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from PIL import Image
import warnings
import numpy as np
import struct
import io
__version__ = "1.5.0"
def load(data, print_debug_information=False):
def consume(n):
nonlocal data
out, data = data[:n], data[n:]
if len(out) < n:
raise ValueError(f'File is truncated, tried to read {n} bytes, but only {len(out)} bytes remain.')
return out
header = consume(4)
_magic, header_len = struct.unpack('<HH', header)
header += consume(header_len - 4)
if print_debug_information:
import binascii
c200_reference_header = binascii.unhexlify('caac800000c000000001c00000008001000001c00001738300000001c0001c25000010a8290010a82900c4090000a00f000010270000000000001027000000000000000000000204000001000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000acca')
print('[infiray_irg debug] Header hex:', binascii.hexlify(header).decode()[:512])
print('[infiray_irg debug] C200 diff:', ''.join(
(f'\033[0m{b:02x}' if a == b else f'\033[91m{b:02x}') for a, b in zip(header, c200_reference_header)
) + '\033[0m')
for model, match in {
'c201': bytes([0xca, 0xac]),
'other': bytes([0xba, 0xab]),
'p200': bytes([0x04, 0xa0]),
}.items():
if (header[:2] + header[-2:]).startswith(match):
break
else:
raise ValueError(f'Header magic not found. Got header: {header[0]:02x} {header[1]:02x}')
coarse_section_length, y_res, x_res,\
flag0, _unk1, _zero1, fine_offset, _unk2, jpeg_length,\
y_res_2, x_res_2, emissivity = struct.unpack('<IHHHHHHHIHHI', header[4:34])
emissivity /= 1e4
# unit_flag indicates which temperature unit the UI was using. It does not seem to affect the image data in this
# file.
fine_temp_offset1, fine_temp_offset2, distance, *rest, unit_flag, high_gain_mode_flag = struct.unpack('<9IHHI', header[34:78])
distance /= 1e4
if fine_temp_offset1 != fine_temp_offset2:
warnings.warn(f'File lists two different zero offsets for the fine image data {fine_temp_offset1} and {fine_temp_offset2}. Resulting radiometric data might be offset. Please report this with an example file to code@jaseg.de.')
if print_debug_information:
print('[infiray_irg debug] Matched model:', model)
import textwrap
print(textwrap.dedent(f'''
[infiray_irg debug] {header_len=}, {coarse_section_length=}, {y_res=}, {x_res=},
[infiray_irg debug] {flag0=}, {_unk1=}, {_zero1=}, {fine_offset=}, {_unk2=}, {jpeg_length=},
[infiray_irg debug] {y_res_2=}, {x_res_2=}, {emissivity=} {distance=}
[infiray_irg debug] {fine_temp_offset1=} {fine_temp_offset1=} {rest=}, {high_gain_mode_flag=} {unit_flag=}'''))
if x_res*y_res != coarse_section_length:
raise ValueError('Resolution mismatch in header')
vis_jpg = None
coarse_img = np.frombuffer(consume(coarse_section_length), dtype=np.uint8).reshape((y_res, x_res))
fine_img = np.frombuffer(consume(x_res*y_res*2), dtype=np.uint16).reshape((y_res, x_res))
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}')
if flag0 == 1: # Seen in Autel Robotics Evo II Dual 640T V3 file
fine_img = (fine_img / 64) - 25.0
else: # C201 files
# 1/16th Kelvin steps
fine_img = (fine_img / 16) - 273.15
# The offset for low gain mode images is a bit unclear. It seems all readings around room temperature and
# below in low gain mode are kind of garbage.
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([0xac,0xca]):
raise ValueError(f'Header end marker not found. Got header: {header[-2]:02x} {header[-1]:02x}')
# 0.1 Kelvin steps
fine_img = fine_img / 10 - 273.15
vis_jpg = Image.open(io.BytesIO(data))
else:
fine_img = fine_img / 10 - 273.2
# In my example file, data now contains the JSON '{"roi":[]}' and no JPG. We ignore that.
return coarse_img, fine_img, vis_jpg
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