File: gen_relpose_6pt.cc

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poselib 2.0.5-2
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#include "gen_relpose_6pt.h"

#include "PoseLib/misc/essential.h"

#include <Eigen/Dense>

#define USE_FAST_EIGENVECTOR_SOLVER

namespace poselib {

static const int coeffs0_ind[] = {
    0,    84,   168,  252,  336,  420,  504,  588,  1,    85,   169,  253,  337,  421,  505,  589,  2,    86,   170,
    254,  338,  422,  506,  590,  3,    87,   171,  255,  339,  423,  507,  591,  4,    88,   172,  256,  340,  424,
    508,  592,  5,    89,   173,  257,  341,  425,  509,  593,  6,    90,   174,  258,  342,  426,  510,  594,  0,
    84,   168,  252,  336,  420,  504,  1,    84,   85,   168,  169,  252,  253,  336,  0,    337,  420,  421,  504,
    505,  588,  672,  756,  840,  924,  1008, 7,    91,   175,  259,  343,  427,  511,  2,    85,   86,   169,  170,
    253,  254,  337,  1,    338,  421,  422,  505,  506,  589,  595,  673,  757,  841,  925,  1009, 8,    92,   176,
    260,  344,  428,  512,  3,    86,   87,   170,  171,  254,  255,  338,  2,    339,  422,  423,  506,  507,  590,
    596,  674,  758,  842,  926,  1010, 9,    93,   177,  261,  345,  429,  513,  4,    87,   88,   171,  172,  255,
    256,  339,  3,    340,  423,  424,  507,  508,  591,  597,  675,  759,  843,  927,  1011, 10,   94,   178,  262,
    346,  430,  514,  5,    88,   89,   172,  173,  256,  257,  340,  4,    341,  424,  425,  508,  509,  592,  598,
    676,  760,  844,  928,  1012, 11,   95,   179,  263,  347,  431,  515,  6,    89,   90,   173,  174,  257,  258,
    341,  5,    342,  425,  426,  509,  510,  593,  599,  677,  761,  845,  929,  1013, 12,   96,   180,  264,  348,
    432,  516,  90,   174,  258,  342,  6,    426,  510,  594,  600,  678,  762,  846,  930,  1014, 7,    91,   175,
    259,  168,  84,   0,    252,  336,  343,  420,  427,  504,  511,  588,  672,  756,  840,  924,  1008, 1092, 1176,
    8,    91,   92,   175,  176,  259,  260,  343,  169,  85,   1,    253,  337,  7,    344,  421,  427,  428,  505,
    511,  512,  589,  595,  673,  679,  757,  763,  841,  847,  925,  931,  1009, 1015, 1093, 1177, 13,   97,   181,
    265,  349,  433,  517,  9,    92,   93,   176,  177,  260,  261,  344,  170,  86,   2,    254,  338,  8,    345,
    422,  428,  429,  506,  512,  513,  590,  596,  601,  674,  680,  758,  764,  842,  848,  926,  932,  1010, 1016,
    1094, 1178, 14,   98,   182,  266,  350,  434,  518,  10,   93,   94,   177,  178,  261,  262,  345,  171,  87,
    3,    255,  339,  9,    346,  423,  429,  430,  507,  513,  514,  591,  597,  602,  675,  681,  759,  765,  843,
    849,  927,  933,  1011, 1017, 1095, 1179, 15,   99,   183,  267,  351,  435,  519,  11,   94,   95,   178,  179,
    262,  263,  346,  172,  88,   4,    256,  340,  10,   347,  424,  430,  431,  508,  514,  515,  592,  598,  603,
    676,  682,  760,  766,  844,  850,  928,  934,  1012, 1018, 1096, 1180, 16,   100,  184,  268,  352,  436,  520,
    12,   95,   96,   179,  180,  263,  264,  347,  173,  89,   5,    257,  341,  11,   348,  425,  431,  432,  509,
    515,  516,  593,  599,  604,  677,  683,  761,  767,  845,  851,  929,  935,  1013, 1019, 1097, 1181, 17,   101,
    185,  269,  353,  437,  521,  96,   180,  264,  348,  174,  90,   6,    258,  342,  12,   426,  432,  510,  516,
    594,  600,  605,  678,  684,  762,  768,  846,  852,  930,  936,  1014, 1020, 1098, 1182, 13,   97,   181,  265,
    175,  91,   7,    259,  343,  349,  427,  433,  511,  517,  595,  679,  763,  847,  931,  1015, 1099, 1183, 14,
    97,   98,   181,  182,  265,  266,  349,  176,  92,   8,    260,  344,  13,   350,  428,  433,  434,  512,  517,
    518,  596,  601,  680,  685,  764,  769,  848,  853,  932,  937,  1016, 1021, 1100, 1184, 18,   102,  186,  270,
    354,  438,  522,  15,   98,   99,   182,  183,  266,  267,  350,  177,  93,   9,    261,  345,  14,   351,  429,
    434,  435,  513,  518,  519,  597,  602,  606,  681,  686,  765,  770,  849,  854,  933,  938,  1017, 1022, 1101,
    1185, 19,   103,  187,  271,  355,  439,  523,  16,   99,   100,  183,  184,  267,  268,  351,  178,  94,   10,
    262,  346,  15,   352,  430,  435,  436,  514,  519,  520,  598,  603,  607,  682,  687,  766,  771,  850,  855,
    934,  939,  1018, 1023, 1102, 1186, 20,   104,  188,  272,  356,  440,  524,  17,   100,  101,  184,  185,  268,
    269,  352,  179,  95,   11,   263,  347,  16,   353,  431,  436,  437,  515,  520,  521,  599,  604,  608,  683,
    688,  767,  772,  851,  856,  935,  940,  1019, 1024, 1103, 1187, 21,   105,  189,  273,  357,  441,  525,  101,
    185,  269,  353,  180,  96,   12,   264,  348,  17,   432,  437,  516,  521,  600,  605,  609,  684,  689,  768,
    773,  852,  857,  936,  941,  1020, 1025, 1104, 1188, 18,   102,  186,  270,  181,  97,   13,   265,  349,  354,
    433,  438,  517,  522,  601,  685,  769,  853,  937,  1021, 1105, 1189, 19,   102,  103,  186,  187,  270,  271,
    354,  182,  98,   14,   266,  350,  18,   355,  434,  438,  439,  518,  522,  523,  602,  606,  686,  690,  770,
    774,  854,  858,  938,  942,  1022, 1026, 1106, 1190, 22,   106,  190,  274,  358,  442,  526,  20,   103,  104,
    187,  188,  271,  272,  355,  183,  99,   15,   267,  351,  19,   356,  435,  439,  440,  519,  523,  524,  603,
    607,  610,  687,  691,  771,  775,  855,  859,  939,  943,  1023, 1027, 1107, 1191, 23,   107,  191,  275,  359,
    443,  527,  21,   104,  105,  188,  189,  272,  273,  356,  184,  100,  16,   268,  352,  20,   357,  436,  440,
    441,  520,  524,  525,  604,  608,  611,  688,  692,  772,  776,  856,  860,  940,  944,  1024, 1028, 1108, 1192,
    24,   108,  192,  276,  360,  444,  528,  105,  189,  273,  357,  185,  101,  17,   269,  353,  21,   437,  441,
    521,  525,  605,  609,  612,  689,  693,  773,  777,  857,  861,  941,  945,  1025, 1029, 1109, 1193, 22,   106,
    190,  274,  186,  102,  18,   270,  354,  358,  438,  442,  522,  526,  606,  690,  774,  858,  942,  1026, 1110,
    1194, 23,   106,  107,  190,  191,  274,  275,  358,  187,  103,  19,   271,  355,  22,   359,  439,  442,  443,
    523,  526,  527,  607,  610,  691,  694,  775,  778,  859,  862,  943,  946,  1027, 1030, 1111, 1195, 25,   109,
    193,  277,  361,  445,  529,  24,   107,  108,  191,  192,  275,  276,  359,  188,  104,  20,   272,  356,  23,
    360,  440,  443,  444,  524,  527,  528,  608,  611,  613,  692,  695,  776,  779,  860,  863,  944,  947,  1028,
    1031, 1112, 1196, 26,   110,  194,  278,  362,  446,  530,  108,  192,  276,  360,  189,  105,  21,   273,  357,
    24,   441,  444,  525,  528,  609,  612,  614,  693,  696,  777,  780,  861,  864,  945,  948,  1029, 1032, 1113,
    1197, 25,   109,  193,  277,  190,  106,  22,   274,  358,  361,  442,  445,  526,  529,  610,  694,  778,  862,
    946,  1030, 1114, 1198, 26,   109,  110,  193,  194,  277,  278,  361,  191,  107,  23,   275,  359,  25,   362,
    443,  445,  446,  527,  529,  530,  611,  613,  695,  697,  779,  781,  863,  865,  947,  949,  1031, 1033, 1115,
    1199, 27,   111,  195,  279,  363,  447,  531,  110,  194,  278,  362,  192,  108,  24,   276,  360,  26,   444,
    446,  528,  530,  612,  614,  615,  696,  698,  780,  782,  864,  866,  948,  950,  1032, 1034, 1116, 1200, 27,
    111,  195,  279,  193,  109,  25,   277,  361,  363,  445,  447,  529,  531,  613,  697,  781,  865,  949,  1033,
    1117, 1201, 111,  195,  279,  363,  194,  110,  26,   278,  362,  27,   446,  447,  530,  531,  614,  615,  698,
    699,  782,  783,  866,  867,  950,  951,  1034, 1035, 1118, 1202, 168,  420,  0,    504,  252,  588,  672,  756,
    84,   840,  336,  924,  169,  420,  84,   421,  504,  1,    505,  252,  588,  0,    253,  589,  672,  673,  756,
    168,  757,  336,  840,  85,   841,  924,  337,  925,  1008, 1092, 28,   112,  196,  280,  364,  448,  532,  616,
    170,  421,  85,   422,  505,  2,    506,  253,  589,  1,    254,  590,  673,  674,  757,  169,  758,  337,  841,
    86,   842,  925,  338,  926,  1009, 1093, 29,   113,  197,  281,  365,  449,  533,  617,  171,  422,  86,   423,
    506,  3,    507,  254,  590,  2,    255,  591,  674,  675,  758,  170,  759,  338,  842,  87,   843,  926,  339,
    927,  1010, 1094, 30,   114,  198,  282,  366,  450,  534,  618,  172,  423,  87,   424,  507,  4,    508,  255,
    591,  3,    256,  592,  675,  676,  759,  171,  760,  339,  843,  88,   844,  927,  340,  928,  1011, 1095, 31,
    115,  199,  283,  367,  451,  535,  619,  173,  424,  88,   425,  508,  5,    509,  256,  592,  4,    257,  593,
    676,  677,  760,  172,  761,  340,  844,  89,   845,  928,  341,  929,  1012, 1096, 32,   116,  200,  284,  368,
    452,  536,  620,  174,  425,  89,   426,  509,  6,    510,  257,  593,  5,    258,  594,  677,  678,  761,  173,
    762,  341,  845,  90,   846,  929,  342,  930,  1013, 1097, 33,   117,  201,  285,  369,  453,  537,  621,  426,
    90,   510,  258,  594,  6,    678,  762,  174,  342,  846,  930,  1014, 1098, 28,   112,  196,  280,  364,  448,
    532,  175,  427,  7,    511,  252,  84,   504,  588,  259,  595,  672,  0,    679,  756,  336,  763,  840,  91,
    847,  924,  343,  931,  1008, 168,  1092, 420,  1176, 29,   112,  113,  196,  197,  280,  281,  364,  28,   365,
    448,  449,  532,  533,  616,  700,  784,  868,  952,  1036, 176,  427,  91,   428,  511,  8,    512,  259,  253,
    85,   505,  589,  595,  7,    260,  596,  673,  1,    679,  680,  757,  337,  763,  175,  764,  841,  343,  847,
    92,   848,  925,  931,  344,  932,  1009, 169,  1015, 1093, 421,  1099, 1177, 34,   118,  202,  286,  370,  454,
    538,  30,   113,  114,  197,  198,  281,  282,  365,  29,   366,  449,  450,  533,  534,  617,  622,  701,  785,
    869,  953,  1037, 177,  428,  92,   429,  512,  9,    513,  260,  254,  86,   506,  590,  596,  8,    261,  597,
    674,  2,    680,  681,  758,  338,  764,  176,  765,  842,  344,  848,  93,   849,  926,  932,  345,  933,  1010,
    170,  1016, 1094, 422,  1100, 1178, 35,   119,  203,  287,  371,  455,  539,  31,   114,  115,  198,  199,  282,
    283,  366,  30,   367,  450,  451,  534,  535,  618,  623,  702,  786,  870,  954,  1038, 178,  429,  93,   430,
    513,  10,   514,  261,  255,  87,   507,  591,  597,  9,    262,  598,  675,  3,    681,  682,  759,  339,  765,
    177,  766,  843,  345,  849,  94,   850,  927,  933,  346,  934,  1011, 171,  1017, 1095, 423,  1101, 1179, 36,
    120,  204,  288,  372,  456,  540,  32,   115,  116,  199,  200,  283,  284,  367,  31,   368,  451,  452,  535,
    536,  619,  624,  703,  787,  871,  955,  1039, 179,  430,  94,   431,  514,  11,   515,  262,  256,  88,   508,
    592,  598,  10,   263,  599,  676,  4,    682,  683,  760,  340,  766,  178,  767,  844,  346,  850,  95,   851,
    928,  934,  347,  935,  1012, 172,  1018, 1096, 424,  1102, 1180, 37,   121,  205,  289,  373,  457,  541,  33,
    116,  117,  200,  201,  284,  285,  368,  32,   369,  452,  453,  536,  537,  620,  625,  704,  788,  872,  956,
    1040, 180,  431,  95,   432,  515,  12,   516,  263,  257,  89,   509,  593,  599,  11,   264,  600,  677,  5,
    683,  684,  761,  341,  767,  179,  768,  845,  347,  851,  96,   852,  929,  935,  348,  936,  1013, 173,  1019,
    1097, 425,  1103, 1181, 38,   122,  206,  290,  374,  458,  542,  117,  201,  285,  369,  33,   453,  537,  621,
    626,  705,  789,  873,  957,  1041, 432,  96,   516,  264,  258,  90,   510,  594,  600,  12,   678,  6,    684,
    762,  342,  768,  180,  846,  348,  852,  930,  936,  1014, 174,  1020, 1098, 426,  1104, 1182, 34,   118,  202,
    286,  196,  112,  28,   280,  364,  370,  448,  454,  532,  538,  616,  700,  784,  868,  952,  1036, 1120, 181,
    433,  13,   517,  259,  91,   511,  595,  265,  601,  679,  7,    685,  763,  343,  769,  847,  97,   853,  931,
    349,  937,  1015, 175,  1099, 427,  1183, 1204, 35,   118,  119,  202,  203,  286,  287,  370,  197,  113,  29,
    281,  365,  34,   371,  449,  454,  455,  533,  538,  539,  617,  622,  701,  706,  785,  790,  869,  874,  953,
    958,  1037, 1042, 1121, 182,  433,  97,   434,  517,  14,   518,  265,  260,  92,   512,  596,  601,  13,   266,
    602,  680,  8,    685,  686,  764,  344,  769,  181,  770,  848,  349,  853,  98,   854,  932,  937,  350,  938,
    1016, 176,  1021, 1100, 428,  1105, 1184, 1205, 39,   123,  207,  291,  375,  459,  543,  36,   119,  120,  203,
    204,  287,  288,  371,  198,  114,  30,   282,  366,  35,   372,  450,  455,  456,  534,  539,  540,  618,  623,
    627,  702,  707,  786,  791,  870,  875,  954,  959,  1038, 1043, 1122, 183,  434,  98,   435,  518,  15,   519,
    266,  261,  93,   513,  597,  602,  14,   267,  603,  681,  9,    686,  687,  765,  345,  770,  182,  771,  849,
    350,  854,  99,   855,  933,  938,  351,  939,  1017, 177,  1022, 1101, 429,  1106, 1185, 1206, 40,   124,  208,
    292,  376,  460,  544,  37,   120,  121,  204,  205,  288,  289,  372,  199,  115,  31,   283,  367,  36,   373,
    451,  456,  457,  535,  540,  541,  619,  624,  628,  703,  708,  787,  792,  871,  876,  955,  960,  1039, 1044,
    1123, 184,  435,  99,   436,  519,  16,   520,  267,  262,  94,   514,  598,  603,  15,   268,  604,  682,  10,
    687,  688,  766,  346,  771,  183,  772,  850,  351,  855,  100,  856,  934,  939,  352,  940,  1018, 178,  1023,
    1102, 430,  1107, 1186, 1207, 41,   125,  209,  293,  377,  461,  545,  38,   121,  122,  205,  206,  289,  290,
    373,  200,  116,  32,   284,  368,  37,   374,  452,  457,  458,  536,  541,  542,  620,  625,  629,  704,  709,
    788,  793,  872,  877,  956,  961,  1040, 1045, 1124, 185,  436,  100,  437,  520,  17,   521,  268,  263,  95,
    515,  599,  604,  16,   269,  605,  683,  11,   688,  689,  767,  347,  772,  184,  773,  851,  352,  856,  101,
    857,  935,  940,  353,  941,  1019, 179,  1024, 1103, 431,  1108, 1187, 1208, 42,   126,  210,  294,  378,  462,
    546,  122,  206,  290,  374,  201,  117,  33,   285,  369,  38,   453,  458,  537,  542,  621,  626,  630,  705,
    710,  789,  794,  873,  878,  957,  962,  1041, 1046, 1125, 437,  101,  521,  269,  264,  96,   516,  600,  605,
    17,   684,  12,   689,  768,  348,  773,  185,  852,  353,  857,  936,  941,  1020, 180,  1025, 1104, 432,  1109,
    1188, 1209, 39,   123,  207,  291,  202,  118,  34,   286,  370,  375,  454,  459,  538,  543,  622,  706,  790,
    874,  958,  1042, 1126, 186,  438,  18,   522,  265,  97,   517,  601,  270,  606,  685,  13,   690,  769,  349,
    774,  853,  102,  858,  937,  354,  942,  1021, 181,  1105, 433,  1189, 1210, 40,   123,  124,  207,  208,  291,
    292,  375,  203,  119,  35,   287,  371,  39,   376,  455,  459,  460,  539,  543,  544,  623,  627,  707,  711,
    791,  795,  875,  879,  959,  963,  1043, 1047, 1127, 187,  438,  102,  439,  522,  19,   523,  270,  266,  98,
    518,  602,  606,  18,   271,  607,  686,  14,   690,  691,  770,  350,  774,  186,  775,  854,  354,  858,  103,
    859,  938,  942,  355,  943,  1022, 182,  1026, 1106, 434,  1110, 1190, 1211, 43,   127,  211,  295,  379,  463,
    547,  41,   124,  125,  208,  209,  292,  293,  376,  204,  120,  36,   288,  372,  40,   377,  456,  460,  461,
    540,  544,  545,  624,  628,  631,  708,  712,  792,  796,  876,  880,  960,  964,  1044, 1048, 1128, 188,  439,
    103,  440,  523,  20,   524,  271,  267,  99,   519,  603,  607,  19,   272,  608,  687,  15,   691,  692,  771,
    351,  775,  187,  776,  855,  355,  859,  104,  860,  939,  943,  356,  944,  1023, 183,  1027, 1107, 435,  1111,
    1191, 1212, 44,   128,  212,  296,  380,  464,  548,  42,   125,  126,  209,  210,  293,  294,  377,  205,  121,
    37,   289,  373,  41,   378,  457,  461,  462,  541,  545,  546,  625,  629,  632,  709,  713,  793,  797,  877,
    881,  961,  965,  1045, 1049, 1129, 189,  440,  104,  441,  524,  21,   525,  272,  268,  100,  520,  604,  608,
    20,   273,  609,  688,  16,   692,  693,  772,  352,  776,  188,  777,  856,  356,  860,  105,  861,  940,  944,
    357,  945,  1024, 184,  1028, 1108, 436,  1112, 1192, 1213, 45,   129,  213,  297,  381,  465,  549,  126,  210,
    294,  378,  206,  122,  38,   290,  374,  42,   458,  462,  542,  546,  626,  630,  633,  710,  714,  794,  798,
    878,  882,  962,  966,  1046, 1050, 1130, 441,  105,  525,  273,  269,  101,  521,  605,  609,  21,   689,  17,
    693,  773,  353,  777,  189,  857,  357,  861,  941,  945,  1025, 185,  1029, 1109, 437,  1113, 1193, 1214, 43,
    127,  211,  295,  207,  123,  39,   291,  375,  379,  459,  463,  543,  547,  627,  711,  795,  879,  963,  1047,
    1131, 190,  442,  22,   526,  270,  102,  522,  606,  274,  610,  690,  18,   694,  774,  354,  778,  858,  106,
    862,  942,  358,  946,  1026, 186,  1110, 438,  1194, 1215, 44,   127,  128,  211,  212,  295,  296,  379,  208,
    124,  40,   292,  376,  43,   380,  460,  463,  464,  544,  547,  548,  628,  631,  712,  715,  796,  799,  880,
    883,  964,  967,  1048, 1051, 1132, 191,  442,  106,  443,  526,  23,   527,  274,  271,  103,  523,  607,  610,
    22,   275,  611,  691,  19,   694,  695,  775,  355,  778,  190,  779,  859,  358,  862,  107,  863,  943,  946,
    359,  947,  1027, 187,  1030, 1111, 439,  1114, 1195, 1216, 46,   130,  214,  298,  382,  466,  550,  45,   128,
    129,  212,  213,  296,  297,  380,  209,  125,  41,   293,  377,  44,   381,  461,  464,  465,  545,  548,  549,
    629,  632,  634,  713,  716,  797,  800,  881,  884,  965,  968,  1049, 1052, 1133, 192,  443,  107,  444,  527,
    24,   528,  275,  272,  104,  524,  608,  611,  23,   276,  612,  692,  20,   695,  696,  776,  356,  779,  191,
    780,  860,  359,  863,  108,  864,  944,  947,  360,  948,  1028, 188,  1031, 1112, 440,  1115, 1196, 1217, 196,
    448,  28,   532,  280,  616,  700,  784,  112,  672,  84,   504,  0,    840,  336,  588,  756,  252,  868,  924,
    168,  364,  952,  1008, 420,  1092, 1176, 197,  448,  112,  449,  532,  29,   533,  280,  616,  28,   281,  617,
    700,  701,  784,  196,  785,  364,  868,  113,  673,  85,   505,  1,    841,  337,  589,  757,  253,  869,  925,
    169,  952,  365,  953,  1009, 1036, 421,  1093, 1120, 1177, 49,   133,  217,  301,  385,  469,  553,  637,  198,
    449,  113,  450,  533,  30,   534,  281,  617,  29,   282,  618,  701,  702,  785,  197,  786,  365,  869,  114,
    674,  86,   506,  2,    842,  338,  590,  758,  254,  870,  926,  170,  953,  366,  954,  1010, 1037, 422,  1094,
    1121, 1178, 50,   134,  218,  302,  386,  470,  554,  638,  199,  450,  114,  451,  534,  31,   535,  282,  618,
    30,   283,  619,  702,  703,  786,  198,  787,  366,  870,  115,  675,  87,   507,  3,    843,  339,  591,  759,
    255,  871,  927,  171,  954,  367,  955,  1011, 1038, 423,  1095, 1122, 1179, 51,   135,  219,  303,  387,  471,
    555,  639,  200,  451,  115,  452,  535,  32,   536,  283,  619,  31,   284,  620,  703,  704,  787,  199,  788,
    367,  871,  116,  676,  88,   508,  4,    844,  340,  592,  760,  256,  872,  928,  172,  955,  368,  956,  1012,
    1039, 424,  1096, 1123, 1180, 52,   136,  220,  304,  388,  472,  556,  640,  201,  452,  116,  453,  536,  33,
    537,  284,  620,  32,   285,  621,  704,  705,  788,  200,  789,  368,  872,  117,  677,  89,   509,  5,    845,
    341,  593,  761,  257,  873,  929,  173,  956,  369,  957,  1013, 1040, 425,  1097, 1124, 1181, 53,   137,  221,
    305,  389,  473,  557,  641,  453,  117,  537,  285,  621,  33,   705,  789,  201,  369,  873,  678,  90,   510,
    6,    846,  342,  594,  762,  258,  930,  174,  957,  1014, 1041, 426,  1098, 1125, 1182, 49,   133,  217,  301,
    385,  469,  553,  202,  454,  34,   538,  280,  112,  532,  616,  286,  622,  700,  28,   706,  784,  364,  790,
    868,  118,  679,  91,   511,  7,    847,  343,  595,  763,  259,  874,  931,  952,  175,  370,  958,  1015, 1036,
    196,  427,  1099, 1120, 448,  1183, 1204, 50,   133,  134,  217,  218,  301,  302,  385,  49,   386,  469,  470,
    553,  554,  637,  721,  805,  889,  973,  1057, 203,  454,  118,  455,  538,  35,   539,  286,  281,  113,  533,
    617,  622,  34,   287,  623,  701,  29,   706,  707,  785,  365,  790,  202,  791,  869,  370,  874,  119,  680,
    92,   512,  8,    848,  344,  596,  764,  260,  875,  932,  953,  176,  958,  371,  959,  1016, 1037, 197,  1042,
    428,  1100, 1121, 449,  1126, 1184, 1205, 54,   138,  222,  306,  217,  133,  49,   301,  385,  390,  469,  474,
    553,  558,  637,  721,  805,  889,  973,  1057, 1141, 207,  459,  39,   543,  286,  118,  538,  622,  291,  627,
    706,  34,   711,  790,  370,  795,  874,  123,  685,  97,   517,  13,   853,  349,  601,  769,  265,  879,  937,
    958,  181,  375,  963,  1021, 1042, 202,  433,  1105, 1126, 454,  1189, 1210, 1225, 54,   138,  222,  306,  390,
    474,  558,  51,   134,  135,  218,  219,  302,  303,  386,  50,   387,  470,  471,  554,  555,  638,  642,  722,
    806,  890,  974,  1058, 204,  455,  119,  456,  539,  36,   540,  287,  282,  114,  534,  618,  623,  35,   288,
    624,  702,  30,   707,  708,  786,  366,  791,  203,  792,  870,  371,  875,  120,  681,  93,   513,  9,    849,
    345,  597,  765,  261,  876,  933,  954,  177,  959,  372,  960,  1017, 1038, 198,  1043, 429,  1101, 1122, 450,
    1127, 1185, 1206, 55,   138,  139,  222,  223,  306,  307,  390,  218,  134,  50,   302,  386,  54,   391,  470,
    474,  475,  554,  558,  559,  638,  642,  722,  726,  806,  810,  890,  894,  974,  978,  1058, 1062, 1142, 208,
    459,  123,  460,  543,  40,   544,  291,  287,  119,  539,  623,  627,  39,   292,  628,  707,  35,   711,  712,
    791,  371,  795,  207,  796,  875,  375,  879,  124,  686,  98,   518,  14,   854,  350,  602,  770,  266,  880,
    938,  959,  182,  963,  376,  964,  1022, 1043, 203,  1047, 434,  1106, 1127, 455,  1131, 1190, 1211, 1226, 58,
    142,  226,  310,  222,  138,  54,   306,  390,  394,  474,  478,  558,  562,  642,  726,  810,  894,  978,  1062,
    1146, 211,  463,  43,   547,  291,  123,  543,  627,  295,  631,  711,  39,   715,  795,  375,  799,  879,  127,
    690,  102,  522,  18,   858,  354,  606,  774,  270,  883,  942,  963,  186,  379,  967,  1026, 1047, 207,  438,
    1110, 1131, 459,  1194, 1215, 1230, 55,   139,  223,  307,  391,  475,  559,  52,   135,  136,  219,  220,  303,
    304,  387,  51,   388,  471,  472,  555,  556,  639,  643,  723,  807,  891,  975,  1059, 205,  456,  120,  457,
    540,  37,   541,  288,  283,  115,  535,  619,  624,  36,   289,  625,  703,  31,   708,  709,  787,  367,  792,
    204,  793,  871,  372,  876,  121,  682,  94,   514,  10,   850,  346,  598,  766,  262,  877,  934,  955,  178,
    960,  373,  961,  1018, 1039, 199,  1044, 430,  1102, 1123, 451,  1128, 1186, 1207, 58,   142,  226,  310,  394,
    478,  562,  56,   139,  140,  223,  224,  307,  308,  391,  219,  135,  51,   303,  387,  55,   392,  471,  475,
    476,  555,  559,  560,  639,  643,  646,  723,  727,  807,  811,  891,  895,  975,  979,  1059, 1063, 1143, 209,
    460,  124,  461,  544,  41,   545,  292,  288,  120,  540,  624,  628,  40,   293,  629,  708,  36,   712,  713,
    792,  372,  796,  208,  797,  876,  376,  880,  125,  687,  99,   519,  15,   855,  351,  603,  771,  267,  881,
    939,  960,  183,  964,  377,  965,  1023, 1044, 204,  1048, 435,  1107, 1128, 456,  1132, 1191, 1212, 1227, 59,
    142,  143,  226,  227,  310,  311,  394,  223,  139,  55,   307,  391,  58,   395,  475,  478,  479,  559,  562,
    563,  643,  646,  727,  730,  811,  814,  895,  898,  979,  982,  1063, 1066, 1147, 212,  463,  127,  464,  547,
    44,   548,  295,  292,  124,  544,  628,  631,  43,   296,  632,  712,  40,   715,  716,  796,  376,  799,  211,
    800,  880,  379,  883,  128,  691,  103,  523,  19,   859,  355,  607,  775,  271,  884,  943,  964,  187,  967,
    380,  968,  1027, 1048, 208,  1051, 439,  1111, 1132, 460,  1135, 1195, 1216, 1231, 46,   130,  214,  298,  211,
    127,  43,   295,  379,  382,  463,  466,  547,  550,  631,  715,  799,  883,  967,  1051, 1135, 193,  445,  25,
    529,  274,  106,  526,  610,  277,  613,  694,  22,   697,  778,  358,  781,  862,  109,  865,  946,  361,  949,
    1030, 190,  1114, 442,  1198, 1219, 56,   140,  224,  308,  392,  476,  560,  53,   136,  137,  220,  221,  304,
    305,  388,  52,   389,  472,  473,  556,  557,  640,  644,  724,  808,  892,  976,  1060, 206,  457,  121,  458,
    541,  38,   542,  289,  284,  116,  536,  620,  625,  37,   290,  626,  704,  32,   709,  710,  788,  368,  793,
    205,  794,  872,  373,  877,  122,  683,  95,   515,  11,   851,  347,  599,  767,  263,  878,  935,  956,  179,
    961,  374,  962,  1019, 1040, 200,  1045, 431,  1103, 1124, 452,  1129, 1187, 1208, 59,   143,  227,  311,  395,
    479,  563,  57,   140,  141,  224,  225,  308,  309,  392,  220,  136,  52,   304,  388,  56,   393,  472,  476,
    477,  556,  560,  561,  640,  644,  647,  724,  728,  808,  812,  892,  896,  976,  980,  1060, 1064, 1144, 210,
    461,  125,  462,  545,  42,   546,  293,  289,  121,  541,  625,  629,  41,   294,  630,  709,  37,   713,  714,
    793,  373,  797,  209,  798,  877,  377,  881,  126,  688,  100,  520,  16,   856,  352,  604,  772,  268,  882,
    940,  961,  184,  965,  378,  966,  1024, 1045, 205,  1049, 436,  1108, 1129, 457,  1133, 1192, 1213, 1228, 61,
    145,  229,  313,  397,  481,  565,  60,   143,  144,  227,  228,  311,  312,  395,  224,  140,  56,   308,  392,
    59,   396,  476,  479,  480,  560,  563,  564,  644,  647,  649,  728,  731,  812,  815,  896,  899,  980,  983,
    1064, 1067, 1148, 213,  464,  128,  465,  548,  45,   549,  296,  293,  125,  545,  629,  632,  44,   297,  633,
    713,  41,   716,  717,  797,  377,  800,  212,  801,  881,  380,  884,  129,  692,  104,  524,  20,   860,  356,
    608,  776,  272,  885,  944,  965,  188,  968,  381,  969,  1028, 1049, 209,  1052, 440,  1112, 1133, 461,  1136,
    1196, 1217, 1232, 47,   130,  131,  214,  215,  298,  299,  382,  212,  128,  44,   296,  380,  46,   383,  464,
    466,  467,  548,  550,  551,  632,  634,  716,  718,  800,  802,  884,  886,  968,  970,  1052, 1054, 1136, 194,
    445,  109,  446,  529,  26,   530,  277,  275,  107,  527,  611,  613,  25,   278,  614,  695,  23,   697,  698,
    779,  359,  781,  193,  782,  863,  361,  865,  110,  866,  947,  949,  362,  950,  1031, 191,  1033, 1115, 443,
    1117, 1199, 1220, 48,   132,  216,  300,  214,  130,  46,   298,  382,  384,  466,  468,  550,  552,  634,  718,
    802,  886,  970,  1054, 1138, 195,  447,  27,   531,  277,  109,  529,  613,  279,  615,  697,  25,   699,  781,
    361,  783,  865,  111,  867,  949,  363,  951,  1033, 193,  1117, 445,  1201, 1222, 57,   141,  225,  309,  393,
    477,  561,  137,  221,  305,  389,  53,   473,  557,  641,  645,  725,  809,  893,  977,  1061, 458,  122,  542,
    290,  285,  117,  537,  621,  626,  38,   705,  33,   710,  789,  369,  794,  206,  873,  374,  878,  684,  96,
    516,  12,   852,  348,  600,  768,  264,  936,  957,  180,  962,  1020, 1041, 201,  1046, 432,  1104, 1125, 453,
    1130, 1188, 1209, 60,   144,  228,  312,  396,  480,  564,  141,  225,  309,  393,  221,  137,  53,   305,  389,
    57,   473,  477,  557,  561,  641,  645,  648,  725,  729,  809,  813,  893,  897,  977,  981,  1061, 1065, 1145,
    462,  126,  546,  294,  290,  122,  542,  626,  630,  42,   710,  38,   714,  794,  374,  798,  210,  878,  378,
    882,  689,  101,  521,  17,   857,  353,  605,  773,  269,  941,  962,  185,  966,  1025, 1046, 206,  1050, 437,
    1109, 1130, 458,  1134, 1193, 1214, 1229, 47,   131,  215,  299,  383,  467,  551,  129,  213,  297,  381,  210,
    126,  42,   294,  378,  45,   462,  465,  546,  549,  630,  633,  635,  714,  717,  798,  801,  882,  885,  966,
    969,  1050, 1053, 1134, 444,  108,  528,  276,  273,  105,  525,  609,  612,  24,   693,  21,   696,  777,  357,
    780,  192,  861,  360,  864,  945,  948,  1029, 189,  1032, 1113, 441,  1116, 1197, 1218, 48,   132,  216,  300,
    384,  468,  552,  131,  215,  299,  383,  213,  129,  45,   297,  381,  47,   465,  467,  549,  551,  633,  635,
    636,  717,  719,  801,  803,  885,  887,  969,  971,  1053, 1055, 1137, 446,  110,  530,  278,  276,  108,  528,
    612,  614,  26,   696,  24,   698,  780,  360,  782,  194,  864,  362,  866,  948,  950,  1032, 192,  1034, 1116,
    444,  1118, 1200, 1221, 132,  216,  300,  384,  215,  131,  47,   299,  383,  48,   467,  468,  551,  552,  635,
    636,  719,  720,  803,  804,  887,  888,  971,  972,  1055, 1056, 1139, 447,  111,  531,  279,  278,  110,  530,
    614,  615,  27,   698,  26,   699,  782,  362,  783,  195,  866,  363,  867,  950,  951,  1034, 194,  1035, 1118,
    446,  1119, 1202, 1223, 195,  111,  27,   279,  363,  447,  531,  615,  699,  783,  867,  951,  1035, 1119, 1203};
static const int coeffs1_ind[] = {
    755,  167,  587,  83,   923,  419,  671,  839,  335,  1007, 251,  1091, 503,  1175, 1259, 251,  503,  83,   587,
    335,  671,  755,  839,  167,  752,  164,  584,  80,   920,  416,  668,  836,  332,  923,  1004, 248,  419,  1007,
    1088, 500,  1172, 1256, 248,  500,  80,   584,  332,  668,  752,  836,  164,  746,  158,  578,  74,   914,  410,
    662,  830,  326,  920,  998,  242,  416,  1004, 1082, 494,  1166, 1250, 242,  494,  74,   578,  326,  662,  746,
    830,  158,  736,  148,  568,  64,   904,  400,  652,  820,  316,  914,  988,  232,  410,  998,  1072, 484,  1156,
    1240, 232,  484,  64,   568,  316,  652,  736,  820,  148,  721,  133,  553,  49,   889,  385,  637,  805,  301,
    904,  973,  217,  400,  988,  1057, 469,  1141, 1225, 217,  469,  49,   553,  301,  637,  721,  805,  133,  700,
    112,  532,  28,   868,  364,  616,  784,  280,  889,  952,  196,  385,  973,  1036, 448,  1120, 1204, 218,  469,
    133,  470,  553,  50,   554,  301,  637,  49,   302,  638,  721,  722,  805,  217,  806,  385,  889,  134,  701,
    113,  533,  29,   869,  365,  617,  785,  281,  890,  953,  197,  973,  386,  974,  1037, 1057, 449,  1121, 1141,
    1205, 64,   148,  232,  316,  400,  484,  568,  222,  474,  54,   558,  301,  133,  553,  637,  306,  642,  721,
    49,   726,  805,  385,  810,  889,  138,  706,  118,  538,  34,   874,  370,  622,  790,  286,  894,  958,  973,
    202,  390,  978,  1042, 1057, 217,  454,  1126, 1141, 469,  1210, 1225, 233,  484,  148,  485,  568,  65,   569,
    316,  652,  64,   317,  653,  736,  737,  820,  232,  821,  400,  904,  149,  722,  134,  554,  50,   890,  386,
    638,  806,  302,  905,  974,  218,  988,  401,  989,  1058, 1072, 470,  1142, 1156, 1226, 64,   148,  232,  316,
    400,  484,  568,  652,  219,  470,  134,  471,  554,  51,   555,  302,  638,  50,   303,  639,  722,  723,  806,
    218,  807,  386,  890,  135,  702,  114,  534,  30,   870,  366,  618,  786,  282,  891,  954,  198,  974,  387,
    975,  1038, 1058, 450,  1122, 1142, 1206, 65,   148,  149,  232,  233,  316,  317,  400,  64,   401,  484,  485,
    568,  569,  652,  736,  820,  904,  988,  1072, 223,  474,  138,  475,  558,  55,   559,  306,  302,  134,  554,
    638,  642,  54,   307,  643,  722,  50,   726,  727,  806,  386,  810,  222,  811,  890,  390,  894,  139,  707,
    119,  539,  35,   875,  371,  623,  791,  287,  895,  959,  974,  203,  978,  391,  979,  1043, 1058, 218,  1062,
    455,  1127, 1142, 470,  1146, 1211, 1226, 74,   158,  242,  326,  410,  494,  578,  236,  488,  68,   572,  316,
    148,  568,  652,  320,  656,  736,  64,   740,  820,  400,  824,  904,  152,  726,  138,  558,  54,   894,  390,
    642,  810,  306,  908,  978,  988,  222,  404,  992,  1062, 1072, 232,  474,  1146, 1156, 484,  1230, 1240, 68,
    152,  236,  320,  232,  148,  64,   316,  400,  404,  484,  488,  568,  572,  652,  736,  820,  904,  988,  1072,
    1156, 226,  478,  58,   562,  306,  138,  558,  642,  310,  646,  726,  54,   730,  810,  390,  814,  894,  142,
    711,  123,  543,  39,   879,  375,  627,  795,  291,  898,  963,  978,  207,  394,  982,  1047, 1062, 222,  459,
    1131, 1146, 474,  1215, 1230, 1240, 243,  494,  158,  495,  578,  75,   579,  326,  662,  74,   327,  663,  746,
    747,  830,  242,  831,  410,  914,  159,  737,  149,  569,  65,   905,  401,  653,  821,  317,  915,  989,  233,
    998,  411,  999,  1073, 1082, 485,  1157, 1166, 1241, 74,   158,  242,  326,  410,  494,  578,  662,  234,  485,
    149,  486,  569,  66,   570,  317,  653,  65,   318,  654,  737,  738,  821,  233,  822,  401,  905,  150,  723,
    135,  555,  51,   891,  387,  639,  807,  303,  906,  975,  219,  989,  402,  990,  1059, 1073, 471,  1143, 1157,
    1227, 65,   149,  233,  317,  401,  485,  569,  653,  220,  471,  135,  472,  555,  52,   556,  303,  639,  51,
    304,  640,  723,  724,  807,  219,  808,  387,  891,  136,  703,  115,  535,  31,   871,  367,  619,  787,  283,
    892,  955,  199,  975,  388,  976,  1039, 1059, 451,  1123, 1143, 1207, 68,   152,  236,  320,  404,  488,  572,
    66,   149,  150,  233,  234,  317,  318,  401,  65,   402,  485,  486,  569,  570,  653,  656,  737,  821,  905,
    989,  1073, 224,  475,  139,  476,  559,  56,   560,  307,  303,  135,  555,  639,  643,  55,   308,  644,  723,
    51,   727,  728,  807,  387,  811,  223,  812,  891,  391,  895,  140,  708,  120,  540,  36,   876,  372,  624,
    792,  288,  896,  960,  975,  204,  979,  392,  980,  1044, 1059, 219,  1063, 456,  1128, 1143, 471,  1147, 1212,
    1227, 75,   158,  159,  242,  243,  326,  327,  410,  74,   411,  494,  495,  578,  579,  662,  746,  830,  914,
    998,  1082, 237,  488,  152,  489,  572,  69,   573,  320,  317,  149,  569,  653,  656,  68,   321,  657,  737,
    65,   740,  741,  821,  401,  824,  236,  825,  905,  404,  908,  153,  727,  139,  559,  55,   895,  391,  643,
    811,  307,  909,  979,  989,  223,  992,  405,  993,  1063, 1073, 233,  1076, 475,  1147, 1157, 485,  1160, 1231,
    1241, 69,   152,  153,  236,  237,  320,  321,  404,  233,  149,  65,   317,  401,  68,   405,  485,  488,  489,
    569,  572,  573,  653,  656,  737,  740,  821,  824,  905,  908,  989,  992,  1073, 1076, 1157, 227,  478,  142,
    479,  562,  59,   563,  310,  307,  139,  559,  643,  646,  58,   311,  647,  727,  55,   730,  731,  811,  391,
    814,  226,  815,  895,  394,  898,  143,  712,  124,  544,  40,   880,  376,  628,  796,  292,  899,  964,  979,
    208,  982,  395,  983,  1048, 1063, 223,  1066, 460,  1132, 1147, 475,  1150, 1216, 1231, 1241, 80,   164,  248,
    332,  416,  500,  584,  245,  497,  77,   581,  326,  158,  578,  662,  329,  665,  746,  74,   749,  830,  410,
    833,  914,  161,  740,  152,  572,  68,   908,  404,  656,  824,  320,  917,  992,  998,  236,  413,  1001, 1076,
    1082, 242,  488,  1160, 1166, 494,  1244, 1250, 77,   161,  245,  329,  242,  158,  74,   326,  410,  413,  494,
    497,  578,  581,  662,  746,  830,  914,  998,  1082, 1166, 239,  491,  71,   575,  320,  152,  572,  656,  323,
    659,  740,  68,   743,  824,  404,  827,  908,  155,  730,  142,  562,  58,   898,  394,  646,  814,  310,  911,
    982,  992,  226,  407,  995,  1066, 1076, 236,  478,  1150, 1160, 488,  1234, 1244, 1250, 71,   155,  239,  323,
    236,  152,  68,   320,  404,  407,  488,  491,  572,  575,  656,  740,  824,  908,  992,  1076, 1160, 229,  481,
    61,   565,  310,  142,  562,  646,  313,  649,  730,  58,   733,  814,  394,  817,  898,  145,  715,  127,  547,
    43,   883,  379,  631,  799,  295,  901,  967,  982,  211,  397,  985,  1051, 1066, 226,  463,  1135, 1150, 478,
    1219, 1234, 1244, 61,   145,  229,  313,  226,  142,  58,   310,  394,  397,  478,  481,  562,  565,  646,  730,
    814,  898,  982,  1066, 1150, 214,  466,  46,   550,  295,  127,  547,  631,  298,  634,  715,  43,   718,  799,
    379,  802,  883,  130,  694,  106,  526,  22,   862,  358,  610,  778,  274,  886,  946,  967,  190,  382,  970,
    1030, 1051, 211,  442,  1114, 1135, 463,  1198, 1219, 1234, 249,  500,  164,  501,  584,  81,   585,  332,  668,
    80,   333,  669,  752,  753,  836,  248,  837,  416,  920,  165,  747,  159,  579,  75,   915,  411,  663,  831,
    327,  921,  999,  243,  1004, 417,  1005, 1083, 1088, 495,  1167, 1172, 1251, 80,   164,  248,  332,  416,  500,
    584,  668,  244,  495,  159,  496,  579,  76,   580,  327,  663,  75,   328,  664,  747,  748,  831,  243,  832,
    411,  915,  160,  738,  150,  570,  66,   906,  402,  654,  822,  318,  916,  990,  234,  999,  412,  1000, 1074,
    1083, 486,  1158, 1167, 1242, 75,   159,  243,  327,  411,  495,  579,  663,  235,  486,  150,  487,  570,  67,
    571,  318,  654,  66,   319,  655,  738,  739,  822,  234,  823,  402,  906,  151,  724,  136,  556,  52,   892,
    388,  640,  808,  304,  907,  976,  220,  990,  403,  991,  1060, 1074, 472,  1144, 1158, 1228, 66,   150,  234,
    318,  402,  486,  570,  654,  221,  472,  136,  473,  556,  53,   557,  304,  640,  52,   305,  641,  724,  725,
    808,  220,  809,  388,  892,  137,  704,  116,  536,  32,   872,  368,  620,  788,  284,  893,  956,  200,  976,
    389,  977,  1040, 1060, 452,  1124, 1144, 1208, 69,   153,  237,  321,  405,  489,  573,  67,   150,  151,  234,
    235,  318,  319,  402,  66,   403,  486,  487,  570,  571,  654,  657,  738,  822,  906,  990,  1074, 225,  476,
    140,  477,  560,  57,   561,  308,  304,  136,  556,  640,  644,  56,   309,  645,  724,  52,   728,  729,  808,
    388,  812,  224,  813,  892,  392,  896,  141,  709,  121,  541,  37,   877,  373,  625,  793,  289,  897,  961,
    976,  205,  980,  393,  981,  1045, 1060, 220,  1064, 457,  1129, 1144, 472,  1148, 1213, 1228, 77,   161,  245,
    329,  413,  497,  581,  76,   159,  160,  243,  244,  327,  328,  411,  75,   412,  495,  496,  579,  580,  663,
    665,  747,  831,  915,  999,  1083, 238,  489,  153,  490,  573,  70,   574,  321,  318,  150,  570,  654,  657,
    69,   322,  658,  738,  66,   741,  742,  822,  402,  825,  237,  826,  906,  405,  909,  154,  728,  140,  560,
    56,   896,  392,  644,  812,  308,  910,  980,  990,  224,  993,  406,  994,  1064, 1074, 234,  1077, 476,  1148,
    1158, 486,  1161, 1232, 1242, 71,   155,  239,  323,  407,  491,  575,  70,   153,  154,  237,  238,  321,  322,
    405,  234,  150,  66,   318,  402,  69,   406,  486,  489,  490,  570,  573,  574,  654,  657,  659,  738,  741,
    822,  825,  906,  909,  990,  993,  1074, 1077, 1158, 228,  479,  143,  480,  563,  60,   564,  311,  308,  140,
    560,  644,  647,  59,   312,  648,  728,  56,   731,  732,  812,  392,  815,  227,  816,  896,  395,  899,  144,
    713,  125,  545,  41,   881,  377,  629,  797,  293,  900,  965,  980,  209,  983,  396,  984,  1049, 1064, 224,
    1067, 461,  1133, 1148, 476,  1151, 1217, 1232, 1242, 81,   164,  165,  248,  249,  332,  333,  416,  80,   417,
    500,  501,  584,  585,  668,  752,  836,  920,  1004, 1088, 246,  497,  161,  498,  581,  78,   582,  329,  327,
    159,  579,  663,  665,  77,   330,  666,  747,  75,   749,  750,  831,  411,  833,  245,  834,  915,  413,  917,
    162,  741,  153,  573,  69,   909,  405,  657,  825,  321,  918,  993,  999,  237,  1001, 414,  1002, 1077, 1083,
    243,  1085, 489,  1161, 1167, 495,  1169, 1245, 1251, 78,   161,  162,  245,  246,  329,  330,  413,  243,  159,
    75,   327,  411,  77,   414,  495,  497,  498,  579,  581,  582,  663,  665,  747,  749,  831,  833,  915,  917,
    999,  1001, 1083, 1085, 1167, 240,  491,  155,  492,  575,  72,   576,  323,  321,  153,  573,  657,  659,  71,
    324,  660,  741,  69,   743,  744,  825,  405,  827,  239,  828,  909,  407,  911,  156,  731,  143,  563,  59,
    899,  395,  647,  815,  311,  912,  983,  993,  227,  995,  408,  996,  1067, 1077, 237,  1079, 479,  1151, 1161,
    489,  1163, 1235, 1245, 1251, 72,   155,  156,  239,  240,  323,  324,  407,  237,  153,  69,   321,  405,  71,
    408,  489,  491,  492,  573,  575,  576,  657,  659,  741,  743,  825,  827,  909,  911,  993,  995,  1077, 1079,
    1161, 230,  481,  145,  482,  565,  62,   566,  313,  311,  143,  563,  647,  649,  61,   314,  650,  731,  59,
    733,  734,  815,  395,  817,  229,  818,  899,  397,  901,  146,  716,  128,  548,  44,   884,  380,  632,  800,
    296,  902,  968,  983,  212,  985,  398,  986,  1052, 1067, 227,  1069, 464,  1136, 1151, 479,  1153, 1220, 1235,
    1245, 62,   145,  146,  229,  230,  313,  314,  397,  227,  143,  59,   311,  395,  61,   398,  479,  481,  482,
    563,  565,  566,  647,  649,  731,  733,  815,  817,  899,  901,  983,  985,  1067, 1069, 1151, 215,  466,  130,
    467,  550,  47,   551,  298,  296,  128,  548,  632,  634,  46,   299,  635,  716,  44,   718,  719,  800,  380,
    802,  214,  803,  884,  382,  886,  131,  695,  107,  527,  23,   863,  359,  611,  779,  275,  887,  947,  968,
    191,  970,  383,  971,  1031, 1052, 212,  1054, 443,  1115, 1136, 464,  1138, 1199, 1220, 1235, 83,   167,  251,
    335,  419,  503,  587,  250,  502,  82,   586,  332,  164,  584,  668,  334,  670,  752,  80,   754,  836,  416,
    838,  920,  166,  749,  161,  581,  77,   917,  413,  665,  833,  329,  922,  1001, 1004, 245,  418,  1006, 1085,
    1088, 248,  497,  1169, 1172, 500,  1253, 1256, 82,   166,  250,  334,  248,  164,  80,   332,  416,  418,  500,
    502,  584,  586,  668,  752,  836,  920,  1004, 1088, 1172, 247,  499,  79,   583,  329,  161,  581,  665,  331,
    667,  749,  77,   751,  833,  413,  835,  917,  163,  743,  155,  575,  71,   911,  407,  659,  827,  323,  919,
    995,  1001, 239,  415,  1003, 1079, 1085, 245,  491,  1163, 1169, 497,  1247, 1253, 1256, 79,   163,  247,  331,
    245,  161,  77,   329,  413,  415,  497,  499,  581,  583,  665,  749,  833,  917,  1001, 1085, 1169, 241,  493,
    73,   577,  323,  155,  575,  659,  325,  661,  743,  71,   745,  827,  407,  829,  911,  157,  733,  145,  565,
    61,   901,  397,  649,  817,  313,  913,  985,  995,  229,  409,  997,  1069, 1079, 239,  481,  1153, 1163, 491,
    1237, 1247, 1253, 73,   157,  241,  325,  239,  155,  71,   323,  407,  409,  491,  493,  575,  577,  659,  743,
    827,  911,  995,  1079, 1163, 231,  483,  63,   567,  313,  145,  565,  649,  315,  651,  733,  61,   735,  817,
    397,  819,  901,  147,  718,  130,  550,  46,   886,  382,  634,  802,  298,  903,  970,  985,  214,  399,  987,
    1054, 1069, 229,  466,  1138, 1153, 481,  1222, 1237, 1247, 63,   147,  231,  315,  229,  145,  61,   313,  397,
    399,  481,  483,  565,  567,  649,  733,  817,  901,  985,  1069, 1153, 216,  468,  48,   552,  298,  130,  550,
    634,  300,  636,  718,  46,   720,  802,  382,  804,  886,  132,  697,  109,  529,  25,   865,  361,  613,  781,
    277,  888,  949,  970,  193,  384,  972,  1033, 1054, 214,  445,  1117, 1138, 466,  1201, 1222, 1237, 503,  167,
    587,  335,  671,  83,   755,  839,  251,  419,  923,  753,  165,  585,  81,   921,  417,  669,  837,  333,  1005,
    249,  1007, 1089, 1091, 501,  1173, 1175, 1257, 83,   167,  251,  335,  419,  503,  587,  671,  501,  165,  585,
    333,  669,  81,   753,  837,  249,  417,  921,  748,  160,  580,  76,   916,  412,  664,  832,  328,  1000, 244,
    1005, 1084, 1089, 496,  1168, 1173, 1252, 81,   165,  249,  333,  417,  501,  585,  669,  496,  160,  580,  328,
    664,  76,   748,  832,  244,  412,  916,  739,  151,  571,  67,   907,  403,  655,  823,  319,  991,  235,  1000,
    1075, 1084, 487,  1159, 1168, 1243, 76,   160,  244,  328,  412,  496,  580,  664,  487,  151,  571,  319,  655,
    67,   739,  823,  235,  403,  907,  725,  137,  557,  53,   893,  389,  641,  809,  305,  977,  221,  991,  1061,
    1075, 473,  1145, 1159, 1229, 67,   151,  235,  319,  403,  487,  571,  655,  473,  137,  557,  305,  641,  53,
    725,  809,  221,  389,  893,  705,  117,  537,  33,   873,  369,  621,  789,  285,  957,  201,  977,  1041, 1061,
    453,  1125, 1145, 1209, 70,   154,  238,  322,  406,  490,  574,  151,  235,  319,  403,  67,   487,  571,  655,
    658,  739,  823,  907,  991,  1075, 477,  141,  561,  309,  305,  137,  557,  641,  645,  57,   725,  53,   729,
    809,  389,  813,  225,  893,  393,  897,  710,  122,  542,  38,   878,  374,  626,  794,  290,  962,  977,  206,
    981,  1046, 1061, 221,  1065, 458,  1130, 1145, 473,  1149, 1214, 1229, 78,   162,  246,  330,  414,  498,  582,
    160,  244,  328,  412,  76,   496,  580,  664,  666,  748,  832,  916,  1000, 1084, 490,  154,  574,  322,  319,
    151,  571,  655,  658,  70,   739,  67,   742,  823,  403,  826,  238,  907,  406,  910,  729,  141,  561,  57,
    897,  393,  645,  813,  309,  981,  991,  225,  994,  1065, 1075, 235,  1078, 477,  1149, 1159, 487,  1162, 1233,
    1243, 72,   156,  240,  324,  408,  492,  576,  154,  238,  322,  406,  235,  151,  67,   319,  403,  70,   487,
    490,  571,  574,  655,  658,  660,  739,  742,  823,  826,  907,  910,  991,  994,  1075, 1078, 1159, 480,  144,
    564,  312,  309,  141,  561,  645,  648,  60,   729,  57,   732,  813,  393,  816,  228,  897,  396,  900,  714,
    126,  546,  42,   882,  378,  630,  798,  294,  966,  981,  210,  984,  1050, 1065, 225,  1068, 462,  1134, 1149,
    477,  1152, 1218, 1233, 1243, 62,   146,  230,  314,  398,  482,  566,  144,  228,  312,  396,  225,  141,  57,
    309,  393,  60,   477,  480,  561,  564,  645,  648,  650,  729,  732,  813,  816,  897,  900,  981,  984,  1065,
    1068, 1149, 465,  129,  549,  297,  294,  126,  546,  630,  633,  45,   714,  42,   717,  798,  378,  801,  213,
    882,  381,  885,  693,  105,  525,  21,   861,  357,  609,  777,  273,  945,  966,  189,  969,  1029, 1050, 210,
    1053, 441,  1113, 1134, 462,  1137, 1197, 1218, 1233, 82,   166,  250,  334,  418,  502,  586,  165,  249,  333,
    417,  81,   501,  585,  669,  670,  753,  837,  921,  1005, 1089, 498,  162,  582,  330,  328,  160,  580,  664,
    666,  78,   748,  76,   750,  832,  412,  834,  246,  916,  414,  918,  742,  154,  574,  70,   910,  406,  658,
    826,  322,  994,  1000, 238,  1002, 1078, 1084, 244,  1086, 490,  1162, 1168, 496,  1170, 1246, 1252, 79,   163,
    247,  331,  415,  499,  583,  162,  246,  330,  414,  244,  160,  76,   328,  412,  78,   496,  498,  580,  582,
    664,  666,  667,  748,  750,  832,  834,  916,  918,  1000, 1002, 1084, 1086, 1168, 492,  156,  576,  324,  322,
    154,  574,  658,  660,  72,   742,  70,   744,  826,  406,  828,  240,  910,  408,  912,  732,  144,  564,  60,
    900,  396,  648,  816,  312,  984,  994,  228,  996,  1068, 1078, 238,  1080, 480,  1152, 1162, 490,  1164, 1236,
    1246, 1252, 73,   157,  241,  325,  409,  493,  577,  156,  240,  324,  408,  238,  154,  70,   322,  406,  72,
    490,  492,  574,  576,  658,  660,  661,  742,  744,  826,  828,  910,  912,  994,  996,  1078, 1080, 1162, 482,
    146,  566,  314,  312,  144,  564,  648,  650,  62,   732,  60,   734,  816,  396,  818,  230,  900,  398,  902,
    717,  129,  549,  45,   885,  381,  633,  801,  297,  969,  984,  213,  986,  1053, 1068, 228,  1070, 465,  1137,
    1152, 480,  1154, 1221, 1236, 1246, 63,   147,  231,  315,  399,  483,  567,  146,  230,  314,  398,  228,  144,
    60,   312,  396,  62,   480,  482,  564,  566,  648,  650,  651,  732,  734,  816,  818,  900,  902,  984,  986,
    1068, 1070, 1152, 467,  131,  551,  299,  297,  129,  549,  633,  635,  47,   717,  45,   719,  801,  381,  803,
    215,  885,  383,  887,  696,  108,  528,  24,   864,  360,  612,  780,  276,  948,  969,  192,  971,  1032, 1053,
    213,  1055, 444,  1116, 1137, 465,  1139, 1200, 1221, 1236, 167,  251,  335,  419,  83,   503,  587,  671,  755,
    839,  923,  1007, 1091, 502,  166,  586,  334,  333,  165,  585,  669,  670,  82,   753,  81,   754,  837,  417,
    838,  250,  921,  418,  922,  750,  162,  582,  78,   918,  414,  666,  834,  330,  1002, 1005, 246,  1006, 1086,
    1089, 249,  1090, 498,  1170, 1173, 501,  1174, 1254, 1257, 166,  250,  334,  418,  249,  165,  81,   333,  417,
    82,   501,  502,  585,  586,  669,  670,  753,  754,  837,  838,  921,  922,  1005, 1006, 1089, 1090, 1173, 499,
    163,  583,  331,  330,  162,  582,  666,  667,  79,   750,  78,   751,  834,  414,  835,  247,  918,  415,  919,
    744,  156,  576,  72,   912,  408,  660,  828,  324,  996,  1002, 240,  1003, 1080, 1086, 246,  1087, 492,  1164,
    1170, 498,  1171, 1248, 1254, 1257, 163,  247,  331,  415,  246,  162,  78,   330,  414,  79,   498,  499,  582,
    583,  666,  667,  750,  751,  834,  835,  918,  919,  1002, 1003, 1086, 1087, 1170, 493,  157,  577,  325,  324,
    156,  576,  660,  661,  73,   744,  72,   745,  828,  408,  829,  241,  912,  409,  913,  734,  146,  566,  62,
    902,  398,  650,  818,  314,  986,  996,  230,  997,  1070, 1080, 240,  1081, 482,  1154, 1164, 492,  1165, 1238,
    1248, 1254, 157,  241,  325,  409,  240,  156,  72,   324,  408,  73,   492,  493,  576,  577,  660,  661,  744,
    745,  828,  829,  912,  913,  996,  997,  1080, 1081, 1164, 483,  147,  567,  315,  314,  146,  566,  650,  651,
    63,   734,  62,   735,  818,  398,  819,  231,  902,  399,  903,  719,  131,  551,  47,   887,  383,  635,  803,
    299,  971,  986,  215,  987,  1055, 1070, 230,  1071, 467,  1139, 1154, 482,  1155, 1223, 1238, 1248, 147,  231,
    315,  399,  230,  146,  62,   314,  398,  63,   482,  483,  566,  567,  650,  651,  734,  735,  818,  819,  902,
    903,  986,  987,  1070, 1071, 1154, 468,  132,  552,  300,  299,  131,  551,  635,  636,  48,   719,  47,   720,
    803,  383,  804,  216,  887,  384,  888,  698,  110,  530,  26,   866,  362,  614,  782,  278,  950,  971,  194,
    972,  1034, 1055, 215,  1056, 446,  1118, 1139, 467,  1140, 1202, 1223, 1238, 335,  167,  587,  671,  755,  83,
    839,  419,  923,  754,  166,  586,  82,   922,  418,  670,  838,  334,  1006, 1007, 250,  1090, 1091, 251,  502,
    1174, 1175, 503,  1258, 1259, 251,  167,  83,   335,  419,  503,  587,  671,  755,  839,  923,  1007, 1091, 1175,
    334,  166,  586,  670,  754,  82,   838,  418,  922,  751,  163,  583,  79,   919,  415,  667,  835,  331,  1003,
    1006, 247,  1087, 1090, 250,  499,  1171, 1174, 502,  1255, 1258, 1259, 250,  166,  82,   334,  418,  502,  586,
    670,  754,  838,  922,  1006, 1090, 1174, 331,  163,  583,  667,  751,  79,   835,  415,  919,  745,  157,  577,
    73,   913,  409,  661,  829,  325,  997,  1003, 241,  1081, 1087, 247,  493,  1165, 1171, 499,  1249, 1255, 1258,
    247,  163,  79,   331,  415,  499,  583,  667,  751,  835,  919,  1003, 1087, 1171, 325,  157,  577,  661,  745,
    73,   829,  409,  913,  735,  147,  567,  63,   903,  399,  651,  819,  315,  987,  997,  231,  1071, 1081, 241,
    483,  1155, 1165, 493,  1239, 1249, 1255, 241,  157,  73,   325,  409,  493,  577,  661,  745,  829,  913,  997,
    1081, 1165, 315,  147,  567,  651,  735,  63,   819,  399,  903,  720,  132,  552,  48,   888,  384,  636,  804,
    300,  972,  987,  216,  1056, 1071, 231,  468,  1140, 1155, 483,  1224, 1239, 1249, 231,  147,  63,   315,  399,
    483,  567,  651,  735,  819,  903,  987,  1071, 1155, 300,  132,  552,  636,  720,  48,   804,  384,  888,  699,
    111,  531,  27,   867,  363,  615,  783,  279,  951,  972,  195,  1035, 1056, 216,  447,  1119, 1140, 468,  1203,
    1224, 1239, 216,  132,  48,   300,  384,  468,  552,  636,  720,  804,  888,  972,  1056, 1140, 279,  111,  531,
    615,  699,  27,   783,  363,  867,  951,  1035, 195,  1119, 447,  1203, 1224};
static const int C0_ind[] = {
    0,    1,    2,    3,    4,    5,    6,    30,   99,   100,  101,  102,  103,  104,  105,  129,  198,  199,  200,
    201,  202,  203,  204,  228,  297,  298,  299,  300,  301,  302,  303,  327,  396,  397,  398,  399,  400,  401,
    402,  426,  495,  496,  497,  498,  499,  500,  501,  525,  594,  595,  596,  597,  598,  599,  600,  624,  700,
    702,  704,  706,  714,  717,  720,  799,  800,  801,  802,  803,  804,  805,  806,  812,  813,  815,  816,  818,
    819,  821,  824,  826,  828,  830,  832,  891,  892,  893,  894,  895,  896,  897,  898,  899,  900,  901,  902,
    903,  904,  905,  911,  912,  914,  915,  917,  918,  920,  921,  923,  925,  927,  929,  931,  990,  991,  992,
    993,  994,  995,  996,  997,  998,  999,  1000, 1001, 1002, 1003, 1004, 1010, 1011, 1013, 1014, 1016, 1017, 1019,
    1020, 1022, 1024, 1026, 1028, 1030, 1089, 1090, 1091, 1092, 1093, 1094, 1095, 1096, 1097, 1098, 1099, 1100, 1101,
    1102, 1103, 1109, 1110, 1112, 1113, 1115, 1116, 1118, 1119, 1121, 1123, 1125, 1127, 1129, 1188, 1189, 1190, 1191,
    1192, 1193, 1194, 1195, 1196, 1197, 1198, 1199, 1200, 1201, 1202, 1208, 1209, 1211, 1212, 1214, 1215, 1217, 1218,
    1220, 1222, 1224, 1226, 1228, 1287, 1288, 1289, 1290, 1291, 1292, 1293, 1294, 1295, 1296, 1297, 1298, 1299, 1300,
    1301, 1307, 1308, 1310, 1311, 1313, 1314, 1316, 1317, 1319, 1321, 1323, 1325, 1327, 1386, 1387, 1388, 1389, 1390,
    1391, 1392, 1394, 1396, 1398, 1400, 1406, 1409, 1412, 1415, 1416, 1418, 1420, 1422, 1424, 1426, 1492, 1494, 1496,
    1498, 1500, 1501, 1502, 1503, 1504, 1506, 1507, 1509, 1510, 1512, 1513, 1516, 1518, 1520, 1522, 1524, 1526, 1583,
    1591, 1592, 1593, 1594, 1595, 1596, 1597, 1598, 1599, 1600, 1601, 1602, 1603, 1604, 1605, 1606, 1607, 1608, 1609,
    1610, 1611, 1612, 1613, 1615, 1616, 1617, 1618, 1619, 1620, 1621, 1622, 1623, 1624, 1625, 1682, 1683, 1684, 1685,
    1686, 1687, 1688, 1689, 1690, 1691, 1692, 1693, 1694, 1695, 1696, 1697, 1698, 1699, 1700, 1701, 1702, 1703, 1704,
    1705, 1706, 1707, 1708, 1709, 1710, 1711, 1712, 1713, 1714, 1715, 1716, 1717, 1718, 1719, 1720, 1721, 1722, 1723,
    1724, 1781, 1782, 1783, 1784, 1785, 1786, 1787, 1788, 1789, 1790, 1791, 1792, 1793, 1794, 1795, 1796, 1797, 1798,
    1799, 1800, 1801, 1802, 1803, 1804, 1805, 1806, 1807, 1808, 1809, 1810, 1811, 1812, 1813, 1814, 1815, 1816, 1817,
    1818, 1819, 1820, 1821, 1822, 1823, 1880, 1881, 1882, 1883, 1884, 1885, 1886, 1887, 1888, 1889, 1890, 1891, 1892,
    1893, 1894, 1895, 1896, 1897, 1898, 1899, 1900, 1901, 1902, 1903, 1904, 1905, 1906, 1907, 1908, 1909, 1910, 1911,
    1912, 1913, 1914, 1915, 1916, 1917, 1918, 1919, 1920, 1921, 1922, 1979, 1980, 1981, 1982, 1983, 1984, 1985, 1986,
    1987, 1988, 1989, 1990, 1991, 1992, 1993, 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002, 2003, 2004, 2005,
    2006, 2007, 2008, 2009, 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019, 2020, 2021, 2078, 2079, 2080,
    2081, 2082, 2083, 2084, 2085, 2087, 2089, 2091, 2093, 2094, 2095, 2096, 2097, 2098, 2099, 2101, 2102, 2104, 2105,
    2107, 2108, 2109, 2110, 2111, 2112, 2113, 2114, 2115, 2116, 2117, 2118, 2119, 2120, 2177, 2185, 2187, 2189, 2191,
    2193, 2194, 2195, 2196, 2197, 2199, 2200, 2202, 2203, 2205, 2206, 2209, 2211, 2213, 2215, 2217, 2219, 2276, 2284,
    2285, 2286, 2287, 2288, 2289, 2290, 2291, 2292, 2293, 2294, 2295, 2296, 2297, 2298, 2299, 2300, 2301, 2302, 2303,
    2304, 2305, 2306, 2308, 2309, 2310, 2311, 2312, 2313, 2314, 2315, 2316, 2317, 2318, 2375, 2376, 2377, 2378, 2379,
    2380, 2381, 2382, 2383, 2384, 2385, 2386, 2387, 2388, 2389, 2390, 2391, 2392, 2393, 2394, 2395, 2396, 2397, 2398,
    2399, 2400, 2401, 2402, 2403, 2404, 2405, 2406, 2407, 2408, 2409, 2410, 2411, 2412, 2413, 2414, 2415, 2416, 2417,
    2474, 2475, 2476, 2477, 2478, 2479, 2480, 2481, 2482, 2483, 2484, 2485, 2486, 2487, 2488, 2489, 2490, 2491, 2492,
    2493, 2494, 2495, 2496, 2497, 2498, 2499, 2500, 2501, 2502, 2503, 2504, 2505, 2506, 2507, 2508, 2509, 2510, 2511,
    2512, 2513, 2514, 2515, 2516, 2573, 2574, 2575, 2576, 2577, 2578, 2579, 2580, 2581, 2582, 2583, 2584, 2585, 2586,
    2587, 2588, 2589, 2590, 2591, 2592, 2593, 2594, 2595, 2596, 2597, 2598, 2599, 2600, 2601, 2602, 2603, 2604, 2605,
    2606, 2607, 2608, 2609, 2610, 2611, 2612, 2613, 2614, 2615, 2672, 2673, 2674, 2675, 2676, 2677, 2678, 2679, 2681,
    2683, 2685, 2687, 2688, 2689, 2690, 2691, 2692, 2693, 2695, 2696, 2698, 2699, 2701, 2702, 2703, 2704, 2705, 2706,
    2707, 2708, 2709, 2710, 2711, 2712, 2713, 2714, 2771, 2779, 2781, 2783, 2785, 2787, 2788, 2789, 2790, 2791, 2793,
    2794, 2796, 2797, 2799, 2800, 2803, 2805, 2807, 2809, 2811, 2813, 2870, 2878, 2879, 2880, 2881, 2882, 2883, 2884,
    2885, 2886, 2887, 2888, 2889, 2890, 2891, 2892, 2893, 2894, 2895, 2896, 2897, 2898, 2899, 2900, 2902, 2903, 2904,
    2905, 2906, 2907, 2908, 2909, 2910, 2911, 2912, 2969, 2970, 2971, 2972, 2973, 2974, 2975, 2976, 2977, 2978, 2979,
    2980, 2981, 2982, 2983, 2984, 2985, 2986, 2987, 2988, 2989, 2990, 2991, 2992, 2993, 2994, 2995, 2996, 2997, 2998,
    2999, 3000, 3001, 3002, 3003, 3004, 3005, 3006, 3007, 3008, 3009, 3010, 3011, 3068, 3069, 3070, 3071, 3072, 3073,
    3074, 3075, 3076, 3077, 3078, 3079, 3080, 3081, 3082, 3083, 3084, 3085, 3086, 3087, 3088, 3089, 3090, 3091, 3092,
    3093, 3094, 3095, 3096, 3097, 3098, 3099, 3100, 3101, 3102, 3103, 3104, 3105, 3106, 3107, 3108, 3109, 3110, 3167,
    3168, 3169, 3170, 3171, 3172, 3173, 3174, 3176, 3178, 3180, 3182, 3183, 3184, 3185, 3186, 3187, 3188, 3190, 3191,
    3193, 3194, 3196, 3197, 3198, 3199, 3200, 3201, 3202, 3203, 3204, 3205, 3206, 3207, 3208, 3209, 3266, 3274, 3276,
    3278, 3280, 3282, 3283, 3284, 3285, 3286, 3288, 3289, 3291, 3292, 3294, 3295, 3298, 3300, 3302, 3304, 3306, 3308,
    3365, 3373, 3374, 3375, 3376, 3377, 3378, 3379, 3380, 3381, 3382, 3383, 3384, 3385, 3386, 3387, 3388, 3389, 3390,
    3391, 3392, 3393, 3394, 3395, 3397, 3398, 3399, 3400, 3401, 3402, 3403, 3404, 3405, 3406, 3407, 3464, 3465, 3466,
    3467, 3468, 3469, 3470, 3471, 3472, 3473, 3474, 3475, 3476, 3477, 3478, 3479, 3480, 3481, 3482, 3483, 3484, 3485,
    3486, 3487, 3488, 3489, 3490, 3491, 3492, 3493, 3494, 3495, 3496, 3497, 3498, 3499, 3500, 3501, 3502, 3503, 3504,
    3505, 3506, 3563, 3564, 3565, 3566, 3567, 3568, 3569, 3570, 3572, 3574, 3576, 3578, 3579, 3580, 3581, 3582, 3583,
    3584, 3586, 3587, 3589, 3590, 3592, 3593, 3594, 3595, 3596, 3597, 3598, 3599, 3600, 3601, 3602, 3603, 3604, 3605,
    3662, 3670, 3672, 3674, 3676, 3678, 3679, 3680, 3681, 3682, 3684, 3685, 3687, 3688, 3690, 3691, 3694, 3696, 3698,
    3700, 3702, 3704, 3761, 3769, 3770, 3771, 3772, 3773, 3774, 3775, 3776, 3777, 3778, 3779, 3780, 3781, 3782, 3783,
    3784, 3785, 3786, 3787, 3788, 3789, 3790, 3791, 3793, 3794, 3795, 3796, 3797, 3798, 3799, 3800, 3801, 3802, 3803,
    3860, 3861, 3862, 3863, 3864, 3865, 3866, 3867, 3869, 3871, 3873, 3875, 3876, 3877, 3878, 3879, 3880, 3881, 3883,
    3884, 3886, 3887, 3889, 3890, 3891, 3892, 3893, 3894, 3895, 3896, 3897, 3898, 3899, 3900, 3901, 3902, 3959, 3967,
    3969, 3971, 3973, 3975, 3976, 3977, 3978, 3979, 3981, 3982, 3984, 3985, 3987, 3988, 3991, 3993, 3995, 3997, 3999,
    4001, 4058, 4067, 4069, 4071, 4073, 4074, 4075, 4076, 4077, 4078, 4079, 4081, 4082, 4084, 4085, 4087, 4088, 4090,
    4091, 4092, 4093, 4094, 4095, 4096, 4097, 4098, 4099, 4100, 4157, 4200, 4203, 4205, 4206, 4214, 4215, 4219, 4224,
    4228, 4238, 4243, 4244, 4299, 4300, 4301, 4302, 4303, 4304, 4305, 4306, 4311, 4312, 4313, 4314, 4317, 4318, 4321,
    4322, 4323, 4325, 4326, 4327, 4337, 4341, 4342, 4343, 4347, 4352, 4356, 4357, 4358, 4359, 4360, 4361, 4362, 4386,
    4398, 4399, 4400, 4401, 4402, 4403, 4404, 4405, 4410, 4411, 4412, 4413, 4416, 4417, 4420, 4421, 4422, 4424, 4425,
    4426, 4436, 4440, 4441, 4442, 4446, 4451, 4455, 4456, 4457, 4458, 4459, 4460, 4461, 4485, 4497, 4498, 4499, 4500,
    4501, 4502, 4503, 4504, 4509, 4510, 4511, 4512, 4515, 4516, 4519, 4520, 4521, 4523, 4524, 4525, 4535, 4539, 4540,
    4541, 4545, 4550, 4554, 4555, 4556, 4557, 4558, 4559, 4560, 4584, 4596, 4597, 4598, 4599, 4600, 4601, 4602, 4603,
    4608, 4609, 4610, 4611, 4614, 4615, 4618, 4619, 4620, 4622, 4623, 4624, 4634, 4638, 4639, 4640, 4644, 4649, 4653,
    4654, 4655, 4656, 4657, 4658, 4659, 4683, 4695, 4696, 4697, 4698, 4699, 4700, 4701, 4702, 4707, 4708, 4709, 4710,
    4713, 4714, 4717, 4718, 4719, 4721, 4722, 4723, 4733, 4737, 4738, 4739, 4743, 4748, 4752, 4753, 4754, 4755, 4756,
    4757, 4758, 4782, 4794, 4795, 4796, 4797, 4798, 4799, 4800, 4801, 4806, 4807, 4808, 4809, 4812, 4813, 4816, 4817,
    4818, 4820, 4821, 4822, 4832, 4836, 4837, 4838, 4842, 4847, 4851, 4852, 4853, 4854, 4855, 4856, 4857, 4881, 4894,
    4895, 4897, 4900, 4905, 4906, 4911, 4915, 4916, 4919, 4920, 4935, 4941, 4946, 4957, 4959, 4961, 4963, 4971, 4974,
    4977, 4992, 4995, 4997, 4998, 5000, 5001, 5002, 5003, 5006, 5007, 5008, 5009, 5011, 5012, 5013, 5016, 5017, 5020,
    5030, 5032, 5035, 5036, 5038, 5039, 5043, 5044, 5047, 5056, 5057, 5058, 5059, 5060, 5061, 5062, 5063, 5069, 5070,
    5072, 5073, 5075, 5076, 5078, 5081, 5083, 5085, 5087, 5089, 5091, 5092, 5093, 5094, 5095, 5096, 5097, 5098, 5099,
    5100, 5101, 5102, 5103, 5104, 5105, 5106, 5107, 5108, 5109, 5110, 5111, 5112, 5113, 5114, 5115, 5116, 5117, 5118,
    5119, 5129, 5131, 5133, 5134, 5135, 5137, 5138, 5139, 5142, 5143, 5144, 5146, 5148, 5149, 5150, 5151, 5152, 5153,
    5154, 5155, 5156, 5157, 5158, 5159, 5160, 5161, 5162, 5168, 5169, 5171, 5172, 5174, 5175, 5177, 5178, 5180, 5182,
    5184, 5186, 5188, 5190, 5191, 5192, 5193, 5194, 5195, 5196, 5197, 5198, 5199, 5200, 5201, 5202, 5203, 5204, 5205,
    5206, 5207, 5208, 5209, 5210, 5211, 5212, 5213, 5214, 5215, 5216, 5217, 5218, 5228, 5230, 5232, 5233, 5234, 5236,
    5237, 5238, 5241, 5242, 5243, 5245, 5247, 5248, 5249, 5250, 5251, 5252, 5253, 5254, 5255, 5256, 5257, 5258, 5259,
    5260, 5261, 5267, 5268, 5270, 5271, 5273, 5274, 5276, 5277, 5279, 5281, 5283, 5285, 5287, 5289, 5290, 5291, 5292,
    5293, 5294, 5295, 5296, 5297, 5298, 5299, 5300, 5301, 5302, 5303, 5304, 5305, 5306, 5307, 5308, 5309, 5310, 5311,
    5312, 5313, 5314, 5315, 5316, 5317, 5327, 5329, 5331, 5332, 5333, 5335, 5336, 5337, 5340, 5341, 5342, 5344, 5346,
    5347, 5348, 5349, 5350, 5351, 5352, 5353, 5354, 5355, 5356, 5357, 5358, 5359, 5360, 5366, 5367, 5369, 5370, 5372,
    5373, 5375, 5376, 5378, 5380, 5382, 5384, 5386, 5388, 5389, 5390, 5391, 5392, 5393, 5394, 5395, 5396, 5397, 5398,
    5399, 5400, 5401, 5402, 5403, 5404, 5405, 5406, 5407, 5408, 5409, 5410, 5411, 5412, 5413, 5414, 5415, 5416, 5426,
    5428, 5430, 5431, 5432, 5434, 5435, 5436, 5439, 5440, 5441, 5443, 5445, 5446, 5447, 5448, 5449, 5450, 5451, 5452,
    5453, 5454, 5455, 5456, 5457, 5458, 5459, 5465, 5466, 5468, 5469, 5471, 5472, 5474, 5475, 5477, 5479, 5481, 5483,
    5485, 5487, 5488, 5489, 5490, 5491, 5492, 5493, 5494, 5495, 5496, 5497, 5498, 5499, 5500, 5501, 5502, 5503, 5504,
    5505, 5506, 5507, 5508, 5509, 5510, 5511, 5512, 5513, 5514, 5515, 5525, 5527, 5529, 5530, 5531, 5533, 5534, 5535,
    5538, 5539, 5540, 5542, 5544, 5545, 5546, 5547, 5548, 5549, 5550, 5552, 5554, 5556, 5558, 5564, 5567, 5570, 5573,
    5574, 5576, 5578, 5580, 5582, 5584, 5587, 5588, 5590, 5593, 5594, 5595, 5596, 5597, 5598, 5599, 5602, 5603, 5604,
    5606, 5607, 5608, 5609, 5611, 5612, 5613, 5626, 5628, 5632, 5633, 5634, 5637, 5638, 5639, 5641, 5650, 5652, 5654,
    5656, 5658, 5659, 5660, 5661, 5662, 5664, 5665, 5667, 5668, 5670, 5671, 5674, 5676, 5678, 5680, 5682, 5684, 5685,
    5688, 5690, 5691, 5693, 5694, 5695, 5696, 5699, 5700, 5701, 5702, 5704, 5705, 5706, 5709, 5710, 5713, 5723, 5725,
    5728, 5729, 5731, 5732, 5736, 5737, 5740, 5741, 5749, 5750, 5751, 5752, 5753, 5754, 5755, 5756, 5757, 5758, 5759,
    5760, 5761, 5762, 5763, 5764, 5765, 5766, 5767, 5768, 5769, 5770, 5771, 5773, 5774, 5775, 5776, 5777, 5778, 5779,
    5780, 5781, 5782, 5783, 5784, 5785, 5786, 5787, 5788, 5789, 5790, 5791, 5792, 5793, 5794, 5795, 5796, 5797, 5798,
    5799, 5800, 5801, 5802, 5803, 5804, 5805, 5806, 5807, 5808, 5809, 5810, 5811, 5812, 5822, 5824, 5826, 5827, 5828,
    5830, 5831, 5832, 5835, 5836, 5837, 5839, 5840, 5841, 5842, 5843, 5844, 5845, 5846, 5847, 5848, 5849, 5850, 5851,
    5852, 5853, 5854, 5855, 5856, 5857, 5858, 5859, 5860, 5861, 5862, 5863, 5864, 5865, 5866, 5867, 5868, 5869, 5870,
    5871, 5872, 5873, 5874, 5875, 5876, 5877, 5878, 5879, 5880, 5881, 5882, 5883, 5884, 5885, 5886, 5887, 5888, 5889,
    5890, 5891, 5892, 5893, 5894, 5895, 5896, 5897, 5898, 5899, 5900, 5901, 5902, 5903, 5904, 5905, 5906, 5907, 5908,
    5909, 5910, 5911, 5921, 5923, 5925, 5926, 5927, 5929, 5930, 5931, 5934, 5935, 5936, 5938, 5939, 5940, 5941, 5942,
    5943, 5944, 5945, 5946, 5947, 5948, 5949, 5950, 5951, 5952, 5953, 5954, 5955, 5956, 5957, 5958, 5959, 5960, 5961,
    5962, 5963, 5964, 5965, 5966, 5967, 5968, 5969, 5970, 5971, 5972, 5973, 5974, 5975, 5976, 5977, 5978, 5979, 5980,
    5981, 5982, 5983, 5984, 5985, 5986, 5987, 5988, 5989, 5990, 5991, 5992, 5993, 5994, 5995, 5996, 5997, 5998, 5999,
    6000, 6001, 6002, 6003, 6004, 6005, 6006, 6007, 6008, 6009, 6010, 6020, 6022, 6024, 6025, 6026, 6028, 6029, 6030,
    6033, 6034, 6035, 6037, 6038, 6039, 6040, 6041, 6042, 6043, 6044, 6045, 6046, 6047, 6048, 6049, 6050, 6051, 6052,
    6053, 6054, 6055, 6056, 6057, 6058, 6059, 6060, 6061, 6062, 6063, 6064, 6065, 6066, 6067, 6068, 6069, 6070, 6071,
    6072, 6073, 6074, 6075, 6076, 6077, 6078, 6079, 6080, 6081, 6082, 6083, 6084, 6085, 6086, 6087, 6088, 6089, 6090,
    6091, 6092, 6093, 6094, 6095, 6096, 6097, 6098, 6099, 6100, 6101, 6102, 6103, 6104, 6105, 6106, 6107, 6108, 6109,
    6119, 6121, 6123, 6124, 6125, 6127, 6128, 6129, 6132, 6133, 6134, 6136, 6137, 6138, 6139, 6140, 6141, 6142, 6143,
    6144, 6146, 6148, 6150, 6152, 6153, 6154, 6155, 6156, 6157, 6158, 6160, 6161, 6163, 6164, 6166, 6167, 6168, 6169,
    6170, 6171, 6172, 6173, 6174, 6175, 6176, 6177, 6178, 6179, 6181, 6182, 6184, 6187, 6188, 6189, 6190, 6191, 6192,
    6193, 6196, 6197, 6198, 6200, 6201, 6202, 6203, 6205, 6206, 6207, 6220, 6222, 6226, 6227, 6228, 6231, 6232, 6233,
    6235, 6236, 6244, 6246, 6248, 6250, 6252, 6253, 6254, 6255, 6256, 6258, 6259, 6261, 6262, 6264, 6265, 6268, 6270,
    6272, 6274, 6276, 6278, 6279, 6282, 6284, 6285, 6287, 6288, 6289, 6290, 6293, 6294, 6295, 6296, 6298, 6299, 6300,
    6303, 6304, 6307, 6317, 6319, 6322, 6323, 6325, 6326, 6330, 6331, 6334, 6335, 6343, 6344, 6345, 6346, 6347, 6348,
    6349, 6350, 6351, 6352, 6353, 6354, 6355, 6356, 6357, 6358, 6359, 6360, 6361, 6362, 6363, 6364, 6365, 6367, 6368,
    6369, 6370, 6371, 6372, 6373, 6374, 6375, 6376, 6377, 6378, 6379, 6380, 6381, 6382, 6383, 6384, 6385, 6386, 6387,
    6388, 6389, 6390, 6391, 6392, 6393, 6394, 6395, 6396, 6397, 6398, 6399, 6400, 6401, 6402, 6403, 6404, 6405, 6406,
    6416, 6418, 6420, 6421, 6422, 6424, 6425, 6426, 6429, 6430, 6431, 6433, 6434, 6435, 6436, 6437, 6438, 6439, 6440,
    6441, 6442, 6443, 6444, 6445, 6446, 6447, 6448, 6449, 6450, 6451, 6452, 6453, 6454, 6455, 6456, 6457, 6458, 6459,
    6460, 6461, 6462, 6463, 6464, 6465, 6466, 6467, 6468, 6469, 6470, 6471, 6472, 6473, 6474, 6475, 6476, 6477, 6478,
    6479, 6480, 6481, 6482, 6483, 6484, 6485, 6486, 6487, 6488, 6489, 6490, 6491, 6492, 6493, 6494, 6495, 6496, 6497,
    6498, 6499, 6500, 6501, 6502, 6503, 6504, 6505, 6515, 6517, 6519, 6520, 6521, 6523, 6524, 6525, 6528, 6529, 6530,
    6532, 6533, 6534, 6535, 6536, 6537, 6538, 6539, 6540, 6541, 6542, 6543, 6544, 6545, 6546, 6547, 6548, 6549, 6550,
    6551, 6552, 6553, 6554, 6555, 6556, 6557, 6558, 6559, 6560, 6561, 6562, 6563, 6564, 6565, 6566, 6567, 6568, 6569,
    6570, 6571, 6572, 6573, 6574, 6575, 6576, 6577, 6578, 6579, 6580, 6581, 6582, 6583, 6584, 6585, 6586, 6587, 6588,
    6589, 6590, 6591, 6592, 6593, 6594, 6595, 6596, 6597, 6598, 6599, 6600, 6601, 6602, 6603, 6604, 6614, 6616, 6618,
    6619, 6620, 6622, 6623, 6624, 6627, 6628, 6629, 6631, 6632, 6633, 6634, 6635, 6636, 6637, 6638, 6639, 6641, 6643,
    6645, 6647, 6648, 6649, 6650, 6651, 6652, 6653, 6655, 6656, 6658, 6659, 6661, 6662, 6663, 6664, 6665, 6666, 6667,
    6668, 6669, 6670, 6671, 6672, 6673, 6674, 6676, 6677, 6679, 6682, 6683, 6684, 6685, 6686, 6687, 6688, 6691, 6692,
    6693, 6695, 6696, 6697, 6698, 6700, 6701, 6702, 6715, 6717, 6721, 6722, 6723, 6726, 6727, 6728, 6730, 6731, 6739,
    6741, 6743, 6745, 6747, 6748, 6749, 6750, 6751, 6753, 6754, 6756, 6757, 6759, 6760, 6763, 6765, 6767, 6769, 6771,
    6773, 6774, 6777, 6779, 6780, 6782, 6783, 6784, 6785, 6788, 6789, 6790, 6791, 6793, 6794, 6795, 6798, 6799, 6802,
    6812, 6814, 6817, 6818, 6820, 6821, 6825, 6826, 6829, 6830, 6838, 6839, 6840, 6841, 6842, 6843, 6844, 6845, 6846,
    6847, 6848, 6849, 6850, 6851, 6852, 6853, 6854, 6855, 6856, 6857, 6858, 6859, 6860, 6862, 6863, 6864, 6865, 6866,
    6867, 6868, 6869, 6870, 6871, 6872, 6873, 6874, 6875, 6876, 6877, 6878, 6879, 6880, 6881, 6882, 6883, 6884, 6885,
    6886, 6887, 6888, 6889, 6890, 6891, 6892, 6893, 6894, 6895, 6896, 6897, 6898, 6899, 6900, 6901, 6911, 6913, 6915,
    6916, 6917, 6919, 6920, 6921, 6924, 6925, 6926, 6928, 6929, 6930, 6931, 6932, 6933, 6934, 6935, 6936, 6937, 6938,
    6939, 6940, 6941, 6942, 6943, 6944, 6945, 6946, 6947, 6948, 6949, 6950, 6951, 6952, 6953, 6954, 6955, 6956, 6957,
    6958, 6959, 6960, 6961, 6962, 6963, 6964, 6965, 6966, 6967, 6968, 6969, 6970, 6971, 6972, 6973, 6974, 6975, 6976,
    6977, 6978, 6979, 6980, 6981, 6982, 6983, 6984, 6985, 6986, 6987, 6988, 6989, 6990, 6991, 6992, 6993, 6994, 6995,
    6996, 6997, 6998, 6999, 7000, 7010, 7012, 7014, 7015, 7016, 7018, 7019, 7020, 7023, 7024, 7025, 7027, 7028, 7071,
    7074, 7076, 7077, 7085, 7086, 7090, 7095, 7099, 7100, 7101, 7102, 7103, 7104, 7105, 7106, 7107, 7108, 7109, 7110,
    7112, 7114, 7115, 7116, 7120, 7121, 7125, 7170, 7171, 7172, 7173, 7174, 7175, 7176, 7177, 7182, 7183, 7184, 7185,
    7188, 7189, 7192, 7193, 7194, 7196, 7197, 7198, 7199, 7200, 7201, 7202, 7203, 7204, 7205, 7206, 7207, 7208, 7209,
    7211, 7212, 7213, 7214, 7215, 7218, 7219, 7220, 7223, 7224, 7227, 7228, 7229, 7230, 7231, 7232, 7233, 7257, 7269,
    7270, 7271, 7272, 7273, 7274, 7275, 7276, 7281, 7282, 7283, 7284, 7287, 7288, 7291, 7292, 7293, 7295, 7296, 7297,
    7298, 7299, 7300, 7301, 7302, 7303, 7304, 7305, 7306, 7307, 7308, 7310, 7311, 7312, 7313, 7314, 7317, 7318, 7319,
    7322, 7323, 7326, 7327, 7328, 7329, 7330, 7331, 7332, 7356, 7368, 7369, 7370, 7371, 7372, 7373, 7374, 7375, 7380,
    7381, 7382, 7383, 7386, 7387, 7390, 7391, 7392, 7394, 7395, 7396, 7397, 7398, 7399, 7400, 7401, 7402, 7403, 7404,
    7405, 7406, 7407, 7409, 7410, 7411, 7412, 7413, 7416, 7417, 7418, 7421, 7422, 7425, 7426, 7427, 7428, 7429, 7430,
    7431, 7455, 7467, 7468, 7469, 7470, 7471, 7472, 7473, 7474, 7479, 7480, 7481, 7482, 7485, 7486, 7489, 7490, 7491,
    7493, 7494, 7495, 7496, 7497, 7498, 7499, 7500, 7501, 7502, 7503, 7504, 7505, 7506, 7508, 7509, 7510, 7511, 7512,
    7515, 7516, 7517, 7520, 7521, 7524, 7525, 7526, 7527, 7528, 7529, 7530, 7554, 7566, 7567, 7568, 7569, 7570, 7571,
    7572, 7573, 7578, 7579, 7580, 7581, 7584, 7585, 7588, 7589, 7590, 7592, 7593, 7594, 7595, 7596, 7597, 7598, 7599,
    7600, 7601, 7602, 7603, 7604, 7605, 7607, 7608, 7609, 7610, 7611, 7614, 7615, 7616, 7619, 7620, 7623, 7624, 7625,
    7626, 7627, 7628, 7629, 7653, 7666, 7667, 7669, 7672, 7677, 7678, 7683, 7687, 7688, 7691, 7692, 7694, 7695, 7696,
    7697, 7698, 7699, 7700, 7701, 7702, 7704, 7706, 7707, 7710, 7713, 7714, 7715, 7718, 7719, 7729, 7731, 7733, 7735,
    7743, 7746, 7749, 7764, 7767, 7769, 7770, 7772, 7773, 7774, 7775, 7778, 7779, 7780, 7781, 7783, 7784, 7785, 7788,
    7789, 7792, 7793, 7794, 7795, 7796, 7797, 7798, 7799, 7800, 7801, 7802, 7803, 7804, 7805, 7807, 7808, 7809, 7810,
    7811, 7813, 7814, 7815, 7816, 7818, 7819, 7828, 7829, 7830, 7831, 7832, 7833, 7834, 7835, 7841, 7842, 7844, 7845,
    7847, 7848, 7850, 7853, 7855, 7857, 7859, 7861, 7863, 7864, 7865, 7866, 7867, 7868, 7869, 7870, 7871, 7872, 7873,
    7874, 7875, 7876, 7877, 7878, 7879, 7880, 7881, 7882, 7883, 7884, 7885, 7886, 7887, 7888, 7889, 7890, 7891, 7892,
    7893, 7894, 7895, 7896, 7897, 7898, 7899, 7900, 7901, 7902, 7903, 7904, 7905, 7906, 7907, 7908, 7909, 7910, 7911,
    7912, 7913, 7914, 7915, 7916, 7917, 7918, 7927, 7929, 7931, 7933, 7935, 7936, 7937, 7938, 7939, 7941, 7942, 7944,
    7945, 7947, 7948, 7951, 7953, 7955, 7957, 7959, 7961, 7962, 7965, 7967, 7968, 7970, 7971, 7972, 7973, 7976, 7977,
    7978, 7979, 7981, 7982, 7983, 7986, 7987, 7990, 7991, 7992, 7993, 7994, 7995, 7996, 7997, 7998, 7999, 8000, 8001,
    8002, 8003, 8005, 8006, 8007, 8008, 8009, 8011, 8012, 8013, 8014, 8016, 8017, 8018, 8019, 8020, 8021, 8022, 8023,
    8024, 8025, 8026, 8027, 8028, 8029, 8030, 8031, 8032, 8033, 8039, 8040, 8042, 8043, 8045, 8046, 8048, 8049, 8051,
    8053, 8055, 8057, 8059, 8061, 8062, 8063, 8064, 8065, 8066, 8067, 8068, 8069, 8070, 8071, 8072, 8073, 8074, 8075,
    8076, 8077, 8078, 8079, 8080, 8081, 8082, 8083, 8084, 8085, 8086, 8087, 8088, 8089, 8090, 8091, 8092, 8093, 8094,
    8095, 8096, 8097, 8098, 8099, 8100, 8101, 8102, 8103, 8104, 8105, 8106, 8107, 8108, 8109, 8110, 8111, 8112, 8113,
    8114, 8115, 8116, 8125, 8126, 8127, 8128, 8129, 8130, 8131, 8132, 8133, 8134, 8135, 8136, 8137, 8138, 8139, 8140,
    8141, 8142, 8143, 8144, 8145, 8146, 8147, 8149, 8150, 8151, 8152, 8153, 8154, 8155, 8156, 8157, 8158, 8159, 8160,
    8161, 8162, 8163, 8164, 8165, 8166, 8167, 8168, 8169, 8170, 8171, 8172, 8173, 8174, 8175, 8176, 8177, 8178, 8179,
    8180, 8181, 8182, 8183, 8184, 8185, 8186, 8187, 8188, 8189, 8190, 8191, 8192, 8193, 8194, 8195, 8196, 8197, 8198,
    8199, 8200, 8201, 8202, 8203, 8204, 8205, 8206, 8207, 8208, 8209, 8210, 8211, 8212, 8213, 8214, 8215, 8216, 8224,
    8226, 8228, 8230, 8232, 8233, 8234, 8235, 8236, 8238, 8239, 8241, 8242, 8244, 8245, 8248, 8250, 8252, 8254, 8256,
    8258, 8259, 8262, 8264, 8265, 8267, 8268, 8269, 8270, 8273, 8274, 8275, 8276, 8278, 8279, 8280, 8283, 8284, 8287,
    8288, 8289, 8290, 8291, 8292, 8293, 8294, 8295, 8296, 8297, 8298, 8299, 8300, 8302, 8303, 8304, 8305, 8306, 8308,
    8309, 8310, 8311, 8313, 8314, 8315, 8316, 8317, 8318, 8319, 8320, 8321, 8322, 8323, 8324, 8325, 8326, 8327, 8328,
    8329, 8330, 8336, 8337, 8339, 8340, 8342, 8343, 8345, 8346, 8348, 8350, 8352, 8354, 8356, 8358, 8359, 8360, 8361,
    8362, 8363, 8364, 8365, 8366, 8367, 8368, 8369, 8370, 8371, 8372, 8373, 8374, 8375, 8376, 8377, 8378, 8379, 8380,
    8381, 8382, 8383, 8384, 8385, 8386, 8387, 8388, 8389, 8390, 8391, 8392, 8393, 8394, 8395, 8396, 8397, 8398, 8399,
    8400, 8401, 8402, 8403, 8404, 8405, 8406, 8407, 8408, 8409, 8410, 8411, 8412, 8413, 8415, 8416, 8417, 8418, 8419,
    8420, 8421, 8422, 8423, 8424, 8425, 8426, 8427, 8428, 8429, 8430, 8431, 8432, 8433, 8434, 8435, 8436, 8437, 8438,
    8439, 8440, 8441, 8442, 8443, 8444, 8445, 8446, 8447, 8448, 8449, 8450, 8451, 8452, 8453, 8454, 8455, 8456, 8457,
    8458, 8459, 8460, 8461, 8462, 8463, 8464, 8465, 8466, 8467, 8468, 8469, 8470, 8471, 8472, 8473, 8474, 8475, 8476,
    8477, 8478, 8479, 8480, 8481, 8482, 8483, 8484, 8485, 8486, 8487, 8488, 8489, 8490, 8491, 8492, 8493, 8494, 8495,
    8496, 8497, 8498, 8499, 8500, 8501, 8502, 8503, 8504, 8505, 8506, 8507, 8508, 8509, 8510, 8511, 8512, 8513, 8521,
    8522, 8523, 8524, 8525, 8526, 8527, 8528, 8529, 8530, 8531, 8532, 8533, 8534, 8535, 8536, 8537, 8538, 8539, 8540,
    8541, 8542, 8543, 8545, 8546, 8547, 8548, 8549, 8550, 8551, 8552, 8553, 8554, 8555, 8556, 8557, 8558, 8559, 8560,
    8561, 8562, 8563, 8564, 8565, 8566, 8567, 8568, 8569, 8570, 8571, 8572, 8573, 8574, 8575, 8576, 8577, 8578, 8579,
    8580, 8581, 8582, 8583, 8584, 8585, 8586, 8587, 8588, 8589, 8590, 8591, 8592, 8593, 8594, 8595, 8596, 8597, 8598,
    8599, 8600, 8601, 8602, 8603, 8604, 8605, 8606, 8607, 8608, 8609, 8610, 8611, 8612, 8620, 8622, 8624, 8626, 8628,
    8629, 8630, 8631, 8632, 8634, 8635, 8637, 8638, 8640, 8641, 8644, 8646, 8648, 8650, 8652, 8654, 8655, 8658, 8660,
    8661, 8663, 8664, 8665, 8666, 8669, 8670, 8671, 8672, 8674, 8675, 8676, 8679, 8680, 8683, 8693, 8695, 8698, 8699,
    8701, 8702, 8706, 8707, 8710, 8711, 8712, 8713, 8714, 8715, 8716, 8717, 8718, 8719, 8720, 8721, 8722, 8723, 8724,
    8725, 8726, 8732, 8733, 8735, 8736, 8738, 8739, 8741, 8742, 8744, 8746, 8748, 8750, 8752, 8754, 8755, 8756, 8757,
    8758, 8759, 8760, 8761, 8762, 8763, 8764, 8765, 8766, 8767, 8768, 8769, 8770, 8771, 8772, 8773, 8774, 8775, 8776,
    8777, 8778, 8779, 8780, 8781, 8782, 8783, 8784, 8785, 8786, 8787, 8788, 8789, 8790, 8791, 8792, 8793, 8794, 8795,
    8796, 8797, 8798, 8799, 8800, 8801, 8802, 8803, 8804, 8805, 8806, 8807, 8808, 8809, 8811, 8812, 8813, 8814, 8815,
    8816, 8817, 8818, 8819, 8820, 8821, 8822, 8823, 8824, 8825, 8826, 8827, 8828, 8829, 8830, 8831, 8832, 8833, 8834,
    8835, 8836, 8837, 8838, 8839, 8840, 8841, 8842, 8843, 8844, 8845, 8846, 8847, 8848, 8849, 8850, 8851, 8852, 8853,
    8854, 8855, 8856, 8857, 8858, 8859, 8860, 8861, 8862, 8863, 8864, 8865, 8866, 8867, 8868, 8869, 8870, 8871, 8872,
    8873, 8874, 8875, 8876, 8877, 8878, 8879, 8880, 8881, 8882, 8883, 8884, 8885, 8886, 8887, 8888, 8889, 8890, 8891,
    8892, 8893, 8894, 8895, 8896, 8897, 8898, 8899, 8900, 8901, 8902, 8903, 8904, 8905, 8906, 8907, 8908, 8909, 8910,
    8911, 8912, 8913, 8914, 8915, 8916, 8917, 8918, 8919, 8920, 8921, 8922, 8923, 8924, 8925, 8926, 8927, 8928, 8929,
    8930, 8931, 8932, 8933, 8934, 8935, 8936, 8937, 8938, 8939, 8940, 8941, 8942, 8943, 8944, 8945, 8946, 8947, 8948,
    8949, 8950, 8951, 8952, 8953, 8954, 8955, 8956, 8957, 8958, 8959, 8960, 8961, 8962, 8963, 8964, 8965, 8966, 8967,
    8968, 8969, 8970, 8971, 8972, 8973, 8974, 8975, 8976, 8977, 8978, 8979, 8980, 8981, 8982, 8983, 8984, 8985, 8986,
    8987, 8988, 8989, 8990, 8991, 8992, 8993, 8994, 8995, 8996, 8997, 8998, 8999, 9000, 9001, 9002, 9003, 9004, 9005,
    9006, 9007, 9008, 9016, 9017, 9018, 9019, 9020, 9021, 9022, 9023, 9024, 9025, 9026, 9027, 9028, 9029, 9030, 9031,
    9032, 9033, 9034, 9035, 9036, 9037, 9038, 9040, 9041, 9042, 9043, 9044, 9045, 9046, 9047, 9048, 9049, 9050, 9051,
    9052, 9053, 9054, 9055, 9056, 9057, 9058, 9059, 9060, 9061, 9062, 9063, 9064, 9065, 9066, 9067, 9068, 9069, 9070,
    9071, 9072, 9073, 9074, 9075, 9076, 9077, 9078, 9079, 9089, 9091, 9093, 9094, 9095, 9097, 9098, 9099, 9102, 9103,
    9104, 9106, 9107, 9115, 9117, 9119, 9121, 9123, 9124, 9125, 9126, 9127, 9129, 9130, 9132, 9133, 9135, 9136, 9139,
    9141, 9143, 9145, 9147, 9149, 9150, 9153, 9155, 9156, 9158, 9159, 9160, 9161, 9164, 9165, 9166, 9167, 9169, 9170,
    9171, 9174, 9175, 9178, 9188, 9190, 9193, 9194, 9196, 9197, 9201, 9202, 9205, 9206, 9207, 9208, 9209, 9210, 9211,
    9212, 9213, 9215, 9217, 9219, 9221, 9227, 9230, 9233, 9236, 9237, 9239, 9241, 9243, 9245, 9247, 9250, 9251, 9253,
    9256, 9257, 9258, 9259, 9260, 9261, 9262, 9265, 9266, 9267, 9269, 9270, 9271, 9272, 9274, 9275, 9276, 9278, 9279,
    9280, 9281, 9282, 9283, 9284, 9285, 9286, 9288, 9289, 9290, 9291, 9294, 9295, 9296, 9297, 9298, 9299, 9300, 9301,
    9302, 9303, 9304, 9306, 9307, 9308, 9309, 9310, 9311, 9312, 9314, 9316, 9318, 9320, 9321, 9322, 9323, 9324, 9325,
    9326, 9328, 9329, 9331, 9332, 9334, 9335, 9336, 9337, 9338, 9339, 9340, 9341, 9342, 9343, 9344, 9345, 9346, 9347,
    9349, 9350, 9352, 9355, 9356, 9357, 9358, 9359, 9360, 9361, 9364, 9365, 9366, 9368, 9369, 9370, 9371, 9373, 9374,
    9375, 9377, 9378, 9379, 9380, 9381, 9382, 9383, 9384, 9385, 9387, 9388, 9389, 9390, 9393, 9394, 9395, 9396, 9397,
    9398, 9399, 9400, 9401, 9402, 9403, 9404, 9405, 9406, 9407, 9408, 9409, 9410, 9411, 9413, 9415, 9417, 9419, 9420,
    9421, 9422, 9423, 9424, 9425, 9427, 9428, 9430, 9431, 9433, 9434, 9435, 9436, 9437, 9438, 9439, 9440, 9441, 9442,
    9443, 9444, 9445, 9446, 9448, 9449, 9451, 9454, 9455, 9456, 9457, 9458, 9459, 9460, 9463, 9464, 9465, 9467, 9468,
    9469, 9470, 9472, 9473, 9474, 9487, 9489, 9493, 9494, 9495, 9498, 9499, 9500, 9502, 9503, 9504, 9505, 9506, 9507,
    9508, 9509, 9510, 9512, 9514, 9516, 9518, 9519, 9520, 9521, 9522, 9523, 9524, 9526, 9527, 9529, 9530, 9532, 9533,
    9534, 9535, 9536, 9537, 9538, 9539, 9540, 9541, 9542, 9543, 9544, 9545, 9547, 9548, 9550, 9553, 9554, 9555, 9556,
    9557, 9558, 9559, 9562, 9563, 9564, 9566, 9567, 9568, 9569, 9571, 9572, 9573, 9586, 9588, 9592, 9593, 9594, 9597,
    9598, 9599, 9601, 9602, 9611, 9613, 9615, 9617, 9618, 9619, 9620, 9621, 9622, 9623, 9625, 9626, 9628, 9629, 9631,
    9632, 9634, 9635, 9636, 9637, 9638, 9639, 9640, 9641, 9642, 9643, 9644, 9646, 9647, 9649, 9652, 9653, 9654, 9655,
    9656, 9657, 9658, 9661, 9662, 9663, 9665, 9666, 9667, 9668, 9670, 9671, 9672, 9685, 9687, 9691, 9692, 9693, 9696,
    9697, 9698, 9700, 9701, 9717, 9718, 9719, 9720, 9721, 9724, 9727, 9730, 9733, 9735, 9737, 9739, 9741, 9743, 9800};
static const int C1_ind[] = {
    71,   72,   73,   74,   75,   76,   77,   78,   79,   81,   83,   87,   91,   92,   96,   141,  144,  146,  147,
    155,  156,  160,  165,  169,  170,  171,  172,  173,  174,  175,  176,  177,  178,  179,  180,  182,  184,  185,
    186,  190,  191,  195,  240,  243,  245,  246,  254,  255,  259,  264,  268,  269,  270,  271,  272,  273,  274,
    275,  276,  277,  278,  279,  281,  283,  284,  285,  289,  290,  294,  339,  342,  344,  345,  353,  354,  358,
    363,  367,  368,  369,  370,  371,  372,  373,  374,  375,  376,  377,  378,  380,  382,  383,  384,  388,  389,
    393,  438,  441,  443,  444,  452,  453,  457,  462,  466,  467,  468,  469,  470,  471,  472,  473,  474,  475,
    476,  477,  479,  481,  482,  483,  487,  488,  492,  537,  540,  542,  543,  551,  552,  556,  561,  565,  566,
    567,  568,  569,  570,  571,  572,  573,  574,  575,  576,  578,  580,  581,  582,  586,  587,  591,  636,  637,
    638,  639,  640,  641,  642,  643,  648,  649,  650,  651,  654,  655,  658,  659,  660,  662,  663,  664,  665,
    666,  667,  668,  669,  670,  671,  672,  673,  674,  675,  677,  678,  679,  680,  681,  684,  685,  686,  689,
    690,  700,  702,  704,  706,  714,  717,  720,  735,  738,  740,  741,  743,  744,  745,  746,  749,  750,  751,
    752,  754,  755,  756,  759,  760,  763,  764,  765,  766,  767,  768,  769,  770,  771,  772,  773,  774,  775,
    776,  778,  779,  780,  781,  782,  784,  785,  786,  787,  789,  790,  834,  835,  836,  837,  838,  839,  840,
    841,  846,  847,  848,  849,  852,  853,  856,  857,  858,  860,  861,  862,  863,  864,  865,  866,  867,  868,
    869,  870,  871,  872,  873,  875,  876,  877,  878,  879,  882,  883,  884,  887,  888,  891,  892,  893,  894,
    895,  896,  897,  921,  933,  934,  935,  936,  937,  938,  939,  940,  945,  946,  947,  948,  951,  952,  955,
    956,  957,  959,  960,  961,  962,  963,  964,  965,  966,  967,  968,  969,  970,  971,  972,  974,  975,  976,
    977,  978,  981,  982,  983,  986,  987,  997,  998,  999,  1000, 1001, 1002, 1003, 1004, 1010, 1011, 1013, 1014,
    1016, 1017, 1019, 1022, 1024, 1026, 1028, 1030, 1032, 1033, 1034, 1035, 1036, 1037, 1038, 1039, 1040, 1041, 1042,
    1043, 1044, 1045, 1046, 1047, 1048, 1049, 1050, 1051, 1052, 1053, 1054, 1055, 1056, 1057, 1058, 1059, 1060, 1061,
    1062, 1063, 1064, 1065, 1066, 1067, 1068, 1069, 1070, 1071, 1072, 1073, 1074, 1075, 1076, 1077, 1078, 1079, 1080,
    1081, 1082, 1083, 1084, 1085, 1086, 1087, 1096, 1098, 1100, 1102, 1110, 1113, 1116, 1131, 1134, 1136, 1137, 1139,
    1140, 1141, 1142, 1145, 1146, 1147, 1148, 1150, 1151, 1152, 1155, 1156, 1159, 1160, 1161, 1162, 1163, 1164, 1165,
    1166, 1167, 1168, 1169, 1170, 1171, 1172, 1174, 1175, 1176, 1177, 1178, 1180, 1181, 1182, 1183, 1185, 1186, 1195,
    1197, 1199, 1201, 1203, 1204, 1205, 1206, 1207, 1209, 1210, 1212, 1213, 1215, 1216, 1219, 1221, 1223, 1225, 1227,
    1229, 1230, 1233, 1235, 1236, 1238, 1239, 1240, 1241, 1244, 1245, 1246, 1247, 1249, 1250, 1251, 1254, 1255, 1258,
    1259, 1260, 1261, 1262, 1263, 1264, 1265, 1266, 1267, 1268, 1269, 1270, 1271, 1273, 1274, 1275, 1276, 1277, 1279,
    1280, 1281, 1282, 1284, 1285, 1286, 1329, 1330, 1331, 1332, 1333, 1334, 1335, 1336, 1341, 1342, 1343, 1344, 1347,
    1348, 1351, 1352, 1353, 1355, 1356, 1357, 1358, 1359, 1360, 1361, 1362, 1363, 1364, 1365, 1366, 1367, 1368, 1370,
    1371, 1372, 1373, 1374, 1377, 1378, 1379, 1382, 1383, 1386, 1387, 1388, 1389, 1390, 1391, 1392, 1416, 1428, 1429,
    1430, 1431, 1432, 1433, 1434, 1435, 1440, 1441, 1442, 1443, 1446, 1447, 1450, 1451, 1452, 1454, 1455, 1456, 1457,
    1458, 1459, 1460, 1461, 1462, 1463, 1464, 1465, 1466, 1467, 1469, 1470, 1471, 1472, 1473, 1476, 1477, 1478, 1481,
    1482, 1485, 1486, 1487, 1488, 1489, 1490, 1491, 1515, 1527, 1528, 1529, 1530, 1531, 1532, 1533, 1534, 1539, 1540,
    1541, 1542, 1545, 1546, 1549, 1550, 1551, 1553, 1554, 1555, 1556, 1557, 1558, 1559, 1560, 1561, 1562, 1563, 1564,
    1565, 1566, 1568, 1569, 1570, 1571, 1572, 1575, 1576, 1577, 1580, 1581, 1584, 1585, 1586, 1587, 1588, 1589, 1590,
    1591, 1592, 1593, 1594, 1595, 1596, 1597, 1598, 1604, 1605, 1607, 1608, 1610, 1611, 1613, 1614, 1616, 1618, 1620,
    1622, 1624, 1626, 1627, 1628, 1629, 1630, 1631, 1632, 1633, 1634, 1635, 1636, 1637, 1638, 1639, 1640, 1641, 1642,
    1643, 1644, 1645, 1646, 1647, 1648, 1649, 1650, 1651, 1652, 1653, 1654, 1655, 1656, 1657, 1658, 1659, 1660, 1661,
    1662, 1663, 1664, 1665, 1666, 1667, 1668, 1669, 1670, 1671, 1672, 1673, 1674, 1675, 1676, 1677, 1678, 1679, 1680,
    1681, 1690, 1691, 1692, 1693, 1694, 1695, 1696, 1697, 1703, 1704, 1706, 1707, 1709, 1710, 1712, 1715, 1717, 1719,
    1721, 1723, 1725, 1726, 1727, 1728, 1729, 1730, 1731, 1732, 1733, 1734, 1735, 1736, 1737, 1738, 1739, 1740, 1741,
    1742, 1743, 1744, 1745, 1746, 1747, 1748, 1749, 1750, 1751, 1752, 1753, 1754, 1755, 1756, 1757, 1758, 1759, 1760,
    1761, 1762, 1763, 1764, 1765, 1766, 1767, 1768, 1769, 1770, 1771, 1772, 1773, 1774, 1775, 1776, 1777, 1778, 1779,
    1780, 1789, 1790, 1791, 1792, 1793, 1794, 1795, 1796, 1797, 1798, 1799, 1800, 1801, 1802, 1803, 1804, 1805, 1806,
    1807, 1808, 1809, 1810, 1811, 1813, 1814, 1815, 1816, 1817, 1818, 1819, 1820, 1821, 1822, 1823, 1824, 1825, 1826,
    1827, 1828, 1829, 1830, 1831, 1832, 1833, 1834, 1835, 1836, 1837, 1838, 1839, 1840, 1841, 1842, 1843, 1844, 1845,
    1846, 1847, 1848, 1849, 1850, 1851, 1852, 1853, 1854, 1855, 1856, 1857, 1858, 1859, 1860, 1861, 1862, 1863, 1864,
    1865, 1866, 1867, 1868, 1869, 1870, 1871, 1872, 1873, 1874, 1875, 1876, 1877, 1878, 1879, 1880, 1888, 1890, 1892,
    1894, 1902, 1905, 1908, 1923, 1926, 1928, 1929, 1931, 1932, 1933, 1934, 1937, 1938, 1939, 1940, 1942, 1943, 1944,
    1947, 1948, 1951, 1952, 1953, 1954, 1955, 1956, 1957, 1958, 1959, 1960, 1961, 1962, 1963, 1964, 1966, 1967, 1968,
    1969, 1970, 1972, 1973, 1974, 1975, 1977, 1978, 1987, 1989, 1991, 1993, 1995, 1996, 1997, 1998, 1999, 2001, 2002,
    2004, 2005, 2007, 2008, 2011, 2013, 2015, 2017, 2019, 2021, 2022, 2025, 2027, 2028, 2030, 2031, 2032, 2033, 2036,
    2037, 2038, 2039, 2041, 2042, 2043, 2046, 2047, 2050, 2051, 2052, 2053, 2054, 2055, 2056, 2057, 2058, 2059, 2060,
    2061, 2062, 2063, 2065, 2066, 2067, 2068, 2069, 2071, 2072, 2073, 2074, 2076, 2077, 2078, 2086, 2088, 2090, 2092,
    2094, 2095, 2096, 2097, 2098, 2100, 2101, 2103, 2104, 2106, 2107, 2110, 2112, 2114, 2116, 2118, 2120, 2121, 2124,
    2126, 2127, 2129, 2130, 2131, 2132, 2135, 2136, 2137, 2138, 2140, 2141, 2142, 2145, 2146, 2149, 2150, 2151, 2152,
    2153, 2154, 2155, 2156, 2157, 2158, 2159, 2160, 2161, 2162, 2164, 2165, 2166, 2167, 2168, 2170, 2171, 2172, 2173,
    2175, 2176, 2177, 2185, 2187, 2189, 2191, 2193, 2194, 2195, 2196, 2197, 2199, 2200, 2202, 2203, 2205, 2206, 2209,
    2211, 2213, 2215, 2217, 2219, 2220, 2223, 2225, 2226, 2228, 2229, 2230, 2231, 2234, 2235, 2236, 2237, 2239, 2240,
    2241, 2244, 2245, 2248, 2249, 2250, 2251, 2252, 2253, 2254, 2255, 2256, 2257, 2258, 2259, 2260, 2261, 2263, 2264,
    2265, 2266, 2267, 2269, 2270, 2271, 2272, 2274, 2275, 2276, 2319, 2320, 2321, 2322, 2323, 2324, 2325, 2326, 2331,
    2332, 2333, 2334, 2337, 2338, 2341, 2342, 2343, 2345, 2346, 2347, 2348, 2349, 2350, 2351, 2352, 2353, 2354, 2355,
    2356, 2357, 2358, 2360, 2361, 2362, 2363, 2364, 2367, 2368, 2369, 2372, 2373, 2376, 2377, 2378, 2379, 2380, 2381,
    2382, 2406, 2418, 2419, 2420, 2421, 2422, 2423, 2424, 2425, 2430, 2431, 2432, 2433, 2436, 2437, 2440, 2441, 2442,
    2444, 2445, 2446, 2447, 2448, 2449, 2450, 2451, 2452, 2453, 2454, 2455, 2456, 2457, 2459, 2460, 2461, 2462, 2463,
    2466, 2467, 2468, 2471, 2472, 2475, 2476, 2477, 2478, 2479, 2480, 2481, 2505, 2517, 2518, 2519, 2520, 2521, 2522,
    2523, 2524, 2529, 2530, 2531, 2532, 2535, 2536, 2539, 2540, 2541, 2543, 2544, 2545, 2546, 2547, 2548, 2549, 2550,
    2551, 2552, 2553, 2554, 2555, 2556, 2558, 2559, 2560, 2561, 2562, 2565, 2566, 2567, 2570, 2571, 2574, 2575, 2576,
    2577, 2578, 2579, 2580, 2604, 2616, 2617, 2618, 2619, 2620, 2621, 2622, 2623, 2628, 2629, 2630, 2631, 2634, 2635,
    2638, 2639, 2640, 2642, 2643, 2644, 2645, 2646, 2647, 2648, 2649, 2650, 2651, 2652, 2653, 2654, 2655, 2657, 2658,
    2659, 2660, 2661, 2664, 2665, 2666, 2669, 2670, 2673, 2674, 2675, 2676, 2677, 2678, 2679, 2680, 2681, 2682, 2683,
    2684, 2685, 2686, 2687, 2693, 2694, 2696, 2697, 2699, 2700, 2702, 2703, 2705, 2707, 2709, 2711, 2713, 2715, 2716,
    2717, 2718, 2719, 2720, 2721, 2722, 2723, 2724, 2725, 2726, 2727, 2728, 2729, 2730, 2731, 2732, 2733, 2734, 2735,
    2736, 2737, 2738, 2739, 2740, 2741, 2742, 2743, 2744, 2745, 2746, 2747, 2748, 2749, 2750, 2751, 2752, 2753, 2754,
    2755, 2756, 2757, 2758, 2759, 2760, 2761, 2762, 2763, 2764, 2765, 2766, 2767, 2768, 2769, 2770, 2772, 2773, 2774,
    2775, 2776, 2777, 2778, 2779, 2780, 2781, 2782, 2783, 2784, 2785, 2786, 2792, 2793, 2795, 2796, 2798, 2799, 2801,
    2802, 2804, 2806, 2808, 2810, 2812, 2814, 2815, 2816, 2817, 2818, 2819, 2820, 2821, 2822, 2823, 2824, 2825, 2826,
    2827, 2828, 2829, 2830, 2831, 2832, 2833, 2834, 2835, 2836, 2837, 2838, 2839, 2840, 2841, 2842, 2843, 2844, 2845,
    2846, 2847, 2848, 2849, 2850, 2851, 2852, 2853, 2854, 2855, 2856, 2857, 2858, 2859, 2860, 2861, 2862, 2863, 2864,
    2865, 2866, 2867, 2868, 2869, 2871, 2872, 2873, 2874, 2875, 2876, 2877, 2878, 2879, 2880, 2881, 2882, 2883, 2884,
    2885, 2886, 2887, 2888, 2889, 2890, 2891, 2892, 2893, 2894, 2895, 2896, 2897, 2898, 2899, 2900, 2901, 2902, 2903,
    2904, 2905, 2906, 2907, 2908, 2909, 2910, 2911, 2912, 2913, 2914, 2915, 2916, 2917, 2918, 2919, 2920, 2921, 2922,
    2923, 2924, 2925, 2926, 2927, 2928, 2929, 2930, 2931, 2932, 2933, 2934, 2935, 2936, 2937, 2938, 2939, 2940, 2941,
    2942, 2943, 2944, 2945, 2946, 2947, 2948, 2949, 2950, 2951, 2952, 2953, 2954, 2955, 2956, 2957, 2958, 2959, 2960,
    2961, 2962, 2963, 2964, 2965, 2966, 2967, 2968, 2969, 2977, 2978, 2979, 2980, 2981, 2982, 2983, 2984, 2990, 2991,
    2993, 2994, 2996, 2997, 2999, 3002, 3004, 3006, 3008, 3010, 3012, 3013, 3014, 3015, 3016, 3017, 3018, 3019, 3020,
    3021, 3022, 3023, 3024, 3025, 3026, 3027, 3028, 3029, 3030, 3031, 3032, 3033, 3034, 3035, 3036, 3037, 3038, 3039,
    3040, 3041, 3042, 3043, 3044, 3045, 3046, 3047, 3048, 3049, 3050, 3051, 3052, 3053, 3054, 3055, 3056, 3057, 3058,
    3059, 3060, 3061, 3062, 3063, 3064, 3065, 3066, 3067, 3076, 3077, 3078, 3079, 3080, 3081, 3082, 3083, 3084, 3085,
    3086, 3087, 3088, 3089, 3090, 3091, 3092, 3093, 3094, 3095, 3096, 3097, 3098, 3100, 3101, 3102, 3103, 3104, 3105,
    3106, 3107, 3108, 3109, 3110, 3111, 3112, 3113, 3114, 3115, 3116, 3117, 3118, 3119, 3120, 3121, 3122, 3123, 3124,
    3125, 3126, 3127, 3128, 3129, 3130, 3131, 3132, 3133, 3134, 3135, 3136, 3137, 3138, 3139, 3140, 3141, 3142, 3143,
    3144, 3145, 3146, 3147, 3148, 3149, 3150, 3151, 3152, 3153, 3154, 3155, 3156, 3157, 3158, 3159, 3160, 3161, 3162,
    3163, 3164, 3165, 3166, 3167, 3175, 3176, 3177, 3178, 3179, 3180, 3181, 3182, 3183, 3184, 3185, 3186, 3187, 3188,
    3189, 3190, 3191, 3192, 3193, 3194, 3195, 3196, 3197, 3199, 3200, 3201, 3202, 3203, 3204, 3205, 3206, 3207, 3208,
    3209, 3210, 3211, 3212, 3213, 3214, 3215, 3216, 3217, 3218, 3219, 3220, 3221, 3222, 3223, 3224, 3225, 3226, 3227,
    3228, 3229, 3230, 3231, 3232, 3233, 3234, 3235, 3236, 3237, 3238, 3239, 3240, 3241, 3242, 3243, 3244, 3245, 3246,
    3247, 3248, 3249, 3250, 3251, 3252, 3253, 3254, 3255, 3256, 3257, 3258, 3259, 3260, 3261, 3262, 3263, 3264, 3265,
    3266, 3274, 3275, 3276, 3277, 3278, 3279, 3280, 3281, 3282, 3283, 3284, 3285, 3286, 3287, 3288, 3289, 3290, 3291,
    3292, 3293, 3294, 3295, 3296, 3298, 3299, 3300, 3301, 3302, 3303, 3304, 3305, 3306, 3307, 3308, 3309, 3310, 3311,
    3312, 3313, 3314, 3315, 3316, 3317, 3318, 3319, 3320, 3321, 3322, 3323, 3324, 3325, 3326, 3327, 3328, 3329, 3330,
    3331, 3332, 3333, 3334, 3335, 3336, 3337, 3338, 3339, 3340, 3341, 3342, 3343, 3344, 3345, 3346, 3347, 3348, 3349,
    3350, 3351, 3352, 3353, 3354, 3355, 3356, 3357, 3358, 3359, 3360, 3361, 3362, 3363, 3364, 3365, 3373, 3375, 3377,
    3379, 3387, 3390, 3393, 3408, 3411, 3413, 3414, 3416, 3417, 3418, 3419, 3422, 3423, 3424, 3425, 3427, 3428, 3429,
    3432, 3433, 3436, 3437, 3438, 3439, 3440, 3441, 3442, 3443, 3444, 3445, 3446, 3447, 3448, 3449, 3451, 3452, 3453,
    3454, 3455, 3457, 3458, 3459, 3460, 3462, 3463, 3472, 3474, 3476, 3478, 3480, 3481, 3482, 3483, 3484, 3486, 3487,
    3489, 3490, 3492, 3493, 3496, 3498, 3500, 3502, 3504, 3506, 3507, 3510, 3512, 3513, 3515, 3516, 3517, 3518, 3521,
    3522, 3523, 3524, 3526, 3527, 3528, 3531, 3532, 3535, 3536, 3537, 3538, 3539, 3540, 3541, 3542, 3543, 3544, 3545,
    3546, 3547, 3548, 3550, 3551, 3552, 3553, 3554, 3556, 3557, 3558, 3559, 3561, 3562, 3563, 3571, 3573, 3575, 3577,
    3579, 3580, 3581, 3582, 3583, 3585, 3586, 3588, 3589, 3591, 3592, 3595, 3597, 3599, 3601, 3603, 3605, 3606, 3609,
    3611, 3612, 3614, 3615, 3616, 3617, 3620, 3621, 3622, 3623, 3625, 3626, 3627, 3630, 3631, 3634, 3635, 3636, 3637,
    3638, 3639, 3640, 3641, 3642, 3643, 3644, 3645, 3646, 3647, 3649, 3650, 3651, 3652, 3653, 3655, 3656, 3657, 3658,
    3660, 3661, 3662, 3670, 3672, 3674, 3676, 3678, 3679, 3680, 3681, 3682, 3684, 3685, 3687, 3688, 3690, 3691, 3694,
    3696, 3698, 3700, 3702, 3704, 3705, 3708, 3710, 3711, 3713, 3714, 3715, 3716, 3719, 3720, 3721, 3722, 3724, 3725,
    3726, 3729, 3730, 3733, 3734, 3735, 3736, 3737, 3738, 3739, 3740, 3741, 3742, 3743, 3744, 3745, 3746, 3748, 3749,
    3750, 3751, 3752, 3754, 3755, 3756, 3757, 3759, 3760, 3761, 3769, 3771, 3773, 3775, 3777, 3778, 3779, 3780, 3781,
    3783, 3784, 3786, 3787, 3789, 3790, 3793, 3795, 3797, 3799, 3801, 3803, 3804, 3807, 3809, 3810, 3812, 3813, 3814,
    3815, 3818, 3819, 3820, 3821, 3823, 3824, 3825, 3828, 3829, 3832, 3833, 3834, 3835, 3836, 3837, 3838, 3839, 3840,
    3841, 3842, 3843, 3844, 3845, 3847, 3848, 3849, 3850, 3851, 3853, 3854, 3855, 3856, 3858, 3859, 3860, 3904, 3905,
    3907, 3910, 3915, 3916, 3921, 3925, 3926, 3929, 3930, 3932, 3933, 3934, 3935, 3936, 3937, 3938, 3939, 3940, 3942,
    3944, 3945, 3948, 3951, 3952, 3953, 3956, 3957, 3960, 3961, 3962, 3963, 3964, 3965, 3966, 3990, 4003, 4004, 4006,
    4009, 4014, 4015, 4020, 4024, 4025, 4028, 4029, 4031, 4032, 4033, 4034, 4035, 4036, 4037, 4038, 4039, 4041, 4043,
    4044, 4047, 4050, 4051, 4052, 4055, 4056, 4059, 4060, 4061, 4062, 4063, 4064, 4065, 4089, 4102, 4103, 4105, 4108,
    4113, 4114, 4119, 4123, 4124, 4127, 4128, 4130, 4131, 4132, 4133, 4134, 4135, 4136, 4137, 4138, 4140, 4142, 4143,
    4146, 4149, 4150, 4151, 4154, 4155, 4158, 4159, 4160, 4161, 4162, 4163, 4164, 4188, 4201, 4202, 4204, 4207, 4212,
    4213, 4218, 4222, 4223, 4226, 4227, 4229, 4230, 4231, 4232, 4233, 4234, 4235, 4236, 4237, 4239, 4241, 4242, 4245,
    4248, 4249, 4250, 4253, 4254, 4257, 4258, 4259, 4260, 4261, 4262, 4263, 4287, 4300, 4301, 4303, 4306, 4311, 4312,
    4317, 4321, 4322, 4325, 4326, 4328, 4329, 4330, 4331, 4332, 4333, 4334, 4335, 4336, 4338, 4340, 4341, 4344, 4347,
    4348, 4349, 4352, 4353, 4356, 4357, 4358, 4359, 4360, 4361, 4362, 4364, 4366, 4368, 4370, 4376, 4379, 4382, 4385,
    4386, 4388, 4390, 4392, 4394, 4396, 4399, 4400, 4402, 4405, 4406, 4407, 4408, 4409, 4410, 4411, 4414, 4415, 4416,
    4418, 4419, 4420, 4421, 4423, 4424, 4425, 4427, 4428, 4429, 4430, 4431, 4432, 4433, 4434, 4435, 4437, 4438, 4439,
    4440, 4443, 4444, 4445, 4446, 4447, 4448, 4449, 4450, 4451, 4452, 4453, 4455, 4456, 4457, 4458, 4459, 4460, 4461,
    4463, 4465, 4467, 4469, 4475, 4478, 4481, 4484, 4485, 4487, 4489, 4491, 4493, 4495, 4498, 4499, 4501, 4504, 4505,
    4506, 4507, 4508, 4509, 4510, 4513, 4514, 4515, 4517, 4518, 4519, 4520, 4522, 4523, 4524, 4526, 4527, 4528, 4529,
    4530, 4531, 4532, 4533, 4534, 4536, 4537, 4538, 4539, 4542, 4543, 4544, 4545, 4546, 4547, 4548, 4549, 4550, 4551,
    4552, 4554, 4555, 4556, 4557, 4558, 4559, 4560, 4562, 4564, 4566, 4568, 4569, 4570, 4571, 4572, 4573, 4574, 4576,
    4577, 4579, 4580, 4582, 4583, 4584, 4585, 4586, 4587, 4588, 4589, 4590, 4591, 4592, 4593, 4594, 4595, 4597, 4598,
    4600, 4603, 4604, 4605, 4606, 4607, 4608, 4609, 4612, 4613, 4614, 4616, 4617, 4618, 4619, 4621, 4622, 4623, 4625,
    4626, 4627, 4628, 4629, 4630, 4631, 4632, 4633, 4635, 4636, 4637, 4638, 4641, 4642, 4643, 4644, 4645, 4646, 4647,
    4648, 4649, 4650, 4651, 4652, 4653, 4654, 4655, 4656, 4657, 4658, 4659, 4661, 4663, 4665, 4667, 4668, 4669, 4670,
    4671, 4672, 4673, 4675, 4676, 4678, 4679, 4681, 4682, 4683, 4684, 4685, 4686, 4687, 4688, 4689, 4690, 4691, 4692,
    4693, 4694, 4696, 4697, 4699, 4702, 4703, 4704, 4705, 4706, 4707, 4708, 4711, 4712, 4713, 4715, 4716, 4717, 4718,
    4720, 4721, 4722, 4724, 4725, 4726, 4727, 4728, 4729, 4730, 4731, 4732, 4734, 4735, 4736, 4737, 4740, 4741, 4742,
    4743, 4744, 4745, 4746, 4747, 4748, 4749, 4750, 4751, 4752, 4753, 4754, 4755, 4756, 4757, 4758, 4760, 4762, 4764,
    4766, 4772, 4775, 4778, 4781, 4782, 4784, 4786, 4788, 4790, 4792, 4795, 4796, 4798, 4801, 4802, 4803, 4804, 4805,
    4806, 4807, 4810, 4811, 4812, 4814, 4815, 4816, 4817, 4819, 4820, 4821, 4823, 4824, 4825, 4826, 4827, 4828, 4829,
    4830, 4831, 4833, 4834, 4835, 4836, 4839, 4840, 4841, 4842, 4843, 4844, 4845, 4846, 4847, 4848, 4849, 4851, 4852,
    4853, 4854, 4855, 4856, 4857, 4859, 4861, 4863, 4865, 4866, 4867, 4868, 4869, 4870, 4871, 4873, 4874, 4876, 4877,
    4879, 4880, 4881, 4882, 4883, 4884, 4885, 4886, 4887, 4888, 4889, 4890, 4891, 4892, 4894, 4895, 4897, 4900, 4901,
    4902, 4903, 4904, 4905, 4906, 4909, 4910, 4911, 4913, 4914, 4915, 4916, 4918, 4919, 4920, 4922, 4923, 4924, 4925,
    4926, 4927, 4928, 4929, 4930, 4932, 4933, 4934, 4935, 4938, 4939, 4940, 4941, 4942, 4943, 4944, 4945, 4946, 4947,
    4948, 4949, 4950, 4951, 4952, 4953, 4954, 4955, 4956, 4958, 4960, 4962, 4964, 4965, 4966, 4967, 4968, 4969, 4970,
    4972, 4973, 4975, 4976, 4978, 4979, 4980, 4981, 4982, 4983, 4984, 4985, 4986, 4987, 4988, 4989, 4990, 4991, 4993,
    4994, 4996, 4999, 5000, 5001, 5002, 5003, 5004, 5005, 5008, 5009, 5010, 5012, 5013, 5014, 5015, 5017, 5018, 5019,
    5021, 5022, 5023, 5024, 5025, 5026, 5027, 5028, 5029, 5031, 5032, 5033, 5034, 5037, 5038, 5039, 5040, 5041, 5042,
    5043, 5044, 5045, 5046, 5047, 5048, 5049, 5050, 5051, 5052, 5053, 5054, 5055, 5057, 5059, 5061, 5063, 5064, 5065,
    5066, 5067, 5068, 5069, 5071, 5072, 5074, 5075, 5077, 5078, 5079, 5080, 5081, 5082, 5083, 5084, 5085, 5086, 5087,
    5088, 5089, 5090, 5092, 5093, 5095, 5098, 5099, 5100, 5101, 5102, 5103, 5104, 5107, 5108, 5109, 5111, 5112, 5113,
    5114, 5116, 5117, 5118, 5120, 5121, 5122, 5123, 5124, 5125, 5126, 5127, 5128, 5130, 5131, 5132, 5133, 5136, 5137,
    5138, 5139, 5140, 5141, 5142, 5143, 5144, 5145, 5146, 5147, 5156, 5158, 5160, 5162, 5168, 5171, 5174, 5177, 5180,
    5182, 5184, 5186, 5188, 5191, 5192, 5194, 5197, 5198, 5199, 5200, 5201, 5202, 5203, 5206, 5207, 5208, 5210, 5211,
    5212, 5213, 5215, 5216, 5217, 5219, 5220, 5221, 5222, 5223, 5224, 5225, 5226, 5227, 5229, 5230, 5231, 5232, 5235,
    5236, 5237, 5238, 5239, 5240, 5241, 5242, 5243, 5244, 5245, 5255, 5257, 5259, 5261, 5262, 5263, 5264, 5265, 5266,
    5267, 5269, 5270, 5272, 5273, 5275, 5276, 5278, 5279, 5280, 5281, 5282, 5283, 5284, 5285, 5286, 5287, 5288, 5290,
    5291, 5293, 5296, 5297, 5298, 5299, 5300, 5301, 5302, 5305, 5306, 5307, 5309, 5310, 5311, 5312, 5314, 5315, 5316,
    5318, 5319, 5320, 5321, 5322, 5323, 5324, 5325, 5326, 5328, 5329, 5330, 5331, 5334, 5335, 5336, 5337, 5338, 5339,
    5340, 5341, 5342, 5343, 5344, 5345, 5354, 5356, 5358, 5360, 5361, 5362, 5363, 5364, 5365, 5366, 5368, 5369, 5371,
    5372, 5374, 5375, 5377, 5378, 5379, 5380, 5381, 5382, 5383, 5384, 5385, 5386, 5387, 5389, 5390, 5392, 5395, 5396,
    5397, 5398, 5399, 5400, 5401, 5404, 5405, 5406, 5408, 5409, 5410, 5411, 5413, 5414, 5415, 5417, 5418, 5419, 5420,
    5421, 5422, 5423, 5424, 5425, 5427, 5428, 5429, 5430, 5433, 5434, 5435, 5436, 5437, 5438, 5439, 5440, 5441, 5442,
    5443, 5444, 5453, 5455, 5457, 5459, 5460, 5461, 5462, 5463, 5464, 5465, 5467, 5468, 5470, 5471, 5473, 5474, 5476,
    5477, 5478, 5479, 5480, 5481, 5482, 5483, 5484, 5485, 5486, 5488, 5489, 5491, 5494, 5495, 5496, 5497, 5498, 5499,
    5500, 5503, 5504, 5505, 5507, 5508, 5509, 5510, 5512, 5513, 5514, 5516, 5517, 5518, 5519, 5520, 5521, 5522, 5523,
    5524, 5526, 5527, 5528, 5529, 5532, 5533, 5534, 5535, 5536, 5537, 5538, 5539, 5540, 5541, 5542, 5543, 5552, 5554,
    5556, 5558, 5559, 5560, 5561, 5562, 5563, 5564, 5566, 5567, 5569, 5570, 5572, 5573, 5575, 5576, 5577, 5578, 5579,
    5580, 5581, 5582, 5583, 5584, 5585, 5587, 5588, 5590, 5593, 5594, 5595, 5596, 5597, 5598, 5599, 5602, 5603, 5604,
    5606, 5607, 5608, 5609, 5611, 5612, 5613, 5615, 5616, 5617, 5618, 5619, 5620, 5621, 5622, 5623, 5625, 5626, 5627,
    5628, 5631, 5632, 5633, 5634, 5635, 5636, 5637, 5638, 5639, 5640, 5641, 5642, 5693, 5694, 5695, 5696, 5701, 5702,
    5705, 5706, 5710, 5714, 5715, 5716, 5717, 5718, 5719, 5720, 5721, 5722, 5724, 5725, 5726, 5730, 5731, 5732, 5734,
    5735, 5736, 5737, 5739, 5740, 5757, 5758, 5759, 5760, 5761, 5764, 5767, 5770, 5773, 5775, 5777, 5779, 5781, 5783,
    5792, 5793, 5794, 5795, 5800, 5801, 5804, 5805, 5809, 5813, 5814, 5815, 5816, 5817, 5818, 5819, 5820, 5821, 5823,
    5824, 5825, 5829, 5830, 5831, 5833, 5834, 5835, 5836, 5838, 5839, 5840, 5856, 5857, 5858, 5859, 5860, 5863, 5866,
    5869, 5872, 5874, 5876, 5878, 5880, 5882, 5891, 5892, 5893, 5894, 5899, 5900, 5903, 5904, 5908, 5912, 5913, 5914,
    5915, 5916, 5917, 5918, 5919, 5920, 5922, 5923, 5924, 5928, 5929, 5930, 5932, 5933, 5934, 5935, 5937, 5938, 5939,
    5955, 5956, 5957, 5958, 5959, 5962, 5965, 5968, 5971, 5973, 5975, 5977, 5979, 5981, 5990, 5991, 5992, 5993, 5998,
    5999, 6002, 6003, 6007, 6011, 6012, 6013, 6014, 6015, 6016, 6017, 6018, 6019, 6021, 6022, 6023, 6027, 6028, 6029,
    6031, 6032, 6033, 6034, 6036, 6037, 6038, 6054, 6055, 6056, 6057, 6058, 6061, 6064, 6067, 6070, 6072, 6074, 6076,
    6078, 6080, 6089, 6090, 6091, 6092, 6097, 6098, 6101, 6102, 6106, 6110, 6111, 6112, 6113, 6114, 6115, 6116, 6117,
    6118, 6120, 6121, 6122, 6126, 6127, 6128, 6130, 6131, 6132, 6133, 6135, 6136, 6137, 6153, 6154, 6155, 6156, 6157,
    6160, 6163, 6166, 6169, 6171, 6173, 6175, 6177, 6179, 6188, 6189, 6190, 6191, 6196, 6197, 6200, 6201, 6205, 6209,
    6210, 6211, 6212, 6213, 6214, 6215, 6216, 6217, 6219, 6220, 6221, 6225, 6226, 6227, 6229, 6230, 6231, 6232, 6234,
    6235, 6236, 6252, 6253, 6254, 6255, 6256, 6259, 6262, 6265, 6268, 6270, 6272, 6274, 6276, 6278, 6287, 6288, 6289,
    6290, 6295, 6296, 6299, 6300, 6304, 6319, 6325, 6326, 6330, 6331, 6334, 6335};

// which combinations of 4 points used to generate the 15 equations used in the solver
// clang-format off
static const int pt_index[] = {
    0,1,2,3,
    0,1,2,4,
    0,1,2,5,
    0,1,3,4,
    0,1,3,5,
    0,1,4,5,
    0,2,3,4,
    0,2,3,5,
    0,2,4,5,
    0,3,4,5,
    1,2,3,4,
    1,2,3,5,
    1,2,4,5,
    1,3,4,5,
    2,3,4,5,
};
// clang-format on

// Multiplies a deg 2 poly with a deg 2 poly
void mul2_2(double *a, double *b, double *c) {
    c[0] = a[0] * b[0];
    c[1] = a[0] * b[1] + a[1] * b[0];
    c[2] = a[0] * b[3] + a[3] * b[0];
    c[3] = a[0] * b[6] + a[6] * b[0];
    c[4] = a[0] * b[2] + a[1] * b[1] + a[2] * b[0];
    c[5] = a[0] * b[4] + a[1] * b[3] + a[3] * b[1] + a[4] * b[0];
    c[6] = a[0] * b[7] + a[1] * b[6] + a[6] * b[1] + a[7] * b[0];
    c[7] = a[0] * b[5] + a[5] * b[0] + a[3] * b[3];
    c[8] = a[0] * b[8] + a[8] * b[0] + a[3] * b[6] + a[6] * b[3];
    c[9] = a[0] * b[9] + a[9] * b[0] + a[6] * b[6];
    c[10] = a[1] * b[2] + a[2] * b[1];
    c[11] = a[1] * b[4] + a[2] * b[3] + a[3] * b[2] + a[4] * b[1];
    c[12] = a[1] * b[7] + a[2] * b[6] + a[6] * b[2] + a[7] * b[1];
    c[13] = a[1] * b[5] + a[5] * b[1] + a[3] * b[4] + a[4] * b[3];
    c[14] = a[1] * b[8] + a[8] * b[1] + a[3] * b[7] + a[4] * b[6] + a[6] * b[4] + a[7] * b[3];
    c[15] = a[1] * b[9] + a[9] * b[1] + a[6] * b[7] + a[7] * b[6];
    c[16] = a[3] * b[5] + a[5] * b[3];
    c[17] = a[3] * b[8] + a[5] * b[6] + a[6] * b[5] + a[8] * b[3];
    c[18] = a[3] * b[9] + a[9] * b[3] + a[6] * b[8] + a[8] * b[6];
    c[19] = a[6] * b[9] + a[9] * b[6];
    c[20] = a[2] * b[2];
    c[21] = a[2] * b[4] + a[4] * b[2];
    c[22] = a[2] * b[7] + a[7] * b[2];
    c[23] = a[2] * b[5] + a[5] * b[2] + a[4] * b[4];
    c[24] = a[2] * b[8] + a[8] * b[2] + a[4] * b[7] + a[7] * b[4];
    c[25] = a[2] * b[9] + a[9] * b[2] + a[7] * b[7];
    c[26] = a[4] * b[5] + a[5] * b[4];
    c[27] = a[4] * b[8] + a[5] * b[7] + a[7] * b[5] + a[8] * b[4];
    c[28] = a[4] * b[9] + a[9] * b[4] + a[7] * b[8] + a[8] * b[7];
    c[29] = a[7] * b[9] + a[9] * b[7];
    c[30] = a[5] * b[5];
    c[31] = a[5] * b[8] + a[8] * b[5];
    c[32] = a[5] * b[9] + a[9] * b[5] + a[8] * b[8];
    c[33] = a[8] * b[9] + a[9] * b[8];
    c[34] = a[9] * b[9];
}

// Multiplies a deg 2 poly with a deg 2 poly and subtracts it from c
void mul2_2m(double *a, double *b, double *c) {
    c[0] -= a[0] * b[0];
    c[1] -= a[0] * b[1] + a[1] * b[0];
    c[2] -= a[0] * b[3] + a[3] * b[0];
    c[3] -= a[0] * b[6] + a[6] * b[0];
    c[4] -= a[0] * b[2] + a[1] * b[1] + a[2] * b[0];
    c[5] -= a[0] * b[4] + a[1] * b[3] + a[3] * b[1] + a[4] * b[0];
    c[6] -= a[0] * b[7] + a[1] * b[6] + a[6] * b[1] + a[7] * b[0];
    c[7] -= a[0] * b[5] + a[5] * b[0] + a[3] * b[3];
    c[8] -= a[0] * b[8] + a[8] * b[0] + a[3] * b[6] + a[6] * b[3];
    c[9] -= a[0] * b[9] + a[9] * b[0] + a[6] * b[6];
    c[10] -= a[1] * b[2] + a[2] * b[1];
    c[11] -= a[1] * b[4] + a[2] * b[3] + a[3] * b[2] + a[4] * b[1];
    c[12] -= a[1] * b[7] + a[2] * b[6] + a[6] * b[2] + a[7] * b[1];
    c[13] -= a[1] * b[5] + a[5] * b[1] + a[3] * b[4] + a[4] * b[3];
    c[14] -= a[1] * b[8] + a[8] * b[1] + a[3] * b[7] + a[4] * b[6] + a[6] * b[4] + a[7] * b[3];
    c[15] -= a[1] * b[9] + a[9] * b[1] + a[6] * b[7] + a[7] * b[6];
    c[16] -= a[3] * b[5] + a[5] * b[3];
    c[17] -= a[3] * b[8] + a[5] * b[6] + a[6] * b[5] + a[8] * b[3];
    c[18] -= a[3] * b[9] + a[9] * b[3] + a[6] * b[8] + a[8] * b[6];
    c[19] -= a[6] * b[9] + a[9] * b[6];
    c[20] -= a[2] * b[2];
    c[21] -= a[2] * b[4] + a[4] * b[2];
    c[22] -= a[2] * b[7] + a[7] * b[2];
    c[23] -= a[2] * b[5] + a[5] * b[2] + a[4] * b[4];
    c[24] -= a[2] * b[8] + a[8] * b[2] + a[4] * b[7] + a[7] * b[4];
    c[25] -= a[2] * b[9] + a[9] * b[2] + a[7] * b[7];
    c[26] -= a[4] * b[5] + a[5] * b[4];
    c[27] -= a[4] * b[8] + a[5] * b[7] + a[7] * b[5] + a[8] * b[4];
    c[28] -= a[4] * b[9] + a[9] * b[4] + a[7] * b[8] + a[8] * b[7];
    c[29] -= a[7] * b[9] + a[9] * b[7];
    c[30] -= a[5] * b[5];
    c[31] -= a[5] * b[8] + a[8] * b[5];
    c[32] -= a[5] * b[9] + a[9] * b[5] + a[8] * b[8];
    c[33] -= a[8] * b[9] + a[9] * b[8];
    c[34] -= a[9] * b[9];
}

// Multiplies a deg 2 poly with a deg 4 poly and adds it to c
void mul2_4p(double *a, double *b, double *c) {
    c[0] += a[0] * b[0];
    c[1] += a[0] * b[1] + a[1] * b[0];
    c[2] += a[1] * b[1] + a[2] * b[0] + a[0] * b[4];
    c[3] += a[2] * b[1] + a[1] * b[4] + a[0] * b[10];
    c[4] += a[2] * b[4] + a[1] * b[10] + a[0] * b[20];
    c[5] += a[2] * b[10] + a[1] * b[20];
    c[6] += a[2] * b[20];
    c[7] += a[0] * b[2] + a[3] * b[0];
    c[8] += a[1] * b[2] + a[3] * b[1] + a[4] * b[0] + a[0] * b[5];
    c[9] += a[2] * b[2] + a[4] * b[1] + a[1] * b[5] + a[3] * b[4] + a[0] * b[11];
    c[10] += a[2] * b[5] + a[4] * b[4] + a[1] * b[11] + a[3] * b[10] + a[0] * b[21];
    c[11] += a[2] * b[11] + a[4] * b[10] + a[1] * b[21] + a[3] * b[20];
    c[12] += a[2] * b[21] + a[4] * b[20];
    c[13] += a[3] * b[2] + a[5] * b[0] + a[0] * b[7];
    c[14] += a[4] * b[2] + a[5] * b[1] + a[1] * b[7] + a[3] * b[5] + a[0] * b[13];
    c[15] += a[2] * b[7] + a[4] * b[5] + a[5] * b[4] + a[1] * b[13] + a[3] * b[11] + a[0] * b[23];
    c[16] += a[2] * b[13] + a[4] * b[11] + a[5] * b[10] + a[1] * b[23] + a[3] * b[21];
    c[17] += a[2] * b[23] + a[4] * b[21] + a[5] * b[20];
    c[18] += a[5] * b[2] + a[3] * b[7] + a[0] * b[16];
    c[19] += a[5] * b[5] + a[4] * b[7] + a[3] * b[13] + a[1] * b[16] + a[0] * b[26];
    c[20] += a[5] * b[11] + a[4] * b[13] + a[2] * b[16] + a[3] * b[23] + a[1] * b[26];
    c[21] += a[5] * b[21] + a[4] * b[23] + a[2] * b[26];
    c[22] += a[5] * b[7] + a[3] * b[16] + a[0] * b[30];
    c[23] += a[5] * b[13] + a[4] * b[16] + a[3] * b[26] + a[1] * b[30];
    c[24] += a[5] * b[23] + a[4] * b[26] + a[2] * b[30];
    c[25] += a[5] * b[16] + a[3] * b[30];
    c[26] += a[5] * b[26] + a[4] * b[30];
    c[27] += a[5] * b[30];
    c[28] += a[0] * b[3] + a[6] * b[0];
    c[29] += a[1] * b[3] + a[0] * b[6] + a[6] * b[1] + a[7] * b[0];
    c[30] += a[2] * b[3] + a[1] * b[6] + a[7] * b[1] + a[6] * b[4] + a[0] * b[12];
    c[31] += a[2] * b[6] + a[7] * b[4] + a[1] * b[12] + a[6] * b[10] + a[0] * b[22];
    c[32] += a[2] * b[12] + a[7] * b[10] + a[1] * b[22] + a[6] * b[20];
    c[33] += a[2] * b[22] + a[7] * b[20];
    c[34] += a[3] * b[3] + a[0] * b[8] + a[6] * b[2] + a[8] * b[0];
    c[35] += a[4] * b[3] + a[1] * b[8] + a[3] * b[6] + a[7] * b[2] + a[8] * b[1] + a[6] * b[5] + a[0] * b[14];
    c[36] += a[2] * b[8] + a[4] * b[6] + a[7] * b[5] + a[8] * b[4] + a[1] * b[14] + a[3] * b[12] + a[6] * b[11] +
             a[0] * b[24];
    c[37] += a[2] * b[14] + a[4] * b[12] + a[7] * b[11] + a[8] * b[10] + a[1] * b[24] + a[3] * b[22] + a[6] * b[21];
    c[38] += a[2] * b[24] + a[4] * b[22] + a[7] * b[21] + a[8] * b[20];
    c[39] += a[5] * b[3] + a[8] * b[2] + a[3] * b[8] + a[6] * b[7] + a[0] * b[17];
    c[40] += a[5] * b[6] + a[4] * b[8] + a[8] * b[5] + a[7] * b[7] + a[3] * b[14] + a[1] * b[17] + a[6] * b[13] +
             a[0] * b[27];
    c[41] += a[5] * b[12] + a[4] * b[14] + a[2] * b[17] + a[8] * b[11] + a[7] * b[13] + a[3] * b[24] + a[1] * b[27] +
             a[6] * b[23];
    c[42] += a[5] * b[22] + a[4] * b[24] + a[2] * b[27] + a[8] * b[21] + a[7] * b[23];
    c[43] += a[5] * b[8] + a[8] * b[7] + a[3] * b[17] + a[6] * b[16] + a[0] * b[31];
    c[44] += a[5] * b[14] + a[4] * b[17] + a[8] * b[13] + a[7] * b[16] + a[3] * b[27] + a[1] * b[31] + a[6] * b[26];
    c[45] += a[5] * b[24] + a[4] * b[27] + a[8] * b[23] + a[2] * b[31] + a[7] * b[26];
    c[46] += a[5] * b[17] + a[8] * b[16] + a[3] * b[31] + a[6] * b[30];
    c[47] += a[5] * b[27] + a[8] * b[26] + a[4] * b[31] + a[7] * b[30];
    c[48] += a[5] * b[31] + a[8] * b[30];
    c[49] += a[0] * b[9] + a[6] * b[3] + a[9] * b[0];
    c[50] += a[1] * b[9] + a[7] * b[3] + a[9] * b[1] + a[6] * b[6] + a[0] * b[15];
    c[51] += a[2] * b[9] + a[7] * b[6] + a[9] * b[4] + a[1] * b[15] + a[6] * b[12] + a[0] * b[25];
    c[52] += a[2] * b[15] + a[7] * b[12] + a[9] * b[10] + a[1] * b[25] + a[6] * b[22];
    c[53] += a[2] * b[25] + a[7] * b[22] + a[9] * b[20];
    c[54] += a[8] * b[3] + a[9] * b[2] + a[3] * b[9] + a[6] * b[8] + a[0] * b[18];
    c[55] += a[4] * b[9] + a[8] * b[6] + a[9] * b[5] + a[7] * b[8] + a[3] * b[15] + a[1] * b[18] + a[6] * b[14] +
             a[0] * b[28];
    c[56] += a[4] * b[15] + a[2] * b[18] + a[8] * b[12] + a[9] * b[11] + a[7] * b[14] + a[3] * b[25] + a[1] * b[28] +
             a[6] * b[24];
    c[57] += a[4] * b[25] + a[2] * b[28] + a[8] * b[22] + a[9] * b[21] + a[7] * b[24];
    c[58] += a[5] * b[9] + a[8] * b[8] + a[9] * b[7] + a[3] * b[18] + a[6] * b[17] + a[0] * b[32];
    c[59] += a[5] * b[15] + a[4] * b[18] + a[8] * b[14] + a[9] * b[13] + a[7] * b[17] + a[3] * b[28] + a[1] * b[32] +
             a[6] * b[27];
    c[60] += a[5] * b[25] + a[4] * b[28] + a[8] * b[24] + a[9] * b[23] + a[2] * b[32] + a[7] * b[27];
    c[61] += a[5] * b[18] + a[8] * b[17] + a[9] * b[16] + a[3] * b[32] + a[6] * b[31];
    c[62] += a[5] * b[28] + a[8] * b[27] + a[9] * b[26] + a[4] * b[32] + a[7] * b[31];
    c[63] += a[5] * b[32] + a[8] * b[31] + a[9] * b[30];
    c[64] += a[9] * b[3] + a[6] * b[9] + a[0] * b[19];
    c[65] += a[9] * b[6] + a[7] * b[9] + a[1] * b[19] + a[6] * b[15] + a[0] * b[29];
    c[66] += a[2] * b[19] + a[9] * b[12] + a[7] * b[15] + a[1] * b[29] + a[6] * b[25];
    c[67] += a[2] * b[29] + a[9] * b[22] + a[7] * b[25];
    c[68] += a[8] * b[9] + a[9] * b[8] + a[3] * b[19] + a[6] * b[18] + a[0] * b[33];
    c[69] += a[4] * b[19] + a[8] * b[15] + a[9] * b[14] + a[7] * b[18] + a[3] * b[29] + a[1] * b[33] + a[6] * b[28];
    c[70] += a[4] * b[29] + a[8] * b[25] + a[9] * b[24] + a[2] * b[33] + a[7] * b[28];
    c[71] += a[5] * b[19] + a[8] * b[18] + a[9] * b[17] + a[3] * b[33] + a[6] * b[32];
    c[72] += a[5] * b[29] + a[8] * b[28] + a[9] * b[27] + a[4] * b[33] + a[7] * b[32];
    c[73] += a[5] * b[33] + a[8] * b[32] + a[9] * b[31];
    c[74] += a[9] * b[9] + a[6] * b[19] + a[0] * b[34];
    c[75] += a[9] * b[15] + a[7] * b[19] + a[1] * b[34] + a[6] * b[29];
    c[76] += a[9] * b[25] + a[2] * b[34] + a[7] * b[29];
    c[77] += a[8] * b[19] + a[9] * b[18] + a[3] * b[34] + a[6] * b[33];
    c[78] += a[8] * b[29] + a[9] * b[28] + a[4] * b[34] + a[7] * b[33];
    c[79] += a[5] * b[34] + a[8] * b[33] + a[9] * b[32];
    c[80] += a[9] * b[19] + a[6] * b[34];
    c[81] += a[9] * b[29] + a[7] * b[34];
    c[82] += a[8] * b[34] + a[9] * b[33];
    c[83] += a[9] * b[34];
}

// Computes the matrix of coefficients for the 15 equations (in 84 monomials)
void setup_coeff_matrix(const std::vector<Eigen::Vector3d> &pp1, const std::vector<Eigen::Vector3d> &xx1,
                        const std::vector<Eigen::Vector3d> &pp2, const std::vector<Eigen::Vector3d> &xx2,
                        Eigen::Matrix<double, 84, 15> *M) {

    Eigen::Matrix<double, 10, 3> F1, F2, F3;

    double *f1 = F1.data();
    double *f2 = F2.data();
    double *f3 = F3.data();

    std::vector<Eigen::Vector3d> qq1(6, Eigen::Vector3d::Zero());
    std::vector<Eigen::Vector3d> qq2(6, Eigen::Vector3d::Zero());
    for (size_t k = 0; k < 6; ++k) {
        qq1[k] = xx1[k].cross(pp1[k]);
        qq2[k] = xx2[k].cross(pp2[k]);
    }
    M->setZero();
    for (size_t eq_k = 0; eq_k < 15; ++eq_k) {
        int i0 = pt_index[4 * eq_k];

        Eigen::Vector3d x1 = xx1[i0];
        Eigen::Vector3d p1 = pp1[i0];
        Eigen::Vector3d x2 = xx2[i0];
        Eigen::Vector3d p2 = pp2[i0];

        // Compute 3x3 matrix where each element is quadratic in cayley parameters
        // F1 is the first column of the matrix, etc..
        // This is for eliminating the translation.
        for (size_t i = 0; i < 3; ++i) {
            int i1 = pt_index[4 * eq_k + i + 1];

            Eigen::Vector3d xp1 = xx1[i1];
            Eigen::Vector3d qp1 = qq1[i1];
            Eigen::Vector3d xp2 = xx2[i1];
            Eigen::Vector3d qp2 = qq2[i1];

            F1(0, i) = qp1(0) * xp2(0) + qp2(0) * xp1(0) - qp1(1) * xp2(1) - qp2(1) * xp1(1) - qp1(2) * xp2(2) -
                       qp2(2) * xp1(2) + xp1(0) * (xp2(2) * (p1(1) + p2(1)) - xp2(1) * (p1(2) + p2(2))) +
                       xp1(2) * (xp2(0) * (p1(1) + p2(1)) + xp2(1) * (p1(0) - p2(0))) -
                       xp1(1) * (xp2(0) * (p1(2) + p2(2)) + xp2(2) * (p1(0) - p2(0)));
            F1(1, i) = 2 * qp1(0) * xp2(1) + 2 * qp1(1) * xp2(0) + 2 * qp2(0) * xp1(1) + 2 * qp2(1) * xp1(0) -
                       xp1(0) * (2 * p2(0) * xp2(2) - xp2(0) * (2 * p1(2) + 2 * p2(2))) +
                       xp1(1) * (2 * p2(1) * xp2(2) - xp2(1) * (2 * p1(2) + 2 * p2(2))) -
                       xp1(2) * (2 * p1(0) * xp2(0) - 2 * p1(1) * xp2(1));
            F1(2, i) = qp1(1) * xp2(1) - qp2(0) * xp1(0) - qp1(0) * xp2(0) + qp2(1) * xp1(1) - qp1(2) * xp2(2) -
                       qp2(2) * xp1(2) - xp1(1) * (xp2(2) * (p1(0) + p2(0)) - xp2(0) * (p1(2) + p2(2))) -
                       xp1(2) * (xp2(1) * (p1(0) + p2(0)) + xp2(0) * (p1(1) - p2(1))) +
                       xp1(0) * (xp2(1) * (p1(2) + p2(2)) + xp2(2) * (p1(1) - p2(1)));
            F1(3, i) = 2 * qp1(0) * xp2(2) + 2 * qp1(2) * xp2(0) + 2 * qp2(0) * xp1(2) + 2 * qp2(2) * xp1(0) +
                       xp1(0) * (2 * p2(0) * xp2(1) - xp2(0) * (2 * p1(1) + 2 * p2(1))) -
                       xp1(2) * (2 * p2(2) * xp2(1) - xp2(2) * (2 * p1(1) + 2 * p2(1))) +
                       xp1(1) * (2 * p1(0) * xp2(0) - 2 * p1(2) * xp2(2));
            F1(4, i) = 2 * qp1(1) * xp2(2) + 2 * qp1(2) * xp2(1) + 2 * qp2(1) * xp1(2) + 2 * qp2(2) * xp1(1) -
                       xp1(1) * (2 * p2(1) * xp2(0) - xp2(1) * (2 * p1(0) + 2 * p2(0))) +
                       xp1(2) * (2 * p2(2) * xp2(0) - xp2(2) * (2 * p1(0) + 2 * p2(0))) -
                       xp1(0) * (2 * p1(1) * xp2(1) - 2 * p1(2) * xp2(2));
            F1(5, i) = qp1(2) * xp2(2) - qp2(0) * xp1(0) - qp1(1) * xp2(1) - qp2(1) * xp1(1) - qp1(0) * xp2(0) +
                       qp2(2) * xp1(2) + xp1(2) * (xp2(1) * (p1(0) + p2(0)) - xp2(0) * (p1(1) + p2(1))) +
                       xp1(1) * (xp2(2) * (p1(0) + p2(0)) + xp2(0) * (p1(2) - p2(2))) -
                       xp1(0) * (xp2(2) * (p1(1) + p2(1)) + xp2(1) * (p1(2) - p2(2)));
            F1(6, i) = 2 * qp1(1) * xp2(2) - 2 * qp1(2) * xp2(1) - 2 * qp2(1) * xp1(2) + 2 * qp2(2) * xp1(1) -
                       xp1(1) * (2 * p2(1) * xp2(0) + xp2(1) * (2 * p1(0) - 2 * p2(0))) -
                       xp1(2) * (2 * p2(2) * xp2(0) + xp2(2) * (2 * p1(0) - 2 * p2(0))) +
                       xp1(0) * (2 * p1(1) * xp2(1) + 2 * p1(2) * xp2(2));
            F1(7, i) = 2 * qp1(2) * xp2(0) - 2 * qp1(0) * xp2(2) + 2 * qp2(0) * xp1(2) - 2 * qp2(2) * xp1(0) -
                       xp1(0) * (2 * p2(0) * xp2(1) + xp2(0) * (2 * p1(1) - 2 * p2(1))) -
                       xp1(2) * (2 * p2(2) * xp2(1) + xp2(2) * (2 * p1(1) - 2 * p2(1))) +
                       xp1(1) * (2 * p1(0) * xp2(0) + 2 * p1(2) * xp2(2));
            F1(8, i) = 2 * qp1(0) * xp2(1) - 2 * qp1(1) * xp2(0) - 2 * qp2(0) * xp1(1) + 2 * qp2(1) * xp1(0) -
                       xp1(0) * (2 * p2(0) * xp2(2) + xp2(0) * (2 * p1(2) - 2 * p2(2))) -
                       xp1(1) * (2 * p2(1) * xp2(2) + xp2(1) * (2 * p1(2) - 2 * p2(2))) +
                       xp1(2) * (2 * p1(0) * xp2(0) + 2 * p1(1) * xp2(1));
            F1(9, i) = xp1(1) * (xp2(2) * (p1(0) - p2(0)) - xp2(0) * (p1(2) - p2(2))) -
                       xp1(2) * (xp2(1) * (p1(0) - p2(0)) - xp2(0) * (p1(1) - p2(1))) -
                       xp1(0) * (xp2(2) * (p1(1) - p2(1)) - xp2(1) * (p1(2) - p2(2))) + qp1(0) * xp2(0) +
                       qp2(0) * xp1(0) + qp1(1) * xp2(1) + qp2(1) * xp1(1) + qp1(2) * xp2(2) + qp2(2) * xp1(2);
            F2(0, i) = xp1(2) * (x1(0) * xp2(1) + x1(1) * xp2(0)) - xp1(1) * (x1(0) * xp2(2) + x1(2) * xp2(0)) +
                       xp1(0) * (x1(1) * xp2(2) - x1(2) * xp2(1));
            F2(1, i) = 2 * x1(2) * xp1(0) * xp2(0) - xp1(2) * (2 * x1(0) * xp2(0) - 2 * x1(1) * xp2(1)) -
                       2 * x1(2) * xp1(1) * xp2(1);
            F2(2, i) = xp1(0) * (x1(1) * xp2(2) + x1(2) * xp2(1)) - xp1(2) * (x1(0) * xp2(1) + x1(1) * xp2(0)) -
                       xp1(1) * (x1(0) * xp2(2) - x1(2) * xp2(0));
            F2(3, i) = xp1(1) * (2 * x1(0) * xp2(0) - 2 * x1(2) * xp2(2)) - 2 * x1(1) * xp1(0) * xp2(0) +
                       2 * x1(1) * xp1(2) * xp2(2);
            F2(4, i) = 2 * x1(0) * xp1(1) * xp2(1) - xp1(0) * (2 * x1(1) * xp2(1) - 2 * x1(2) * xp2(2)) -
                       2 * x1(0) * xp1(2) * xp2(2);
            F2(5, i) = xp1(1) * (x1(0) * xp2(2) + x1(2) * xp2(0)) + xp1(2) * (x1(0) * xp2(1) - x1(1) * xp2(0)) -
                       xp1(0) * (x1(1) * xp2(2) + x1(2) * xp2(1));
            F2(6, i) = xp1(0) * (2 * x1(1) * xp2(1) + 2 * x1(2) * xp2(2)) - 2 * x1(0) * xp1(1) * xp2(1) -
                       2 * x1(0) * xp1(2) * xp2(2);
            F2(7, i) = xp1(1) * (2 * x1(0) * xp2(0) + 2 * x1(2) * xp2(2)) - 2 * x1(1) * xp1(0) * xp2(0) -
                       2 * x1(1) * xp1(2) * xp2(2);
            F2(8, i) = xp1(2) * (2 * x1(0) * xp2(0) + 2 * x1(1) * xp2(1)) - 2 * x1(2) * xp1(0) * xp2(0) -
                       2 * x1(2) * xp1(1) * xp2(1);
            F2(9, i) = xp1(1) * (x1(0) * xp2(2) - x1(2) * xp2(0)) - xp1(2) * (x1(0) * xp2(1) - x1(1) * xp2(0)) -
                       xp1(0) * (x1(1) * xp2(2) - x1(2) * xp2(1));
            F3(0, i) = xp1(1) * (x2(0) * xp2(2) - x2(2) * xp2(0)) - xp1(2) * (x2(0) * xp2(1) - x2(1) * xp2(0)) +
                       xp1(0) * (x2(1) * xp2(2) - x2(2) * xp2(1));
            F3(1, i) =
                xp1(1) * (2 * x2(1) * xp2(2) - 2 * x2(2) * xp2(1)) - xp1(0) * (2 * x2(0) * xp2(2) - 2 * x2(2) * xp2(0));
            F3(2, i) = -xp1(2) * (x2(0) * xp2(1) - x2(1) * xp2(0)) - xp1(1) * (x2(0) * xp2(2) - x2(2) * xp2(0)) -
                       xp1(0) * (x2(1) * xp2(2) - x2(2) * xp2(1));
            F3(3, i) =
                xp1(0) * (2 * x2(0) * xp2(1) - 2 * x2(1) * xp2(0)) + xp1(2) * (2 * x2(1) * xp2(2) - 2 * x2(2) * xp2(1));
            F3(4, i) =
                xp1(1) * (2 * x2(0) * xp2(1) - 2 * x2(1) * xp2(0)) - xp1(2) * (2 * x2(0) * xp2(2) - 2 * x2(2) * xp2(0));
            F3(5, i) = xp1(2) * (x2(0) * xp2(1) - x2(1) * xp2(0)) + xp1(1) * (x2(0) * xp2(2) - x2(2) * xp2(0)) -
                       xp1(0) * (x2(1) * xp2(2) - x2(2) * xp2(1));
            F3(6, i) =
                xp1(1) * (2 * x2(0) * xp2(1) - 2 * x2(1) * xp2(0)) + xp1(2) * (2 * x2(0) * xp2(2) - 2 * x2(2) * xp2(0));
            F3(7, i) =
                xp1(2) * (2 * x2(1) * xp2(2) - 2 * x2(2) * xp2(1)) - xp1(0) * (2 * x2(0) * xp2(1) - 2 * x2(1) * xp2(0));
            F3(8, i) = -xp1(0) * (2 * x2(0) * xp2(2) - 2 * x2(2) * xp2(0)) -
                       xp1(1) * (2 * x2(1) * xp2(2) - 2 * x2(2) * xp2(1));
            F3(9, i) = xp1(2) * (x2(0) * xp2(1) - x2(1) * xp2(0)) - xp1(1) * (x2(0) * xp2(2) - x2(2) * xp2(0)) +
                       xp1(0) * (x2(1) * xp2(2) - x2(2) * xp2(1));
        }

        double p4[35];
        double *c = M->data() + 84 * eq_k;

        // Compute the determinant by expansion along first column
        mul2_2(f2 + 10, f3 + 20, p4);
        mul2_2m(f2 + 20, f3 + 10, p4);
        mul2_4p(f1, p4, c);

        mul2_2(f2 + 20, f3, p4);
        mul2_2m(f2, f3 + 20, p4);
        mul2_4p(f1 + 10, p4, c);

        mul2_2(f2, f3 + 10, p4);
        mul2_2m(f2 + 10, f3, p4);
        mul2_4p(f1 + 20, p4, c);
    }
}

#ifdef USE_FAST_EIGENVECTOR_SOLVER
// Solves for the eigenvector by using structured backsubstitution
// (i.e. substituting the eigenvalue into the eigenvector using the known structure to get a reduced linear system)
void fast_eigenvector_solver(double *eigv, int neig, const Eigen::Matrix<double, 64, 64> &AM,
                             Eigen::Matrix<double, 3, 64> &sols) {
    static const int ind[] = {5, 6, 7, 9, 10, 12, 15, 16, 18, 22, 26, 27, 29, 33, 38, 43, 44, 47, 51, 56, 63};
    // Truncated action matrix containing non-trivial rows
    Eigen::Matrix<double, 21, 64> AMs;
    double zi[8];

    for (int i = 0; i < 21; i++) {
        AMs.row(i) = AM.row(ind[i]);
    }
    for (int i = 0; i < neig; i++) {
        zi[0] = eigv[i];
        for (int j = 1; j < 8; j++) {
            zi[j] = zi[j - 1] * eigv[i];
        }
        Eigen::Matrix<double, 21, 21> AA;
        AA.col(0) = AMs.col(5);
        AA.col(1) = AMs.col(6);
        AA.col(2) = AMs.col(4) + zi[0] * AMs.col(7);
        AA.col(3) = AMs.col(9);
        AA.col(4) = AMs.col(8) + zi[0] * AMs.col(10);
        AA.col(5) = AMs.col(3) + zi[0] * AMs.col(11) + zi[1] * AMs.col(12);
        AA.col(6) = AMs.col(15);
        AA.col(7) = AMs.col(14) + zi[0] * AMs.col(16);
        AA.col(8) = AMs.col(13) + zi[0] * AMs.col(17) + zi[1] * AMs.col(18);
        AA.col(9) = AMs.col(2) + zi[0] * AMs.col(19) + zi[1] * AMs.col(20) + zi[2] * AMs.col(21) + zi[3] * AMs.col(22);
        AA.col(10) = AMs.col(26);
        AA.col(11) = AMs.col(25) + zi[0] * AMs.col(27);
        AA.col(12) = AMs.col(24) + zi[0] * AMs.col(28) + zi[1] * AMs.col(29);
        AA.col(13) =
            AMs.col(23) + zi[0] * AMs.col(30) + zi[1] * AMs.col(31) + zi[2] * AMs.col(32) + zi[3] * AMs.col(33);
        AA.col(14) = AMs.col(1) + zi[0] * AMs.col(34) + zi[1] * AMs.col(35) + zi[2] * AMs.col(36) +
                     zi[3] * AMs.col(37) + zi[4] * AMs.col(38);
        AA.col(15) = AMs.col(43);
        AA.col(16) = AMs.col(42) + zi[0] * AMs.col(44);
        AA.col(17) = AMs.col(41) + zi[0] * AMs.col(45) + zi[1] * AMs.col(46) + zi[2] * AMs.col(47);
        AA.col(18) =
            AMs.col(40) + zi[0] * AMs.col(48) + zi[1] * AMs.col(49) + zi[2] * AMs.col(50) + zi[3] * AMs.col(51);
        AA.col(19) = AMs.col(39) + zi[0] * AMs.col(52) + zi[1] * AMs.col(53) + zi[2] * AMs.col(54) +
                     zi[3] * AMs.col(55) + zi[4] * AMs.col(56);
        AA.col(20) = AMs.col(0) + zi[0] * AMs.col(57) + zi[1] * AMs.col(58) + zi[2] * AMs.col(59) +
                     zi[3] * AMs.col(60) + zi[4] * AMs.col(61) + zi[5] * AMs.col(62) + zi[6] * AMs.col(63);
        AA(0, 0) = AA(0, 0) - zi[0];
        AA(1, 1) = AA(1, 1) - zi[0];
        AA(2, 2) = AA(2, 2) - zi[1];
        AA(3, 3) = AA(3, 3) - zi[0];
        AA(4, 4) = AA(4, 4) - zi[1];
        AA(5, 5) = AA(5, 5) - zi[2];
        AA(6, 6) = AA(6, 6) - zi[0];
        AA(7, 7) = AA(7, 7) - zi[1];
        AA(8, 8) = AA(8, 8) - zi[2];
        AA(9, 9) = AA(9, 9) - zi[4];
        AA(10, 10) = AA(10, 10) - zi[0];
        AA(11, 11) = AA(11, 11) - zi[1];
        AA(12, 12) = AA(12, 12) - zi[2];
        AA(13, 13) = AA(13, 13) - zi[4];
        AA(14, 14) = AA(14, 14) - zi[5];
        AA(15, 15) = AA(15, 15) - zi[0];
        AA(16, 16) = AA(16, 16) - zi[1];
        AA(17, 17) = AA(17, 17) - zi[3];
        AA(18, 18) = AA(18, 18) - zi[4];
        AA(19, 19) = AA(19, 19) - zi[5];
        AA(20, 20) = AA(20, 20) - zi[7];

        Eigen::Matrix<double, 20, 1> s = AA.leftCols(20).householderQr().solve(-AA.col(20));
        sols(0, i) = s(14);
        sols(1, i) = s(19);
        sols(2, i) = zi[0];
    }
}
#endif

// Performs Newton iterations on the epipolar constraints
void root_refinement(const std::vector<Eigen::Vector3d> &p1, const std::vector<Eigen::Vector3d> &x1,
                     const std::vector<Eigen::Vector3d> &p2, const std::vector<Eigen::Vector3d> &x2,
                     std::vector<CameraPose> *output) {

    Eigen::Matrix<double, 6, 6> J;
    Eigen::Matrix<double, 6, 1> res;
    Eigen::Matrix<double, 6, 1> dp;
    Eigen::Matrix<double, 3, 3> sw;
    sw.setZero();

    std::vector<Eigen::Vector3d> qq1(6, Eigen::Vector3d::Zero()), qq2(6, Eigen::Vector3d::Zero());
    for (size_t pt_k = 0; pt_k < 6; ++pt_k) {
        qq1[pt_k] = x1[pt_k].cross(p1[pt_k]);
        qq2[pt_k] = x2[pt_k].cross(p2[pt_k]);
    }

    for (size_t pose_k = 0; pose_k < output->size(); ++pose_k) {
        CameraPose &pose = (*output)[pose_k];

        for (size_t iter = 0; iter < 5; ++iter) {

            // compute residual and jacobian
            for (size_t pt_k = 0; pt_k < 6; ++pt_k) {
                Eigen::Vector3d x2t = x2[pt_k].cross(pose.t);
                Eigen::Vector3d Rx1 = pose.rotate(x1[pt_k]);
                Eigen::Vector3d Rqq1 = pose.rotate(qq1[pt_k]);

                res(pt_k) = (x2t - qq2[pt_k]).dot(Rx1) - x2[pt_k].dot(Rqq1);
                J.block<1, 3>(pt_k, 0) = -x2t.cross(Rx1) + qq2[pt_k].cross(Rx1) + x2[pt_k].cross(Rqq1);
                J.block<1, 3>(pt_k, 3) = -x2[pt_k].cross(Rx1);
            }

            if (res.norm() < 1e-12) {
                break;
            }

            dp = J.partialPivLu().solve(res);

            Eigen::Vector3d w = -dp.block<3, 1>(0, 0);
            pose.q = quat_step_pre(pose.q, w);
            pose.t = pose.t - dp.block<3, 1>(3, 0);
        }
    }
}

int gen_relpose_6pt(const std::vector<Eigen::Vector3d> &p1, const std::vector<Eigen::Vector3d> &x1,
                    const std::vector<Eigen::Vector3d> &p2, const std::vector<Eigen::Vector3d> &x2,
                    std::vector<CameraPose> *output) {

    Eigen::Matrix<double, 84, 15> M;
    setup_coeff_matrix(p1, x1, p2, x2, &M);

    double *coeffs = M.data();
    Eigen::MatrixXd C0 = Eigen::MatrixXd::Zero(99, 99);
    Eigen::MatrixXd C1 = Eigen::MatrixXd::Zero(99, 64);
    for (int i = 0; i < 4655; i++) {
        C0(C0_ind[i]) = coeffs[coeffs0_ind[i]];
    }
    for (int i = 0; i < 3661; i++) {
        C1(C1_ind[i]) = coeffs[coeffs1_ind[i]];
    }
    Eigen::MatrixXd C12 = C0.partialPivLu().solve(C1);

    // Setup action matrix
    Eigen::Matrix<double, 64, 64> AM;
    AM.setZero();
    AM(0, 57) = 1.0;
    AM(1, 34) = 1.0;
    AM(2, 19) = 1.0;
    AM(3, 11) = 1.0;
    AM(4, 7) = 1.0;
    AM.row(5) = -C12.row(78);
    AM.row(6) = -C12.row(79);
    AM.row(7) = -C12.row(80);
    AM(8, 10) = 1.0;
    AM.row(9) = -C12.row(81);
    AM.row(10) = -C12.row(82);
    AM(11, 12) = 1.0;
    AM.row(12) = -C12.row(83);
    AM(13, 17) = 1.0;
    AM(14, 16) = 1.0;
    AM.row(15) = -C12.row(84);
    AM.row(16) = -C12.row(85);
    AM(17, 18) = 1.0;
    AM.row(18) = -C12.row(86);
    AM(19, 20) = 1.0;
    AM(20, 21) = 1.0;
    AM(21, 22) = 1.0;
    AM.row(22) = -C12.row(87);
    AM(23, 30) = 1.0;
    AM(24, 28) = 1.0;
    AM(25, 27) = 1.0;
    AM.row(26) = -C12.row(88);
    AM.row(27) = -C12.row(89);
    AM(28, 29) = 1.0;
    AM.row(29) = -C12.row(90);
    AM(30, 31) = 1.0;
    AM(31, 32) = 1.0;
    AM(32, 33) = 1.0;
    AM.row(33) = -C12.row(91);
    AM(34, 35) = 1.0;
    AM(35, 36) = 1.0;
    AM(36, 37) = 1.0;
    AM(37, 38) = 1.0;
    AM.row(38) = -C12.row(92);
    AM(39, 52) = 1.0;
    AM(40, 48) = 1.0;
    AM(41, 45) = 1.0;
    AM(42, 44) = 1.0;
    AM.row(43) = -C12.row(93);
    AM.row(44) = -C12.row(94);
    AM(45, 46) = 1.0;
    AM(46, 47) = 1.0;
    AM.row(47) = -C12.row(95);
    AM(48, 49) = 1.0;
    AM(49, 50) = 1.0;
    AM(50, 51) = 1.0;
    AM.row(51) = -C12.row(96);
    AM(52, 53) = 1.0;
    AM(53, 54) = 1.0;
    AM(54, 55) = 1.0;
    AM(55, 56) = 1.0;
    AM.row(56) = -C12.row(97);
    AM(57, 58) = 1.0;
    AM(58, 59) = 1.0;
    AM(59, 60) = 1.0;
    AM(60, 61) = 1.0;
    AM(61, 62) = 1.0;
    AM(62, 63) = 1.0;
    AM.row(63) = -C12.row(98);

    Eigen::Matrix<double, 3, 64> sols;
    sols.setZero();
    int n_roots = 0;

#ifdef USE_FAST_EIGENVECTOR_SOLVER
    // Here we only compute eigenvalues and we use the structured backsubsitution to
    // solve for the eigenvectors
    Eigen::EigenSolver<Eigen::Matrix<double, 64, 64>> es(AM, false);
    Eigen::Matrix<std::complex<double>, 64, 1> D = es.eigenvalues();
    double eigv[64];
    for (int i = 0; i < 64; i++) {
        if (std::abs(D(i).imag()) < 1e-6)
            eigv[n_roots++] = D(i).real();
    }

    fast_eigenvector_solver(eigv, n_roots, AM, sols);
#else
    // Solve eigenvalue problem
    Eigen::EigenSolver<Eigen::Matrix<double, 64, 64>> es(AM);
    Eigen::ArrayXcd D = es.eigenvalues();
    Eigen::ArrayXXcd V = es.eigenvectors();

    // Extract solutions from eigenvectors
    for (size_t k = 0; k < 64; ++k) {
        if (std::abs(D(k).imag()) < 1e-6) {
            sols(0, n_roots) = V(1, k).real() / V(0, k).real();
            sols(1, n_roots) = V(39, k).real() / V(0, k).real();
            sols(2, n_roots) = D(k).real();
            n_roots++;
        }
    }
#endif

    output->clear();
    output->reserve(n_roots);
    for (int sol_k = 0; sol_k < n_roots; ++sol_k) {
        CameraPose pose;
        // From each solution we compute the rotation and solve for the translation

        Eigen::Vector3d w = sols.col(sol_k);
        pose.q << 1.0, w(0), w(1), w(2);
        pose.q.normalize();

        Eigen::Matrix3d R = quat_to_rotmat(pose.q);

        // Solve for the translation
        Eigen::Matrix3d A;
        Eigen::Vector3d b;
        A.setZero();
        b.setZero();
        for (size_t i = 0; i < 6; ++i) {
            Eigen::Vector3d u = (R * x1[i]).cross(x2[i]);
            Eigen::Vector3d v = p2[i] - R * p1[i];
            A += u * u.transpose();
            b += u * (u.dot(v));
        }
        pose.t = A.llt().solve(b);

        // Filter solution using cheirality
        bool cheiral_ok = true;
        for (size_t pt_k = 0; pt_k < 6; ++pt_k) {
            if (!check_cheirality(pose, p1[pt_k], x1[pt_k], p2[pt_k], x2[pt_k])) {
                cheiral_ok = false;
                break;
            }
        }
        if (!cheiral_ok) {
            continue;
        }

        output->push_back(pose);
    }
    root_refinement(p1, x1, p2, x2, output);

    return output->size();
}

} // namespace poselib