path planning RRT

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hi every one I want to use RRT algorithm in order to find an optimal path between source and goal. I took a photo of my environment from a kinect (binary image ) " the free space is represented in black and the obstacles in white" the problem that i have the image in ipg format and i want to interface it into my cpp code but i don't know how to do it I'm using the code of this link http://www.voidcn.com/blog/zhangrelay...