Austin Schuh | 3333ec7 | 2022-12-29 16:21:06 -0800 | [diff] [blame^] | 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 | #include <assert.h> |
| 29 | #include <stdio.h> |
| 30 | #include <stdlib.h> |
| 31 | |
| 32 | #include "pnm.h" |
| 33 | |
| 34 | pnm_t *pnm_create_from_file(const char *path) |
| 35 | { |
| 36 | FILE *f = fopen(path, "rb"); |
| 37 | if (f == NULL) |
| 38 | return NULL; |
| 39 | |
| 40 | pnm_t *pnm = calloc(1, sizeof(pnm_t)); |
| 41 | pnm->format = -1; |
| 42 | |
| 43 | char tmp[1024]; |
| 44 | int nparams = 0; // will be 3 when we're all done. |
| 45 | int params[3]; |
| 46 | |
| 47 | while (nparams < 3 && !(pnm->format == PNM_FORMAT_BINARY && nparams == 2)) { |
| 48 | if (fgets(tmp, sizeof(tmp), f) == NULL) |
| 49 | goto error; |
| 50 | |
| 51 | // skip comments |
| 52 | if (tmp[0]=='#') |
| 53 | continue; |
| 54 | |
| 55 | char *p = tmp; |
| 56 | |
| 57 | if (pnm->format == -1 && tmp[0]=='P') { |
| 58 | pnm->format = tmp[1]-'0'; |
| 59 | assert(pnm->format == PNM_FORMAT_GRAY || pnm->format == PNM_FORMAT_RGB || pnm->format == PNM_FORMAT_BINARY); |
| 60 | p = &tmp[2]; |
| 61 | } |
| 62 | |
| 63 | // pull integers out of this line until there are no more. |
| 64 | while (nparams < 3 && *p!=0) { |
| 65 | while (*p==' ') |
| 66 | p++; |
| 67 | |
| 68 | // encounter rubbish? (End of line?) |
| 69 | if (*p < '0' || *p > '9') |
| 70 | break; |
| 71 | |
| 72 | int acc = 0; |
| 73 | while (*p >= '0' && *p <= '9') { |
| 74 | acc = acc*10 + *p - '0'; |
| 75 | p++; |
| 76 | } |
| 77 | |
| 78 | params[nparams++] = acc; |
| 79 | p++; |
| 80 | } |
| 81 | } |
| 82 | |
| 83 | pnm->width = params[0]; |
| 84 | pnm->height = params[1]; |
| 85 | pnm->max = params[2]; |
| 86 | |
| 87 | switch (pnm->format) { |
| 88 | case PNM_FORMAT_BINARY: { |
| 89 | // files in the wild sometimes simply don't set max |
| 90 | pnm->max = 1; |
| 91 | |
| 92 | pnm->buflen = pnm->height * ((pnm->width + 7) / 8); |
| 93 | pnm->buf = malloc(pnm->buflen); |
| 94 | size_t len = fread(pnm->buf, 1, pnm->buflen, f); |
| 95 | if (len != pnm->buflen) |
| 96 | goto error; |
| 97 | |
| 98 | fclose(f); |
| 99 | return pnm; |
| 100 | } |
| 101 | |
| 102 | case PNM_FORMAT_GRAY: { |
| 103 | if (pnm->max == 255) |
| 104 | pnm->buflen = pnm->width * pnm->height; |
| 105 | else if (pnm->max == 65535) |
| 106 | pnm->buflen = 2 * pnm->width * pnm->height; |
| 107 | else |
| 108 | assert(0); |
| 109 | |
| 110 | pnm->buf = malloc(pnm->buflen); |
| 111 | size_t len = fread(pnm->buf, 1, pnm->buflen, f); |
| 112 | if (len != pnm->buflen) |
| 113 | goto error; |
| 114 | |
| 115 | fclose(f); |
| 116 | return pnm; |
| 117 | } |
| 118 | |
| 119 | case PNM_FORMAT_RGB: { |
| 120 | if (pnm->max == 255) |
| 121 | pnm->buflen = pnm->width * pnm->height * 3; |
| 122 | else if (pnm->max == 65535) |
| 123 | pnm->buflen = 2 * pnm->width * pnm->height * 3; |
| 124 | else |
| 125 | assert(0); |
| 126 | |
| 127 | pnm->buf = malloc(pnm->buflen); |
| 128 | size_t len = fread(pnm->buf, 1, pnm->buflen, f); |
| 129 | if (len != pnm->buflen) |
| 130 | goto error; |
| 131 | fclose(f); |
| 132 | return pnm; |
| 133 | } |
| 134 | } |
| 135 | |
| 136 | error: |
| 137 | fclose(f); |
| 138 | |
| 139 | if (pnm != NULL) { |
| 140 | free(pnm->buf); |
| 141 | free(pnm); |
| 142 | } |
| 143 | |
| 144 | return NULL; |
| 145 | } |
| 146 | |
| 147 | void pnm_destroy(pnm_t *pnm) |
| 148 | { |
| 149 | if (pnm == NULL) |
| 150 | return; |
| 151 | |
| 152 | free(pnm->buf); |
| 153 | free(pnm); |
| 154 | } |