ompl/util/src/PPM.cpp
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2008, Rice University
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Rice University nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/util/PPM.h"
00038 #include "ompl/util/Exception.h"
00039 #include <cstdio>
00040 #include <boost/lexical_cast.hpp>
00041 
00042 ompl::PPM::PPM() : width_(0), height_(0)
00043 {
00044 }
00045 
00046 void ompl::PPM::loadFile(const char *filename)
00047 {
00048     FILE *fp = fopen(filename, "r");
00049     if (!fp)
00050         throw Exception("Unable to load '" + std::string(filename) + "'");
00051     struct AutoClose
00052     {
00053         AutoClose(FILE *f) : f_(f) { }
00054         ~AutoClose() { fclose(f_); }
00055         FILE *f_;
00056     };
00057     AutoClose _(fp); // close fp when this variable goes out of scope.
00058 
00059     char p6[2] = {0};
00060     if (fscanf(fp, "%c", &p6[0]) != 1 || fscanf(fp, "%c", &p6[1]) != 1 || p6[0] != 'P' || p6[1] != '6')
00061         throw Exception("Invalid format for file '" + std::string(filename) +
00062             "'. PPM is expected to start with the characters 'P6'.");
00063     int nc = fgetc(fp);
00064     while ((char)nc != '#' && ((char)nc > '9' || (char)nc < '0')) nc = fgetc(fp);
00065     if ((char)nc == '#')
00066         while ((char)nc != '\n') nc = fgetc(fp);
00067     else
00068         ungetc(nc, fp);
00069     if (fscanf(fp, "%d", &width_) != 1 || fscanf(fp, "%d", &height_) != 1)
00070         throw Exception("Unable to parse width and height for '" + std::string(filename) + "'");
00071     if (width_ <= 0 || height_ <= 0)
00072         throw Exception("Invalid image dimensions for '" + std::string(filename) + "'");
00073     if (fscanf(fp, "%d", &nc) != 1 || nc != 255 /* RGB component color marker*/)
00074         throw Exception("Invalid RGB component for '" + std::string(filename) + "'");
00075     fgetc(fp);
00076     nc = width_ * height_ * 3;
00077     pixels_.resize(width_ * height_);
00078     if ((int)fread(&pixels_[0], sizeof(unsigned char), nc, fp) != nc)
00079         throw Exception("Unable to load image data from '" + std::string(filename) + "'");
00080 }
00081 
00082 void ompl::PPM::saveFile(const char *filename)
00083 {
00084     if (pixels_.size() != width_ * height_)
00085         throw Exception("Number of pixels is " + boost::lexical_cast<std::string>(pixels_.size()) +
00086             " but the set width and height require " +
00087                 boost::lexical_cast<std::string>(width_ * height_) + " pixels.");
00088     FILE *fp;
00089     fp = fopen(filename, "wb");
00090     if (!fp)
00091         throw Exception("Unable to open '" + std::string(filename) + "' for writing");
00092     fprintf(fp, "P6\n");
00093     fprintf(fp, "%d %d\n", width_, height_);
00094     fprintf(fp, "%d\n", 255); // RGB marker
00095     fwrite(&pixels_[0], 3 * width_, height_, fp);
00096     fclose(fp);
00097 }
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines