/home/laradmin/lar/sensors/camera/xb3/triclops/include/pnmutils.h
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You shall not 00037 // disclose such Confidential Information and shall use it only in 00038 // accordance with the terms of the license agreement you entered into 00039 // with PGR. 00040 // 00041 // PGR MAKES NO REPRESENTATIONS OR WARRANTIES ABOUT THE SUITABILITY OF THE 00042 // SOFTWARE, EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE 00043 // IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR 00044 // PURPOSE, OR NON-INFRINGEMENT. PGR SHALL NOT BE LIABLE FOR ANY DAMAGES 00045 // SUFFERED BY LICENSEE AS A RESULT OF USING, MODIFYING OR DISTRIBUTING 00046 // THIS SOFTWARE OR ITS DERIVATIVES. 00047 //============================================================================= 00048 //============================================================================= 00049 // $Id: pnmutils.h,v 1.14 2008/03/06 23:04:06 donm Exp $ 00050 //============================================================================= 00051 #ifndef _PNMUTILS_H_ 00052 #define _PNMUTILS_H_ 00053 00054 00055 //============================================================================= 00056 // 00057 // pnmutils: 00058 // 00059 // This file provides functions for reading and writing a PGM and PPM 00060 // files from and to a TriclopsImage. 00061 // Users are encouraged to modify this source to suit their own needs. 00062 //============================================================================= 00063 00064 00065 //============================================================================= 00066 // System Includes 00067 //============================================================================= 00068 #include <stdio.h> 00069 #include <stdlib.h> 00070 #include <string.h> 00071 00072 00073 //============================================================================= 00074 // PGR Includes 00075 //============================================================================= 00076 #include "triclops.h" 00077 00078 00079 #ifdef __cplusplus 00080 extern "C" 00081 { 00082 #endif 00083 00084 00085 //============================================================================= 00086 // pgmReadToTriclopsImage() 00087 // 00088 // This function reads an 8-bit pgm file into a TriclopsImage 00089 // structure. It allocates the data within the TriclopsImage to contain 00090 // the image data. This data must be freed after it is used by calling 00091 // 'freeImage()' 00092 // 00093 // return codes: 00094 // True - the file was successfully read and memory allocated 00095 // False - the file read failed (no memory was allocated) 00096 // 00097 TriclopsBool 00098 pgmReadToTriclopsImage( const char* filename, 00099 TriclopsImage* image ); 00100 00101 //============================================================================= 00102 // pgmReadToTriclopsImage16() 00103 // 00104 // This function reads an 16-bit pgm file into a TriclopsImage16 00105 // structure. It allocates the data within the TriclopsImage16 to 00106 // contain the image data. This data must be freed after it is used 00107 // by calling 'freeImage16()' 00108 // 00109 // return codes: 00110 // True - the file was successfully read and memory allocated 00111 // False - the file read failed (no memory was allocated) 00112 // 00113 TriclopsBool 00114 pgmReadToTriclopsImage16( const char* filename, 00115 TriclopsImage16* image ); 00116 00117 00118 //============================================================================= 00119 // 00120 // 00121 // 00122 // 00123 TriclopsBool 00124 pgmRead3ToTriclopsInput( const char* redFileName, 00125 const char* bluFileName, 00126 const char* greFileName, 00127 TriclopsInput* pInput ); 00128 00129 //============================================================================= 00130 // pgmReadToTriclopsInput() 00131 // 00132 // This function reads a pgm file into a TriclopsInput 00133 // structure (of type TriInp_RGB). 00134 // It allocates the data within the TriclopsInput to 00135 // contain the image data. This data must be freed after it is used 00136 // by calling 'freeInput()' 00137 // 00138 // This data is suitable to be be input into the Triclops stereo 00139 // library with a call to 'triclopsPreprocess()' 00140 // 00141 // NOTE: this uses a greyscale image and expects that the red/green 00142 // or red/green/blue channels be side by side or "row-interleaved". 00143 // 00144 // return codes: 00145 // True - the file was successfully read and memory allocated 00146 // False - the file read failed (no memory was allocated) 00147 // 00148 TriclopsBool 00149 pgmReadToTriclopsInput( const char* filename, 00150 TriclopsInput* input ); 00151 00152 00153 //============================================================================= 00154 // pgmReadToTriclopsInput() 00155 // 00156 // This function reads a pgm file into a TriclopsInput 00157 // structure (of type TriInp_RGB). 00158 // It allocates the data within the TriclopsInput to 00159 // contain the image data. This data must be freed after it is used 00160 // by calling 'freeInput()' 00161 // 00162 // This data is suitable to be be input into the Triclops stereo 00163 // library with a call to 'triclopsPreprocess()' 00164 // 00165 // NOTE: this uses a greyscale image and expects that the red/green 00166 // or red/green/blue channels be side by side or "row-interleaved". 00167 // 00168 // return codes: 00169 // True - the file was successfully read and memory allocated 00170 // False - the file read failed (no memory was allocated) 00171 // 00172 TriclopsBool 00173 pgmReadToTriclopsInput( const char* filename, 00174 TriclopsInput* input ); 00175 00176 00177 //============================================================================= 00178 // ppmReadToTriclopsInput() 00179 // 00180 // This function reads a ppm file into a TriclopsInput 00181 // structure (of type TriInp_RGB_32BITPACKED). 00182 // It allocates the data within the TriclopsInput to 00183 // contain the image data. This data must be freed after it is used 00184 // by calling 'freeInput()' 00185 // 00186 // This data is suitable to be be input into the Triclops stereo 00187 // library with a call to 'triclopsPreprocess()' 00188 // 00189 // return codes: 00190 // True - the file was successfully read and memory allocated 00191 // False - the file read failed (no memory was allocated) 00192 // 00193 TriclopsBool 00194 ppmReadToTriclopsInput( const char* filename, 00195 TriclopsInput* input ); 00196 00197 00198 //============================================================================= 00199 // ppmReadToTriclopsInputRGB() 00200 // 00201 // This function reads a ppm file into a TriclopsInput 00202 // structure (of type TriInp_RGB). 00203 // It allocates the data within the TriclopsInput to 00204 // contain the image data. This data must be freed after it is used 00205 // by calling 'freeInput()' 00206 // 00207 // This data is suitable to be be input into the Triclops stereo 00208 // library with a call to 'triclopsPreprocess()' 00209 // 00210 // return codes: 00211 // True - the file was successfully read and memory allocated 00212 // False - the file read failed (no memory was allocated) 00213 // 00214 TriclopsBool 00215 ppmReadToTriclopsInputRGB( const char* filename, 00216 TriclopsInput* input ); 00217 00218 00219 //============================================================================= 00220 // freeInput() 00221 // 00222 // This function frees the image memory associated with a TriclopsInput. 00223 // This needs to be called after the user is finished with a 00224 // TriclopsInput structure that was created from a called to 00225 // 'ppmReadToTriclopsInput()' 00226 // 00227 // return codes: 00228 // True - the memory was freed 00229 // 00230 TriclopsBool 00231 freeInput( TriclopsInput* input ); 00232 00233 00234 //============================================================================= 00235 // freeImage() 00236 // 00237 // This function frees the image memory associated with a TriclopsImage. 00238 // This needs to be called after the user is finished with a 00239 // TriclopsImage structure that was created from a called to 00240 // 'pgmReadToTriclopsImage()' 00241 // 00242 // return codes: 00243 // True - the memory was freed 00244 // 00245 TriclopsBool 00246 freeImage( TriclopsImage* pimage ); 00247 00248 00249 //============================================================================= 00250 // freeImage16() 00251 // 00252 // This function frees the image memory associated with a 00253 // TriclopsImage16. 00254 // This needs to be called after the user is finished with a 00255 // TriclopsImage structure that was created from a called to 00256 // 'pgmReadToTriclopsImage16()' 00257 // 00258 // return codes: 00259 // True - the memory was freed 00260 // 00261 TriclopsBool 00262 freeImage16( TriclopsImage16* pimage ); 00263 00264 00265 //============================================================================= 00266 // pgmWriteFromTriclopsImage() 00267 // 00268 // This function writes an 8-bit pgm file from a TriclopsImage 00269 // structure. 00270 // 00271 // return codes: 00272 // True - the file was successfully written 00273 // False - 'filename' could not be opened for writing 00274 // 00275 TriclopsBool 00276 pgmWriteFromTriclopsImage( const char* filename, 00277 TriclopsImage* image ); 00278 00279 00280 //============================================================================= 00281 // ppmWriteFromTriclopsColorImage() 00282 // 00283 // This function writes an 24-bit ppm file from a TriclopsColorImage 00284 // structure. 00285 // 00286 // return codes: 00287 // True - the file was successfully written 00288 // False - 'filename' could not be opened for writing 00289 // 00290 TriclopsBool 00291 ppmWriteFromTriclopsColorImage( const char* filename, 00292 TriclopsColorImage* image ); 00293 00294 00295 //============================================================================= 00296 // pgmWrite3FromTriclopsInput() 00297 // 00298 // This function writes 3 8-bit pgm files from a TriclopsInput structure. 00299 // These correspond to the appropriate channels of the image. 00300 // 00301 // return codes: 00302 // True - the file was successfully written 00303 // False - 'filename' could not be opened for writing 00304 // 00305 TriclopsBool 00306 pgmWrite3FromTriclopsInput( const char* redFilename, 00307 const char* greFilename, 00308 const char* bluFilename, 00309 TriclopsInput* input ); 00310 00311 00312 //============================================================================= 00313 // pgmWrite3FromTriclopsInputWithComment() 00314 // 00315 // This function writes 3 8-bit pgm files from a TriclopsInput structure. 00316 // These correspond to the appropriate channels of the image. The comment 00317 // will be stored in each file (pass in NULL if no comment is desired). 00318 // 00319 // return codes: 00320 // True - the file was successfully written 00321 // False - 'filename' could not be opened for writing 00322 // 00323 TriclopsBool 00324 pgmWrite3FromTriclopsInputWithComment( const char* redFilename, 00325 const char* greFilename, 00326 const char* bluFilename, 00327 const char* comment, 00328 TriclopsInput* input ); 00329 00330 00331 //============================================================================= 00332 // pgmWriteFromTriclopsImage16() 00333 // 00334 // This function writes an 16-bit pgm file from a TriclopsImage 00335 // structure. 00336 // 00337 // return codes: 00338 // True - the file was successfully written 00339 // False - 'filename' could not be opened for writing 00340 // 00341 TriclopsBool 00342 pgmWriteFromTriclopsImage16( const char* filename, 00343 TriclopsImage16* image ); 00344 00345 00346 //============================================================================= 00347 // ppmWriteFromTriclopsInput() 00348 // 00349 // This function writes an 24-bit ppm file from a TriclopsInput 00350 // structure. 00351 // 00352 // return codes: 00353 // True - the file was successfully written 00354 // False - 'filename' could not be opened for writing 00355 // - or the TriclopsInput was not in a supported format 00356 // 00357 TriclopsBool 00358 ppmWriteFromTriclopsInput( const char* filename, 00359 TriclopsInput* input ); 00360 00361 00362 //============================================================================= 00363 // 00364 // 00365 // 00366 // 00367 TriclopsBool 00368 ppmWriteFromTriclopsInputWithComment( const char* filename, 00369 const char* comment, 00370 TriclopsInput* input ); 00371 00372 //============================================================================= 00373 // pgmWriteFromTriclopsInput() 00374 // 00375 // This function writes an 24-bit ppm file from a TriclopsInput 00376 // structure. 00377 // 00378 // nCameras - if it is known that the Input has only 2 cameras, 00379 // this can be changed to a value of 2. Otherwise it should 00380 // be 3 00381 // 00382 // return codes: 00383 // True - the file was successfully written 00384 // False - 'filename' could not be opened for writing 00385 // - or the TriclopsInput was not in a supported format 00386 // 00387 TriclopsBool 00388 pgmWriteFromTriclopsInput( const char* filename, 00389 TriclopsInput* input, 00390 int nCameras ); 00391 00392 00393 //============================================================================= 00394 // 00395 // 00396 // 00397 // 00398 TriclopsBool 00399 pgmWriteFromTriclopsInputWithComment( const char* filename, 00400 const char* comment, 00401 TriclopsInput* input, 00402 int nCameras = 3 ); 00403 00404 00405 00406 //============================================================================= 00407 // pgmWriteFromTriclopsInput() 00408 // 00409 // This function writes an 8-bit pgm file from a TriclopsInput 00410 // structure. 00411 // 00412 // nCameras - if it is known that the Input has only 2 cameras, 00413 // this can be changed to a value of 2. Otherwise it should 00414 // be 3. 00415 // 00416 // return codes: 00417 // True - the file was successfully written 00418 // False - 'filename' could not be opened for writing 00419 // - or the TriclopsInput was not in a supported format 00420 // 00421 TriclopsBool 00422 pgmWriteFromTriclopsInput( const char* filename, 00423 TriclopsInput* input, 00424 int nCameras ); 00425 00426 00427 //============================================================================= 00428 // pgmWriteFromTriclopsInputWithComment() 00429 // 00430 // This function writes an 8-bit pgm file from a TriclopsInput 00431 // structure. The comment may be NULL. 00432 // 00433 // nCameras - if it is known that the Input has only 2 cameras, 00434 // this can be changed to a value of 2. Otherwise it should 00435 // be 3. 00436 // 00437 // return codes: 00438 // True - the file was successfully written 00439 // False - 'filename' could not be opened for writing 00440 // - or the TriclopsInput was not in a supported format 00441 // 00442 TriclopsBool 00443 pgmWriteFromTriclopsInputWithComment( const char* filename, 00444 const char* comment, 00445 TriclopsInput* input, 00446 int nCameras ); 00447 00448 00449 #ifdef __cplusplus 00450 } 00451 #endif 00452 00453 00454 #endif //#ifndef _PNMUTILS_H_