Rsdk 2077 write gray16 images to viam depth format #1960
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| return setRawDepthMapValues(f, &dm) | ||
| // dump the rest of the bytes in a depth slice | ||
| datSlice := make([]Depth, dm.height*dm.width) |
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This seems like a smoother way to do setRawDepthMapValues() except now there's two places with basically the same code chunk. We only use this here and in readDepthMapRaw, so maybe just go ahead and replace the function with this logic? Might mean that the error printout gets slightly less specific though...
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Seems like we're just dumping it all out as opposed to reading 8 bytes at a time. Nice. This should also be valid for raw depth maps.
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Raw Depth maps are actually treated differently:
In the raw depth map function, it is writing the two bytes (uint16) of depth info from the *DepthMap to 8 bytes (uint64) of space in the buffer. These leaves a lot of 0-padding in the files. When reading the Raw Depth file using setRawDepthMapValues, it has to read 8 byte chunks at a time, just to read the 2 bytes of depth to put into the *DepthMap pixel.
This new Viam function, on the other hand, writes out 2 bytes, and reads 2 bytes. So the space the file takes up is smaller, because it doesn't have 6 extra bytes of 0s for every 2 bytes of depth info. This also allows you to just dump the data from the file into a depth slice, without having to parse 8 bytes at a time.
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I'll put a comment in the file pointing out the difference
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| // Test values at points of DepthMap | ||
| // This example DepthMap (fakeDM) was made such that Depth(x,y) = x*y | ||
| func TestDepthMapEncoding(t *testing.T) { |
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I think we lost the "make sure you can read this from a file with the right extension" test and we might wanna keep it. The depth map in artifact/rimage/fakeDM.vnd.viam.dep is just like the one created below from scratch.
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This PR changes the way vnd.viam.dep files are written. Each value is not given 8 bytes of space in the file, but only two bytes. This "compression" makes the new file sizes smaller, but also means that the format is different from what it was before.
But yes, I will create a new vnd.viam.dep file without the 8byte padding, and just the 2byte per pixel length.
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0000000 D E P T H M A P
0000010 024 \0 \0 \0 \0 \0 \0 \0
0000020 \n \0 \0 \0 \0 \0 \0 \0
0000030 \0 \0 \0 \0 \0 \0 \0 \0
0000040 \0 \0 \0 \0 \0 \0 \0 \0
0000050 \0 \0 \0 \0 \0 \0 \0 \0
0000060 \0 \0 \0 \0 \0 \0 \0 \0
0000070 \0 \0 \0 \0 \0 \0 \0 \0
0000100 \0 \0 \0 \0 \0 \0 \0 \0
0000110 \0 \0 \0 \0 \0 \0 \0 \0
0000120 \0 \0 \0 \0 \0 \0 \0 \0
0000130 \0 \0 \0 \0 \0 \0 \0 \0
0000140 \0 \0 \0 \0 \0 \0 \0 \0
0000150 \0 \0 \0 \0 \0 \0 \0 \0
0000160 001 \0 \0 \0 \0 \0 \0 \0
0000170 002 \0 \0 \0 \0 \0 \0 \0
0000200 003 \0 \0 \0 \0 \0 \0 \0
0000210 004 \0 \0 \0 \0 \0 \0 \0
Like, here is the byte writeout for artifact/rimage/fakeDM.vnd.viam.dep, where each line is 8 bytes, and the first 3 lines are the DEPTHMAP header, width and height respectively. And then after that, each 8 bytes is one pixel
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And here is the new vnd.viam.dep format, which is more compact, which essentially holds 4 pixels worth of data on each line
0000000 D E P T H M A P
0000010 024 \0 \0 \0 \0 \0 \0 \0
0000020 \n \0 \0 \0 \0 \0 \0 \0
0000030 \0 \0 \0 \0 \0 \0 \0 \0
0000040 \0 \0 \0 \0 \0 \0 \0 \0
0000050 \0 \0 \0 \0 \0 \0 \0 \0
0000060 \0 \0 \0 \0 \0 \0 \0 \0
0000070 \0 \0 \0 \0 \0 \0 \0 \0
0000100 \0 \0 001 \0 002 \0 003 \0
0000110 004 \0 005 \0 006 \0 \a \0
0000120 \b \0 \t \0 \n \0 \v \0
0000130 \f \0 \r \0 016 \0 017 \0
0000140 020 \0 021 \0 022 \0 023 \0
0000150 \0 \0 002 \0 004 \0 006 \0
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Replaced the fakeDM file in artifact to new more compressed format.
| @@ -61,15 +62,16 @@ func ReadDepthMap(r io.Reader) (*DepthMap, error) { | |||
| } | |||
| switch firstBytes { | |||
| case MagicNumIntVersionX: // magic number for VERSIONX | |||
| return readDepthMapVersionX(r.(*bufio.Reader)) | |||
| return readDepthMapVersionX(r) | |||
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Yeah this is already a great change just from synchronizing the function signatures to all input a io.Reader. Love this.
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Warning changing any of the following functions will break code samples on app if an api for these function changes please contact the fleet team
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This will allow an *image.Gray16 to be written to an
image/vnd.viam.depas well.It also speeds up some of the writing to file if you are writing a Viam *DepthMap.
This also changes the form a
vnd.viam.depfile. Before, each depth value was given 8 bytes of space to put in 2 bytes of depth info. The new way of encoding just gives each pixel the necessary 2 bytes. This also allows dumps of data from the DepthMap slices to be written and read faster.Testing with an intel realsense, and it makes correct point clouds.