外接椭圆

Question

我被分配了一个图形模块的作业，其中一部分是计算一组任意形状的最小外接椭圆。椭圆不必与轴对齐。

这是使用 AWT 形状在 java（euch）中工作的，因此我可以使用形状提供的所有工具来检查对象的包含/相交。

Answer 1

您正在寻找包围椭圆体的最小体积，或者在您的二维情况下，最小体积区域。这个优化问题是凸的并且可以有效地解决。查看我包含的链接中的 MATLAB 代码 - 实现很简单，不需要比矩阵求逆更复杂的东西。

对数学感兴趣的任何人都应该阅读本文档。

此外，绘制椭圆也很简单 - 可以在此处找到，但您将需要一个 MATLAB 特定的函数来生成椭圆上的点。

但是由于算法以矩阵形式返回椭圆的方程，

您可以使用此代码查看如何将方程转换为规范形式，

使用奇异值分解（SVD）。然后使用规范形式绘制椭圆非常容易。

以下是 MATLAB 代码在一组 10 个随机 2D 点（蓝色）上的结果。

其他方法，如 PCA 不保证分解得到的椭圆 (eigen/奇异值）将是最小边界椭圆，因为椭圆之外的点是方差的指示。

编辑：

因此，如果有人阅读该文档，有两种方法可以在 2D 中实现此目的：这是最佳算法的伪代码 - 次优算法在文档中进行了清楚的解释：

最佳算法：

Input: A 2x10 matrix P storing 10 2D points 
       and tolerance = tolerance for error.
Output: The equation of the ellipse in the matrix form, 
        i.e. a 2x2 matrix A and a 2x1 vector C representing 
        the center of the ellipse.

// Dimension of the points
d = 2;   
// Number of points
N = 10;  

// Add a row of 1s to the 2xN matrix P - so Q is 3xN now.
Q = [P;ones(1,N)]  

// Initialize
count = 1;
err = 1;
//u is an Nx1 vector where each element is 1/N
u = (1/N) * ones(N,1)       

// Khachiyan Algorithm
while err > tolerance
{
    // Matrix multiplication: 
    // diag(u) : if u is a vector, places the elements of u 
    // in the diagonal of an NxN matrix of zeros
    X = Q*diag(u)*Q'; // Q' - transpose of Q    

    // inv(X) returns the matrix inverse of X
    // diag(M) when M is a matrix returns the diagonal vector of M
    M = diag(Q' * inv(X) * Q); // Q' - transpose of Q  

    // Find the value and location of the maximum element in the vector M
    maximum = max(M);
    j = find_maximum_value_location(M);

    // Calculate the step size for the ascent
    step_size = (maximum - d -1)/((d+1)*(maximum-1));

    // Calculate the new_u:
    // Take the vector u, and multiply all the elements in it by (1-step_size)
    new_u = (1 - step_size)*u ;

    // Increment the jth element of new_u by step_size
    new_u(j) = new_u(j) + step_size;

    // Store the error by taking finding the square root of the SSD 
    // between new_u and u
    // The SSD or sum-of-square-differences, takes two vectors 
    // of the same size, creates a new vector by finding the 
    // difference between corresponding elements, squaring 
    // each difference and adding them all together. 

    // So if the vectors were: a = [1 2 3] and b = [5 4 6], then:
    // SSD = (1-5)^2 + (2-4)^2 + (3-6)^2;
    // And the norm(a-b) = sqrt(SSD);
    err = norm(new_u - u);

    // Increment count and replace u
    count = count + 1;
    u = new_u;
}

// Put the elements of the vector u into the diagonal of a matrix
// U with the rest of the elements as 0
U = diag(u);

// Compute the A-matrix
A = (1/d) * inv(P * U * P' - (P * u)*(P*u)' );

// And the center,
c = P * u;

Answer 2

感谢 Jacob 的伪代码，我能够在 Java 中实现最小体积包围椭圆体 (MVEE)。有一些公共方法可以获取中心点、“A”矩阵，以及生成可用于渲染椭圆的坐标列表的方法。后者基于 Peter Lawrence 在原始 MVEE 的评论中发布的 MatLab 代码 代码。请注意，代码引用了一个名为“Eigen”的类 - Jama 的 EigenvalueDecomposition 类的修改版本（我取出了 Matrix 类依赖项）。我会添加它，但答案有 30k 字符限制...

public class Ellipse {

    private double[] center;
    private double[][] A;
    private double l1;
    private double l2;
    private double thu;

  //**************************************************************************
  //** Constructor
  //**************************************************************************
  /** @param P An array of points. Each entry in the array contains an x,y
   *  coordinate.
   */
    public Ellipse(double[][] P, double tolerance){

         // Dimension of the points
        double d = 2;

        // Number of points
        int N = P.length;

        // Rotate the array of points
        P = transpose(P);


        // Add a row of 1s to the 2xN matrix P - so Q is 3xN now.
        //Q = [P;ones(1,N)]
        double[][] Q = merge(P, ones(1,N));


        // Initialize
        int count = 1;
        double err = 1;


        //u is an Nx1 vector where each element is 1/N
        //u = (1/N) * ones(N,1)
        double[] u = new double[N];
        for (int i=0; i<u.length; i++) u[i] = (1D/(double)N);




        // Khachiyan Algorithm
        while (err > tolerance){


            // Matrix multiplication:
            // diag(u) : if u is a vector, places the elements of u
            // in the diagonal of an NxN matrix of zeros
            //X = Q*diag(u)*Q'; // Q' - transpose of Q
            double[][] X = multiply(multiply(Q,diag(u)), transpose(Q));

            // inv(X) returns the matrix inverse of X
            // diag(M) when M is a matrix returns the diagonal vector of M
            //M = diag(Q' * inv(X) * Q); // Q' - transpose of Q
            double[] M = diag(multiply(multiply(transpose(Q), inv(X)), Q));


            //Find the value and location of the maximum element in the vector M
            double maximum = max(M);
            int j = find_maximum_value_location(M, maximum);


            // Calculate the step size for the ascent
            double step_size = (maximum - d -1)/((d+1)*(maximum-1));


            // Calculate the new_u:
            // Take the vector u, and multiply all the elements in it by (1-step_size)
            double[] new_u = multiply((1 - step_size), u);


            // Increment the jth element of new_u by step_size
            new_u[j] = new_u[j] + step_size;


            // Calculate error by taking finding the square root of the SSD
            // between new_u and u
            err = Math.sqrt(ssd(new_u, u));


            // Increment count and replace u
            count = count + 1;
            u = new_u;
        }


        // Compute center point
        //c = P * u
        double[][] c = multiply(P, u);
        center = transpose(c)[0];



        // Put the elements of the vector u into the diagonal of a matrix
        // U with the rest of the elements as 0
        double[][] U = diag(u);




        // Compute the A-matrix
        //A = (1/d) * inv(P * U * P' - (P * u)*(P*u)' );
        double[][] pup = multiply(multiply(P, U) , transpose(P));
        double[][] pupu = multiply((multiply(P, u)), transpose(multiply(P, u)));
        double[][] pup_pupu = minus(pup, pupu);
        A = multiply((1/d), inv(pup_pupu));



        // Compute Eigen vectors and values
        //A=inv(A);
        //[Ve,De]=eig(A);
        Eigen eig = new Eigen(inv(A));
        double[][] Ve = eig.getV(); //eigenvalues
        double[][] De = eig.getD(); //right eigenvectors
        reorderEigenVectors(De);
        reorderEigenValues(Ve);


        //v=sqrt(diag(De));
        double[] v = sqrt(diag(De));


        //[l1,Ie] = max(v);
        l1 = max(v);
        int Ie = find_maximum_value_location(v, l1); //off by one from MatLab but I think it's ok here



        //veig=Ve(:,Ie);
        double[] veig = new double[Ve.length];
        for (int i=0; i<veig.length; i++){
            veig[i] = Ve[Ie][i];
        }


        //thu=atan2(veig(2),veig(1));
        thu = Math.atan2(veig[1], veig[0]);


        //l2=v(setdiff([1 2],Ie));
        l2 = v[setdiff(new int[]{0,1}, Ie)];
    }


  //**************************************************************************
  //** getCenter
  //**************************************************************************
  /** Returns the center point of the ellipse
   */
    public double[] getCenter(){
        double[] pt = new double[2];
        pt[0] = center[0];
        pt[1] = center[1];
        return pt;
    }


  //**************************************************************************
  //** getMatrix
  //**************************************************************************
  /** Returns a matrix containing all the information regarding the shape of
   *  the ellipsoid. To get the radii and orientation of the ellipsoid take
   *  the Singular Value Decomposition of the matrix.
   */
    public double[][] getMatrix(){
        return A;
    }


  //**************************************************************************
  //** getBoundingCoordinates
  //**************************************************************************
  /** Returns a list of coordinates that can be used to render the ellipse.
   *  @param numPoints The number of points used to represent the ellipse.
   *  The higher the number the more dense the ellipse outline, the more
   *  accurate the shape.
   */
    public double[][] getBoundingCoordinates(int numPoints){

        //tq=linspace(-pi,pi,50);
        double[] tq = linspace(-Math.PI, Math.PI, numPoints);


        //U=[cos(thu) -sin(thu);sin(thu) cos(thu)]*[l1*cos(tq);l2*sin(tq)];
        double[][] U = multiply(
            new double[][]{
                createVector(Math.cos(thu), -Math.sin(thu)),
                createVector(Math.sin(thu), Math.cos(thu))
            },
            new double[][]{
                multiply(l1, cos(tq)),
                multiply(l2, sin(tq))
            }
        );
        //System.out.println(toString(transpose(U)));



        double[][] coords = transpose(U);
        for (int i=0; i<coords.length; i++){
            double x = coords[i][0] + center[0];
            double y = coords[i][1] + center[1];

            coords[i][0] = x;
            coords[i][1] = y;
        }

        return coords;
    }


  //**************************************************************************
  //** reorderEigenVectors
  //**************************************************************************
  /** Eigen values generated from Apache Common Math and JAMA are different
   *  than MatLab. The vectors are in the reverse order than expected. This
   *  function will update the array to what we expect to see in MatLab.
   */
    private void reorderEigenVectors(double[][] De){
        rotateMatrix(De);
        rotateMatrix(De);
    }


  //**************************************************************************
  //** reorderEigenValues
  //**************************************************************************
  /** Eigen values generated from Apache Common Math and JAMA are different
   *  than MatLab. The vectors are in reverse order than expected and with an
   *  opposite sign. This function will update the array to what we expect to
   *  see in MatLab.
   */
    private void reorderEigenValues(double[][] Ve){
        rotateMatrix(Ve);
        for (int i=0; i<Ve.length; i++){
            for (int j=0; j<Ve[i].length; j++){
                Ve[i][j] = -Ve[i][j];
            }
        }
    }


  //**************************************************************************
  //** linspace
  //**************************************************************************
    private double[] linspace(double min, double max, int points) {
        double[] d = new double[points];
        for (int i = 0; i < points; i++){
            d[i] = min + i * (max - min) / (points - 1);
        }
        return d;
    }



  //**************************************************************************
  //** ssd
  //**************************************************************************
  /** Returns the sum-of-square-differences between tow arrays. Takes two
   *  vectors of the same size, creates a new vector by finding the difference
   *  between corresponding elements, squaring each difference and adding them
   *  all together. So if the vectors were: a = [1 2 3] and b = [5 4 6], then:
   *  SSD = (1-5)^2 + (2-4)^2 + (3-6)^2;
   */
    private double ssd(double[] a, double[] b){
        double ssd = 0;
        for (int i=0; i<a.length; i++){
            ssd += Math.pow(a[i]-b[i], 2);
        }
        return ssd;
    }


  //**************************************************************************
  //** ones
  //**************************************************************************
  /** Creates an array of all ones. For example, ones(2,3) returns a 2-by-3
   *  array of ones.
    <pre>
        1 1 1
        1 1 1
    </pre>
   * Reference: https://www.mathworks.com/help/matlab/ref/ones.html
   */
    private double[][] ones(int rows, int cols){
        double[][] arr = new double[rows][];
        for (int i=0; i<arr.length; i++){
            double[] row = new double[cols];
            for (int j=0; j<row.length; j++){
                row[j] = 1;
            }
            arr[i] = row;
        }
        return arr;
    }


  //**************************************************************************
  //** merge
  //**************************************************************************
  /** Used to combine two arrays into one
   */
    private double[][] merge(double[][] m1, double[][] m2) {
        int x = 0;
        double[][] out = new double[m1.length + m2.length][];
        for (int i=0; i<m1.length; i++){
            out[x] = m1[i];
            x++;
        }
        for (int i=0; i<m2.length; i++){
            out[x] = m2[i];
            x++;
        }
        return out;
    }


  //**************************************************************************
  //** multiply
  //**************************************************************************
  /** Used to multiply all the values in the vector (arr) by n. This is called
   *  scalar multiplication.
   */
    private double[] multiply(double n, double[] arr){
        double[] out = new double[arr.length];
        for (int i=0; i<arr.length; i++){
            out[i] = arr[i]*n;
        }
        return out;
    }



  //**************************************************************************
  //** multiply
  //**************************************************************************
  /** Used to multiply all the values in the matrix (arr) by n
   */
    private double[][] multiply(double n, double[][] arr){
        double[][] out = new double[arr.length][];
        for (int i=0; i<arr.length; i++){
            double[] row = arr[i];
            double[] r = new double[row.length];
            for (int j=0; j<row.length; j++){
                r[j] = row[j]*n;
            }
            out[i] = r;
        }
        return out;
    }


  //**************************************************************************
  //** multiply
  //**************************************************************************
  /** Multiply a matrix with a vector by converting the vector to a matrix
   */
    private double[][] multiply(double[][] P, double[] u){
        double[][] m2 = new double[u.length][];
        for (int i=0; i<m2.length; i++){
            double[] row = new double[1];
            row[0] = u[i];
            m2[i] = row;
        }
        return multiply(P, m2);
    }


  //**************************************************************************
  //** multiply
  //**************************************************************************
  /** Used to multiply two matrices. Credit:
   *  https://stackoverflow.com/a/23817780
   */
    private double[][] multiply(double[][] m1, double[][] m2) {
        int m1ColLength = m1[0].length; // m1 columns length
        int m2RowLength = m2.length;    // m2 rows length
        if(m1ColLength != m2RowLength) return null; // matrix multiplication is not possible
        int mRRowLength = m1.length;    // m result rows length
        int mRColLength = m2[0].length; // m result columns length
        double[][] mResult = new double[mRRowLength][mRColLength];
        for(int i = 0; i < mRRowLength; i++) {         // rows from m1
            for(int j = 0; j < mRColLength; j++) {     // columns from m2
                for(int k = 0; k < m1ColLength; k++) { // columns from m1
                    mResult[i][j] += m1[i][k] * m2[k][j];
                }
            }
        }
        return mResult;
    }


  //**************************************************************************
  //** diag
  //**************************************************************************
  /** Returns a matrix for a given vector. The values in the vector will
   *  appear diagonally in the output.
   *  Reference: https://www.mathworks.com/help/matlab/ref/diag.html
   */
    private double[][] diag(double[] arr){
        double[][] out = new double[arr.length][];
        for (int i=0; i<arr.length; i++){
            double[] row = new double[arr.length];
            for (int j=0; j<row.length; j++){
                if (j==i) row[j] = arr[i];
                else row[j] = 0;
            }
            out[i] = row;
        }
        return out;
    }


  //**************************************************************************
  //** diag
  //**************************************************************************
  /** Returns a vector representing values that appear diagonally in the given
   *  matrix.
   *  Reference: https://www.mathworks.com/help/matlab/ref/diag.html
   */
    private double[] diag(double[][] arr){
        double[] out = new double[arr.length];
        for (int i=0; i<arr.length; i++){
            out[i] = arr[i][i];
        }
        return out;
    }


  //**************************************************************************
  //** transpose
  //**************************************************************************
  /** Interchanges the row and column index for each element
   *  Reference: https://www.mathworks.com/help/matlab/ref/transpose.html
   */
    private double[][] transpose(double[][] arr){
        int rows = arr.length;
        int cols = arr[0].length;

        double[][] out = new double[cols][rows];
        for (int x = 0; x < cols; x++) {
            for (int y = 0; y < rows; y++) {
                out[x][y] = arr[y][x];
            }
        }

        return out;
    }


  //**************************************************************************
  //** inv
  //**************************************************************************
  /** Returns the inverse of a matrix. Relies on 2 different implementations.
   *  The first implementation is more accurate (passes inverse check) but
   *  has the potential to fail. If so, falls back to second method that
   *  relies on partial-pivoting Gaussian elimination.
   *  Reference: https://www.mathworks.com/help/matlab/ref/inv.html
   */
    private double[][] inv(double[][] matrix){
        try{
            return inv1(matrix);
        }
        catch(Exception e){
            try{
                return inv2(matrix);
            }
            catch(Exception ex){
                throw new RuntimeException(ex);
            }
        }
    }


  //**************************************************************************
  //** inv1
  //**************************************************************************
  /** Returns the inverse of a matrix. This implementation passes inverse
   *  check so I think it's valid but it has a tendency to fail. For example,
   *  the following matrix fails with a ArrayIndexOutOfBoundsException in the
   *  determinant method.
    <pre>
        1171.18     658.33
         658.33    1039.55
    </pre>
   *  Credit: https://github.com/rchen8/Algorithms/blob/master/Matrix.java
   */
    private double[][] inv1(double[][] matrix){
        double[][] inverse = new double[matrix.length][matrix.length];

        // minors and cofactors
        for (int i = 0; i < matrix.length; i++)
            for (int j = 0; j < matrix[i].length; j++)
                inverse[i][j] = Math.pow(-1, i + j)
                        * determinant(minor(matrix, i, j));

        // adjugate and determinant
        double det = 1.0 / determinant(matrix);
        for (int i = 0; i < inverse.length; i++) {
            for (int j = 0; j <= i; j++) {
                double temp = inverse[i][j];
                inverse[i][j] = inverse[j][i] * det;
                inverse[j][i] = temp * det;
            }
        }

        return inverse;
    }
    private static double determinant(double[][] matrix) {
        if (matrix.length != matrix[0].length)
            throw new IllegalStateException("invalid dimensions");

        if (matrix.length == 2)
            return matrix[0][0] * matrix[1][1] - matrix[0][1] * matrix[1][0];

        double det = 0;
        for (int i = 0; i < matrix[0].length; i++)
            det += Math.pow(-1, i) * matrix[0][i]
                    * determinant(minor(matrix, 0, i));
        return det;
    }
    private static double[][] minor(double[][] matrix, int row, int column) {
        double[][] minor = new double[matrix.length - 1][matrix.length - 1];

        for (int i = 0; i < matrix.length; i++)
            for (int j = 0; i != row && j < matrix[i].length; j++)
                if (j != column)
                    minor[i < row ? i : i - 1][j < column ? j : j - 1] = matrix[i][j];
        return minor;
    }


  //**************************************************************************
  //** inv2
  //**************************************************************************
  /** Returns the inverse of a matrix. This implementation successfully
   *  executes but does not pass the inverse check.
   *  Credit: https://www.sanfoundry.com/java-program-find-inverse-matrix/
   */
    public static double[][] inv2(double a[][]){

        int n = a.length;
        double x[][] = new double[n][n];
        double b[][] = new double[n][n];
        int index[] = new int[n];

        for (int i=0; i<n; ++i)
            b[i][i] = 1;


          //Transform the matrix into an upper triangle
            gaussian(a, index);


          //Update the matrix b[i][j] with the ratios stored
            for (int i=0; i<n-1; ++i){
                for (int j=i+1; j<n; ++j){
                    for (int k=0; k<n; ++k){
                        b[index[j]][k]
                             -= a[index[j]][i]*b[index[i]][k];
                    }
                }
            }


      //Perform backward substitutions
        for (int i=0; i<n; ++i){
            x[n-1][i] = b[index[n-1]][i]/a[index[n-1]][n-1];
            for (int j=n-2; j>=0; --j){
                x[j][i] = b[index[j]][i];
                for (int k=j+1; k<n; ++k){
                    x[j][i] -= a[index[j]][k]*x[k][i];
                }
                x[j][i] /= a[index[j]][j];
            }
        }

        return x;
    }



    // Method to carry out the partial-pivoting Gaussian
    // elimination.  Here index[] stores pivoting order.
    public static void gaussian(double a[][], int index[]) {

        int n = index.length;
        double c[] = new double[n];


        // Initialize the index
        for (int i=0; i<n; ++i)
            index[i] = i;



        // Find the rescaling factors, one from each row
        for (int i=0; i<n; ++i) {
            double c1 = 0;
            for (int j=0; j<n; ++j){
                double c0 = Math.abs(a[i][j]);
                if (c0 > c1) c1 = c0;
            }
            c[i] = c1;
        }



        // Search the pivoting element from each column
        int k = 0;
        for (int j=0; j<n-1; ++j){
            double pi1 = 0;
            for (int i=j; i<n; ++i){
                double pi0 = Math.abs(a[index[i]][j]);
                pi0 /= c[index[i]];
                if (pi0 > pi1) {
                    pi1 = pi0;
                    k = i;
                }
            }



            // Interchange rows according to the pivoting order
            int itmp = index[j];
            index[j] = index[k];
            index[k] = itmp;
            for (int i=j+1; i<n; ++i){
                double pj = a[index[i]][j]/a[index[j]][j];

                // Record pivoting ratios below the diagonal
                a[index[i]][j] = pj;


                // Modify other elements accordingly
                for (int l=j+1; l<n; ++l)
                    a[index[i]][l] -= pj*a[index[j]][l];
            }
        }
    }



  //**************************************************************************
  //** max
  //**************************************************************************
  /** Returns the max value in a vector
   */
    private double max(double[] arr){
        double max = arr[0];
        for (double d : arr){
            max = Math.max(d, max);
        }
        return max;
    }


  //**************************************************************************
  //** find_maximum_value_location
  //**************************************************************************
  /** Returns the index of the max value in a vector
   */
    private int find_maximum_value_location(double[] arr, double max){
        for (int i=0; i<arr.length; i++){
            if (arr[i]==max) return i;
        }
        return 0;
    }


  //**************************************************************************
  //** minus
  //**************************************************************************
  /** Used to subtract array B from array A and returns the result
   *  Reference: https://www.mathworks.com/help/matlab/ref/minus.html
   */
    private double[][] minus(double[][] a, double[][] b){
        double[][] out = new double[a.length][];
        for (int i=0; i<out.length; i++){
            double[] row = new double[a[i].length];
            for (int j=0; j<row.length; j++){
                row[j] = a[i][j]-b[i][j];
            }
            out[i] = row;
        }
        return out;
    }


  //**************************************************************************
  //** sqrt
  //**************************************************************************
  /** Returns the square root of each element in a vector
   *  Reference: https://www.mathworks.com/help/matlab/ref/sqrt.html
   */
    private double[] sqrt(double[] arr){
        double[] out = new double[arr.length];
        for (int i=0; i<out.length; i++){
            out[i] = Math.sqrt(arr[i]);
        }
        return out;
    }


    private double[] cos(double[] arr){
        double[] out = new double[arr.length];
        for (int i=0; i<out.length; i++){
            out[i] = Math.cos(arr[i]);
        }
        return out;
    }

    private double[] sin(double[] arr){
        double[] out = new double[arr.length];
        for (int i=0; i<out.length; i++){
            out[i] = Math.sin(arr[i]);
        }
        return out;
    }


  //**************************************************************************
  //** setdiff
  //**************************************************************************
  /** Partial implementation of setdiff
   */
    private int setdiff(int[] arr, int x){
        for (int i : arr){
            if (i!=x) return i;
        }
        return 0; //?
    }


  //**************************************************************************
  //** rotateMatrix
  //**************************************************************************
    private void rotateMatrix(double mat[][]) {
        int N = mat[0].length;

        // Consider all squares one by one
        for (int x = 0; x < N / 2; x++)
        {
            // Consider elements in group of 4 in
            // current square
            for (int y = x; y < N-x-1; y++)
            {
                // store current cell in temp variable
                double temp = mat[x][y];

                // move values from right to top
                mat[x][y] = mat[y][N-1-x];

                // move values from bottom to right
                mat[y][N-1-x] = mat[N-1-x][N-1-y];

                // move values from left to bottom
                mat[N-1-x][N-1-y] = mat[N-1-y][x];

                // assign temp to left
                mat[N-1-y][x] = temp;
            }
        }
    }


  //**************************************************************************
  //** createVector
  //**************************************************************************
  /** Used to generate a vector for testing purposes
   */
    private double[] createVector(double ...d){
        double[] arr = new double[d.length];
        for (int i=0; i<arr.length; i++){
            arr[i] = d[i];
        }
        return arr;
    }
}

这里是使用 10 个随机点和 0.001 容差的示例输出。椭圆是使用连接通过 Ellipse.getBoundingCooperatives() 方法使用 50 个点生成的点的直线来渲染的。