texture.cpp

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include <rve_render_server/texture.h>
#include <resource_retriever/retriever.h>

#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>

#include <OGRE/OgreTextureManager.h>

#include <boost/filesystem.hpp>

namespace fs = boost::filesystem;

namespace rve_render_server
{

Texture::Texture(const rve_common::UUID& id, uint32_t num_mip_maps)
: id_(id)
, num_mip_maps_(num_mip_maps)
{
  int usage = Ogre::TU_DYNAMIC_WRITE_ONLY_DISCARDABLE|Ogre::TU_AUTOMIPMAP;
  Ogre::PixelFormat format = Ogre::TextureManager::getSingleton().getNativeFormat(Ogre::TEX_TYPE_2D, Ogre::PF_BYTE_RGBA, usage);
  texture_ = Ogre::TextureManager::getSingleton().createManual(getID().toString(), ROS_PACKAGE_NAME, Ogre::TEX_TYPE_2D, 1, 1, num_mip_maps, format, usage);
}

Texture::~Texture()
{
  Ogre::TextureManager::getSingleton().remove(id_.toString());
}

void Texture::setImage(const sensor_msgs::Image& image)
{
  if (image.data.empty())
  {
    throw std::runtime_error("Image has no data");
  }

  Ogre::PixelFormat format = Ogre::PF_R8G8B8;
  Ogre::Image ogre_image;
  std::vector<uint8_t> buffer;
  void* data_ptr = (void*)&image.data[0];
  uint32_t data_size = image.data.size();
  if (image.encoding == sensor_msgs::image_encodings::RGB8)
  {
    format = Ogre::PF_BYTE_RGB;
  }
  else if (image.encoding == sensor_msgs::image_encodings::RGBA8)
  {
    format = Ogre::PF_BYTE_RGBA;
  }
  else if (image.encoding == sensor_msgs::image_encodings::TYPE_8UC4 ||
           image.encoding == sensor_msgs::image_encodings::TYPE_8SC4 ||
           image.encoding == sensor_msgs::image_encodings::BGRA8)
  {
    format = Ogre::PF_BYTE_BGRA;
  }
  else if (image.encoding == sensor_msgs::image_encodings::TYPE_8UC3 ||
           image.encoding == sensor_msgs::image_encodings::TYPE_8SC3 ||
           image.encoding == sensor_msgs::image_encodings::BGR8)
  {
    format = Ogre::PF_BYTE_BGR;
  }
  else if (image.encoding == sensor_msgs::image_encodings::TYPE_8UC1 ||
           image.encoding == sensor_msgs::image_encodings::TYPE_8SC1 ||
           image.encoding == sensor_msgs::image_encodings::MONO8)
  {
    format = Ogre::PF_BYTE_L;
  }
  else if (image.encoding == sensor_msgs::image_encodings::TYPE_16UC1 ||
           image.encoding == sensor_msgs::image_encodings::TYPE_16SC1 ||
           image.encoding == sensor_msgs::image_encodings::MONO16)
  {
    format = Ogre::PF_BYTE_L;

    // downsample manually to 8-bit, because otherwise the lower 8-bits are simply removed
    buffer.resize(image.data.size() / 2);
    data_size = buffer.size();
    data_ptr = (void*)&buffer[0];
    for (size_t i = 0; i < data_size; ++i)
    {
      uint16_t s = image.data[2*i] << 8 | image.data[2*i + 1];
      float val = (float)s / std::numeric_limits<uint16_t>::max();
      buffer[i] = val * 255;
    }
  }
  else if (image.encoding.find("bayer") == 0)
  {
    format = Ogre::PF_BYTE_L;
  }
  else
  {
    throw std::runtime_error("Unsupported image encoding [" + image.encoding + "]");
  }

  // TODO: Support different steps/strides

  Ogre::DataStreamPtr pixel_stream;
  pixel_stream.bind(new Ogre::MemoryDataStream(data_ptr, data_size));
  ogre_image.loadRawData(pixel_stream, image.width, image.height, format);

  texture_->unload();
  texture_->loadImage(ogre_image);
}

void Texture::loadFromFile(const std::string& file)
{
  resource_retriever::Retriever retriever;
  resource_retriever::MemoryResource res = retriever.get(file);

  if (res.size == 0)
  {
    throw std::runtime_error("Zero-length file [" + file + "]");
  }

  Ogre::DataStreamPtr pixel_stream;
  pixel_stream.bind(new Ogre::MemoryDataStream(res.data.get(), res.size));
  Ogre::Image image;
  image.load(pixel_stream, fs::extension(file).substr(1));

  texture_->unload();
  texture_->loadImage(image);
}

}