static void
writepgmrow(FILE * const fileP,
const xel * const xelrow,
unsigned int const cols,
xelval const maxval,
int const format,
bool const plainFormat) {
jmp_buf jmpbuf;
jmp_buf * origJmpbufP;
gray * grayrow;
grayrow = pgm_allocrow(cols);
if (setjmp(jmpbuf) != 0) {
pgm_freerow(grayrow);
pm_setjmpbuf(origJmpbufP);
pm_longjmp();
} else {
unsigned int col;
pm_setjmpbufsave(&jmpbuf, &origJmpbufP);
for (col = 0; col < cols; ++col)
grayrow[col] = PNM_GET1(xelrow[col]);
pgm_writepgmrow(fileP, grayrow, cols, (gray) maxval, plainFormat);
pm_setjmpbuf(origJmpbufP);
}
pgm_freerow(grayrow);
}
static void
convertPgmRaster(FILE * const ifP,
int const format,
xelval const maxval,
unsigned int const cols,
unsigned int const rows,
FILE * const ofP,
unsigned int const bytesPerLine,
unsigned char * const data) {
gray * const pixels = pgm_allocrow(cols);
unsigned int row;
for (row = 0; row < rows; ++row) {
unsigned char * p;
unsigned int col;
size_t bytesWritten;
p = &data[0];
pgm_readpgmrow(ifP, pixels, cols, maxval, format);
for (col = 0; col < cols; ++col)
*p++ = (unsigned char) pixels[col];
bytesWritten = fwrite(data, 1, bytesPerLine, ofP);
if (bytesWritten != bytesPerLine)
pm_error("File write error on Row %u", row);
}
pgm_freerow(pixels);
}
static void
writeRaster(FILE * const ifP,
struct SbigHeader const hdr,
FILE * const ofP) {
gray * grayrow;
unsigned int row;
grayrow = pgm_allocrow(hdr.cols);
for (row = 0; row < hdr.rows; ++row) {
bool compthis;
unsigned int col;
if (hdr.isCompressed) {
unsigned short rowlen; /* Compressed row length */
pm_readlittleshortu(ifP, &rowlen);
/* If compression results in a row length >= the uncompressed
row length, that row is output uncompressed. We detect this
by observing that the compressed row length is equal to
that of an uncompressed row.
*/
if (rowlen == hdr.cols * 2)
compthis = false;
else
compthis = hdr.isCompressed;
} else
compthis = hdr.isCompressed;
for (col = 0; col < hdr.cols; ++col) {
unsigned short g;
if (compthis) {
if (col == 0) {
pm_readlittleshortu(ifP, &g);
} else {
int const delta = getc(ifP);
if (delta == 0x80)
pm_readlittleshortu(ifP, &g);
else
g += ((signed char) delta);
}
} else
pm_readlittleshortu(ifP, &g);
grayrow[col] = g;
}
pgm_writepgmrow(ofP, grayrow, hdr.cols, hdr.maxval, 0);
}
pgm_freerow(grayrow);
}
void
pnm_writepnmrow(FILE * const fileP,
xel * const xelrow,
int const cols,
xelval const maxval,
int const format,
int const forceplain) {
bool const plainFormat = forceplain || pm_plain_output;
switch (PNM_FORMAT_TYPE(format)) {
case PPM_TYPE:
ppm_writeppmrow(fileP, (pixel*) xelrow, cols, (pixval) maxval,
plainFormat);
break;
case PGM_TYPE: {
gray* grayrow;
unsigned int col;
grayrow = pgm_allocrow(cols);
for (col = 0; col < cols; ++col)
grayrow[col] = PNM_GET1(xelrow[col]);
pgm_writepgmrow(fileP, grayrow, cols, (gray) maxval, plainFormat);
pgm_freerow( grayrow );
}
break;
case PBM_TYPE: {
bit* bitrow;
unsigned int col;
bitrow = pbm_allocrow(cols);
for (col = 0; col < cols; ++col)
bitrow[col] = PNM_GET1(xelrow[col]) == 0 ? PBM_BLACK : PBM_WHITE;
pbm_writepbmrow(fileP, bitrow, cols, plainFormat);
pbm_freerow(bitrow);
}
break;
default:
pm_error("invalid format argument received by pnm_writepnmrow(): %d"
"PNM_FORMAT_TYPE(format) must be %d, %d, or %d",
format, PBM_TYPE, PGM_TYPE, PPM_TYPE);
}
}
int
main(int argc, char *argv[]) {
FILE* ifP;
const char * inputFilespec;
int eof;
ppm_init( &argc, argv );
if (argc-1 > 1)
pm_error("The only argument is the (optional) input filename");
if (argc == 2)
inputFilespec = argv[1];
else
inputFilespec = "-";
ifP = pm_openr(inputFilespec);
eof = FALSE; /* initial assumption */
while (!eof) {
ppm_nextimage(ifP, &eof);
if (!eof) {
int rows, cols, format;
pixval maxval;
pixel* inputRow;
gray* outputRow;
ppm_readppminit(ifP, &cols, &rows, &maxval, &format);
pgm_writepgminit(stdout, cols, rows, maxval, 0);
inputRow = ppm_allocrow(cols);
outputRow = pgm_allocrow(cols);
convertRaster(ifP, cols, rows, maxval, format,
inputRow, outputRow, stdout);
ppm_freerow(inputRow);
pgm_freerow(outputRow);
}
}
pm_close(ifP);
pm_close(stdout);
return 0;
}
int
main(int argc, char * argv[]) {
struct cmdlineInfo cmdline;
FILE * ifP;
xelval lmin, lmax;
gray * lumamap; /* Luminosity map */
unsigned int * lumahist; /* Histogram of luminosity values */
int rows, cols; /* Rows, columns of input image */
xelval maxval; /* Maxval of input image */
int format; /* Format indicator (PBM/PGM/PPM) */
xel ** xels; /* Pixel array */
unsigned int pixelCount;
pnm_init(&argc, argv);
parseCommandLine(argc, argv, &cmdline);
ifP = pm_openr(cmdline.inputFileName);
xels = pnm_readpnm(ifP, &cols, &rows, &maxval, &format);
pm_close(ifP);
computeLuminosityHistogram(xels, rows, cols, maxval, format,
cmdline.gray, &lumahist, &lmin, &lmax,
&pixelCount);
getMapping(cmdline.rmap, lumahist, maxval, pixelCount, &lumamap);
if (cmdline.verbose)
reportMap(lumahist, maxval, lumamap);
remap(xels, cols, rows, maxval, format, !!cmdline.gray, lumamap);
pnm_writepnm(stdout, xels, cols, rows, maxval, format, 0);
if (cmdline.wmap)
writeMap(cmdline.wmap, lumamap, maxval);
pgm_freerow(lumamap);
return 0;
}
int
main(int argc,
char * argv[]) {
FILE * ifP;
struct cmdlineInfo cmdline;
gray * grayrow;
pixel * pixelrow;
int rows, cols, format;
gray maxval;
ppm_init(&argc, argv);
parseCommandLine(argc, argv, &cmdline);
ifP = pm_openr(cmdline.inputFilename);
pgm_readpgminit(ifP, &cols, &rows, &maxval, &format);
grayrow = pgm_allocrow(cols);
pixelrow = ppm_allocrow(cols);
if (cmdline.map)
convertWithMap(ifP, cols, rows, maxval, format, cmdline.map,
stdout, grayrow, pixelrow);
else
convertLinear(ifP, cols, rows, maxval, format,
cmdline.colorBlack, cmdline.colorWhite, stdout,
grayrow, pixelrow);
ppm_freerow(pixelrow);
pgm_freerow(grayrow);
pm_close(ifP);
/* If the program failed, it previously aborted with nonzero completion
code, via various function calls.
*/
return 0;
}
int pnm_image_pgmWrite(FILE *fp, pnm_image_t *image)
{
int i,j;
gray *row;
if (!image || !fp) return (-1);
row = pgm_allocrow(image->cols);
for (i=0; i < image->channels; i++) {
pgm_writepgminit(fp, image->cols, image->rows, image->maxval,
1 /* plain PGM format file, no raw */);
for (j=0; j < image->rows; j++) {
int k;
for (k=0; k < image->cols; k++)
row[k] = (gray) image->pixels[i][j][k];
pgm_writepgmrow(fp, row, image->cols, image->maxval,
1 /* plain PGM format file, no raw */);
}
}
pgm_freerow(row);
return (0);
}
int main(int argc, char** argv) {
int row;
int cols;
int rows;
int format;
bit *imageRow;
pm_init(argv[0], 0);
pbm_readpbminit(stdin, &cols, &rows, &format);
pbm_writepbminit(stdout, cols, rows, 1);
imageRow = pbm_allocrow(cols);
for (row = 0; row < rows; row++) {
if (row > 0) usleep(500000);
pbm_readpbmrow(stdin, imageRow, cols, format);
pbm_writepbmrow(stdout, imageRow, cols, 1);
fflush(stdout);
}
pgm_freerow(imageRow);
return 0;
}
int
main(int argc,
char * argv[]) {
struct cmdlineInfo cmdline;
FILE * ifP;
int cols, rows;
int median;
enum medianMethod medianMethod;
pgm_init(&argc, argv);
parseCommandLine(argc, argv, &cmdline);
ifP = pm_openr(cmdline.inputFileName);
ccolso2 = cmdline.width / 2;
crowso2 = cmdline.height / 2;
pgm_readpgminit(ifP, &cols, &rows, &maxval, &format);
pgm_writepgminit(stdout, cols, rows, maxval, forceplain);
/* Allocate space for number of rows in mask size. */
grays = pgm_allocarray(cols, cmdline.height);
grayrow = pgm_allocrow(cols);
/* Read in and write out initial rows that won't get changed. */
for (row = 0; row < cmdline.height - 1; ++row) {
pgm_readpgmrow(ifP, grays[row], cols, maxval, format);
/* Write out the unchanged row. */
if (row < crowso2)
pgm_writepgmrow(stdout, grays[row], cols, maxval, forceplain);
}
median = (cmdline.height * cmdline.width) / 2;
/* Choose which sort to run. */
if (cmdline.type == MEDIAN_UNSPECIFIED) {
if ((maxval / ((cmdline.width * cmdline.height) - 1)) < cmdline.cutoff)
medianMethod = HISTOGRAM_SORT_MEDIAN;
else
medianMethod = SELECT_MEDIAN;
} else
medianMethod = cmdline.type;
switch (medianMethod) {
case SELECT_MEDIAN:
selectMedian(ifP, cmdline.width, cmdline.height, cols, rows, median);
break;
case HISTOGRAM_SORT_MEDIAN:
histogramSortMedian(ifP, cmdline.width, cmdline.height,
cols, rows, median);
break;
case MEDIAN_UNSPECIFIED:
pm_error("INTERNAL ERROR: median unspecified");
}
pm_close(ifP);
pm_close(stdout);
pgm_freearray(grays, cmdline.height);
pgm_freerow(grayrow);
return 0;
}
static void
histogramSortMedian(FILE * const ifP,
unsigned int const ccols,
unsigned int const crows,
unsigned int const cols,
unsigned int const rows,
unsigned int const median) {
unsigned int const histmax = maxval + 1;
unsigned int * hist;
unsigned int mdn, ltmdn;
gray * leftCol;
gray * rghtCol;
gray ** rowptr;
MALLOCARRAY(rowptr, crows);
MALLOCARRAY(hist, histmax);
if (rowptr == NULL || hist == NULL)
pm_error("Unable to allocate memory");
leftCol = pgm_allocrow(crows);
rghtCol = pgm_allocrow(crows);
/* Apply median to main part of image. */
for ( ; row < rows; ++row) {
unsigned int col;
unsigned int temprow;
unsigned int rownum;
unsigned int irow;
unsigned int i;
/* initialize hist[] */
for (i = 0; i < histmax; ++i)
hist[i] = 0;
pgm_readpgmrow(ifP, grays[row % crows], cols, maxval, format);
/* Rotate pointers to rows, so rows can be accessed in order. */
temprow = (row + 1) % crows;
rownum = 0;
for (irow = temprow; irow < crows; ++rownum, ++irow)
rowptr[rownum] = grays[irow];
for (irow = 0; irow < temprow; ++rownum, ++irow)
rowptr[rownum] = grays[irow];
for (col = 0; col < cols; ++col) {
if (col < ccolso2 || col >= cols - ccolso2)
grayrow[col] = rowptr[crowso2][col];
else if (col == ccolso2) {
unsigned int crow;
unsigned int const leftcol = col - ccolso2;
i = 0;
for (crow = 0; crow < crows; ++crow) {
unsigned int ccol;
gray * const temprptr = rowptr[crow] + leftcol;
for (ccol = 0; ccol < ccols; ++ccol) {
gray const g = *(temprptr + ccol);
++hist[g];
++i;
}
}
ltmdn = 0;
for (mdn = 0; ltmdn <= median; ++mdn)
ltmdn += hist[mdn];
--mdn;
if (ltmdn > median)
ltmdn -= hist[mdn];
grayrow[col] = mdn;
} else {
unsigned int crow;
unsigned int const subcol = col - (ccolso2 + 1);
unsigned int const addcol = col + ccolso2;
for (crow = 0; crow < crows; ++crow) {
leftCol[crow] = *(rowptr[crow] + subcol);
rghtCol[crow] = *(rowptr[crow] + addcol);
}
for (crow = 0; crow < crows; ++crow) {
{
gray const g = leftCol[crow];
--hist[(unsigned int) g];
if ((unsigned int) g < mdn)
--ltmdn;
}
{
gray const g = rghtCol[crow];
++hist[(unsigned int) g];
if ((unsigned int) g < mdn)
++ltmdn;
}
}
if (ltmdn > median)
do {
--mdn;
ltmdn -= hist[mdn];
} while (ltmdn > median);
else {
/* This one change from Pitas algorithm can reduce run
** time by up to 10%.
*/
while (ltmdn <= median) {
ltmdn += hist[mdn];
++mdn;
}
--mdn;
if (ltmdn > median)
ltmdn -= hist[mdn];
}
grayrow[col] = mdn;
}
}
pgm_writepgmrow(stdout, grayrow, cols, maxval, forceplain);
}
{
/* Write out remaining unchanged rows. */
unsigned int irow;
for (irow = crowso2 + 1; irow < crows; ++irow)
pgm_writepgmrow(stdout, rowptr[irow], cols, maxval, forceplain);
}
pgm_freerow(leftCol);
pgm_freerow(rghtCol);
free(hist);
free(rowptr);
}
static void
selectMedian(FILE * const ifP,
unsigned int const ccols,
unsigned int const crows,
unsigned int const cols,
unsigned int const rows,
unsigned int const median) {
unsigned int const numValues = crows * ccols;
unsigned int col;
gray * garray;
/* Array of the currenty gray values */
int * parray;
int * subcol;
gray ** rowptr;
garray = pgm_allocrow(numValues);
MALLOCARRAY(rowptr, crows);
MALLOCARRAY(parray, numValues);
MALLOCARRAY(subcol, cols);
if (rowptr == NULL || parray == NULL || subcol == NULL)
pm_error("Unable to allocate memory");
for (col = 0; col < cols; ++col)
subcol[col] = (col - (ccolso2 + 1)) % ccols;
/* Apply median to main part of image. */
for ( ; row < rows; ++row) {
int crow;
int rownum, irow, temprow;
unsigned int col;
pgm_readpgmrow(ifP, grays[row % crows], cols, maxval, format);
/* Rotate pointers to rows, so rows can be accessed in order. */
temprow = (row + 1) % crows;
rownum = 0;
for (irow = temprow; irow < crows; ++rownum, ++irow)
rowptr[rownum] = grays[irow];
for (irow = 0; irow < temprow; ++rownum, ++irow)
rowptr[rownum] = grays[irow];
for (col = 0; col < cols; ++col) {
if (col < ccolso2 || col >= cols - ccolso2) {
grayrow[col] = rowptr[crowso2][col];
} else if (col == ccolso2) {
unsigned int const leftcol = col - ccolso2;
unsigned int i;
i = 0;
for (crow = 0; crow < crows; ++crow) {
gray * const temprptr = rowptr[crow] + leftcol;
unsigned int ccol;
for (ccol = 0; ccol < ccols; ++ccol) {
garray[i] = *(temprptr + ccol);
parray[i] = i;
++i;
}
}
select489(garray, parray, numValues, median);
grayrow[col] = garray[parray[median]];
} else {
unsigned int const addcol = col + ccolso2;
unsigned int crow;
unsigned int tsum;
for (crow = 0, tsum = 0; crow < crows; ++crow, tsum += ccols)
garray[tsum + subcol[col]] = *(rowptr[crow] + addcol );
select489( garray, parray, numValues, median );
grayrow[col] = garray[parray[median]];
}
}
pgm_writepgmrow( stdout, grayrow, cols, maxval, forceplain );
}
{
unsigned int irow;
/* Write out remaining unchanged rows. */
for (irow = crowso2 + 1; irow < crows; ++irow)
pgm_writepgmrow(stdout, rowptr[irow], cols, maxval, forceplain);
}
free(subcol);
free(parray);
free(rowptr);
pgm_freerow(garray);
}
static void
histogram_sort_median(FILE * const ifp,
int const ccols,
int const crows,
int const cols,
int const rows,
int const median) {
int const histmax = maxval + 1;
int *hist;
int mdn, ltmdn;
gray *left_col, *right_col;
hist = (int *) pm_allocrow( histmax, sizeof( int ) );
left_col = pgm_allocrow( crows );
right_col = pgm_allocrow( crows );
/* Apply median to main part of image. */
for ( ; row < rows; ++row ) {
int col;
int temprow;
int rownum;
int irow;
int i;
/* initialize hist[] */
for ( i = 0; i < histmax; ++i )
hist[i] = 0;
temprow = row % crows;
pgm_readpgmrow( ifp, grays[temprow], cols, maxval, format );
/* Rotate pointers to rows, so rows can be accessed in order. */
temprow = ( row + 1 ) % crows;
rownum = 0;
for ( irow = temprow; irow < crows; ++rownum, ++irow )
rowptr[rownum] = grays[irow];
for ( irow = 0; irow < temprow; ++rownum, ++irow )
rowptr[rownum] = grays[irow];
for ( col = 0; col < cols; ++col ) {
if ( col < ccolso2 || col >= cols - ccolso2 )
grayrow[col] = rowptr[crowso2][col];
else if ( col == ccolso2 ) {
int crow;
int const leftcol = col - ccolso2;
i = 0;
for ( crow = 0; crow < crows; ++crow ) {
int ccol;
gray * const temprptr = rowptr[crow] + leftcol;
for ( ccol = 0; ccol < ccols; ++ccol ) {
gray const g = *( temprptr + ccol );
++hist[g];
++i;
}
}
ltmdn = 0;
for ( mdn = 0; ltmdn <= median; ++mdn )
ltmdn += hist[mdn];
mdn--;
if ( ltmdn > median )
ltmdn -= hist[mdn];
grayrow[col] = mdn;
} else {
int crow;
int const subcol = col - ( ccolso2 + 1 );
int const addcol = col + ccolso2;
for ( crow = 0; crow < crows; ++crow ) {
left_col[crow] = *( rowptr[crow] + subcol );
right_col[crow] = *( rowptr[crow] + addcol );
}
for ( crow = 0; crow < crows; ++crow ) {
{
gray const g = left_col[crow];
hist[(int) g]--;
if ( (int) g < mdn )
ltmdn--;
}
{
gray const g = right_col[crow];
hist[(int) g]++;
if ( (int) g < mdn )
ltmdn++;
}
}
if ( ltmdn > median )
do {
mdn--;
ltmdn -= hist[mdn];
} while ( ltmdn > median );
else {
/* This one change from Pitas algorithm can reduce run
** time by up to 10%.
*/
while ( ltmdn <= median ) {
ltmdn += hist[mdn];
mdn++;
}
mdn--;
if ( ltmdn > median )
ltmdn -= hist[mdn];
}
grayrow[col] = mdn;
}
}
pgm_writepgmrow( stdout, grayrow, cols, maxval, forceplain );
}
{
/* Write out remaining unchanged rows. */
int irow;
for ( irow = crowso2 + 1; irow < crows; ++irow )
pgm_writepgmrow( stdout, rowptr[irow], cols, maxval, forceplain );
}
pm_freerow( (char *) hist );
pgm_freerow( left_col );
pgm_freerow( right_col );
}
static void
select_median(FILE * const ifp,
int const ccols,
int const crows,
int const cols,
int const rows,
int const median) {
int ccol, col;
int crow;
int rownum, irow, temprow;
gray *temprptr;
int i, leftcol;
int num_values;
gray *garray;
int *parray;
int addcol;
int *subcol;
int tsum;
/* Allocate storage for array of the current gray values. */
garray = pgm_allocrow( crows * ccols );
num_values = crows * ccols;
parray = (int *) pm_allocrow( crows * ccols, sizeof(int) );
subcol = (int *) pm_allocrow( cols, sizeof(int) );
for ( i = 0; i < cols; ++i )
subcol[i] = ( i - (ccolso2 + 1) ) % ccols;
/* Apply median to main part of image. */
for ( ; row < rows; ++row ) {
temprow = row % crows;
pgm_readpgmrow( ifp, grays[temprow], cols, maxval, format );
/* Rotate pointers to rows, so rows can be accessed in order. */
temprow = ( row + 1 ) % crows;
rownum = 0;
for ( irow = temprow; irow < crows; ++rownum, ++irow )
rowptr[rownum] = grays[irow];
for ( irow = 0; irow < temprow; ++rownum, ++irow )
rowptr[rownum] = grays[irow];
for ( col = 0; col < cols; ++col ) {
if ( col < ccolso2 || col >= cols - ccolso2 ) {
grayrow[col] = rowptr[crowso2][col];
} else if ( col == ccolso2 ) {
leftcol = col - ccolso2;
i = 0;
for ( crow = 0; crow < crows; ++crow ) {
temprptr = rowptr[crow] + leftcol;
for ( ccol = 0; ccol < ccols; ++ccol ) {
garray[i] = *( temprptr + ccol );
parray[i] = i;
++i;
}
}
select_489( garray, parray, num_values, median );
grayrow[col] = garray[parray[median]];
} else {
addcol = col + ccolso2;
for (crow = 0, tsum = 0; crow < crows; ++crow, tsum += ccols)
garray[tsum + subcol[col]] = *(rowptr[crow] + addcol );
select_489( garray, parray, num_values, median );
grayrow[col] = garray[parray[median]];
}
}
pgm_writepgmrow( stdout, grayrow, cols, maxval, forceplain );
}
/* Write out remaining unchanged rows. */
for ( irow = crowso2 + 1; irow < crows; ++irow )
pgm_writepgmrow( stdout, rowptr[irow], cols, maxval, forceplain );
pgm_freerow( garray );
pm_freerow( (char *) parray );
pm_freerow( (char *) subcol );
}
static void
pgmHist(FILE * const ifP,
int const cols,
int const rows,
xelval const maxval,
int const format,
bool const dots,
bool const no_white,
bool const no_black,
bool const verbose,
xelval const startval,
xelval const endval,
unsigned int const histWidth,
unsigned int const histHeight,
bool const clipSpec,
unsigned int const clipCount) {
gray * grayrow;
bit ** bits;
int i, j;
unsigned int * ghist;
double vscale;
unsigned int hmax;
MALLOCARRAY(ghist, histWidth);
if (ghist == NULL)
pm_error("Not enough memory for histogram array (%u bytes)",
histWidth * (unsigned)sizeof(int));
bits = pbm_allocarray(histWidth, histHeight);
if (bits == NULL)
pm_error("no space for output array (%u bits)",
histWidth * histHeight);
memset(ghist, 0, histWidth * sizeof(ghist[0]));
/* read the pixel values into the histogram arrays */
grayrow = pgm_allocrow(cols);
if (verbose)
pm_message("making histogram...");
for (i = rows; i > 0; --i) {
pgm_readpgmrow (ifP, grayrow, cols, maxval, format);
for (j = cols-1; j >= 0; --j)
countComp(grayrow[j], startval, endval, histWidth, ghist);
}
pgm_freerow(grayrow);
/* find the highest-valued slot and set the vertical scale value */
if (verbose)
pm_message("finding max. slot height...");
if (clipSpec)
hmax = clipCount;
else
hmax = maxSlotCount(ghist, histWidth, no_white, no_black);
assert(hmax > 0);
if (verbose)
pm_message("Done: height = %u", hmax);
clipHistogram(ghist, histWidth, hmax);
vscale = (double) histHeight / hmax;
for (i = 0; i < histWidth; ++i) {
int mark = histHeight - (int)(vscale * ghist[i]);
for (j = 0; j < mark; ++j)
bits[j][i] = PBM_BLACK;
if (j < histHeight)
bits[j++][i] = PBM_WHITE;
for ( ; j < histHeight; ++j)
bits[j][i] = dots ? PBM_BLACK : PBM_WHITE;
}
pbm_writepbm(stdout, bits, histWidth, histHeight, 0);
}
COSTTYPE *
readPGM(const char *fname, int *width, int *height, bool raw)
{
pm_init("navfn_tests",0);
FILE *pgmfile;
pgmfile = fopen(fname,"r");
if (!pgmfile)
{
printf("readPGM() Can't find file %s\n", fname);
return NULL;
}
printf("readPGM() Reading costmap file %s\n", fname);
int ncols, nrows;
gray maxval;
int format;
pgm_readpgminit(pgmfile, &ncols, &nrows, &maxval, &format);
printf("readPGM() Size: %d x %d\n", ncols, nrows);
// set up cost map
COSTTYPE *cmap = (COSTTYPE *)malloc(ncols*nrows*sizeof(COSTTYPE));
if (!raw)
for (int i=0; i<ncols*nrows; i++)
cmap[i] = COST_NEUTRAL;
gray * row(pgm_allocrow(ncols));
int otot = 0;
int utot = 0;
int ftot = 0;
for (int ii = 0; ii < nrows; ii++) {
pgm_readpgmrow(pgmfile, row, ncols, maxval, format);
if (raw) // raw costmap from ROS
{
for (int jj(ncols - 1); jj >= 0; --jj)
{
int v = row[jj];
cmap[ii*ncols+jj] = v;
if (v >= COST_OBS_ROS)
otot++;
if (v == 0)
ftot++;
}
}
else
{
ftot = ncols*nrows;
for (int jj(ncols - 1); jj >= 0; --jj)
{
if (row[jj] < unknown_gray && ii < nrows-7 && ii > 7)
{
setcostobs(cmap,ii*ncols+jj,ncols);
otot++;
ftot--;
}
else if (row[jj] <= unknown_gray)
{
setcostunk(cmap,ii*ncols+jj,ncols);
utot++;
ftot--;
}
}
}
}
printf("readPGM() Found %d obstacle cells, %d free cells, %d unknown cells\n", otot, ftot, utot);
pgm_freerow(row);
*width = ncols;
*height = nrows;
return cmap;
}
int main(int argc, char *argv[])
{
FILE *ifd;
FILE *ofd;
int rows, cols;
xelval maxval;
int format;
const char * const usage = "[-resolution x y] [pnmfile [ddiffile]]";
int i, j;
char *outfile;
int argn;
int hor_resolution = 75;
int ver_resolution = 75;
imageparams ip;
unsigned char *data, *p;
pnm_init(&argc, argv);
for (argn = 1;argn < argc && argv[argn][0] == '-';argn++) {
int arglen = strlen(argv[argn]);
if (!strncmp (argv[argn],"-resolution", arglen)) {
if (argn + 2 < argc) {
hor_resolution = atoi(argv[argn+1]);
ver_resolution = atoi(argv[argn+2]);
argn += 2;
continue;
} else {
pm_usage(usage);
}
} else {
pm_usage(usage);
}
}
if (hor_resolution <= 0 || ver_resolution <= 0) {
fprintf(stderr,"Unreasonable resolution values: %d x %d\n",
hor_resolution,ver_resolution);
exit(1);
}
if (argn == argc - 2) {
ifd = pm_openr(argv[argn]);
outfile = argv[argn+1];
if (!(ofd = fopen(outfile,"wb"))) {
perror(outfile);
exit(1);
}
} else if (argn == argc - 1) {
ifd = pm_openr(argv[argn]);
ofd = stdout;
} else {
ifd = stdin;
ofd = stdout;
}
pnm_readpnminit(ifd, &cols, &rows, &maxval, &format);
ip.width = cols;
ip.height = rows;
ip.h_res = hor_resolution;
ip.v_res = ver_resolution;
switch (PNM_FORMAT_TYPE(format)) {
case PBM_TYPE:
ip.bits_per_pixel = 1;
ip.bytes_per_line = (cols + 7) / 8;
ip.spectral = 2;
ip.components = 1;
ip.bits_per_component = 1;
ip.polarity = 1;
break;
case PGM_TYPE:
ip.bytes_per_line = cols;
ip.bits_per_pixel = 8;
ip.spectral = 2;
ip.components = 1;
ip.bits_per_component = 8;
ip.polarity = 2;
break;
case PPM_TYPE:
ip.bytes_per_line = 3 * cols;
ip.bits_per_pixel = 24;
ip.spectral = 5;
ip.components = 3;
ip.bits_per_component = 8;
ip.polarity = 2;
break;
default:
fprintf(stderr, "Unrecognized PBMPLUS format %d\n", format);
exit(1);
}
if (!write_header(ofd,&ip)) {
perror("Writing header");
exit(1);
}
if (!(p = data = (unsigned char*) malloc(ip.bytes_per_line))) {
perror("allocating line buffer");
exit(1);
}
switch (PNM_FORMAT_TYPE(format)) {
case PBM_TYPE:
{
bit *pixels;
int mask;
int k;
pixels = pbm_allocrow(cols);
for (i = 0; i < rows; i++) {
pbm_readpbmrow(ifd, pixels, cols, format);
mask = 0;
p = data;
for (j = 0, k = 0; j < cols; j++) {
if (pixels[j] == PBM_BLACK) {
mask |= 1 << k;
}
if (k == 7) {
*p++ = mask;
mask = 0;
k = 0;
} else {
k++;
}
}
if (k != 7) { /* Flush the rest of the column */
*p = mask;
}
if (fwrite(data,1,ip.bytes_per_line,ofd) != ip.bytes_per_line) {
perror("Writing image data\n");
exit(1);
}
}
}
break;
case PGM_TYPE:
{
gray *pixels = pgm_allocrow(cols);
for (i = 0; i < rows; i++) {
p = data;
pgm_readpgmrow(ifd, pixels, cols, maxval, format);
for (j = 0; j < cols; j++) {
*p++ = (unsigned char) pixels[j];
}
if (fwrite(data,1,ip.bytes_per_line,ofd) != ip.bytes_per_line) {
perror("Writing image data\n");
exit(1);
}
}
pgm_freerow(pixels);
}
break;
case PPM_TYPE:
{
pixel *pixels = ppm_allocrow(cols);
for (i = 0; i < rows; i++) {
p = data;
ppm_readppmrow(ifd, pixels, cols, maxval, format);
for (j = 0; j < cols; j++) {
*p++ = PPM_GETR(pixels[j]);
*p++ = PPM_GETG(pixels[j]);
*p++ = PPM_GETB(pixels[j]);
}
if (fwrite(data,1,ip.bytes_per_line,ofd) != ip.bytes_per_line) {
perror("Writing image data\n");
exit(1);
}
}
ppm_freerow(pixels);
}
break;
}
pm_close(ifd);
free(data);
if (!write_trailer(ofd)) {
perror("Writing trailer");
exit(1);
}
if (fclose(ofd) == EOF) {
perror("Closing output file");
exit(1);
};
return(0);
}
void
PGMImageWriter::endOfImage() {
pgm_freerow(_outputRow);
}
