diff --git a/common/postscript_utils.h b/common/postscript_utils.h
new file mode 100644
index 0000000..b561c5b
--- /dev/null
+++ b/common/postscript_utils.h
@@ -0,0 +1,53 @@
+/* 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
+
+// write commands in postscript language to render an image in the current
+// graphics environment. The image will be rendered in one pixel per unit
+// with Y up coordinate axis (e.g. upside down).
+static void postscript_image(FILE *f, image_u8_t *im)
+{
+//    fprintf(f, "/readstring {\n  currentfile exch readhexstring pop\n} bind def\n");
+    fprintf(f, "/picstr %d string def\n", im->width);
+
+    fprintf(f, "%d %d 8 [1 0 0 1 0 0]\n",
+            im->width, im->height);
+
+    fprintf(f, "{currentfile picstr readhexstring pop}\nimage\n");
+
+    for (int y = 0; y < im->height; y++) {
+        for (int x = 0; x < im->width; x++) {
+            uint8_t v = im->buf[y*im->stride + x];
+            fprintf(f, "%02x", v);
+            if ((x % 32)==31)
+                fprintf(f, "\n");
+        }
+    }
+
+    fprintf(f, "\n");
+}