Utils: Add method to write PPM file

Write uncompressed image as PPM file
microsoft · Jan 1, 2021 · c7ff43a · c7ff43a
1 parent b1ad3bf
commit c7ff43a
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Showing 2 changed files with 41 additions and 3 deletions.
diff --git a/AirLib/include/common/common_utils/Utils.hpp b/AirLib/include/common/common_utils/Utils.hpp
@@ -704,6 +704,30 @@ class Utils {
                 }
             }
         }
+
+        file.close();
+    }
+
+    static void writePPMfile(const uint8_t* const image_data, int width, int height, const std::string &path)
+    {
+        std::fstream file(path.c_str(), std::ios::out | std::ios::binary);
+
+        file << "P6\n";                             // Magic type for PPM files
+        file << width << " " << height << "\n";
+        file << "255\n";                            // Max color value
+
+        for (int i=0; i<height; i++) {
+            for (int j=0; j<width; j++) {
+                int id = (i*width + j)*3;           // Pixel index
+
+                // Image is in BGR, write as RGB
+                file.write(reinterpret_cast<const char*>(&image_data[id+2]), sizeof(image_data[id+2]));     // R
+                file.write(reinterpret_cast<const char*>(&image_data[id+1]), sizeof(image_data[id+1]));     // G
+                file.write(reinterpret_cast<const char*>(&image_data[id]), sizeof(image_data[id]));         // B
+            }
+        }
+
+        file.close();
     }
 
     template<typename T>

diff --git a/Unreal/Plugins/AirSim/Source/Recording/RecordingFile.cpp b/Unreal/Plugins/AirSim/Source/Recording/RecordingFile.cpp
@@ -21,8 +21,17 @@ void RecordingFile::appendRecord(const std::vector<msr::airlib::ImageCaptureBase
             << vehicle_sim_api->getVehicleName() << "_" 
             << response.camera_name << "_" <<
             common_utils::Utils::toNumeric(response.image_type) << "_" <<
-            common_utils::Utils::getTimeSinceEpochNanos() << 
-            (response.pixels_as_float ? ".pfm" : ".png");
+            common_utils::Utils::getTimeSinceEpochNanos();
+
+        std::string extension;
+        if (response.pixels_as_float)
+            extension = ".pfm";
+        else if (response.compress)
+            extension = ".png";
+        else
+            extension = ".ppm";
+
+        image_file_name << extension;
 
         if (i > 0)
             image_file_names << ";";
@@ -31,11 +40,16 @@ void RecordingFile::appendRecord(const std::vector<msr::airlib::ImageCaptureBase
 
         //write image file
         try {
-            if (response.pixels_as_float) {
+            if (extension == ".pfm") {
                 common_utils::Utils::writePfmFile(response.image_data_float.data(), response.width, response.height,
                     image_full_file_path);
             }
+            else if (extension == ".ppm") {
+                common_utils::Utils::writePPMfile(response.image_data_uint8.data(), response.width, response.height,
+                    image_full_file_path);
+            }
             else {
+                // Write PNG image, already compressed in binary
                 std::ofstream file(image_full_file_path, std::ios::binary);
                 file.write(reinterpret_cast<const char*>(response.image_data_uint8.data()), response.image_data_uint8.size());
                 file.close();