vpImageIoPortable.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Backend for portable image format I/O operations.
 */

 
#include "vpImageIoBackend.h"
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpEndian.h>
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
void vp_decodeHeaderPNM(const std::string &filename, std::ifstream &fd, const std::string &magic, unsigned int &w,
                        unsigned int &h, unsigned int &maxval)
{
  std::string line;
  unsigned int nb_elt = 4, cpt_elt = 0;
  while (cpt_elt != nb_elt) {
    // Skip empty lines or lines starting with # (comment)
    while (std::getline(fd, line) && (line.compare(0, 1, "#") == 0 || line.size() == 0)) {
    }
 
    if (fd.eof()) {
      fd.close();
      throw(vpImageException(vpImageException::ioError, "Cannot read header of file \"%s\"", filename.c_str()));
    }
 
    std::vector<std::string> header = vpIoTools::splitChain(line, std::string(" "));
 
    if (header.size() == 0) {
      fd.close();
      throw(vpImageException(vpImageException::ioError, "Cannot read header of file \"%s\"", filename.c_str()));
    }
 
    if (cpt_elt == 0) { // decode magic
      if (header[0].compare(0, magic.size(), magic) != 0) {
        fd.close();
        throw(vpImageException(vpImageException::ioError, "\"%s\" is not a PNM file with magic number %s",
                               filename.c_str(), magic.c_str()));
      }
      cpt_elt++;
      header.erase(header.begin(),
                   header.begin() + 1); // erase first element that is processed
    }
    while (header.size()) {
      if (cpt_elt == 1) { // decode width
        std::istringstream ss(header[0]);
        ss >> w;
        cpt_elt++;
        header.erase(header.begin(),
                     header.begin() + 1); // erase first element that is processed
      } else if (cpt_elt == 2) {          // decode height
        std::istringstream ss(header[0]);
        ss >> h;
        cpt_elt++;
        header.erase(header.begin(),
                     header.begin() + 1); // erase first element that is processed
      } else if (cpt_elt == 3) {          // decode maxval
        std::istringstream ss(header[0]);
        ss >> maxval;
        cpt_elt++;
        header.erase(header.begin(),
                     header.begin() + 1); // erase first element that is processed
      }
    }
  }
}
 
void vp_decodeHeaderPFM(const std::string &filename, std::ifstream &fd, std::string &magic, unsigned int &w,
                        unsigned int &h, double &scale, bool &littleEndian)
{
  std::string line;
  const unsigned int nb_elt = 4;
  unsigned int cpt_elt = 0;
  while (cpt_elt != nb_elt) {
    // Skip empty lines or lines starting with # (comment)
    while (std::getline(fd, line) && (line.compare(0, 1, "#") == 0 || line.size() == 0)) {
    }
 
    if (fd.eof()) {
      fd.close();
      throw(vpImageException(vpImageException::ioError, "Cannot read header of file \"%s\"", filename.c_str()));
    }
 
    std::vector<std::string> header = vpIoTools::splitChain(line, std::string(" "));
 
    if (header.empty()) {
      fd.close();
      throw(vpImageException(vpImageException::ioError, "Cannot read header of file \"%s\"", filename.c_str()));
    }
 
    if (cpt_elt == 0) { // decode magic
      magic = header[0];
      if (magic != "PF" && magic != "Pf") {
        fd.close();
        throw(vpImageException(vpImageException::ioError,
                               "\"%s\" is not a PFM file with PF (RGB) or Pf (gray) magic number", filename.c_str()));
      }
      cpt_elt++;
      header.erase(header.begin(),
                   header.begin() + 1); // erase first element that is processed
    }
    while (header.size()) {
      if (cpt_elt == 1) { // decode width
        std::istringstream ss(header[0]);
        ss >> w;
        cpt_elt++;
        header.erase(header.begin(),
                     header.begin() + 1); // erase first element that is processed
      } else if (cpt_elt == 2) {          // decode height
        std::istringstream ss(header[0]);
        ss >> h;
        cpt_elt++;
        header.erase(header.begin(),
                     header.begin() + 1); // erase first element that is processed
      } else if (cpt_elt == 3) {          // decode byte order
        std::istringstream ss(header[0]);
        ss >> scale;
        littleEndian = scale < 0;
        cpt_elt++;
        header.erase(header.begin(),
                     header.begin() + 1); // erase first element that is processed
      }
    }
  }
}
#endif
 
//--------------------------------------------------------------------------
// PFM
//--------------------------------------------------------------------------

void vp_writePFM(const vpImage<float> &I, const std::string &filename)
{
  FILE *fd;
 
  // Test the filename
  if (filename.empty()) {
    throw(vpImageException(vpImageException::ioError, "Cannot write PFM image: filename empty"));
  }
 
  fd = fopen(filename.c_str(), "wb");
 
  if (fd == NULL) {
    throw(vpImageException(vpImageException::ioError, "Cannot create PFM file \"%s\"", filename.c_str()));
  }
 
  // Write the head
  fprintf(fd, "P8\n");                                 // Magic number
  fprintf(fd, "%u %u\n", I.getWidth(), I.getHeight()); // Image size
  fprintf(fd, "255\n");                                // Max level
 
  // Write the bitmap
  size_t ierr;
  size_t nbyte = I.getWidth() * I.getHeight();
 
  ierr = fwrite(I.bitmap, sizeof(float), nbyte, fd);
  if (ierr != nbyte) {
    fclose(fd);
    throw(vpImageException(vpImageException::ioError, "Cannot save PFM file \"%s\": only %d bytes over %d saved ",
                           filename.c_str(), ierr, nbyte));
  }
 
  fflush(fd);
  fclose(fd);
}
 
void vp_writePFM_HDR(const vpImage<float> &I, const std::string &filename)
{
  // Test the filename
  if (filename.empty()) {
    throw(vpImageException(vpImageException::ioError, "Cannot write PFM image: filename empty"));
  }
 
  FILE *fd = fopen(filename.c_str(), "wb");
  if (fd == NULL) {
    throw(vpImageException(vpImageException::ioError, "Cannot create PFM file \"%s\"", filename.c_str()));
  }
 
  // Write the head
  fprintf(fd, "Pf\n");                                 // Magic number
  fprintf(fd, "%u %u\n", I.getWidth(), I.getHeight()); // Image size
#ifdef VISP_LITTLE_ENDIAN
  fprintf(fd, "%f\n", -1.0f);                          // Byte order
#else
  fprintf(fd, "%f\n", 1.0f);                           // Byte order
#endif
 
  // Write the bitmap
  size_t nbyte = I.getWidth();
  for (int i = static_cast<int>(I.getHeight()) - 1; i >= 0; i--) {
    size_t ierr = fwrite(I[i], sizeof(float), nbyte, fd);
    if (ierr != nbyte) {
      fclose(fd);
      throw(vpImageException(vpImageException::ioError, "Cannot save PFM file \"%s\": only %d bytes over %d saved ",
                             filename.c_str(), ierr, nbyte));
    }
  }
 
  fflush(fd);
  fclose(fd);
}
 
void vp_writePFM_HDR(const vpImage<vpRGBf> &I, const std::string &filename)
{
  // Test the filename
  if (filename.empty()) {
    throw(vpImageException(vpImageException::ioError, "Cannot write PFM image: filename empty"));
  }
 
  FILE *fd = fopen(filename.c_str(), "wb");
  if (fd == NULL) {
    throw(vpImageException(vpImageException::ioError, "Cannot create PFM file \"%s\"", filename.c_str()));
  }
 
  // Write the head
  fprintf(fd, "PF\n");                                 // Magic number
  fprintf(fd, "%u %u\n", I.getWidth(), I.getHeight()); // Image size
#ifdef VISP_LITTLE_ENDIAN
  fprintf(fd, "%f\n", -1.0f);                          // Byte order
#else
  fprintf(fd, "%f\n", 1.0f);                           // Byte order
#endif
 
  // Write the bitmap
  size_t nbyte = I.getWidth() * 3;
  for (int i = static_cast<int>(I.getHeight()) - 1; i >= 0; i--) {
    size_t ierr = fwrite(I[i], sizeof(float), nbyte, fd);
     if (ierr != nbyte) {
      fclose(fd);
      throw(vpImageException(vpImageException::ioError, "Cannot save PFM file \"%s\": only %d bytes over %d saved ",
                             filename.c_str(), ierr, nbyte));
    }
  }
 
  fflush(fd);
  fclose(fd);
}
 
//--------------------------------------------------------------------------
// PGM
//--------------------------------------------------------------------------

void vp_writePGM(const vpImage<unsigned char> &I, const std::string &filename)
{
  FILE *fd;
 
  // Test the filename
  if (filename.empty()) {
    throw(vpImageException(vpImageException::ioError, "Cannot create PGM file: filename empty"));
  }
 
  fd = fopen(filename.c_str(), "wb");
 
  if (fd == NULL) {
    throw(vpImageException(vpImageException::ioError, "Cannot create PGM file \"%s\"", filename.c_str()));
  }
 
  // Write the head
  fprintf(fd, "P5\n");                                 // Magic number
  fprintf(fd, "%u %u\n", I.getWidth(), I.getHeight()); // Image size
  fprintf(fd, "255\n");                                // Max level
 
  // Write the bitmap
  size_t ierr;
  size_t nbyte = I.getWidth() * I.getHeight();
 
  ierr = fwrite(I.bitmap, sizeof(unsigned char), nbyte, fd);
  if (ierr != nbyte) {
    fclose(fd);
    throw(vpImageException(vpImageException::ioError, "Cannot save PGM file \"%s\": only %d over %d bytes saved",
                           filename.c_str(), ierr, nbyte));
  }
 
  fflush(fd);
  fclose(fd);
}

void vp_writePGM(const vpImage<short> &I, const std::string &filename)
{
  vpImage<unsigned char> Iuc;
  unsigned int nrows = I.getHeight();
  unsigned int ncols = I.getWidth();
 
  Iuc.resize(nrows, ncols);
 
  for (unsigned int i = 0; i < nrows * ncols; i++)
    Iuc.bitmap[i] = (unsigned char)I.bitmap[i];
 
  vp_writePGM(Iuc, filename);
}

void vp_writePGM(const vpImage<vpRGBa> &I, const std::string &filename)
{
 
  FILE *fd;
 
  // Test the filename
  if (filename.empty()) {
    throw(vpImageException(vpImageException::ioError, "Cannot create PGM file: filename empty"));
  }
 
  fd = fopen(filename.c_str(), "wb");
 
  if (fd == NULL) {
    throw(vpImageException(vpImageException::ioError, "Cannot create PGM file \"%s\"", filename.c_str()));
  }
 
  // Write the head
  fprintf(fd, "P5\n");                                 // Magic number
  fprintf(fd, "%u %u\n", I.getWidth(), I.getHeight()); // Image size
  fprintf(fd, "255\n");                                // Max level
 
  // Write the bitmap
  size_t ierr;
  size_t nbyte = I.getWidth() * I.getHeight();
 
  vpImage<unsigned char> Itmp;
  vpImageConvert::convert(I, Itmp);
 
  ierr = fwrite(Itmp.bitmap, sizeof(unsigned char), nbyte, fd);
  if (ierr != nbyte) {
    fclose(fd);
    throw(vpImageException(vpImageException::ioError, "Cannot save PGM file \"%s\": only %d over %d bytes saved",
                           filename.c_str(), ierr, nbyte));
  }
 
  fflush(fd);
  fclose(fd);
}

void vp_readPFM(vpImage<float> &I, const std::string &filename)
{
  unsigned int w = 0, h = 0, maxval = 0;
  const unsigned int w_max = 100000, h_max = 100000, maxval_max = 255;
  const std::string magic("P8");
 
  std::ifstream fd(filename.c_str(), std::ios::binary);
 
  // Open the filename
  if (!fd.is_open()) {
    throw(vpImageException(vpImageException::ioError, "Cannot open file \"%s\"", filename.c_str()));
  }
 
  vp_decodeHeaderPNM(filename, fd, magic, w, h, maxval);
 
  if (w > w_max || h > h_max) {
    fd.close();
    throw(vpException(vpException::badValue, "Bad image size in \"%s\"", filename.c_str()));
  }
  if (maxval > maxval_max) {
    fd.close();
    throw(vpImageException(vpImageException::ioError, "Bad maxval in \"%s\"", filename.c_str()));
  }
 
  if ((h != I.getHeight()) || (w != I.getWidth())) {
    I.resize(h, w);
  }
 
  unsigned int nbyte = I.getHeight() * I.getWidth();
  fd.read((char *)I.bitmap, sizeof(float) * nbyte);
  if (!fd) {
    fd.close();
    throw(vpImageException(vpImageException::ioError, "Read only %d of %d bytes in file \"%s\"", fd.gcount(), nbyte,
                           filename.c_str()));
  }
 
  fd.close();
}

void vp_readPFM_HDR(vpImage<float> &I, const std::string &filename)
{
  std::ifstream fd(filename.c_str(), std::ios::binary);
 
  // Open the filename
  if (!fd.is_open()) {
    throw(vpImageException(vpImageException::ioError, "Cannot open file \"%s\"", filename.c_str()));
  }
 
  const unsigned int w_max = 100000, h_max = 100000;
  const std::string magicRGB("PF"), magicGray("Pf");
  std::string magic;
  unsigned int w = 0, h = 0;
  double scale = 1;
  bool littleEndian = true;
  vp_decodeHeaderPFM(filename, fd, magic, w, h, scale, littleEndian);
 
  if (w > w_max || h > h_max) {
    fd.close();
    throw(vpException(vpException::badValue, "Bad image size in \"%s\"", filename.c_str()));
  }
 
  unsigned int channels = (magic == magicRGB) ? 3 : 1;
  if (h != I.getHeight() || channels * w != I.getWidth()) {
    I.resize(h, channels * w);
  }
 
#ifdef VISP_LITTLE_ENDIAN
  bool swapEndianness = !littleEndian;
#else
  bool swapEndianness = littleEndian;
#endif
  for (int i = I.getHeight() - 1; i >= 0; i--) {
    fd.read((char *)I[i], sizeof(float) * w * channels);
    if (swapEndianness) {
      for (unsigned int j = 0; j < w * channels; j++) {
        I[i][j] = vpEndian::swapFloat(I[i][j]);
      }
    }
  }
 
  if (!fd) {
    fd.close();
    throw(vpImageException(vpImageException::ioError, "Read only %d bytes in file \"%s\"", fd.gcount(),
                           filename.c_str()));
  }
  fd.close();
 
  if (std::fabs(scale) > 0.0f) {
    for (unsigned int i = 0; i < I.getHeight(); i++) {
      for (unsigned int j = 0; j < I.getWidth(); j++) {
        I[i][j] *= 1.0f / static_cast<float>(std::fabs(scale));
      }
    }
  }
}

void vp_readPFM_HDR(vpImage<vpRGBf> &I, const std::string &filename)
{
  std::ifstream fd(filename.c_str(), std::ios::binary);
 
  // Open the filename
  if (!fd.is_open()) {
    throw(vpImageException(vpImageException::ioError, "Cannot open file \"%s\"", filename.c_str()));
  }
 
  const unsigned int w_max = 100000, h_max = 100000;
  const std::string magicRGB("PF"), magicGray("Pf");
  std::string magic;
  unsigned int w = 0, h = 0;
  double scale = 1;
  bool littleEndian = true;
  vp_decodeHeaderPFM(filename, fd, magic, w, h, scale, littleEndian);
 
  if (w > w_max || h > h_max) {
    fd.close();
    throw(vpException(vpException::badValue, "Bad image size in \"%s\"", filename.c_str()));
  }
 
  unsigned int channels = (magic == magicRGB) ? 3 : 1;
  if (magic != magicRGB) {
    throw(vpImageException(vpImageException::ioError, "Image \"%s\" is not an RGB image!", filename.c_str()));
  }
  if (h != I.getHeight() || w != I.getWidth()) {
    I.resize(h, w);
  }
 
#ifdef VISP_LITTLE_ENDIAN
  bool swapEndianness = !littleEndian;
#else
  bool swapEndianness = littleEndian;
#endif
  for (int i = I.getHeight() - 1; i >= 0; i--) {
    fd.read((char *)I[i], sizeof(float) * w * channels);
    if (swapEndianness) {
      for (unsigned int j = 0; j < w; j++) {
        I[i][j].R = vpEndian::swapFloat(I[i][j].R);
        I[i][j].G = vpEndian::swapFloat(I[i][j].G);
        I[i][j].B = vpEndian::swapFloat(I[i][j].B);
      }
    }
  }
 
  if (!fd) {
    fd.close();
    throw(vpImageException(vpImageException::ioError, "Read only %d bytes in file \"%s\"", fd.gcount(),
                           filename.c_str()));
  }
  fd.close();
 
  if (std::fabs(scale) > 0.0f) {
    for (unsigned int i = 0; i < I.getHeight(); i++) {
      for (unsigned int j = 0; j < I.getWidth(); j++) {
        I[i][j].R *= 1.0f / static_cast<float>(std::fabs(scale));
        I[i][j].G *= 1.0f / static_cast<float>(std::fabs(scale));
        I[i][j].B *= 1.0f / static_cast<float>(std::fabs(scale));
      }
    }
  }
}

void vp_readPGM(vpImage<unsigned char> &I, const std::string &filename)
{
  unsigned int w = 0, h = 0, maxval = 0;
  unsigned int w_max = 100000, h_max = 100000, maxval_max = 255;
  std::string magic("P5");
 
  std::ifstream fd(filename.c_str(), std::ios::binary);
 
  // Open the filename
  if (!fd.is_open()) {
    throw(vpImageException(vpImageException::ioError, "Cannot open file \"%s\"", filename.c_str()));
  }
 
  vp_decodeHeaderPNM(filename, fd, magic, w, h, maxval);
 
  if (w > w_max || h > h_max) {
    fd.close();
    throw(vpException(vpException::badValue, "Bad image size in \"%s\"", filename.c_str()));
  }
  if (maxval > maxval_max) {
    fd.close();
    throw(vpImageException(vpImageException::ioError, "Bad maxval in \"%s\"", filename.c_str()));
  }
 
  if ((h != I.getHeight()) || (w != I.getWidth())) {
    I.resize(h, w);
  }
 
  unsigned int nbyte = I.getHeight() * I.getWidth();
  fd.read((char *)I.bitmap, nbyte);
  if (!fd) {
    fd.close();
    throw(vpImageException(vpImageException::ioError, "Read only %d of %d bytes in file \"%s\"", fd.gcount(), nbyte,
                           filename.c_str()));
  }
 
  fd.close();
}

void vp_readPGM(vpImage<vpRGBa> &I, const std::string &filename)
{
  vpImage<unsigned char> Itmp;
 
  vp_readPGM(Itmp, filename);
 
  vpImageConvert::convert(Itmp, I);
}
 
//--------------------------------------------------------------------------
// PPM
//--------------------------------------------------------------------------

void vp_readPPM(vpImage<unsigned char> &I, const std::string &filename)
{
  vpImage<vpRGBa> Itmp;
 
  vp_readPPM(Itmp, filename);
 
  vpImageConvert::convert(Itmp, I);
}

void vp_readPPM(vpImage<vpRGBa> &I, const std::string &filename)
{
  unsigned int w = 0, h = 0, maxval = 0;
  unsigned int w_max = 100000, h_max = 100000, maxval_max = 255;
  std::string magic("P6");
 
  std::ifstream fd(filename.c_str(), std::ios::binary);
 
  // Open the filename
  if (!fd.is_open()) {
    throw(vpImageException(vpImageException::ioError, "Cannot open file \"%s\"", filename.c_str()));
  }
 
  vp_decodeHeaderPNM(filename, fd, magic, w, h, maxval);
 
  if (w > w_max || h > h_max) {
    fd.close();
    throw(vpException(vpException::badValue, "Bad image size in \"%s\"", filename.c_str()));
  }
  if (maxval > maxval_max) {
    fd.close();
    throw(vpImageException(vpImageException::ioError, "Bad maxval in \"%s\"", filename.c_str()));
  }
 
  if ((h != I.getHeight()) || (w != I.getWidth())) {
    I.resize(h, w);
  }
 
  for (unsigned int i = 0; i < I.getHeight(); i++) {
    for (unsigned int j = 0; j < I.getWidth(); j++) {
      unsigned char rgb[3];
      fd.read((char *)&rgb, 3);
 
      if (!fd) {
        fd.close();
        throw(vpImageException(vpImageException::ioError, "Read only %d of %d bytes in file \"%s\"",
                               (i * I.getWidth() + j) * 3 + fd.gcount(), I.getSize() * 3, filename.c_str()));
      }
 
      I[i][j].R = rgb[0];
      I[i][j].G = rgb[1];
      I[i][j].B = rgb[2];
      I[i][j].A = vpRGBa::alpha_default;
    }
  }
 
  fd.close();
}

void vp_writePPM(const vpImage<unsigned char> &I, const std::string &filename)
{
  vpImage<vpRGBa> Itmp;
 
  vpImageConvert::convert(I, Itmp);
 
  vp_writePPM(Itmp, filename);
}

void vp_writePPM(const vpImage<vpRGBa> &I, const std::string &filename)
{
  FILE *f;
 
  // Test the filename
  if (filename.empty()) {
    throw(vpImageException(vpImageException::ioError, "Cannot create PPM file: filename empty"));
  }
 
  f = fopen(filename.c_str(), "wb");
 
  if (f == NULL) {
    throw(vpImageException(vpImageException::ioError, "Cannot create PPM file \"%s\"", filename.c_str()));
  }
 
  fprintf(f, "P6\n");                                 // Magic number
  fprintf(f, "%u %u\n", I.getWidth(), I.getHeight()); // Image size
  fprintf(f, "%d\n", 255);                            // Max level
 
  for (unsigned int i = 0; i < I.getHeight(); i++) {
    for (unsigned int j = 0; j < I.getWidth(); j++) {
      vpRGBa v = I[i][j];
      unsigned char rgb[3];
      rgb[0] = v.R;
      rgb[1] = v.G;
      rgb[2] = v.B;
 
      size_t res = fwrite(&rgb, 1, 3, f);
      if (res != 3) {
        fclose(f);
        throw(vpImageException(vpImageException::ioError, "cannot write file \"%s\"", filename.c_str()));
      }
    }
  }
 
  fflush(f);
  fclose(f);
}