EP3574369A1 - Procédé mis en oeuvre par ordinateur pour déterminer des paramètres de centrage - Google Patents

Procédé mis en oeuvre par ordinateur pour déterminer des paramètres de centrage

Info

Publication number
EP3574369A1
EP3574369A1 EP18702189.4A EP18702189A EP3574369A1 EP 3574369 A1 EP3574369 A1 EP 3574369A1 EP 18702189 A EP18702189 A EP 18702189A EP 3574369 A1 EP3574369 A1 EP 3574369A1
Authority
EP
European Patent Office
Prior art keywords
spectacle frame
parameters
computer
geometrical
eyes
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP18702189.4A
Other languages
German (de)
English (en)
Inventor
Claudia NIEUWENHUIS
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Carl Zeiss AG
Original Assignee
Carl Zeiss AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Carl Zeiss AG filed Critical Carl Zeiss AG
Publication of EP3574369A1 publication Critical patent/EP3574369A1/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G02—OPTICS
    • G02C—SPECTACLES; SUNGLASSES OR GOGGLES INSOFAR AS THEY HAVE THE SAME FEATURES AS SPECTACLES; CONTACT LENSES
    • G02C13/00—Assembling; Repairing; Cleaning
    • G02C13/003—Measuring during assembly or fitting of spectacles
    • G—PHYSICS
    • G02—OPTICS
    • G02C—SPECTACLES; SUNGLASSES OR GOGGLES INSOFAR AS THEY HAVE THE SAME FEATURES AS SPECTACLES; CONTACT LENSES
    • G02C13/00—Assembling; Repairing; Cleaning
    • G02C13/003—Measuring during assembly or fitting of spectacles
    • G02C13/005—Measuring geometric parameters required to locate ophtalmic lenses in spectacles frames
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/51—Housings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35134—3-D cad-cam
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30196—Human being; Person
    • G06T2207/30201—Face

Definitions

  • the invention relates to a computer-implemented method for determining centering parameters according to the preamble of claim 1 or according to the preamble of claim 3 or according to the preamble of claim 6.
  • Centering parameters are used to correctly position or center lenses in a spectacle frame so that the lenses are positioned in the correct position relative to the eyes of the person wearing the spectacles.
  • These are in part anatomical parameters of the person concerned, such as the pupil distance, in part to purely barrel-specific parameters such as the lens width or the mounting disc height and in part to combinations of anatomical and barrel-specific
  • centering devices for the centering of spectacle lenses, the measurement of distances and dimensions is made, which are relevant for the production and the Einschieifen of the lenses.
  • trouble-free as possible operation with high precision of automatic procedures is necessary.
  • the centering device is equipped with multiple cameras that simultaneously record multiple images of the end customer. In the previous centering the customer uses a socket. In the pictures are automatically features such as pupil centers and
  • Fassungsrand detected and determines their subpixel exact position. Based on these measured image positions, you can then use
  • Centering algorithms are determined the relevant parameters for the lens centering. Centering measurements with spectacle frames that are not available in the optician's shop are not possible.
  • US Pat. No. 6,792,401 B1 discloses a method for adjusting spectacle lenses and spectacles, in which image data of the head of a subject are related to views of spectacle frames by means of a test socket. From US 2015/0055085 A1 a method of the aforementioned type is known, in which a point cloud describing its eye parts is generated from a plurality of calibrated images of a subject. On the present in the form of a point cloud "head” is virtually a version "put on”, which already exists in the form of provided by the socket manufacturer CAD data sets. However, this method is not feasible if the CAD record of the socket manufacturer is not present, which is usually treated by the socket manufacturer as a trade secret. In addition, reference objects are used to scale the model of the head to the correct size.
  • Spectacle frames allows.
  • the method according to claim 1 solves the problem to provide a simpler method by a reference object such as a test version is not needed, which is regularly perceived by the customer as uncomfortable.
  • the method according to claim 3 solves the problem of providing a method that allows a determination of Zentrierparametern even without the presence of data of the socket manufacturer.
  • a point cloud comprises less data than a CAD data set, so that less computing power is required to perform the method.
  • the invention is based on the idea to make also Zentrier horren the customer with eyeglass frames that are not available in the shop but only as an SD record. As a result, you can offer the customer a much larger amount of eyeglass frames to choose from, which would find no place in a store. Besides, also can be customized for the customer
  • individualized spectacle frames are measured before they are ever made. This allows the customer to try out a much wider range of eyeglass frames and have them measured immediately without having to put on the eyeglass frame at all. It is sufficient if the data set describing the geometrical parameters of the spectacle frame which describe the geometry of the spectacle frame is provided as at least one three-dimensional point cloud - no metadata such as tracer contour of the spectacle lenses, etc. are required. In this case, calibrated images are provided. Their calibration encompasses the extrinsic properties of the cameras that record the images or the camera that captures the images, such as the relative orientation of their optical axes and the relative position of each other in space, as well as their intrinsic properties
  • Geometric position determination is used to determine geometric parameters that describe the position of the eyes.
  • a three-dimensional data record describing a geometrical parameter of the eyeglass frame is provided, and by means of a rigid transformation the geometrical parameters of the eyeglass frame and the geometrical parameters describing the position of the eyes are related to one another. From the the spectacle frame
  • the centering parameters are subsequently calculated and the geometric parameters describing the position of the eyes are calculated.
  • a rigid transformation is understood to mean translation, rotation or reflection or combinations thereof.
  • the data set describing the geometrical parameters of the spectacle frame can be generated to simplify the method by segmenting the silhouettes of the spectacle frame in the individual images and / or by means of an SD reconstruction method and / or by means of a method for machine learning.
  • Machine learning is a generic term for "artificial" generation
  • Segmentation is a branch of digital image processing
  • a 3D reconstruction method is to be understood as follows:
  • the depth information can consist of two (or more) images, which consist of
  • a three-dimensional model i.e., a 3D reconstruction
  • a 3D reconstruction of the scene can be created immediately and then it can be textured with the camera images.
  • a 3D reconstruction method usually works as follows:
  • the data record describing the geometrical parameters of the spectacle frame can be provided in the form of a plurality of point clouds, each point cloud describing a part of the spectacle frame.
  • the dataset describing the geometrical parameters of the spectacle frame comprises the orientation of the point cloud in space.
  • the orientation of the point cloud is calculated in space by automatically recognizing the individual parts of the socket and then the straps are oriented in a preferred direction, eg to the rear.
  • the data set describing the geometrical parameters of the spectacle frame expediently includes prominent points, in particular a prominent point sequence, of the spectacle frame, which are predetermined or calculated. These may be the position and / or orientation of the axes for the hinges of the stirrups and / or the bridge center and / or the ear pads and / or the
  • the glass rims belonging to the spectacle frame are determined from the dataset describing the geometrical parameters of the spectacle frame.
  • this three-dimensional model for the spectacle lenses may comprise glass surfaces and / or glass planes or, in a simpler variant, consist of glass planes.
  • the three-dimensional model may be a parametric model whose parameters are determined by means of optimization methods to the three-dimensional data set, e.g. contains the point cloud or the plurality of point clouds.
  • the three-dimensional model can also be generated by machine learning from example data.
  • the geometric Position determination comprises a thangulation method.
  • Record can be done by means of a triangulation method.
  • the computer-implemented method according to the invention is carried out with a device as described in principle in claim 22 and in detail in the following description of the figures.
  • the centering parameters determined according to the invention can advantageously be used for centering a spectacle lens in a spectacle frame and / or for grinding a spectacle lens into a spectacle frame.
  • the at least one spectacle lens is centered with the specific centering parameters in the spectacle frame, or the at least one spectacle lens is ground on the basis of the determined centering parameters for an arrangement in the spectacle frame. That way you can
  • Figure 1 a, b is a device for determining Zentrierparametern in
  • Figure 2a, b the representation of a spectacle frame before and after orientation in space
  • FIG. 3 shows the representation of the spectacle frame according to FIG. 2b as
  • the device 10 shown in the drawing is used to determine Zentrierparametern for spectacle fitting. It has a column 12 which carries a rigid camera support 14 which is height adjustable and in turn carries a number of cameras 16a, 16b.
  • the camera carrier 14 is in plan view
  • Camera Carrier 14 an interior space 22 in which the head of a subject is when taking pictures by the cameras 16a, 16b.
  • the inner surface 20 is concavely bent in a direction extending between the free ends 18 and has, for example, the shape of a portion of a
  • a not shown lifting device is arranged in the column 12, with the
  • Camera carrier 14 can be moved by motor driven up and down.
  • All cameras 16a, 16b are in one between the free ends 18th
  • Embodiment is the camera assembly 26 as a camera series 26th
  • the camera row 26 includes one in the middle of the
  • Camera carrier 14 arranged front camera 16a, whose optical axis is directed frontally on the face of the subject, and eight pairs symmetrically with respect to a running through the optical axis of the front camera 16a perpendicular plane of symmetry arranged side cameras 16b of which four from the left and right to the face of Subjects are addressed.
  • the cameras 16a, 16b are also calibrated so that they can simultaneously take calibrated images of the subject.
  • the calibration includes the extrinsic properties such as the relative orientation of their optical axes and the relative arrangement of each other in space, as well as their intrinsic properties, ie the properties of the cameras themselves, which define, like a point in space, the internal coordinate system of the respective camera is located on the coordinates of the pixels of the recorded image is mapped.
  • the camera support 14 encloses the interior 22 only forward, towards the column 12, and to the sides, so left and right of the head of the subject. Upwards, downwards and toward a rear side 30, it is open, the free ends 18 being at a distance of at least 25 cm from one another, so that the test person can easily approach from the rear side. Im shown
  • the distance is 70 to 80cm.
  • a lighting device is provided with an upper light bar 32 extending above the camera row 26 and a lower light bar 34 extending below the camera row 26, which each have a multiplicity of LEDs as lighting means.
  • the upper light bar 32 and the lower light bar 34 each extend continuously or intermittently over a length which is at least as long as the length of the circumferentially between the free ends 18 measured length of the camera row 26. This corresponds to a circumferential angle of at least 160 degrees , Near the free ends 18, the upper light bar 32 and the lower light bar 34 are each connected to each other by means of a vertically extending further light bar 36.
  • the camera row 26 is thus completely framed by at least one row of LEDs.
  • the device 10 also has a control or regulating device, not shown in detail in the drawing, with which the light intensity emitted by the LEDs depends on the light emitted by the
  • Cameras 16a, 16b detected light intensity can be controlled or regulated.
  • the LEDs of the light strips 32, 34, 36 are to sectors
  • the radiated light intensities can be controlled or regulated separately.
  • the light intensities emitted by the individual LEDs can also be controlled or regulated separately from one another by means of the control or regulating device.
  • the two side cameras 16b closest to the front camera 16a are arranged to adjust the distance of the subject's head from the center 38 of the patient
  • the display unit is displayed to the subject whether he is correct or not.
  • the display unit has a plurality of differently colored light sources, which are arranged in a row.
  • the middle light source glows green when the subject is correct. Starting from the middle light source, there are one yellow, one orange and one red in each direction in this order
  • Light source which indicates the color when the subject a little, clear or far too far from the center 38 of the camera support 14 or a little, clear or too close to the center 38 stands.
  • the camera carrier 14 In order to ensure that the viewing direction of the subject is directed to infinity during the determination of the centering parameters, one is arranged on the camera carrier 14
  • Fixation device 42 is provided which generates a fixation pattern for the subject in the form of a speckle pattern.
  • the fixation pattern is arranged slightly higher than the front camera 16a, so that the subject on this
  • the device 10 is also particularly suitable for producing an avatar of the subject's head, which can be used to determine the centering parameters.
  • images calibrated by the cameras 16a, 16b of the subject's head are taken without glasses or spectacle frame.
  • Position determination such as triangulation creates a depth profile of the head that approximates it very well.
  • the head is represented by a multitude of points, which can be connected to each other by means of a net pattern or can be stored as a point cloud.
  • the centering parameters of the thus determined avatar can be used to determine Zentrierparameter that due to the geometric properties of the glasses or
  • Spectacle frame worn by the subject can not or only approximately can be determined.
  • a wide frame strap can obscure the eye in a side view to such an extent that the corneal vertex distance can not or only very inaccurately be determined.
  • the depth profile of the avatar is projected onto the images taken by the cameras 16a, 16b of the subjects wearing the spectacles or spectacle frame, and the centering parameters, which can only be determined insufficiently due to the view restricted by the spectacles or spectacle frame, become determined by the image data of the avatar.
  • the apparatus 10 may perform the following to perform a computer-implemented method
  • the cameras 16a, 16b simultaneously provide calibrated images of the subject's head. From these images, by means of geometric position determination, in particular by means of
  • Triangulation geometric parameters that describe the position of the eyes.
  • the avatar described above can also be used for this purpose. Then, the geometric parameters of the
  • Eyeglass frame descriptive three-dimensional data record provided, as illustrated in Figure 2a based on a spectacle frame 50.
  • the spectacle frame 50 which is a three-dimensional point cloud, simplified with solid lines and not shown in the form of points.
  • the three-dimensional point cloud describing the spectacle frame 50 becomes a
  • Figure 2b illustrates the rotation in the coordinate system of the camera 16a, 16b, the z-direction given by the viewing direction of the front camera 16a Based on the geometric position describing the position of the eyes
  • Parameters and the geometrical parameters describing the spectacle frame in the carrying position are calculated as centering parameters for example, the corneal vertex distance.
  • the glasses of the glasses are approximately represented by planes 52, as shown in Figure 3, in which the spectacle frame 50 is also shown as a point cloud.
  • the eyeglass frame descriptive record the glass frame belonging to the eyeglass frame and it is a three-dimensional model for the glasses of the glasses approximately adapted to the specific glass edges, this model consists of the glass planes 52.
  • Positioning geometric parameters are determined which describe the position of the eyes, wherein a geometrical parameter of the spectacle frame descriptive three-dimensional data set is provided, wherein by means of a rigid transformation, the geometric
  • descriptive geometric parameters are related to each other and wherein from the spectacle frame descriptive and the position of the eyes descriptive geometric parameters, the centering parameters are calculated.
  • Eyeglass frame descriptive record as at least one
  • Spectacle frame descriptive record includes an orientation of at least one point cloud in space.
  • Parameter of the spectacle frame descriptive record comprises one or more predetermined points of the spectacle frame.
  • Glasses frame belonging glass edges are determined.
  • Computer-implemented method according to one of the preceding clauses characterized in that a three-dimensional model for the spectacle frame and / or parts of the spectacle frame and / or the glasses of the spectacles is approximately adapted to the three-dimensional data set or to the specific glass edges.
  • the three-dimensional model for the spectacle lenses comprises or consists of glass surfaces and / or glass planes (52).
  • Positioning comprises a triangulation method.
  • the device (10) has a camera carrier (14) which partially encloses an interior (22) which is open towards the top, bottom and back (30) and at least three cameras ( 16a, 16b), which are arranged between two free ends (18) of the camera carrier (14) and directed towards the inner space (22), wherein the
  • Lighting device (32, 34, 36).
  • a computer comprising a memory, wherein in the memory
  • Computer program is stored according to clause 12, and a processor to execute the computer program stored in the memory.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Geometry (AREA)
  • Ophthalmology & Optometry (AREA)
  • Optics & Photonics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Theoretical Computer Science (AREA)
  • Artificial Intelligence (AREA)
  • Automation & Control Theory (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Eyeglasses (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un procédé mis en oeuvre par ordinateur pour déterminer des paramètres de centrage. Ce procédé consiste à utiliser au moins deux images calibrées de la tête acquises simultanément à partir de directions d'observation différentes, à déterminer, par détermination géométrique de position, des paramètres géométriques qui représentent la position des yeux, à utiliser un ensemble de données tridimensionnelles représentant des paramètres géométriques de la monture de lunettes, à mettre en rapport les paramètres géométriques de la monture de lunettes et les paramètres géométriques représentant la position des yeux les uns avec les autres par une transformation rigide, puis à calculer les paramètres de centrage à partir des paramètres géométriques représentant la monture de lunettes et des paramètres géométriques représentant la position des yeux.
EP18702189.4A 2017-01-27 2018-01-24 Procédé mis en oeuvre par ordinateur pour déterminer des paramètres de centrage Pending EP3574369A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP17153560.2A EP3355103A1 (fr) 2017-01-27 2017-01-27 Procédé mis en uvre par ordinateur destiné à déterminer des paramètres de centrage
PCT/EP2018/051751 WO2018138165A1 (fr) 2017-01-27 2018-01-24 Procédé mis en oeuvre par ordinateur pour déterminer des paramètres de centrage

Publications (1)

Publication Number Publication Date
EP3574369A1 true EP3574369A1 (fr) 2019-12-04

Family

ID=57909542

Family Applications (2)

Application Number Title Priority Date Filing Date
EP17153560.2A Withdrawn EP3355103A1 (fr) 2017-01-27 2017-01-27 Procédé mis en uvre par ordinateur destiné à déterminer des paramètres de centrage
EP18702189.4A Pending EP3574369A1 (fr) 2017-01-27 2018-01-24 Procédé mis en oeuvre par ordinateur pour déterminer des paramètres de centrage

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP17153560.2A Withdrawn EP3355103A1 (fr) 2017-01-27 2017-01-27 Procédé mis en uvre par ordinateur destiné à déterminer des paramètres de centrage

Country Status (4)

Country Link
US (1) US11397339B2 (fr)
EP (2) EP3355103A1 (fr)
CN (1) CN110446968A (fr)
WO (1) WO2018138165A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3410178A1 (fr) 2017-06-01 2018-12-05 Carl Zeiss Vision International GmbH Procédé, dispositif et programme d'ordinateur destinés à l'adaptation virtuelle d'une monture de lunettes
EP4227732A1 (fr) 2022-02-14 2023-08-16 Carl Zeiss Vision International GmbH Procédé d'enregistrement d'image de tête et dispositif mobile correspondant

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6792401B1 (en) * 2000-10-31 2004-09-14 Diamond Visionics Company Internet-based modeling kiosk and method for fitting and selling prescription eyeglasses
US6682195B2 (en) * 2001-10-25 2004-01-27 Ophthonix, Inc. Custom eyeglass manufacturing method
US20130088490A1 (en) 2011-04-04 2013-04-11 Aaron Rasmussen Method for eyewear fitting, recommendation, and customization using collision detection
FR2987908B1 (fr) 2012-03-12 2014-03-14 Digiteyezer Scanner automatique et procede de numerisation 3d d'une portion peripherique cephalique humaine
WO2015027196A1 (fr) * 2013-08-22 2015-02-26 Bespoke, Inc. Méthode et système de création de produits personnalisés

Also Published As

Publication number Publication date
CN110446968A (zh) 2019-11-12
WO2018138165A1 (fr) 2018-08-02
EP3355103A1 (fr) 2018-08-01
US20200057316A1 (en) 2020-02-20
US11397339B2 (en) 2022-07-26

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