WO2018068719A1 - Procédé et appareil de collage d'image - Google Patents

Procédé et appareil de collage d'image Download PDF

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Publication number
WO2018068719A1
WO2018068719A1 PCT/CN2017/105657 CN2017105657W WO2018068719A1 WO 2018068719 A1 WO2018068719 A1 WO 2018068719A1 CN 2017105657 W CN2017105657 W CN 2017105657W WO 2018068719 A1 WO2018068719 A1 WO 2018068719A1
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WIPO (PCT)
Prior art keywords
coordinate
image
coordinate system
pixel
optical center
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PCT/CN2017/105657
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English (en)
Chinese (zh)
Inventor
袁梓瑾
简伟华
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腾讯科技（深圳）有限公司
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Publication of WO2018068719A1 publication Critical patent/WO2018068719A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/265—Mixing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/80—Geometric correction
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/95—Computational photography systems, e.g. light-field imaging systems
    • H04N23/951—Computational photography systems, e.g. light-field imaging systems by using two or more images to influence resolution, frame rate or aspect ratio
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/2624—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects for obtaining an image which is composed of whole input images, e.g. splitscreen
    • 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
    • G06T2207/20—Special algorithmic details
    • G06T2207/20212—Image combination
    • G06T2207/20221—Image fusion; Image merging

Definitions

  • the present application relates to the field of image processing technologies, and in particular, to an image stitching method and apparatus.
  • 360-degree panoramic video has gradually become one of the main contents in the field of virtual reality. Compared to traditional limited-view video, this panoramic video provides users with a more realistic and immersive viewing experience. Since the single-lens system for collecting panoramic video is still rare, it is generally composed of video captured by multiple camera devices or multiple lens systems.
  • the present invention provides an image splicing method and apparatus, which can provide a spliced image without parallax and improve resource utilization of the image splicing device.
  • the present invention provides an image stitching method for an image pickup apparatus including at least two image pickup apparatuses, the method comprising:
  • each imaging device For each imaging device, constructing a three-dimensional coordinate system of the imaging device with a common optical center of the at least two imaging devices as a starting point;
  • All images are stitched according to the third coordinate of each pixel in all images.
  • the present invention also provides an image splicing apparatus comprising a processor and a memory, wherein the memory stores instructions executable by the processor, and when the instruction is executed, the processor is configured to:
  • each imaging device For each imaging device, constructing a three-dimensional coordinate system of the imaging device with a common optical center of the at least two imaging devices as a starting point;
  • each camera device For each pixel in an image captured by each camera device, performing a process of converting a first coordinate of the pixel in a two-dimensional coordinate system of the image to a second coordinate in the three-dimensional coordinate system; Correcting the second coordinate to obtain a third coordinate by the optical center of the imaging device and the target object point specified in the image; and
  • All images are stitched according to the third coordinate of each pixel in all images.
  • the invention further provides a computer readable storage medium storing computer readable instructions for causing at least one processor to perform the method described above.
  • the present invention further provides an image pickup apparatus comprising at least two image pickup apparatuses, an image display apparatus, a processor, and a memory, wherein the memory stores instructions executable by the processor, when the instructions are executed,
  • the processor is used to:
  • each imaging device For each imaging device, constructing a three-dimensional coordinate system of the imaging device with a common optical center of the at least two imaging devices as a starting point;
  • a process of converting the first coordinate of the pixel in the two-dimensional coordinate system of the image into the three-dimensional coordinate system is performed a second coordinate; correcting the second coordinate according to an optical center of the imaging device and a target object point specified in the image to obtain a third coordinate;
  • the stitched image is displayed by the image display device.
  • FIG. 1a is a schematic diagram of an implementation environment according to an embodiment of the invention.
  • FIG. 1b is an exemplary flowchart of an image stitching method according to an embodiment of the invention.
  • FIG. 2 is a schematic diagram of constructing a Cartesian coordinate system in accordance with an embodiment of the present invention
  • FIG. 3 is an exemplary flowchart of a method for compensating an optical center offset according to an embodiment of the invention
  • 4a is a schematic diagram of coordinates for correcting a second coordinate according to an embodiment of the invention.
  • 4b is a schematic diagram of coordinates for determining an offset according to an embodiment of the invention.
  • FIG. 5 is an exemplary flowchart of an image stitching method according to another embodiment of the present invention.
  • 6a is a schematic diagram of a two-dimensional image before splicing according to an embodiment of the invention.
  • 6b is a schematic diagram of a two-dimensional image after splicing according to an embodiment of the invention.
  • FIG. 7 is a schematic structural diagram of an image splicing apparatus according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of an image splicing apparatus according to another embodiment of the present invention.
  • two-dimensional imaging captured by two non-co-optic lenses always has a certain parallax in their common field of view.
  • the degree of parallax is different, which ultimately leads to visually unacceptable flaws in the stitched image, such as ghosting, ghosting, and continuous line misalignment. Therefore, the spliced image has a poor effect, affects the user's viewing experience, and reduces the resource utilization of the imaging device.
  • the image splicing method and apparatus in the embodiments of the present invention are applicable to any image pickup apparatus having at least two image pickup apparatuses, wherein the angles of view of two adjacent image pickup apparatuses have a common portion, that is, a common view portion, and images taken by the two Has overlapping parts.
  • the images captured by each camera device are respectively processed, and then the images are stitched in the entire imaging device, and the complete target object point (or depth surface) can be obtained completely.
  • FIG. 1a is a schematic diagram of an implementation environment according to an embodiment of the invention.
  • the imaging system 100 includes a target object 200 and an imaging device 300.
  • the imaging device 300 further includes an image splicing device 310, an image display device 320, and imaging devices 331-335. All the imaging devices 331-335 are combined. Together, it can form a 360-degree panoramic shot.
  • the target object 100 is photographed in response to a user operation, and each of the imaging apparatuses 331 to 335 captures an image for the target object 100, and The captured image is transmitted to the image splicing device 310 for splicing, and then the image splicing device 310 transmits the spliced panoramic image to the image display device 320 for display for viewing by the user.
  • the imaging device 300 may be a wearable smart terminal, each camera The device is a single camera lens that can take a single image or take multiple consecutive images.
  • the image display device 320 is a display screen, and provides a visual interface for the user to display the stitched panoramic image.
  • FIG. 1b is an exemplary flowchart of an image stitching method according to an embodiment of the invention. The method is applied to an image pickup apparatus including at least two image pickup apparatuses, as shown in FIG. 1b, comprising the following steps:
  • Step 101 Acquire images captured by at least two imaging devices.
  • Step 102 For each imaging device, construct a three-dimensional coordinate system of the imaging device with the common optical center of the preset at least two imaging devices as an origin.
  • each camera device has an optical center of its own lens, in this step, a common optical center is first preset, which is for the entire imaging device, that is, all the imaging devices have such an ideal.
  • the optical center is used as a starting point to construct a three-dimensional coordinate system for each camera.
  • the specific method includes: taking the common optical center as the origin, and the imaging surface of the imaging device The two-dimensional coordinate system (X, Y) is established on the parallel plane, and then the Z-axis is determined according to the two-dimensional coordinate system (X, Y) and the right-hand rule.
  • the three-dimensional coordinate system is a Cartesian coordinate system.
  • This Cartesian coordinate system is also referred to as a Cartesian world coordinate system with respect to the coordinate system of the camera.
  • 2 is a schematic diagram of constructing a Cartesian coordinate system in accordance with an embodiment of the present invention.
  • the X-axis, the Y-axis, and the Z-axis together constitute a Cartesian coordinate system of the image pickup device A
  • the common optical center O is the origin of the coordinate system.
  • Incident light The lens system of the imaging device A is entered at an angle ⁇ , and after being refracted by the lens, it is imaged on the imaging surface x'o'y' of the imaging device A.
  • the XOY face and the x'o'y' face are parallel.
  • a two-dimensional coordinate system (X, Y) is established on the parallel plane XOY plane of the imaging plane x'o'y', and then the Z-axis is determined based on the two-dimensional coordinate system (X, Y) and the right-hand rule.
  • Step 103 Performing the following processing for each pixel in an image captured by each camera:
  • Step 1031 Convert the first coordinate of the pixel in the two-dimensional coordinate system of the image to the second coordinate in the three-dimensional coordinate system;
  • the captured image is two-dimensional, and each pixel has a two-dimensional coordinate, that is, a first coordinate, in the two-dimensional coordinate system of the image.
  • Step 1032 Correct the second coordinate according to the optical center of the imaging device and the target object point specified in the image to obtain a third coordinate.
  • converting the first coordinate to the second coordinate specifically includes: determining an angular coordinate of the pixel according to the first coordinate, determining incident light and the three-dimensional coordinate according to the lens imaging geometric function and the first coordinate of the imaging device.
  • the angle between the Z axes in the system (X, Y, Z) and then calculate the second coordinates based on the angle and the angular coordinates.
  • Determining an angular coordinate of the pixel according to the first coordinate comprises determining The following trigonometric values are:
  • Atan ( ⁇ ) represents the inverse tangent function
  • pw, ph represents the width and height of the pixel, respectively
  • f is the focal length of the lens (as shown in Figure 2).
  • one pixel p 1 ' in the imaging plane x'o'y', the first coordinate is (x 1 , y 1 ), the connection between p 1 ' and the origin o' and x'
  • the angle between the o' axes is Converted to the Cartesian coordinate system (X, Y, Z), corresponding to the object point P 1 , its three-dimensional coordinates are shown in formula (2).
  • the projection of P 1 on the two-dimensional plane of XOY is p 1
  • the angle between the line between p 1 and the origin O and the XO axis is also
  • the above-mentioned common optical center O is unique to all the imaging devices, but considering that each of the imaging devices has its own optical center O' in practice, it is necessary to perform imaging on the image according to the deviation between the optical centers.
  • the compensation is such that it is consistent with the imaging of O under the origin.
  • FIG. 3 is an exemplary flowchart of an optical center offset compensation method according to an embodiment of the present invention.
  • the second coordinate is corrected according to the optical center of the imaging device and the target object point specified in the image, and the third coordinate is obtained.
  • the method includes the following steps:
  • Step 301 Obtain a distance between the public optical center and the target object point, that is, obtain a depth of the target object point.
  • the target object point may be specified by the user according to the object point of interest in the captured image, or may be specified according to the main target object or the content in the scene.
  • FIG. 4a is a schematic diagram of coordinates for correcting a second coordinate according to an embodiment of the invention.
  • the target point is incident light.
  • the above distance is the projection of P 1 on the XOZ plane
  • the length, that is, the length between 0 and P', is denoted as R 0 , which is also referred to as the depth of the object point P 1 .
  • Step 302 Obtain an offset of the optical center of the imaging device relative to the common optical center.
  • regression or simulation estimation may be performed according to sample data of the overlapping image and corresponding/matching relationship with the imaging device.
  • the above offset is given.
  • a panoramic (ie 360°) video system in which three cameras are placed in a three-dimensional space, each camera capturing an image within a certain range of viewing angles.
  • FIG. 4b is a schematic diagram of coordinates for determining an offset according to an embodiment of the invention.
  • Fig. 4b in the ABC coordinate system constructed by the three-dimensional spherical surface 400, cameras 401 and 402 are arranged at different positions, and the images taken by the two have overlapping portions.
  • the offset between the optical center O' of each camera and the origin O can be determined from the sample data of the superimposed image.
  • the optical center O 4a 'with respect to the origin O in the offset X axis, Y axis and Z axis are T x, T y, T z .
  • Step 303 calculating a third coordinate according to the distance, the offset, and the second coordinate.
  • each coordinate value x 3 , y 3 , and z 3 in the third coordinate (x 3 , y 3 , z 3 ) can be calculated according to the following formula:
  • Step 104 splicing all images according to the third coordinate of each pixel in all images.
  • a three-dimensional coordinate system of the imaging device is constructed with a common optical center of at least two preset imaging devices as an origin,
  • Each pixel in an image captured by each camera device performs a process of converting a first coordinate of the pixel in a two-dimensional coordinate system of the image to a second coordinate in the three-dimensional coordinate system;
  • the optical center of the device and the target object point specified in the image, the second coordinate is corrected to obtain a third coordinate, and all the images are spliced according to the third coordinate of each pixel in all images, thereby providing a non-parallax splicing
  • the depth surface technology can adaptively select the depth position of the main content in the scene as the non-parallax stitching depth surface, so that the main content in the scene presents a non-parallas stitching effect.
  • the coordinate conversion and the compensation of the optical center offset in the above method are independent of the geometric characteristics of the target object point, and are not dependent on the shape of the specific target object point, and are more suitable for video applications whose content is constantly changing in the time dimension.
  • the above method does not need to perform feature detection and feature matching on the scene content, so that the user can specify the target object quickly and flexibly.
  • the point or the specified non-parallax stitching depth surface
  • the above method and the specific imaging geometric formula of the imaging device and the projection type of the final stitching are also irrelevant, and therefore, have versatility, and improve resource utilization of the image splicing device.
  • FIG. 5 is an exemplary flowchart of an image stitching method according to another embodiment of the present invention. As shown in FIG. 5, the method is applied to an image pickup apparatus including at least two image pickup apparatuses, and includes the following steps:
  • Step 501 Acquire an image captured by each of the at least two imaging devices.
  • Step 502 For each camera device, construct a Cartesian coordinate system of the camera device with the common optical center of the preset at least two camera devices as an origin.
  • Step 503 performing the following processing for each pixel in an image captured by each camera:
  • Step 5031 performing coordinate conversion:
  • step 5032 the optical center offset compensation is performed:
  • the second coordinate is corrected based on the optical center of the imaging device and the target object point specified in the image to obtain a third coordinate.
  • the modulus of the second coordinate is 1, that is, the established Cartesian coordinate system is a normalized Cartesian coordinate system. Since the normalized Cartesian coordinate system does not contain depth information, it is in the same incident light. The upper two object points with different depths have the same normalized Cartesian coordinate values. As shown, p 1 '2 converted to the corresponding normalized Cartesian coordinate system (X, Y, Z) is not only the object point P 1, except that P 1, may also be along the incident light Other objects on the point, as shown in Figure 2 P 2 .
  • the depths of the object points P 1 and P 2 are different, that is, the distances between the XOZ planes and the optical center O are different, but the two have the same normalized Cartesian coordinate values (x 2 , y 2 , z 2 ). Both correspond to p 1 ' on the imaging plane x'o'y'.
  • Step 504 Project the third coordinate into the unit panoramic sphere according to a preset projection type according to the position of each camera in the imaging device.
  • the third coordinates are projected into a unit of panoramic sphere.
  • Preset projection types include, but are not limited to, rectilinear, fisheye, equirectangular, orthographic, stereographic, and the like.
  • Step 505 splicing all the images in the unit panoramic spherical surface to obtain a panoramic image.
  • the splicing depth surface without parallax can be reached at the specified target object point position, and the adjacent images are completely aligned, and the effect of no splicing ⁇ is obtained.
  • the three-dimensional panoramic image can be reconverted into a two-dimensional image.
  • FIG. 6a is a schematic diagram of a two-dimensional image before splicing according to an embodiment of the invention.
  • the target point is the first flagpole closest to the lens (as indicated by arrow 601), corresponding to P1-P' shown in Figure 4a.
  • the up, down, left and right image misalignment due to parallax occurs at the flagpole.
  • the extra point 611' appears at the lower left of the top end 611 of the flagpole.
  • the flag is originally the image shown at 612, but due to the parallax, the final image is 612' (as indicated by the dotted line). Show).
  • FIG. 6b is a schematic diagram of a two-dimensional image after splicing according to an embodiment of the invention.
  • the left picture 620 is the image after the coordinate transformation and the optical center offset compensation, and the upper and lower images are perfectly aligned at the flagpole.
  • images that are not aligned outside of the top 611 and the flag 612 disappear, showing a clear flagpole. Visible, implemented in the scene The perfect alignment of the main contents (ie, the flagpole), at the position of the flagpole, becomes the non-parallax stitching depth surface.
  • reverse processing may also be adopted, that is, the inverse processing is performed pixel by pixel on a blank panoramic canvas (ie, the optical center offset compensation described in step 5032 is sequentially performed, step 5031).
  • the coordinate conversion operation described finds the pixel position of the image captured by the camera device corresponding thereto, and then interpolates to obtain the actual value of the pixel on the current panoramic canvas.
  • FIG. 7 is a schematic structural diagram of an image splicing apparatus according to an embodiment of the present invention.
  • the image splicing device 700 includes an obtaining module 710, a coordinate system building module 720, a coordinate processing module 730, and a splicing module 740, where
  • the acquiring module 710 is configured to acquire an image captured by each of the at least two camera devices;
  • a coordinate system construction module 720 configured to construct, for each camera device, a three-dimensional coordinate system of the camera device with a common optical center of at least two preset imaging devices as an origin;
  • the coordinate processing module 730 is configured to, for each pixel in an image captured by each camera device, perform a process of converting the first coordinate of the pixel in the two-dimensional coordinate system of the image into the three-dimensional coordinate system. a second coordinate; correcting the second coordinate according to the optical center of the imaging device and the target object point specified in the image to obtain a third coordinate; and
  • the splicing module 740 is configured to splicing all the images according to the third coordinate of each pixel in all the images.
  • the coordinate processing module 730 includes a conversion unit 731 for determining an angular coordinate of the pixel according to the first coordinate, and determining the incident light and the three-dimensional coordinate system according to the lens imaging geometric function and the first coordinate of the imaging device ( The angle between the Z axes in X, Y, Z); the second coordinate is calculated from the angular coordinates and the included angle.
  • the converting unit 731 is configured to determine:
  • the three-dimensional coordinate system is a Cartesian coordinate system. If the second coordinate is represented by (x 2 , y 2 , z 2 ) and the angle is represented by ⁇ , the conversion unit 731 is configured to calculate x 2 , y 2 and according to the following formula. z 2 :
  • the coordinate processing module 730 includes a correction unit 732 for acquiring a distance between the common optical center and the target object point; acquiring an offset of the optical center of the imaging device with respect to the common optical center; The offset and the second coordinate calculate the third coordinate.
  • the correcting unit 732 is configured to calculate x 3 , y 3 and z 3 according to the following formula:
  • the splicing module 740 is configured to project the third coordinate into the unit panoramic spherical surface according to a preset projection type according to the position of each camera device in the imaging device; The images are stitched together to obtain a panoramic image.
  • FIG. 8 is a schematic structural diagram of an image splicing apparatus according to another embodiment of the present invention.
  • the image splicing apparatus 800 can include a processor 810, a memory 820, a port 830, and a bus. 840.
  • Processor 810 and memory 820 are interconnected by a bus 840.
  • Processor 810 can receive and transmit data through port 830. among them,
  • the processor 810 is configured to execute a machine readable instruction module stored by the memory 820.
  • the memory 820 stores machine readable instruction modules executable by the processor 810.
  • the instruction module executable by the processor 810 includes an acquisition module 821, a coordinate system construction module 822, a coordinate processing module 823, and a splicing module 824. among them,
  • the acquiring module 821 may be executed by the processor 810 to: acquire an image captured by each of the at least two camera devices;
  • the coordinate system construction module 822 may be configured by the processor 810 to: for each camera device, construct a three-dimensional coordinate system of the camera device with the common optical center of the preset at least two camera devices as an origin;
  • the coordinate processing module 823 may be executed by the processor 810 to: for each pixel in an image captured by each camera device, perform the following process: converting the pixel to the first coordinate in the two-dimensional coordinate system of the image a second coordinate in the three-dimensional coordinate system; correcting the second coordinate according to the optical center of the imaging device and the target object point specified in the image to obtain a third coordinate;
  • the splicing module 824 when executed by the processor 810, can splicing all of the images based on the third coordinate of each pixel in all of the images.
  • an image pickup apparatus includes at least two image pickup apparatuses, an image display apparatus, a processor, and a memory, and the memory stores instructions executable by the processor, and when executing the instructions, the processor is configured to:
  • a three-dimensional coordinate system of the imaging device is constructed with a common optical center of at least two preset imaging devices as an origin;
  • each camera device For each pixel in an image captured by each camera device, performing a process of converting a first coordinate of the pixel in a two-dimensional coordinate system of the image to a second coordinate in the three-dimensional coordinate system; The optical center of the imaging device and the target object point specified in the image are corrected to obtain the third coordinate; and,
  • the stitched image is displayed by the image display device.
  • each functional module in each embodiment of the present invention may be integrated into one processing unit, or each module may exist physically separately, or two or more modules may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • each of the embodiments of the present invention can be implemented by a data processing program executed by a data processing device such as a computer.
  • the data processing program constitutes the present invention.
  • a data processing program usually stored in a storage medium is executed by directly reading a program out of a storage medium or by installing or copying the program to a storage device (such as a hard disk and or a memory) of the data processing device. Therefore, such a storage medium also constitutes the present invention.
  • the storage medium can use any type of recording method, such as paper storage medium (such as paper tape, etc.), magnetic storage medium (such as floppy disk, hard disk, flash memory, etc.), optical storage medium (such as CD-ROM, etc.), magneto-optical storage medium (such as MO, etc.).
  • paper storage medium such as paper tape, etc.
  • magnetic storage medium such as floppy disk, hard disk, flash memory, etc.
  • optical storage medium such as CD-ROM, etc.
  • magneto-optical storage medium Such as MO, etc.
  • the present invention also discloses a storage medium in which is stored a data processing program for performing any of the above-described embodiments of the present invention.

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Abstract

L'invention concerne un procédé et un appareil de collage d'image. Le procédé est appliqué à un dispositif de capture d'image comprenant au moins deux appareils de capture d'image, et consiste à : acquérir des images prises respectivement par au moins deux appareils de capture d'image ; par rapport à chaque appareil de capture d'image, créer un système de coordonnées tridimensionnelles de l'appareil de capture d'image en prenant un centre optique commun prédéfini des deux appareils de capture d'image ou plus en tant qu'origine ; par rapport à chaque pixel dans une image capturée par chaque appareil de capture d'image, exécuter le traitement suivant : convertir une première coordonnée du pixel dans un système de coordonnées bidimensionnel de l'image en une deuxième coordonnée dans le système de coordonnées tridimensionnelles, et en fonction du centre optique de l'appareil de capture d'image et d'un point d'objet cible spécifique dans l'image, corriger la deuxième coordonnée de sorte à obtenir une troisième coordonnée ; et coller toutes les images selon la troisième coordonnée de chaque pixel dans toutes les images.
PCT/CN2017/105657 2016-10-12 2017-10-11 Procédé et appareil de collage d'image WO2018068719A1 (fr)

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