ppm.h

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/*
 * PPM Image Format Reader
 * Code adapted from http://stackoverflow.com/questions/2693631/read-ppm-file-and-store-it-in-an-array-coded-with-c
 * 8/1/2012
 * License Unkown
 */

#ifndef OMPL_VISUAL_TOOLS_PPM_
#define OMPL_VISUAL_TOOLS_PPM_

#include <stdio.h>
#include <stdlib.h>

namespace ompl_visual_tools
{

// *************************************************************************************************
// PPMPixel Struct
// *************************************************************************************************
typedef struct {
  unsigned char red,green,blue;
} PPMPixel;

// *************************************************************************************************
// PPMImage Struct
// *************************************************************************************************
class PPMImage
{
public:
  // Constructor
  PPMImage() :
    x(0), y(0), data(NULL)
  {
  }

  // Deconstructor
  ~PPMImage()
  {
    if( data != NULL )
      free(data);
  }

  // Convert coordinates to a id number
  unsigned int getID( unsigned int x_coord, unsigned int y_coord )
  {
    return y_coord * x + x_coord;
  }

  // Convert id to x
  unsigned int getX( unsigned int id )
  {
    return id % x;
  }

  // Convert id to y
  unsigned int getY( unsigned int id )
  {
    return id / x;
  }

  unsigned int getSize()
  {
    return x * y;
  }

  // Member variables
  unsigned int x, y;
  PPMPixel *data;
};


#define CREATOR "RPFELGUEIRAS"
#define RGB_COMPONENT_COLOR 255

// *************************************************************************************************
// Read Function
// *************************************************************************************************

PPMImage *readPPM(const char *filename);


} // namespace

#endif