/********************************************************************* * writeFeatures.c * ********************************************************************* *//* Standard includes */#include <assert.h>#include <ctype.h>		/* isdigit() */#include <stdio.h>		/* sprintf(), fprintf(), sscanf(), fscanf() */#include <stdlib.h>		/* malloc() */#include <string.h>		/* memcpy(), strcmp() *//* Our includes */#include "base.h"#include "error.h"#include "pnmio.h"		/* ppmWriteFileRGB() */#include "klt.h"#define BINHEADERLENGTH	6extern int KLT_verbose;typedef enum {FEATURE_LIST, FEATURE_HISTORY, FEATURE_TABLE} structureType;static char warning_line[] = "!!! Warning:  This is a KLT data file.  "                             "Do not modify below this line !!!\n";static char binheader_fl[BINHEADERLENGTH+1] = "KLTFL1";static char binheader_fh[BINHEADERLENGTH+1] = "KLTFH1";static char binheader_ft[BINHEADERLENGTH+1] = "KLTFT1";/********************************************************************* * KLTWriteFeatureListToPPM */void KLTWriteFeatureListToPPM(  KLT_FeatureList featurelist,  KLT_PixelType *greyimg,  int ncols,  int nrows,  char *filename){  int nbytes = ncols * nrows * sizeof(char);  uchar *redimg, *grnimg, *bluimg;  int offset;  int x, y, xx, yy;  int i;	  if (KLT_verbose >= 1)     fprintf(stderr, "(KLT) Writing %d features to PPM file: '%s'\n",             KLTCountRemainingFeatures(featurelist), filename);  /* Allocate memory for component images */  redimg = (uchar *)  malloc(nbytes);  grnimg = (uchar *)  malloc(nbytes);  bluimg = (uchar *)  malloc(nbytes);  if (redimg == NULL || grnimg == NULL || bluimg == NULL)    KLTError("(KLTWriteFeaturesToPPM)  Out of memory\n");  /* Copy grey image to component images */  if (sizeof(KLT_PixelType) != 1)    KLTWarning("(KLTWriteFeaturesToPPM)  KLT_PixelType is not uchar");  memcpy(redimg, greyimg, nbytes);  memcpy(grnimg, greyimg, nbytes);  memcpy(bluimg, greyimg, nbytes);	  /* Overlay features in red */  for (i = 0 ; i < featurelist->nFeatures ; i++)    if (featurelist->feature[i]->val >= 0)  {      x = (int) (featurelist->feature[i]->x + 0.5);      y = (int) (featurelist->feature[i]->y + 0.5);      for (yy = y - 1 ; yy <= y + 1 ; yy++)        for (xx = x - 1 ; xx <= x + 1 ; xx++)            if (xx >= 0 && yy >= 0 && xx < ncols && yy < nrows)  {            offset = yy * ncols + xx;            *(redimg + offset) = 255;            *(grnimg + offset) = 0;            *(bluimg + offset) = 0;          }    }	  /* Write to PPM file */  ppmWriteFileRGB(filename, redimg, grnimg, bluimg, ncols, nrows);  /* Free memory */  free(redimg);  free(grnimg);  free(bluimg);}static FILE* _printSetupTxt(  char *fname, 	/* Input: filename, or NULL for stderr */  char *fmt,	/* Input: format (e.g., %5.1f or %3d) */  char *format,	/* Output: format (e.g., (%5.1f,%5.1f)=%3d) */  char *type)	/* Output: either 'f' or 'd', based on input format */{  FILE *fp;  const int val_width = 5;  int i;  /* Either open file or use stderr */  if (fname == NULL)  fp = stderr;  else  fp = fopen(fname, "wb");  if (fp == NULL)    KLTError("(KLTWriteFeatures) "             "Can't open file '%s' for writing\n", fname);  /* Parse format */  if (fmt[0] != '%')    KLTError("(KLTWriteFeatures) Bad Format: %s\n", fmt);  i = 0;  while (fmt[i] != '\0') i++;  *type = fmt[i-1];  if (*type != 'f' && *type != 'd')    KLTError("(KLTWriteFeatures) Format must end in 'f' or 'd'.");  /* Construct feature format */  sprintf(format, "(%s,%s)=%%%dd ", fmt, fmt, val_width);       return fp;}static FILE* _printSetupBin(  char *fname) 	/* Input: filename */{  FILE *fp;  if (fname == NULL)     KLTError("(KLTWriteFeatures) Can't write binary data to stderr");  fp = fopen(fname, "wb");  if (fp == NULL)    KLTError("(KLTWriteFeatures) "             "Can't open file '%s' for writing", fname);  return fp;}static void _printNhyphens(  FILE *fp,  int n){  int i;  for (i = 0 ; i < n ; i++)    fprintf(fp, "-");}static void _printInteger(  FILE *fp,  int integer,  int width){  char fmt[80];  sprintf(fmt, "%%%dd", width);  fprintf(fp, fmt, integer);}static KLT_BOOL _isCharInString(  char c,  char *str){  int width = strlen(str);  int i;  for (i = 0 ; i < width ; i++)    if (c == str[i])  return TRUE;  return FALSE;}/********************************************************************* * _findStringWidth * * Calculates the length of a string after expansion.  E.g., the * length of "(%6.1f)" is eight -- six for the floating-point number, * and two for the parentheses. */static int _findStringWidth(  char *str){  int width = 0;  int add;  int maxi = strlen(str) - 1;  int i = 0;	  while (str[i] != '\0')  {    if (str[i] == '%')  {      if (isdigit(str[i+1]))  {        sscanf(str+i+1, "%d", &add);        width += add;        i += 2;        while (!_isCharInString(str[i], "diouxefgn"))  {          i++;          if (i > maxi)            KLTError("(_findStringWidth) Can't determine length "                     "of string '%s'", str);        }        i++;      } else if (str[i+1] == 'c')  {        width++;        i += 2;      } else         KLTError("(_findStringWidth) Can't determine length "                 "of string '%s'", str);    } else  {      i++;      width++;    }  }	  return width;}static void _printHeader(  FILE *fp,  char *format,  structureType id,  int nFrames,  int nFeatures){  int width = _findStringWidth(format);  int i;	  assert(id == FEATURE_LIST || id == FEATURE_HISTORY || id == FEATURE_TABLE);  if (fp != stderr)  {    fprintf(fp, "Feel free to place comments here.\n\n\n");    fprintf(fp, "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n");    fprintf(fp, warning_line);    fprintf(fp, "\n");  }  fprintf(fp, "------------------------------\n");  switch (id)  {     case FEATURE_LIST: fprintf(fp, "KLT Feature List\n");    break;     case FEATURE_HISTORY: fprintf(fp, "KLT Feature History\n"); break;     case FEATURE_TABLE: fprintf(fp, "KLT Feature Table\n");   break;  }  fprintf(fp, "------------------------------\n\n");  switch (id)  {     case FEATURE_LIST: fprintf(fp, "nFeatures = %d\n\n", nFeatures);    break;     case FEATURE_HISTORY: fprintf(fp, "nFrames = %d\n\n", nFrames); break;     case FEATURE_TABLE: fprintf(fp, "nFrames = %d, nFeatures = %d\n\n",                                 nFrames, nFeatures);   break;  }  switch (id)  {     case FEATURE_LIST: fprintf(fp, "feature | (x,y)=val\n");       fprintf(fp, "--------+-");       _printNhyphens(fp, width);       fprintf(fp, "\n");          break;     case FEATURE_HISTORY: fprintf(fp, "frame | (x,y)=val\n");       fprintf(fp, "------+-");       _printNhyphens(fp, width);       fprintf(fp, "\n");          break;     case FEATURE_TABLE: fprintf(fp, "feature |          frame\n");          fprintf(fp, "        |");          for (i = 0 ; i < nFrames ; i++) _printInteger(fp, i, width);       fprintf(fp, "\n--------+-");          for (i = 0 ; i < nFrames ; i++) _printNhyphens(fp, width);       fprintf(fp, "\n");          break;  }}static void _printFeatureTxt(  FILE *fp,  KLT_Feature feat,  char *format,  char type){  assert(type == 'f' || type == 'd');  if (type == 'f')    fprintf(fp, format, (float) feat->x, (float) feat->y, feat->val);  else if (type == 'd')  {    /* Round x & y to nearest integer, unless negative */    float x = feat->x;    float y = feat->y;    if (x >= 0.0) x += 0.5;    if (y >= 0.0) y += 0.5;    fprintf(fp, format,             (int) x, (int) y, feat->val);  }}static void _printFeatureBin(  FILE *fp,  KLT_Feature feat){  fwrite(&(feat->x), sizeof(KLT_locType), 1, fp);  fwrite(&(feat->y), sizeof(KLT_locType), 1, fp);  fwrite(&(feat->val), sizeof(int), 1, fp);}static void _printShutdown(  FILE *fp){  /* Close file, if necessary */  if (fp != stderr)    fclose(fp);}/********************************************************************* * KLTWriteFeatureList() * KLTWriteFeatureHistory() * KLTWriteFeatureTable() *  * Writes features to file or to screen. * * INPUTS * fname: name of file to write data; if NULL, then print to stderr * fmt:   format for printing (e.g., "%5.1f" or "%3d"); *        if NULL, and if fname is not NULL, then write to binary file. */void KLTWriteFeatureList(  KLT_FeatureList fl,  char *fname,   char *fmt){  FILE *fp;  char format[100];  char type;  int i;  if (KLT_verbose >= 1 && fname != NULL)  {    fprintf(stderr,              "(KLT) Writing feature list to %s file: '%s'\n",             (fmt == NULL ? "binary" : "text"), fname);  }  if (fmt != NULL) {  /* text file or stderr */    fp = _printSetupTxt(fname, fmt, format, &type);    _printHeader(fp, format, FEATURE_LIST, 0, fl->nFeatures);	    for (i = 0 ; i < fl->nFeatures ; i++)  {      fprintf(fp, "%7d | ", i);      _printFeatureTxt(fp, fl->feature[i], format, type);      fprintf(fp, "\n");    }    _printShutdown(fp);  } else {  /* binary file */    fp = _printSetupBin(fname);    fwrite(binheader_fl, sizeof(char), BINHEADERLENGTH, fp);     fwrite(&(fl->nFeatures), sizeof(int), 1, fp);    for (i = 0 ; i < fl->nFeatures ; i++)  {      _printFeatureBin(fp, fl->feature[i]);    }    fclose(fp);  }}void KLTWriteFeatureHistory(  KLT_FeatureHistory fh,  char *fname,   char *fmt){  FILE *fp;  char format[100];  char type;  int i;