RSDK-2077 Make sure custom depth type is big endian encoded (viamrobo…

…tics#1984)

.artifact/tree.json

@@ -3881,7 +3881,7 @@
       "size": 567
     },
     "fakeDM.vnd.viam.dep": {
-      "hash": "4a7dca803d353064c65886fae49c823a",
+      "hash": "80f3125fe6b7244ea0ca8ab7a27fa866",
       "size": 424
     },
     "go_encoded_image.png": {

rimage/depth_map_raw.go

@@ -19,8 +19,11 @@ import (
 const MagicNumIntVersionX = 6363110499870197078
 
 // MagicNumIntViamType is the magic number (as an int) for the custom Viam depth type.
-// magic number for ViamCustomType is uint64([]byte("DEPTHMAP")), Little Endian.
-const MagicNumIntViamType = 5782988369567958340
+// magic number for ViamCustomType is uint64([]byte("DEPTHMAP")), Big Endian.
+const MagicNumIntViamType = 4919426490892632400
+
+// MagicNumIntViamTypeLittleEndian is "PAMHTPED" for the ReadDepthMap function which uses LittleEndian to read.
+const MagicNumIntViamTypeLittleEndian = 5782988369567958340
 
 func _readNext(r io.Reader) (int64, error) {
 	data := make([]byte, 8)
@@ -63,7 +66,7 @@ func ReadDepthMap(r io.Reader) (*DepthMap, error) {
 	switch firstBytes {
 	case MagicNumIntVersionX: // magic number for VERSIONX
 		return readDepthMapVersionX(r)
-	case MagicNumIntViamType: // magic number for ViamCustomType is int64([]byte("DEPTHMAP"))
+	case MagicNumIntViamTypeLittleEndian: // magic number for ViamCustomType PAMHTPED (LittleEndian DEPTHMAP)
 		return readDepthMapViam(r)
 	default:
 		return readDepthMapRaw(r, firstBytes)
@@ -88,20 +91,25 @@ func readDepthMapRaw(ff io.Reader, firstBytes int64) (*DepthMap, error) {
 func readDepthMapViam(ff io.Reader) (*DepthMap, error) {
 	f := bufio.NewReader(ff)
 	dm := &DepthMap{}
+	data := make([]byte, 8)
 
-	rawWidth, err := _readNext(f)
+	_, err := f.Read(data)
 	if err != nil {
 		return nil, errors.Wrapf(err, "could not read vnd.viam.dep width")
 	}
+	rawWidth := binary.BigEndian.Uint64(data)
 	dm.width = int(rawWidth)
-	rawHeight, err := _readNext(f)
+
+	_, err = f.Read(data)
 	if err != nil {
 		return nil, errors.Wrapf(err, "could not read vnd.viam.dep height")
 	}
+	rawHeight := binary.BigEndian.Uint64(data)
 	dm.height = int(rawHeight)
+
 	// dump the rest of the bytes in a depth slice
 	datSlice := make([]Depth, dm.height*dm.width)
-	err = binary.Read(f, binary.LittleEndian, &datSlice)
+	err = binary.Read(f, binary.BigEndian, &datSlice)
 	if err != nil {
 		return nil, errors.Wrapf(err, "could not read vnd.viam.dep data slice")
 	}
@@ -315,39 +323,39 @@ func WriteViamDepthMapTo(img image.Image, out io.Writer) (int64, error) {
 	width := img.Bounds().Dx()
 	height := img.Bounds().Dy()
 
-	binary.LittleEndian.PutUint64(buf, uint64(MagicNumIntViamType))
+	binary.BigEndian.PutUint64(buf, uint64(MagicNumIntViamType))
 	n, err := out.Write(buf)
 	totalN += int64(n)
 	if err != nil {
 		return totalN, err
 	}
-	binary.LittleEndian.PutUint64(buf, uint64(width))
+	binary.BigEndian.PutUint64(buf, uint64(width))
 	n, err = out.Write(buf)
 	totalN += int64(n)
 	if err != nil {
 		return totalN, err
 	}
 
-	binary.LittleEndian.PutUint64(buf, uint64(height))
+	binary.BigEndian.PutUint64(buf, uint64(height))
 	n, err = out.Write(buf)
 	totalN += int64(n)
 	if err != nil {
 		return totalN, err
 	}
 	switch dm := img.(type) {
 	case *DepthMap:
-		err = binary.Write(out, binary.LittleEndian, dm.data) // uint16 data
+		err = binary.Write(out, binary.BigEndian, dm.data)
 		if err != nil {
 			return totalN, err
 		}
-		totalN += int64(len(dm.data) * 2)
+		totalN += int64(len(dm.data) * 2) // uint16 data
 	case *image.Gray16:
 		grayBuf := make([]byte, 2)
 		for y := 0; y < height; y++ {
 			for x := 0; x < width; x++ {
 				i := dm.PixOffset(x, y)
 				z := uint16(dm.Pix[i+0])<<8 | uint16(dm.Pix[i+1])
-				binary.LittleEndian.PutUint16(grayBuf, z)
+				binary.BigEndian.PutUint16(grayBuf, z)
 				n, err = out.Write(grayBuf)
 				totalN += int64(n)
 				if err != nil {

rimage/depth_map_test.go

@@ -374,7 +374,6 @@ func TestViamDepthMap(t *testing.T) {
 func TestDepthMapEncoding(t *testing.T) {
 	m, err := NewDepthMapFromFile(context.Background(), artifact.MustPath("rimage/fakeDM.vnd.viam.dep"))
 	test.That(t, err, test.ShouldBeNil)
-
 	// Test values at points of DepthMap
 	// This example DepthMap (fakeDM) was made such that Depth(x,y) = x*y
 	test.That(t, m.Width(), test.ShouldEqual, 20)
@@ -385,10 +384,6 @@ func TestDepthMapEncoding(t *testing.T) {
 	test.That(t, testPt2, test.ShouldEqual, 60)
 
 	// Save DepthMap BYTES to a file
-	buf := bytes.Buffer{}
-	err = m.WriteToBuf(&buf)
-	test.That(t, err, test.ShouldBeNil)
-	test.That(t, buf.Bytes(), test.ShouldNotBeNil)
 	outDir := testutils.TempDirT(t, "", "rimage")
 	saveTo := outDir + "/grayboard_bytes.vnd.viam.dep"
 	err = WriteRawDepthMapToFile(m, saveTo)

rimage/image_file.go

@@ -1,7 +1,6 @@
 package rimage
 
 import (
-	"bufio"
 	"bytes"
 	"context"
 	"encoding/binary"
@@ -96,23 +95,18 @@ func init() {
 		},
 		func(r io.Reader) (image.Config, error) {
 			// Using Gray 16 as underlying color model for depth
-			f := r.(*bufio.Reader)
-			firstBytes, err := _readNext(r)
-			if err != nil || firstBytes != MagicNumIntViamType {
-				return image.Config{}, errors.Wrap(err, "first image bytes do not match expected magic number")
-			}
-			rawWidth, err := _readNext(f)
-			if err != nil {
-				return image.Config{}, err
-			}
-			rawHeight, err := _readNext(f)
+			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(rawWidth),
-				Height:     int(rawHeight),
+				Width:      int(width),
+				Height:     int(height),
 			}, nil
 		},
 	)

rimage/image_file_test.go

@@ -85,6 +85,22 @@ func TestRawRGBAEncodingDecoding(t *testing.T) {
 
 	encodedImgBytes, err := EncodeImage(context.Background(), img, utils.MimeTypeRawRGBA)
 	test.That(t, err, test.ShouldBeNil)
+	reader := bytes.NewReader(encodedImgBytes)
+
+	conf, header, err := image.DecodeConfig(reader)
+	test.That(t, err, test.ShouldBeNil)
+	test.That(t, header, test.ShouldEqual, "vnd.viam.rgba")
+	test.That(t, conf.Width, test.ShouldEqual, img.Bounds().Dx())
+	test.That(t, conf.Height, test.ShouldEqual, img.Bounds().Dy())
+
+	// decode with image package
+	reader = bytes.NewReader(encodedImgBytes)
+	imgDecoded, header, err := image.Decode(reader)
+	test.That(t, err, test.ShouldBeNil)
+	test.That(t, header, test.ShouldEqual, "vnd.viam.rgba")
+	test.That(t, imgDecoded.Bounds(), test.ShouldResemble, img.Bounds())
+	test.That(t, imgDecoded.At(3, 6), test.ShouldResemble, img.At(3, 6))
+	test.That(t, imgDecoded.At(1, 3), test.ShouldResemble, img.At(1, 3))
 
 	decodedImg, err := DecodeImage(context.Background(), encodedImgBytes, utils.MimeTypeRawRGBA)
 	test.That(t, err, test.ShouldBeNil)
@@ -96,3 +112,40 @@ func TestRawRGBAEncodingDecoding(t *testing.T) {
 	test.That(t, imgB, test.ShouldResemble, decodedImgB)
 	test.That(t, imgA, test.ShouldResemble, decodedImgA)
 }
+
+func TestRawDepthEncodingDecoding(t *testing.T) {
+	img := NewEmptyDepthMap(4, 8)
+	for x := 0; x < 4; x++ {
+		for y := 0; y < 8; y++ {
+			img.Set(x, y, Depth(x*y))
+		}
+	}
+	encodedImgBytes, err := EncodeImage(context.Background(), img, utils.MimeTypeRawDepth)
+	test.That(t, err, test.ShouldBeNil)
+	reader := bytes.NewReader(encodedImgBytes)
+
+	// decode Header
+	conf, header, err := image.DecodeConfig(reader)
+	test.That(t, err, test.ShouldBeNil)
+	test.That(t, header, test.ShouldEqual, "vnd.viam.dep")
+	test.That(t, conf.Width, test.ShouldEqual, img.Bounds().Dx())
+	test.That(t, conf.Height, test.ShouldEqual, img.Bounds().Dy())
+
+	// decode with image package
+	reader = bytes.NewReader(encodedImgBytes)
+	imgDecoded, header, err := image.Decode(reader)
+	test.That(t, err, test.ShouldBeNil)
+	test.That(t, header, test.ShouldEqual, "vnd.viam.dep")
+	test.That(t, imgDecoded.Bounds(), test.ShouldResemble, img.Bounds())
+	test.That(t, imgDecoded.At(2, 3), test.ShouldResemble, img.At(2, 3))
+	test.That(t, imgDecoded.At(1, 0), test.ShouldResemble, img.At(1, 0))
+
+	// decode with rimage package
+	decodedImg, err := DecodeImage(context.Background(), encodedImgBytes, utils.MimeTypeRawDepth)
+	test.That(t, err, test.ShouldBeNil)
+	test.That(t, decodedImg.Bounds(), test.ShouldResemble, img.Bounds())
+	decodedDm, ok := decodedImg.(*DepthMap)
+	test.That(t, ok, test.ShouldBeTrue)
+	test.That(t, decodedDm.GetDepth(2, 3), test.ShouldEqual, img.GetDepth(2, 3))
+	test.That(t, decodedDm.GetDepth(1, 0), test.ShouldEqual, img.GetDepth(1, 0))
+}