CTexturedObject.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "opengl-precomp.h"  // Precompiled header

#include <mrpt/opengl/CTexturedObject.h>
#include <mrpt/system/CTimeLogger.h>
#include <mrpt/serialization/CArchive.h>
#include "opengl_internals.h"
#include <memory>  // std::align

using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::poses;
using namespace mrpt::math;
using namespace std;
using mrpt::img::CImage;

IMPLEMENTS_VIRTUAL_SERIALIZABLE(
    CTexturedObject, CRenderizableDisplayList, mrpt::opengl)

// Whether to profile memory allocations:
//#define TEXTUREOBJ_PROFILE_MEM_ALLOC

// Whether to use a memory pool for the texture buffer:
#define TEXTUREOBJ_USE_MEMPOOL

// Data types for memory pooling CTexturedObject:
#ifdef TEXTUREOBJ_USE_MEMPOOL

#include <mrpt/system/CGenericMemoryPool.h>

struct CTexturedObject_MemPoolParams
{
    /** size of the vector<unsigned char> */
    size_t len;

    inline bool isSuitable(const CTexturedObject_MemPoolParams& req) const
    {
        return len == req.len;
    }
};
struct CTexturedObject_MemPoolData
{
    vector<unsigned char> data;
};

using TMyMemPool = mrpt::system::CGenericMemoryPool<
    CTexturedObject_MemPoolParams, CTexturedObject_MemPoolData>;
#endif

void CTexturedObject::assignImage(const CImage& img, const CImage& imgAlpha)
{
    MRPT_START

    CRenderizableDisplayList::notifyChange();

    unloadTexture();

    // Make a copy:
    m_textureImage = img;
    m_textureImageAlpha = imgAlpha;

    m_enableTransparency = true;

    MRPT_END
}

/*---------------------------------------------------------------
                            assignImage
  ---------------------------------------------------------------*/
void CTexturedObject::assignImage(const CImage& img)
{
    MRPT_START

    CRenderizableDisplayList::notifyChange();

    unloadTexture();

    // Make a copy:
    m_textureImage = img;

    m_enableTransparency = false;

    MRPT_END
}

/*---------------------------------------------------------------
                            assignImage
  ---------------------------------------------------------------*/
void CTexturedObject::assignImage_fast(CImage& img, CImage& imgAlpha)
{
    MRPT_START

    CRenderizableDisplayList::notifyChange();

    unloadTexture();

    // Make a copy:
    m_textureImage.copyFastFrom(img);
    m_textureImageAlpha.copyFastFrom(imgAlpha);

    m_enableTransparency = true;

    MRPT_END
}

/*---------------------------------------------------------------
                            assignImage
  ---------------------------------------------------------------*/
void CTexturedObject::assignImage_fast(CImage& img)
{
    MRPT_START

    CRenderizableDisplayList::notifyChange();

    unloadTexture();

    // Make a copy:
    m_textureImage.copyFastFrom(img);

    m_enableTransparency = false;

    MRPT_END
}

// Auxiliary function for loadTextureInOpenGL(): reserve memory and return
// 16byte aligned starting point within it:
unsigned char* reserveDataBuffer(const size_t len, vector<unsigned char>& data)
{
#ifdef TEXTUREOBJ_USE_MEMPOOL
    TMyMemPool* pool = TMyMemPool::getInstance();
    if (pool)
    {
        CTexturedObject_MemPoolParams mem_params;
        mem_params.len = len;

        CTexturedObject_MemPoolData* mem_block =
            pool->request_memory(mem_params);
        if (mem_block)
        {
            // Recover the memory block via a swap:
            data.swap(mem_block->data);
            delete mem_block;
        }
    }
#endif
    data.resize(len);
    void* ptr = &data[0];
    size_t space = len;
    return reinterpret_cast<unsigned char*>(
        std::align(16, 1 /*dummy size*/, ptr, space));
}

/*---------------------------------------------------------------
                            loadTextureInOpenGL
  ---------------------------------------------------------------*/
void CTexturedObject::loadTextureInOpenGL() const
{
#if MRPT_HAS_OPENGL_GLUT
    unsigned char* dataAligned = nullptr;
    vector<unsigned char> data;

#ifdef TEXTUREOBJ_PROFILE_MEM_ALLOC
    static mrpt::system::CTimeLogger tim;
#endif

    try
    {
        if (m_texture_is_loaded)
        {
            glBindTexture(GL_TEXTURE_2D, m_glTextureName);
            checkOpenGLError();
            return;
        }

        // Reserve the new one --------------------------

        // allocate texture names:
        m_glTextureName = getNewTextureNumber();

        // select our current texture
        glBindTexture(GL_TEXTURE_2D, m_glTextureName);
        checkOpenGLError();

        // when texture area is small, linear interpolation. Default is
        // GL_LINEAR_MIPMAP_NEAREST but we
        // are not building mipmaps.
        //  See also:
        //  http://www.opengl.org/discussion_boards/ubbthreads.php?ubb=showflat&Number=133116&page=1
        glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
        checkOpenGLError();

        // when texture area is large, NEAREST: this is mainly thinking of
        // rendering
        //  occupancy grid maps, such as we want those "big pixels" to be
        //  clearly visible ;-)
        glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
        checkOpenGLError();

        // if wrap is true, the texture wraps over at the edges (repeat)
        //       ... false, the texture ends at the edges (clamp)
        glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
        checkOpenGLError();

        glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
        checkOpenGLError();

        // Assure that the images do not overpass the maximum dimensions allowed
        // by OpenGL:
        // ------------------------------------------------------------------------------------
        GLint texSize;
        glGetIntegerv(GL_MAX_TEXTURE_SIZE, &texSize);
        while (m_textureImage.getHeight() > (unsigned int)texSize ||
               m_textureImage.getWidth() > (unsigned int)texSize)
        {
            m_textureImage = m_textureImage.scaleHalf();
            m_textureImageAlpha = m_textureImageAlpha.scaleHalf();
        }

        const int width = m_textureImage.getWidth();
        const int height = m_textureImage.getHeight();

#ifdef TEXTUREOBJ_PROFILE_MEM_ALLOC
        {
            const std::string sSec = mrpt::format(
                "opengl_texture: load %ix%i %s %stransp", width, height,
                m_textureImage.isColor() ? "RGB" : "BW",
                m_enableTransparency ? "" : "no ");
            tim.enter(sSec.c_str());
        }
#endif

        r_width = width;  // round2up( width );
        r_height = height;  // round2up( height );

        // Padding pixels:
        m_pad_x_right = (r_width - width);
        m_pad_y_bottom = (r_height - height);

        if (m_enableTransparency)
        {
            ASSERT_(!m_textureImageAlpha.isColor());
            ASSERT_(
                m_textureImageAlpha.getWidth() == m_textureImage.getWidth());
            ASSERT_(
                m_textureImageAlpha.getHeight() == m_textureImage.getHeight());
        }

        if (m_textureImage.isColor())
        {
            // Color texture:
            if (m_enableTransparency)
            {
// Color texture WITH trans.
// --------------------------------------
#ifdef TEXTUREOBJ_PROFILE_MEM_ALLOC
                const std::string sSec = mrpt::format(
                    "opengl_texture_alloc %ix%i (color,trans)", width, height);
                tim.enter(sSec.c_str());
#endif

                dataAligned = reserveDataBuffer(height * width * 4 + 512, data);

#ifdef TEXTUREOBJ_PROFILE_MEM_ALLOC
                tim.leave(sSec.c_str());
#endif

                for (int y = 0; y < height; y++)
                {
                    unsigned char* ptrSrcCol = m_textureImage(0, y, 0);
                    unsigned char* ptrSrcAlfa = m_textureImageAlpha(0, y);
                    unsigned char* ptr = dataAligned + y * width * 4;

                    for (int x = 0; x < width; x++)
                    {
                        *ptr++ = *ptrSrcCol++;
                        *ptr++ = *ptrSrcCol++;
                        *ptr++ = *ptrSrcCol++;
                        *ptr++ = *ptrSrcAlfa++;
                    }
                }

                // Prepare image data types:
                const GLenum img_type = GL_UNSIGNED_BYTE;
                const bool is_RGB_order = (!::strcmp(
                    m_textureImage.getChannelsOrder(),
                    "RGB"));  // Reverse RGB <-> BGR order?
                const GLenum img_format = (is_RGB_order ? GL_RGBA : GL_BGRA);

                // Send image data to OpenGL:
                glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
                glPixelStorei(GL_UNPACK_ROW_LENGTH, width);
                glTexImage2D(
                    GL_TEXTURE_2D, 0 /*level*/, 4 /* RGB components */, width,
                    height, 0 /*border*/, img_format, img_type, dataAligned);
                checkOpenGLError();
                glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);  // Reset

                // No need to hide a fill border:
                m_pad_x_right = 0;
                m_pad_y_bottom = 0;

            }  // End of color texture WITH trans.
            else
            {
                // Color texture WITHOUT trans.
                // --------------------------------------
                // Prepare image data types:
                const GLenum img_type = GL_UNSIGNED_BYTE;
                const int nBytesPerPixel = m_textureImage.isColor() ? 3 : 1;
                const bool is_RGB_order = (!::strcmp(
                    m_textureImage.getChannelsOrder(),
                    "RGB"));  // Reverse RGB <-> BGR order?
                const GLenum img_format = nBytesPerPixel == 3
                                              ? (is_RGB_order ? GL_RGB : GL_BGR)
                                              : GL_LUMINANCE;

                // Send image data to OpenGL:
                glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
                glPixelStorei(
                    GL_UNPACK_ROW_LENGTH,
                    m_textureImage.getRowStride() / nBytesPerPixel);
                glTexImage2D(
                    GL_TEXTURE_2D, 0 /*level*/, 3 /* RGB components */, width,
                    height, 0 /*border*/, img_format, img_type,
                    m_textureImage.get_unsafe(0, 0));
                glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);  // Reset

                // No need to hide a fill border:
                m_pad_x_right = 0;
                m_pad_y_bottom = 0;

            }  // End of color texture WITHOUT trans.
        }
        else
        {
            // Gray-scale texture:
            if (m_enableTransparency)
            {
#ifdef TEXTUREOBJ_PROFILE_MEM_ALLOC
                const std::string sSec = mrpt::format(
                    "opengl_texture_alloc %ix%i (gray,transp)", width, height);
                tim.enter(sSec.c_str());
#endif

                dataAligned =
                    reserveDataBuffer(height * width * 2 + 1024, data);

#ifdef TEXTUREOBJ_PROFILE_MEM_ALLOC
                tim.leave(sSec.c_str());
#endif

                for (int y = 0; y < height; y++)
                {
                    unsigned char* ptrSrcCol = m_textureImage(0, y);
                    unsigned char* ptrSrcAlfa = m_textureImageAlpha(0, y);
                    unsigned char* ptr = dataAligned + y * width * 2;
                    for (int x = 0; x < width; x++)
                    {
                        *ptr++ = *ptrSrcCol++;
                        *ptr++ = *ptrSrcAlfa++;
                    }
                }

                // Prepare image data types:
                const GLenum img_type = GL_UNSIGNED_BYTE;
                const GLenum img_format = GL_LUMINANCE_ALPHA;

                // Send image data to OpenGL:
                glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
                glPixelStorei(GL_UNPACK_ROW_LENGTH, width);
                glTexImage2D(
                    GL_TEXTURE_2D, 0 /*level*/, 2 /* RGB components */, width,
                    height, 0 /*border*/, img_format, img_type, dataAligned);
                checkOpenGLError();
                glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);  // Reset

                // No need to hide a fill border:
                m_pad_x_right = 0;
                m_pad_y_bottom = 0;

            }  // End of gray-scale texture WITH trans.
            else
            {
                // Prepare image data types:
                const GLenum img_type = GL_UNSIGNED_BYTE;
                const GLenum img_format = GL_LUMINANCE;

                // Send image data to OpenGL:
                glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
                glPixelStorei(
                    GL_UNPACK_ROW_LENGTH, m_textureImage.getRowStride());
                glTexImage2D(
                    GL_TEXTURE_2D, 0 /*level*/, 1 /* RGB components */, width,
                    height, 0 /*border*/, img_format, img_type,
                    m_textureImage(0, 0));
                checkOpenGLError();
                glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);  // Reset

                // No need to hide a fill border:
                m_pad_x_right = 0;
                m_pad_y_bottom = 0;

            }  // End of gray-scale texture WITHOUT trans.
        }

        m_texture_is_loaded = true;

#ifdef TEXTUREOBJ_PROFILE_MEM_ALLOC
        {
            const std::string sSec = mrpt::format(
                "opengl_texture: load %ix%i %s %stransp", width, height,
                m_textureImage.isColor() ? "RGB" : "BW",
                m_enableTransparency ? "" : "no ");
            tim.leave(sSec.c_str());
        }
#endif

#ifdef TEXTUREOBJ_USE_MEMPOOL
        // Before freeing the buffer in "data", donate my memory to the pool:
        if (!data.empty())
        {
            TMyMemPool* pool = TMyMemPool::getInstance();
            if (pool)
            {
                CTexturedObject_MemPoolParams mem_params;
                mem_params.len = data.size();

                CTexturedObject_MemPoolData* mem_block =
                    new CTexturedObject_MemPoolData();
                data.swap(mem_block->data);

                pool->dump_to_pool(mem_params, mem_block);
            }
        }
#endif
    }
    catch (exception& e)
    {
        THROW_EXCEPTION(
            format("m_glTextureName=%i\n%s", m_glTextureName, e.what()));
    }
    catch (...)
    {
        THROW_EXCEPTION("Runtime error!");
    }
#endif
}

/*---------------------------------------------------------------
                            ~CTexturedObject
  ---------------------------------------------------------------*/
CTexturedObject::~CTexturedObject() { unloadTexture(); }
/*---------------------------------------------------------------
                            unloadTexture
  ---------------------------------------------------------------*/
void CTexturedObject::unloadTexture()
{
    if (m_texture_is_loaded)
    {
        m_texture_is_loaded = false;
        releaseTextureName(m_glTextureName);
        m_glTextureName = 0;
    }
}

void CTexturedObject::writeToStreamTexturedObject(
    mrpt::serialization::CArchive& out) const
{
    uint8_t ver = 0;

    out << ver;
    out << m_enableTransparency;
    out << m_textureImage;
    if (m_enableTransparency) out << m_textureImageAlpha;
}

void CTexturedObject::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
    render_pre();
    if (glGetError() != GL_NO_ERROR)
        std::cerr << "render_pre: Error" << std::endl;
    render_texturedobj();
    if (glGetError() != GL_NO_ERROR)
        std::cerr << "render_texturedobj: Error" << std::endl;
    render_post();
    if (glGetError() != GL_NO_ERROR)
        std::cerr << "render_post: Error" << std::endl;
#endif
}

void CTexturedObject::render_pre() const
{
#if MRPT_HAS_OPENGL_GLUT
    MRPT_START
    glEnable(GL_TEXTURE_2D);
    checkOpenGLError();

    if (m_enableTransparency || m_color.A != 255)
    {
        glDisable(GL_DEPTH_TEST);
        glEnable(GL_BLEND);
        glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
    }
    else
    {
        glEnable(GL_DEPTH_TEST);
        glDisable(GL_BLEND);
    }

    // This will load and/or select our texture, only if "m_texture_is_loaded"
    // is false
    loadTextureInOpenGL();
    MRPT_END
#endif
}

void CTexturedObject::render_post() const
{
#if MRPT_HAS_OPENGL_GLUT
    MRPT_START

    if (m_enableTransparency || m_color.A != 255)
    {
        glDisable(GL_BLEND);
        checkOpenGLError();

        glBlendFunc(GL_ONE, GL_ZERO);

        glEnable(GL_DEPTH_TEST);
        checkOpenGLError();
    }

    glDisable(GL_TEXTURE_2D);
    checkOpenGLError();

    MRPT_END
#endif
}

void CTexturedObject::readFromStreamTexturedObject(
    mrpt::serialization::CArchive& in)
{
    uint8_t version;
    in >> version;

    CRenderizableDisplayList::notifyChange();

    switch (version)
    {
        case 0:
        {
            in >> m_enableTransparency;
            in >> m_textureImage;
            if (m_enableTransparency)
            {
                in >> m_textureImageAlpha;
                assignImage(m_textureImage, m_textureImageAlpha);
            }
            else
            {
                assignImage(m_textureImage);
            }
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
    };
    CRenderizableDisplayList::notifyChange();
}