CARLA
ImageUtil.cpp
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1 // Copyright (c) 2022 Computer Vision Center (CVC) at the Universitat Autonoma
2 // de Barcelona (UAB).
3 //
4 // This work is licensed under the terms of the MIT license.
5 // For a copy, see <https://opensource.org/licenses/MIT>.
6 
7 #include "Carla/Sensor/ImageUtil.h"
8 #include "Runtime/RHI/Public/RHISurfaceDataConversion.h"
9 #include "Carla/Carla.h"
10 
11 
12 
13 namespace ImageUtil
14 {
15  void DecodePixelsByFormat(
16  void* PixelData,
17  int32 SourcePitch,
18  FIntPoint SourceExtent,
19  FIntPoint DestinationExtent,
20  EPixelFormat Format,
21  FReadSurfaceDataFlags Flags,
22  TArrayView<FLinearColor> Out)
23  {
24  SourcePitch *= GPixelFormats[Format].BlockBytes;
25  auto OutPixelCount = DestinationExtent.X * DestinationExtent.Y;
26  switch (Format)
27  {
28  case PF_G16:
29  case PF_R16_UINT:
30  case PF_R16_SINT:
31  // Shadow maps
32  ConvertRawR16DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
33  break;
34  case PF_R8G8B8A8:
35  ConvertRawR8G8B8A8DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
36  break;
37  case PF_B8G8R8A8:
38  ConvertRawB8G8R8A8DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
39  break;
40  case PF_A2B10G10R10:
41  ConvertRawA2B10G10R10DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
42  break;
43  case PF_FloatRGBA:
44  case PF_R16G16B16A16_UNORM:
45  case PF_R16G16B16A16_SNORM:
46  ConvertRawR16G16B16A16FDataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
47  break;
48  case PF_FloatR11G11B10:
49  ConvertRawRR11G11B10DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
50  break;
51  case PF_A32B32G32R32F:
52  ConvertRawR32G32B32A32DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
53  break;
54  case PF_A16B16G16R16:
55  ConvertRawR16G16B16A16DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
56  break;
57  case PF_G16R16:
58  ConvertRawR16G16DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
59  break;
60  case PF_DepthStencil: // Depth / Stencil
61  ConvertRawD32S8DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
62  break;
63  case PF_X24_G8: // Depth Stencil
64  ConvertRawR24G8DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
65  break;
66  case PF_R32_FLOAT: // Depth Stencil
67  ConvertRawR32DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
68  break;
69  case PF_R16G16B16A16_UINT:
70  case PF_R16G16B16A16_SINT:
71  ConvertRawR16G16B16A16DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
72  break;
73  default:
74  UE_LOG(LogCarla, Warning, TEXT("Unsupported format %llu"), (unsigned long long)Format);
75  check(false);
76  break;
77  }
78  }
79 
80  void DecodePixelsByFormat(
81  void* PixelData,
82  int32 SourcePitch,
83  FIntPoint SourceExtent,
84  FIntPoint DestinationExtent,
85  EPixelFormat Format,
86  FReadSurfaceDataFlags Flags,
87  TArrayView<FColor> Out)
88  {
89  SourcePitch *= GPixelFormats[Format].BlockBytes;
90  auto OutPixelCount = DestinationExtent.X * DestinationExtent.Y;
91  switch (Format)
92  {
93  case PF_G16:
94  case PF_R16_UINT:
95  case PF_R16_SINT:
96  // Shadow maps
97  ConvertRawR16DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
98  break;
99  case PF_R8G8B8A8:
100  ConvertRawR8G8B8A8DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
101  break;
102  case PF_B8G8R8A8:
103  ConvertRawB8G8R8A8DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
104  break;
105  case PF_A2B10G10R10:
106  ConvertRawR10G10B10A2DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
107  break;
108  case PF_FloatRGBA:
109  case PF_R16G16B16A16_UNORM:
110  case PF_R16G16B16A16_SNORM:
111  ConvertRawR16G16B16A16FDataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), false);
112  break;
113  case PF_FloatR11G11B10:
114  ConvertRawR11G11B10DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), false);
115  break;
116  case PF_A32B32G32R32F:
117  ConvertRawR32G32B32A32DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), false);
118  break;
119  case PF_A16B16G16R16:
120  ConvertRawR16G16B16A16DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
121  break;
122  case PF_G16R16:
123  ConvertRawR16G16DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
124  break;
125  case PF_DepthStencil: // Depth / Stencil
126  ConvertRawD32S8DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
127  break;
128  case PF_X24_G8: // Depth / Stencil
129  ConvertRawR24G8DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
130  break;
131  case PF_R32_FLOAT: // Depth
132  ConvertRawR32DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
133  break;
134  case PF_R16G16B16A16_UINT:
135  case PF_R16G16B16A16_SINT:
136  ConvertRawR16G16B16A16DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
137  break;
138  case PF_G8:
139  ConvertRawR8DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
140  break;
141  default:
142  UE_LOG(LogCarla, Warning, TEXT("Unsupported format %llu"), (unsigned long long)Format);
143  check(false);
144  break;
145  }
146  }
147 }
ImageUtil::DecodePixelsByFormat
void DecodePixelsByFormat(void *PixelData, int32 SourcePitch, FIntPoint SourceExtent, FIntPoint DestinationExtent, EPixelFormat Format, FReadSurfaceDataFlags Flags, TArrayView< FLinearColor > Out)
Definition: ImageUtil.cpp:15
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