1 /* Copyright (C) 2013-2016, The Regents of The University of Michigan. 2 All rights reserved. 3 This software was developed in the APRIL Robotics Lab under the 4 direction of Edwin Olson, ebolson@umich.edu. This software may be 5 available under alternative licensing terms; contact the address above. 6 Redistribution and use in source and binary forms, with or without 7 modification, are permitted provided that the following conditions are met: 8 1. Redistributions of source code must retain the above copyright notice, this 9 list of conditions and the following disclaimer. 10 2. Redistributions in binary form must reproduce the above copyright notice, 11 this list of conditions and the following disclaimer in the documentation 12 and/or other materials provided with the distribution. 13 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 14 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 15 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 16 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR 17 ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 18 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 19 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 20 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 21 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 22 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 23 The views and conclusions contained in the software and documentation are those 24 of the authors and should not be interpreted as representing official policies, 25 either expressed or implied, of the Regents of The University of Michigan. 26 */ 27 28 #pragma once 29 30 #include <stdint.h> 31 32 #ifdef __cplusplus 33 //extern "C" { 34 #endif 35 36 #define PNM_FORMAT_BINARY 4 37 #define PNM_FORMAT_GRAY 5 38 #define PNM_FORMAT_RGB 6 39 40 // supports ppm, pnm, pgm 41 42 typedef struct pnm pnm_t; 43 struct pnm 44 { 45 int width, height; 46 int format; 47 int max; // 1 = binary, 255 = one byte, 65535 = two bytes 48 49 uint32_t buflen; 50 uint8_t *buf; // if max=65535, in big endian 51 }; 52 53 pnm_t *pnm_create_from_file(const char *path); 54 void pnm_destroy(pnm_t *pnm); 55 56 #ifdef __cplusplus 57 //} 58 #endif 59