/// <summary>
/// Creates an OpenCV version of a ZED Mat.
/// </summary>
/// <param name="zedmat">Source ZED Mat.</param>
/// <param name="zedmattype">Type of ZED Mat - data type and channel number.
/// <returns></returns>
private static OpenCvSharp.Mat SLMat2CVMat(ref sl.Mat zedmat, MAT_TYPE zedmattype)
{
int cvmattype = SLMatType2CVMatType(zedmattype);
OpenCvSharp.Mat cvmat = new OpenCvSharp.Mat(zedmat.GetHeight(), zedmat.GetWidth(), cvmattype, zedmat.GetPtr());
return(cvmat);
}
static void Main(string[] args)
{
Camera zed = new Camera(0);
InitParameters initParameters = new InitParameters()
{
sdkVerbose = true,
resolution = RESOLUTION.HD720,
depthMode = DEPTH_MODE.NONE
};
parseArgs(args, ref initParameters);
ERROR_CODE returnedState = zed.Open(ref initParameters);
if (returnedState != ERROR_CODE.SUCCESS)
{
Environment.Exit(-1);
}
string winName = "Camera control";
Cv2.NamedWindow(winName);
Console.WriteLine("ZED Model : " + zed.GetCameraModel());
Console.WriteLine("ZED Serial Number : " + zed.GetZEDSerialNumber());
Console.WriteLine("ZED Camera Firmware : " + zed.GetCameraFirmwareVersion());
Console.WriteLine("ZED Camera Resolution : " + zed.GetInitParameters().resolution);
Console.WriteLine("ZED Camera FPS : " + zed.GetInitParameters().cameraFPS);
// Print help control
printHelp();
sl.Mat zedImage = new sl.Mat();
zedImage.Create(new Resolution((uint)zed.ImageWidth, (uint)zed.ImageHeight), MAT_TYPE.MAT_8U_C4);
// Initialise camera setting
switchCameraSettings();
char key = ' ';
RuntimeParameters rtParams = new RuntimeParameters();
while (key != 'q')
{
// Check that a new image is successfully acquired
returnedState = zed.Grab(ref rtParams);
if (returnedState == ERROR_CODE.SUCCESS)
{
//Retrieve left image
zed.RetrieveImage(zedImage, VIEW.LEFT);
// Convert to cvMat
OpenCvSharp.Mat cvImage = new OpenCvSharp.Mat(zedImage.GetHeight(), zedImage.GetWidth(), OpenCvSharp.MatType.CV_8UC4, zedImage.GetPtr());
Cv2.ImShow(winName, cvImage);
}
else
{
Console.WriteLine("ERROR during capture");
break;
}
key = (char)Cv2.WaitKey(10);
// Change camera settings with keyboard
updateCameraSettings(key, ref zed);
}
}
public MainWindow(string[] args)
{
// Set configuration parameters
InitParameters init_params = new InitParameters();
init_params.resolution = RESOLUTION.HD720;
init_params.cameraFPS = 60;
init_params.depthMode = DEPTH_MODE.ULTRA;
init_params.coordinateUnits = UNIT.METER;
init_params.coordinateSystem = COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP;
init_params.depthMaximumDistance = 50f;
init_params.cameraDisableSelfCalib = true;
parseArgs(args, ref init_params);
// Open the camera
zedCamera = new Camera(0);
ERROR_CODE err = zedCamera.Open(ref init_params);
if (err != ERROR_CODE.SUCCESS)
{
Environment.Exit(-1);
}
if (zedCamera.CameraModel != sl.MODEL.ZED2)
{
Console.WriteLine(" ERROR : Use ZED2 Camera only");
return;
}
// Enable tracking (mandatory for object detection)
Quaternion quat = Quaternion.Identity;
Vector3 vec = Vector3.Zero;
zedCamera.EnablePositionalTracking(ref quat, ref vec);
runtimeParameters = new RuntimeParameters();
// Enable the Objects detection module
ObjectDetectionParameters obj_det_params = new ObjectDetectionParameters();
obj_det_params.enableObjectTracking = true; // the object detection will track objects across multiple images, instead of an image-by-image basis
obj_det_params.enable2DMask = false;
obj_det_params.imageSync = true; // the object detection is synchronized to the image
obj_det_params.detectionModel = sl.DETECTION_MODEL.MULTI_CLASS_BOX_ACCURATE;
zedCamera.EnableObjectDetection(ref obj_det_params);
// Create ZED Objects filled in the main loop
object_frame = new Objects();
point_cloud = new Mat();
int Height = zedCamera.ImageHeight;
int Width = zedCamera.ImageWidth;
res = new Resolution((uint)Width, (uint)Height);
point_cloud.Create(res, MAT_TYPE.MAT_32F_C4, MEM.CPU);
// Create OpenGL Viewer
viewer = new GLViewer();
// Configure object detection runtime parameters
obj_runtime_parameters = new ObjectDetectionRuntimeParameters();
obj_runtime_parameters.detectionConfidenceThreshold = 35;
obj_runtime_parameters.objectClassFilter = new int[(int)OBJECT_CLASS.LAST];
obj_runtime_parameters.objectClassFilter[(int)sl.OBJECT_CLASS.PERSON] = Convert.ToInt32(true);
//obj_runtime_parameters.objectClassFilter[(int)sl.OBJECT_CLASS.VEHICLE] = Convert.ToInt32(true);
// To set a specific threshold
obj_runtime_parameters.objectConfidenceThreshold = new int[(int)OBJECT_CLASS.LAST];
obj_runtime_parameters.objectConfidenceThreshold[(int)sl.OBJECT_CLASS.PERSON] = 35;
//obj_runtime_parameters.object_confidence_threshold[(int)sl.OBJECT_CLASS.VEHICLE] = 35;
cam_pose = new Pose();
// Create OpenGL window
CreateWindow();
}
static void Main(string[] args)
{
if (args.Length != 1)
{
Console.WriteLine("Usage: ");
Console.WriteLine(" ZED_SVO_Playback <SVO_file> ");
Console.WriteLine("* *SVO file is mandatory in the application * *");
Environment.Exit(-1);
}
// Create ZED Camera
Camera zed = new Camera(0);
//Specify SVO path parameters
InitParameters initParameters = new InitParameters()
{
inputType = INPUT_TYPE.SVO,
pathSVO = args[0],
svoRealTimeMode = true,
depthMode = DEPTH_MODE.PERFORMANCE
};
ERROR_CODE state = zed.Open(ref initParameters);
if (state != ERROR_CODE.SUCCESS)
{
Environment.Exit(-1);
}
Resolution resolution = zed.GetCalibrationParameters().leftCam.resolution;
// Define OpenCV window size (resize to max 720/404)
Resolution lowResolution = new Resolution((uint)Math.Min(720, (int)resolution.width) * 2, (uint)Math.Min(404, (int)resolution.height));
sl.Mat svoImage = new sl.Mat();
svoImage.Create(lowResolution, MAT_TYPE.MAT_8U_C4);
OpenCvSharp.Mat svoImageOCV = SLMat2CVMat(ref svoImage, MAT_TYPE.MAT_8U_C4);
//Setup key, images, times
char key = ' ';
Console.WriteLine("Press 's' to save SVO image as PNG");
Console.WriteLine("Press 'f' to jump forward in the video");
Console.WriteLine("Press 'b' to jump backard in the video");
Console.WriteLine("Press 'q' to exit...");
int svoFrameRate = zed.GetInitParameters().cameraFPS;
int nbFrames = zed.GetSVONumberOfFrames();
Console.WriteLine("[INFO] SVO contains " + nbFrames + " frames");
RuntimeParameters rtParams = new RuntimeParameters();
// Start SVO Playback
while (key != 'q')
{
state = zed.Grab(ref rtParams);
if (state == ERROR_CODE.SUCCESS)
{
//Get the side by side image
zed.RetrieveImage(svoImage, VIEW.SIDE_BY_SIDE, MEM.CPU, lowResolution);
int svoPosition = zed.GetSVOPosition();
//Display the frame
Cv2.ImShow("View", svoImageOCV);
key = (char)Cv2.WaitKey(10);
switch (key)
{
case 's':
svoImage.Write("capture" + svoPosition + ".png");
break;
case 'f':
zed.SetSVOPosition(svoPosition + svoFrameRate);
break;
case 'b':
zed.SetSVOPosition(svoPosition - svoFrameRate);
break;
}
ProgressBar((float)svoPosition / (float)nbFrames, 30);
}
else if (zed.GetSVOPosition() >= nbFrames - (zed.GetInitParameters().svoRealTimeMode ? 2 : 1))
{
Console.WriteLine("SVO end has been reached. Looping back to 0");
zed.SetSVOPosition(0);
}
else
{
Console.WriteLine("Grab Error : " + state);
break;
}
}
zed.Close();
}
static void Main(string[] args)
{
if (args.Length != 3)
{
Console.WriteLine("Usage: ");
Console.WriteLine(" ZED_SVO_Export A B C ");
Console.WriteLine("Please use the following parameters from the command line:");
Console.WriteLine(" A - SVO file path (input) : \"path/to/file.svo\"");
Console.WriteLine(" B - AVI file path (output) or image sequence folder(output) : \"path/to/output/file.avi\" or \"path/to/output/folder\"");
Console.WriteLine(" C - Export mode: 0=Export LEFT+RIGHT AVI.");
Console.WriteLine(" 1=Export LEFT+DEPTH_VIEW AVI.");
Console.WriteLine(" 2=Export LEFT+RIGHT image sequence.");
Console.WriteLine(" 3=Export LEFT+DEPTH_VIEW image sequence.");
Console.WriteLine(" 4=Export LEFT+DEPTH_16Bit image sequence.");
Console.WriteLine(" A and B need to end with '/' or '\\'\n\n");
Console.WriteLine("Examples: \n");
Console.WriteLine(" (AVI LEFT+RIGHT) ZED_SVO_Export \"path/to/file.svo\" \"path/to/output/file.avi\" 0");
Console.WriteLine(" (AVI LEFT+DEPTH) ZED_SVO_Export \"path/to/file.svo\" \"path/to/output/file.avi\" 1");
Console.WriteLine(" (SEQUENCE LEFT+RIGHT) ZED_SVO_Export \"path/to/file.svo\" \"path/to/output/folder\" 2");
Console.WriteLine(" (SEQUENCE LEFT+DEPTH) ZED_SVO_Export \"path/to/file.svo\" \"path/to/output/folder\" 3");
Console.WriteLine(" (SEQUENCE LEFT+DEPTH_16Bit) ZED_SVO_Export \"path/to/file.svo\" \"path/to/output/folder\" 4");
Environment.Exit(-1);
}
string svoInputPath = args[0];
string outputPath = args[1];
bool outputAsVideo = true;
APP_TYPE appType = APP_TYPE.LEFT_AND_RIGHT;
if (args[2].Equals("1") || args[2].Equals("3"))
{
appType = APP_TYPE.LEFT_AND_DEPTH;
}
if (args[2].Equals("4"))
{
appType = APP_TYPE.LEFT_AND_DEPTH_16;
}
// Check if exporting to AVI or SEQUENCE
if (!args[2].Equals("0") && !args[2].Equals("1"))
{
outputAsVideo = false;
}
if (!outputAsVideo && !Directory.Exists(outputPath))
{
Console.WriteLine("Input directory doesn't exist. Check permissions or create it. " + outputPath);
Environment.Exit(-1);
}
if (!outputAsVideo && outputPath.Substring(outputPath.Length - 1) != "/" && outputPath.Substring(outputPath.Length - 1) != "\\")
{
Console.WriteLine("Error: output folder needs to end with '/' or '\\'." + outputPath);
Environment.Exit(-1);
}
// Create ZED Camera
Camera zed = new Camera(0);
//Specify SVO path parameters
InitParameters initParameters = new InitParameters()
{
inputType = INPUT_TYPE.SVO,
pathSVO = svoInputPath,
svoRealTimeMode = true,
coordinateUnits = UNIT.MILLIMETER
};
ERROR_CODE zedOpenState = zed.Open(ref initParameters);
if (zedOpenState != ERROR_CODE.SUCCESS)
{
Environment.Exit(-1);
}
Resolution imageSize = zed.GetCalibrationParameters().leftCam.resolution;
sl.Mat leftImage = new sl.Mat();
leftImage.Create(imageSize, MAT_TYPE.MAT_8U_C4);
OpenCvSharp.Mat leftImageOCV = SLMat2CVMat(ref leftImage, MAT_TYPE.MAT_8U_C4);
sl.Mat rightImage = new sl.Mat();
rightImage.Create(imageSize, MAT_TYPE.MAT_8U_C4);
OpenCvSharp.Mat rightImageOCV = SLMat2CVMat(ref rightImage, MAT_TYPE.MAT_8U_C4);
sl.Mat depthImage = new sl.Mat();
depthImage.Create(imageSize, MAT_TYPE.MAT_32F_C1);
OpenCvSharp.Mat depthImageOCV = SLMat2CVMat(ref depthImage, MAT_TYPE.MAT_8U_C4);
OpenCvSharp.Mat imageSideBySide = new OpenCvSharp.Mat();
if (outputAsVideo)
{
imageSideBySide = new OpenCvSharp.Mat((int)imageSize.height, (int)imageSize.width * 2, OpenCvSharp.MatType.CV_8UC3);
}
OpenCvSharp.VideoWriter videoWriter = new OpenCvSharp.VideoWriter();
//Create Video writter
if (outputAsVideo)
{
int fourcc = OpenCvSharp.VideoWriter.FourCC('M', '4', 'S', '2'); // MPEG-4 part 2 codec
int frameRate = Math.Max(zed.GetInitParameters().cameraFPS, 25); // Minimum write rate in OpenCV is 25
Console.WriteLine(outputPath);
videoWriter.Open(outputPath, fourcc, frameRate, new OpenCvSharp.Size((int)imageSize.width * 2, (int)imageSize.height));
if (!videoWriter.IsOpened())
{
Console.WriteLine("Error: OpenCV video writer cannot be opened. Please check the .avi file path and write permissions.");
zed.Close();
Environment.Exit(-1);
}
}
RuntimeParameters rtParams = new RuntimeParameters();
rtParams.sensingMode = SENSING_MODE.FILL;
// Start SVO conversion to AVI/SEQUENCE
Console.WriteLine("Converting SVO... press Q to interupt conversion");
int nbFrames = zed.GetSVONumberOfFrames();
int svoPosition = 0;
zed.SetSVOPosition(svoPosition);
while (!exit_app)
{
exit_app = (System.Windows.Input.Keyboard.IsKeyDown(System.Windows.Input.Key.Q) == true);
ERROR_CODE err = zed.Grab(ref rtParams);
if (err == ERROR_CODE.SUCCESS)
{
svoPosition = zed.GetSVOPosition();
// Retrieve SVO images
zed.RetrieveImage(leftImage, VIEW.LEFT);
switch (appType)
{
case APP_TYPE.LEFT_AND_RIGHT:
zed.RetrieveImage(rightImage, VIEW.RIGHT);
break;
case APP_TYPE.LEFT_AND_DEPTH:
zed.RetrieveImage(rightImage, VIEW.DEPTH);
break;
case APP_TYPE.LEFT_AND_DEPTH_16:
zed.RetrieveMeasure(depthImage, MEASURE.DEPTH);
break;
default:
break;
}
if (outputAsVideo)
{
// Convert SVO image from RGBA to RGB
Cv2.CvtColor(leftImageOCV, imageSideBySide[new OpenCvSharp.Rect(0, 0, (int)imageSize.width, (int)imageSize.height)], ColorConversionCodes.BGRA2BGR);
Cv2.CvtColor(rightImageOCV, imageSideBySide[new OpenCvSharp.Rect((int)imageSize.width, 0, (int)imageSize.width, (int)imageSize.height)], ColorConversionCodes.BGRA2BGR);
// Write the RGB image in the video
videoWriter.Write(imageSideBySide);
}
else
{
// Generate filenames
string filename1 = "";
filename1 = outputPath + "/left" + svoPosition + ".png";
string filename2 = "";
filename2 = outputPath + (appType == APP_TYPE.LEFT_AND_RIGHT ? "/right" : "/depth") + svoPosition + ".png";
// Save Left images
Cv2.ImWrite(filename1, leftImageOCV);
//Save depth
if (appType != APP_TYPE.LEFT_AND_DEPTH_16)
{
Cv2.ImWrite(filename2, rightImageOCV);
}
else
{
//Convert to 16 bit
OpenCvSharp.Mat depth16 = new OpenCvSharp.Mat();
depthImageOCV.ConvertTo(depth16, MatType.CV_16UC1);
Cv2.ImWrite(filename2, depth16);
}
}
// Display Progress
ProgressBar((float)svoPosition / (float)nbFrames, 30);
}
else if (zed.GetSVOPosition() >= nbFrames - (zed.GetInitParameters().svoRealTimeMode ? 2 : 1))
{
Console.WriteLine("SVO end has been reached. Exiting now.");
Environment.Exit(-1);
exit_app = true;
}
else
{
Console.WriteLine("Grab Error : " + err);
exit_app = true;
}
}
if (outputAsVideo)
{
//Close the video writer
videoWriter.Release();
}
zed.Close();
}
public MainWindow(string[] args)
{
// Set configuration parameters
InitParameters init_params = new InitParameters();
init_params.resolution = RESOLUTION.HD1080;
init_params.depthMode = DEPTH_MODE.ULTRA;
init_params.coordinateUnits = UNIT.METER;
init_params.coordinateSystem = COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP;
init_params.depthMaximumDistance = 10f;
init_params.cameraDisableSelfCalib = true;
maxDepthDistance = init_params.depthMaximumDistance;
parseArgs(args, ref init_params);
// Open the camera
zedCamera = new Camera(0);
ERROR_CODE err = zedCamera.Open(ref init_params);
if (err != ERROR_CODE.SUCCESS)
{
Environment.Exit(-1);
}
if (zedCamera.CameraModel != sl.MODEL.ZED2)
{
Console.WriteLine(" ERROR : Use ZED2 Camera only");
return;
}
// Enable tracking (mandatory for object detection)
Quaternion quat = Quaternion.Identity;
Vector3 vec = Vector3.Zero;
zedCamera.EnablePositionalTracking(ref quat, ref vec);
runtimeParameters = new RuntimeParameters();
// Enable the Objects detection module
ObjectDetectionParameters obj_det_params = new ObjectDetectionParameters();
obj_det_params.enableObjectTracking = true; // the object detection will track objects across multiple images, instead of an image-by-image basis
isTrackingON = obj_det_params.enableObjectTracking;
obj_det_params.enable2DMask = false;
obj_det_params.imageSync = true; // the object detection is synchronized to the image
obj_det_params.detectionModel = sl.DETECTION_MODEL.MULTI_CLASS_BOX_ACCURATE;
if (USE_BATCHING)
{
batchParameters = new BatchParameters();
batchParameters.latency = 2.0f;
batchParameters.enable = true;
batchHandler = new BatchSystemHandler((int)batchParameters.latency * 2);
obj_det_params.batchParameters = batchParameters;
}
zedCamera.EnableObjectDetection(ref obj_det_params);
// Configure object detection runtime parameters
obj_runtime_parameters = new ObjectDetectionRuntimeParameters();
detection_confidence = 60;
obj_runtime_parameters.detectionConfidenceThreshold = detection_confidence;
obj_runtime_parameters.objectClassFilter = new int[(int)OBJECT_CLASS.LAST];
obj_runtime_parameters.objectClassFilter[(int)sl.OBJECT_CLASS.PERSON] = Convert.ToInt32(true);
//obj_runtime_parameters.objectClassFilter[(int)sl.OBJECT_CLASS.VEHICLE] = Convert.ToInt32(true);
// To set a specific threshold
obj_runtime_parameters.objectConfidenceThreshold = new int[(int)OBJECT_CLASS.LAST];
obj_runtime_parameters.objectConfidenceThreshold[(int)sl.OBJECT_CLASS.PERSON] = detection_confidence;
//obj_runtime_parameters.object_confidence_threshold[(int)sl.OBJECT_CLASS.VEHICLE] = detection_confidence;
// Create ZED Objects filled in the main loop
objects = new Objects();
imageLeft = new sl.Mat();
int Height = zedCamera.ImageHeight;
int Width = zedCamera.ImageWidth;
displayRes = new Resolution(Math.Min((uint)Width, 1280), Math.Min((uint)Height, 720));
Resolution tracksRes = new Resolution(400, (uint)displayRes.height);
// create a global image to store both image and tracks view
globalImage = new OpenCvSharp.Mat((int)displayRes.height, (int)displayRes.width + (int)tracksRes.width, OpenCvSharp.MatType.CV_8UC4);
// retrieve ref on image part
imageLeftOcv = new OpenCvSharp.Mat(globalImage, new OpenCvSharp.Rect(0, 0, (int)displayRes.width, (int)displayRes.height));
// retrieve ref on tracks part
imageTrackOcv = new OpenCvSharp.Mat(globalImage, new OpenCvSharp.Rect((int)displayRes.width, 0, (int)tracksRes.width, (int)tracksRes.height));
// init an sl::Mat from the ocv image ref (which is in fact the memory of global_image)
imageLeft.Create(displayRes, MAT_TYPE.MAT_8U_C4, MEM.CPU);
imageRenderLeft = new OpenCvSharp.Mat((int)displayRes.height, (int)displayRes.width, OpenCvSharp.MatType.CV_8UC4, imageLeft.GetPtr());
imgScale = new sl.float2((int)displayRes.width / (float)Width, (int)displayRes.height / (float)Height);
// Create OpenGL Viewer
viewer = new GLViewer();
camWorldPose = new Pose();
camCameraPose = new Pose();
pointCloud = new sl.Mat();
pcRes = new Resolution(Math.Min((uint)Width, 720), Math.Min((uint)Height, 404));
pointCloud.Create(pcRes, MAT_TYPE.MAT_32F_C4, MEM.CPU);
// 2D tracks
trackViewGenerator = new TrackingViewer(tracksRes, (int)zedCamera.GetCameraFPS(), maxDepthDistance, 3);
trackViewGenerator.setCameraCalibration(zedCamera.GetCalibrationParameters());
window_name = "ZED| 2D View and Birds view";
Cv2.NamedWindow(window_name, WindowMode.Normal);// Create Window
Cv2.CreateTrackbar("Confidence", window_name, ref detection_confidence, 100);
// Create OpenGL window
CreateWindow();
}
public MainWindow(string[] args)
{
// Set configuration parameters
InitParameters init_params = new InitParameters();
init_params.resolution = RESOLUTION.HD720;
init_params.cameraFPS = 60;
init_params.depthMode = DEPTH_MODE.ULTRA;
init_params.coordinateUnits = UNIT.METER;
init_params.coordinateSystem = COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP;
init_params.depthMaximumDistance = 15f;
init_params.sdkVerbose = true;
parseArgs(args, ref init_params);
// Open the camera
zedCamera = new Camera(0);
ERROR_CODE err = zedCamera.Open(ref init_params);
if (err != ERROR_CODE.SUCCESS)
{
Environment.Exit(-1);
}
if (zedCamera.CameraModel != sl.MODEL.ZED2)
{
Console.WriteLine(" ERROR : Use ZED2 Camera only");
return;
}
tracking_state = POSITIONAL_TRACKING_STATE.OFF;
mapping_state = SPATIAL_MAPPING_STATE.NOT_ENABLED;
mapping_activated = false;
// Enable tracking
PositionalTrackingParameters positionalTrackingParameters = new PositionalTrackingParameters();
zedCamera.EnablePositionalTracking(ref positionalTrackingParameters);
runtimeParameters = new RuntimeParameters();
spatialMappingParameters = new SpatialMappingParameters();
spatialMappingParameters.resolutionMeter = SpatialMappingParameters.get(MAPPING_RESOLUTION.MEDIUM);
spatialMappingParameters.saveTexture = false;
if (CREATE_MESH)
{
spatialMappingParameters.map_type = SPATIAL_MAP_TYPE.MESH;
}
else
{
spatialMappingParameters.map_type = SPATIAL_MAP_TYPE.FUSED_POINT_CLOUD;
}
// Create ZED Objects filled in the main loop
zedMat = new Mat();
cam_pose = new Pose();
//Create mesh.
mesh = new Mesh();
fusedPointCloud = new FusedPointCloud();
int Height = zedCamera.ImageHeight;
int Width = zedCamera.ImageWidth;
Resolution res = new Resolution((uint)Width, (uint)Height);
zedMat.Create(res, MAT_TYPE.MAT_8U_C4, MEM.CPU);
// Create OpenGL Viewer
viewer = new GLViewer(new Resolution((uint)Width, (uint)Height));
Console.WriteLine("Hit SPACE BAR to start spatial mapping...");
// Create OpenGL window
CreateWindow();
}