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00030 #include <rve_render_server/texture.h>
00031 #include <resource_retriever/retriever.h>
00032
00033 #include <sensor_msgs/Image.h>
00034 #include <sensor_msgs/image_encodings.h>
00035
00036 #include <OGRE/OgreTextureManager.h>
00037
00038 #include <boost/filesystem.hpp>
00039
00040 namespace fs = boost::filesystem;
00041
00042 namespace rve_render_server
00043 {
00044
00045 Texture::Texture(const rve_common::UUID& id, uint32_t num_mip_maps)
00046 : id_(id)
00047 , num_mip_maps_(num_mip_maps)
00048 {
00049 int usage = Ogre::TU_DYNAMIC_WRITE_ONLY_DISCARDABLE|Ogre::TU_AUTOMIPMAP;
00050 Ogre::PixelFormat format = Ogre::TextureManager::getSingleton().getNativeFormat(Ogre::TEX_TYPE_2D, Ogre::PF_BYTE_RGBA, usage);
00051 texture_ = Ogre::TextureManager::getSingleton().createManual(getID().toString(), ROS_PACKAGE_NAME, Ogre::TEX_TYPE_2D, 1, 1, num_mip_maps, format, usage);
00052 }
00053
00054 Texture::~Texture()
00055 {
00056 Ogre::TextureManager::getSingleton().remove(id_.toString());
00057 }
00058
00059 void Texture::setImage(const sensor_msgs::Image& image)
00060 {
00061 if (image.data.empty())
00062 {
00063 throw std::runtime_error("Image has no data");
00064 }
00065
00066 Ogre::PixelFormat format = Ogre::PF_R8G8B8;
00067 Ogre::Image ogre_image;
00068 std::vector<uint8_t> buffer;
00069 void* data_ptr = (void*)&image.data[0];
00070 uint32_t data_size = image.data.size();
00071 if (image.encoding == sensor_msgs::image_encodings::RGB8)
00072 {
00073 format = Ogre::PF_BYTE_RGB;
00074 }
00075 else if (image.encoding == sensor_msgs::image_encodings::RGBA8)
00076 {
00077 format = Ogre::PF_BYTE_RGBA;
00078 }
00079 else if (image.encoding == sensor_msgs::image_encodings::TYPE_8UC4 ||
00080 image.encoding == sensor_msgs::image_encodings::TYPE_8SC4 ||
00081 image.encoding == sensor_msgs::image_encodings::BGRA8)
00082 {
00083 format = Ogre::PF_BYTE_BGRA;
00084 }
00085 else if (image.encoding == sensor_msgs::image_encodings::TYPE_8UC3 ||
00086 image.encoding == sensor_msgs::image_encodings::TYPE_8SC3 ||
00087 image.encoding == sensor_msgs::image_encodings::BGR8)
00088 {
00089 format = Ogre::PF_BYTE_BGR;
00090 }
00091 else if (image.encoding == sensor_msgs::image_encodings::TYPE_8UC1 ||
00092 image.encoding == sensor_msgs::image_encodings::TYPE_8SC1 ||
00093 image.encoding == sensor_msgs::image_encodings::MONO8)
00094 {
00095 format = Ogre::PF_BYTE_L;
00096 }
00097 else if (image.encoding == sensor_msgs::image_encodings::TYPE_16UC1 ||
00098 image.encoding == sensor_msgs::image_encodings::TYPE_16SC1 ||
00099 image.encoding == sensor_msgs::image_encodings::MONO16)
00100 {
00101 format = Ogre::PF_BYTE_L;
00102
00103
00104 buffer.resize(image.data.size() / 2);
00105 data_size = buffer.size();
00106 data_ptr = (void*)&buffer[0];
00107 for (size_t i = 0; i < data_size; ++i)
00108 {
00109 uint16_t s = image.data[2*i] << 8 | image.data[2*i + 1];
00110 float val = (float)s / std::numeric_limits<uint16_t>::max();
00111 buffer[i] = val * 255;
00112 }
00113 }
00114 else if (image.encoding.find("bayer") == 0)
00115 {
00116 format = Ogre::PF_BYTE_L;
00117 }
00118 else
00119 {
00120 throw std::runtime_error("Unsupported image encoding [" + image.encoding + "]");
00121 }
00122
00123
00124
00125 Ogre::DataStreamPtr pixel_stream;
00126 pixel_stream.bind(new Ogre::MemoryDataStream(data_ptr, data_size));
00127 ogre_image.loadRawData(pixel_stream, image.width, image.height, format);
00128
00129 texture_->unload();
00130 texture_->loadImage(ogre_image);
00131 }
00132
00133 void Texture::loadFromFile(const std::string& file)
00134 {
00135 resource_retriever::Retriever retriever;
00136 resource_retriever::MemoryResource res = retriever.get(file);
00137
00138 if (res.size == 0)
00139 {
00140 throw std::runtime_error("Zero-length file [" + file + "]");
00141 }
00142
00143 Ogre::DataStreamPtr pixel_stream;
00144 pixel_stream.bind(new Ogre::MemoryDataStream(res.data.get(), res.size));
00145 Ogre::Image image;
00146 image.load(pixel_stream, fs::extension(file).substr(1));
00147
00148 texture_->unload();
00149 texture_->loadImage(image);
00150 }
00151
00152 }