source: proiecte/pmake3d/make3d_original/Make3dSingleImageStanford_version0.1/image3dstiching/match/CalMatchSearchRegin.m @ 37

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1% *  This code was used in the following articles:
2% *  [1] Learning 3-D Scene Structure from a Single Still Image,
3% *      Ashutosh Saxena, Min Sun, Andrew Y. Ng,
4% *      In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007.
5% *      (best paper)
6% *  [2] 3-D Reconstruction from Sparse Views using Monocular Vision,
7% *      Ashutosh Saxena, Min Sun, Andrew Y. Ng,
8% *      In ICCV workshop on Virtual Representations and Modeling
9% *      of Large-scale environments (VRML), 2007.
10% *  [3] 3-D Depth Reconstruction from a Single Still Image,
11% *      Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
12% *      International Journal of Computer Vision (IJCV), Aug 2007.
13% *  [6] Learning Depth from Single Monocular Images,
14% *      Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
15% *      In Neural Information Processing Systems (NIPS) 18, 2005.
16% *
17% *  These articles are available at:
18% *  http://make3d.stanford.edu/publications
19% *
20% *  We request that you cite the papers [1], [3] and [6] in any of
21% *  your reports that uses this code.
22% *  Further, if you use the code in image3dstiching/ (multiple image version),
23% *  then please cite [2].
24% * 
25% *  If you use the code in third_party/, then PLEASE CITE and follow the
26% *  LICENSE OF THE CORRESPONDING THIRD PARTY CODE.
27% *
28% *  Finally, this code is for non-commercial use only.  For further
29% *  information and to obtain a copy of the license, see
30% *
31% *  http://make3d.stanford.edu/publications/code
32% *
33% *  Also, the software distributed under the License is distributed on an
34% * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
35% *  express or implied.   See the License for the specific language governing
36% *  permissions and limitations under the License.
37% *
38% */
39function [ Rc1_2, Rc2_1, ConS1_2, ConS2_1, RoughConS1_2, RoughConS2_1]=CalMatchSearchRegin(defaultPara, R, T, I1, I2, x1, x2, D1, D2, FlagRotate, FlagDisp);
40
41% This function Calculate the Constrain of SurfMatch search space give
42% Estimated Rotation and Translation matrix  and depth
43% in the reference camera coordinate
44
45% initialize Parameter
46NegativeDepthTolerence = defaultPara.NegativeDepthTolerence;
47MaxRatio =defaultPara.MaxRatio;%300;
48MinRatio = 1/MaxRatio;
49R1_2 = R(1:3,:);
50R2_1 = R(4:6,:);
51T1_2 = T(1:3,:);
52T2_1 = T(4:6,:);
53K1 = size(x1,2);
54K2 = size(x2,2);
55x1 = [x1; ones(1,K1)];
56x2 = [x2; ones(1,K2)];
57%D1 = D(1,:);
58%D2 = D(2,:);
59
60% I1 project on I2 ==========================================% use zeros depth constraon to restrict the searching area more
61[V H] = size(I2);
62MaxD1 = min(D1*MaxRatio,defaultPara.FarestDist);
63MinD1 = max(D1*MinRatio,defaultPara.Closestdist);
64% calculate the prespective depth gives 0 prejective depth in camera 2
65x1_2R_z = R1_2(3,:)*inv(defaultPara.InrinsicK1)*(x1); % it's possible that x1_2R_z is zero
66mark =  x1_2R_z ~=0;
67Depth_zero_ca2 = zeros(1, length(x1_2R_z));
68Depth_one_ca2 = zeros(1, length(x1_2R_z));
69Depth_zero_ca2(mark) = T1_2(3)./x1_2R_z(mark); % 0 (zero depth in camera 2 coordinate) = A*depth + T(3); solve depth
70Depth_one_ca2(mark) = (1-T1_2(3))./x1_2R_z(mark); % 1 (zero depth in camera 2 coordinate) = A*depth + T(3); solve depth
71
72% use zeros depth constraon to restrict the searching area more
73mark0_1 = Depth_zero_ca2 >= Depth_one_ca2;
74mark1_0 = ~mark0_1;
75
76tempDepth_one_ca2 = Depth_one_ca2(mark0_1);
77tempDepth_zero_ca2 = Depth_zero_ca2(mark0_1);
78tempMax = MaxD1(mark0_1);
79tempMin = MinD1(mark0_1);
80markMaxBigerOneDepthCa2 = tempMax > tempDepth_one_ca2;
81markMinBigerOneDepthCa2 = tempMin > tempDepth_one_ca2; % markMinBigerOneDepthCa2 : is one kind of outlier
82tempMax(markMaxBigerOneDepthCa2) = tempDepth_one_ca2(markMaxBigerOneDepthCa2);
83tempMax(markMinBigerOneDepthCa2) = tempDepth_zero_ca2(markMinBigerOneDepthCa2);%NaN; % indicator of outliers
84tempMin(markMinBigerOneDepthCa2) = tempDepth_one_ca2(markMinBigerOneDepthCa2); % NaN indicator of outliers
85MaxD1(mark0_1) = tempMax;
86MinD1(mark0_1) = tempMin;
87MaxD1(mark) = min(D1(mark)*MaxRatio,defaultPara.FarestDist);%Min529 new
88MinD1(mark) = max(D1(mark)*MinRatio,defaultPara.Closestdist);%Min529 new
89
90
91tempDepth_one_ca2 = Depth_one_ca2(mark1_0);
92tempDepth_zero_ca2 = Depth_zero_ca2(mark1_0);
93tempMax = MaxD1(mark1_0);
94tempMin = MinD1(mark1_0);
95markMaxBigerOneDepthCa2 = tempMax < tempDepth_one_ca2; % markMaxBigerOneDepthCa2 : is one kind of outlier
96markMinBigerOneDepthCa2 = tempMin < tempDepth_one_ca2;
97tempMax(markMaxBigerOneDepthCa2) = tempDepth_one_ca2( markMaxBigerOneDepthCa2);%NaN;
98tempMin(markMinBigerOneDepthCa2) = tempDepth_one_ca2( markMinBigerOneDepthCa2);
99tempMin(markMaxBigerOneDepthCa2) = tempDepth_zero_ca2( markMaxBigerOneDepthCa2);%NaN;
100MaxD1(mark1_0) = tempMax;
101MinD1(mark1_0) = tempMin;
102
103% calculate the projection position
104x1CaMax3D = inv(defaultPara.InrinsicK1)*(x1.*repmat(MaxD1,3,1)); % 3-D position in camera 1 coordinate (3 by n)
105x1CaMin3D = inv(defaultPara.InrinsicK1)*(x1.*repmat(MinD1,3,1)); % 3-D position in camera 1 coordinate (3 by n)
106x1CaMaxHomo = [ x1CaMax3D; ones(1,K1)]; % into homogenous coordinate (4 by n)
107x1CaMinHomo = [ x1CaMin3D; ones(1,K1)]; % into homogenous coordinate (4 by n)
108x1_2Max3D = [R1_2 T1_2]*x1CaMaxHomo; % 3-D position in camera 2 coordinate (3 by n)
109x1_2MaxHomo = defaultPara.InrinsicK2*x1_2Max3D; % image homo coordinate in camera2 (3 by n)
110x1_2Max = [ x1_2MaxHomo(1,:)./x1_2MaxHomo(3,:); x1_2MaxHomo(2,:)./x1_2MaxHomo(3,:)]; % image coordinate (2 by n)
111x1_2Min3D = [R1_2 T1_2]*x1CaMinHomo; % 3-D position in camera 2 coordinate (3 by n)
112x1_2MinHomo = defaultPara.InrinsicK2*x1_2Min3D; % image homo coordinate in camera2 (3 by n)
113x1_2Min = [ x1_2MinHomo(1,:)./x1_2MinHomo(3,:); x1_2MinHomo(2,:)./x1_2MinHomo(3,:)]; % image coordinate (2 by n)
114% x1_2Max(mark0_1) = x1_2Max(mark0_1) + (x1_2Max(mark0_1) - x1_2Min(mark0_1))*NegativeDepthTolerence;%Min529
115% x1_2Min(mark1_0) = x1_2Min(mark1_0) + (x1_2Min(mark1_0) - x1_2Max(mark1_0))*NegativeDepthTolerence;%Min529
116x1_2Max = x1_2Max + (x1_2Max - x1_2Min)*NegativeDepthTolerence;%Min529
117x1_2Min = x1_2Min + (x1_2Min - x1_2Max)*NegativeDepthTolerence;%Min529
118
119% Define Constrain (simple rectangle)
120if FlagRotate
121        tRAN = x1_2Max - x1_2Min;
122        Ptr = tRAN(1,:) < 0;
123        %theta_z = -atan(tRAN(2,:)./tRAN(1,:));
124        theta_z = atan(tRAN(2,:)./tRAN(1,:));
125        theta_z(Ptr) = theta_z(Ptr)+pi;
126        Rc1_2 = [cos(-theta_z); -sin(-theta_z); sin(-theta_z); cos(-theta_z)];
127        ConS1_2(1:2,:) = x1_2Min;
128        ConS1_2(3,:) = sum( Rc1_2(1:2,:).*tRAN,1);% also may check sum( Rc1_2(3:4,:).*tRAN,1) close up to zeros to verify correct or not
129%     Re1_2 = sum( Rc1_2(3:4,:).*tRAN,1)
130       
131        ConS1_2(4,:) = defaultPara.VertVar*max(H,V);
132        % [x_origon; y_origin; x_bound, y_bound(defaultPara.VertVar*max(H,V))]
133
134        % generate plot point
135        tempConS1_2 = [ ConS1_2(3,:); ConS1_2(4,:); ...
136                        zeros(1,size(ConS1_2,2)); ConS1_2(4,:);...
137                        zeros(1,size(ConS1_2,2)); -ConS1_2(4,:);...
138                        ConS1_2(3,:); -ConS1_2(4,:)];
139        %Rc1_2_transpose = [cos(theta_z); sin(theta_z); -sin(theta_z); cos(theta_z)];
140        Rc1_2_transpose = [cos(theta_z); -sin(theta_z); sin(theta_z); cos(theta_z)];
141        tempConS1_2(1:2,:) = [sum( Rc1_2_transpose(1:2,:).*tempConS1_2(1:2,:), 1); ...
142                              sum( Rc1_2_transpose(3:4,:).*tempConS1_2(1:2,:), 1)];     
143        tempConS1_2(3:4,:) = [sum( Rc1_2_transpose(1:2,:).*tempConS1_2(3:4,:), 1); ...
144                              sum( Rc1_2_transpose(3:4,:).*tempConS1_2(3:4,:), 1)];
145        tempConS1_2(5:6,:) = [sum( Rc1_2_transpose(1:2,:).*tempConS1_2(5:6,:), 1); ...
146                              sum( Rc1_2_transpose(3:4,:).*tempConS1_2(5:6,:), 1)];
147        tempConS1_2(7:8,:) = [sum( Rc1_2_transpose(1:2,:).*tempConS1_2(7:8,:), 1); ...
148                              sum( Rc1_2_transpose(3:4,:).*tempConS1_2(7:8,:), 1)];
149        tempConS1_2 = tempConS1_2 + repmat( x1_2Min, 4, 1);
150    RoughConS1_2 = [ min( tempConS1_2([ 1 3 5 7],:), [], 1); max( tempConS1_2([ 1 3 5 7],:), [], 1);...
151                    min( tempConS1_2([ 2 4 6 8],:), [], 1); max( tempConS1_2([ 2 4 6 8],:), [], 1)];
152%       tempConS1_2([1 3 5 7],:) = min(max(tempConS1_2([1 3 5 7],:), 1), H);
153%       tempConS1_2([1 3 5 7]+1,:) = min(max(tempConS1_2([1 3 5 7]+1,:), 1), V);
154else
155        Rc1_2 =[];
156        ConS1_2(1,:) = min([ x1_2Max(1,:)+defaultPara.VertVar*H; x1_2Max(1,:)-defaultPara.VertVar*H;...
157                             x1_2Min(1,:)+defaultPara.VertVar*H; x1_2Min(1,:)-defaultPara.VertVar*H ],[],1);
158        ConS1_2(1,:) = min( max( round(ConS1_2(1,:)), 1), H);
159        ConS1_2(2,:) = max([ x1_2Max(1,:)+defaultPara.VertVar*H; x1_2Max(1,:)-defaultPara.VertVar*H;...
160                             x1_2Min(1,:)+defaultPara.VertVar*H; x1_2Min(1,:)-defaultPara.VertVar*H ],[],1);
161        ConS1_2(2,:) = min( max( round(ConS1_2(2,:)), 1), H);
162        ConS1_2(3,:) = min([ x1_2Max(2,:)+defaultPara.VertVar*V; x1_2Max(2,:)-defaultPara.VertVar*V;...
163                             x1_2Min(2,:)+defaultPara.VertVar*V; x1_2Min(2,:)-defaultPara.VertVar*V ],[],1);
164        ConS1_2(3,:) = min( max( round(ConS1_2(3,:)), 1), V);
165        ConS1_2(4,:) = max([ x1_2Max(2,:)+defaultPara.VertVar*V; x1_2Max(2,:)-defaultPara.VertVar*V;...
166                             x1_2Min(2,:)+defaultPara.VertVar*V; x1_2Min(2,:)-defaultPara.VertVar*V ],[],1);
167        ConS1_2(4,:) = min( max( round(ConS1_2(4,:)), 1), V);
168end
169
170% ===========================================================
171
172[V H] = size(I1);
173% I2 project on I1
174MaxD2 = D2*MaxRatio;
175MinD2 = D2*MinRatio;
176% calculate the prespective depth gives 0 prejective depth in camera 2
177x2_1R_z = R2_1(3,:)*inv(defaultPara.InrinsicK2)*(x2);% it's possible that x1_2R_z is zero
178mark =  x2_1R_z ~=0;
179Depth_zero_ca2 = zeros(1, length(x2_1R_z));
180Depth_one_ca2 = zeros(1, length(x2_1R_z));
181Depth_zero_ca2(mark) = T2_1(3)./x2_1R_z(mark);
182Depth_one_ca2(mark) = (1-T2_1(3))./x2_1R_z(mark);
183
184% use zeros depth constraon to restrict the searching area more
185mark0_1 = Depth_zero_ca2 >= Depth_one_ca2;
186mark1_0 = ~mark0_1;
187
188tempDepth_one_ca2 = Depth_one_ca2(mark0_1);
189tempDepth_zero_ca2 = Depth_zero_ca2(mark0_1);
190tempMax = MaxD2(mark0_1);
191tempMin = MinD2(mark0_1);
192markMaxBigerOneDepthCa2 = tempMax > tempDepth_one_ca2;
193markMinBigerOneDepthCa2 = tempMin > tempDepth_one_ca2; % markMinBigerOneDepthCa2 : is one kind of outlier
194tempMax(markMaxBigerOneDepthCa2) = tempDepth_one_ca2(markMaxBigerOneDepthCa2);
195tempMax(markMinBigerOneDepthCa2) = tempDepth_zero_ca2(markMinBigerOneDepthCa2);%NaN; % indicator of outliers
196tempMin(markMinBigerOneDepthCa2) = tempDepth_one_ca2(markMinBigerOneDepthCa2);%NaN; % indicator of outliers
197MaxD2(mark0_1) = tempMax;
198MinD2(mark0_1) = tempMin;
199MaxD2(mark) = min(D2(mark)*MaxRatio,defaultPara.FarestDist);%Min529 new
200MinD2(mark) = max(D2(mark)*MinRatio,defaultPara.Closestdist);%Min529 new
201
202tempDepth_one_ca2 = Depth_one_ca2(mark1_0);
203tempDepth_zero_ca2 = Depth_zero_ca2(mark1_0);
204tempMax = MaxD2(mark1_0);
205tempMin = MinD2(mark1_0);
206markMaxBigerOneDepthCa2 = tempMax < tempDepth_one_ca2; % markMaxBigerOneDepthCa2 : is one kind of outlier
207markMinBigerOneDepthCa2 = tempMin < tempDepth_one_ca2;
208tempMax(markMaxBigerOneDepthCa2) = tempDepth_one_ca2( markMaxBigerOneDepthCa2);%NaN;
209tempMin(markMinBigerOneDepthCa2) = tempDepth_one_ca2( markMinBigerOneDepthCa2);
210tempMin(markMaxBigerOneDepthCa2) = tempDepth_zero_ca2( markMaxBigerOneDepthCa2);%NaN;
211MaxD2(mark1_0) = tempMax;
212MinD2(mark1_0) = tempMin;
213if any( MaxD2< MinD2)
214   disp('error')
215end   
216% calculate the projection position
217x2CaMax3D = inv(defaultPara.InrinsicK2)*(x2.*repmat(MaxD2,3,1)); % 3-D position in camera 2 coordinate (3 by n)
218x2CaMin3D = inv(defaultPara.InrinsicK2)*(x2.*repmat(MinD2,3,1)); % 3-D position in camera 2 coordinate (3 by n)
219x2CaMaxHomo = [ x2CaMax3D; ones(1,K2)]; % into homogenous coordinate (4 by n)
220x2CaMinHomo = [ x2CaMin3D; ones(1,K2)]; % into homogenous coordinate (4 by n)
221x2_1Max3D = [R2_1 T2_1]*x2CaMaxHomo; % 3-D position in camera 1 coordinate (3 by n)
222x2_1MaxHomo = defaultPara.InrinsicK1*x2_1Max3D; % image homo coordinate in camera1 (3 by n)
223x2_1Max = [ x2_1MaxHomo(1,:)./x2_1MaxHomo(3,:); x2_1MaxHomo(2,:)./x2_1MaxHomo(3,:)]; % image coordinate (2 by n)
224x2_1Min3D = [R2_1 T2_1]*x2CaMinHomo; % 3-D position in camera 1 coordinate (3 by n)
225x2_1MinHomo = defaultPara.InrinsicK1*x2_1Min3D; % image homo coordinate in camera1 (3 by n)
226x2_1Min = [ x2_1MinHomo(1,:)./x2_1MinHomo(3,:); x2_1MinHomo(2,:)./x2_1MinHomo(3,:)]; % image coordinate (2 by n)
227% x2_1Max(mark0_1) = x2_1Max(mark0_1) + (x2_1Max(mark0_1) - x2_1Min(mark0_1))*NegativeDepthTolerence;%Min529
228% x2_1Min(mark1_0) = x2_1Min(mark1_0) + (x2_1Min(mark1_0) - x2_1Max(mark1_0))*NegativeDepthTolerence;%Min529
229x2_1Max = x2_1Max + (x2_1Max - x2_1Min)*NegativeDepthTolerence;%Min529
230x2_1Min = x2_1Min + (x2_1Min - x2_1Max)*NegativeDepthTolerence;%Min529
231% Define Constrain (simple rectangle)
232if FlagRotate
233        tRAN = x2_1Max - x2_1Min;
234        Ptr = tRAN(1,:) < 0;
235        %theta_z = -atan(tRAN(2,:)./tRAN(1,:));
236        theta_z = atan(tRAN(2,:)./tRAN(1,:));
237        theta_z(Ptr) = theta_z(Ptr)+pi;
238        Rc2_1 = [cos(-theta_z); -sin(-theta_z); sin(-theta_z); cos(-theta_z)];
239        ConS2_1(1:2,:) = x2_1Min;
240        ConS2_1(3,:) = [sum( Rc2_1(1:2,:).*tRAN,1)];
241%     Re2_1 = sum( Rc2_1(3:4,:).*tRAN,1)
242       
243        ConS2_1(4,:) = defaultPara.VertVar*max(H,V);
244        % [x_origon; y_origin; x_bound, y_bound(defaultPara.VertVar*max(H,V))]
245       
246        % generate plot point
247        tempConS2_1 = [ ConS2_1(3,:); ConS2_1(4,:); ...
248                        zeros(1,size(ConS2_1,2)); ConS2_1(4,:);...
249                        zeros(1,size(ConS2_1,2)); -ConS2_1(4,:);...
250                        ConS2_1(3,:); -ConS2_1(4,:)];
251%       Rc2_1_transpose = [cos(theta_z); -sin(theta_z); sin(theta_z); cos(theta_z)];
252    Rc2_1_transpose = [cos(theta_z); -sin(theta_z); sin(theta_z); cos(theta_z)];
253        tempConS2_1(1:2,:) = [sum( Rc2_1_transpose(1:2,:).*tempConS2_1(1:2,:), 1); ...
254                              sum( Rc2_1_transpose(3:4,:).*tempConS2_1(1:2,:), 1)];
255        tempConS2_1(3:4,:) = [sum( Rc2_1_transpose(1:2,:).*tempConS2_1(3:4,:), 1); ...
256                              sum( Rc2_1_transpose(3:4,:).*tempConS2_1(3:4,:), 1)];
257        tempConS2_1(5:6,:) = [sum( Rc2_1_transpose(1:2,:).*tempConS2_1(5:6,:), 1); ...
258                              sum( Rc2_1_transpose(3:4,:).*tempConS2_1(5:6,:), 1)];
259        tempConS2_1(7:8,:) = [sum( Rc2_1_transpose(1:2,:).*tempConS2_1(7:8,:), 1); ...
260                              sum( Rc2_1_transpose(3:4,:).*tempConS2_1(7:8,:), 1)];
261        tempConS2_1 = tempConS2_1 + repmat( x2_1Min, 4, 1);
262    RoughConS2_1 = [ min( tempConS2_1([ 1 3 5 7],:), [], 1); max( tempConS2_1([ 1 3 5 7],:), [], 1);...
263                    min( tempConS2_1([ 2 4 6 8],:), [], 1); max( tempConS2_1([ 2 4 6 8],:), [], 1)];
264%       tempConS2_1([1 3 5 7],:) = min(max(tempConS2_1([1 3 5 7],:), 1), H);
265%       tempConS2_1([1 3 5 7]+1,:) = min(max(tempConS2_1([1 3 5 7]+1,:), 1), V);
266else
267        Rc2_1 = [];
268        ConS2_1(1,:) = min([ x2_1Max(1,:)+defaultPara.VertVar*H; x2_1Max(1,:)-defaultPara.VertVar*H;...
269                             x2_1Min(1,:)+defaultPara.VertVar*H; x2_1Min(1,:)-defaultPara.VertVar*H ],[],1);
270        ConS2_1(1,:) = min( max( round(ConS2_1(1,:)), 1), H);
271        ConS2_1(2,:) = max([ x2_1Max(1,:)+defaultPara.VertVar*H; x2_1Max(1,:)-defaultPara.VertVar*H;...
272                             x2_1Min(1,:)+defaultPara.VertVar*H; x2_1Min(1,:)-defaultPara.VertVar*H ],[],1);
273        ConS2_1(2,:) = min( max( round(ConS2_1(2,:)), 1), H);
274        ConS2_1(3,:) = min([ x2_1Max(2,:)+defaultPara.VertVar*V; x2_1Max(2,:)-defaultPara.VertVar*V;...
275                             x2_1Min(2,:)+defaultPara.VertVar*V; x2_1Min(2,:)-defaultPara.VertVar*V ],[],1);
276        ConS2_1(3,:) = min( max( round(ConS2_1(3,:)), 1), V);
277        ConS2_1(4,:) = max([ x2_1Max(2,:)+defaultPara.VertVar*V; x2_1Max(2,:)-defaultPara.VertVar*V;...
278                             x2_1Min(2,:)+defaultPara.VertVar*V; x2_1Min(2,:)-defaultPara.VertVar*V ],[],1);
279        ConS2_1(4,:) = min( max( round(ConS2_1(4,:)), 1), V);
280end
281
282% ==========================================================
283if FlagDisp
284        T1_2_hat = [[0 -T1_2(3) T1_2(2)];...
285                    [T1_2(3) 0 -T1_2(1)];...
286                    [-T1_2(2) T1_2(1) 0]];
287        F = inv(defaultPara.InrinsicK2)'*T1_2_hat*R1_2*inv(defaultPara.InrinsicK1);
288        if FlagRotate
289                figure;
290                dispMatchSearchRegin(I1, I2, x1, x2, tempConS1_2, tempConS2_1, F, ...
291            x1_2Max, MaxD1, x1_2Min, MinD1, ...
292            x2_1Max, MaxD2, x2_1Min, MinD2, ...
293            FlagRotate, 'Stacking', 'h', 'Interactive', 0);
294        else
295                figure;
296                dispMatchSearchRegin(I1, I2, x1, x2, ConS1_2, ConS2_1, F, FlagRotate, 'Stacking', 'v', 'Interactive', 0);
297        end
298end
299
300return;
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