C++ Image::loadRawData方法代码示例

void OnePixelMaterialGenerator::loadResource(Ogre::Resource* resource)
{

	Ogre::Texture* texture = static_cast<Ogre::Texture*>(resource);
	static Ogre::uchar data[3] = {0xFF, 0x7F, 0x7F};

	Ogre::DataStreamPtr stream(new Ogre::MemoryDataStream(&data, 3, false, true));
	Ogre::Image image;
	image.loadRawData(stream, 1,1,1, Ogre::PF_R8G8B8);
	Ogre::ConstImagePtrList images({&image});

	texture->_loadImages(images);
}

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)
//.........这里部分代码省略.........

void Terrain::resourcesLoaded()
{
    mTerrain = OGRE_NEW Ogre::Terrain( GlobalsBase::mScene );

    Ogre::Terrain::ImportData imp;
    Ogre::Image img;

    switch( mHeightmapType )
    {
        case HEIGHTMAPTYPE_IMAGE:
        {
            Ogre::TexturePtr texture = Ogre::TextureManager::getSingleton().getByName( 
                mHeightmapFile.string(), mResourceManager.getGroup() );
            texture->convertToImage( img );
            imp.inputImage = &img;
            imp.terrainSize = img.getWidth();
            imp.inputScale = mInputScale;
            break;
        }
        case HEIGHTMAPTYPE_RAW:
        {
            Ogre::DataStreamPtr stream = Ogre::ResourceGroupManager::getSingleton().openResource( 
                mHeightmapFile.string(), mResourceManager.getGroup() );
            img.loadRawData( stream, 1025, 1025, Ogre::PF_FLOAT32_R );
            imp.inputImage = &img;
            imp.terrainSize = img.getWidth();
            imp.inputScale = 1;
            break;
        }
        case HEIGHTMAPTYPE_OGREBINARY:
            break;
    }

    if( mTerrainType != TERRAINTYPE_OGREBINARY )
    {
        // Generic import data
        imp.worldSize = 1025;
        imp.minBatchSize = 33;
        imp.maxBatchSize = 65;
        imp.pos = toVector3<Ogre::Vector3>( 
            ServerPosition( ClientPlugin::getServer().getGridPosition() ).get3DPosition() );
        mTerrain->setPosition( imp.pos );

        // Set textures
        imp.layerList.resize( mLayerInstances.size() );
        for( unsigned int i = 0; i < mLayerInstances.size(); ++i )
        {
            imp.layerList[i].worldSize = mLayerInstances[i].mWorldSize;
            for( std::vector<Path>::iterator j = mLayerInstances[i].mTextureFiles.begin(); 
                j != mLayerInstances[i].mTextureFiles.end(); ++j )
            {
                imp.layerList[i].textureNames.push_back( (*j).string() );
            }
        }

        // Load the terrain
        mTerrain->prepare( imp );
        mTerrain->load();
    }

    // Set blending
    switch( mTerrainType )
    {
        case TERRAINTYPE_AUTOBLENDMAP:
        {
            Ogre::TerrainLayerBlendMap* blendMap0 = mTerrain->getLayerBlendMap(1);
            Ogre::TerrainLayerBlendMap* blendMap1 = mTerrain->getLayerBlendMap(2);
            float* pBlend1 = blendMap1->getBlendPointer();
            for (Ogre::uint16 y = 0; y < mTerrain->getLayerBlendMapSize(); ++y)
            {
                for (Ogre::uint16 x = 0; x < mTerrain->getLayerBlendMapSize(); ++x)
                {
                    Ogre::Real tx, ty;

                    blendMap0->convertImageToTerrainSpace(x, y, &tx, &ty);
                    Ogre::Real height = mTerrain->getHeightAtTerrainPosition(tx, ty);
                    Ogre::Real val = (height - mMinHeight0) / mFadeDistance0;
                    val = Ogre::Math::Clamp(val, (Ogre::Real)0, (Ogre::Real)1);

                    val = (height - mMinHeight1) / mFadeDistance1;
                    val = Ogre::Math::Clamp(val, (Ogre::Real)0, (Ogre::Real)1);
                    *pBlend1++ = val;
                }
            }

            blendMap0->dirty();
            blendMap1->dirty();
            blendMap0->update();
            blendMap1->update();
            break;
        }
        case TERRAINTYPE_OGREBINARY:
            // Everything is embedded in the binary file.
            mTerrain->setResourceGroup( mResourceManager.getGroup() );
            mTerrain->prepare( mHeightmapFile.string() );
            mTerrain->load( mHeightmapFile.string() );
            break;
    }

    mTerrain->freeTemporaryResources();
//.........这里部分代码省略.........