From b587afa89ec27ad934001b780643019481fcc13e Mon Sep 17 00:00:00 2001
From: Giovanni Di Grezia <xgiovio@gmail.com>
Date: Thu, 22 Sep 2016 20:28:56 +0200
Subject: [PATCH] added 3de to photoscan export script

---
 README.md                                     |   2 +
 .../xg_export_photoscan.py                    | 184 ++++++++++++++++++
 xg_export_photoscan.py                        | 184 ++++++++++++++++++
 3 files changed, 370 insertions(+)
 create mode 100644 single_versions_for_3de_online_db_scripts/xg_export_photoscan.py
 create mode 100644 xg_export_photoscan.py

diff --git a/README.md b/README.md
index 278257f..e8b541c 100644
--- a/README.md
+++ b/README.md
@@ -66,4 +66,6 @@ xg_restore_3d_calculated_points_exact.py - dependency: xg_store_restore_3d_point
 xg_store_3d_calculated_points.py - dependency: xg_store_restore_3d_points.py
 xg_store_restore_3d_points.py
 
+xg_export_photoscan.py
+
 ```
\ No newline at end of file
diff --git a/single_versions_for_3de_online_db_scripts/xg_export_photoscan.py b/single_versions_for_3de_online_db_scripts/xg_export_photoscan.py
new file mode 100644
index 0000000..3afc792
--- /dev/null
+++ b/single_versions_for_3de_online_db_scripts/xg_export_photoscan.py
@@ -0,0 +1,184 @@
+#
+#
+# 3DE4.script.name:	Photoscan...
+#
+# 3DE4.script.version:	v1.0
+#
+# 3DE4.script.gui:	Main Window::3DE4::Export Project
+#
+# 3DE4.script.comment:	Creates a py script file that contains all project data, which can be imported into Photoscan to build Point Cloud.
+#
+# Giovanni Di Grezia 2016
+# http://www.xgiovio.com
+#
+# Some functions are from 3de export scripts
+
+
+from vl_sdv import *
+
+def convertToAngles(r3d):
+	rot	= rot3d(mat3d(r3d)).angles(VL_APPLY_ZXY)
+	rx	= (rot[0]*180.0)/3.141592654
+	ry	= (rot[1]*180.0)/3.141592654
+	rz	= (rot[2]*180.0)/3.141592654
+	return(rx,ry,rz)
+
+#maybe this function is not correct
+def rot_matrix_for_photoscan (r3d):
+	rot3d_old = rot3d(mat3d(r3d)).angles(VL_APPLY_ZXY)
+	rot3d_new = rot3d(rot3d_old[1],rot3d_old[0],rot3d_old[2],VL_APPLY_ZXY)
+	return rot3d_new.mat()
+
+
+
+def prepareImagePath(path,startframe):
+	path	= path.replace("\\","/")
+	i	= 0
+	n	= 0
+	i0	= -1
+	while(i<len(path)):
+		if path[i]=='#': n += 1
+		if n==1: i0 = i
+		i	+= 1
+	if i0!=-1:
+		fstring		= "%%s%%0%dd%%s"%(n)
+		path2		= fstring%(path[0:i0],startframe,path[i0+n:len(path)])
+		path		= path2
+	return path
+	
+def callback (req,label,event):
+	if label == "match_align":
+		if tde4.getWidgetValue(req,"match_align") == 1:
+			tde4.setWidgetSensitiveFlag(req,"build_dense_cloud",1)
+			tde4.setWidgetSensitiveFlag(req,"match_align_keypoint_limit",1)
+			tde4.setWidgetSensitiveFlag(req,"match_align_tiepoint_limit",1)
+		else:
+			tde4.setWidgetSensitiveFlag(req,"build_dense_cloud",0)
+			tde4.setWidgetSensitiveFlag(req,"match_align_keypoint_limit",0)
+			tde4.setWidgetSensitiveFlag(req,"match_align_tiepoint_limit",0)
+
+#
+# search for camera point group...
+
+campg	= None
+pgl	= tde4.getPGroupList()
+for pg in pgl:
+	if tde4.getPGroupType(pg)=="CAMERA": campg = pg
+if campg==None:
+	tde4.postQuestionRequester("Export Photoscan..","Error, there is no camera point group.","Ok")
+else :
+	cams_undistorted_path = {}
+	req	= tde4.createCustomRequester()
+	tde4.addFileWidget(req,"file_browser","Exportfile...","*.py")
+	tde4.addTextFieldWidget(req,"step","Frames Step","10")
+	tde4.addSeparatorWidget(req,"separator")
+	cl	= tde4.getCameraList()
+	for cam in cl:
+		tde4.addTextFieldWidget(req,cam,tde4.getCameraName(cam) + " undistorted",tde4.getCameraPath(cam))
+	tde4.addSeparatorWidget(req,"separator2")
+	tde4.addTextFieldWidget(req,"accuracy_position","Position Accuracy in Units","0.1")
+	tde4.addTextFieldWidget(req,"accuracy_rotation","Rotation Accuracy in Degrees","2.0")	
+	tde4.addSeparatorWidget(req,"separator3")
+	tde4.addToggleWidget(req,"match_align","Match Photos and Align",1)
+	tde4.addTextFieldWidget(req,"match_align_keypoint_limit","KeyPoint Limit","40000")
+	tde4.addTextFieldWidget(req,"match_align_tiepoint_limit","TiePoint Limit","4000")
+	tde4.addSeparatorWidget(req,"separator4")
+	tde4.addToggleWidget(req,"build_dense_cloud","Build Dense Cloud",1)
+	tde4.setWidgetCallbackFunction(req,"match_align","callback")
+	ret	= tde4.postCustomRequester(req,"Export Photoscan (py-Script)...",800,0,"Ok","Cancel")
+	if ret==1:
+		path	= tde4.getWidgetValue(req,"file_browser")
+		image_stepping	= int(tde4.getWidgetValue(req,"step"))
+		for cam in cl:
+			cams_undistorted_path[cam] = tde4.getWidgetValue(req,cam)
+		if path!=None:
+			if not path.endswith('.py'): path = path+'.py' 
+			f	= open(path,"w")
+			if not f.closed:
+
+				f.write("import PhotoScan\n")
+				f.write("doc = PhotoScan.app.document\n")
+				f.write("chunk = PhotoScan.app.document.addChunk()\n")
+
+				# write cameras...
+				
+				cl	= tde4.getCameraList()
+				for cam in cl:
+					camType		= tde4.getCameraType(cam)
+					noframes	= tde4.getCameraNoFrames(cam)
+					lens		= tde4.getCameraLens(cam)
+					image_width = tde4.getCameraImageWidth(cam)
+					image_height = tde4.getCameraImageHeight(cam)
+					offset_timeline	= tde4.getCameraFrameOffset(cam)
+					source_start = tde4.getCameraSequenceAttr(cam)[0]
+
+					if lens!=None:
+						fback_w_mm	= tde4.getLensFBackWidth(lens) * 10 #mm
+						fback_h_mm	= tde4.getLensFBackHeight(lens) * 10 #mm
+								
+						frame = offset_timeline
+						while frame<=noframes + offset_timeline - 1:
+							if (frame - offset_timeline) % image_stepping == 0 :
+								path	= cams_undistorted_path[cam]
+								path	= prepareImagePath(path,source_start + frame - offset_timeline)
+								f.write("chunk.addPhotos([\"" + path +"\"])\n")
+								focal_mm= tde4.getCameraFocalLength(cam,frame) * 10 #mm
+
+								f.write("for cam in chunk.cameras:\n")
+								f.write("\tif (cam.photo.path.split(\"/\")[-1]) == " +  "\"" +  path.split("/")[-1] + "\":\n")
+								f.write("\t\tcamera = cam\n")
+								f.write("\t\tbreak\n")
+								f.write("camera.sensor = chunk.addSensor()\n" )
+								f.write("camera.sensor.type = camera.sensor.Type.Frame\n")
+								f.write("camera.sensor.fixed = True\n")
+								f.write("camera.sensor.width = " + str(image_width) + "\n")
+								f.write("camera.sensor.height = " +  str(image_height) + "\n")
+								f.write("calibration = PhotoScan.Calibration()\n" )
+								f.write("calibration.f = ( " + str(focal_mm) + " / " + str(fback_w_mm) + ") * " +  str(image_width) + "\n")
+								f.write("camera.sensor.user_calib = calibration\n")
+
+
+								position_3vector = tde4.getPGroupPosition3D(campg,cam,frame)
+								f.write("camera.reference.location = PhotoScan.Vector ( (" + str(position_3vector[0]) + "," + str(position_3vector[1]) + "," + str(position_3vector[2]) + "))\n" )
+
+								rotation_3matrix = tde4.getPGroupRotation3D(campg,cam,frame)
+								rotation_angles = convertToAngles (rotation_3matrix)
+								#in photoscan yaw is 3de rotation y - pitch is 3de rotation x - roll is 3de rotation z
+								f.write("camera.reference.rotation = PhotoScan.Vector ( (" + str(rotation_angles[1]) + "," + str(rotation_angles[0]) + "," + str(rotation_angles[2]) + "))\n" )
+
+
+								#### 3de rotation matrix is different in axis from photoscan. If you want to set camera.transform = PhotoScan.Matrix you should create a new rotation matrix
+								'''
+								position_4matrix = mat4d( vec4d( 1.0,0,0,position_3vector[0]), vec4d( 0,1.0,0,position_3vector[1]) ,vec4d( 0,0,1.0,position_3vector[2]),vec4d( 0,0,0,1.0))
+								rotation_3matrix = rot_matrix_for_photoscan (rotation_3matrix)
+								rotation_4matrix = mat4d( vec4d( rotation_3matrix[0][0],rotation_3matrix[0][1],rotation_3matrix[0][2],0),vec4d( rotation_3matrix[1][0],rotation_3matrix[1][1],rotation_3matrix[1][2],0),vec4d( rotation_3matrix[2][0],rotation_3matrix[2][1],rotation_3matrix[2][2],0),vec4d( 0,0,0,1))
+								transform_matrix = position_4matrix * rotation_4matrix
+								f.write("camera.transform = PhotoScan.Matrix ([[" + str(transform_matrix[0][0]) + "," + str(transform_matrix[0][1]) + "," + str(transform_matrix[0][2]) + "," + str(transform_matrix[0][3]) +"], [" + str(transform_matrix[1][0]) + "," + str(transform_matrix[1][1]) + "," + str(transform_matrix[1][2]) + "," + str(transform_matrix[1][3]) + "], [" + str(transform_matrix[2][0]) + "," + str(transform_matrix[2][1]) + "," + str(transform_matrix[2][2]) + "," + str(transform_matrix[2][3]) + "], [" + str(transform_matrix[3][0]) + "," + str(transform_matrix[3][1]) + "," + str(transform_matrix[3][2]) + "," + str(transform_matrix[3][3]) + "]])\n" )
+								'''
+							frame += 1
+
+				#### 3de markers not exported. Maybe coulb useful in the future if api allow to set the 2d tracking position on the frames using markers
+				'''
+				l	= tde4.getPointList(campg)
+				for p in l:
+					if tde4.isPointCalculated3D(campg,p):
+						name = tde4.getPointName(campg,p)
+						p3d	= tde4.getPointCalcPosition3D(campg,p)
+						f.write("marker = chunk.addMarker()\n")
+						f.write("marker.reference.location = PhotoScan.Vector ( (" + str(p3d[0]) + "," + str(p3d[1]) + "," + str(p3d[2]) + "))\n" )
+						f.write("marker.label = \"" + name + "\"\n")
+				'''
+
+				f.write("chunk.accuracy_cameras = PhotoScan.Vector( (" + tde4.getWidgetValue(req,"accuracy_position") +"," + tde4.getWidgetValue(req,"accuracy_position") + "," + tde4.getWidgetValue(req,"accuracy_position") +") )\n")
+				f.write("chunk.accuracy_cameras_ypr = PhotoScan.Vector( (" + tde4.getWidgetValue(req,"accuracy_rotation") +"," + tde4.getWidgetValue(req,"accuracy_rotation") + "," + tde4.getWidgetValue(req,"accuracy_rotation") +") )\n")
+				
+				if tde4.getWidgetValue(req,"match_align") == 1:
+					f.write("chunk.matchPhotos(accuracy=PhotoScan.Accuracy.HighestAccuracy, preselection=PhotoScan.Preselection.NoPreselection, filter_mask=False, keypoint_limit= " + tde4.getWidgetValue(req,"match_align_keypoint_limit") + ", tiepoint_limit=" + tde4.getWidgetValue(req,"match_align_tiepoint_limit") + " )\n")
+					f.write("chunk.alignCameras()\n")
+					if tde4.getWidgetValue(req,"build_dense_cloud") == 1:
+						f.write("chunk.buildDenseCloud(quality=PhotoScan.Quality.UltraQuality, filter=PhotoScan.FilterMode.NoFiltering ,keep_depth=False, reuse_depth=False)\n")
+						
+				f.close()
+				tde4.postQuestionRequester("Export Photoscan...","Project successfully exported.","Ok")
+			else:
+				tde4.postQuestionRequester("Export Photoscan...","Error, couldn't open file.","Ok")		
\ No newline at end of file
diff --git a/xg_export_photoscan.py b/xg_export_photoscan.py
new file mode 100644
index 0000000..3afc792
--- /dev/null
+++ b/xg_export_photoscan.py
@@ -0,0 +1,184 @@
+#
+#
+# 3DE4.script.name:	Photoscan...
+#
+# 3DE4.script.version:	v1.0
+#
+# 3DE4.script.gui:	Main Window::3DE4::Export Project
+#
+# 3DE4.script.comment:	Creates a py script file that contains all project data, which can be imported into Photoscan to build Point Cloud.
+#
+# Giovanni Di Grezia 2016
+# http://www.xgiovio.com
+#
+# Some functions are from 3de export scripts
+
+
+from vl_sdv import *
+
+def convertToAngles(r3d):
+	rot	= rot3d(mat3d(r3d)).angles(VL_APPLY_ZXY)
+	rx	= (rot[0]*180.0)/3.141592654
+	ry	= (rot[1]*180.0)/3.141592654
+	rz	= (rot[2]*180.0)/3.141592654
+	return(rx,ry,rz)
+
+#maybe this function is not correct
+def rot_matrix_for_photoscan (r3d):
+	rot3d_old = rot3d(mat3d(r3d)).angles(VL_APPLY_ZXY)
+	rot3d_new = rot3d(rot3d_old[1],rot3d_old[0],rot3d_old[2],VL_APPLY_ZXY)
+	return rot3d_new.mat()
+
+
+
+def prepareImagePath(path,startframe):
+	path	= path.replace("\\","/")
+	i	= 0
+	n	= 0
+	i0	= -1
+	while(i<len(path)):
+		if path[i]=='#': n += 1
+		if n==1: i0 = i
+		i	+= 1
+	if i0!=-1:
+		fstring		= "%%s%%0%dd%%s"%(n)
+		path2		= fstring%(path[0:i0],startframe,path[i0+n:len(path)])
+		path		= path2
+	return path
+	
+def callback (req,label,event):
+	if label == "match_align":
+		if tde4.getWidgetValue(req,"match_align") == 1:
+			tde4.setWidgetSensitiveFlag(req,"build_dense_cloud",1)
+			tde4.setWidgetSensitiveFlag(req,"match_align_keypoint_limit",1)
+			tde4.setWidgetSensitiveFlag(req,"match_align_tiepoint_limit",1)
+		else:
+			tde4.setWidgetSensitiveFlag(req,"build_dense_cloud",0)
+			tde4.setWidgetSensitiveFlag(req,"match_align_keypoint_limit",0)
+			tde4.setWidgetSensitiveFlag(req,"match_align_tiepoint_limit",0)
+
+#
+# search for camera point group...
+
+campg	= None
+pgl	= tde4.getPGroupList()
+for pg in pgl:
+	if tde4.getPGroupType(pg)=="CAMERA": campg = pg
+if campg==None:
+	tde4.postQuestionRequester("Export Photoscan..","Error, there is no camera point group.","Ok")
+else :
+	cams_undistorted_path = {}
+	req	= tde4.createCustomRequester()
+	tde4.addFileWidget(req,"file_browser","Exportfile...","*.py")
+	tde4.addTextFieldWidget(req,"step","Frames Step","10")
+	tde4.addSeparatorWidget(req,"separator")
+	cl	= tde4.getCameraList()
+	for cam in cl:
+		tde4.addTextFieldWidget(req,cam,tde4.getCameraName(cam) + " undistorted",tde4.getCameraPath(cam))
+	tde4.addSeparatorWidget(req,"separator2")
+	tde4.addTextFieldWidget(req,"accuracy_position","Position Accuracy in Units","0.1")
+	tde4.addTextFieldWidget(req,"accuracy_rotation","Rotation Accuracy in Degrees","2.0")	
+	tde4.addSeparatorWidget(req,"separator3")
+	tde4.addToggleWidget(req,"match_align","Match Photos and Align",1)
+	tde4.addTextFieldWidget(req,"match_align_keypoint_limit","KeyPoint Limit","40000")
+	tde4.addTextFieldWidget(req,"match_align_tiepoint_limit","TiePoint Limit","4000")
+	tde4.addSeparatorWidget(req,"separator4")
+	tde4.addToggleWidget(req,"build_dense_cloud","Build Dense Cloud",1)
+	tde4.setWidgetCallbackFunction(req,"match_align","callback")
+	ret	= tde4.postCustomRequester(req,"Export Photoscan (py-Script)...",800,0,"Ok","Cancel")
+	if ret==1:
+		path	= tde4.getWidgetValue(req,"file_browser")
+		image_stepping	= int(tde4.getWidgetValue(req,"step"))
+		for cam in cl:
+			cams_undistorted_path[cam] = tde4.getWidgetValue(req,cam)
+		if path!=None:
+			if not path.endswith('.py'): path = path+'.py' 
+			f	= open(path,"w")
+			if not f.closed:
+
+				f.write("import PhotoScan\n")
+				f.write("doc = PhotoScan.app.document\n")
+				f.write("chunk = PhotoScan.app.document.addChunk()\n")
+
+				# write cameras...
+				
+				cl	= tde4.getCameraList()
+				for cam in cl:
+					camType		= tde4.getCameraType(cam)
+					noframes	= tde4.getCameraNoFrames(cam)
+					lens		= tde4.getCameraLens(cam)
+					image_width = tde4.getCameraImageWidth(cam)
+					image_height = tde4.getCameraImageHeight(cam)
+					offset_timeline	= tde4.getCameraFrameOffset(cam)
+					source_start = tde4.getCameraSequenceAttr(cam)[0]
+
+					if lens!=None:
+						fback_w_mm	= tde4.getLensFBackWidth(lens) * 10 #mm
+						fback_h_mm	= tde4.getLensFBackHeight(lens) * 10 #mm
+								
+						frame = offset_timeline
+						while frame<=noframes + offset_timeline - 1:
+							if (frame - offset_timeline) % image_stepping == 0 :
+								path	= cams_undistorted_path[cam]
+								path	= prepareImagePath(path,source_start + frame - offset_timeline)
+								f.write("chunk.addPhotos([\"" + path +"\"])\n")
+								focal_mm= tde4.getCameraFocalLength(cam,frame) * 10 #mm
+
+								f.write("for cam in chunk.cameras:\n")
+								f.write("\tif (cam.photo.path.split(\"/\")[-1]) == " +  "\"" +  path.split("/")[-1] + "\":\n")
+								f.write("\t\tcamera = cam\n")
+								f.write("\t\tbreak\n")
+								f.write("camera.sensor = chunk.addSensor()\n" )
+								f.write("camera.sensor.type = camera.sensor.Type.Frame\n")
+								f.write("camera.sensor.fixed = True\n")
+								f.write("camera.sensor.width = " + str(image_width) + "\n")
+								f.write("camera.sensor.height = " +  str(image_height) + "\n")
+								f.write("calibration = PhotoScan.Calibration()\n" )
+								f.write("calibration.f = ( " + str(focal_mm) + " / " + str(fback_w_mm) + ") * " +  str(image_width) + "\n")
+								f.write("camera.sensor.user_calib = calibration\n")
+
+
+								position_3vector = tde4.getPGroupPosition3D(campg,cam,frame)
+								f.write("camera.reference.location = PhotoScan.Vector ( (" + str(position_3vector[0]) + "," + str(position_3vector[1]) + "," + str(position_3vector[2]) + "))\n" )
+
+								rotation_3matrix = tde4.getPGroupRotation3D(campg,cam,frame)
+								rotation_angles = convertToAngles (rotation_3matrix)
+								#in photoscan yaw is 3de rotation y - pitch is 3de rotation x - roll is 3de rotation z
+								f.write("camera.reference.rotation = PhotoScan.Vector ( (" + str(rotation_angles[1]) + "," + str(rotation_angles[0]) + "," + str(rotation_angles[2]) + "))\n" )
+
+
+								#### 3de rotation matrix is different in axis from photoscan. If you want to set camera.transform = PhotoScan.Matrix you should create a new rotation matrix
+								'''
+								position_4matrix = mat4d( vec4d( 1.0,0,0,position_3vector[0]), vec4d( 0,1.0,0,position_3vector[1]) ,vec4d( 0,0,1.0,position_3vector[2]),vec4d( 0,0,0,1.0))
+								rotation_3matrix = rot_matrix_for_photoscan (rotation_3matrix)
+								rotation_4matrix = mat4d( vec4d( rotation_3matrix[0][0],rotation_3matrix[0][1],rotation_3matrix[0][2],0),vec4d( rotation_3matrix[1][0],rotation_3matrix[1][1],rotation_3matrix[1][2],0),vec4d( rotation_3matrix[2][0],rotation_3matrix[2][1],rotation_3matrix[2][2],0),vec4d( 0,0,0,1))
+								transform_matrix = position_4matrix * rotation_4matrix
+								f.write("camera.transform = PhotoScan.Matrix ([[" + str(transform_matrix[0][0]) + "," + str(transform_matrix[0][1]) + "," + str(transform_matrix[0][2]) + "," + str(transform_matrix[0][3]) +"], [" + str(transform_matrix[1][0]) + "," + str(transform_matrix[1][1]) + "," + str(transform_matrix[1][2]) + "," + str(transform_matrix[1][3]) + "], [" + str(transform_matrix[2][0]) + "," + str(transform_matrix[2][1]) + "," + str(transform_matrix[2][2]) + "," + str(transform_matrix[2][3]) + "], [" + str(transform_matrix[3][0]) + "," + str(transform_matrix[3][1]) + "," + str(transform_matrix[3][2]) + "," + str(transform_matrix[3][3]) + "]])\n" )
+								'''
+							frame += 1
+
+				#### 3de markers not exported. Maybe coulb useful in the future if api allow to set the 2d tracking position on the frames using markers
+				'''
+				l	= tde4.getPointList(campg)
+				for p in l:
+					if tde4.isPointCalculated3D(campg,p):
+						name = tde4.getPointName(campg,p)
+						p3d	= tde4.getPointCalcPosition3D(campg,p)
+						f.write("marker = chunk.addMarker()\n")
+						f.write("marker.reference.location = PhotoScan.Vector ( (" + str(p3d[0]) + "," + str(p3d[1]) + "," + str(p3d[2]) + "))\n" )
+						f.write("marker.label = \"" + name + "\"\n")
+				'''
+
+				f.write("chunk.accuracy_cameras = PhotoScan.Vector( (" + tde4.getWidgetValue(req,"accuracy_position") +"," + tde4.getWidgetValue(req,"accuracy_position") + "," + tde4.getWidgetValue(req,"accuracy_position") +") )\n")
+				f.write("chunk.accuracy_cameras_ypr = PhotoScan.Vector( (" + tde4.getWidgetValue(req,"accuracy_rotation") +"," + tde4.getWidgetValue(req,"accuracy_rotation") + "," + tde4.getWidgetValue(req,"accuracy_rotation") +") )\n")
+				
+				if tde4.getWidgetValue(req,"match_align") == 1:
+					f.write("chunk.matchPhotos(accuracy=PhotoScan.Accuracy.HighestAccuracy, preselection=PhotoScan.Preselection.NoPreselection, filter_mask=False, keypoint_limit= " + tde4.getWidgetValue(req,"match_align_keypoint_limit") + ", tiepoint_limit=" + tde4.getWidgetValue(req,"match_align_tiepoint_limit") + " )\n")
+					f.write("chunk.alignCameras()\n")
+					if tde4.getWidgetValue(req,"build_dense_cloud") == 1:
+						f.write("chunk.buildDenseCloud(quality=PhotoScan.Quality.UltraQuality, filter=PhotoScan.FilterMode.NoFiltering ,keep_depth=False, reuse_depth=False)\n")
+						
+				f.close()
+				tde4.postQuestionRequester("Export Photoscan...","Project successfully exported.","Ok")
+			else:
+				tde4.postQuestionRequester("Export Photoscan...","Error, couldn't open file.","Ok")		
\ No newline at end of file