Program Listing for File pnmfile.hpp
↰ Return to documentation for file (include/grid_map_sdf/distance_transform/pnmfile.hpp
)
/*
Copyright (C) 2006 Pedro Felzenszwalb
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* basic image I/O */
#ifndef GRID_MAP_SDF__DISTANCE_TRANSFORM__PNMFILE_HPP_
#define GRID_MAP_SDF__DISTANCE_TRANSFORM__PNMFILE_HPP_
#include <cstdlib>
#include <climits>
#include <cstring>
#include <fstream>
#include "grid_map_sdf/distance_transform/image.hpp"
#include "grid_map_sdf/distance_transform/misc.hpp"
namespace distance_transform
{
const int16_t BUF_SIZE = 256;
class pnm_error {};
static void read_packed(unsigned char * data, int size, std::ifstream & f)
{
unsigned char c = 0;
int bitshift = -1;
for (int pos = 0; pos < size; pos++) {
if (bitshift == -1) {
c = f.get();
bitshift = 7;
}
data[pos] = (c >> bitshift) & 1;
bitshift--;
}
}
static void write_packed(unsigned char * data, int size, std::ofstream & f)
{
unsigned char c = 0;
int bitshift = 7;
for (int pos = 0; pos < size; pos++) {
c = c | (data[pos] << bitshift);
bitshift--;
if ((bitshift == -1) || (pos == size - 1)) {
f.put(c);
bitshift = 7;
c = 0;
}
}
}
/* read PNM field, skipping comments */
static void pnm_read(std::ifstream & file, char * buf)
{
char doc[BUF_SIZE];
char c;
file >> c;
while (c == '#') {
file.getline(doc, BUF_SIZE);
file >> c;
}
file.putback(c);
file.width(BUF_SIZE);
file >> buf;
file.ignore();
}
static image<uchar> * loadPBM(const char * name)
{
char buf[BUF_SIZE];
/* read header */
std::ifstream file(name, std::ios::in | std::ios::binary);
pnm_read(file, buf);
if (strncmp(buf, "P4", 2)) {
throw pnm_error();
}
pnm_read(file, buf);
int width = atoi(buf);
pnm_read(file, buf);
int height = atoi(buf);
/* read data */
image<uchar> * im = new image<uchar>(width, height);
for (int i = 0; i < height; i++) {
read_packed(imPtr(im, 0, i), width, file);
}
return im;
}
static void savePBM(image<uchar> * im, const char * name)
{
int width = im->width();
int height = im->height();
std::ofstream file(name, std::ios::out | std::ios::binary);
file << "P4\n" << width << " " << height << "\n";
for (int i = 0; i < height; i++) {
write_packed(imPtr(im, 0, i), width, file);
}
}
static image<uchar> * loadPGM(const char * name)
{
char buf[BUF_SIZE];
/* read header */
std::ifstream file(name, std::ios::in | std::ios::binary);
pnm_read(file, buf);
if (strncmp(buf, "P5", 2)) {
throw pnm_error();
}
pnm_read(file, buf);
int width = atoi(buf);
pnm_read(file, buf);
int height = atoi(buf);
pnm_read(file, buf);
if (atoi(buf) > UCHAR_MAX) {
throw pnm_error();
}
/* read data */
image<uchar> * im = new image<uchar>(width, height);
file.read(static_cast<char *>(imPtr(im, 0, 0)), width * height * sizeof(uchar));
return im;
}
static void savePGM(image<uchar> * im, const char * name)
{
int width = im->width();
int height = im->height();
std::ofstream file(name, std::ios::out | std::ios::binary);
file << "P5\n" << width << " " << height << "\n" << UCHAR_MAX << "\n";
file.write(static_cast<char *>(imPtr(im, 0, 0)), width * height * sizeof(uchar));
}
static image<rgb> * loadPPM(const char * name)
{
char buf[BUF_SIZE], doc[BUF_SIZE];
/* read header */
std::ifstream file(name, std::ios::in | std::ios::binary);
pnm_read(file, buf);
if (strncmp(buf, "P6", 2)) {
throw pnm_error();
}
pnm_read(file, buf);
int width = atoi(buf);
pnm_read(file, buf);
int height = atoi(buf);
pnm_read(file, buf);
if (atoi(buf) > UCHAR_MAX) {
throw pnm_error();
}
/* read data */
image<rgb> * im = new image<rgb>(width, height);
file.read(static_cast<char *>(imPtr(im, 0, 0)), width * height * sizeof(rgb));
return im;
}
static void savePPM(image<rgb> * im, const char * name)
{
int width = im->width();
int height = im->height();
std::ofstream file(name, std::ios::out | std::ios::binary);
file << "P6\n" << width << " " << height << "\n" << UCHAR_MAX << "\n";
file.write(static_cast<char *>(imPtr(im, 0, 0)), width * height * sizeof(rgb));
}
template<class T>
void load_image(image<T> ** im, const char * name)
{
char buf[BUF_SIZE];
/* read header */
std::ifstream file(name, std::ios::in | std::ios::binary);
pnm_read(file, buf);
if (strncmp(buf, "VLIB", 9)) {
throw pnm_error();
}
pnm_read(file, buf);
int width = atoi(buf);
pnm_read(file, buf);
int height = atoi(buf);
/* read data */
*im = new image<T>(width, height);
file.read(static_cast<char *>(imPtr(*im, 0, 0)), width * height * sizeof(T));
}
template<class T>
void save_image(image<T> * im, const char * name)
{
int width = im->width();
int height = im->height();
std::ofstream file(name, std::ios::out | std::ios::binary);
file << "VLIB\n" << width << " " << height << "\n";
file.write(static_cast<char *>(imPtr(im, 0, 0)), width * height * sizeof(T));
}
} // namespace distance_transform
#endif // GRID_MAP_SDF__DISTANCE_TRANSFORM__PNMFILE_HPP_