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Use reinterpret cast for 16-bit heightmaps
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Signed-off-by: Vatan Aksoy Tezer <[email protected]>
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Vatan Aksoy Tezer committed Nov 25, 2021
1 parent cbcfc96 commit af865fe
Showing 1 changed file with 98 additions and 57 deletions.
155 changes: 98 additions & 57 deletions graphics/src/ImageHeightmap.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,7 @@ void ImageHeightmap::FillHeightMap(int _subSampling,
this->img.Data(&data, count);

// Get the image format so we can arrange our heightmap
// Currently supported: 8-bit, 16-bit and 32-bit.
// Currently supported: 8-bit and 16-bit.
auto imgFormat = this->img.PixelFormat();

double maxPixelValue;
Expand All @@ -78,6 +78,54 @@ void ImageHeightmap::FillHeightMap(int _subSampling,
imgFormat == ignition::common::Image::PixelFormatType::BGRA_INT8)
{
maxPixelValue = 255.0;
// Iterate over all the vertices
for (unsigned int y = 0; y < _vertSize; ++y)
{
// yf ranges between 0 and 4
double yf = y / static_cast<double>(_subSampling);
int y1 = static_cast<int>(std::floor(yf));
int y2 = static_cast<int>(std::ceil(yf));
if (y2 >= imgHeight)
y2 = imgHeight-1;
double dy = yf - y1;

for (unsigned int x = 0; x < _vertSize; ++x)
{
double xf = x / static_cast<double>(_subSampling);
int x1 = static_cast<int>(std::floor(xf));
int x2 = static_cast<int>(std::ceil(xf));
if (x2 >= imgWidth)
x2 = imgWidth-1;
double dx = xf - x1;

double px1 = static_cast<int>(
data[y1 * pitch / bpp + x1]) / maxPixelValue;
double px2 = static_cast<int>(
data[y1 * pitch / bpp + x2]) / maxPixelValue;
float h1 = (px1 - ((px1 - px2) * dx));

double px3 = static_cast<int>(
data[y2 * pitch / bpp + x1]) / maxPixelValue;
double px4 = static_cast<int>(
data[y2 * pitch / bpp + x2]) / maxPixelValue;
float h2 = (px3 - ((px3 - px4) * dx));

float h = (h1 - ((h1 - h2) * dy)) * _scale.Z();

// invert pixel definition so 1=ground, 0=full height,
// if the terrain size has a negative z component
// this is mainly for backward compatibility
if (_size.Z() < 0)
h = 1.0 - h;

// Store the height for future use
if (!_flipY)
_heights[y * _vertSize + x] = h;
else
_heights[(_vertSize - y - 1) * _vertSize + x] = h;
}
}
delete [] data;
}
else if(imgFormat == ignition::common::Image::PixelFormatType::BGR_INT16 ||
imgFormat == ignition::common::Image::PixelFormatType::L_INT16 ||
Expand All @@ -86,69 +134,62 @@ void ImageHeightmap::FillHeightMap(int _subSampling,
imgFormat == ignition::common::Image::PixelFormatType::R_FLOAT16)
{
maxPixelValue = 65535.0;
}
else if(imgFormat == ignition::common::Image::PixelFormatType::BGR_INT32 ||
imgFormat == ignition::common::Image::PixelFormatType::R_FLOAT32 ||
imgFormat == ignition::common::Image::PixelFormatType::RGB_FLOAT32 ||
imgFormat == ignition::common::Image::PixelFormatType::RGB_INT32)
{
maxPixelValue = 4294967295.0;
uint16_t *dataShort = reinterpret_cast<uint16_t *>(data);
// Iterate over all the vertices
for (unsigned int y = 0; y < _vertSize; ++y)
{
// yf ranges between 0 and 4
double yf = y / static_cast<double>(_subSampling);
int y1 = static_cast<int>(std::floor(yf));
int y2 = static_cast<int>(std::ceil(yf));
if (y2 >= imgHeight)
y2 = imgHeight-1;
double dy = yf - y1;

for (unsigned int x = 0; x < _vertSize; ++x)
{
double xf = x / static_cast<double>(_subSampling);
int x1 = static_cast<int>(std::floor(xf));
int x2 = static_cast<int>(std::ceil(xf));
if (x2 >= imgWidth)
x2 = imgWidth-1;
double dx = xf - x1;

double px1 = static_cast<int>(
dataShort[y1 * pitch / bpp + x1]) / maxPixelValue;
double px2 = static_cast<int>(
dataShort[y1 * pitch / bpp + x2]) / maxPixelValue;
float h1 = (px1 - ((px1 - px2) * dx));

double px3 = static_cast<int>(
dataShort[y2 * pitch / bpp + x1]) / maxPixelValue;
double px4 = static_cast<int>(
dataShort[y2 * pitch / bpp + x2]) / maxPixelValue;
float h2 = (px3 - ((px3 - px4) * dx));

float h = (h1 - ((h1 - h2) * dy)) * _scale.Z();

// invert pixel definition so 1=ground, 0=full height,
// if the terrain size has a negative z component
// this is mainly for backward compatibility
if (_size.Z() < 0)
h = 1.0 - h;

// Store the height for future use
if (!_flipY)
_heights[y * _vertSize + x] = h;
else
_heights[(_vertSize - y - 1) * _vertSize + x] = h;
}
}
delete [] dataShort;
}
else
{
ignerr << "Unknown image format, heightmap will not be loaded" << std::endl;
return;
}

// Iterate over all the vertices
for (unsigned int y = 0; y < _vertSize; ++y)
{
// yf ranges between 0 and 4
double yf = y / static_cast<double>(_subSampling);
int y1 = static_cast<int>(std::floor(yf));
int y2 = static_cast<int>(std::ceil(yf));
if (y2 >= imgHeight)
y2 = imgHeight-1;
double dy = yf - y1;

for (unsigned int x = 0; x < _vertSize; ++x)
{
double xf = x / static_cast<double>(_subSampling);
int x1 = static_cast<int>(std::floor(xf));
int x2 = static_cast<int>(std::ceil(xf));
if (x2 >= imgWidth)
x2 = imgWidth-1;
double dx = xf - x1;

double px1 = static_cast<int>(
data[y1 * pitch + x1 * bpp]) / maxPixelValue;
double px2 = static_cast<int>(
data[y1 * pitch + x2 * bpp]) / maxPixelValue;
float h1 = (px1 - ((px1 - px2) * dx));

double px3 = static_cast<int>(
data[y2 * pitch + x1 * bpp]) / maxPixelValue;
double px4 = static_cast<int>(
data[y2 * pitch + x2 * bpp]) / maxPixelValue;
float h2 = (px3 - ((px3 - px4) * dx));

float h = (h1 - ((h1 - h2) * dy)) * _scale.Z();

// invert pixel definition so 1=ground, 0=full height,
// if the terrain size has a negative z component
// this is mainly for backward compatibility
if (_size.Z() < 0)
h = 1.0 - h;

// Store the height for future use
if (!_flipY)
_heights[y * _vertSize + x] = h;
else
_heights[(_vertSize - y - 1) * _vertSize + x] = h;
}
}

delete [] data;
}

//////////////////////////////////////////////////
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