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added 8bit image encodings, image scaling on resize is now 1:1 with rviz #32

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merged 3 commits into from Aug 14, 2019
Merged

added 8bit image encodings, image scaling on resize is now 1:1 with rviz #32

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2e6e166
added 8bit image encodings
tocttou Aug 14, 2019
d126467
image scaling on resize is now 1:1 with rviz
tocttou Aug 14, 2019
c0947a2
Merge branch 'devel' of https://github.com/rapyuta-robotics/amphion i…
tocttou Aug 14, 2019
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22 changes: 22 additions & 0 deletions src/utils/processing.js
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Expand Up @@ -140,3 +140,25 @@ export const imageDataToCanvas = imageData => {
context.putImageData(imageData, 0, 0);
return canvas;
};

export const populateImageDataFromImageMsg = (
message,
offset,
rgbaOrder,
imageData,
) => {
const { data: rawData, height, step } = message;
const typedArray = Uint8Array.from(rawData);
// endianness is required for > 8bit encodings
const encodedDataView = new DataView(typedArray.buffer);

let j = 0;
for (let i = 0; i < step * height; i += offset) {
for (let k = 0; k < rgbaOrder.length; k++) {
imageData.data[j++] = encodedDataView.getUint8(i + rgbaOrder[k]);
}
if (rgbaOrder.length === 3) {
imageData.data[j++] = 255;
}
}
};
115 changes: 66 additions & 49 deletions src/viz/Image.js
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@@ -1,5 +1,6 @@
import Core from '../core';
import { DEFAULT_OPTIONS_IMAGE, MESSAGE_TYPE_IMAGE } from '../utils/constants';
import { populateImageDataFromImageMsg } from '../utils/processing';

class Image extends Core {
constructor(ros, topicName, options = DEFAULT_OPTIONS_IMAGE) {
Expand All @@ -9,85 +10,105 @@ class Image extends Core {
});
this.object = document.createElement('canvas');
this.shadowObject = document.createElement('canvas');
this.ratioX = 1;
this.ratioY = 1;
this.updateOptions({
...DEFAULT_OPTIONS_IMAGE,
...options,
});
}

applyImageData(message) {
const {
data,
encoding,
height,
is_bigendian: isBigEndian,
step,
width,
} = message;
const { encoding, height, width } = message;

const aspectRatio = width / height;
const ctx = this.object.getContext('2d');
const shadowCtx = this.shadowObject.getContext('2d');
const imgData = shadowCtx.createImageData(width, height);

const encodeToUInt8 = Uint8Array.from(data);
const encodedDataView = new DataView(encodeToUInt8.buffer);

switch (encoding) {
// not using encoding.find(bayer) because js switch statement
// is much faster
case 'bayer_rggb8':
case 'bayer_bggr8':
case 'bayer_gbrg8':
case 'bayer_grbg8':
case 'bayer_rggb16':
case 'bayer_bggr16':
case 'bayer_gbrg16':
case 'bayer_grbg16':
case '8UC1':
case '8SC1':
case 'mono8': {
let j = 0;
for (let i = 0; i < step * height; i++) {
imgData.data[j++] = encodedDataView.getUint8(i, !isBigEndian);
imgData.data[j++] = encodedDataView.getUint8(i, !isBigEndian);
imgData.data[j++] = encodedDataView.getUint8(i, !isBigEndian);
imgData.data[j++] = 255;
}
populateImageDataFromImageMsg(message, 1, [0, 0, 0], imgData);
break;
}
case '8UC3':
case '8SC3':
case 'bgr8': {
const offset = 3;

let j = 0;
for (let i = 0; i < step * height; i += offset) {
imgData.data[j++] = encodedDataView.getUint8(i + 2, !isBigEndian);
imgData.data[j++] = encodedDataView.getUint8(i + 0, !isBigEndian);
imgData.data[j++] = encodedDataView.getUint8(i + 1, !isBigEndian);
imgData.data[j++] = 255;
}
populateImageDataFromImageMsg(message, 3, [2, 1, 0], imgData);
break;
}
case '8UC4':
case '8SC4':
case 'bgra8': {
populateImageDataFromImageMsg(message, 4, [2, 1, 0, 3], imgData);
break;
}
case 'rgb8': {
const offset = 3;

let j = 0;
for (let i = 0; i < step * height; i += offset) {
imgData.data[j++] = encodedDataView.getUint8(i + 0, !isBigEndian);
imgData.data[j++] = encodedDataView.getUint8(i + 1, !isBigEndian);
imgData.data[j++] = encodedDataView.getUint8(i + 2, !isBigEndian);
imgData.data[j++] = 255;
}
populateImageDataFromImageMsg(message, 3, [0, 1, 2], imgData);
break;
}
case 'rgba8': {
populateImageDataFromImageMsg(message, 4, [0, 1, 2, 3], imgData);
break;
}
default:
break;
}

shadowCtx.putImageData(imgData, 0, 0);
ctx.drawImage(
this.shadowObject,
ctx.clearRect(0, 0, this.object.width, this.object.height);
ctx.fillStyle = '#000';
ctx.fillRect(0, 0, this.object.width, this.object.height);
shadowCtx.clearRect(
0,
0,
width * this.ratioX,
height * this.ratioY,
this.shadowObject.width,
this.shadowObject.height,
);
shadowCtx.putImageData(imgData, 0, 0);

const scaledImageHeight = this.object.width / aspectRatio;
const scaledImageWidth = this.object.height * aspectRatio;

if (aspectRatio >= this.object.width / this.object.height) {
ctx.drawImage(
this.shadowObject,
0,
0,
width,
height,
0,
(this.object.height - scaledImageHeight) / 2,
this.object.width,
scaledImageHeight,
);
} else {
ctx.drawImage(
this.shadowObject,
0,
0,
width,
height,
(this.object.width - scaledImageWidth) / 2,
0,
scaledImageWidth,
this.object.height,
);
}
}

updateDimensions(width, height) {
this.object.width = width;
this.object.height = height;
this.ratioX = width / this.shadowObject.width;
this.ratioY = height / this.shadowObject.height;
}

updateOptions(options) {
Expand All @@ -99,12 +120,8 @@ class Image extends Core {

update(message) {
const { height, width } = message;

this.shadowObject.width = width;
this.shadowObject.height = height;
this.ratioX = this.object.width / width;
this.ratioY = this.object.height / height;

this.applyImageData(message);
}

Expand Down