If $a^2+b^2+c^2=r^2$,then the value of $\tan ^{-1}\left(\frac{a b}{c r}\right)+\tan ^{-1}\left(\frac{b c}{a r}\right)+\tan ^{-1}\left(\frac{c a}{b r}\right)=$

  • A
    $\frac{\pi}{2}$
  • B
    $\frac{\pi}{3}$
  • C
    $\frac{\pi}{4}$
  • D
    $\frac{\pi}{6}$

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