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PPM.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/util/PPM.h"
38#include "ompl/util/Exception.h"
39#include <cstdio>
40
41void ompl::PPM::loadFile(const char *filename)
42{
43 FILE *fp = fopen(filename, "r");
44 if (fp == nullptr)
45 throw Exception("Unable to load '" + std::string(filename) + "'");
46 struct AutoClose
47 {
48 AutoClose(FILE *f) : f_(f)
49 {
50 }
51 ~AutoClose()
52 {
53 fclose(f_);
54 }
55 FILE *f_;
56 };
57 AutoClose _(fp); // close fp when this variable goes out of scope.
58
59 char p6[2] = {0};
60 if (fscanf(fp, "%c", &p6[0]) != 1 || fscanf(fp, "%c", &p6[1]) != 1 || p6[0] != 'P' || p6[1] != '6')
61 throw Exception("Invalid format for file '" + std::string(filename) + "'. PPM is expected to start with the "
62 "characters 'P6'.");
63 int nc = fgetc(fp);
64 while ((char)nc != '#' && ((char)nc > '9' || (char)nc < '0'))
65 nc = fgetc(fp);
66 if ((char)nc == '#')
67 while ((char)nc != '\n')
68 nc = fgetc(fp);
69 else
70 ungetc(nc, fp);
71 if (fscanf(fp, "%d", &width_) != 1 || fscanf(fp, "%d", &height_) != 1)
72 throw Exception("Unable to parse width and height for '" + std::string(filename) + "'");
73 if (width_ <= 0 || height_ <= 0)
74 throw Exception("Invalid image dimensions for '" + std::string(filename) + "'");
75 if (fscanf(fp, "%d", &nc) != 1 || nc != 255 /* RGB component color marker*/)
76 throw Exception("Invalid RGB component for '" + std::string(filename) + "'");
77 fgetc(fp);
78 nc = width_ * height_ * 3;
79 pixels_.resize(width_ * height_);
80 if ((int)fread(&pixels_[0], sizeof(unsigned char), nc, fp) != nc)
81 throw Exception("Unable to load image data from '" + std::string(filename) + "'");
82}
83
84void ompl::PPM::saveFile(const char *filename)
85{
86 if (pixels_.size() != width_ * height_)
87 throw Exception("Number of pixels is " + std::to_string(pixels_.size()) +
88 " but the set width and height require " + std::to_string(width_ * height_) + " pixels.");
89 FILE *fp;
90 fp = fopen(filename, "wb");
91 if (fp == nullptr)
92 throw Exception("Unable to open '" + std::string(filename) + "' for writing");
93 fprintf(fp, "P6\n");
94 fprintf(fp, "%d %d\n", width_, height_);
95 fprintf(fp, "%d\n", 255); // RGB marker
96 fwrite(&pixels_[0], 3 * width_, height_, fp);
97 fclose(fp);
98}
The exception type for ompl.
Definition Exception.h:47
void loadFile(const char *filename)
Load a .ppm file. Throw an exception in case of an error.
Definition PPM.cpp:41
void saveFile(const char *filename)
Save image data to a .ppm file. Throw an exception in case of an error.
Definition PPM.cpp:84