text:
\section{}

\subsection{\textbf{Varying ``$\mathbf{r}$''}}

The INAD score for a point depends on the number of the spatial neighbors, which in turn is governed by $r$. Fig. \ref{fig_sh_plane}-\ref{fig_sh_cylinder1} shows shape histograms of Fig. \ref{fig_sample_surface_plane} and \ref{fig_sample_surface_cylinder} for varying $r$. It can be seen that as $r$ is increased, the peak in the shape histogram of a planer surface doesn't change whereas it shifts towards higher bins for the case of a curved surface. Thus, we make an important observation that the value of $r$ essentially captures the information about the curvature at a point. We exploit the observation and show that by computing shape histogram of a surface only once, we can use it for different purposes as given below.
\subsubsection{\textbf{Binary Surface Classification}}
Surface segmentation is a most fundamental operation which is required in order to segregate points with similar geometrical properties into different clusters. In this direction, the learning based \cite{squeezeseg}, \cite{pointcloudseg} approaches exists, however, they require tremendous amounts of data and GPUs for their operations. Here, we demonstrate that shape back-projection can achieve high accuracies for binary surface classification merely on a CPU.
\par
The 3D surfaces can be broadly classified into two categories i.e. planar and curved (non-planar). We can say that if a point is more likely to be on a planar surface, it will be less likely to be on a curved surface and vice-versa. Therefore if we have shape histogram of a planar surface, the Eq. \ref{eq_seg_planar_curved} holds.
\begin{equation}
P(p \in S_{plane} \vert SH,r) ~ + ~P(p \in S_{curved} \vert SH, r) ~ = 1
\label{eq_seg_planar_curved}
\end{equation}
\par
To verify this, we compute shape histogram of a planar surface and back-project onto the real 3D scenes as shown in column-($1$) Fig. \ref{fig_surface_segmentation}. Corresponding color coded likelihoods $P(p \in S_{plane} \vert SH,r)$ and $P(p \in S_{curved} \vert SH, r)$ are shown in column-($2,3$) Fig. \ref{fig_surface_segmentation}. The likelihood score proves the validity of Eq. \ref{eq_seg_planar_curved} qualitatively. The Table \ref{tab_f1_score_seg} depicts the precision, recall, F$1$ and mIoU \cite{voc} scores to assess the binary classification quality. These values are heavily dependent on the quality of the ground truth which we have manually generated. The planar class have high precision and high recall values. Whereas, high recall and relatively low precision for curved surfaces can be accounted by the misclassification of planar points as well as inaccurate ground truths near the high curvature edges. Despite the relatively low precisions for the curved surfaces, the qualitative analysis of binary classification (Fig. \ref{fig_surface_segmentation} column-$2$-$5$) is quite pleasant.
\subsubsection{\textbf{Edge Detection in Unorganized Point Clouds}}
We target this task as a utility of shape back-projection by employing two facts: first, the INAD captures the amount of curvature at a point and second, the edges have high curvature as compared to a plane. Therefore, we reduce $r$ to a smaller value ($\sim6mm$) and then back-project the shape histogram of a planar surface onto the 3D scenes as shown in column-$1$ Fig. \ref{fig_surface_segmentation}. Since, the edges are also curved regions in a cloud, therefore, the Eq. \ref{eq_seg_planar_curved} can be rewritten as given below.
\begin{equation}
P(p \in S_{plane} \vert SH,r) ~ + ~P(p \in S_{edge} \vert SH, r) ~ = 1
\label{eq_edge_planar_curved}
\end{equation}
Table \ref{tab_f1_score_edge} shows the precision, recall and the F$1$-Score for edge detection using shape back-projection and a recent method \cite{edgedetectunorg}. It can be inferred that the recent method performs well for synthetic data which they have reported in their paper, however, performs quite inferior on real data. This is where, the shape back-projection marks its importance to reliably deal with real data. Fig. \ref{fig_surface_segmentation} column-($6$-$7$) shows the color coded edge likelihood $P(p \in S_{edge} \vert SH,r)$ corresponding to the clouds in column-($1$). It can be seen that the predicted edges appears quite similar to the ground truth.
\subsection{\textbf{Number of Bins ($k_\mu,k_\sigma$) and its Effect on Noise}}
To study the effect of noise, we don't rely on adding noise in the synthetic point clouds as performed in \cite{edgedetectunorg}, instead the chosen point clouds fulfills the purpose, as they are full of random noise and inconsistence depth measurements.
Table \ref{tab_f1_score_edge} depicts the precision, recall and F$1$ measure for high curvature edge detection in the real point clouds data well as a synthetic cloud (Fig. \ref{fig_synthetic_edge}). It is noticeable that the best F$1$ (in \textcolor{blue}{blue}) on real data is obtained with higher number of bins while for the synthetic point cloud, it is achieved with lower number of bins. It happens because noisy point cloud contains local surface variations which can not be represented for small values of $k$. On the other hand, high values of $k$ accurately encodes such information and does not let the noise hamper the underlying geometrical information. Hence, the shape histograms inherently deals with surface noise which is desirable for many practical applications.
\begin{figure}[t]
\centering
\begin{tikzpicture}

\node (n1) []{\includegraphics[scale=0.10,trim={1ex 6ex 1ex 3ex}, clip=true]{rgb_synthetic_learn_1.png}};

\node (n2) [right of =n1, xshift= 10ex]{\includegraphics[scale=0.10,trim={1ex 6ex 1ex 3ex}, clip=true]{rgb_synthetic_learn_gndtruth_edge_inv_1.png}};

\node (n3) [right of =n2, xshift= 10ex]{\includegraphics[scale=0.10,trim={1ex 6ex 1ex 3ex}, clip=true]{rgb_synthetic_learn_edge_inv_1.png}};

\node (text1) [below of=n1]{\scriptsize (a) Synthetic cloud};
\node (text2) [below of=n2]{\scriptsize (b) Ground truth edges};
\node (text3) [below of=n3]{\scriptsize (c) Predicted edges};

\foreach \i in {1,2,3}
{
\node (rect\i) at (n\i) [draw=white!70!black, rectangle, rounded corners=0.6mm, minimum width=10 ex , minimum height=10 ex, line width=0.1pt, yshift=0ex]{};
}

\end{tikzpicture}

\caption{Edge detection in synthetic unorganized point cloud}
\label{fig_synthetic_edge}
\end{figure}
\subsection{\textbf{Timing Analysis and Point Cloud Density}}
The INAD score heavily relies on number of nearest neighbors ($k$-NNs) which depends on the cloud density. In general, the real point cloud data is noisy and posses non-uniform density. Therefore, rather changing the radii, timing analysis is performed by explicitly varying the number of nearest neighbors in a synthetic point cloud (Fig. \ref{fig_synthetic_edge}). Table \ref{tab_timing} shows the INAD computing performance for a single point with different number of nearest neighbors. On a scale, $10$ and $500$ neighbors roughly corresponds to a radii of $0.005$m and $0.03$m on surface of resolution $0.001$m. The method is quite fast even on single thread.
This enables shape back-projection to be deployed on computationally limited platforms. The speeds can be increased several times by taking advantage of multi-threading and GPUs, if available.
\subsection{\textbf{Rotation and Translation Invariancy}}
Shape back-projection exploits local geometrical properties. In this process, the INAD score for a point is computed using surface normals which are in turn computed locally and invariant to 3D affine transformation. Therefore, the INAD score and the shape histograms remain rotational and translational invariant.

\subsection{\textbf{A Promising Alternative to Model Consensus}} Consider the point cloud in the Fig.\ref{fig_surface_segmentation} row-$3$. In order to extract all the cylindrical items from the cloud, model consensus needs to be deployed iteratively and number of cylinders (instances) must be known beforehand. On the other hand, binary surface classification using shape back-projection can classify all instances without requiring to have the total number of instances apriori and can also deal with variety of shapes, unlike model consensus which are primitive only. Table \ref{tab_ransac_shapebackproj} shows the precision, recall and F$1$-score of shape back-projection and RANSAC to extract all cylinders in the the the cloud-Id $33$ (Fig.\ref{fig_surface_segmentation}, row-$3$).
\begin{table*}[t]
\vspace*{0.9ex}

\centering
\caption{\footnotesize Performance analysis of binary surface classification}
\begin{tabular}{|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|}
\hline
\multirow{4}{*}{Scene-Id} & \multicolumn{14}{c|}{$k_\mu \times k_\sigma$}  \\ \cline{2-15}

 & \multicolumn{7}{c|}{$10 \times 10$} & \multicolumn{7}{c|}{$20 \times 20$}   \\ \cline{2-15}

& \multicolumn{3}{c|}{Planar} & \multicolumn{3}{c|}{Curved} & \multirow{2}{*}{mIoU} & \multicolumn{3}{c|}{Planar} & \multicolumn{3}{c|}{Curved} & \multirow{2}{*}{mIoU} \\ \cline{2-7} \cline{9-14}

& \multicolumn{1}{c|}{Precision} & \multicolumn{1}{c|}{Recall} & \multicolumn{1}{c|}{F1} & \multicolumn{1}{c|}{Precision} & \multicolumn{1}{c|}{Recall} & \multicolumn{1}{c|}{F1} &  &
\multicolumn{1}{c|}{Precision} & \multicolumn{1}{c|}{Recall} & \multicolumn{1}{c|}{F1} &  \multicolumn{1}{c|}{Precision} & \multicolumn{1}{c|}{Recall} & \multicolumn{1}{c|}{F1} & \\ \hline

 $4$ & $0.99$ & $0.95$ & $0.97$ & $0.50$ & $0.98$ & $0.66$ & $0.95$ & $0.99$ & $0.93$ & $0.96$ & $0.38$ & $0.99$ & $0.55$ & $0.93$ \\
$20$ & $1.00$ & $0.95$ & $0.97$ & $0.63$ & $1.00$ & $0.67$ & $0.95$ & $0.92$ & $0.96$ & $0.92$ & $0.51$ & $1.00$ & $0.68$ & $0.92$\\
$33$ & $0.97$ & $0.95$ & $0.96$ & $0.74$ & $0.82$ & $0.78$ & $0.92$ & $0.99$ & $0.91$ & $0.95$ & $0.66$ & $0.97$ & $0.79$ & $0.91$ \\
$44$ & $0.98$ & $0.96$ & $0.97$ & $0.71$ & $0.89$ & $0.79$ & $0.95$ & $0.99$ & $0.93$ & $0.96$ & $0.61$ & $0.99$ & $0.76$ & $0.93$\\ \hline

\end{tabular}
\label{tab_f1_score_seg}
\end{table*}
\begin{table}[t]

\vspace*{-0.8ex}

\centering
\caption{\footnotesize Performance analysis of high curvature edge detection, S.B. referres to Shape Back-projection }
\begin{tabular}{|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|}
\hline
Scene-Id & Method & $k_\mu$$\times$$k_\sigma$ & Precision & Recall & F$1$ & Time (S) \\ \hline

\multirow{3}{*}{$4$} & S.B. &  $10\times10$ & \textcolor{blue}{$0.98$} & $0.51$ & $0.67$ & $2.2$ \\
                     & S.B. &  $20\times20$ & $0.94$ & $0.72$ & \textcolor{blue}{$0.82$} & $2.2$ \\
   & \cite{edgedetectunorg} &  - & $0.05$ & $1.00$ & $0.09$ & $2.7$ \\ \hline

\multirow{3}{*}{$20$} & S.B. &  $10\times10$ & \textcolor{blue}{$0.95$} & $0.63$ & $0.75$ & $2.0$ \\
                     & S.B. &  $20\times20$ & $0.90$ & $0.83$ & \textcolor{blue}{$0.86$} & $2.0$\\
   & \cite{edgedetectunorg} &  - & $0.05$ & $1.00$ & $0.11$ & $2.5$ \\ \hline

\multirow{3}{*}{$33$} & S.B. &  $10\times10$ & \textcolor{blue}{$0.87$} & $0.48$ & $0.62$ & $1.5$ \\
                     & S.B. &  $20\times20$ & $0.78$ & $0.75$ & \textcolor{blue}{$0.77$} & $1.5$ \\
   & \cite{edgedetectunorg} &  - & $0.05$ & $1.00$ & $0.09$ & $2.1$ \\ \hline

\multirow{3}{*}{$44$} & S.B. &  $10\times10$ & \textcolor{blue}{$0.94$} & $0.62$ & $0.75$ & $1.4$ \\
                     & S.B. &  $20\times20$ & $0.84$ & $0.82$ & \textcolor{blue}{$0.83$} & $1.4$ \\
   & \cite{edgedetectunorg} &  - & $0.04$ & $1.00$ & $0.08$ & $2.0$ \\ \hline

\multirow{3}{*}{Fig.\ref{fig_synthetic_edge}a} & S.B. &  $10\times10$ & \textcolor{blue}{$0.98$} & $0.98$ & \textcolor{blue}{$0.98$} & $1.5$ \\
                     & S.B. &  $20\times20$ & $0.42$ & $0.96$ & $0.59$ & $1.5$  \\
   & \cite{edgedetectunorg} &  - & $0.95$ & $0.98$ & $0.97$ & $1.6$ \\ \hline

\end{tabular}
\label{tab_f1_score_edge}
\end{table}
\begin{table}[t]
\centering
\caption{\footnotesize Timing analysis of INAD computations per point}
\label{tab_timing}

\begin{tabular}{|c|c|c|c|c|c|c|}
\hline
$k$-NNs & 10 & 100 & 200 & 300 & 400 & 500 \\ \hline
Time ($\mu$S) & $4.2$ &$23.1$ & $45.5$ &  $67.6$ & $87.5$ & $100.7$ \\ \hline
\end{tabular}

\end{table}
\begin{table}[t]

\vspace*{-0.8ex}

\centering
\caption{\footnotesize Performance analysis for multi-instance cylinder extraction}

\label{tab_ransac_shapebackproj}

\begin{tabular}{|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|>{\scriptsize }c|}
\hline
Method & Precision & Recall & F$1$ \\ \hline

 S.B. &  $0.66$ & $0.97$ & $0.79$ \\ \hline
 RANSAC \cite{ransac} & $0.16$ &  $0.92$ & $$ $0.27$ \\ \hline

\end{tabular}
\end{table}
\section{Practical Applications}
\subsubsection{\textbf{Warehouse Automation}}
A large number of novel items arrive in the warehouses on a daily basis. Dealing with such items becomes a major challenge because not every item can be included in the dataset of the learning based perception algorithms. In such cases, the binary surface classification using shape back-projection can be utilized in order to segregate items in the cluttered containers on the basis of their 3D shape and the segregated items then can be sent to different destinations for further processing.
\subsubsection{\textbf{Suction Grasp Location Estimation}}
Through our participation in the Amazon challenges APC'$16$ and ARC'$17$, we have realized that the centroid based approach \cite{centroidgrasp} is not suitable for suction based grasping in the presence of partial occlusions, and especially when a smaller object lies on top of a larger object. As a solution, shape-histogram of a planar or curved surface (depending on the target object shape) is back-projected onto the point cloud of a target object. Then, an adaptive mean-shift operation is performed on the back-projection likelihood and its convergence point is chosen as the suction grasp location (Fig. \ref{fig_suction_grasp}). This strategy is quite fast, effective and also eliminates a need of time consuming 6D pose estimation such as Super4PCS \cite{super4pcs}.
\begin{figure}[t]
\centering
\includegraphics[width=51ex, height=19ex]{suction_location.jpg}
\caption{Our robotic setup performing an autonomous picking operation on the grasp location provided by shape back-projection.}
\label{fig_suction_grasp}
\end{figure}
\subsubsection{\textbf{Automated data labeling for 3D-CNNs}}
In order to train 3D-CNNs for the task of surface classification, a huge amount of data is required. Manual labeling of 3D point clouds is quite exhaustive and challenging as compared to images and requires specialized softwares. Hence, shape back-projection can be deployed to segment specific kind of surfaces from a 3D scene and its output can be used to generate ground truths. For example, the outputs of algorithm in Fig.\ref{fig_shape_backproj_examples} can be used to generate dataset to train a 3D CNN for purpose of surface segmentation and to detect edges.

\section{Conclusion}
In this work, we have presented a novel algorithm of shape back-projection in 3D scenes. Its inspiration lies in the working of color back-projection which obtains color similarity between two images by analyzing their color histograms. Here, we have developed a novel shape histogram, by means of which, a probabilistic measure of similarity between two 3D point clouds can be obtained. The utility of the shape back-projection ranges from warehouse automation to automated labeled data generation for 3D-CNNs. The existing feature based 3D object detection methods can also be benefitted by extracting salient points using shape back-projection. The algorithm is a robust and a computationally efficient alternative to the SOA algorithms for the above purposes. Therefore, it can be easily deployed on computationally limited platforms (UAVs) for complex tasks of object manipulation.

\section{Introduction}
\input{introduction}

\section{Preliminaries}
\label{preliminaries}
\input{preliminaries}

\section{Shape Back-Projection}
\label{algorithm}
\input{shape_backprojection}

\section{Experiments}
\label{experiments}
\input{experiments}

\bibliographystyle{ieeetr}

\subsection{\textbf{Color Histograms}}
\begin{figure}[t]
\centering
\subfloat[]
{
\includegraphics[width=0.18\linewidth,height=0.18\linewidth]{color_hist_backproj_sample.png}
\label{fig_sample_image}
}
\subfloat[]
{
\begin{tikzpicture}
\begin{axis}[
width=0.60\linewidth,
height=0.40\linewidth,
xlabel={Color intensity},
x label style={at={(axis description cs:0.5,.40)}},
ylabel={P(color$\vert$I)},
y label style={at={(axis description cs:0.45,.5)}},
xmin=0,
xmax=360,
ymin=0,
ymax =.1,
xtick={0,180,360},
scaled y ticks = {base 10:2},
legend cell align={left},
legend pos = north east,
legend style={at={(0.65,0.99)}, anchor=north,font=\tiny, draw=none, row sep=-1ex},
legend image post style={scale=0.2},
label style={font=\fontsize{5}{5}\selectfont},
x tick label style={font=\fontsize{3}{3}\selectfont},
y tick label style={font=\fontsize{3}{3}\selectfont},
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\addlegendentry{\tiny Hue}
\addlegendentry{\tiny Sat}
\addlegendentry{\tiny Val}

\end{axis}
\end{tikzpicture}
\label{fig_hist_hsv}
}
\subfloat[]
{
\includegraphics[width=0.18\linewidth,height=0.18\linewidth]{color_hist_backproj_im.png}
\label{fig_test_image}
}
\subfloat[]
{
\includegraphics[width=0.18\linewidth,height=0.18\linewidth]{test_backproj.png}
\label{fig_hist_image}
}
\caption{(a) Sample image, (b) corresponding HSV histogram, (c) test image, and (d) back-projection of the hue histogram of the object pixels in the sample image onto the test image.}
\label{fig_color_hist}
\end{figure}
\indent
Color histogram is a discretization of a color space such as (Red, Green, Blue), (Hue, Saturation, Value), etc and represents a frequency distribution over the pixel colors in an image. Each component of a color space is referred as a channel.
Let $C$ be a $k$-bin color histogram to be computed over a single color channel. First, a $bin$-$id$ (Eq. \ref{eq_bin_id}) for a pixel is obtained and the corresponding bin value is incremented by one. This process is repeated for all or only a desired set of pixels. The obtained frequency distribution ($C$) is then normalized ($C_n$) with the number of pixels which participated in the histogram computation. The normalization step essentially scales all the bin values to sum them up-to one so that it can follow the properties of a valid probability density function. Fig. \ref{fig_hist_hsv} shows single channel normalized histograms of H, S, V components of a sample image (Fig. \ref{fig_sample_image}).
\begin{equation}
bin\text{-}id= \Bigl\lfloor\frac{color}{k}\Bigr\rfloor
\label{eq_bin_id}
\end{equation}
\subsection{\textbf{Color Back-projection}}
\indent
Back-projection \cite{colorbackproj} is a technique to identify test data patterns, behaving almost similar to that of a given distribution. In the context of images, color histograms are back-projected to localize color patterns similar to a given color histogram. In the first step of back-projection, normalized color histogram of the pixels of interest in a sample image is computed (object pixels in Fig. \ref{fig_sample_image}). Later, for each pixel in a test image (Fig. \ref{fig_test_image}), $bin$-$id$ is obtained and assigned a score (Eq. \ref{eq_color_backproj}) equal to the value of bin-id in the color histogram. The score is referred as back-projection likelihood which depicts that how likely a pixel in the test image belongs to the object in the sample image.
\begin{equation}
P(pixel = color~|~C_n) = C_n(bin\text{-}id)
\label{eq_color_backproj}
\end{equation}
\par
In general, hue component of the HSV color space is preferred for color back-projection because it carries the chrominance information about a pixel-color. However, the selection of color component may vary from application to application. Color back-projection has been explored previously in various applications such as real time object tracking in images using Mean-Shift \cite{meanshiftseg}, Cam-Shift \cite{camshift}.

\subsection{\textbf{Shape Histograms}}
A shape histogram has been designed by carefully observing the geometrical properties of 3D surfaces such as normals, and curvature. To understand this, consider a planar and a curved surface ($S$) as shown in Fig. \ref{fig_sample_surface_plane} and \ref{fig_sample_surface_cylinder}. Let $p_i,p_j \in S$ be a point and its neighbor respectively and $n_i, n_j$ be their normals. For each ($p_i, p_j$) pair, we define an angle $\alpha_{ij}$ between $n_i$ and $n_j$. An individual $\alpha_{ij}$ does not convey much information, however, the $\alpha_{ij}s$ for all neighbors of $p_i$ governs the behavior of local surface variations around $p_i$. By the visual inspection of Fig.\ref{fig_normals_profile_plane} and \ref{fig_normals_profile_cylinder}, it can be inferred that larger the $\alpha$, more is the surface curved around $p_i$. Based on this fact, we exploit the information contained in the $\alpha_{ij}s$ which we call \textit{Inter Normal Angle Difference} (INAD). We parameterize INAD as a mean and standard deviation ($\mu,\sigma$) value pair of the $\alpha_{ij}s$ for each $p_i$. The INAD pair essentially captures a Gaussian distribution $\mathcal{N}(\mu,\sigma^2)$ of curvature around $p_i$ which is given by Eq.\ref{eq:mean}, \ref{eq:standard_deviation}.
\begin{equation}
\mu_i = \frac{1}{N} \sum_{j=1}^{N} \alpha_{ij}
\label{eq:mean}
\end{equation}
\hfill
\begin{equation}
\sigma_i = \sqrt{\frac{1}{N} \sum_{j=1}^{N} (\alpha_{ij}-\mu_i)^2}
\label{eq:standard_deviation}
\end{equation}
\par
Further, in order to obtain the shape histogram of a given surface, firstly, INAD for each $p_i \in S$ is computed. Later, a cumulative distribution of these INAD pairs is obtained in a way similar to that of color histogram computation. It is important to note that the INAD is composed of two values: $\mu,\sigma$. Thus, a shape histogram is simply two dimensional and to accommodate this, the Eq.\ref{eq_bin_id} can be rewritten as Eq.\ref{eq_bin_id_sh}, where, $k_\mu, k_\sigma$ are the number of bins in the $\mu$ and $\sigma$ axis
\begin{equation}
bin\text{-}id_{\mu_i}= \Bigl\lfloor\frac{\mu_i}{k_\mu}\Bigr\rfloor,~~~~
bin\text{-}id_{\sigma_i}= \Bigl\lfloor\frac{\sigma_i}{k_\sigma}\Bigr\rfloor
\label{eq_bin_id_sh}
\end{equation}
\par
Next, the obtained cumulative distribution is normalized by dividing it with the maximum value in the distribution
The normalized cumulative distribution is termed as a \texttt{shape-histogram}. Fig.\ref{fig_sh_plane}-\ref{fig_sh_cylinder1} depicts the shape histogram of a synthetically generated planar and a curved surface for different values of neighborhood search radii $r$.
\begin{figure}[t]
\centering

\FPeval{\imwidth}{9}
\FPeval{\imheight}{9}
\FPeval{\shxshft}{0-4.5}
\FPeval{\shscale}{0.8}
\FPeval{\rectoffset}{0.4}
\FPeval{\imxshft}{0.2}

\vspace*{2.7ex}
\subfloat[]
{
\begin{tikzpicture}

\node (im) []{
\includegraphics[width=\imwidth ex,height=\imheight ex]{sample_surface_planar.png}};

\node (rect) at (im) [draw=white!70!black,rounded corners=0.6mm, line width=0.1pt, minimum width=\imwidth ex - \rectoffset ex, minimum height=\imheight ex - \rectoffset ex]{};
\end{tikzpicture}
\label{fig_sample_surface_plane}
}
\hspace{\imxshft ex}
\subfloat[]
{
\begin{tikzpicture}

\node (im) []{
\includegraphics[width=\imwidth ex,height=\imheight ex]{normals_profile_plane.png}};

\node (rect) at (im) [draw=white!70!black,rounded corners=0.6mm, line width=0.1pt,minimum width=\imwidth ex - \rectoffset ex, minimum height=\imheight ex - \rectoffset ex]{};
\end{tikzpicture}
\label{fig_normals_profile_plane}
}
\hspace{\imxshft ex}
\subfloat[]
{
\begin{tikzpicture}

\node (im) []{
\includegraphics[width=\imwidth ex,height=\imheight ex]{sample_surface_cylinder.png}};

\node (rect) at (im) [draw=white!70!black,rounded corners=0.6mm, line width=0.1pt,minimum width=\imwidth ex - \rectoffset ex, minimum height=\imheight ex - \rectoffset ex]{};
\end{tikzpicture}
\label{fig_sample_surface_cylinder}
}
\hspace{\imxshft ex}
\subfloat[]
{
\begin{tikzpicture}

\node (im) []{
\includegraphics[width=\imwidth ex,height=\imheight ex]{normals_profile_cylinder.png}};

\node (rect) at (im) [draw=white!70!black,rounded corners=0.6mm, line width=0.1pt,minimum width=\imwidth ex - \rectoffset ex, minimum height=\imheight ex - \rectoffset ex]{};
\end{tikzpicture}
\label{fig_normals_profile_cylinder}
}
\vspace*{-0.5ex}
\subfloat[$r1$]
{
\begin{tikzpicture}

\node (ex1) [scale=\shscale]{
\begin{tikzpicture}

\begin{axis}[
width=0.60\linewidth,
height=0.60\linewidth,
xlabel={$\sigma$ ($\deg$)},
x label style={at={(axis description cs:0.5,1.60)}},
ylabel={$\mu$ ($\deg$) },
y label style={at={(axis description cs:0.42,.5)}},
xmin=0,
xmax=100,
ymin=0,
ymax =100,
xtick={0,50,100},
ytick={0,50,100},
label style={font=\fontsize{5}{5}\selectfont},
x tick label style={font=\fontsize{3}{3}\selectfont},
y tick label style={font=\fontsize{3}{3}\selectfont},
axis x line*=top,
y dir=reverse,
scale=0.5
]

\draw (axis description cs:0,0) -- (axis description cs:1,0);

\addplot[thick,blue] graphics[xmin=5,ymin=5,xmax=95,ymax=95] {hist_mean_var_planar.png};

\end{axis}

\end{tikzpicture}
};
\end{tikzpicture}

\label{fig_sh_plane}

}
\hspace*{\shxshft ex}
\subfloat[$r2$]
{
\begin{tikzpicture}

\node (ex1) [scale=\shscale]{
\begin{tikzpicture}

\begin{axis}[
width=0.60\linewidth,
height=0.60\linewidth,
xlabel={$\sigma$ ($\deg$)},
x label style={at={(axis description cs:0.5,1.60)}},
ylabel={$\mu$ ($\deg$) },
y label style={at={(axis description cs:0.42,.5)}},
xmin=0,
xmax=100,
ymin=0,
ymax =100,
xtick={0,50,100},
ytick={0,50,100},
label style={font=\fontsize{5}{5}\selectfont},
x tick label style={font=\fontsize{3}{3}\selectfont},
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axis x line*=top,
y dir=reverse,
scale=0.5
]

\draw (axis description cs:0,0) -- (axis description cs:1,0);

\addplot[thick,blue] graphics[xmin=5,ymin=5,xmax=95,ymax=95] {hist_mean_var_planar.png};

\end{axis}

\end{tikzpicture}
};
\end{tikzpicture}

\label{fig_sh_plane1}

}
\hspace*{\shxshft ex}
\subfloat[$r1$]
{
\begin{tikzpicture}

\node (ex1) [scale=\shscale]{
\begin{tikzpicture}

\begin{axis}[
width=0.60\linewidth,
height=0.60\linewidth,
xlabel={$\sigma$ ($\deg$)},
x label style={at={(axis description cs:0.5,1.60)}},
ylabel={$\mu$ ($\deg$) },
y label style={at={(axis description cs:0.42,.5)}},
xmin=0,
xmax=100,
ymin=0,
ymax =100,
xtick={0,50,100},
ytick={0,50,100},
label style={font=\fontsize{5}{5}\selectfont},
x tick label style={font=\fontsize{3}{3}\selectfont},
y tick label style={font=\fontsize{3}{3}\selectfont},
axis x line*=top,
y dir=reverse,
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\draw (axis description cs:0,0) -- (axis description cs:1,0);

\addplot[thick,blue] graphics[xmin=5,ymin=5,xmax=95,ymax=95] {hist_mean_var_cylinder_r_0_01.png};

\end{axis}

\end{tikzpicture}
};
\end{tikzpicture}

\label{fig_sh_cylinder}

}
\hspace*{\shxshft ex}
\subfloat[$r2$]
{
\begin{tikzpicture}

\node (ex1) [scale=\shscale]{
\begin{tikzpicture}

\begin{axis}[
width=0.60\linewidth,
height=0.60\linewidth,
xlabel={$\sigma$ ($\deg$)},
x label style={at={(axis description cs:0.5,1.60)}},
ylabel={$\mu$ ($\deg$)},
y label style={at={(axis description cs:0.42,.5)}},
xmin=0,
xmax=100,
ymin=0,
ymax =100,
xtick={0,50,100},
ytick={0,50,100},
label style={font=\fontsize{5}{5}\selectfont},
x tick label style={font=\fontsize{3}{3}\selectfont},
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y dir=reverse,
scale=0.5
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\draw (axis description cs:0,0) -- (axis description cs:1,0);

\addplot[thick,blue] graphics[xmin=5,ymin=5,xmax=95,ymax=95] {hist_mean_var_cylinder_r_0_03.png};

\end{axis}
\end{tikzpicture}
};
\end{tikzpicture}
\label{fig_sh_cylinder1}
}
\caption{(a), (c) Sample planar and curved surfaces. (b), (d) corresponding profile of surface normals, points (red) and normals(blue). (e), (f) shape histograms of planar surface, and (g), (h) curved surface for different values of neighborhood search radii $r1$ and $r2$, where $r1<r2$ Higher green, higher probability.
}
\label{fig_sample_surfaces}
\end{figure}
\par
The INAD computations are entirely based on surface normals. Therefore, noisy normals can severely affect the shape histograms. Most of the noise comes directly from the depth sensors which is aggregated with the approximate solutions errors, introduced by the normal estimation process. Hence, it becomes necessary to deal with the case of noisy normals. Ideally, it would be impossible to obtain 100\% noise free normals. Thus, we employ a noise cancellation procedure based on simple statistical outlier removal technique. Before discussing the noise cancellation procedure, we briefly introduce the normal estimation process below.
\subsubsection{\textbf{Normal Estimation}}
Let $p_i$ be any point in $\mathbb{R}^3$ and $N \subset S$ be the set of all neighboring points around $P$ in a spherical region of radii $r$. A covariance matrix ($\mathcal{C}$) in $\mathbb{R}^3$ is computed from a point set $P\cup N$ and decomposed into Eigen vectors. The matrix $\mathcal{C}$ essentially captures the spatial behavior (variance or spread) of neighboring points around $p_i$ and an Eigen vector quantifies both the direction and amount of spread. In general, a surface has minimal spread in a direction normal to it. Therefore, the Eigen vector having lowest Eigen value can be taken as an approximation to the normal at $p_i$. The above methodology is the most simple and fastest approximation of normals and its practical implementations are publicly available in the Point Cloud Library (PCL) \cite{pcl}.
\subsubsection{\textbf{Noise Removal}}
After the normal estimation process, $\alpha_{ij}s$ for each $p_i$ are computed using inverse cosine rule\footnote{$\alpha_{ij}=cos^{-1}\Bigl(\frac{n_i.n_j}{\vert n_i \vert.\vert n_j \vert}\Bigr)$}. At this stage, we assume that some of the $\alpha_{ij}s$ may be noisy. To filter such values, we perform statistical outlier rejection operation on $\alpha_{ij}s$. This step eliminates noisy normals up-to a great extent, leading to consistent normals in the output. The mathematical treatment of the operation is given by Eq. (\ref{eq:mean}, \ref{eq:standard_deviation}, \ref{eq:statistical_outlier}). Here, $c$ is referred as an outlier rate which controls the number of outliers in the output. Decision for a point to be an outlier or inlier is given by Eq. \ref{eq:statistical_outlier}.

\begin{equation}
p_j~\text{is } =
\begin{cases}
Inlier,  & \text{if } \frac{|\alpha_{ij}-\mu_i|}{\sigma_i} \leq c \\
Outlier, & \text{Otherwise}
\end{cases}
\label{eq:statistical_outlier}
\end{equation}
\par
The filtered $\alpha_{ij}s$ are now plugged into Eq. \ref{eq:mean}, \ref{eq:standard_deviation} in order to compute the new values of $\mu_{i}$ and $\sigma_{i}$ which collectively represents INAD at $p_i$. It must be noted that any point $p_j \in N$ marked as an outlier is not included into computation of $\mu_{i}$ and $\sigma_{i}$. Fig. \ref{fig_sh_plane} and \ref{fig_sh_cylinder} shows shape histogram computed for a planar and a curved surface.
\subsection{\textbf{Shape Histogram Back-projection}}
\begin{figure}[t]
\centering
\FPeval{\imwidth}{8}
\FPeval{\imheight}{8}

\FPeval{\imsep}{2.2}

\begin{tikzpicture}

\node (ex1) []
{
\begin{tikzpicture}
\node (n1) []{\includegraphics[width=\imwidth ex, height=\imheight ex]{sample_surface_planar.png}};

\node (n2) [right of = n1, xshift=\imsep ex]{\includegraphics[width=\imwidth ex, height=\imheight ex]{shape_backproj_3_planes.png}};

\node (n3) [right of = n2,xshift=\imsep ex]{\includegraphics[width=\imwidth ex, height=\imheight ex]{shape_backproj_planar_planar.png}};

\node (rect1) at (n2) [draw=white!70!black, rectangle, rounded corners=0.6mm, minimum width= 25 ex , minimum height=\imheight ex, line width=0.1pt, yshift=0ex]{};

\end{tikzpicture}
};

\node (ex2) [right of = ex1, xshift=21ex]
{
\begin{tikzpicture}

\node (n1) []{\includegraphics[width=\imwidth ex, height=\imheight ex]{sample_surface_planar.png}};

\node (n2) [right of = n1, xshift= \imsep ex]{\includegraphics[width=\imwidth ex, height=\imheight ex]{shape_backproj_cylinder.png}};

\node (n3) [right of = n2,xshift=\imsep ex]{\includegraphics[width=\imwidth ex, height=\imheight ex]{shape_backproj_cylinder_planar.png}};

\node (rect1) at (n2) [draw=white!70!black, rectangle, rounded corners=0.6mm, minimum width= 25 ex , minimum height=\imheight ex, line width=0.1pt, yshift=0ex]{};

\end{tikzpicture}
};

\node (ex3) [below of =ex1, yshift=-3.5ex]
{
\begin{tikzpicture}

\node (n1) []{\includegraphics[width=\imwidth ex, height=\imheight ex]{sample_surface_cylinder.png}};

\node (n2) [right of = n1, xshift= \imsep ex]{\includegraphics[width=\imwidth ex, height=\imheight ex]{shape_backproj_3_planes.png}};

\node (n3) [right of = n2,xshift=\imsep ex]{\includegraphics[width=\imwidth ex, height=\imheight ex]{shape_backproj_planar_cylinder.png}};

\node (rect1) at (n2) [draw=white!70!black, rectangle, rounded corners=0.6mm, minimum width= 25 ex , minimum height=\imheight ex, line width=0.1pt, yshift=0ex]{};

\node (ss) [below of=n1,yshift=1ex]{\scriptsize $S_s$};
\node (st) [below of=n2,yshift=1ex]{\scriptsize $S_t$};
\node (bp) [below of=n3,yshift=1ex]{\scriptsize $P(p \in S_s)$};

\end{tikzpicture}
};

\node (ex4) [right of = ex3, xshift=21ex]
{
\begin{tikzpicture}
\node (n1) []{\includegraphics[width=\imwidth ex, height=\imheight ex]{sample_surface_cylinder.png}};

\node (n2) [right of = n1, xshift=\imsep ex]{\includegraphics[width=\imwidth ex, height=\imheight ex]{shape_backproj_cylinder.png}};

\node (n3) [right of = n2,xshift=\imsep ex]{\includegraphics[width=\imwidth ex, height=\imheight ex]{shape_backproj_cylinder_cylinder.png}};

\node (rect1) at (n2) [draw=white!70!black, rectangle, rounded corners=0.6mm, minimum width= 25 ex , minimum height=\imheight ex, line width=0.1pt, yshift=0ex]{};

\node (ss) [below of=n1,yshift=1ex]{\scriptsize $S_s$};
\node (st) [below of=n2,yshift=1ex]{\scriptsize $S_t$};
\node (bp) [below of=n3,yshift=1ex]{\scriptsize $P(p \in S_s)$};

\end{tikzpicture}
};

\end{tikzpicture}

\caption{Shape back-projection for various $S_s$-$S_t$ pair}
\label{fig_shape_backproj_examples}
\end{figure}
Shape histogram back-projection is functionally analogous to the color histogram back-projection. In this case, the back-projection likelihood score depicts that: ``how likely a point in a test surface is following geometrical properties similar to that of represented by the shape histogram of a sample surface''. The mathematical expression for such a likelihood is given in Eq.\ref{eq_prob_sh_backproj}, where $S_s$ and $SH$ refers to a sample surface and its shape histogram respectively.
\begin{equation}
P(~p_i \in S_s~|~SH,r) = SH(bin\text{-}id_{\mu_i},~bin\text{-}id_{\sigma_i})
\label{eq_prob_sh_backproj}
\end{equation}
\par
In order to back-project a shape histogram, first the INAD for each point in a test surface $S_t$ is computed (Eq.\ref{eq:mean}, \ref{eq:standard_deviation}). The INAD is then used to obtain $bin\text{-}id_{\mu}$ and $bin\text{-}id_{\sigma}$ which are then plugged into Eq.\ref{eq_prob_sh_backproj} to obtain the likelihood.
\par
Fig.\ref{fig_shape_backproj_examples} shows examples of the shape back-projection procedure. The column-$1$ represents the case when shape histograms of a planar and a curved surface ($S_s$) are back-projected onto a test surface ($S_t$), having three orthogonal planes. It can be noticed that the likelihood obtained is higher (\raisebox{0.05ex}{\tikz{\node (circle)[fill=green,circle, minimum width=1ex,scale=0.5]{};}}) when both $S_s$ and $S_t$ belong to similar kind of surfaces (planar-planar). Whereas, it is lower (\raisebox{0.05ex}{\tikz{\node (circle)[fill=white!50!blue,circle, minimum width=1ex,scale=0.5]{};}})
when $S_s$ and $S_t$ are of different kinds (curved-planar). Similarly, the column-$2$ represents the case when shape histogram of the planar and curved sample surfaces is back-projected onto a curved test surface $S_t$.
\par
In the performance of shape back-projection, the neighborhood search radii $r$ is a crucial parameter . The variations in the values of $r$ lead to different utilities of shape back-projection, which we have experimentally demonstrated in the following section.

redpajama_set_name: RedPajamaArXiv


text:
Layton in another light: Enter the "Mystery Room"
Today's profile: Layton Brothers Mystery Room
Publisher: Level-5
Platform: Apple iOS (reviewed), Android
ESRB rating: N/A (but suitable for ages 12 and up)
By now it's pretty well established that we — and by that I mostly mean "I," although tag-team partner in fandom Jason Y. is certainly no stranger to the games, either — are huge fans of the Professor Layton and Ace Attorney (aka Phoenix Wright) series of games. So much that there was much crying (on my part) when the second Miles Edgeworth Investigations game was not released in the U.S., and much disdain (on many fans' parts) when gaming website Kotaku revealed the reason for that. There was equally much tearing of hair as Capcom remained noncommittal about the release prospects for Professor Layton vs. Ace Attorney, the Nintendo 3DS game that pretty much is what the title says.
Fans such as myself might be eased somewhat in their pain with the recent release of the game Layton Brothers Mystery Room. As I commented to Jason while I was immersed in the first case, I felt like I was indeed playing a crossover of Layton and Ace Attorney. The caveat? It's only for the iOS. Yes, only for Apple mobile devices, only for the iPhone and iPad.
(At least, it was so at the time I wrote this part of my review, which, admittedly, was back in July. Now, however, being that Mystery Room was recently released for Android devices, that's kind of a moot point. But bear with me and my fangirl pain for at least the next few paragraphs.)
I will skip over the many exclamations of disbelief I used when I was made aware of that fact. Because, sadly, I have no such device. And I have no plans to buy one. Although, being as Layton- and AA-starved as I was, I had to admit I was teetering dangerously toward getting one. So much that I had to warn my husband (who is a rather staunch non-Apple user, but please don't comment on that) of the possibility.
So how, one may ask, could I have been playing the game if I don't have an iOS device? Simple: I had to beg Jason to borrow his. (I had actually been borrowing it for a different game; the release of Mystery Room was unexpected and caught me off guard. And I'm sure my fevered, delirious chats to Jason once I found out about it caught HIM off guard, as well.) He walked me through the steps of downloading and installing and BAM! I was soon back in the world of Layton.
Well, not really.
Mystery Room takes place in London and introduces two new main characters: First is the somewhat-bumbling but good-hearted Detective Constable Lucy Baker, a cap-wearing, enthusiastic young woman with such a slang-filled way of speaking British English that I sometimes got lost with her dialogue. She's just been assigned to work with the second new main character, the gentle-spoken and patiently thorough Inspector Alfendi Layton, in the department of Scotland Yard that takes care of the toughest cases. Yes indeed, it is the son of the famed Professor Hershel Layton — one of his sons, at least.
The first thing to do is rid yourself of the expectation that you will be playing a game along the lines of the rest of the "Layton" series. You're not. You'll be playing a game that's more like the Ace Attorney games, so MUCH more that you'll probably wonder (as I did) why the name "Layton" is in the title at all. In fact, I ended up constantly comparing this game's experience to Ace Attorney. The investigation of the crime scenes, the silliness of the interrogation of suspects, Alfendi's abashed expressions, and the flash of characters cutting across the screen as the investigation nears its climax — these scream "Ace Attorney" so loudly that it practically drowns out any presence of Layton.
Mystery Room comprises a series of murders that you must solve in good ol' police detective fashion: by examining the crime scene, reading witness statements, and occasionally getting a hint. The cases generally get more difficult as you progress through the game, and of course there is an overarching storyline that culminates in the final mystery.
At the beginning, no sooner does Lucy introduce herself to Alfendi — affectionately called "Prof" by Lucy and "Al" by other colleagues — than the inspector tosses her immediately into a case that has just come in, saying it will be the perfect way to test her suitability for the department. He goes over the facts and asks Lucy for her gut instinct as to who the criminal is. In response to her surprise at having to deduce the perpetrator without doing any investigating, Layton shows Lucy his one-of-a-kind crime scene reconstruction device. Using the reports and descriptions from the field officers, Layton recreates the location, down to the smallest detail, right inside the confines of Scotland Yard. It's great for the brilliant "Prof," who almost never leaves the office except to go home.
And so the game is afoot. At this point you'll have a few options: examine the crime scene, check the case files and case summary, or name the culprit. That first option is, of course, is where the most fun comes in. Sort of.
When you start inspecting the scene, you'll get a brief tutorial to moving around the area. In most of the cases, Layton gives you a mere five minutes to look over things. Usually, though, that will be enough time — you can check only certain parts of the scene that are marked clearly with white circles, and you can examine only certain items within those circles, all of which are marked with white dots that turn yellow once you've looked at it. You can also zoom in to find more items. Tap on everything that's marked to enter them into the evidence files while a text box pops up describing whatever you're looking at. When you return to the overall view of the crime scene, a check mark (or a "tick" in Brit-speak) will appear if you've examined everything possible within that particular circle.
At any time, you can go into the files by tapping the icon in the upper left, which stops the countdown so you can take all the time you want reading item descriptions and suspects' statements. Each item also has a "Hint" icon in the lower right corner, which leads to Lucy and Layton having a brief conversation that sometimes gives additional information about that piece of evidence. When you think you're ready, tap on the "Name the Culprit!" button in the upper right corner to give your judgment.
It's not necessary to finish looking at everything or come to the correct conclusion in those five minutes. You'll be presented with several mysteries, or "deductions," that must be solved before the duo settles on their chief suspect, and in the deductions screen you're able to return to the crime scene and examine everything without a time limit, so you can look for as long as you want. Also, when suspects are questioned, they often will, literally, throw arguments at you — humorous comments appear onscreen encased in arrow shapes, which are then slung at Lucy and Layton — and the two detectives naturally must point out the evidence that proves the person wrong. When something at the crime scene is needed, the game goes back there and again you have no time limit as you hunt around for the crucial item. The search will likely go faster if you've already checked everything, but if not, you can be more leisurely if you're examining things for the first time. (Thankfully, there is no penalty for showing an incorrect piece of evidence.)
In the first three cases, my guesses after just the initial perusal turned out to be correct. Still, I dislike that five-minute restriction. Before I knew what the mechanics of the game would entail, I rushed through the crime scene to cram everything within the time limit. And even though you can explore things more slowly after that, you feel like you still need to hurry as you're acutely aware of the fact that Layton and/or the suspect are standing there, waiting for you to come up with the right answer.
All that will have a familiar feel for those who've played Ace Attorney games before. The main annoyances are the seeming lack of touch sensitivity (which I've complained about since touch-screen games were first created), and the words "Entered Into Evidence" that briefly block your view of the text box when you examine something for the first time. Also, when statements or descriptions get updated, that process can sometimes take a long time — a fact that Lucy makes note of, which elicited a laugh from me, because it certainly is the truth.
In later cases, you will have four options after Layton asks for your opinion: identify the killer immediately; ask Layton for advice; investigate the crime scene; or "have a think about it." The second two choices are pretty straightforward.
The options that most detract from the whole experience are identifying the killer immediately or choosing to "have a think about it." With those, Layton will give his opinion of who the guilty party is, give his percentage of certainty of that person's guilt (usually in the high 90s), and then go straight to questioning said suspect — no examination of the crime scene allowed. As explained above, you still will be able to scrutinize the area when you need to find evidence for a rebuttal, but it seems ridiculous to be allowed to completely bypass any kind of investigation before calling in the suspect to rake them over the coals. Sure, Layton may know perfectly what the correct evidence is, but it's Lucy who's directing the interrogation. And if I were the suspect, guilt notwithstanding, I'd be greatly annoyed if I were hauled in to stand before a newbie detective who has absolutely no handle on the situation.
I can understand how this way of doing things breaks away from the strict linearity that the Ace Attorney games followed, and that was a big complaint by many people. Rather than having a step-by-step story in which you could get stuck if you happened to overlook a single item or person, Mystery Room allows you to cut right to the chase and doesn't require you to check every little thing. And the clearly labeled items and check marks in the crime scene let you see at a glance whether there's anything you missed.
In this way, Mystery Room allows players to go their own route according to what they feel their abilities are. If you think you need a bit of hand-holding, you can "ask for advice." If you think you need a LOT of hand-holding, you can choose to "have a think about it" or try to finger the criminal right away and then investigate the crime scene later without the five-minute limit.
But those latter methods also take away the main fun of a mystery game: investigating and forming your own ideas about the solution based on the clues that are presented. This alone makes me ambivalent toward Mystery Room. Although, overall, I did enjoy it — the dialogue isn't as snappy as the Ace Attorney games, but there's still plenty of humor; I had a good laugh when I deciphered the name of friendly hotel proprietor Micah Sasucasa, and the volley of argumentative arrows during the showdown with the suspect provides plenty of puns for your pleasure.
All in all, though, Mystery Room is a fun game and will do to help tide over fans until the next official Layton or Ace Attorney game is released. The first three cases are free (which include a prologue and two actual murder mysteries), and the final six cases can be obtained through an in-app purchase.
Author Wilma JandocPosted on October 16, 2013 Categories games, Wilma JandocTags ace attorney, android, apple iOS, games, layton brothers mystery room, level-5, professor layton, wilma
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redpajama_set_name: RedPajamaCommonCrawl


The Enochian system is one of the most widely touted and least well understood elements of the Golden Dawn System. The following pages provide a general outline for Enochian Magic.
Enochian consonants pick up the sound of the vowel if there is a vowel following them. Thus TIA is pronounced as a two syllable word - Tee-ah. The consonant T and the vowel I blend to make the Tee, but the vowel A stands alone and is given its pronunciation of "ah"
Because you can't really make a consonant sound without a terminal vowel (oriental languages aside), consonants that don't have a vowel after them get an arbitrary vowel sound. If you're familiar with Hebrew you're already familiar with this concept - the tetragrammaton YHWH is pronounced Yod-Heh-Vau-Heh, or some similar arrangement (depending on dialect, etc.) I've provided a chart which gives what appear to be the standard terminal values when the consonant occurs without a vowel.
The Enochian word VMPLIF is prounounced Vah-mee-pay-lee-eff. V, M, and P aren't followed by vowles, but the L is followed by I, and becomes one syllable - lee. The F doesn't have a vowel and so stands alone.
Enochian is meant to be "vibrated"- chanted or almost sung. If you've ever heard a psalm being sung, that's the general tone.
In general, when you have to pronounce Enochian during the game, it will be written out in syllabic form, for easy reading.
There are Several functional elements to the Enochian system.
Holy Sevenfold Table, and the Sigillum Dei Aemuth among them.
There are a lot of additional names for the Elemental Tablets - they are also called the "Great Elemental Watch Towers" for example. The Element of the Enochian System with the Golden Dawn made the most use of are the "Elemental Tablets," (Dee never specifically attributed them to the Elements). The Modern O.T.O. also makes extensive use of the Elemental Tablets. The Tablet System was heavily enlarged by the G.D., and many of its conclusions and attributions are not found in Dee's primary work.
The Elemental Tablet portion of the Enochian system revolves around five tablets - series of squares with Enochian letters in them. There are four large tablets, 12 squares across by 13 squares down. These are referred to as the "Elemental Tablets" - there is one each for air, earth, water, and fire. There is also a smaller tablet called the "Tablet of Union," which is five squares by four squares. The Tablet of Union symbolizes the "fifth element" of "Spirit" (from which we get the word quintessence, by the way).
The Enochian characters on the tablets form patterns that make up the names of various angelic and demonic powers, which can be summoned or invoked.
Each tablet is exactly the same pattern. We'll break up one tablet, as an example.
First the Entire Tablet, shown normally.


text:
Saskatoon churches short tens of thousands of dollars due to summer jobs abortion clause: pastors
Some church leaders in Saskatoon say they are short tens of thousands of dollars because of a new abortion clause in a federal funding application.
Some city churches chose not to agree to clause regarding reproductive rights
CBC News · Posted: May 07, 2018 6:32 AM CT | Last Updated: May 7, 2018
One Saskatoon church says it usually receives tens of thousands of dollars to employ young people the the Canada Summer Jobs program. (Southern Alberta Bible Camp)
The clause in the funding application for the Canada Summer Jobs program — which funds short-term contracts for high-school and post-secondary students — requires applicants to check a box affirming they respect reproductive rights.
Sask. bakery owner fighting summer jobs reproductive rights clause
Trudeau and Scheer debate free speech and summer jobs - and get nowhere
The form asks applicants to attest that their "core mandate" respects the Canadian Charter of Rights and Freedoms. The program will not consider applications unless the box is filled out. It was added in 2017.
City church applied for 6 workers
Eldon Boldt is the lead pastor at the Circle Drive Alliance Church in Saskatoon.
He said the church has received varying amounts of funding through the summer jobs program in the 35 years it has been running its summer camp for kids.
I think that they were trying to accomplish something and then used a sledge-hammer to kill a mosquito, unfortunately. - Marvin Wojda, lead pastor Elim Church
In the previous round of funding, Boldt said they received between $35,000 and $40,000 to employ five people to work in kids' programs, grounds-keeping and video work.
This year the group applied for about $43,000 to fund six positions but Boldt said the organization has not received any funding. The church did not agree to the clause. He said doing so would go against his religious conscience.
"Just as you want to protect women's rights for reproductive rights, should I also not be protected under the Charter for my convictions and have freedom of speech?" said Boldt.
"And the way this application was put forward it feels like I am alienated, and I'm not protected, and I'm punished."
Clause added after funds used to "shame women"
Announced earlier this year, the addition to the application form was controversial with anti-abortion groups and some religious organizations across Canada.
Labour Minister Patty Hajdu has previously said that prior to the change, the government heard some groups were using the funds from federal grants to "create graphic pamphlets that featured aborted fetuses as a way to shame women about reproductive rights."
"This is about the activities of the organization and the job description," Hajdu told CBC News in January.
"This is not about beliefs or values."
Pastor questions legality of clause
But Boldt does not believe the federal government had jurisdiction under the law to add such a clause as a condition for receipt of funding.
He said the church will use its own money to cover the cost of employing workers this year and avoid cancelling its camp, for which about 300 children are registered.
He is worried that approach will not be sustainable in years to come.
"We will have to see how we do this year and evaluate next year," said Boldt.
"I know of other places that have had to cancel various activities because the funding was not there."
Conservative Leader Andrew Scheer and Prime Minister Justin Trudeau battle it out over free speech and funding for the summer jobs program. 1:11
Backlash from religious groups
Bishop Mark Hagemoen from the Roman Catholic Diocese of Saskatoon said in January that he disagreed with the government's interpretation of the Charter of Rights and Freedoms, which includes women's reproductive rights relating to abortion.
Marvin Wojda, lead pastor at the Elim Church in Saskatoon, said his church originally submitted the application without agreeing to the clause. They also attached their own attestation.
"We were attesting to the fact that we honour all of the rights that are within the Canadian Charter," said Wojda.
But the federal government replied to say the application was incomplete. At that point, Wojda said they re-submitted the application and agreed to the clause.
Church resubmits — and signs
"Our core mandate, though we believe differently than our prime minister does, none of the jobs had to do with anything to do with reproductive rights and anything that was in the attestation," said Wojda.
"In the careful reading of it, and because of the clarifications made by the minister, I understood what the government was trying to do and they didn't want to stand in the way of churches or faith groups receiving the funding, and that was what was stated by the minister."
Wojda said his church applied to the summer jobs program to fund two positions working in youth and children's summer programs.
No word on funding
Although he does not believe the Elim Church's application has been formally declined, he said it would usually have been accepted by this time of year.
"It's different because we have received funding virtually every year for as long as I can recall," said Wojda.
His church is opposed to abortion but he said it would not oppose a person's right to exercise their reproductive rights.
"I think that they were trying to accomplish something and then used a sledge-hammer to kill a mosquito, unfortunately," he said.
Summer jobs program deadline extended as religious backlash grows
Group at centre of summer jobs storm stirs debate over graphic anti-abortion images


The video, posted by Barstool Sports, allegedly shows an Eagles fan checking the seat at the coat check before leaving with it.
MINNEAPOLIS - Celebrating fans apparently didn't just do damage in Philadelphia after the Eagles won Super Bowl LII Sunday.
A video posted on social media appears to show an Eagles fan taking a seat from U.S. Bank Stadium.
Barstool Sports posted the video, which claimed the fan had taken the seat and checked it at coat check.
A photo was also posted on Reddit showing a missing seat inside the stadium.
The Minnesota Sports Facilities Authority is investigating the theft, the Pioneer Press reports.
Good luck getting that through airport security!


Liverpool have received some positive news in their search for a replacement for Philippe Coutinho, after Monaco manager Leonardo Jardim hinted that Thomas Lemar could be prised away from the French side in January.
Jardim had claimed last week that Monaco were "not in the habit" of selling during the winter transfer window, but that stance now appears to have changed.
Monaco boss Leonardo Jardim in today's press conference: "We do not typically sell players in the winter transfer window. But the month is long and many things could happen."
The Liverpool Echo quote Jardim as telling the French press: "We are not used to selling in the winter.
French international Lemar was the subject of £90m pound bid from Arsenal on the final day of the summer transfer window, and is also thought to have attracted interest from Premier League champions Chelsea.
Lemar has made 13 appearances in Ligue 1 this season scoring twice, but the principality club have struggled to defend their title following the departures of high profile players such as Benjamin Mendy, Bernardo Silva, Kylian Mbappe and Timoue Bakayoko, and currently sit nine points adrift of PSG at the midway point of the season.
The French side have also dropped into the Europa League after finishing third in their Champions League group behind Porto and Besiktas, with Liverpool set to face Porto in the tournament's Round of Sixteen in February.


text:
Russell Westbrook's Clothing Line Out This Weekend
Jean E. Palmieri
Russell Westbrook knows he has a gift, and this weekend, he'll share that gift with the world.
That's when the NBA star and style setter will finally take the wraps off his long-awaited inaugural apparel collection. Called Honor the Gift, the collection will be unveiled at a pop-up at Penn Automotive in Oklahoma City, Okla., from 2 to 6 p.m. on Nov. 11 and 12. It will then be offered for sale to everyone else on an Honor the Gift web site beginning at 10 a.m. EST on Nov. 21.
"I've been working on it a while," he said.
Westbrook, a point guard for the Oklahoma City Thunder and the reigning NBA Most Valuable Player, wants to keep most of the details about the line under wraps at this point in order to rev up the buzz, but he told WWD it will be a small capsule of affordable unisex streetwear.
Rumors of Westbrook's apparel collection have been bubbling for months and the player actually wore a couple of pieces from the upcoming collection to the Thunder's season opener late last month. Coming into the arena, Westbrook was photographed in a bright yellow T-shirt with a graphic element running down the center and a pair of gray sweatpants with asymmetric stripes below the knee and the same bright yellow accent running from the waistband to midthigh.
"Yes, I wore a couple of pieces," Westbrook acknowledged.
He said Honor the Gift is his motto and celebrates God for the gift that he's been given. "I'm blessed," he said.
The initial offering will be around eight to 10 pieces, he said, and will be for both men and women. He declined to provide prices, saying only that it won't be priced out of reach for his fans.
Westbrook was similarly mum on the design and theme of the pop-up, saying only that he worked with "a group of guys" to create the shop at Penn Automotive, a body shop at 2104 NW 39th Street, that he deemed "a cool spot."
He said that he may host pop-ups in other cities around the country, but that hasn't been decided.
The e-commerce site, honorthegift.co, will launch with a look book shot by fashion photographer Kenneth Cappello.
Westbrook also wouldn't say where the line is being manufactured or by whom. "I do a lot of things and have helped a lot of people in fashion," he said, "so I've got a lot of relationships and was able to get the clothes done at a quick pace."
What he did confirm, however, is that he is personally bankrolling the brand and is serving as the founder, creative director and chief designer. But he worked with a graphic designer and another apparel-industry veteran, whom he declined to name, to create the line. "I don't know how to draw or be a graphic designer," he said, "but I had a vision of what I wanted to see."
Westbrook is hoping the line will connect with his fans and followers, but he's also not expecting to give up his day job.
"I'm going to take it one day at a time," he said. "I'm doing it for the community and the culture, not to make huge revenue off of it. Fashion is something I love to do and this will have my fingerprint on it."
Westbrook has become well-known for his off-the-court style, working with brands as varied as True Religion, Nike's Jordan brand and Tim Coppens with whom he collaborated on a capsule collection for Barneys New York last year. He also released a new book, "Style Drivers," last month.
Launch Gallery: Russell Westbrook's Clothing Line Out This Weekend
Russell Westbrook Collaborates With Tumi
Coming Soon: Russell Westbrook, Fashion Designer
The Sports Crowd Talks Fashion at First NBA Awards
Get more from WWD: Follow us on Twitter, Facebook, Newsletter
Amazon slashed the prices on its hottest workout wear — starting at $13, today only
You don't want to miss out on theses deals — get up to nearly 60% off!
The Ferrari of electric toothbrushes is down to $27 at Amazon — save 55% till midnight
The popular AquaSonic comes with eight brush heads — and nearly 70,000 five-star reviews.
What are growing pains, and how can parents help soothe their kids' sore legs? Pediatricians explain.
"He'd wake up in the middle of the night screaming and holding his legs in pain," one mom says of her son's experience with growing pains.


text:
Q: I have a new android phone and want to migrate all my applications from my old phone using adb I don't want to use Google (privacy reasons) or many of the applications that are already available to do this. I want to use ADB.
I want to do this from my linux laptop.

A: *

*install adb

*connect old phone

*run "adb root"

*run "adb pull /data/app/"

*connect new phone

*run "adb root"

*run "for d in app/*/; do (cd "$d" &&  adb install base.apk); done"

hope this helps someone with the issue I faced.

redpajama_set_name: RedPajamaStackExchange


text:
Home > Our 50th Year > 50th year projects > Chalkhill Child and Adolescent Mental Health Unit
Chalkhill Child and Adolescent Mental Health Unit
What is the Chalkhill Child and Adolescent Mental Health Unit?
Run by the Sussex Partnership NHS Foundation Trust, they deliver the Child and Adolescent Mental Health Services (CAMHS) across Sussex, including Chalkhill Child and Adolescent Mental Health Unit (Chalkhill) in Haywards Heath. The centre is Sussex's only mental health inpatient unit for young people, supporting over 8,750 children and adolescents each year.
Opened in 2009, the unit provides day care, outreach, and – where absolutely necessary and appropriate – inpatient services for young people with a range of mental health illnesses. These include eating disorders, emotional based needs, depression and early-onset psychosis.
Why have we chosen to support them?
We believe in giving all young people a chance and being able to support them when it is most needed. 1 in 10 young people in the UK aged 5-16 suffer from a diagnosable mental health disorder – that's around three children in every school class. Whilst the majority of young people in Sussex who need mental health support receive it through their GP's, or from locally based mental health teams, there are some with more complex needs who require more specialist or intensive treatment.
How will the funds raised make a difference?
Research has shown that leisure activities are vital for the recovery of young people with mental health needs, helping them to enhance their psychological, emotional, social and physical well-being. Prior to admission to Chalkhill, many of the young people have been unable to attend school, experienced bullying and have lost contact with friends. One of the biggest challenges they face is how to start managing their own time again and learning to be with other people.
In 2015, we funded a pilot activities scheme for young people who are cared for at Chalkhill, called 'The Rockinghorse Activities Programme'. The scheme proved to greatly complement the clinical work of the unit as well as their education programme. Feedback shows the scheme has helped young people to increase self-esteem and confidence, improved health and well-being and has helped to develop skills beneficial for education and independent living upon leaving the unit.
Following the success of the scheme, we have already provided funding to continue the programme throughout 2016. As part of our 50th year appeal, we have provided funding for the programme in 2017 and into 2018, and also plan to extend the scheme into the community through the CAMHS services, with a particular focus in the Brighton and Hove area.


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That said it isn't a camera without issues.
Holga's demise last year has led to a slight shift in prices although the 135 TIM is often the cheapest I've seen. The camera is based on the Holga 135 chassis which has spawned a range of sub versions. The TIM (Twin Image Maker) features 2 lens each shooting a half frame. These lens can be used independently and as they are ever so slightly angled they allow you to shoot 2 shots at the same time for 3d Stereoscopic images – a technique that dates back to the early days of photography. As you'd expect from Holga you can buy pretty much in any colour you want.
Holga 135TIM shot taken with both lens open using Expired Kodak BW400CN film. If you were to use the images in stereo viewer you would swap over left for right etc.
This all is matched with twin plastic lens that are fixed focus and a choice of 3 apertures set my moving a slider in a curved groove set to look like a smile below the twin lens. The face like appearance is intensified by the paint work on the lens covers. I'm still undecided if the whole effect is super cutesy or just plain creepy. Probably it would look fine with a ten year old shooting with it – their dad might just look a bit weird.
Both lens share the same shutter but whether they take a shot depends on whether you open their respective lens cover. The shutter needs to be cocked (an odd design choice as the Holga 135 and 120 usually will happily take multiple exposures). If you're shooting with both lenses open this easy as the thumbwheel winder will do this for you. But is using the lenses independently there is also a multiple exposure (MX) switch (this is the only camera I've used with 2 methods). My biggest gripe with independent shooting is that it becomes hard to remember if you have or haven't taken the second shot and you risk winding on with only half of the full frame exposed.
And it is really a game of 2 quite spectacularly different halves. If you get the exposure right with the aperture closed down the lens is actually pretty good from a sharp technical viewpoint if under 10 metres (and probably best in 1-5m). I ran a roll of B&W 400 ISO C-41 film through and was pleasantly surprised. Widen the aperture and things become more woolly and with a general softness. Shots are best at nearer distances . There is a bit of a pincushion distortion at distance but less noticeable and the focal plane seems more even than the 120N.
For 3D shots the camera relies on 19th century cunning. Just as then you create 2 images that are taken at just slightly different angles (obviously easy with this camera- but actually you can do with any camera just google it). Once the shots are printed out you swap the shots over and place them in a stereo view frame which you hold up to your eyes. The Holga intended version costs at the moment just a few quid as do the pouches to stick your shots in but if you are truely skin flint you could try printing your own paper/card 3d viewer like this viewer.
Carlisle 2016. Holga 135TIM with AVP200.
Odd camera really. If you get exposure right and remember where you are exposure wise has flashes of brilliance but can be a tad frustrating and not good wide open. If I had the chance to buy again and it was cheaper I suspect the Superheadz Golden Half would make more sense for me. It would have looked better too.


text:
Home News Exciting statement for the big bang from NASA
Exciting statement for the big bang from NASA
Nowadays, studies on space are accelerating, there are still issues that require answers. It has come a long way in NASA research for the big bang (the Big Bang theory), which has been a great curiosity since the past.
NASA plans to solve the Big Bang theory with SPHEREx
NASA, which wants to examine the Big Bang theory and the origins of galaxies, has reached an important point in the space telescope SPHEREx to be used in the mission. Stating that the mission has reached the C stage with its blog post, NASA stated that the preliminary designs of the observatory to be used in the mission were approved and the hardware and software are in the final design stage.
The space telescope SPHEREx, which is expected to weigh about 1.2 tons, has the dimensions of a compact car. The space telescope aims to create a 3D spectroscopy map of the sky in near-infrared light as a result of the data it obtains with equipment that will divide infrared light into component colors.
NASA, looking for evidence of the event that took place in less than a billionth of a second after the big bang, will determine how galaxies are positioned in the universe with SPHEREx. According to the data obtained by SPHEREx, scientists will map this positioning in three dimensions. In this way, he will be able to find findings about the formation of the Big Bang and stars.
Halfway through Phase C, the SPHEREx team will now try to complete the design and construction components within a 29-month period. After this stage, it is aimed to start working between June 2024 and April 2025, if everything goes well for SPHEREx.
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text:
Q: CSS changes not updating on site Today I started changing some CSS on a Symfony (2.6) project. I added some styling to my newly created css file and everything was working fine. My problem occured when I went to add another style and nothing happened. I checked the dev window and couldn't find my styles anywhere. I've deleted the cache multiple times. Im using Symfony with a vagrant box. If I open the css file in the url it is filled with diamond/question marks and my first style entry is still there. I checked and the encoding is set to UTF-8. Ive never had issues like this with css, does anyone know what the problem could be?
I am using Assetic to include the style sheet within the project like this:
`<link href="{{ asset('css/print_production_report.css') }}" rel="stylesheet" type="text/css" media="print" />`

So to show you whats happening I'll start from the beginning. I had this stylesheet (ignore the error):

And upon checking the browser I still have:

Now when I add some random text or css to my stylesheet as so:

You will see that all my changes are being converted into these diamonds:

A: I think this issue of caching files and replacing them with the unicode 'REPLACEMENT CHARACTER' (�) has to do with sendfile. Turn sendfile/EnableSendfile off in nginx/apache.
Related question is here: yeoman and angular utf8 issue and caching

A: Insert
@charset "utf-8"

at the top of your file and make sure you've saved the file in UTF-8.
Helpful link

A: Takie this lower text and comment it, i mean use

//comment blabla

In your css file.


text:
Brachyplatystoma tigrinum és una espècie de peix de la família dels pimelòdids i de l'ordre dels siluriformes.

Morfologia
 Els mascles poden assolir 60 cm de longitud total.

Hàbitat
És un peix d'aigua dolça i de clima tropical (22 °C-26 °C).

Distribució geogràfica
Es troba a Sud-amèrica: conca del riu Amazones.

Referències

Bibliografia
 . Base de dades de la col·lecció de peixos del Museu Nacional d'Història Natural (en anglès). Smithsonian Institution, 2001.

 Lundberg, J.G. i A. Akama, 2005. Brachyplatystoma capapretum: a new species of Goliath catfish from the Amazon basin, with a reclassification of allied catfishes (Siluriformes: Pimelodidae). Copeia (3):492-516.

 Robins, C.R., R.M. Bailey, C.E. Bond, J.R. Brooker, E.A. Lachner, R.N. Lea i W.B. Scott, 1991. World fishes important to North Americans. Exclusive of species from the continental waters of the United States and Canada. Am. Fish. Soc. Spec. Publ. (21):243 p.
 Steindachner, F., 1908: Über eine während der brasilianischen Expedition entdeckte Brachyplatystoma-Art aus dem Rio Parnahyba und über eine dicht gefleckte und gestrichelte Varietät von Giton fasciatus aus den Gewässern von Santos (Staat São Paulo). Anzeiger der Akademie der Wissenschaften in Wien v. 45 (núm. 9): 126-130.
 Steindachner, F., 1909: Über eine neue Brachyplatystoma-art aus der Umgebung von Pará, welche während der brasilianischen Expedition der kaiserl. Anzeiger der Akademie der Wissenschaften in Wien v. 46 (núm. 12): 195-197.
 Steindachner, F., 1909: Über eine neue Tilapia- und Lamprologus-Art aus dem Tanganyikasee und über Brachyplatystoma (Taenionema) platynema Blgr. aus der Umgebung von Pará. Anzeiger der Akademie der Wissenschaften in Wien v. 46 (núm. 26): 443-447.

Enllaços externs

tigrinum

redpajama_set_name: RedPajamaWikipedia


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LJUBLJANA - Easter Monday - labour free day.
LJUBLJANA/PORTOROZ - The 26th international congress of the European Pharmaceutical Students' Association (EPSA) is to kick off. At the week-long congress, some 200 pharmaceutical students and experts are to discuss innovative drugs and generics.
LJUBLJANA - Representatives of the government, employers and trade unions are to sign the social agreement.
BRUSSELS - The 87th session of the conference of the European transport ministers is to kick off. The three-day session is to be attended by a Slovenian delegation led by Minister Jakob Presecnik.
LJUBLJANA - The parliament is to convene for regular 25th session.
LJUBLJANA - A three-day finance conference entitled "Kapital 2003" is to kick off at Ljubljana congress centre Cankarjev dom.
LJUBLJANA - Management board of the Chamber of Commerce is to hold a session which is also to touch upon Slovenian food production in light of the EU accession. Agriculture Minister Franci But is to take part in the session.
LJUBLJANA - The management board of the Slovenian Chamber of Craft is to discuss the social agreement proposal.
TRBOVLJE - Coal mine Rudnik Trbovlje-Hrastnik is to disclose its 2002 business results.
KOPER - Oil trader Istrabenz Group is to hold a press conference to reveal 2002 - 2003 report on corporate sustainable development of the group.
LJUBLJANA - Joint press conference of the trade union of doctors and dentists Fides, Slovenian medical society and the medical chamber of Slovenia to present the results of the public opinion survey on health system.
LJUBLJANA - Supreme Court is to hold a press conference to explain the increase in unsolved cases in 2002.
LJUBLJANA - Slovenian Restitution Fund is to hold a press conference on the privatisation of the insurers.
PTUJ - Food producer Perutnina Ptuj will reveal its 2002 business results and development strategy for the future.
LJUBLJANA - The home entertainment store BOF centre is to stage a press conference at the its first anniversary. The company managing the chain, Bofex, is to discuss its operations in Slovenia, expansion to Austria and the marketing campaign.
LJUBLJANA - Croatian oil trader Ina is to meet with the press to explain its business operations in Slovenia and neighbouring countries.
LJUBLJANA - Slovenian Tourism Organisation is to present the forecasts for the summer season.
LJUBLJANA - A conference of the winners of the business quality award is to kick off, where the winners of the European Quality Award by the European Foundation for Quality Management (EFQM) will be presented.
BRUSSELS - The EU Convention is to meet for a two-day plenary session to discuss a new package of the articles of the future constitutional treaty on a common European foreign policy and defence. Slovenia's representatives, namely Foreign Minister Dimitrij Rupel and MPs Lojze Peterle and Mihael Brejc, will take part in the discussion.
HELSINKI - Slovenian delegation led by Agriculture Minister Franci But is to start a three-day visit to Finland.
LJUBLJANA - The government is to hold its regular weekly session.
LJUBLJANA - Parliamentary committee on finance and monetary policy are to convene to discuss the operations and efficiency of the Tax Administration.
DOBLAR - Ceremony at the conclusion of the construction of two hydroelectric plants on river Soca, W Slovenia, to be attended by President Janez Drnovsek.
MARIBOR - Probanka bank is present its 2002 business results and 2003 plans.
PORTOROZ - A two-day international conference and exhibition IAT 03 on innovative car technologies is to kick off.
BLED - A medical conference of the northern command of NATO is to start. While the five-day conference is primarily aimed at commanders of regional and subregional medical commands, it also allows participation of NATO partner countries and future members.
LJUBLJANA - A national ceremony is to be held at the Ljubljana cultural centre Cankarjev dom to commemorate the Resistance Day.
VIPAVA - A commemoration in the memory of the WWII battle on the Nanos mountain is to be held. Defence Minister Anton Grizold is scheduled as honorary speaker.