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\subsubsection{Camera types}  Two cameras were tested. The first was a Vivotek IP security camera with a narrow lens filming at 15 frames per second at a resolution of 800*600, while the second camera was a GoPro 2 with a wide-angle lens filming at 30 frames per second at a resolution of 1280*960. Both cameras encoded video in H.264, although the GoPro used a significantly larger bitrate. The consumer-grade GoPro provides higher-quality videos, however these gainsfor feature tracking  seem to have  minimal impact on vehicle tracking performance  while the video files are much larger and more difficult to handle and process. \subsubsection{Software}  \label{software}