Squashed 'third_party/apriltag/' content from commit 3e8e974d0
git-subtree-dir: third_party/apriltag
git-subtree-split: 3e8e974d0d8d6ab318abf56d87506d15d7f2cc35
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Change-Id: I04ba3cb2106b6813a1013d57aa8074c26f856598
diff --git a/common/pnm.h b/common/pnm.h
new file mode 100644
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--- /dev/null
+++ b/common/pnm.h
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+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define PNM_FORMAT_BINARY 4
+#define PNM_FORMAT_GRAY 5
+#define PNM_FORMAT_RGB 6
+
+// supports ppm, pnm, pgm
+
+typedef struct pnm pnm_t;
+struct pnm
+{
+ int width, height;
+ int format;
+ int max; // 1 = binary, 255 = one byte, 65535 = two bytes
+
+ uint32_t buflen;
+ uint8_t *buf; // if max=65535, in big endian
+};
+
+pnm_t *pnm_create_from_file(const char *path);
+void pnm_destroy(pnm_t *pnm);
+
+#ifdef __cplusplus
+}
+#endif