0.18: Camera calibration and LaserScan Info refactoring (#324)

* Saving full camera calibration in database, added angle min/max/inc to LaserScan.

* Updated laserscan info save/load in db

* Database: added Tag table, added env_sensors field to Node

* fixed serialization/deserialization of stereo camera model

* fixed multi-calibration db saving

* fixed rebase errors

* Tango: Added saving environmental sensors option

* Memory: Save env sensors

* Tango: fixed env sensor ids

* DBViewer: show env sensors values

* DBViewer: added calibration details on tooltip

* increased package version to 0.18.0

* Fixed LaserScan copies when angleIncrement is valid

* fixed build error without OctoMap dependency

corelib/include/rtabmap/core/CameraModel.h

@@ -115,6 +115,9 @@ public:
 
 	bool load(const std::string & directory, const std::string & cameraName);
 	bool save(const std::string & directory) const;
+	std::vector<unsigned char> serialize() const;
+	unsigned int deserialize(const std::vector<unsigned char>& data);
+	unsigned int deserialize(const unsigned char * data, unsigned int dataSize);
 
 	CameraModel scaled(double scale) const;
 	CameraModel roi(const cv::Rect & roi) const;

corelib/include/rtabmap/core/DBDriver.h

@@ -165,8 +165,9 @@ public:
 	void getNodeData(int signatureId, SensorData & data, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
 	bool getCalibration(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const;
 	bool getLaserScanInfo(int signatureId, LaserScan & info) const;
-	bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps) const;
+	bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const;
 	void loadLinks(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const;
+	void loadTags(int signatureId, std::map<int, TransformStamped> & tags) const;
 	void getWeight(int signatureId, int & weight) const;
 	void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false, bool ignoreBadSignatures = false) const;
 	void getAllLinks(std::multimap<int, Link> & links, bool ignoreNullLinks = true) const;
@@ -259,11 +260,12 @@ protected:
 	virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const = 0;
 	virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const = 0;
 	virtual void loadLinksQuery(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const = 0;
+	virtual void loadTagsQuery(int signatureId, std::map<int, TransformStamped> & tags) const = 0;
 
 	virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const = 0;
 	virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const = 0;
 	virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const = 0;
-	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps) const = 0;
+	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const = 0;
 	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const = 0;
 	virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks) const = 0;
 	virtual void getLastIdQuery(const std::string & tableName, int & id) const = 0;

corelib/include/rtabmap/core/DBDriverSqlite3.h

@@ -131,11 +131,12 @@ protected:
 	virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const;
 	virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const;
 	virtual void loadLinksQuery(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const;
+	virtual void loadTagsQuery(int signatureId, std::map<int, TransformStamped> & tags) const;
 
 	virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const;
 	virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const;
 	virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const;
-	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps) const;
+	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const;
 	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const;
 	virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks) const;
 	virtual void getLastIdQuery(const std::string & tableName, int & id) const;
@@ -151,18 +152,17 @@ private:
 	std::string queryStepSensorData() const;
 	std::string queryStepLinkUpdate() const;
 	std::string queryStepLink() const;
+	std::string queryStepTag() const;
 	std::string queryStepWordsChanged() const;
 	std::string queryStepKeypoint() const;
 	std::string queryStepOccupancyGridUpdate() const;
 	void stepNode(sqlite3_stmt * ppStmt, const Signature * s) const;
-	void stepImage(
-			sqlite3_stmt * ppStmt,
-			int id,
-			const cv::Mat & imageBytes) const;
+	void stepImage(sqlite3_stmt * ppStmt, int id, const cv::Mat & imageBytes) const;
 	void stepDepth(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
 	void stepDepthUpdate(sqlite3_stmt * ppStmt, int nodeId, const cv::Mat & imageCompressed) const;
 	void stepSensorData(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
 	void stepLink(sqlite3_stmt * ppStmt, const Link & link) const;
+	void stepTag(sqlite3_stmt * ppStmt, int nodeId, int tagId, const TransformStamped & pose) const;
 	void stepWordsChanged(sqlite3_stmt * ppStmt, int signatureId, int oldWordId, int newWordId) const;
 	void stepKeypoint(sqlite3_stmt * ppStmt, int signatureId, int wordId, const cv::KeyPoint & kp, const cv::Point3f & pt, const cv::Mat & descriptor) const;
 	void stepOccupancyGridUpdate(sqlite3_stmt * ppStmt,
@@ -175,6 +175,7 @@ private:
 
 private:
 	void loadLinksQuery(std::list<Signature *> & signatures) const;
+	void loadTagsQuery(std::list<Signature *> & signatures) const;
 	int loadOrSaveDb(sqlite3 *pInMemory, const std::string & fileName, int isSave) const;
 
 protected:

corelib/include/rtabmap/core/EnvSensor.h

@@ -0,0 +1,85 @@
+/*
+Copyright (c) 2010-2018, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef CORELIB_INCLUDE_RTABMAP_CORE_ENVSENSOR_H_
+#define CORELIB_INCLUDE_RTABMAP_CORE_ENVSENSOR_H_
+
+namespace rtabmap {
+
+class EnvSensor
+{
+public:
+	enum Type {
+		// built-in types
+		kUndefined = 0,
+		kWifiSignalStrength,      // dBm
+		kAmbientTemperature,      // Celcius
+		kAmbientAirPressure,      // hPa
+		kAmbientLight,            // lx
+		kAmbientRelativeHumidity, // %
+
+		// user types
+		kCustomSensor1 = 100,
+		kCustomSensor2,
+		kCustomSensor3,
+		kCustomSensor4,
+		kCustomSensor5,
+		kCustomSensor6,
+		kCustomSensor7,
+		kCustomSensor8,
+		kCustomSensor9
+	};
+
+public:
+	EnvSensor() :
+		type_(kUndefined),
+		value_(0.0),
+		stamp_(0.0)
+	{}
+	EnvSensor(const Type & type, const double & value,const double & stamp = 0) :
+		type_(type),
+		value_(value),
+		stamp_(stamp)
+	{}
+
+	virtual ~EnvSensor() {}
+
+	const Type & type() const {return type_;}
+	const double & value() const {return value_;}
+	const double & stamp() const {return stamp_;}
+
+private:
+	Type type_;
+	double value_;
+	double stamp_;
+};
+
+typedef std::map<EnvSensor::Type, EnvSensor> EnvSensors;
+
+}
+
+#endif /* CORELIB_INCLUDE_RTABMAP_CORE_ENVSENSOR_H_ */

corelib/include/rtabmap/core/GPS.h

@@ -0,0 +1,78 @@
+/*
+Copyright (c) 2010-2018, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef CORELIB_INCLUDE_RTABMAP_CORE_GPS_H_
+#define CORELIB_INCLUDE_RTABMAP_CORE_GPS_H_
+
+#include <rtabmap/core/GeodeticCoords.h>
+
+namespace rtabmap {
+
+class GPS
+{
+public:
+	GPS():
+		stamp_(0.0),
+		longitude_(0.0),
+		latitude_(0.0),
+		altitude_(0.0),
+		error_(0.0),
+		bearing_(0.0)
+	{}
+	GPS(const double & stamp,
+		const double & longitude,
+		const double & latitude,
+		const double & altitude,
+		const double & error,
+		const double & bearing):
+			stamp_(stamp),
+			longitude_(longitude),
+			latitude_(latitude),
+			altitude_(altitude),
+			error_(error),
+			bearing_(bearing)
+	{}
+	const double & stamp() const {return stamp_;}
+	const double & longitude() const {return longitude_;}
+	const double & latitude() const {return latitude_;}
+	const double & altitude() const {return altitude_;}
+	const double & error() const {return error_;}
+	const double & bearing() const {return bearing_;}
+
+	GeodeticCoords toGeodeticCoords() const {return GeodeticCoords(latitude_, longitude_, altitude_);}
+private:
+	double stamp_;     // in sec
+	double longitude_; // DD
+	double latitude_;  // DD
+	double altitude_;  // m
+	double error_;     // m
+	double bearing_;   // deg (North 0->360 clockwise)
+};
+
+}
+
+#endif /* CORELIB_INCLUDE_RTABMAP_CORE_GPS_H_ */

corelib/include/rtabmap/core/GeodeticCoords.h

@@ -81,47 +81,6 @@ private:
 	double altitude_;  // m
 };
 
-class GPS
-{
-public:
-	GPS():
-		stamp_(0.0),
-		longitude_(0.0),
-		latitude_(0.0),
-		altitude_(0.0),
-		error_(0.0),
-		bearing_(0.0)
-	{}
-	GPS(const double & stamp,
-		const double & longitude,
-		const double & latitude,
-		const double & altitude,
-		const double & error,
-		const double & bearing):
-			stamp_(stamp),
-			longitude_(longitude),
-			latitude_(latitude),
-			altitude_(altitude),
-			error_(error),
-			bearing_(bearing)
-	{}
-	const double & stamp() const {return stamp_;}
-	const double & longitude() const {return longitude_;}
-	const double & latitude() const {return latitude_;}
-	const double & altitude() const {return altitude_;}
-	const double & error() const {return error_;}
-	const double & bearing() const {return bearing_;}
-
-	GeodeticCoords toGeodeticCoords() const {return GeodeticCoords(latitude_, longitude_, altitude_);}
-private:
-	double stamp_;     // in sec
-	double longitude_; // DD
-	double latitude_;  // DD
-	double altitude_;  // m
-	double error_;     // m
-	double bearing_;   // deg (North 0->360 clockwise)
-};
-
 }
 
 #endif /* GEODETICCOORDS_H_ */

corelib/include/rtabmap/core/Graph.h

@@ -34,7 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <list>
 #include <rtabmap/core/Parameters.h>
 #include <rtabmap/core/Link.h>
-#include <rtabmap/core/GeodeticCoords.h>
+#include <rtabmap/core/GPS.h>
 
 namespace rtabmap {
 class Memory;

corelib/include/rtabmap/core/LaserScan.h

@@ -54,16 +54,44 @@ public:
 	static bool isScanHasNormals(const Format & format);
 	static bool isScanHasRGB(const Format & format);
 	static bool isScanHasIntensity(const Format & format);
-	static LaserScan backwardCompatibility(const cv::Mat & oldScanFormat, int maxPoints = 0, int maxRange = 0, const Transform & localTransform = Transform::getIdentity());
+	static LaserScan backwardCompatibility(
+			const cv::Mat & oldScanFormat,
+			int maxPoints = 0,
+			int maxRange = 0,
+			const Transform & localTransform = Transform::getIdentity());
+	static LaserScan backwardCompatibility(
+			const cv::Mat & oldScanFormat,
+			float minRange,
+			float maxRange,
+			float angleMin,
+			float angleMax,
+			float angleInc,
+			const Transform & localTransform = Transform::getIdentity());
 
 public:
 	LaserScan();
-	LaserScan(const cv::Mat & data, int maxPoints, float maxRange, Format format, const Transform & localTransform = Transform::getIdentity());
+	LaserScan(const cv::Mat & data,
+			int maxPoints,
+			float maxRange,
+			Format format,
+			const Transform & localTransform = Transform::getIdentity());
+	LaserScan(const cv::Mat & data,
+			Format format,
+			float minRange,
+			float maxRange,
+			float angleMin,
+			float angleMax,
+			float angleIncrement,
+			const Transform & localTransform = Transform::getIdentity());
 
 	const cv::Mat & data() const {return data_;}
-	int maxPoints() const {return maxPoints_;}
-	float maxRange() const {return maxRange_;}
 	Format format() const {return format_;}
+	int maxPoints() const {return maxPoints_;}
+	float rangeMin() const {return rangeMin_;}
+	float rangeMax() const {return rangeMax_;}
+	float angleMin() const {return angleMin_;}
+	float angleMax() const {return angleMax_;}
+	float angleIncrement() const {return angleIncrement_;}
 	Transform localTransform() const {return localTransform_;}
 
 	bool isEmpty() const {return data_.empty();}
@@ -74,7 +102,7 @@ public:
 	bool hasRGB() const {return isScanHasRGB(format_);}
 	bool hasIntensity() const {return isScanHasIntensity(format_);}
 	bool isCompressed() const {return !data_.empty() && data_.type()==CV_8UC1;}
-	LaserScan clone() const {return LaserScan(data_.clone(), maxPoints_, maxRange_, format_, localTransform_.clone());}
+	LaserScan clone() const;
 
 	int getIntensityOffset() const {return hasIntensity()?(is2d()?2:3):-1;}
 	int getRGBOffset() const {return hasRGB()?(is2d()?2:3):-1;}
@@ -84,9 +112,13 @@ public:
 
 private:
 	cv::Mat data_;
-	int maxPoints_;
-	float maxRange_;
 	Format format_;
+	int maxPoints_;
+	float rangeMin_;
+	float rangeMax_;
+	float angleMin_;
+	float angleMax_;
+	float angleIncrement_;
 	Transform localTransform_;
 };
 

corelib/include/rtabmap/core/Memory.h

@@ -186,6 +186,7 @@ public:
 			Transform & groundTruth,
 			std::vector<float> & velocity,
 			GPS & gps,
+			EnvSensors & sensors,
 			bool lookInDatabase = false) const;
 	cv::Mat getImageCompressed(int signatureId) const;
 	SensorData getNodeData(int nodeId, bool uncompressedData = false) const;

corelib/include/rtabmap/core/SensorData.h

@@ -33,11 +33,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/CameraModel.h>
 #include <rtabmap/core/StereoCameraModel.h>
 #include <rtabmap/core/Transform.h>
-#include <rtabmap/core/GeodeticCoords.h>
 #include <opencv2/core/core.hpp>
 #include <opencv2/features2d/features2d.hpp>
 #include <rtabmap/core/LaserScan.h>
 #include <rtabmap/core/IMU.h>
+#include <rtabmap/core/GPS.h>
+#include <rtabmap/core/EnvSensor.h>
 
 namespace rtabmap
 {
@@ -235,18 +236,16 @@ public:
 	const Transform & globalPose() const {return globalPose_;}
 	const cv::Mat & globalPoseCovariance() const {return globalPoseCovariance_;}
 
-	void setGPS(const GPS & gps)
-	{
-		gps_ = gps;
-	}
+	void setGPS(const GPS & gps) {gps_ = gps;}
 	const GPS & gps() const {return gps_;}
 
-	void setIMU(const IMU & imu)
-	{
-		imu_ = imu;
-	}
+	void setIMU(const IMU & imu) {imu_ = imu; }
 	const IMU & imu() const {return imu_;}
 
+	void setEnvSensors(const EnvSensors & sensors) {_envSensors = sensors;}
+	void addEnvSensor(const EnvSensor & sensor) {_envSensors.insert(std::make_pair(sensor.type(), sensor));}
+	const EnvSensors & envSensors() const {return _envSensors;}
+
 	long getMemoryUsed() const; // Return memory usage in Bytes
 	void clearCompressedData() {_imageCompressed=cv::Mat(); _depthOrRightCompressed=cv::Mat(); _laserScanCompressed.clear(); _userDataCompressed=cv::Mat();}
 
@@ -281,6 +280,12 @@ private:
 	float _cellSize;
 	cv::Point3f _viewPoint;
 
+	// environmental sensors
+	EnvSensors _envSensors;
+
+	// tags
+	std::map<int, TransformStamped> _tags;
+
 	// features
 	std::vector<cv::KeyPoint> _keypoints;
 	std::vector<cv::Point3f> _keypoints3D;

corelib/include/rtabmap/core/Signature.h

@@ -90,6 +90,10 @@ public:
 	void removeLink(int idTo);
 	void removeVirtualLinks();
 
+	void setTags(const std::map<int, TransformStamped> & tags) {_tags = tags;}
+	void addTag(int id, const TransformStamped & pose) {_tags.insert(std::make_pair(id, pose));}
+	const std::map<int, TransformStamped> & getTags() const {return _tags;}
+
 	void setSaved(bool saved) {_saved = saved;}
 	void setModified(bool modified) {_modified = modified; _linksModified = modified;}
 
@@ -141,6 +145,7 @@ private:
 	int _mapId;
 	double _stamp;
 	std::map<int, Link> _links; // id, transform
+	std::map<int, TransformStamped> _tags;
 	int _weight;
 	std::string _label;
 	bool _saved; // If it's saved to bd

corelib/include/rtabmap/core/StereoCameraModel.h

@@ -97,6 +97,9 @@ public:
 	bool load(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform = true);
 	bool save(const std::string & directory, bool ignoreStereoTransform = true) const;
 	bool saveStereoTransform(const std::string & directory) const;
+	std::vector<unsigned char> serialize() const;
+	unsigned int deserialize(const std::vector<unsigned char>& data);
+	unsigned int deserialize(const unsigned char * data, unsigned int dataSize);
 
 	double baseline() const {return right_.fx()!=0.0 && left_.fx() != 0.0 ? left_.Tx() / left_.fx() - right_.Tx()/right_.fx():0.0;}
 

corelib/include/rtabmap/core/Transform.h

@@ -155,6 +155,21 @@ private:
 
 RTABMAP_EXP std::ostream& operator<<(std::ostream& os, const Transform& s);
 
+class TransformStamped
+{
+public:
+	TransformStamped(const Transform & transform, const double & stamp) :
+		transform_(transform),
+		stamp_(stamp)
+	{}
+	const Transform & transform() const {return transform_;}
+	const double & stamp() const {return stamp_;}
+
+private:
+	Transform transform_;
+	double stamp_;
+};
+
 }
 
 #endif /* TRANSFORM_H_ */