Mercurial > hg > orthanc-stone
annotate Framework/Toolbox/OrientedBoundingBox.cpp @ 158:a053ca7fa5c6 wasm
LinearAlgebra toolbox
| author | Sebastien Jodogne <s.jodogne@gmail.com> |
|---|---|
| date | Wed, 14 Feb 2018 08:58:31 +0100 |
| parents | c5044bbfc303 |
| children | 0a73d76333db |
| rev | line source |
|---|---|
| 140 | 1 /** |
| 2 * Stone of Orthanc | |
| 3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics | |
| 4 * Department, University Hospital of Liege, Belgium | |
| 5 * Copyright (C) 2017-2018 Osimis S.A., Belgium | |
| 6 * | |
| 7 * This program is free software: you can redistribute it and/or | |
| 8 * modify it under the terms of the GNU Affero General Public License | |
| 9 * as published by the Free Software Foundation, either version 3 of | |
| 10 * the License, or (at your option) any later version. | |
| 11 * | |
| 12 * This program is distributed in the hope that it will be useful, but | |
| 13 * WITHOUT ANY WARRANTY; without even the implied warranty of | |
| 14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | |
| 15 * Affero General Public License for more details. | |
| 16 * | |
| 17 * You should have received a copy of the GNU Affero General Public License | |
| 18 * along with this program. If not, see <http://www.gnu.org/licenses/>. | |
| 19 **/ | |
| 20 | |
| 21 | |
| 22 #include "OrientedBoundingBox.h" | |
| 23 | |
| 24 #include <Core/OrthancException.h> | |
| 25 | |
| 26 #include <cassert> | |
| 27 | |
| 28 namespace OrthancStone | |
| 29 { | |
| 30 OrientedBoundingBox::OrientedBoundingBox(const ImageBuffer3D& image) | |
| 31 { | |
| 32 unsigned int n = image.GetDepth(); | |
| 33 if (n < 1) | |
| 34 { | |
| 35 throw Orthanc::OrthancException(Orthanc::ErrorCode_IncompatibleImageSize); | |
| 36 } | |
| 37 | |
| 38 const CoordinateSystem3D& geometry = image.GetAxialGeometry(); | |
| 39 Vector dim = image.GetVoxelDimensions(VolumeProjection_Axial); | |
| 40 | |
| 41 u_ = geometry.GetAxisX(); | |
| 42 v_ = geometry.GetAxisY(); | |
| 43 w_ = geometry.GetNormal(); | |
| 44 | |
| 45 hu_ = static_cast<double>(image.GetWidth() * dim[0] / 2.0); | |
| 46 hv_ = static_cast<double>(image.GetHeight() * dim[1] / 2.0); | |
| 47 hw_ = static_cast<double>(image.GetDepth() * dim[2] / 2.0); | |
| 48 | |
| 49 c_ = (geometry.GetOrigin() + | |
| 50 (hu_ - dim[0] / 2.0) * u_ + | |
| 51 (hv_ - dim[1] / 2.0) * v_ + | |
| 52 (hw_ - dim[2] / 2.0) * w_); | |
| 53 } | |
| 54 | |
| 55 | |
| 56 bool OrientedBoundingBox::HasIntersectionWithPlane(std::vector<Vector>& points, | |
| 57 const Vector& normal, | |
| 58 double d) const | |
| 59 { | |
| 60 assert(normal.size() == 3); | |
| 61 | |
| 62 double r = (hu_ * fabs(boost::numeric::ublas::inner_prod(normal, u_)) + | |
| 63 hv_ * fabs(boost::numeric::ublas::inner_prod(normal, v_)) + | |
| 64 hw_ * fabs(boost::numeric::ublas::inner_prod(normal, w_))); | |
| 65 | |
| 66 double s = boost::numeric::ublas::inner_prod(normal, c_) + d; | |
| 67 | |
| 68 if (fabs(s) >= r) | |
| 69 { | |
| 70 // No intersection, or intersection is reduced to a single point | |
| 71 return false; | |
| 72 } | |
| 73 else | |
| 74 { | |
| 75 Vector p; | |
| 76 | |
| 77 // Loop over all the 12 edges (segments) of the oriented | |
| 78 // bounding box, and check whether they intersect the plane | |
| 79 | |
| 80 // X-aligned edges | |
|
151
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
81 if (GeometryToolbox::IntersectPlaneAndSegment |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
82 (p, normal, d, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
83 c_ - u_ * hu_ - v_ * hv_ - w_ * hw_, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
84 c_ + u_ * hu_ - v_ * hv_ - w_ * hw_)) |
| 140 | 85 { |
| 86 points.push_back(p); | |
| 87 } | |
| 88 | |
|
151
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
89 if (GeometryToolbox::IntersectPlaneAndSegment |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
90 (p, normal, d, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
91 c_ - u_ * hu_ + v_ * hv_ - w_ * hw_, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
92 c_ + u_ * hu_ + v_ * hv_ - w_ * hw_)) |
| 140 | 93 { |
| 94 points.push_back(p); | |
| 95 } | |
| 96 | |
|
151
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
97 if (GeometryToolbox::IntersectPlaneAndSegment |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
98 (p, normal, d, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
99 c_ - u_ * hu_ - v_ * hv_ + w_ * hw_, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
100 c_ + u_ * hu_ - v_ * hv_ + w_ * hw_)) |
| 140 | 101 { |
| 102 points.push_back(p); | |
| 103 } | |
| 104 | |
|
151
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
105 if (GeometryToolbox::IntersectPlaneAndSegment |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
106 (p, normal, d, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
107 c_ - u_ * hu_ + v_ * hv_ + w_ * hw_, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
108 c_ + u_ * hu_ + v_ * hv_ + w_ * hw_)) |
| 140 | 109 { |
| 110 points.push_back(p); | |
| 111 } | |
| 112 | |
| 113 // Y-aligned edges | |
|
151
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
114 if (GeometryToolbox::IntersectPlaneAndSegment |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
115 (p, normal, d, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
116 c_ - u_ * hu_ - v_ * hv_ - w_ * hw_, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
117 c_ - u_ * hu_ + v_ * hv_ - w_ * hw_)) |
| 140 | 118 { |
| 119 points.push_back(p); | |
| 120 } | |
| 121 | |
|
151
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
122 if (GeometryToolbox::IntersectPlaneAndSegment |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
123 (p, normal, d, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
124 c_ + u_ * hu_ - v_ * hv_ - w_ * hw_, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
125 c_ + u_ * hu_ + v_ * hv_ - w_ * hw_)) |
| 140 | 126 { |
| 127 points.push_back(p); | |
| 128 } | |
| 129 | |
|
151
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
130 if (GeometryToolbox::IntersectPlaneAndSegment |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
131 (p, normal, d, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
132 c_ - u_ * hu_ - v_ * hv_ + w_ * hw_, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
133 c_ - u_ * hu_ + v_ * hv_ + w_ * hw_)) |
| 140 | 134 { |
| 135 points.push_back(p); | |
| 136 } | |
| 137 | |
|
151
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
138 if (GeometryToolbox::IntersectPlaneAndSegment |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
139 (p, normal, d, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
140 c_ + u_ * hu_ - v_ * hv_ + w_ * hw_, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
141 c_ + u_ * hu_ + v_ * hv_ + w_ * hw_)) |
| 140 | 142 { |
| 143 points.push_back(p); | |
| 144 } | |
| 145 | |
| 146 // Z-aligned edges | |
|
151
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
147 if (GeometryToolbox::IntersectPlaneAndSegment |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
148 (p, normal, d, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
149 c_ - u_ * hu_ - v_ * hv_ - w_ * hw_, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
150 c_ - u_ * hu_ - v_ * hv_ + w_ * hw_)) |
| 140 | 151 { |
| 152 points.push_back(p); | |
| 153 } | |
| 154 | |
|
151
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
155 if (GeometryToolbox::IntersectPlaneAndSegment |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
156 (p, normal, d, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
157 c_ + u_ * hu_ - v_ * hv_ - w_ * hw_, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
158 c_ + u_ * hu_ - v_ * hv_ + w_ * hw_)) |
| 140 | 159 { |
| 160 points.push_back(p); | |
| 161 } | |
| 162 | |
|
151
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
163 if (GeometryToolbox::IntersectPlaneAndSegment |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
164 (p, normal, d, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
165 c_ - u_ * hu_ + v_ * hv_ - w_ * hw_, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
166 c_ - u_ * hu_ + v_ * hv_ + w_ * hw_)) |
| 140 | 167 { |
| 168 points.push_back(p); | |
| 169 } | |
| 170 | |
|
151
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
171 if (GeometryToolbox::IntersectPlaneAndSegment |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
172 (p, normal, d, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
173 c_ + u_ * hu_ + v_ * hv_ - w_ * hw_, |
|
c5044bbfc303
CoordinateSystem3D::IntersectSegment()
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
146
diff
changeset
|
174 c_ + u_ * hu_ + v_ * hv_ + w_ * hw_)) |
| 140 | 175 { |
| 176 points.push_back(p); | |
| 177 } | |
| 178 | |
| 179 return true; | |
| 180 } | |
| 181 } | |
| 182 | |
| 183 | |
| 184 bool OrientedBoundingBox::HasIntersection(std::vector<Vector>& points, | |
| 185 const CoordinateSystem3D& plane) const | |
| 186 { | |
| 187 // From the vector equation of a 3D plane (specified by origin | |
| 188 // and normal), to the general equation of a 3D plane (which | |
| 189 // looses information about the origin of the coordinate system) | |
| 190 const Vector& normal = plane.GetNormal(); | |
| 191 const Vector& origin = plane.GetOrigin(); | |
| 192 double d = -(normal[0] * origin[0] + normal[1] * origin[1] + normal[2] * origin[2]); | |
| 193 | |
| 194 return HasIntersectionWithPlane(points, normal, d); | |
| 195 } | |
| 196 | |
| 197 | |
| 198 bool OrientedBoundingBox::Contains(const Vector& p) const | |
| 199 { | |
| 200 assert(p.size() == 3); | |
| 201 | |
| 202 const Vector q = p - c_; | |
| 203 | |
| 204 return (fabs(boost::numeric::ublas::inner_prod(q, u_)) <= hu_ && | |
| 205 fabs(boost::numeric::ublas::inner_prod(q, v_)) <= hv_ && | |
| 206 fabs(boost::numeric::ublas::inner_prod(q, w_)) <= hw_); | |
| 207 } | |
| 208 | |
| 209 | |
| 210 void OrientedBoundingBox::FromInternalCoordinates(Vector& target, | |
| 211 double x, | |
| 212 double y, | |
| 213 double z) const | |
| 214 { | |
| 215 target = (c_ + | |
| 216 u_ * 2.0 * hu_ * (x - 0.5) + | |
| 217 v_ * 2.0 * hv_ * (y - 0.5) + | |
| 218 w_ * 2.0 * hw_ * (z - 0.5)); | |
| 219 } | |
| 220 | |
| 221 | |
| 222 void OrientedBoundingBox::FromInternalCoordinates(Vector& target, | |
| 223 const Vector& source) const | |
| 224 { | |
| 225 assert(source.size() == 3); | |
| 226 FromInternalCoordinates(target, source[0], source[1], source[2]); | |
| 227 } | |
| 228 | |
| 229 | |
| 230 void OrientedBoundingBox::ToInternalCoordinates(Vector& target, | |
| 231 const Vector& source) const | |
| 232 { | |
| 233 assert(source.size() == 3); | |
| 234 const Vector q = source - c_; | |
| 235 | |
| 236 double x = boost::numeric::ublas::inner_prod(q, u_) / (2.0 * hu_) + 0.5; | |
| 237 double y = boost::numeric::ublas::inner_prod(q, v_) / (2.0 * hv_) + 0.5; | |
| 238 double z = boost::numeric::ublas::inner_prod(q, w_) / (2.0 * hw_) + 0.5; | |
| 239 | |
|
158
a053ca7fa5c6
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
151
diff
changeset
|
240 LinearAlgebra::AssignVector(target, x, y, z); |
| 140 | 241 } |
|
146
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
242 |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
243 |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
244 bool OrientedBoundingBox::ComputeExtent(Extent2D& extent, |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
245 const CoordinateSystem3D& plane) const |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
246 { |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
247 extent.Reset(); |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
248 |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
249 std::vector<Vector> points; |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
250 if (HasIntersection(points, plane)) |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
251 { |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
252 for (size_t i = 0; i < points.size(); i++) |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
253 { |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
254 double x, y; |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
255 plane.ProjectPoint(x, y, points[i]); |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
256 extent.AddPoint(x, y); |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
257 } |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
258 |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
259 return true; |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
260 } |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
261 else |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
262 { |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
263 return false; |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
264 } |
|
fb7d602e7025
OrientedBoundingBox::ComputeExtent
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
140
diff
changeset
|
265 } |
| 140 | 266 } |