From f60da2a6430d82576d017633eb21e51652391d96 Mon Sep 17 00:00:00 2001
From: jaseg <git@jaseg.de>
Date: Fri, 20 Dec 2024 20:22:47 +0100
Subject: Add support for Autel Robotics Evo II Dual 640T V3 files

---
 src/infiray_irg.py | 23 ++++++++++++++---------
 1 file changed, 14 insertions(+), 9 deletions(-)

(limited to 'src/infiray_irg.py')

diff --git a/src/infiray_irg.py b/src/infiray_irg.py
index dfe0d0c..291dfe3 100644
--- a/src/infiray_irg.py
+++ b/src/infiray_irg.py
@@ -26,7 +26,7 @@ def load(data):
         raise ValueError(f'Header magic not found. Got header: {header[0]:02x} {header[1]:02x}')
 
     _unk0, coarse_section_length, y_res, x_res,\
-    _zero0, _unk1, _zero1, fine_offset, _unk2, jpeg_length,\
+    flag0, _unk1, _zero1, fine_offset, _unk2, jpeg_length,\
     y_res_2, x_res_2, _unk3, = struct.unpack('<HIHHHHHHHIHHI', header[2:34])
 
     fine_temp_offset1, fine_temp_offset2, *rest, high_gain_mode_flag = struct.unpack('<11I', header[34:78])
@@ -39,25 +39,31 @@ def load(data):
 #    import textwrap
 #    print(textwrap.dedent(f'''
 #        {_unk0=}, {coarse_section_length=}, {y_res=}, {x_res=},
-#        {_zero0=}, {_unk1=}, {_zero1=}, {fine_offset=}, {_unk2=}, {jpeg_length=},
+#        {flag0=}, {_unk1=}, {_zero1=}, {fine_offset=}, {_unk2=}, {jpeg_length=},
 #        {y_res_2=}, {x_res_2=}, {_unk3=}
 #        {fine_temp_offset1=} {fine_temp_offset1=} {rest=}, {high_gain_mode_flag=}'''))
 
-    if (x_res, y_res) != (x_res_2, y_res_2) and model != 'p200':
-        raise ValueError(f'Resolution mismatch in header: {x_res}*{y_res} != {x_res_2}*{y_res_2}')
-
     if x_res*y_res != coarse_section_length:
         raise ValueError('Resolution mismatch in header')
         
+    vis_jpg = None
     if model == 'c201':
         if header[-2:] != bytes([0xac,0xca]):
             raise ValueError(f'Header end marker not found. Got header: {header[-2]:02x} {header[-1]:02x}')
         coarse_img = np.frombuffer(consume(coarse_section_length), dtype=np.uint8).reshape((y_res, x_res))
-        # 1/16th Kelvin steps
         fine_img = np.frombuffer(consume(x_res*y_res*2), dtype=np.uint16).reshape((y_res, x_res))
-        fine_img = (fine_img / 16) - fine_temp_offset
 
-        vis_jpg = Image.open(io.BytesIO(consume(jpeg_length)))
+        if flag0 == 1: # Seen in Autel Robotics Evo II Dual 640T V3 file
+            fine_img = (fine_img / 64) - fine_temp_offset
+
+        else: # C201 files
+            # 1/16th Kelvin steps
+            fine_img = (fine_img / 16) - fine_temp_offset
+
+        if jpeg_length > 0:
+            # I have seen a file from an Autel Robotics Evo II Dual 640T V3 that looks like a C201 file, but lacks the
+            # visible data.
+            vis_jpg = Image.open(io.BytesIO(consume(jpeg_length)))
 
     elif model == 'other':
         if header[-2:] != bytes([0xab,0xba]):
@@ -76,7 +82,6 @@ def load(data):
         fine_img = fine_img / 10 - fine_temp_offset
 
         # In my example file, data now contains the JSON '{"roi":[]}' and no JPG. We ignore that.
-        vis_jpg = None
     
     return coarse_img, fine_img, vis_jpg
 
-- 
cgit