Abstract: Disclosed is a high-precision dynamic real-time 360-degree omnidirectional point cloud acquisition method based on fringe projection. The method comprises: firstly, by means of the fringe projection technology based on a stereoscopic phase unwrapping method, and with the assistance of an adaptive dynamic depth constraint mechanism, acquiring high-precision three-dimensional (3D) data of an object in real time without any additional auxiliary fringe pattern; and then, after a two-dimensional (2D) matching points optimized by the means of corresponding 3D information is rapidly acquired, by means of a two-thread parallel mechanism, carrying out coarse registration based on Simultaneous Localization and Mapping (SLAM) technology and fine registration based on Iterative Closest Point (ICP) technology.

Abstract: The present invention relates to a salt of a compound of formula (I), The salt is crystalline or amorphous phosphate, or crystalline or amorphous oxalate. Particularly, a crystal form B of the phosphate of the present invention has high crystallinity, low hygroscopicity and good stability, and the crystal form B of the phosphate is good in oral bioavailability, good in tolerance after long-term administration, difficult to induce hypoglycemia and good in inhibition effect on serum DPPIV.

Abstract: The present invention relates to a salt of a compound of formula (I), The salt is crystalline or amorphous phosphate, or crystalline or amorphous oxalate. Particularly, a crystal form B of the phosphate of the present invention has high crystallinity, low hygroscopicity and good stability, and the crystal form B of the phosphate is good in oral bioavailability, good in tolerance after long-term administration, difficult to induce hypoglycemia and good in inhibition effect on serum DPPIV.