void SnowTerrain::initBlendMaps(Terrain* terrain)
{
TextureLayerFileList blendImages = mSnowConfig->terrainSettings.textureBlendFileList;
// load those blendmaps into the layers
for(int j = 0;j < terrain->getLayerCount();j++)
{
// skip first layer
if(j==0)
continue;
// no blend map for this layer
if(blendImages.size() >= j && blendImages[j].length() == 0)
continue;
Ogre::TerrainLayerBlendMap *blendmap = terrain->getLayerBlendMap(j);
Ogre::Image img;
img.load(blendImages[j],"General");
int blendmapsize = terrain->getLayerBlendMapSize();
if(img.getWidth() != blendmapsize)
img.resize(blendmapsize, blendmapsize);
float *ptr = blendmap->getBlendPointer();
Ogre::uint8 *data = static_cast<Ogre::uint8*>(img.getPixelBox().data);
for(int bp = 0;bp < blendmapsize * blendmapsize;bp++)
ptr[bp] = static_cast<float>(data[bp]) / 255.0f;
blendmap->dirty();
blendmap->update();
}
}
//-----------------------------------------------------------------------------------------
void CTerrainGroupEditor::setBrushName(const std::string& brush)
{
mBrushName = brush;
if(!mDecalTexture.isNull())
{
Ogre::Image img;
img.load(brush,"Brushes");
unsigned char *dataptr = OGRE_ALLOC_T(unsigned char, img.getWidth() * img.getHeight() * 3, Ogre::MEMCATEGORY_GEOMETRY);
Ogre::PixelBox resultbox(img.getWidth(),img.getHeight(),1,Ogre::PF_B8G8R8,dataptr);
Ogre::PixelUtil::bulkPixelConversion(img.getPixelBox(), resultbox);
resultbox.setConsecutive();
int pos = 0;
Ogre::ColourValue colval;
for(unsigned int x = 0;x < img.getHeight() * img.getWidth();x++)
{
dataptr[pos] = 0;
dataptr[pos + 1] = 0;
dataptr[pos + 2] *= 0.8f;
pos += 3;
}
mDecalTexture->setHeight(img.getHeight());
mDecalTexture->setWidth(img.getWidth());
Ogre::HardwarePixelBufferSharedPtr ptr = mDecalTexture->getBuffer();
ptr->blitFromMemory(resultbox);
OGRE_FREE(dataptr, Ogre::MEMCATEGORY_GEOMETRY);
img.resize(mBrushSize, mBrushSize);
img.resize(BRUSH_DATA_SIZE, BRUSH_DATA_SIZE);
pos = 0;
Ogre::ColourValue cval;
for(unsigned int y = 0;y < BRUSH_DATA_SIZE ;y++)
{
pos = ((BRUSH_DATA_SIZE - 1) - y) * BRUSH_DATA_SIZE;
for(unsigned int x = 0;x < BRUSH_DATA_SIZE ;x++)
{
cval = img.getColourAt(x,y,0);
mBrushData[pos] = cval.r;
pos++;
}
}
}
/****************************************************************************
**
** Copyright (C) 2016 - 2017
**
** This file is part of the Magus toolkit
**
** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
** "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
** LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
** A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
** OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
** LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
** DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
** THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
** (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE."
**
****************************************************************************/
#include "constants.h"
#include "texturelayer.h"
#include "OgreHlmsPbs.h"
#include "OgreHlmsManager.h"
#include "OgreLogManager.h"
#include "OgreStringConverter.h"
#include <fstream>
#include <ctime>
//****************************************************************************/
TextureLayer::TextureLayer(void) :
mTextureOnWhichIsPaintedWidth(0),
mTextureOnWhichIsPaintedHeight(0),
mTextureOnWhichIsPaintedHasAlpha(false),
mNumMipMaps(0),
mTextureTypeDefined(false),
mMaxSequence(0)
{
mTextureType = Ogre::PBSM_DIFFUSE;
mDatablockId = "";
mTextureFileName = "";
}
//****************************************************************************/
TextureLayer::~TextureLayer(void)
{
}
//****************************************************************************/
void TextureLayer::setDatablockIdAndTexture (const Ogre::IdString& datablockId,
Ogre::PbsTextureTypes textureType,
const Ogre::String& textureFileName)
{
mDatablockId = datablockId;
mTextureType = textureType;
mTextureFileName = textureFileName;
mTextureTypeDefined = true;
// Load the texture as image; assume it can be loaded, because it was already loaded as part of the material
setFirstTextureGeneration();
// Create the pixelbox of the original texture; this MUST be a separate image
mOriginalTexture.load(textureFileName, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
mPixelboxOriginalTexture = mOriginalTexture.getPixelBox(0, 0);
// Debug texture
//Ogre::LogManager::getSingleton().logMessage("Debug texture: " + textureFileName);
//Ogre::LogManager::getSingleton().logMessage("Depth: " + Ogre::StringConverter::toString(mOriginalTexture.getDepth()));
//Ogre::LogManager::getSingleton().logMessage("Pixel format: " + Ogre::StringConverter::toString(mOriginalTexture.getFormat()));
//Ogre::LogManager::getSingleton().logMessage("Alpha: " + Ogre::StringConverter::toString(mOriginalTexture.getHasAlpha()));
//Ogre::LogManager::getSingleton().logMessage("Height: " + Ogre::StringConverter::toString(mOriginalTexture.getHeight()));
//Ogre::LogManager::getSingleton().logMessage("Number of faces: " + Ogre::StringConverter::toString(mOriginalTexture.getNumFaces()));
//Ogre::LogManager::getSingleton().logMessage("Number of mipmaps: " + Ogre::StringConverter::toString(mOriginalTexture.getNumMipmaps()));
//Ogre::LogManager::getSingleton().logMessage("Width: " + Ogre::StringConverter::toString(mOriginalTexture.getWidth()));
}
//****************************************************************************/
void TextureLayer::blitTexture (void)
{
/* Always get the actual pointers, because they may change. That is the reason why the datablock pointer cannot be cached.
* The same seems to apply to the texture pointer.
*/
Ogre::HlmsDatablock* datablock;
Ogre::HlmsPbsDatablock* datablockPbs;
Ogre::TexturePtr texture;
Ogre::HlmsManager* hlmsManager = Ogre::Root::getSingletonPtr()->getHlmsManager();
Ogre::HlmsPbs* hlmsPbs = static_cast<Ogre::HlmsPbs*>(hlmsManager->getHlms(Ogre::HLMS_PBS));
datablock = hlmsPbs->getDatablock(mDatablockId);
if (!datablock)
return;
datablockPbs = static_cast<Ogre::HlmsPbsDatablock*>(datablock);
try
{
// Get texture on GPU
if (!datablockPbs->getTexture(mTextureType).isNull())
{
texture = datablockPbs->getTexture(mTextureType); // TextureType MUST exist, otherwise the application crashes
mNumMipMaps = texture->getNumMipmaps();
}
}
catch (Ogre::Exception e){}
if (texture.isNull())
return;
Ogre::uint8 maxMipMaps = mNumMipMaps + 1; // Increase with one, because there is always one image to blit
maxMipMaps = maxMipMaps > PAINT_MAX_MIP_MAPS ? PAINT_MAX_MIP_MAPS : maxMipMaps; // Just paint a few mipmaps (not all)
Ogre::Image textureOnWhichIsPaintedScaled = mTextureOnWhichIsPainted; // Temporary image must be used, otherwise painting doesn't work
size_t w = mTextureOnWhichIsPaintedWidth;
size_t h = mTextureOnWhichIsPaintedHeight;
Ogre::v1::HardwarePixelBuffer* buffer;
for (Ogre::uint8 i = 0; i < maxMipMaps; ++i)
{
buffer = texture->getBuffer(0, i).getPointer();
buffer->blitFromMemory(textureOnWhichIsPaintedScaled.getPixelBox(0, 0), Ogre::Box(0, 0, 0, w, h, 1));
w*=0.5f; // Mipmaps always are half of the previous one
h*=0.5f;
if (w < 1.0f || h < 1.0f)
break; // Stop when the mipmaps are too small
textureOnWhichIsPaintedScaled.resize(w, h);
}
textureOnWhichIsPaintedScaled.freeMemory();
}
void DotSceneLoader::processBlendmaps(rapidxml::xml_node<>* XMLNode)
{
int pageX = Ogre::StringConverter::parseInt(XMLNode->first_attribute("pageX")->value());
int pageY = Ogre::StringConverter::parseInt(XMLNode->first_attribute("pageY")->value());
Ogre::String filename = mTerrainGroup->generateFilename(pageX, pageY);
// skip this is terrain page has been saved already
if (!Ogre::ResourceGroupManager::getSingleton().resourceExists(mTerrainGroup->getResourceGroup(), filename))
{
rapidxml::xml_node<>* pElement;
// Process blendmaps (*)
std::vector<Ogre::String> blendMaps;
rapidxml::xml_node<>* pBlendmap;
pElement = XMLNode->first_node("blendMaps");
pBlendmap = pElement->first_node("blendMap");
while(pBlendmap)
{
blendMaps.push_back(getAttrib(pBlendmap, "texture",""));
pBlendmap = pBlendmap->next_sibling("blendMap");
}
for(int j = 1;j < mTerrainGroup->getTerrain(pageX, pageY)->getLayerCount();j++)
{
Ogre::TerrainLayerBlendMap *blendmap = mTerrainGroup->getTerrain(pageX, pageY)->getLayerBlendMap(j);
Ogre::Image img;
img.load(blendMaps[j-1],"General");
int blendmapsize = mTerrainGroup->getTerrain(pageX, pageY)->getLayerBlendMapSize();
if(img.getWidth() != blendmapsize)
img.resize(blendmapsize, blendmapsize);
float *ptr = blendmap->getBlendPointer();
Ogre::uint8 *data = static_cast<Ogre::uint8*>(img.getPixelBox().data);
for(int bp = 0;bp < blendmapsize * blendmapsize;bp++)
ptr[bp] = static_cast<float>(data[bp]) / 255.0f;
blendmap->dirty();
blendmap->update();
}
}
}
void TerrainGeometryManager::initBlendMaps(int x, int z, Ogre::Terrain* terrain )
{
bool debugBlendMaps = BOPT("DebugBlendMaps", false);
int layerCount = terrain->getLayerCount();
for (int i = 1; i < layerCount; i++)
{
blendLayerInfo_t &bi = blendInfo[i];
if(bi.blendMapTextureFilename.empty()) continue;
Ogre::Image img;
//std::pair<uint8,uint8> textureIndex = terrain->getLayerBlendTextureIndex(i);
//uint8 bti = terrain->getBlendTextureIndex(i);
try
{
img.load(bi.blendMapTextureFilename, ResourceGroupManager::AUTODETECT_RESOURCE_GROUP_NAME);
} catch(Exception &e)
{
LOG("Error loading blendmap: " + bi.blendMapTextureFilename + " : " + e.getFullDescription());
continue;
}
TerrainLayerBlendMap *blendmap = terrain->getLayerBlendMap(i);
// resize that blending map so it will fit
Ogre::uint32 blendmapSize = terrain->getLayerBlendMapSize();
if (img.getWidth() != blendmapSize)
img.resize(blendmapSize, blendmapSize);
// now to the ugly part
float* ptr = blendmap->getBlendPointer();
for (Ogre::uint32 z = 0; z != blendmapSize; z++)
{
for (Ogre::uint32 x = 0; x != blendmapSize; x++)
{
Ogre::ColourValue c = img.getColourAt(x, z, 0);
float alpha = bi.alpha;
if (bi.blendMode == 'R')
*ptr++ = c.r * alpha;
else if (bi.blendMode == 'G')
*ptr++ = c.g * alpha;
else if (bi.blendMode == 'B')
*ptr++ = c.b * alpha;
else if (bi.blendMode == 'A')
*ptr++ = c.a * alpha;
}
}
blendmap->dirty();
blendmap->update();
}
if (debugBlendMaps)
{
for (int i = 1; i < layerCount; i++)
{
Ogre::TerrainLayerBlendMap* blendMap = terrain->getLayerBlendMap(i);
Ogre::uint32 blendmapSize = terrain->getLayerBlendMapSize();
Ogre::Image img;
unsigned short *idata = OGRE_ALLOC_T(unsigned short, blendmapSize * blendmapSize, Ogre::MEMCATEGORY_RESOURCE);
float scale = 65535.0f;
for (unsigned int x = 0; x < blendmapSize; x++)
for (unsigned int z = 0; z < blendmapSize; z++)
idata[x + z * blendmapSize] = (unsigned short)(blendMap->getBlendValue(x, blendmapSize - z) * scale);
img.loadDynamicImage((Ogre::uchar*)(idata), blendmapSize, blendmapSize, Ogre::PF_L16);
std::string fileName = "blendmap_layer_" + Ogre::StringConverter::toString(i) + ".png";
img.save(fileName);
OGRE_FREE(idata, Ogre::MEMCATEGORY_RESOURCE);
}
}
}
void MapDisplay::showMap()
{
if (current_map_.data.empty())
{
return;
}
if( !validateFloats( current_map_ ))
{
setStatus( StatusProperty::Error, "Map", "Message contained invalid floating point values (nans or infs)" );
return;
}
if( current_map_.info.width * current_map_.info.height == 0 )
{
std::stringstream ss;
ss << "Map is zero-sized (" << current_map_.info.width << "x" << current_map_.info.height << ")";
setStatus( StatusProperty::Error, "Map", QString::fromStdString( ss.str() ));
return;
}
setStatus( StatusProperty::Ok, "Message", "Map received" );
ROS_DEBUG( "Received a %d X %d map @ %.3f m/pix\n",
current_map_.info.width,
current_map_.info.height,
current_map_.info.resolution );
float resolution = current_map_.info.resolution;
int width = current_map_.info.width;
int height = current_map_.info.height;
Ogre::Vector3 position( current_map_.info.origin.position.x,
current_map_.info.origin.position.y,
current_map_.info.origin.position.z );
Ogre::Quaternion orientation( current_map_.info.origin.orientation.w,
current_map_.info.origin.orientation.x,
current_map_.info.origin.orientation.y,
current_map_.info.origin.orientation.z );
frame_ = current_map_.header.frame_id;
if (frame_.empty())
{
frame_ = "/map";
}
unsigned int pixels_size = width * height;
unsigned char* pixels = new unsigned char[pixels_size];
memset(pixels, 255, pixels_size);
bool map_status_set = false;
unsigned int num_pixels_to_copy = pixels_size;
if( pixels_size != current_map_.data.size() )
{
std::stringstream ss;
ss << "Data size doesn't match width*height: width = " << width
<< ", height = " << height << ", data size = " << current_map_.data.size();
setStatus( StatusProperty::Error, "Map", QString::fromStdString( ss.str() ));
map_status_set = true;
// Keep going, but don't read past the end of the data.
if( current_map_.data.size() < pixels_size )
{
num_pixels_to_copy = current_map_.data.size();
}
}
memcpy( pixels, ¤t_map_.data[0], num_pixels_to_copy );
Ogre::DataStreamPtr pixel_stream;
pixel_stream.bind( new Ogre::MemoryDataStream( pixels, pixels_size ));
if( !texture_.isNull() )
{
Ogre::TextureManager::getSingleton().remove( texture_->getName() );
texture_.setNull();
}
static int tex_count = 0;
std::stringstream ss;
ss << "MapTexture" << tex_count++;
try
{
texture_ = Ogre::TextureManager::getSingleton().loadRawData( ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
pixel_stream, width, height, Ogre::PF_L8, Ogre::TEX_TYPE_2D,
0);
if( !map_status_set )
{
setStatus( StatusProperty::Ok, "Map", "Map OK" );
}
}
catch(Ogre::RenderingAPIException&)
{
Ogre::Image image;
pixel_stream->seek(0);
float fwidth = width;
float fheight = height;
if( width > height )
{
float aspect = fheight / fwidth;
fwidth = 2048;
fheight = fwidth * aspect;
}
else
{
float aspect = fwidth / fheight;
fheight = 2048;
fwidth = fheight * aspect;
}
{
std::stringstream ss;
ss << "Map is larger than your graphics card supports. Downsampled from [" << width << "x" << height << "] to [" << fwidth << "x" << fheight << "]";
setStatus(StatusProperty::Ok, "Map", QString::fromStdString( ss.str() ));
}
ROS_WARN("Failed to create full-size map texture, likely because your graphics card does not support textures of size > 2048. Downsampling to [%d x %d]...", (int)fwidth, (int)fheight);
//ROS_INFO("Stream size [%d], width [%f], height [%f], w * h [%f]", pixel_stream->size(), width, height, width * height);
image.loadRawData(pixel_stream, width, height, Ogre::PF_L8);
image.resize(fwidth, fheight, Ogre::Image::FILTER_NEAREST);
ss << "Downsampled";
texture_ = Ogre::TextureManager::getSingleton().loadImage(ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, image);
}
delete [] pixels;
Ogre::Pass* pass = material_->getTechnique(0)->getPass(0);
Ogre::TextureUnitState* tex_unit = NULL;
if (pass->getNumTextureUnitStates() > 0)
{
tex_unit = pass->getTextureUnitState(0);
}
else
{
tex_unit = pass->createTextureUnitState();
}
tex_unit->setTextureName(texture_->getName());
tex_unit->setTextureFiltering( Ogre::TFO_NONE );
updatePalette();
resolution_property_->setValue( resolution );
width_property_->setValue( width );
height_property_->setValue( height );
position_property_->setVector( position );
orientation_property_->setQuaternion( orientation );
transformMap();
manual_object_->setVisible( true );
scene_node_->setScale( resolution * width, resolution * height, 1.0 );
context_->queueRender();
}
Vector4* SnowTerrain::getTerrainNormalData()
{
PixelBox* terrainNormals;
// load from normals file
if(mSnowConfig->terrainSettings.normalsDataFile.length() > 0)
{
// get terrain normal data using image
Ogre::Image img;
img.load(mSnowConfig->terrainSettings.normalsDataFile, "General");
//img.flipAroundY();
//img.flipAroundX();
size_t size = img.getWidth();
assert(img.getWidth() == img.getHeight());
if (img.getWidth() != mTerrainSize || img.getHeight() != mTerrainSize)
img.resize(mTerrainSize, mTerrainSize);
terrainNormals = &img.getPixelBox();
Vector4* floats = convertNormalsToFloats(terrainNormals, true);
//OGRE_FREE(terrainNormals->data, Ogre::MEMCATEGORY_GENERAL);
// need to swap z and y vector due to different vertical axis in normal map and world space!
for(size_t i = 0;i<mTerrainSize*mTerrainSize;i++)
{
Vector4 v = floats[i];
floats[i].z = v.y;
floats[i].y = v.z;
}
return floats;
}
else
{
// need to wait until terrain is loaded
while (getTerrain()->isDerivedDataUpdateInProgress())
{
// we need to wait for this to finish
OGRE_THREAD_SLEEP(50);
Root::getSingleton().getWorkQueue()->processResponses();
}
// Get terrain normal data using official method
//terrainNormals = getTerrain()->calculateNormals(Ogre::Rect(0,0,mTerrainSize,mTerrainSize),Rect(0,0,mTerrainSize,mTerrainSize));
Ogre::Image img;
getTerrain()->getTerrainNormalMap()->convertToImage(img);
//img.flipAroundY();
img.flipAroundX();
//img.save("test_normals.bmp");
terrainNormals = &img.getPixelBox();
Vector4* floats = convertNormalsToFloats(terrainNormals, true);
//OGRE_FREE(terrainNormals->data, Ogre::MEMCATEGORY_GENERAL);
return floats;
}
}
void
BrushSelector::buildPreviewBitmap( const Fairy::TextureInfo texInfo )
{
const Ogre::uchar BytePerPixel = 8;
// 读取原始image
Ogre::Image *oriImage = GetSceneManipulator()->getPreviewImage(texInfo.ownerTextureName);
// 源大纹理的大小
size_t oriImageHeight = oriImage->getHeight();
size_t oriImageWidth = oriImage->getWidth();
Ogre::uchar *oriImageData = oriImage->getData();
// 所选纹理的大小
size_t newImageWidth = texInfo.width*TexTileSize;
size_t newImageHeight = texInfo.height*TexTileSize;
// 分配一个足够大的空间来保存新建的image的数据
size_t newImagegetRowSpan = newImageWidth*oriImage->getBPP()/BytePerPixel; // 新建的image的行宽（单位为字节）
Ogre::uchar *newImageData = OGRE_ALLOC_T(Ogre::uchar, oriImageHeight*newImagegetRowSpan, Ogre::MEMCATEGORY_GENERAL);//new Ogre::uchar[newImageHeight*newImagegetRowSpan];
Ogre::uchar *newImageDataPointer = newImageData;
// 得知起始像素点
size_t startPoint = ( oriImageWidth * texInfo.topCorner + texInfo.leftCorner )
* TexTileSize * oriImage->getBPP()/BytePerPixel;
Ogre::uchar *oriImagedataPointer = oriImageData + startPoint;
// 把所选的纹理的数据提取出来，并创建一个新的image
for ( Ogre::uint i=0; i<newImageHeight; ++i )
{
memcpy(newImageDataPointer, oriImagedataPointer, newImagegetRowSpan);
newImageDataPointer += newImagegetRowSpan;
oriImagedataPointer += oriImage->getRowSpan();
}
Ogre::Image newImage;
newImage.loadDynamicImage(newImageData,newImageWidth,newImageHeight,1,oriImage->getFormat(),true);
// 如果所选纹理大于64*64，就先resize
if ( texInfo.width > 1 || texInfo.height > 1 )
newImage.resize(mPreviewImageWidth, mPreviewImageHeight);
// 如果有alpha，要与黑白图进行混合
if ( newImage.getHasAlpha() )
{
Ogre::ColourValue col;
for ( int i=0; i<mPreviewImageWidth; ++i )
{
for ( int j=0; j<mPreviewImageWidth; ++j )
{
col = newImage.getColourAt(j,i,0);
float alphaValue = col.a;
unsigned char r = col.r*255 * alphaValue + mBlackWhitePreviewImage.GetRed(i,j) * ( 1.0f - alphaValue);
unsigned char g = col.g*255 * alphaValue + mBlackWhitePreviewImage.GetGreen(i,j) * ( 1.0f - alphaValue);
unsigned char b = col.b*255 * alphaValue + mBlackWhitePreviewImage.GetBlue(i,j) * ( 1.0f - alphaValue);
// 设置到image中
mCurrentPreviewImage.SetRGB(j,i,r,g,b);
}
}
// 设置到缩略图控件中
mBrushesPreview->SetBitmap(mCurrentPreviewImage);
}
// 没有alpha，就直接拷贝数据
else
{
Ogre::ColourValue col;
for ( int i=0; i<mPreviewImageWidth; ++i )
{
for ( int j=0; j<mPreviewImageWidth; ++j )
{
col = newImage.getColourAt(j,i,0);
unsigned char r = col.r*255;
unsigned char g = col.g*255;
unsigned char b = col.b*255;
// 设置到image中
mCurrentPreviewImage.SetRGB(j,i,r,g,b);
}
}
mBrushesPreview->SetBitmap(mCurrentPreviewImage);
}
}
void NavViewPanel::displayMap(const nav_msgs::OccupancyGrid& map)
{
boost::mutex::scoped_lock lock(map_lock_);
map_resolution_ = map.info.resolution;
// Pad dimensions to power of 2
map_width_ = map.info.width;//(int)pow(2,ceil(log2(map.info.width)));
map_height_ = map.info.height;//(int)pow(2,ceil(log2(map.info.height)));
map_origin_x_ = map.info.origin.position.x;
map_origin_y_ = map.info.origin.position.y;
//ROS_INFO("Padded dimensions to %d X %d\n", map_width_, map_height_);
// Expand it to be RGB data
int pixels_size = map_width_ * map_height_ * 3;
unsigned char* pixels = new unsigned char[pixels_size];
memset(pixels, 255, pixels_size);
for(unsigned int j=0;j<map.info.height;j++)
{
for(unsigned int i=0;i<map.info.width;i++)
{
unsigned char val;
if(map.data[j*map.info.width+i] == 100)
val = 0;
else if(map.data[j*map.info.width+i] == 0)
val = 255;
else
val = 127;
int pidx = 3*(j*map_width_ + i);
pixels[pidx+0] = val;
pixels[pidx+1] = val;
pixels[pidx+2] = val;
}
}
Ogre::DataStreamPtr pixel_stream;
pixel_stream.bind(new Ogre::MemoryDataStream( pixels, pixels_size ));
static int tex_count = 0;
std::stringstream ss;
ss << "NavViewMapTexture" << tex_count++;
try
{
map_texture_ = Ogre::TextureManager::getSingleton().loadRawData( ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
pixel_stream, map_width_, map_height_, Ogre::PF_BYTE_RGB, Ogre::TEX_TYPE_2D,
0);
}
catch(Ogre::RenderingAPIException&)
{
Ogre::Image image;
pixel_stream->seek(0);
float width = map_width_;
float height = map_height_;
if (map_width_ > map_height_)
{
float aspect = height / width;
width = 2048;
height = width * aspect;
}
else
{
float aspect = width / height;
height = 2048;
width = height * aspect;
}
ROS_WARN("Failed to create full-size map texture, likely because your graphics card does not support textures of size > 2048. Downsampling to [%d x %d]...", (int)width, (int)height);
image.loadRawData(pixel_stream, map_width_, map_height_, Ogre::PF_BYTE_RGB);
image.resize(width, height, Ogre::Image::FILTER_NEAREST);
ss << "Downsampled";
map_texture_ = Ogre::TextureManager::getSingleton().loadImage(ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, image);
}
delete [] pixels;
Ogre::SceneNode* map_node = NULL;
if ( !map_object_ )
{
static int map_count = 0;
std::stringstream ss;
ss << "NavViewMapObject" << map_count++;
map_object_ = scene_manager_->createManualObject( ss.str() );
map_node = root_node_->createChildSceneNode();
map_node->attachObject( map_object_ );
ss << "Material";
map_material_ = Ogre::MaterialManager::getSingleton().create( ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME );
map_material_->setReceiveShadows(false);
map_material_->getTechnique(0)->setLightingEnabled(false);
}
else
{
map_node = map_object_->getParentSceneNode();
}
Ogre::Pass* pass = map_material_->getTechnique(0)->getPass(0);
Ogre::TextureUnitState* tex_unit = NULL;
if (pass->getNumTextureUnitStates() > 0)
{
tex_unit = pass->getTextureUnitState(0);
}
else
{
tex_unit = pass->createTextureUnitState();
}
tex_unit->setTextureName(map_texture_->getName());
tex_unit->setTextureFiltering( Ogre::TFO_NONE );
map_object_->clear();
map_object_->begin(map_material_->getName(), Ogre::RenderOperation::OT_TRIANGLE_LIST);
{
// First triangle
{
// Top left
map_object_->position( 0.0f, 0.0f, 0.0f );
map_object_->textureCoord(0.0f, 0.0f);
map_object_->normal( 0.0f, 0.0f, 1.0f );
// Bottom right
map_object_->position( map_resolution_*map_width_, map_resolution_*map_height_, 0.0f );
map_object_->textureCoord(1.0f, 1.0f);
map_object_->normal( 0.0f, 0.0f, 1.0f );
// Bottom left
map_object_->position( 0.0f, map_resolution_*map_height_, 0.0f );
map_object_->textureCoord(0.0f, 1.0f);
map_object_->normal( 0.0f, 0.0f, 1.0f );
}
// Second triangle
{
// Top left
map_object_->position( 0.0f, 0.0f, 0.0f );
map_object_->textureCoord(0.0f, 0.0f);
map_object_->normal( 0.0f, 0.0f, 1.0f );
// Top right
map_object_->position( map_resolution_*map_width_, 0.0f, 0.0f );
map_object_->textureCoord(1.0f, 0.0f);
map_object_->normal( 0.0f, 0.0f, 1.0f );
// Bottom right
map_object_->position( map_resolution_*map_width_, map_resolution_*map_height_, 0.0f );
map_object_->textureCoord(1.0f, 1.0f);
map_object_->normal( 0.0f, 0.0f, 1.0f );
}
}
map_object_->end();
//only center the position of the map if its the first received
if(first_map_){
root_node_->setPosition(Ogre::Vector3(-map_width_*map_resolution_/2, -map_height_*map_resolution_/2, 0.0f));
first_map_ = false;
}
map_node->setPosition(Ogre::Vector3(0.0f, 0.0f, MAP_DEPTH));
queueRender();
}
void
MaterialPreviewDialog::buildPreviewBitmap( const Ogre::String &texName )
{
const Ogre::uchar BytePerPixel = 8;
// 读取原始image
Ogre::Image *oriImage = getPreviewImage(texName);
// 源大纹理的大小
size_t oriImageHeight = oriImage->getHeight();
size_t oriImageWidth = oriImage->getWidth();
Ogre::uchar *oriImageData = oriImage->getData();
// 分配一个足够大的空间来保存新建的image的数据
size_t newImagegetRowSpan = oriImageWidth*oriImage->getBPP()/BytePerPixel; // 新建的image的行宽（单位为字节）
Ogre::uchar *newImageData = new Ogre::uchar[oriImageHeight*newImagegetRowSpan];
Ogre::uchar *newImageDataPointer = newImageData;
Ogre::uchar *oriImagedataPointer = oriImageData;
// 把所选的纹理的数据提取出来，并创建一个新的image
for ( Ogre::uint i=0; i<oriImageHeight; ++i )
{
memcpy(newImageDataPointer, oriImagedataPointer, newImagegetRowSpan);
newImageDataPointer += newImagegetRowSpan;
oriImagedataPointer += oriImage->getRowSpan();
}
Ogre::Image newImage;
newImage.loadDynamicImage(newImageData,oriImageWidth,oriImageHeight,1,oriImage->getFormat(),true);
// 如果所选纹理大于64*64，就先resize
if ( oriImageWidth > mPreviewImageWidth || oriImageHeight > mPreviewImageHeight )
newImage.resize(mPreviewImageWidth, mPreviewImageHeight);
// 如果有alpha，要与黑白图进行混合
if ( newImage.getHasAlpha() )
{
Ogre::uchar *tempPtr = newImage.getData();
assert (tempPtr);
for ( size_t i=0; i<mPreviewImageHeight; ++i )
for ( size_t j=0; j<mPreviewImageWidth; ++j )
{
// 取出alpha值
float alphaValue = (float)tempPtr[3] / 255.0f;
// 计算出经过alpha混合后的颜色值
unsigned char r = tempPtr[2] * alphaValue;
unsigned char g = tempPtr[1] * alphaValue;
unsigned char b = tempPtr[0] * alphaValue;
// 设置到image中
mCurrentPreviewImage.SetRGB(j,i,r,g,b);
tempPtr += 4;
}
// 要把指针移回到图片数据的
tempPtr -= mPreviewImageHeight * mPreviewImageWidth * 4;
// 设置到缩略图控件中
}
// 没有alpha，就直接拷贝数据
else
{
memcpy ( mCurrentPreviewImage.GetData(), newImage.getData(), newImage.getSize() );
}
}
int _tmain(int argc, _TCHAR* argv[])
{
// ------------------------- Check for command line argument -------------------------------------------
if (! argv[1])
{
printf("\n");
printf("Missing argument.\nExample: \"Converter.exe job1.cfg\"");
return 0;
}
// ------------------------- Basic Ogre Engine initialization -------------------------------------------
Ogre::Root* root = new Ogre::Root;
Ogre::RenderSystem* rendersys = root->getRenderSystemByName("Direct3D9 Rendering Subsystem");
rendersys->setConfigOption("Full Screen", "No");
rendersys->setConfigOption("Video Mode", "800 x 600 @ 32-bit colour");
root->setRenderSystem(rendersys);
Ogre::ResourceGroupManager::getSingleton().addResourceLocation("resource", "FileSystem", "General");
Ogre::ResourceGroupManager::getSingleton().initialiseAllResourceGroups();
root->initialise(false);
Ogre::RenderWindow* window = root->createRenderWindow("RAW2OGT", 800, 600, false);
Ogre::SceneManager* scenemgr = root->createSceneManager(Ogre::SceneType::ST_GENERIC);
Ogre::Camera* camera = scenemgr->createCamera("camera");
Ogre::Viewport* viewport = window->addViewport(camera);
/*Ogre::Vector3 lightdir(0, -0.3, 0.75);
lightdir.normalise();
Ogre::Light* l = scenemgr->createLight("tstLight");
l->setType(Ogre::Light::LT_DIRECTIONAL);
l->setDirection(lightdir);
l->setDiffuseColour(Ogre::ColourValue(1.0, 1.0, 1.0));
l->setSpecularColour(Ogre::ColourValue(0.4, 0.4, 0.4));*/
scenemgr->setAmbientLight(Ogre::ColourValue(0.7, 0.7, 0.7));
// --------------------------------- Start convert ----------------------------------------------------
// Load job config
Ogre::ConfigFile* terrainconfig = OGRE_NEW Ogre::ConfigFile();
terrainconfig->loadDirect(argv[1]);
// Load info from [general] block
Ogre::String heightmapfile = terrainconfig->getSetting("heightmap", "general");
Ogre::Real heightmapscale = Ogre::StringConverter::parseReal(terrainconfig->getSetting("heightmapscale", "general"));
Ogre::Real heightmapoffset = Ogre::StringConverter::parseReal(terrainconfig->getSetting("heightmapoffset", "general"));
Ogre::uint16 terrainsize = Ogre::StringConverter::parseUnsignedInt(terrainconfig->getSetting("terrainsize", "general"));
Ogre::Real worldsize = Ogre::StringConverter::parseReal(terrainconfig->getSetting("worldsize", "general"));
Ogre::uint16 layercount = Ogre::StringConverter::parseUnsignedInt(terrainconfig->getSetting("layercount", "general"));
// initialise stream to heightmapfile
Ogre::DataStreamPtr stream = Ogre::ResourceGroupManager::getSingleton().openResource(heightmapfile, "General");
size_t size = stream.get()->size();
// verify size
if(size != terrainsize * terrainsize * 4)
OGRE_EXCEPT( Ogre::Exception::ERR_INTERNAL_ERROR, "Size of stream does not match terrainsize!", "TerrainPage" );
// load to buffer
float* buffer = OGRE_ALLOC_T(float, size, Ogre::MEMCATEGORY_GENERAL);
stream->read(buffer, size);
// apply scale and offset
for(int i=0;i<terrainsize*terrainsize;i++)
{
buffer[i] = (buffer[i] + heightmapoffset) * heightmapscale;
}
// Terrain initialization
Ogre::TerrainGlobalOptions* terrainglobals = OGRE_NEW Ogre::TerrainGlobalOptions();
terrainglobals->setMaxPixelError(1);
//terrainglobals->setCompositeMapDistance(30000);
//terrainglobals->setLightMapDirection(lightdir);
//terrainglobals->setCompositeMapAmbient(scenemgr->getAmbientLight());
//terrainglobals->setCompositeMapDiffuse(l->getDiffuseColour());
Ogre::TerrainMaterialGeneratorA::SM2Profile* pMatProfile =
static_cast<Ogre::TerrainMaterialGeneratorA::SM2Profile*>(terrainglobals->getDefaultMaterialGenerator()->getActiveProfile());
pMatProfile->setLightmapEnabled(false);
pMatProfile->setCompositeMapEnabled(false);
Ogre::TerrainGroup* terraingroup = OGRE_NEW Ogre::TerrainGroup(scenemgr, Ogre::Terrain::ALIGN_X_Z, terrainsize, worldsize);
terraingroup->setFilenameConvention(Ogre::String("terrain"), Ogre::String("ogt"));
terraingroup->setOrigin(Ogre::Vector3::ZERO);
Ogre::Terrain* terrain = OGRE_NEW Ogre::Terrain(scenemgr);
// terrainsettings
Ogre::Terrain::ImportData& imp = terraingroup->getDefaultImportSettings();
imp.terrainSize = terrainsize;
imp.worldSize = worldsize;
imp.minBatchSize = 33;
imp.maxBatchSize = 65;
// use float RAW heightmap as input
imp.inputFloat = buffer;
// process texture layers
imp.layerList.resize(layercount);
Ogre::StringVector blendmaps(layercount);
for(int i=0;i<layercount;i++)
{
// load layer info
Ogre::String sectionStr = Ogre::StringConverter::toString(i);
Ogre::Real layerworldsize = Ogre::StringConverter::parseReal(terrainconfig->getSetting("worldsize", sectionStr));
if (i==0)
{
// no blendmap at layer 0 (baselayer)
Ogre::String specular = terrainconfig->getSetting("specular", sectionStr);
Ogre::String normal = terrainconfig->getSetting("normal", sectionStr);
// add layer
imp.layerList[i].textureNames.push_back(specular);
imp.layerList[i].textureNames.push_back(normal);
imp.layerList[i].worldSize = layerworldsize;
}
else
{
Ogre::String specular = terrainconfig->getSetting("specular", sectionStr);
Ogre::String normal = terrainconfig->getSetting("normal", sectionStr);
Ogre::String blend = terrainconfig->getSetting("blend", sectionStr);
// add layer
imp.layerList[i].textureNames.push_back(specular);
imp.layerList[i].textureNames.push_back(normal);
imp.layerList[i].worldSize = layerworldsize;
blendmaps[i] = blend;
}
}
// load the terrain
terrain->prepare(imp);
terrain->load();
// load those blendmaps into the layers
for(int j = 1;j < terrain->getLayerCount();j++)
{
Ogre::TerrainLayerBlendMap *blendmap = terrain->getLayerBlendMap(j);
Ogre::Image img;
img.load(blendmaps[j],"General");
int blendmapsize = terrain->getLayerBlendMapSize();
if(img.getWidth() != blendmapsize)
img.resize(blendmapsize, blendmapsize);
float *ptr = blendmap->getBlendPointer();
Ogre::uint8 *data = static_cast<Ogre::uint8*>(img.getPixelBox().data);
for(int bp = 0;bp < blendmapsize * blendmapsize;bp++)
ptr[bp] = static_cast<float>(data[bp]) / 255.0f;
blendmap->dirty();
blendmap->update();
}
// create filename for writing
int pos = heightmapfile.find_last_of('.');
if (pos < 0)
heightmapfile = heightmapfile + ".ogt";
else
heightmapfile = heightmapfile.substr(0, pos) + ".ogt";
// save as Ogre .OGT
terrain->save(heightmapfile);
Ogre::LogManager::getSingletonPtr()->logMessage(Ogre::LogMessageLevel::LML_NORMAL, heightmapfile + " successfully written.");
// debug viewing (exit with CTRL+C)
camera->setPosition(-terrainsize, 7000, -terrainsize);
camera->lookAt(terrainsize/2,0,terrainsize/2);
root->startRendering();
return 0;
}
void
MaterialPreviewDialog::buildPreviewBitmap( const Ogre::String &texName )
{
const Ogre::uchar BytePerPixel = 8;
// 读取原始image
Ogre::Image *oriImage = getPreviewImage(texName);
// 源大纹理的大小
size_t oriImageHeight = oriImage->getHeight();
size_t oriImageWidth = oriImage->getWidth();
Ogre::uchar *oriImageData = oriImage->getData();
// 分配一个足够大的空间来保存新建的image的数据
size_t newImagegetRowSpan = oriImageWidth*oriImage->getBPP()/BytePerPixel; // 新建的image的行宽（单位为字节）
Ogre::uchar *newImageData = OGRE_ALLOC_T(Ogre::uchar, oriImageHeight*newImagegetRowSpan, Ogre::MEMCATEGORY_GENERAL);//new Ogre::uchar[oriImageHeight*newImagegetRowSpan];
Ogre::uchar *newImageDataPointer = newImageData;
Ogre::uchar *oriImagedataPointer = oriImageData;
// 把所选的纹理的数据提取出来，并创建一个新的image
for ( Ogre::uint i=0; i<oriImageHeight; ++i )
{
memcpy(newImageDataPointer, oriImagedataPointer, newImagegetRowSpan);
newImageDataPointer += newImagegetRowSpan;
oriImagedataPointer += oriImage->getRowSpan();
}
Ogre::Image newImage;
newImage.loadDynamicImage(newImageData,oriImageWidth,oriImageHeight,1,oriImage->getFormat(),true);
// 如果所选纹理大于64*64，就先resize
if ( oriImageWidth > mPreviewImageWidth || oriImageHeight > mPreviewImageHeight )
newImage.resize(mPreviewImageWidth, mPreviewImageHeight);
// 如果有alpha，要与黑白图进行混合
if ( newImage.getHasAlpha() )
{
Ogre::ColourValue col;
for ( int i=0; i<mPreviewImageWidth; ++i )
{
for ( int j=0; j<mPreviewImageWidth; ++j )
{
col = newImage.getColourAt(j,i,0);
float alphaValue = col.a;
unsigned char r = col.r*255 * alphaValue;
unsigned char g = col.g*255 * alphaValue;
unsigned char b = col.b*255 * alphaValue;
// 设置到image中
mCurrentPreviewImage.SetRGB(j,i,r,g,b);
}
}
}
// 没有alpha，就直接拷贝数据
else
{
Ogre::ColourValue col;
for ( int i=0; i<mPreviewImageWidth; ++i )
{
for ( int j=0; j<mPreviewImageWidth; ++j )
{
col = newImage.getColourAt(j,i,0);
unsigned char r = col.r*255;
unsigned char g = col.g*255;
unsigned char b = col.b*255;
// 设置到image中
mCurrentPreviewImage.SetRGB(j,i,r,g,b);
}
}
}
}
/* -----------------------------------------------------------------------
| build bullet height field shape and generate ogre mesh from grayscale image
|
| @param in :
| @param out: raw data of height field terrain
| ToDo: adjest grid scale, grid height, local scale, max/min height
----------------------------------------------------------------------- */
bool
buildHeightFieldTerrainFromImage(const Ogre::String& filename,
btDynamicsWorld* dynamicsWorld,
btAlignedObjectArray<btCollisionShape*>& collisionShapes,
void* &data)
{
Ogre::Image img;
try
{
img.load(filename, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
}
catch(Ogre::Exception err)
{
LOG(err.what());
return false;
}
size_t grid_w = 65, grid_h = 65; // must be (2^N) + 1
size_t grid_max_w = 129, grid_max_h = 129; // must be (2^N) + 1
size_t img_w = img.getWidth();
size_t img_h = img.getHeight();
// validate image size is (2^N) + 1
if ((img_w-1) & (img_w-2)) img_w = grid_w;
if ((img_h-1) & (img_h-2)) img_h = grid_h;
//if (img_w > grid_max_w) img_w = grid_max_w;
//if (img_h > grid_max_h) img_h = grid_max_h;
LOG("LoadImage name=%s, width=%d, height=%d, width^2+1=%d, height^2+1=%d",
filename.c_str(), img.getWidth(), img.getHeight(), img_w, img_h);
img.resize(img_w, img_h);
size_t pixelSize = Ogre::PixelUtil::getNumElemBytes(img.getFormat());
size_t bufSize = img.getSize() / pixelSize;
data = new Ogre::Real[ bufSize ];
Ogre::Real* dest = static_cast<Ogre::Real*>(data);
memset(dest, 0, bufSize);
/*
| @ Notice the alignment problem
| - uchar to float alignment
| - pixel format in bytes as rawdata type, also affects alignment
*/
Ogre::uchar* src = img.getData();
for (size_t i=0;i<bufSize;++i)
{
dest[i] = ((Ogre::Real)src[i * pixelSize] - 127.0f)/16.0f;
}
// parameter
int upAxis = 1;
btScalar gridSpacing = 5.0f;
btScalar gridHeightScale = 0.2f;
btScalar minHeight = -10.0f;
btScalar maxHeight = 10.0f;
btScalar defaultContactProcessingThreshold = BT_LARGE_FLOAT;
btHeightfieldTerrainShape *heightfieldShape =
new btHeightfieldTerrainShape(img_w, img_h,
dest,
gridHeightScale,
minHeight, maxHeight,
upAxis, PHY_FLOAT, false);
btAssert(heightfieldShape && "null heightfield");
// shape
btVector3 localScaling(1.0f, 1.0f, 1.0f);
heightfieldShape->setLocalScaling(localScaling);
collisionShapes.push_back(heightfieldShape);
// rigidBody
btDefaultMotionState* motionState = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(0,0,0)));
btRigidBody::btRigidBodyConstructionInfo cInfo(0, motionState, heightfieldShape, btVector3(0,0,0));
btRigidBody* rigidBody = new btRigidBody(cInfo);
rigidBody->setContactProcessingThreshold(defaultContactProcessingThreshold);
int flags = rigidBody->getCollisionFlags();
rigidBody->setCollisionFlags(flags | btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT);
dynamicsWorld->addRigidBody(rigidBody);
// add ogre height field mesh
Ogre::SceneManager* sceneMgr = Ogre::Root::getSingletonPtr()->getSceneManager("DefaultSceneManager");
btAssert(sceneMgr);
Ogre::ManualObject* obj = sceneMgr->createManualObject("btHeightFieldEntity");
btVector3 aabbMin, aabbMax;
heightfieldShape->getAabb(btTransform(btQuaternion(0,0,0,1),btVector3(0,0,0)), aabbMin, aabbMax);
btHeightFieldProcessor callback(obj, "DefaultPlane");
heightfieldShape->processAllTriangles(&callback, aabbMin, aabbMax);
sceneMgr->getRootSceneNode()->attachObject(obj);
return true;
}