.cpp
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#include <vector>
#include <string>
#include <utility>
#include <opencv2/opencv.hpp>
using namespace std;
using namespace cv;
using namespace dnn;
vector< pair<dnn::Backend, dnn::Target> > backendTargetPairs = {
std::make_pair<dnn::Backend, dnn::Target>(dnn::DNN_BACKEND_OPENCV, dnn::DNN_TARGET_CPU),
std::make_pair<dnn::Backend, dnn::Target>(dnn::DNN_BACKEND_CUDA, dnn::DNN_TARGET_CUDA),
std::make_pair<dnn::Backend, dnn::Target>(dnn::DNN_BACKEND_CUDA, dnn::DNN_TARGET_CUDA_FP16),
std::make_pair<dnn::Backend, dnn::Target>(dnn::DNN_BACKEND_TIMVX, dnn::DNN_TARGET_NPU),
std::make_pair<dnn::Backend, dnn::Target>(dnn::DNN_BACKEND_CANN, dnn::DNN_TARGET_NPU) };
Mat getMediapipeAnchor();
class MPPersonDet {
private:
Net net;
string modelPath;
Size inputSize;
float scoreThreshold;
float nmsThreshold;
dnn::Backend backendId;
dnn::Target targetId;
int topK;
Mat anchors;
public:
MPPersonDet(string modPath, float nmsThresh = 0.5, float scoreThresh = 0.3, int tok = 1, dnn::Backend bId = DNN_BACKEND_DEFAULT, dnn::Target tId = DNN_TARGET_CPU) :
modelPath(modPath), nmsThreshold(nmsThresh),
scoreThreshold(scoreThresh), topK(tok),
backendId(bId), targetId(tId)
{
this->inputSize = Size(224, 224);
this->net = readNet(this->modelPath);
this->net.setPreferableBackend(this->backendId);
this->net.setPreferableTarget(this->targetId);
this->anchors = getMediapipeAnchor();
}
pair<Mat, Size> preprocess(Mat img)
{
Mat blob;
Image2BlobParams paramMediapipe;
paramMediapipe.datalayout = DNN_LAYOUT_NCHW;
paramMediapipe.ddepth = CV_32F;
paramMediapipe.mean = Scalar::all(127.5);
paramMediapipe.scalefactor = Scalar::all(1 / 127.5);
paramMediapipe.size = this->inputSize;
paramMediapipe.swapRB = true;
paramMediapipe.paddingmode = DNN_PMODE_LETTERBOX;
double ratio = min(this->inputSize.height / double(img.rows), this->inputSize.width / double(img.cols));
Size padBias(0, 0);
if (img.rows != this->inputSize.height || img.cols != this->inputSize.width)
{
// keep aspect ratio when resize
Size ratioSize(int(img.cols * ratio), int(img.rows * ratio));
int padH = this->inputSize.height - ratioSize.height;
int padW = this->inputSize.width - ratioSize.width;
padBias.width = padW / 2;
padBias.height = padH / 2;
}
blob = blobFromImageWithParams(img, paramMediapipe);
padBias = Size(int(padBias.width / ratio), int(padBias.height / ratio));
return pair<Mat, Size>(blob, padBias);
}
Mat infer(Mat srcimg)
{
pair<Mat, Size> w = this->preprocess(srcimg);
Mat inputBlob = get<0>(w);
Size padBias = get<1>(w);
this->net.setInput(inputBlob);
vector<Mat> outs;
this->net.forward(outs, this->net.getUnconnectedOutLayersNames());
Mat predictions = this->postprocess(outs, Size(srcimg.cols, srcimg.rows), padBias);
return predictions;
}
Mat postprocess(vector<Mat> outputs, Size orgSize, Size padBias)
{
Mat score = outputs[1].reshape(0, outputs[1].size[0]);
Mat boxLandDelta = outputs[0].reshape(outputs[0].size[0], outputs[0].size[1]);
Mat boxDelta = boxLandDelta.colRange(0, 4);
Mat landmarkDelta = boxLandDelta.colRange(4, boxLandDelta.cols);
double scale = max(orgSize.height, orgSize.width);
Mat mask = score < -100;
score.setTo(-100, mask);
mask = score > 100;
score.setTo(100, mask);
Mat deno;
exp(-score, deno);
divide(1.0, 1 + deno, score);
boxDelta.colRange(0, 1) = boxDelta.colRange(0, 1) / this->inputSize.width;
boxDelta.colRange(1, 2) = boxDelta.colRange(1, 2) / this->inputSize.height;
boxDelta.colRange(2, 3) = boxDelta.colRange(2, 3) / this->inputSize.width;
boxDelta.colRange(3, 4) = boxDelta.colRange(3, 4) / this->inputSize.height;
Mat xy1 = (boxDelta.colRange(0, 2) - boxDelta.colRange(2, 4) / 2 + this->anchors) * scale;
Mat xy2 = (boxDelta.colRange(0, 2) + boxDelta.colRange(2, 4) / 2 + this->anchors) * scale;
Mat boxes;
hconcat(xy1, xy2, boxes);
vector< Rect2d > rotBoxes(boxes.rows);
boxes.colRange(0, 1) = boxes.colRange(0, 1) - padBias.width;
boxes.colRange(1, 2) = boxes.colRange(1, 2) - padBias.height;
boxes.colRange(2, 3) = boxes.colRange(2, 3) - padBias.width;
boxes.colRange(3, 4) = boxes.colRange(3, 4) - padBias.height;
for (int i = 0; i < boxes.rows; i++)
{
rotBoxes[i] = Rect2d(Point2d(boxes.at<float>(i, 0), boxes.at<float>(i, 1)), Point2d(boxes.at<float>(i, 2), boxes.at<float>(i, 3)));
}
vector< int > keep;
NMSBoxes(rotBoxes, score, this->scoreThreshold, this->nmsThreshold, keep, this->topK);
if (keep.size() == 0)
return Mat();
int nbCols = landmarkDelta.cols + boxes.cols + 1;
Mat candidates(int(keep.size()), nbCols, CV_32FC1);
int row = 0;
for (auto idx : keep)
{
candidates.at<float>(row, nbCols - 1) = score.at<float>(idx);
boxes.row(idx).copyTo(candidates.row(row).colRange(0, 4));
candidates.at<float>(row, 4) = (landmarkDelta.at<float>(idx, 0) / this->inputSize.width + this->anchors.at<float>(idx, 0)) * scale - padBias.width;
candidates.at<float>(row, 5) = (landmarkDelta.at<float>(idx, 1) / this->inputSize.height + this->anchors.at<float>(idx, 1)) * scale - padBias.height;
candidates.at<float>(row, 6) = (landmarkDelta.at<float>(idx, 2) / this->inputSize.width + this->anchors.at<float>(idx, 0)) * scale - padBias.width;
candidates.at<float>(row, 7) = (landmarkDelta.at<float>(idx, 3) / this->inputSize.height + this->anchors.at<float>(idx, 1)) * scale - padBias.height;
candidates.at<float>(row, 8) = (landmarkDelta.at<float>(idx, 4) / this->inputSize.width + this->anchors.at<float>(idx, 0)) * scale - padBias.width;
candidates.at<float>(row, 9) = (landmarkDelta.at<float>(idx, 5) / this->inputSize.height + this->anchors.at<float>(idx, 1)) * scale - padBias.height;
candidates.at<float>(row, 10) = (landmarkDelta.at<float>(idx, 6) / this->inputSize.width + this->anchors.at<float>(idx, 0)) * scale - padBias.width;
candidates.at<float>(row, 11) = (landmarkDelta.at<float>(idx, 7) / this->inputSize.height + this->anchors.at<float>(idx, 1)) * scale - padBias.height;
row++;
}
return candidates;
}
};
std::string keys =
"{ help h | | Print help message. }"
"{ model m | person_detection_mediapipe_2023mar.onnx | Usage: Path to the model, defaults to person_detection_mediapipe_2023mar.onnx }"
"{ input i | | Path to input image or video file. Skip this argument to capture frames from a camera.}"
"{ score_threshold | 0.5 | Usage: Set the minimum needed confidence for the model to identify a person, defaults to 0.5. Smaller values may result in faster detection, but will limit accuracy. Filter out persons of confidence < conf_threshold. }"
"{ nms_threshold | 0.3 | Usage: Suppress bounding boxes of iou >= nms_threshold. Default = 0.3. }"
"{ top_k | 1 | Usage: Keep top_k bounding boxes before NMS. }"
"{ save s | 0 | Usage: Specify to save file with results (i.e. bounding box, confidence level). Invalid in case of camera input. }"
"{ vis v | 1 | Usage: Specify to open a new window to show results. Invalid in case of camera input. }"
"{ backend bt | 0 | Choose one of computation backends: "
"0: (default) OpenCV implementation + CPU, "
"1: CUDA + GPU (CUDA), "
"2: CUDA + GPU (CUDA FP16), "
"3: TIM-VX + NPU, "
"4: CANN + NPU}";
Mat visualize(Mat img, Mat results, double fps = -1)
{
Mat resImg = img.clone();
if (fps > 0)
putText(resImg, format("FPS: %2f", fps), Point(0, 15), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0, 0, 255));
for (int row = 0; row < results.rows; row++)
{
float score = results.at<float>(row, results.cols - 1);
Mat personLandmarks;
results.row(row).colRange(4, results.cols - 1).reshape(0, 4).convertTo(personLandmarks, CV_32S);
Point hipPoint = Point(personLandmarks.row(0));
Point fullBody = Point(personLandmarks.row(1));
Point shoulderPoint = Point(personLandmarks.row(2));
Point upperBody = Point(personLandmarks.row(3));
// draw circle for full body
int radius = int(norm(hipPoint - fullBody));
circle(resImg, hipPoint, radius, Scalar(255, 0, 0), 2);
// draw circle for upper body
radius = int(norm(shoulderPoint - upperBody));
circle(resImg, shoulderPoint, radius, Scalar(0, 255, 255), 2);
// draw points for each keypoint
for (int iRow=0; iRow < personLandmarks.rows; iRow++)
circle(resImg, Point(personLandmarks.row(iRow)), 2, Scalar(0, 0, 255), 2);
putText(resImg, format("Score: %4f", score), Point(0, resImg.rows - 48), FONT_HERSHEY_DUPLEX, 0.5, Scalar(0, 255, 0));
}
// put score
putText(resImg, string("Yellow: upper body circle"), Point(0, resImg.rows - 36), FONT_HERSHEY_DUPLEX, 0.5, Scalar(0, 255, 255));
putText(resImg, string("Blue: full body circle"), Point(0, resImg.rows - 24), FONT_HERSHEY_DUPLEX, 0.5, Scalar(255, 0, 0));
putText(resImg, string("Red: keypoint"), Point(0, resImg.rows - 12), FONT_HERSHEY_DUPLEX, 0.5, Scalar(0, 0, 255));
return resImg;
}
int main(int argc, char** argv)
{
CommandLineParser parser(argc, argv, keys);
parser.about("Person Detector from MediaPipe");
if (parser.has("help"))
{
parser.printMessage();
return 0;
}
string model = parser.get<String>("model");
float scoreThreshold = parser.get<float>("score_threshold");
float nmsThreshold = parser.get<float>("nms_threshold");
int topK = parser.get<int>("top_k");
bool vis = parser.get<bool>("vis");
bool save = parser.get<bool>("save");
int backendTargetid = parser.get<int>("backend");
if (model.empty())
{
CV_Error(Error::StsError, "Model file " + model + " not found");
}
VideoCapture cap;
if (parser.has("input"))
cap.open(samples::findFile(parser.get<String>("input")));
else
cap.open(0);
Mat frame;
MPPersonDet modelNet(model, nmsThreshold, scoreThreshold, topK,
backendTargetPairs[backendTargetid].first, backendTargetPairs[backendTargetid].second);
//! [Open a video file or an image file or a camera stream]
if (!cap.isOpened())
CV_Error(Error::StsError, "Cannot open video or file");
static const std::string kWinName = "MPPersonDet Demo";
while (waitKey(1) < 0)
{
cap >> frame;
if (frame.empty())
{
cout << "Frame is empty" << endl;
waitKey();
break;
}
TickMeter tm;
tm.start();
Mat results = modelNet.infer(frame);
tm.stop();
cout << "Inference time: " << tm.getTimeMilli() << " ms\n";
Mat img = visualize(frame, results, tm.getFPS());
if (save && parser.has("input"))
{
cout << "Results saved to result.jpg\n";
imwrite("result.jpg", img);
}
if (vis || !parser.has("input"))
{
imshow(kWinName, img);
}
}
return 0;
}
Mat getMediapipeAnchor()
{
Mat anchor= (Mat_<float>(2254,2) << 0.017857142857142856, 0.017857142857142856,
0.017857142857142856, 0.017857142857142856,
0.05357142857142857, 0.017857142857142856,
0.05357142857142857, 0.017857142857142856,
0.08928571428571429, 0.017857142857142856,
0.08928571428571429, 0.017857142857142856,
0.125, 0.017857142857142856,
0.125, 0.017857142857142856,
0.16071428571428573, 0.017857142857142856,
0.16071428571428573, 0.017857142857142856,
0.19642857142857142, 0.017857142857142856,
0.19642857142857142, 0.017857142857142856,
0.23214285714285715, 0.017857142857142856,
0.23214285714285715, 0.017857142857142856,
0.26785714285714285, 0.017857142857142856,
0.26785714285714285, 0.017857142857142856,
0.30357142857142855, 0.017857142857142856,
0.30357142857142855, 0.017857142857142856,
0.3392857142857143, 0.017857142857142856,
0.3392857142857143, 0.017857142857142856,
0.375, 0.017857142857142856,
0.375, 0.017857142857142856,
0.4107142857142857, 0.017857142857142856,
0.4107142857142857, 0.017857142857142856,
0.44642857142857145, 0.017857142857142856,
0.44642857142857145, 0.017857142857142856,
0.48214285714285715, 0.017857142857142856,
0.48214285714285715, 0.017857142857142856,
0.5178571428571429, 0.017857142857142856,
0.5178571428571429, 0.017857142857142856,
0.5535714285714286, 0.017857142857142856,
0.5535714285714286, 0.017857142857142856,
0.5892857142857143, 0.017857142857142856,
0.5892857142857143, 0.017857142857142856,
0.625, 0.017857142857142856,
0.625, 0.017857142857142856,
0.6607142857142857, 0.017857142857142856,
0.6607142857142857, 0.017857142857142856,
0.6964285714285714, 0.017857142857142856,
0.6964285714285714, 0.017857142857142856,
0.7321428571428571, 0.017857142857142856,
0.7321428571428571, 0.017857142857142856,
0.7678571428571429, 0.017857142857142856,
0.7678571428571429, 0.017857142857142856,
0.8035714285714286, 0.017857142857142856,
0.8035714285714286, 0.017857142857142856,
0.8392857142857143, 0.017857142857142856,
0.8392857142857143, 0.017857142857142856,
0.875, 0.017857142857142856,
0.875, 0.017857142857142856,
0.9107142857142857, 0.017857142857142856,
0.9107142857142857, 0.017857142857142856,
0.9464285714285714, 0.017857142857142856,
0.9464285714285714, 0.017857142857142856,
0.9821428571428571, 0.017857142857142856,
0.9821428571428571, 0.017857142857142856,
0.017857142857142856, 0.05357142857142857,
0.017857142857142856, 0.05357142857142857,
0.05357142857142857, 0.05357142857142857,
0.05357142857142857, 0.05357142857142857,
0.08928571428571429, 0.05357142857142857,
0.08928571428571429, 0.05357142857142857,
0.125, 0.05357142857142857,
0.125, 0.05357142857142857,
0.16071428571428573, 0.05357142857142857,
0.16071428571428573, 0.05357142857142857,
0.19642857142857142, 0.05357142857142857,
0.19642857142857142, 0.05357142857142857,
0.23214285714285715, 0.05357142857142857,
0.23214285714285715, 0.05357142857142857,
0.26785714285714285, 0.05357142857142857,
0.26785714285714285, 0.05357142857142857,
0.30357142857142855, 0.05357142857142857,
0.30357142857142855, 0.05357142857142857,
0.3392857142857143, 0.05357142857142857,
0.3392857142857143, 0.05357142857142857,
0.375, 0.05357142857142857,
0.375, 0.05357142857142857,
0.4107142857142857, 0.05357142857142857,
0.4107142857142857, 0.05357142857142857,
0.44642857142857145, 0.05357142857142857,
0.44642857142857145, 0.05357142857142857,
0.48214285714285715, 0.05357142857142857,
0.48214285714285715, 0.05357142857142857,
0.5178571428571429, 0.05357142857142857,
0.5178571428571429, 0.05357142857142857,
0.5535714285714286, 0.05357142857142857,
0.5535714285714286, 0.05357142857142857,
0.5892857142857143, 0.05357142857142857,
0.5892857142857143, 0.05357142857142857,
0.625, 0.05357142857142857,
0.625, 0.05357142857142857,
0.6607142857142857, 0.05357142857142857,
0.6607142857142857, 0.05357142857142857,
0.6964285714285714, 0.05357142857142857,
0.6964285714285714, 0.05357142857142857,
0.7321428571428571, 0.05357142857142857,
0.7321428571428571, 0.05357142857142857,
0.7678571428571429, 0.05357142857142857,
0.7678571428571429, 0.05357142857142857,
0.8035714285714286, 0.05357142857142857,
0.8035714285714286, 0.05357142857142857,
0.8392857142857143, 0.05357142857142857,
0.8392857142857143, 0.05357142857142857,
0.875, 0.05357142857142857,
0.875, 0.05357142857142857,
0.9107142857142857, 0.05357142857142857,
0.9107142857142857, 0.05357142857142857,
0.9464285714285714, 0.05357142857142857,
0.9464285714285714, 0.05357142857142857,
0.9821428571428571, 0.05357142857142857,
0.9821428571428571, 0.05357142857142857,
0.017857142857142856, 0.08928571428571429,
0.017857142857142856, 0.08928571428571429,
0.05357142857142857, 0.08928571428571429,
0.05357142857142857, 0.08928571428571429,
0.08928571428571429, 0.08928571428571429,
0.08928571428571429, 0.08928571428571429,
0.125, 0.08928571428571429,
0.125, 0.08928571428571429,
0.16071428571428573, 0.08928571428571429,
0.16071428571428573, 0.08928571428571429,
0.19642857142857142, 0.08928571428571429,
0.19642857142857142, 0.08928571428571429,
0.23214285714285715, 0.08928571428571429,
0.23214285714285715, 0.08928571428571429,
0.26785714285714285, 0.08928571428571429,
0.26785714285714285, 0.08928571428571429,
0.30357142857142855, 0.08928571428571429,
0.30357142857142855, 0.08928571428571429,
0.3392857142857143, 0.08928571428571429,
0.3392857142857143, 0.08928571428571429,
0.375, 0.08928571428571429,
0.375, 0.08928571428571429,
0.4107142857142857, 0.08928571428571429,
0.4107142857142857, 0.08928571428571429,
0.44642857142857145, 0.08928571428571429,
0.44642857142857145, 0.08928571428571429,
0.48214285714285715, 0.08928571428571429,
0.48214285714285715, 0.08928571428571429,
0.5178571428571429, 0.08928571428571429,
0.5178571428571429, 0.08928571428571429,
0.5535714285714286, 0.08928571428571429,
0.5535714285714286, 0.08928571428571429,
0.5892857142857143, 0.08928571428571429,
0.5892857142857143, 0.08928571428571429,
0.625, 0.08928571428571429,
0.625, 0.08928571428571429,
0.6607142857142857, 0.08928571428571429,
0.6607142857142857, 0.08928571428571429,
0.6964285714285714, 0.08928571428571429,
0.6964285714285714, 0.08928571428571429,
0.7321428571428571, 0.08928571428571429,
0.7321428571428571, 0.08928571428571429,
0.7678571428571429, 0.08928571428571429,
0.7678571428571429, 0.08928571428571429,
0.8035714285714286, 0.08928571428571429,
0.8035714285714286, 0.08928571428571429,
0.8392857142857143, 0.08928571428571429,
0.8392857142857143, 0.08928571428571429,
0.875, 0.08928571428571429,
0.875, 0.08928571428571429,
0.9107142857142857, 0.08928571428571429,
0.9107142857142857, 0.08928571428571429,
0.9464285714285714, 0.08928571428571429,
0.9464285714285714, 0.08928571428571429,
0.9821428571428571, 0.08928571428571429,
0.9821428571428571, 0.08928571428571429,
0.017857142857142856, 0.125,
0.017857142857142856, 0.125,
0.05357142857142857, 0.125,
0.05357142857142857, 0.125,
0.08928571428571429, 0.125,
0.08928571428571429, 0.125,
0.125, 0.125,
0.125, 0.125,
0.16071428571428573, 0.125,
0.16071428571428573, 0.125,
0.19642857142857142, 0.125,
0.19642857142857142, 0.125,
0.23214285714285715, 0.125,
0.23214285714285715, 0.125,
0.26785714285714285, 0.125,
0.26785714285714285, 0.125,
0.30357142857142855, 0.125,
0.30357142857142855, 0.125,
0.3392857142857143, 0.125,
0.3392857142857143, 0.125,
0.375, 0.125,
0.375, 0.125,
0.4107142857142857, 0.125,
0.4107142857142857, 0.125,
0.44642857142857145, 0.125,
0.44642857142857145, 0.125,
0.48214285714285715, 0.125,
0.48214285714285715, 0.125,
0.5178571428571429, 0.125,
0.5178571428571429, 0.125,
0.5535714285714286, 0.125,
0.5535714285714286, 0.125,
0.5892857142857143, 0.125,
0.5892857142857143, 0.125,
0.625, 0.125,
0.625, 0.125,
0.6607142857142857, 0.125,
0.6607142857142857, 0.125,
0.6964285714285714, 0.125,
0.6964285714285714, 0.125,
0.7321428571428571, 0.125,
0.7321428571428571, 0.125,
0.7678571428571429, 0.125,
0.7678571428571429, 0.125,
0.8035714285714286, 0.125,
0.8035714285714286, 0.125,
0.8392857142857143, 0.125,
0.8392857142857143, 0.125,
0.875, 0.125,
0.875, 0.125,
0.9107142857142857, 0.125,
0.9107142857142857, 0.125,
0.9464285714285714, 0.125,
0.9464285714285714, 0.125,
0.9821428571428571, 0.125,
0.9821428571428571, 0.125,
0.017857142857142856, 0.16071428571428573,
0.017857142857142856, 0.16071428571428573,
0.05357142857142857, 0.16071428571428573,
0.05357142857142857, 0.16071428571428573,
0.08928571428571429, 0.16071428571428573,
0.08928571428571429, 0.16071428571428573,
0.125, 0.16071428571428573,
0.125, 0.16071428571428573,
0.16071428571428573, 0.16071428571428573,
0.16071428571428573, 0.16071428571428573,
0.19642857142857142, 0.16071428571428573,
0.19642857142857142, 0.16071428571428573,
0.23214285714285715, 0.16071428571428573,
0.23214285714285715, 0.16071428571428573,
0.26785714285714285, 0.16071428571428573,
0.26785714285714285, 0.16071428571428573,
0.30357142857142855, 0.16071428571428573,
0.30357142857142855, 0.16071428571428573,
0.3392857142857143, 0.16071428571428573,
0.3392857142857143, 0.16071428571428573,
0.375, 0.16071428571428573,
0.375, 0.16071428571428573,
0.4107142857142857, 0.16071428571428573,
0.4107142857142857, 0.16071428571428573,
0.44642857142857145, 0.16071428571428573,
0.44642857142857145, 0.16071428571428573,
0.48214285714285715, 0.16071428571428573,
0.48214285714285715, 0.16071428571428573,
0.5178571428571429, 0.16071428571428573,
0.5178571428571429, 0.16071428571428573,
0.5535714285714286, 0.16071428571428573,
0.5535714285714286, 0.16071428571428573,
0.5892857142857143, 0.16071428571428573,
0.5892857142857143, 0.16071428571428573,
0.625, 0.16071428571428573,
0.625, 0.16071428571428573,
0.6607142857142857, 0.16071428571428573,
0.6607142857142857, 0.16071428571428573,
0.6964285714285714, 0.16071428571428573,
0.6964285714285714, 0.16071428571428573,
0.7321428571428571, 0.16071428571428573,
0.7321428571428571, 0.16071428571428573,
0.7678571428571429, 0.16071428571428573,
0.7678571428571429, 0.16071428571428573,
0.8035714285714286, 0.16071428571428573,
0.8035714285714286, 0.16071428571428573,
0.8392857142857143, 0.16071428571428573,
0.8392857142857143, 0.16071428571428573,
0.875, 0.16071428571428573,
0.875, 0.16071428571428573,
0.9107142857142857, 0.16071428571428573,
0.9107142857142857, 0.16071428571428573,
0.9464285714285714, 0.16071428571428573,
0.9464285714285714, 0.16071428571428573,
0.9821428571428571, 0.16071428571428573,
0.9821428571428571, 0.16071428571428573,
0.017857142857142856, 0.19642857142857142,
0.017857142857142856, 0.19642857142857142,
0.05357142857142857, 0.19642857142857142,
0.05357142857142857, 0.19642857142857142,
0.08928571428571429, 0.19642857142857142,
0.08928571428571429, 0.19642857142857142,
0.125, 0.19642857142857142,
0.125, 0.19642857142857142,
0.16071428571428573, 0.19642857142857142,
0.16071428571428573, 0.19642857142857142,
0.19642857142857142, 0.19642857142857142,
0.19642857142857142, 0.19642857142857142,
0.23214285714285715, 0.19642857142857142,
0.23214285714285715, 0.19642857142857142,
0.26785714285714285, 0.19642857142857142,
0.26785714285714285, 0.19642857142857142,
0.30357142857142855, 0.19642857142857142,
0.30357142857142855, 0.19642857142857142,
0.3392857142857143, 0.19642857142857142,
0.3392857142857143, 0.19642857142857142,
0.375, 0.19642857142857142,
0.375, 0.19642857142857142,
0.4107142857142857, 0.19642857142857142,
0.4107142857142857, 0.19642857142857142,
0.44642857142857145, 0.19642857142857142,
0.44642857142857145, 0.19642857142857142,
0.48214285714285715, 0.19642857142857142,
0.48214285714285715, 0.19642857142857142,
0.5178571428571429, 0.19642857142857142,
0.5178571428571429, 0.19642857142857142,
0.5535714285714286, 0.19642857142857142,
0.5535714285714286, 0.19642857142857142,
0.5892857142857143, 0.19642857142857142,
0.5892857142857143, 0.19642857142857142,
0.625, 0.19642857142857142,
0.625, 0.19642857142857142,
0.6607142857142857, 0.19642857142857142,
0.6607142857142857, 0.19642857142857142,
0.6964285714285714, 0.19642857142857142,
0.6964285714285714, 0.19642857142857142,
0.7321428571428571, 0.19642857142857142,
0.7321428571428571, 0.19642857142857142,
0.7678571428571429, 0.19642857142857142,
0.7678571428571429, 0.19642857142857142,
0.8035714285714286, 0.19642857142857142,
0.8035714285714286, 0.19642857142857142,
0.8392857142857143, 0.19642857142857142,
0.8392857142857143, 0.19642857142857142,
0.875, 0.19642857142857142,
0.875, 0.19642857142857142,
0.9107142857142857, 0.19642857142857142,
0.9107142857142857, 0.19642857142857142,
0.9464285714285714, 0.19642857142857142,
0.9464285714285714, 0.19642857142857142,
0.9821428571428571, 0.19642857142857142,
0.9821428571428571, 0.19642857142857142,
0.017857142857142856, 0.23214285714285715,
0.017857142857142856, 0.23214285714285715,
0.05357142857142857, 0.23214285714285715,
0.05357142857142857, 0.23214285714285715,
0.08928571428571429, 0.23214285714285715,
0.08928571428571429, 0.23214285714285715,
0.125, 0.23214285714285715,
0.125, 0.23214285714285715,
0.16071428571428573, 0.23214285714285715,
0.16071428571428573, 0.23214285714285715,
0.19642857142857142, 0.23214285714285715,
0.19642857142857142, 0.23214285714285715,
0.23214285714285715, 0.23214285714285715,
0.23214285714285715, 0.23214285714285715,
0.26785714285714285, 0.23214285714285715,
0.26785714285714285, 0.23214285714285715,
0.30357142857142855, 0.23214285714285715,
0.30357142857142855, 0.23214285714285715,
0.3392857142857143, 0.23214285714285715,
0.3392857142857143, 0.23214285714285715,
0.375, 0.23214285714285715,
0.375, 0.23214285714285715,
0.4107142857142857, 0.23214285714285715,
0.4107142857142857, 0.23214285714285715,
0.44642857142857145, 0.23214285714285715,
0.44642857142857145, 0.23214285714285715,
0.48214285714285715, 0.23214285714285715,
0.48214285714285715, 0.23214285714285715,
0.5178571428571429, 0.23214285714285715,
0.5178571428571429, 0.23214285714285715,
0.5535714285714286, 0.23214285714285715,
0.5535714285714286, 0.23214285714285715,
0.5892857142857143, 0.23214285714285715,
0.5892857142857143, 0.23214285714285715,
0.625, 0.23214285714285715,
0.625, 0.23214285714285715,
0.6607142857142857, 0.23214285714285715,
0.6607142857142857, 0.23214285714285715,
0.6964285714285714, 0.23214285714285715,
0.6964285714285714, 0.23214285714285715,
0.7321428571428571, 0.23214285714285715,
0.7321428571428571, 0.23214285714285715,
0.7678571428571429, 0.23214285714285715,
0.7678571428571429, 0.23214285714285715,
0.8035714285714286, 0.23214285714285715,
0.8035714285714286, 0.23214285714285715,
0.8392857142857143, 0.23214285714285715,
0.8392857142857143, 0.23214285714285715,
0.875, 0.23214285714285715,
0.875, 0.23214285714285715,
0.9107142857142857, 0.23214285714285715,
0.9107142857142857, 0.23214285714285715,
0.9464285714285714, 0.23214285714285715,
0.9464285714285714, 0.23214285714285715,
0.9821428571428571, 0.23214285714285715,
0.9821428571428571, 0.23214285714285715,
0.017857142857142856, 0.26785714285714285,
0.017857142857142856, 0.26785714285714285,
0.05357142857142857, 0.26785714285714285,
0.05357142857142857, 0.26785714285714285,
0.08928571428571429, 0.26785714285714285,
0.08928571428571429, 0.26785714285714285,
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0.125, 0.26785714285714285,
0.16071428571428573, 0.26785714285714285,
0.16071428571428573, 0.26785714285714285,
0.19642857142857142, 0.26785714285714285,
0.19642857142857142, 0.26785714285714285,
0.23214285714285715, 0.26785714285714285,
0.23214285714285715, 0.26785714285714285,
0.26785714285714285, 0.26785714285714285,
0.26785714285714285, 0.26785714285714285,
0.30357142857142855, 0.26785714285714285,
0.30357142857142855, 0.26785714285714285,
0.3392857142857143, 0.26785714285714285,
0.3392857142857143, 0.26785714285714285,
0.375, 0.26785714285714285,
0.375, 0.26785714285714285,
0.4107142857142857, 0.26785714285714285,
0.4107142857142857, 0.26785714285714285,
0.44642857142857145, 0.26785714285714285,
0.44642857142857145, 0.26785714285714285,
0.48214285714285715, 0.26785714285714285,
0.48214285714285715, 0.26785714285714285,
0.5178571428571429, 0.26785714285714285,
0.5178571428571429, 0.26785714285714285,
0.5535714285714286, 0.26785714285714285,
0.5535714285714286, 0.26785714285714285,
0.5892857142857143, 0.26785714285714285,
0.5892857142857143, 0.26785714285714285,
0.625, 0.26785714285714285,
0.625, 0.26785714285714285,
0.6607142857142857, 0.26785714285714285,
0.6607142857142857, 0.26785714285714285,
0.6964285714285714, 0.26785714285714285,
0.6964285714285714, 0.26785714285714285,
0.7321428571428571, 0.26785714285714285,
0.7321428571428571, 0.26785714285714285,
0.7678571428571429, 0.26785714285714285,
0.7678571428571429, 0.26785714285714285,
0.8035714285714286, 0.26785714285714285,
0.8035714285714286, 0.26785714285714285,
0.8392857142857143, 0.26785714285714285,
0.8392857142857143, 0.26785714285714285,
0.875, 0.26785714285714285,
0.875, 0.26785714285714285,
0.9107142857142857, 0.26785714285714285,
0.9107142857142857, 0.26785714285714285,
0.9464285714285714, 0.26785714285714285,
0.9464285714285714, 0.26785714285714285,
0.9821428571428571, 0.26785714285714285,
0.9821428571428571, 0.26785714285714285,
0.017857142857142856, 0.30357142857142855,
0.017857142857142856, 0.30357142857142855,
0.05357142857142857, 0.30357142857142855,
0.05357142857142857, 0.30357142857142855,
0.08928571428571429, 0.30357142857142855,
0.08928571428571429, 0.30357142857142855,
0.125, 0.30357142857142855,
0.125, 0.30357142857142855,
0.16071428571428573, 0.30357142857142855,
0.16071428571428573, 0.30357142857142855,
0.19642857142857142, 0.30357142857142855,
0.19642857142857142, 0.30357142857142855,
0.23214285714285715, 0.30357142857142855,
0.23214285714285715, 0.30357142857142855,
0.26785714285714285, 0.30357142857142855,
0.26785714285714285, 0.30357142857142855,
0.30357142857142855, 0.30357142857142855,
0.30357142857142855, 0.30357142857142855,
0.3392857142857143, 0.30357142857142855,
0.3392857142857143, 0.30357142857142855,
0.375, 0.30357142857142855,
0.375, 0.30357142857142855,
0.4107142857142857, 0.30357142857142855,
0.4107142857142857, 0.30357142857142855,
0.44642857142857145, 0.30357142857142855,
0.44642857142857145, 0.30357142857142855,
0.48214285714285715, 0.30357142857142855,
0.48214285714285715, 0.30357142857142855,
0.5178571428571429, 0.30357142857142855,
0.5178571428571429, 0.30357142857142855,
0.5535714285714286, 0.30357142857142855,
0.5535714285714286, 0.30357142857142855,
0.5892857142857143, 0.30357142857142855,
0.5892857142857143, 0.30357142857142855,
0.625, 0.30357142857142855,
0.625, 0.30357142857142855,
0.6607142857142857, 0.30357142857142855,
0.6607142857142857, 0.30357142857142855,
0.6964285714285714, 0.30357142857142855,
0.6964285714285714, 0.30357142857142855,
0.7321428571428571, 0.30357142857142855,
0.7321428571428571, 0.30357142857142855,
0.7678571428571429, 0.30357142857142855,
0.7678571428571429, 0.30357142857142855,
0.8035714285714286, 0.30357142857142855,
0.8035714285714286, 0.30357142857142855,
0.8392857142857143, 0.30357142857142855,
0.8392857142857143, 0.30357142857142855,
0.875, 0.30357142857142855,
0.875, 0.30357142857142855,
0.9107142857142857, 0.30357142857142855,
0.9107142857142857, 0.30357142857142855,
0.9464285714285714, 0.30357142857142855,
0.9464285714285714, 0.30357142857142855,
0.9821428571428571, 0.30357142857142855,
0.9821428571428571, 0.30357142857142855,
0.017857142857142856, 0.3392857142857143,
0.017857142857142856, 0.3392857142857143,
0.05357142857142857, 0.3392857142857143,
0.05357142857142857, 0.3392857142857143,
0.08928571428571429, 0.3392857142857143,
0.08928571428571429, 0.3392857142857143,
0.125, 0.3392857142857143,
0.125, 0.3392857142857143,
0.16071428571428573, 0.3392857142857143,
0.16071428571428573, 0.3392857142857143,
0.19642857142857142, 0.3392857142857143,
0.19642857142857142, 0.3392857142857143,
0.23214285714285715, 0.3392857142857143,
0.23214285714285715, 0.3392857142857143,
0.26785714285714285, 0.3392857142857143,
0.26785714285714285, 0.3392857142857143,
0.30357142857142855, 0.3392857142857143,
0.30357142857142855, 0.3392857142857143,
0.3392857142857143, 0.3392857142857143,
0.3392857142857143, 0.3392857142857143,
0.375, 0.3392857142857143,
0.375, 0.3392857142857143,
0.4107142857142857, 0.3392857142857143,
0.4107142857142857, 0.3392857142857143,
0.44642857142857145, 0.3392857142857143,
0.44642857142857145, 0.3392857142857143,
0.48214285714285715, 0.3392857142857143,
0.48214285714285715, 0.3392857142857143,
0.5178571428571429, 0.3392857142857143,
0.5178571428571429, 0.3392857142857143,
0.5535714285714286, 0.3392857142857143,
0.5535714285714286, 0.3392857142857143,
0.5892857142857143, 0.3392857142857143,
0.5892857142857143, 0.3392857142857143,
0.625, 0.3392857142857143,
0.625, 0.3392857142857143,
0.6607142857142857, 0.3392857142857143,
0.6607142857142857, 0.3392857142857143,
0.6964285714285714, 0.3392857142857143,
0.6964285714285714, 0.3392857142857143,
0.7321428571428571, 0.3392857142857143,
0.7321428571428571, 0.3392857142857143,
0.7678571428571429, 0.3392857142857143,
0.7678571428571429, 0.3392857142857143,
0.8035714285714286, 0.3392857142857143,
0.8035714285714286, 0.3392857142857143,
0.8392857142857143, 0.3392857142857143,
0.8392857142857143, 0.3392857142857143,
0.875, 0.3392857142857143,
0.875, 0.3392857142857143,
0.9107142857142857, 0.3392857142857143,
0.9107142857142857, 0.3392857142857143,
0.9464285714285714, 0.3392857142857143,
0.9464285714285714, 0.3392857142857143,
0.9821428571428571, 0.3392857142857143,
0.9821428571428571, 0.3392857142857143,
0.017857142857142856, 0.375,
0.017857142857142856, 0.375,
0.05357142857142857, 0.375,
0.05357142857142857, 0.375,
0.08928571428571429, 0.375,
0.08928571428571429, 0.375,
0.125, 0.375,
0.125, 0.375,
0.16071428571428573, 0.375,
0.16071428571428573, 0.375,
0.19642857142857142, 0.375,
0.19642857142857142, 0.375,
0.23214285714285715, 0.375,
0.23214285714285715, 0.375,
0.26785714285714285, 0.375,
0.26785714285714285, 0.375,
0.30357142857142855, 0.375,
0.30357142857142855, 0.375,
0.3392857142857143, 0.375,
0.3392857142857143, 0.375,
0.375, 0.375,
0.375, 0.375,
0.4107142857142857, 0.375,
0.4107142857142857, 0.375,
0.44642857142857145, 0.375,
0.44642857142857145, 0.375,
0.48214285714285715, 0.375,
0.48214285714285715, 0.375,
0.5178571428571429, 0.375,
0.5178571428571429, 0.375,
0.5535714285714286, 0.375,
0.5535714285714286, 0.375,
0.5892857142857143, 0.375,
0.5892857142857143, 0.375,
0.625, 0.375,
0.625, 0.375,
0.6607142857142857, 0.375,
0.6607142857142857, 0.375,
0.6964285714285714, 0.375,
0.6964285714285714, 0.375,
0.7321428571428571, 0.375,
0.7321428571428571, 0.375,
0.7678571428571429, 0.375,
0.7678571428571429, 0.375,
0.8035714285714286, 0.375,
0.8035714285714286, 0.375,
0.8392857142857143, 0.375,
0.8392857142857143, 0.375,
0.875, 0.375,
0.875, 0.375,
0.9107142857142857, 0.375,
0.9107142857142857, 0.375,
0.9464285714285714, 0.375,
0.9464285714285714, 0.375,
0.9821428571428571, 0.375,
0.9821428571428571, 0.375,
0.017857142857142856, 0.4107142857142857,
0.017857142857142856, 0.4107142857142857,
0.05357142857142857, 0.4107142857142857,
0.05357142857142857, 0.4107142857142857,
0.08928571428571429, 0.4107142857142857,
0.08928571428571429, 0.4107142857142857,
0.125, 0.4107142857142857,
0.125, 0.4107142857142857,
0.16071428571428573, 0.4107142857142857,
0.16071428571428573, 0.4107142857142857,
0.19642857142857142, 0.4107142857142857,
0.19642857142857142, 0.4107142857142857,
0.23214285714285715, 0.4107142857142857,
0.23214285714285715, 0.4107142857142857,
0.26785714285714285, 0.4107142857142857,
0.26785714285714285, 0.4107142857142857,
0.30357142857142855, 0.4107142857142857,
0.30357142857142855, 0.4107142857142857,
0.3392857142857143, 0.4107142857142857,
0.3392857142857143, 0.4107142857142857,
0.375, 0.4107142857142857,
0.375, 0.4107142857142857,
0.4107142857142857, 0.4107142857142857,
0.4107142857142857, 0.4107142857142857,
0.44642857142857145, 0.4107142857142857,
0.44642857142857145, 0.4107142857142857,
0.48214285714285715, 0.4107142857142857,
0.48214285714285715, 0.4107142857142857,
0.5178571428571429, 0.4107142857142857,
0.5178571428571429, 0.4107142857142857,
0.5535714285714286, 0.4107142857142857,
0.5535714285714286, 0.4107142857142857,
0.5892857142857143, 0.4107142857142857,
0.5892857142857143, 0.4107142857142857,
0.625, 0.4107142857142857,
0.625, 0.4107142857142857,
0.6607142857142857, 0.4107142857142857,
0.6607142857142857, 0.4107142857142857,
0.6964285714285714, 0.4107142857142857,
0.6964285714285714, 0.4107142857142857,
0.7321428571428571, 0.4107142857142857,
0.7321428571428571, 0.4107142857142857,
0.7678571428571429, 0.4107142857142857,
0.7678571428571429, 0.4107142857142857,
0.8035714285714286, 0.4107142857142857,
0.8035714285714286, 0.4107142857142857,
0.8392857142857143, 0.4107142857142857,
0.8392857142857143, 0.4107142857142857,
0.875, 0.4107142857142857,
0.875, 0.4107142857142857,
0.9107142857142857, 0.4107142857142857,
0.9107142857142857, 0.4107142857142857,
0.9464285714285714, 0.4107142857142857,
0.9464285714285714, 0.4107142857142857,
0.9821428571428571, 0.4107142857142857,
0.9821428571428571, 0.4107142857142857,
0.017857142857142856, 0.44642857142857145,
0.017857142857142856, 0.44642857142857145,
0.05357142857142857, 0.44642857142857145,
0.05357142857142857, 0.44642857142857145,
0.08928571428571429, 0.44642857142857145,
0.08928571428571429, 0.44642857142857145,
0.125, 0.44642857142857145,
0.125, 0.44642857142857145,
0.16071428571428573, 0.44642857142857145,
0.16071428571428573, 0.44642857142857145,
0.19642857142857142, 0.44642857142857145,
0.19642857142857142, 0.44642857142857145,
0.23214285714285715, 0.44642857142857145,
0.23214285714285715, 0.44642857142857145,
0.26785714285714285, 0.44642857142857145,
0.26785714285714285, 0.44642857142857145,
0.30357142857142855, 0.44642857142857145,
0.30357142857142855, 0.44642857142857145,
0.3392857142857143, 0.44642857142857145,
0.3392857142857143, 0.44642857142857145,
0.375, 0.44642857142857145,
0.375, 0.44642857142857145,
0.4107142857142857, 0.44642857142857145,
0.4107142857142857, 0.44642857142857145,
0.44642857142857145, 0.44642857142857145,
0.44642857142857145, 0.44642857142857145,
0.48214285714285715, 0.44642857142857145,
0.48214285714285715, 0.44642857142857145,
0.5178571428571429, 0.44642857142857145,
0.5178571428571429, 0.44642857142857145,
0.5535714285714286, 0.44642857142857145,
0.5535714285714286, 0.44642857142857145,
0.5892857142857143, 0.44642857142857145,
0.5892857142857143, 0.44642857142857145,
0.625, 0.44642857142857145,
0.625, 0.44642857142857145,
0.6607142857142857, 0.44642857142857145,
0.6607142857142857, 0.44642857142857145,
0.6964285714285714, 0.44642857142857145,
0.6964285714285714, 0.44642857142857145,
0.7321428571428571, 0.44642857142857145,
0.7321428571428571, 0.44642857142857145,
0.7678571428571429, 0.44642857142857145,
0.7678571428571429, 0.44642857142857145,
0.8035714285714286, 0.44642857142857145,
0.8035714285714286, 0.44642857142857145,
0.8392857142857143, 0.44642857142857145,
0.8392857142857143, 0.44642857142857145,
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0.875, 0.44642857142857145,
0.9107142857142857, 0.44642857142857145,
0.9107142857142857, 0.44642857142857145,
0.9464285714285714, 0.44642857142857145,
0.9464285714285714, 0.44642857142857145,
0.9821428571428571, 0.44642857142857145,
0.9821428571428571, 0.44642857142857145,
0.017857142857142856, 0.48214285714285715,
0.017857142857142856, 0.48214285714285715,
0.05357142857142857, 0.48214285714285715,
0.05357142857142857, 0.48214285714285715,
0.08928571428571429, 0.48214285714285715,
0.08928571428571429, 0.48214285714285715,