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image_file.go
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image_file.go
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package rimage
import (
"bytes"
"context"
"encoding/binary"
"image"
"image/color"
"image/draw"
"image/png"
"io"
"os"
"path/filepath"
"strings"
"github.com/lmittmann/ppm"
"github.com/pkg/errors"
"github.com/xfmoulet/qoi"
"go.opencensus.io/trace"
"go.uber.org/multierr"
"go.viam.com/utils"
ut "go.viam.com/rdk/utils"
)
// RGBABitmapMagicNumber represents the magic number for our custom header
// for raw RGBA data. The header is composed of this magic number followed by
// a 4-byte line of the width as a uint32 number and another for the height. Credit to
// Ben Zotto for inventing this formulation
// https://bzotto.medium.com/introducing-the-rgba-bitmap-file-format-4a8a94329e2c
var RGBABitmapMagicNumber = []byte("RGBA")
// DepthMapMagicNumber represents the magic number for our custom header
// for raw DEPTH data.
var DepthMapMagicNumber = []byte("DEPTHMAP")
// RawRGBAHeaderLength is the length of our custom header for raw RGBA data
// in bytes. See above as to why.
const RawRGBAHeaderLength = 12
// RawDepthHeaderLength is the length of our custom header for raw depth map
// data in bytes. Header contains 8 bytes worth of magic number, followed by 8 bytes
// for width and another 8bytes for height .
const RawDepthHeaderLength = 24
func init() {
// Here we register the custom format above so that we can simply use image.Decode
// so long as the raw RGBA data has the appropriate header
image.RegisterFormat("vnd.viam.rgba", string(RGBABitmapMagicNumber),
func(r io.Reader) (image.Image, error) {
rawBytes, err := io.ReadAll(r)
if err != nil {
return nil, err
}
if len(rawBytes) < RawRGBAHeaderLength {
return nil, io.EOF
}
header := rawBytes[:RawRGBAHeaderLength]
width := int(binary.BigEndian.Uint32(header[4:8]))
height := int(binary.BigEndian.Uint32(header[8:12]))
img := image.NewNRGBA(image.Rect(0, 0, width, height))
imgBytes := rawBytes[RawRGBAHeaderLength:]
img.Pix = imgBytes
return img, nil
},
func(r io.Reader) (image.Config, error) {
imgBytes := make([]byte, RawRGBAHeaderLength)
_, err := io.ReadFull(r, imgBytes)
if err != nil {
return image.Config{}, err
}
header := imgBytes[:RawRGBAHeaderLength]
width := binary.BigEndian.Uint32(header[4:8])
height := binary.BigEndian.Uint32(header[8:12])
return image.Config{
ColorModel: color.RGBAModel,
Width: int(width),
Height: int(height),
}, nil
},
)
// Here we register our format for depth images so that we can use
// image.Decode as long as we have the appropriate header
image.RegisterFormat("vnd.viam.dep", string(DepthMapMagicNumber),
func(r io.Reader) (image.Image, error) {
dm, err := ReadDepthMap(r)
if err != nil {
return nil, err
}
return dm, nil
},
func(r io.Reader) (image.Config, error) {
// Using Gray 16 as underlying color model for depth
imgBytes := make([]byte, RawDepthHeaderLength)
_, err := io.ReadFull(r, imgBytes)
if err != nil {
return image.Config{}, err
}
header := imgBytes[:RawDepthHeaderLength]
width := binary.BigEndian.Uint64(header[8:16])
height := binary.BigEndian.Uint64(header[16:24])
return image.Config{
ColorModel: color.Gray16Model,
Width: int(width),
Height: int(height),
}, nil
},
)
} // end of init
// readImageFromFile extracts the RGB, Z16, or raw depth data from an image file.
func readImageFromFile(path string) (image.Image, error) {
switch {
case strings.HasSuffix(path, ".dat.gz"), strings.HasSuffix(path, ".dat"):
return ParseRawDepthMap(path)
default:
//nolint:gosec
f, err := os.Open(path)
if err != nil {
return nil, err
}
defer utils.UncheckedErrorFunc(f.Close)
img, _, err := image.Decode(f)
if err != nil {
return nil, err
}
return img, nil
}
}
// NewImageFromFile returns an image read in from the given file.
func NewImageFromFile(fn string) (*Image, error) {
img, err := readImageFromFile(fn)
if err != nil {
return nil, err
}
return ConvertImage(img), nil
}
// NewDepthMapFromFile extract the depth map from a Z16 image file or a .dat image file.
func NewDepthMapFromFile(ctx context.Context, fn string) (*DepthMap, error) {
img, err := readImageFromFile(fn)
if err != nil {
return nil, err
}
return ConvertImageToDepthMap(ctx, img)
}
// WriteImageToFile writes the given image to a file at the supplied path.
func WriteImageToFile(path string, img image.Image) (err error) {
//nolint:gosec
f, err := os.Create(path)
if err != nil {
return err
}
defer func() {
err = multierr.Combine(err, f.Close())
}()
if dm, ok := img.(*DepthMap); ok {
img = dm.ToGray16Picture()
}
switch filepath.Ext(path) {
case ".png":
return png.Encode(f, img)
case ".jpg", ".jpeg":
return EncodeJPEG(f, img)
case ".ppm":
return ppm.Encode(f, img)
case ".qoi":
return qoi.Encode(f, img)
default:
return errors.Errorf("rimage.WriteImageToFile unsupported format: %s", filepath.Ext(path))
}
}
// ConvertImage converts a go image into our Image type.
func ConvertImage(img image.Image) *Image {
ii, ok := img.(*Image)
if ok {
return ii
}
iwd, ok := img.(*imageWithDepth)
if ok {
return iwd.Color
}
b := img.Bounds()
ii = NewImage(b.Max.X, b.Max.Y)
switch orig := img.(type) {
case *image.YCbCr:
fastConvertYcbcr(ii, orig)
case *image.RGBA:
fastConvertRGBA(ii, orig)
case *image.NRGBA:
fastConvertNRGBA(ii, orig)
default:
for y := 0; y < ii.height; y++ {
for x := 0; x < ii.width; x++ {
ii.SetXY(x, y, NewColorFromColor(img.At(x, y)))
}
}
}
return ii
}
// CloneImage creates a copy of the input image.
func CloneImage(img image.Image) *Image {
ii, ok := img.(*Image)
if ok {
return ii.Clone()
}
iwd, ok := img.(*imageWithDepth)
if ok {
return iwd.Clone().Color
}
return ConvertImage(img)
}
// SaveImage takes an image.Image and saves it to a jpeg at the given
// file location and also returns the location back.
func SaveImage(pic image.Image, loc string) error {
f, err := os.Create(filepath.Clean(loc))
if err != nil {
return errors.Wrapf(err, "can't save at location %s", loc)
}
defer func() {
if err := f.Close(); err != nil {
panic(err)
}
}()
if err = EncodeJPEG(f, pic); err != nil {
return errors.Wrapf(err, "the 'image' will not encode")
}
return nil
}
// DecodeImage takes an image buffer and decodes it, using the mimeType
// and the dimensions, to return the image.
func DecodeImage(ctx context.Context, imgBytes []byte, mimeType string) (image.Image, error) {
_, span := trace.StartSpan(ctx, "rimage::DecodeImage::"+mimeType)
defer span.End()
mimeType, returnLazy := ut.CheckLazyMIMEType(mimeType)
if returnLazy {
return NewLazyEncodedImage(imgBytes, mimeType), nil
}
switch mimeType {
case "", ut.MimeTypeJPEG:
img, err := DecodeJPEG(bytes.NewReader(imgBytes))
if err != nil {
return nil, err
}
return img, nil
default:
img, _, err := image.Decode(bytes.NewReader(imgBytes))
if err != nil {
return nil, err
}
return img, nil
}
}
// EncodeImage takes an image and mimeType as input and encodes it into a
// slice of bytes (buffer) and returns the bytes.
func EncodeImage(ctx context.Context, img image.Image, mimeType string) ([]byte, error) {
_, span := trace.StartSpan(ctx, "rimage::EncodeImage::"+mimeType)
defer span.End()
actualOutMIME, _ := ut.CheckLazyMIMEType(mimeType)
if lazy, ok := img.(*LazyEncodedImage); ok {
if lazy.MIMEType() == actualOutMIME {
return lazy.imgBytes, nil
}
// LazyImage holds bytes different from requested mime type: decode and re-encode
lazy.decode()
if lazy.decodeErr != nil {
return nil, errors.Errorf("could not decode LazyEncodedImage: %v", lazy.decodeErr)
}
return EncodeImage(ctx, lazy.decodedImage, actualOutMIME)
}
var buf bytes.Buffer
switch actualOutMIME {
case ut.MimeTypeRawDepth:
if _, err := WriteViamDepthMapTo(img, &buf); err != nil {
return nil, err
}
case ut.MimeTypeRawRGBA:
// Here we create a custom header to prepend to Raw RGBA data. Credit to
// Ben Zotto for inventing this formulation
// https://bzotto.medium.com/introducing-the-rgba-bitmap-file-format-4a8a94329e2c
buf.Write(RGBABitmapMagicNumber)
widthBytes := make([]byte, 4)
heightBytes := make([]byte, 4)
bounds := img.Bounds()
binary.BigEndian.PutUint32(widthBytes, uint32(bounds.Dx()))
binary.BigEndian.PutUint32(heightBytes, uint32(bounds.Dy()))
buf.Write(widthBytes)
buf.Write(heightBytes)
imgStruct := image.NewNRGBA(bounds)
draw.Draw(imgStruct, bounds, img, bounds.Min, draw.Src)
buf.Write(imgStruct.Pix)
case ut.MimeTypePNG:
if err := png.Encode(&buf, img); err != nil {
return nil, err
}
case ut.MimeTypeJPEG:
if err := EncodeJPEG(&buf, img); err != nil {
return nil, err
}
case ut.MimeTypeQOI:
if err := qoi.Encode(&buf, img); err != nil {
return nil, err
}
case ut.MimeTypeH264:
frame := img.(H264)
buf.Write(frame.Bytes)
default:
return nil, errors.Errorf("do not know how to encode %q", actualOutMIME)
}
return buf.Bytes(), nil
}
func fastConvertNRGBA(dst *Image, src *image.NRGBA) {
for y := 0; y < dst.height; y++ {
for x := 0; x < dst.width; x++ {
i := src.PixOffset(x, y)
s := src.Pix[i : i+3 : i+3] // Small cap improves performance, see https://golang.org/issue/27857
r, g, b := s[0], s[1], s[2]
dst.SetXY(x, y, NewColor(r, g, b))
}
}
}
func fastConvertRGBA(dst *Image, src *image.RGBA) {
for y := 0; y < dst.height; y++ {
for x := 0; x < dst.width; x++ {
i := src.PixOffset(x, y)
s := src.Pix[i : i+4 : i+4]
r, g, b, a := s[0], s[1], s[2], s[3]
if a == 255 {
dst.SetXY(x, y, NewColor(r, g, b))
} else {
dst.SetXY(x, y, NewColorFromColor(color.RGBA{r, g, b, a}))
}
}
}
}
// ConvertToRGBA converts an rimage.Image type image to image.RGBA.
func ConvertToRGBA(dst *image.RGBA, src *Image) {
for y := 0; y < src.height; y++ {
for x := 0; x < src.width; x++ {
c := src.At(x, y)
r, g, b, a := c.RGBA()
cRGBA := color.RGBA{R: uint8(r), G: uint8(g), B: uint8(b), A: uint8(a)}
dst.SetRGBA(x, y, cRGBA)
}
}
}
func fastConvertYcbcr(dst *Image, src *image.YCbCr) {
c := color.YCbCr{}
for y := 0; y < dst.height; y++ {
for x := 0; x < dst.width; x++ {
yi := src.YOffset(x, y)
ci := src.COffset(x, y)
c.Y = src.Y[yi]
c.Cb = src.Cb[ci]
c.Cr = src.Cr[ci]
r, g, b := color.YCbCrToRGB(c.Y, c.Cb, c.Cr)
dst.SetXY(x, y, NewColor(r, g, b))
}
}
}
// IsImageFile returns if the given file is an image file based on what
// we support.
func IsImageFile(fn string) bool {
extensions := []string{"ppm", "png", "jpg", "jpeg", "gif"}
for _, suffix := range extensions {
if strings.HasSuffix(fn, suffix) {
return true
}
}
return false
}
// ImageToUInt8Buffer reads an image into a byte slice in the most common sense way.
// Left to right like a book; R, then G, then B. No funny stuff. Assumes values should be between 0-255.
func ImageToUInt8Buffer(img image.Image) []byte {
output := make([]byte, img.Bounds().Dx()*img.Bounds().Dy()*3)
for y := 0; y < img.Bounds().Dy(); y++ {
for x := 0; x < img.Bounds().Dx(); x++ {
r, g, b, a := img.At(x, y).RGBA()
rr, gg, bb, _ := rgbaTo8Bit(r, g, b, a)
output[(y*img.Bounds().Dx()+x)*3+0] = rr
output[(y*img.Bounds().Dx()+x)*3+1] = gg
output[(y*img.Bounds().Dx()+x)*3+2] = bb
}
}
return output
}
// ImageToFloatBuffer reads an image into a byte slice (buffer) the most common sense way.
// Left to right like a book; R, then G, then B. No funny stuff. Assumes values between -1 and 1.
func ImageToFloatBuffer(img image.Image) []float32 {
output := make([]float32, img.Bounds().Dx()*img.Bounds().Dy()*3)
for y := 0; y < img.Bounds().Dy(); y++ {
for x := 0; x < img.Bounds().Dx(); x++ {
r, g, b, a := img.At(x, y).RGBA()
rr, gg, bb := float32(r)/float32(a)*2-1, float32(g)/float32(a)*2-1, float32(b)/float32(a)*2-1
output[(y*img.Bounds().Dx()+x)*3+0] = rr
output[(y*img.Bounds().Dx()+x)*3+1] = gg
output[(y*img.Bounds().Dx()+x)*3+2] = bb
}
}
return output
}
// rgbaTo8Bit converts the uint32s from RGBA() to uint8s.
func rgbaTo8Bit(r, g, b, a uint32) (rr, gg, bb, aa uint8) {
r >>= 8
rr = uint8(r)
g >>= 8
gg = uint8(g)
b >>= 8
bb = uint8(b)
a >>= 8
aa = uint8(a)
return
}